+ python -m lidar_slam --no-model /working/474706b3-d80d-488e-b0b2-bc80bfd64124 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/474706b3-d80d-488e-b0b2-bc80bfd64124 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 0.001400513 Adjusted end_distance from 9.223372036854776e+18 to 647.851400513 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001400513 meters 0.07585978904703702 Centerline is valid? [0, True] SLAMing on 0.061400513 meters 0.07320907348411486 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.02 [[ 9.99759796e-01 1.83683419e-02 1.19563804e-02 5.90058696e-02] [-1.83756885e-02 9.99831025e-01 5.04874931e-04 2.23096267e-02] [-1.19450864e-02 -7.24460380e-04 9.99928392e-01 2.01653231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121400513 meters 0.07575462574344358 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.05, Z:0.04 [[ 0.99966721 -0.00396801 0.02548974 0.12368162] [ 0.00388545 0.99998705 0.00328777 -0.05454221] [-0.02550245 -0.00318763 0.99966968 0.03858168] [ 0. 0. 0. 1. ]] SLAMing on 0.18140051299999999 meters 0.08076020217487692 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.05, Z:0.05 [[ 0.99962105 -0.00351465 0.02730194 0.18452955] [ 0.00346058 0.99999196 0.00202728 -0.04710743] [-0.02730885 -0.00193203 0.99962518 0.04632992] [ 0. 0. 0. 1. ]] SLAMing on 0.24140051299999998 meters 0.08016883967911898 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.05, Z:0.04 [[ 0.99962263 -0.00274778 0.02733232 0.24617698] [ 0.00280527 0.99999393 -0.00206516 -0.04761291] [-0.02732648 0.00214106 0.99962427 0.04440704] [ 0. 0. 0. 1. ]] SLAMing on 0.301400513 meters 0.08268683783587663 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.05, Z:0.05 [[ 0.99953067 -0.00436722 0.03032121 0.30929051] [ 0.00419022 0.99997382 0.00589844 -0.05209754] [-0.03034618 -0.00576862 0.9995228 0.05170695] [ 0. 0. 0. 1. ]] SLAMing on 0.361400513 meters 0.07874436393066334 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.06, Z:0.05 [[ 0.99941686 -0.00532923 0.03372739 0.36979228] [ 0.00543132 0.99998094 -0.00293589 -0.05580246] [-0.0337111 0.00311736 0.99942676 0.05365499] [ 0. 0. 0. 1. ]] SLAMing on 0.421400513 meters 0.08875825601975892 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.05, Z:0.06 [[ 0.99945697 -0.01131611 0.0309468 0.4339626 ] [ 0.01082981 0.99981594 0.01583692 -0.05337653] [-0.03112032 -0.01549317 0.99939556 0.05558698] [ 0. 0. 0. 1. ]] SLAMing on 0.481400513 meters 0.073834804772684 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.05, Z:0.03 [[ 0.99974239 -0.011823 0.01937448 0.49481256] [ 0.01208048 0.99983955 -0.01322665 -0.0527137 ] [-0.019215 0.01345729 0.9997248 0.03016677] [ 0. 0. 0. 1. ]] SLAMing on 0.541400513 meters 0.073834804772684 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.06, Z:0.03 [[ 9.99756339e-01 -1.16082206e-02 1.87753137e-02 5.57838412e-01] [ 1.15947017e-02 9.99932436e-01 8.28736044e-04 -6.19610522e-02] [-1.87836653e-02 -6.10839951e-04 9.99823385e-01 3.02839246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.601400513 meters 0.07232671861798473 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.07, Z:0.02 [[ 0.99983477 -0.01497682 0.01030198 0.61663222] [ 0.01494447 0.99988317 0.00321038 -0.06990896] [-0.01034886 -0.00305589 0.99994178 0.01612664] [ 0. 0. 0. 1. ]] SLAMing on 0.6614005129999999 meters 0.07183542559741583 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.07, Z:0.02 [[ 0.99976028 -0.01786729 0.01265477 0.68024115] [ 0.01784418 0.9998389 0.00193664 -0.07429872] [-0.01268733 -0.00171036 0.99991805 0.01787926] [ 0. 0. 0. 1. ]] SLAMing on 0.721400513 meters 0.07489270526741468 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.08, Z:0.03 [[ 9.99640951e-01 -1.96627352e-02 1.82029104e-02 7.41188292e-01] [ 1.96598193e-02 9.99806670e-01 3.39141489e-04 -7.67217695e-02] [-1.82060597e-02 1.88462088e-05 9.99834256e-01 3.01867380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781400513 meters 0.07141594727097916 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.08, Z:0.05 [[ 0.99939436 -0.02175855 0.02715641 0.80019857] [ 0.02183674 0.99975821 -0.00258604 -0.07689939] [-0.02709357 0.00317748 0.99962785 0.05020157] [ 0. 0. 0. 1. ]] SLAMing on 0.841400513 meters 0.07324543983836511 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.09, Z:0.06 [[ 9.99207156e-01 -2.39683867e-02 3.17895451e-02 8.61709231e-01] [ 2.39377434e-02 9.99712547e-01 1.34422844e-03 -8.72607185e-02] [-3.18126261e-02 -5.82192708e-04 9.99493681e-01 5.61961406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9014005129999999 meters 0.07537549774087078 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:0.06 [[ 9.99186579e-01 -2.57991517e-02 3.09932774e-02 9.22764412e-01] [ 2.57709281e-02 9.99667016e-01 1.30981590e-03 -9.03152026e-02] [-3.10167493e-02 -5.10024941e-04 9.99518735e-01 5.75250167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.961400513 meters 0.06906529032473592 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.10, Z:0.05 [[ 0.99918874 -0.02712135 0.02977054 0.98527088] [ 0.02698559 0.99962355 0.0049527 -0.09646882] [-0.02989365 -0.00414531 0.99954449 0.05409262] [ 0. 0. 0. 1. ]] SLAMing on 1.0214005130000001 meters 0.0783000825933089 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.09, Z:0.07 [[ 0.99900321 -0.02781327 0.03491429 1.04688918] [ 0.02745341 0.99956534 0.01074445 -0.09365687] [-0.03519796 -0.00977523 0.99933255 0.0738514 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0814005130000002 meters 0.0697560306294677 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.08, Z:0.05 [[ 0.99921229 -0.0255345 0.03037754 1.10791155] [ 0.02586873 0.9996085 -0.01066097 -0.08277681] [-0.03009343 0.0114384 0.99948164 0.05321414] [ 0. 0. 0. 1. ]] SLAMing on 1.141400513 meters 0.07227323101051311 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.09, Z:0.05 [[ 9.99305514e-01 -2.26393632e-02 2.95964389e-02 1.16783726e+00] [ 2.26701425e-02 9.99742751e-01 -7.04786602e-04 -8.77661554e-02] [-2.95728693e-02 1.37525263e-03 9.99561681e-01 5.45983580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.201400513 meters 0.07255689682853783 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.09, Z:0.06 [[ 0.99931614 -0.02018562 0.0309805 1.22985362] [ 0.02009716 0.99979302 0.00316428 -0.08860808] [-0.03103796 -0.00253949 0.99951498 0.05504602] [ 0. 0. 0. 1. ]] SLAMing on 1.2614005130000001 meters 0.07257221395984124 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.08, Z:0.06 [[ 0.99924062 -0.0181092 0.03449988 1.28885973] [ 0.0179988 0.99983185 0.00350784 -0.08300269] [-0.0345576 -0.00288422 0.99939855 0.06427056] [ 0. 0. 0. 1. ]] SLAMing on 1.321400513 meters 0.07421805631749506 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.08, Z:0.08 [[ 9.99058029e-01 -1.75390027e-02 3.96917809e-02 1.34956138e+00] [ 1.75595867e-02 9.99845804e-01 -1.70003845e-04 -7.79469835e-02] [-3.96826789e-02 8.66814974e-04 9.99211956e-01 7.61590162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.381400513 meters 0.08800059942243728 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.02, Z:0.04 [[ 9.98984761e-01 3.47860742e-02 2.86247444e-02 1.40703638e+00] [-3.47824868e-02 9.99394712e-01 -6.23388409e-04 -2.01854316e-02] [-2.86291035e-02 -3.72884275e-04 9.99590034e-01 4.48135488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441400513 meters 0.08832866150043883 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.02, Z:0.04 [[ 0.99911506 0.03463954 0.02385798 1.46635749] [-0.03457888 0.99939762 -0.00295037 -0.01826525] [-0.0239458 0.00212278 0.999711 0.04003678] [ 0. 0. 0. 1. ]] SLAMing on 1.501400513 meters 0.09629918649707958 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.02, Z:0.04 [[ 0.9992272 0.03224226 0.0224822 1.52740935] [-0.03236237 0.9994637 0.00499911 -0.01868172] [-0.02230896 -0.00572282 0.99973474 0.03883857] [ 0. 0. 0. 1. ]] SLAMing on 1.5614005130000002 meters 0.08455874357439523 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.03, Z:0.04 [[ 9.99311674e-01 2.74268737e-02 2.49788856e-02 1.58887099e+00] [-2.74616836e-02 9.99622304e-01 1.05153953e-03 -2.66914765e-02] [-2.49406107e-02 -1.73677798e-03 9.99687426e-01 4.25782502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.621400513 meters 0.0841466427680044 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.04, Z:0.03 [[ 9.99493350e-01 2.59725133e-02 1.83975863e-02 1.64970202e+00] [-2.59911495e-02 9.99661873e-01 7.74548903e-04 -3.62800627e-02] [-1.83712486e-02 -1.25233090e-03 9.99830450e-01 2.85713370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681400513 meters 0.0895377751733675 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.03, Z:0.03 [[ 9.99511940e-01 2.56005454e-02 1.79023450e-02 1.71056913e+00] [-2.56180914e-02 9.99671520e-01 7.51416428e-04 -2.98188761e-02] [-1.78772278e-02 -1.20967360e-03 9.99839458e-01 3.03440286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741400513 meters 0.08443385445335645 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.03, Z:0.03 [[ 9.99468041e-01 2.55440863e-02 2.02764463e-02 1.77235393e+00] [-2.55665167e-02 9.99672764e-01 8.47737787e-04 -3.16456510e-02] [-2.02481564e-02 -1.36568493e-03 9.99794052e-01 3.44252436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.801400513 meters 0.0801034342181128 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:0.03 [[ 9.99457617e-01 2.57591435e-02 2.05167895e-02 1.83571419e+00] [-2.57820675e-02 9.99667223e-01 8.53561404e-04 -3.77539959e-02] [-2.04879750e-02 -1.38206370e-03 9.99789144e-01 3.28322893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.861400513 meters 0.08340467559966593 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.03, Z:0.03 [[ 9.99489280e-01 2.63838394e-02 1.80297539e-02 1.89791113e+00] [-2.64015883e-02 9.99651138e-01 7.47065229e-04 -3.37345852e-02] [-1.80037536e-02 -1.22269783e-03 9.99837172e-01 2.95284799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921400513 meters 0.0836773765095464 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.03, Z:0.02 [[ 9.99537620e-01 2.65367053e-02 1.48441512e-02 1.95905651e+00] [-2.65487570e-02 9.99647330e-01 6.15375777e-04 -3.32367612e-02] [-1.48225861e-02 -1.00918500e-03 9.99889630e-01 2.44469612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.981400513 meters 0.08521040650527402 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.03, Z:0.02 [[ 0.99953018 0.02779663 0.01291378 2.0166112 ] [-0.02784361 0.99960626 0.00347297 -0.02757876] [-0.01281216 -0.00383091 0.99991058 0.02390236] [ 0. 0. 0. 1. ]] SLAMing on 2.041400513 meters 0.08641999879378667 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.02, Z:0.02 [[ 0.99959954 0.02597939 0.01121752 2.08016376] [-0.0259529 0.99966004 -0.00250069 -0.02164865] [-0.01127867 0.00220856 0.99993395 0.02182244] [ 0. 0. 0. 1. ]] SLAMing on 2.101400513 meters 0.0878397784285159 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.02, Z:0.02 [[ 9.99642892e-01 2.51107088e-02 9.14006469e-03 2.14218769e+00] [-2.51152034e-02 9.99684492e-01 3.77281155e-04 -2.11137491e-02] [-9.12770713e-03 -6.06701009e-04 9.99958158e-01 1.92698929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1614005130000002 meters 0.08533571521444662 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.02, Z:0.02 [[ 9.99678705e-01 2.41362947e-02 7.74121758e-03 2.20396961e+00] [-2.41394873e-02 9.99708549e-01 3.19240594e-04 -1.70651264e-02] [-7.73125611e-03 -5.06007047e-04 9.99969985e-01 1.74168452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.221400513 meters 0.08626650048589747 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.02, Z:0.02 [[ 0.99966339 0.02453727 0.00842833 2.26368885] [-0.02456317 0.99969383 0.00298365 -0.0179467 ] [-0.00835254 -0.00318967 0.99996003 0.01914744] [ 0. 0. 0. 1. ]] SLAMing on 2.281400513 meters 0.08240649344956455 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.02, Z:0.02 [[ 9.99696564e-01 2.21148360e-02 1.08496209e-02 2.32727853e+00] [-2.20963838e-02 9.99754193e-01 -1.81766848e-03 -2.07686932e-02] [-1.08871514e-02 1.57737955e-03 9.99939489e-01 2.12059615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.341400513 meters 0.08131408830158438 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.02, Z:0.03 [[ 9.99714102e-01 2.03534182e-02 1.25479928e-02 2.38736892e+00] [-2.03614596e-02 9.99792552e-01 5.13419008e-04 -1.78899639e-02] [-1.25349399e-02 -7.68767671e-04 9.99921139e-01 2.65814153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401400513 meters 0.08020916037460979 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.02, Z:0.03 [[ 9.99757970e-01 1.78269279e-02 1.28919404e-02 2.44862933e+00] [-1.78352096e-02 9.99840801e-01 5.27697834e-04 -1.95613417e-02] [-1.28804807e-02 -7.57500573e-04 9.99916756e-01 2.77690020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461400513 meters 0.07623616247873519 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.03, Z:0.03 [[ 9.99829020e-01 1.34613616e-02 1.26776296e-02 2.50941512e+00] [-1.34690214e-02 9.99909154e-01 5.19005846e-04 -2.66804093e-02] [-1.26694914e-02 -6.89672371e-04 9.99919501e-01 2.82086782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521400513 meters 0.06870223216547856 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.04, Z:0.03 [[ 0.99990923 0.0083869 0.0105451 2.56827528] [-0.0083438 0.99995668 -0.00412449 -0.03725696] [-0.01057923 0.00403613 0.99993589 0.02629773] [ 0. 0. 0. 1. ]] SLAMing on 2.581400513 meters 0.04725696216667603 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.04, Z:-0.00 [[ 9.99942313e-01 2.32771546e-03 -1.04858367e-02 2.63075659e+00] [-2.28395205e-03 9.99988640e-01 4.18361690e-03 -4.31165371e-02] [ 1.04954559e-02 -4.15942641e-03 9.99936270e-01 -4.46527815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.641400513 meters 0.09590967901221242 Centerline is valid? [True, True] Translation: X:2.69, Y:0.03, Z:-0.02 [[ 9.99726170e-01 3.67216881e-05 -2.34005131e-02 2.68593715e+00] [-3.03311628e-04 9.99935097e-01 -1.13890352e-02 3.27705214e-02] [ 2.33985761e-02 1.13930142e-02 9.99661296e-01 -2.29323803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.701400513 meters 0.07282964157606374 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.04, Z:0.00 [[ 9.99970410e-01 1.39843904e-03 -7.56461511e-03 2.74651578e+00] [-1.31556784e-03 9.99939192e-01 1.09490152e-02 -4.06118409e-02] [ 7.57946665e-03 -1.09387395e-02 9.99911444e-01 2.87440925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.761400513 meters 0.0538505845772681 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.03, Z:0.03 [[ 9.99980404e-01 2.10051854e-03 5.89741621e-03 2.80572982e+00] [-2.10198438e-03 9.99997761e-01 2.42368282e-04 -2.77784800e-02] [-5.89689391e-03 -2.54759809e-04 9.99982581e-01 2.72856603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821400513 meters 0.04165812933309131 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.03, Z:0.02 [[ 9.99992249e-01 3.35182851e-03 2.06594654e-03 2.86847107e+00] [-3.35201021e-03 9.99994378e-01 8.44958652e-05 -2.91942765e-02] [-2.06565171e-03 -9.14202841e-05 9.99997862e-01 1.96155804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881400513 meters 0.04583070645720509 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.02, Z:0.01 [[ 9.99972288e-01 5.37842522e-03 -5.14747647e-03 2.92925009e+00] [-5.37958346e-03 9.99985508e-01 -2.11191684e-04 -1.96457242e-02] [ 5.14626599e-03 2.38877111e-04 9.99986729e-01 7.14846887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.941400513 meters 0.08770844576554176 Centerline is valid? [True, True] Translation: X:2.99, Y:0.08, Z:0.03 [[ 9.99248385e-01 3.65671216e-02 1.28651262e-02 2.98505044e+00] [-3.65769245e-02 9.99330701e-01 5.27429820e-04 8.03905265e-02] [-1.28372290e-02 -9.97600146e-04 9.99917102e-01 3.07386806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001400513 meters 0.08770844576554176 Centerline is valid? [True, True] Translation: X:3.05, Y:0.08, Z:0.03 [[ 9.99241431e-01 3.67566105e-02 1.28652685e-02 3.04773017e+00] [-3.67663845e-02 9.99323751e-01 5.23951827e-04 8.28187360e-02] [-1.28373097e-02 -9.96563781e-04 9.99917102e-01 3.10743133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.061400513 meters 0.08736972675048182 Centerline is valid? [True, True] Translation: X:3.11, Y:0.09, Z:0.04 [[ 9.99259198e-01 3.51657784e-02 1.56340238e-02 3.10849671e+00] [-3.51800307e-02 9.99380788e-01 6.37451667e-04 8.89780280e-02] [-1.56019266e-02 -1.18698488e-03 9.99877578e-01 3.53799515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121400513 meters 0.08966700570891371 Centerline is valid? [True, True] Translation: X:3.17, Y:0.09, Z:0.04 [[ 9.99297556e-01 3.36477085e-02 1.64992995e-02 3.17002836e+00] [-3.36633661e-02 9.99433002e-01 6.72095883e-04 9.03209286e-02] [-1.64673299e-02 -1.22704573e-03 9.99863651e-01 3.66787690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.181400513 meters 0.08930081412998024 Centerline is valid? [True, True] Translation: X:3.23, Y:0.09, Z:0.04 [[ 9.99350748e-01 3.21212250e-02 1.63189815e-02 3.22947895e+00] [-3.21363469e-02 9.99483273e-01 6.65187797e-04 9.46493670e-02] [-1.62891824e-02 -1.18918837e-03 9.99866615e-01 3.80422836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.241400513 meters 0.07384137373115773 Centerline is valid? [True, True] Translation: X:3.29, Y:0.09, Z:0.03 [[ 9.99451480e-01 3.12322120e-02 1.10130802e-02 3.29021707e+00] [-3.12390430e-02 9.99511841e-01 4.48736535e-04 8.91999984e-02] [-1.09936891e-02 -7.92528480e-04 9.99939254e-01 2.85256015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.301400513 meters 0.06912217901333834 Centerline is valid? [True, True] Translation: X:3.35, Y:0.10, Z:0.01 [[ 9.99517865e-01 3.10443790e-02 -5.33575177e-04 3.34985445e+00] [-3.10443950e-02 9.99518006e-01 -2.17430330e-05 9.62846897e-02] [ 5.32642998e-04 3.82970685e-05 9.99999857e-01 1.17820775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.361400513 meters 0.07055111128673701 Centerline is valid? [True, True] Translation: X:3.41, Y:0.10, Z:-0.01 [[ 9.99442353e-01 3.08911046e-02 -1.26776686e-02 3.40956117e+00] [-3.09001323e-02 9.99522343e-01 -5.16784592e-04 1.01497473e-01] [ 1.26556489e-02 9.08238045e-04 9.99919502e-01 -7.17828997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.421400513 meters 0.07728148744993583 Centerline is valid? [True, True] Translation: X:3.47, Y:0.11, Z:-0.02 [[ 9.99329592e-01 3.09982037e-02 -1.94801814e-02 3.46868991e+00] [-3.10195549e-02 9.99518462e-01 -7.94771793e-04 1.06022249e-01] [ 1.94461645e-02 1.39850553e-03 9.99809927e-01 -1.80443501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.481400513 meters 0.0827819420780357 Centerline is valid? [True, True] Translation: X:3.53, Y:0.11, Z:-0.02 [[ 9.99345061e-01 3.08708305e-02 -1.88796337e-02 3.52723522e+00] [-3.08908782e-02 9.99522466e-01 -7.71093527e-04 1.07822112e-01] [ 1.88468137e-02 1.35379697e-03 9.99821466e-01 -1.55412735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541400513 meters 0.07283411301790144 Centerline is valid? [True, True] Translation: X:3.59, Y:0.10, Z:0.01 [[ 9.99565819e-01 2.90798295e-02 -4.74741868e-03 3.58764769e+00] [-2.90810771e-02 9.99577037e-01 -1.93959002e-04 1.04039465e-01] [ 4.73977040e-03 3.31934838e-04 9.99988712e-01 1.01077261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6014005129999997 meters 0.07510174172444864 Centerline is valid? [True, True] Translation: X:3.65, Y:0.12, Z:0.02 [[ 9.99193180e-01 4.00292107e-02 -3.26348690e-03 3.64705224e+00] [-4.00298582e-02 9.99198475e-01 -1.33330620e-04 1.21131062e-01] [ 3.25553401e-03 2.63859964e-04 9.99994666e-01 1.52077158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.661400513 meters 0.0859763870148885 Centerline is valid? [True, True] Translation: X:3.71, Y:0.14, Z:0.03 [[ 9.98744984e-01 4.99151448e-02 4.11534002e-03 3.70545137e+00] [-4.99162581e-02 9.98753392e-01 1.68194692e-04 1.43348488e-01] [-4.10181434e-03 -3.73405979e-04 9.99991518e-01 2.99451682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.721400513 meters 0.10698725217436164 Centerline is valid? [True, False] Translation: X:3.74, Y:0.14, Z:0.03 [[ 0.9988111 0.0472065 0.01216258 3.74062154] [-0.04740108 0.99874391 0.01624005 0.13745838] [-0.01138066 -0.01679726 0.99979415 0.03001171] [ 0. 0. 0. 1. ]] SLAMing on 3.781400513 meters 0.09248769953464718 Centerline is valid? [False, True] Translation: X:3.74, Y:0.14, Z:0.03 [[ 0.99881252 0.04702493 0.01273601 3.73870946] [-0.04721871 0.99876635 0.01536784 0.1412279 ] [-0.01199762 -0.01595097 0.99980079 0.03132061] [ 0. 0. 0. 1. ]] SLAMing on 3.841400513 meters 0.0834331967791558 Centerline is valid? [True, True] Translation: X:3.80, Y:0.14, Z:0.10 [[ 9.98263310e-01 1.92221670e-02 5.56854783e-02 3.79840651e+00] [-1.94399840e-02 9.99805338e-01 3.37246965e-03 1.39879820e-01] [-5.56098122e-02 -4.44913752e-03 9.98442664e-01 1.03513729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901400513 meters 0.08252123207157429 Centerline is valid? [True, True] Translation: X:3.86, Y:0.12, Z:0.04 [[ 9.99769772e-01 8.55451080e-03 1.96780034e-02 3.86101838e+00] [-8.57961154e-03 9.99962485e-01 1.19150301e-03 1.19105632e-01] [-1.96670725e-02 -1.36005832e-03 9.99805659e-01 3.62256351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961400513 meters 0.07249535978113317 Centerline is valid? [True, True] Translation: X:3.93, Y:0.04, Z:0.03 [[ 9.99933373e-01 -5.88694081e-03 9.92939305e-03 3.92561836e+00] [ 5.90726316e-03 9.99980515e-01 -2.01860038e-03 3.61744725e-02] [-9.91731620e-03 2.07712143e-03 9.99948665e-01 2.74317022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.021400513 meters 0.06772728303091156 Centerline is valid? [True, True] Translation: X:3.99, Y:0.04, Z:0.03 [[ 9.99918719e-01 -5.20063650e-03 1.16408064e-02 3.98762822e+00] [ 5.20091566e-03 9.99986475e-01 6.29181862e-06 3.66442969e-02] [-1.16406817e-02 5.42515451e-05 9.99932243e-01 3.07089900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081400513 meters 0.06430507058889498 Centerline is valid? [True, True] Translation: X:4.05, Y:0.04, Z:0.03 [[ 9.99924979e-01 -3.58245958e-03 1.17133463e-02 4.04958574e+00] [ 3.58326864e-03 9.99993579e-01 -4.80853120e-05 3.52397264e-02] [-1.17130988e-02 9.00537709e-05 9.99931395e-01 3.03445096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.141400513 meters 0.0675190734547141 Centerline is valid? [True, True] Translation: X:4.11, Y:0.04, Z:0.03 [[ 9.99943181e-01 -1.47316470e-03 1.05576585e-02 4.11077524e+00] [ 1.47637681e-03 9.99998866e-01 -2.96457291e-04 3.51835549e-02] [-1.05572098e-02 3.12027529e-04 9.99944222e-01 2.79321011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201400513 meters 0.07524978378991445 Centerline is valid? [True, True] Translation: X:4.17, Y:0.05, Z:0.03 [[ 9.99942543e-01 6.85664665e-04 1.06976966e-02 4.17111641e+00] [-7.41930045e-04 9.99985909e-01 5.25649721e-03 4.66619644e-02] [-1.06939416e-02 -5.26413213e-03 9.99928962e-01 3.02015541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.261400513 meters 0.07354894766708976 Centerline is valid? [True, True] Translation: X:4.23, Y:0.06, Z:0.03 [[ 9.99936072e-01 3.78053658e-03 1.06564325e-02 4.23114780e+00] [-3.78759572e-03 9.99992621e-01 6.42325479e-04 5.80546683e-02] [-1.06539255e-02 -6.82646675e-04 9.99943012e-01 2.96010141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321400513 meters 0.08115743507335207 Centerline is valid? [True, True] Translation: X:4.29, Y:0.07, Z:0.03 [[ 9.99920105e-01 8.01078281e-03 9.77806857e-03 4.29022309e+00] [-7.98007037e-03 9.99963115e-01 -3.17593729e-03 7.24826626e-02] [-9.80314965e-03 3.09765387e-03 9.99947150e-01 3.06965983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381400513 meters 0.08339541629138354 Centerline is valid? [True, True] Translation: X:4.35, Y:0.08, Z:0.03 [[ 9.99864216e-01 1.23001731e-02 1.09661340e-02 4.35084282e+00] [-1.23183011e-02 9.99922867e-01 1.58707850e-03 7.65534789e-02] [-1.09457668e-02 -1.72194713e-03 9.99938611e-01 3.16848547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.441400513 meters 0.09010674753272796 Centerline is valid? [True, True] Translation: X:4.41, Y:0.10, Z:0.04 [[ 9.99779024e-01 1.66151020e-02 1.28779509e-02 4.40932952e+00] [-1.66214152e-02 9.99861781e-01 3.83351083e-04 9.57988580e-02] [-1.28698015e-02 -5.97316140e-04 9.99917002e-01 3.67780924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501400513 meters 0.09276822822758041 Centerline is valid? [True, True] Translation: X:4.47, Y:0.11, Z:0.04 [[ 9.99705879e-01 2.00970803e-02 1.35743702e-02 4.47003829e+00] [-2.01042352e-02 9.99797813e-01 3.90826943e-04 1.06962839e-01] [-1.35637711e-02 -6.63614322e-04 9.99907788e-01 3.86652535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561400513 meters 0.09235833576424293 Centerline is valid? [True, True] Translation: X:4.53, Y:0.11, Z:0.04 [[ 0.99963002 0.02301281 0.01449972 4.53030989] [-0.02308114 0.99972318 0.00456295 0.10815581] [-0.0143907 -0.00489593 0.99988446 0.03634804] [ 0. 0. 0. 1. ]] SLAMing on 4.621400513 meters 0.09493724503074245 Centerline is valid? [True, True] Translation: X:4.59, Y:0.12, Z:0.04 [[ 9.99584252e-01 2.48424947e-02 1.46346721e-02 4.59054765e+00] [-2.48580266e-02 9.99690604e-01 8.80334560e-04 1.21056919e-01] [-1.46082744e-02 -1.24375763e-03 9.99892520e-01 3.65697183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681400513 meters 0.09285080504105801 Centerline is valid? [True, True] Translation: X:4.65, Y:0.13, Z:0.04 [[ 9.99562895e-01 2.56577348e-02 1.46866929e-02 4.65240950e+00] [-2.56734514e-02 9.99669993e-01 8.82554772e-04 1.29606484e-01] [-1.46592018e-02 -1.25922710e-03 9.99891755e-01 3.67916767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741400513 meters 0.09311051423431911 Centerline is valid? [True, True] Translation: X:4.71, Y:0.20, Z:0.03 [[ 9.99281197e-01 3.71646435e-02 7.47522959e-03 4.70907082e+00] [-3.71690345e-02 9.99308892e-01 4.49301082e-04 1.99529261e-01] [-7.45336528e-03 -7.26825190e-04 9.99971959e-01 2.98099125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801400513 meters 0.09802344841815332 Centerline is valid? [True, True] Translation: X:4.77, Y:0.21, Z:0.03 [[ 9.99363011e-01 3.52835604e-02 5.35191725e-03 4.76795145e+00] [-3.52857852e-02 9.99377211e-01 3.21815084e-04 2.14996910e-01] [-5.33722936e-03 -5.10456694e-04 9.99985627e-01 2.68997709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8614005129999995 meters 0.09313134449504222 Centerline is valid? [True, True] Translation: X:4.83, Y:0.21, Z:0.03 [[ 9.99436071e-01 3.30627743e-02 5.86450676e-03 4.82905514e+00] [-3.30654066e-02 9.99453128e-01 3.52433617e-04 2.13769004e-01] [-5.84964719e-03 -5.46147170e-04 9.99982742e-01 2.69899468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.921400513 meters 0.09110618628042076 Centerline is valid? [True, True] Translation: X:4.89, Y:0.22, Z:0.02 [[ 9.99535678e-01 3.02041715e-02 4.01702761e-03 4.88961058e+00] [-3.02053834e-02 9.99543684e-01 2.41352755e-04 2.18981708e-01] [-4.00790472e-03 -3.62576549e-04 9.99991903e-01 2.46934631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.981400513 meters 0.08622375059986624 Centerline is valid? [True, True] Translation: X:4.95, Y:0.22, Z:0.02 [[ 9.99506377e-01 3.14087386e-02 7.02104443e-04 4.95020432e+00] [-3.14087760e-02 9.99506622e-01 4.21941292e-05 2.19200167e-01] [-7.00432775e-04 -6.42255424e-05 9.99999753e-01 1.86479376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041400513 meters 0.0979569859865338 Centerline is valid? [True, True] Translation: X:5.01, Y:0.24, Z:0.02 [[ 9.99347900e-01 3.60969896e-02 8.84790770e-04 5.00875451e+00] [-3.60970507e-02 9.99348288e-01 5.32110466e-05 2.40827966e-01] [-8.82293382e-04 -8.51146850e-05 9.99999607e-01 2.01303418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101400513 meters 0.09186273980579306 Centerline is valid? [True, True] Translation: X:5.07, Y:0.24, Z:0.02 [[ 9.99210748e-01 3.97214641e-02 2.93312132e-04 5.06883629e+00] [-3.97214710e-02 9.99210791e-01 1.76505361e-05 2.42446480e-01] [-2.92379542e-04 -2.92873947e-05 9.99999957e-01 1.88252451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161400513 meters 0.09806001517862346 Centerline is valid? [True, True] Translation: X:5.13, Y:0.26, Z:0.02 [[ 9.99224936e-01 3.93620071e-02 -3.99037924e-04 5.12629224e+00] [-3.93620197e-02 9.99225015e-01 -2.37433439e-05 2.59254670e-01] [ 3.97794090e-04 3.94318799e-05 9.99999920e-01 1.97418231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221400513 meters 0.09327604726505535 Centerline is valid? [True, True] Translation: X:5.19, Y:0.26, Z:0.02 [[ 9.99371008e-01 3.54339427e-02 1.42262231e-03 5.18601339e+00] [-3.54341001e-02 9.99372011e-01 8.55955412e-05 2.64936647e-01] [-1.41869593e-03 -1.35951044e-04 9.99998984e-01 2.33048036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2814005129999995 meters 0.08589323148677594 Centerline is valid? [True, True] Translation: X:5.25, Y:0.27, Z:0.03 [[ 9.99590667e-01 2.83937289e-02 3.50635022e-03 5.24643050e+00] [-2.83946421e-02 9.99596769e-01 2.10912909e-04 2.67153788e-01] [-3.49894775e-03 -3.10388135e-04 9.99993830e-01 2.67550549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341400513 meters 0.08809252056934194 Centerline is valid? [True, True] Translation: X:5.31, Y:0.28, Z:0.03 [[ 9.99674420e-01 2.53520445e-02 2.88589234e-03 5.30522413e+00] [-2.53526508e-02 9.99678555e-01 1.73707973e-04 2.77158792e-01] [-2.88056083e-03 -2.46816438e-04 9.99995821e-01 2.73740178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401400513 meters 0.0809445375317415 Centerline is valid? [True, True] Translation: X:5.37, Y:0.27, Z:0.03 [[ 9.99675301e-01 2.50311143e-02 4.76830505e-03 5.36592375e+00] [-2.50327654e-02 9.99686590e-01 2.86897067e-04 2.72630087e-01] [-4.75962926e-03 -4.06167773e-04 9.99988590e-01 2.99049395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.461400513 meters 0.087418550095392 Centerline is valid? [True, True] Translation: X:5.42, Y:0.29, Z:0.04 [[ 9.99606567e-01 2.67582301e-02 8.40877992e-03 5.42451980e+00] [-2.67634268e-02 9.99641667e-01 5.06073685e-04 2.87813160e-01] [-8.39222514e-03 -7.30922345e-04 9.99964518e-01 3.73271218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.521400513 meters 0.09427237760940586 Centerline is valid? [True, True] Translation: X:5.48, Y:0.31, Z:0.03 [[ 9.99508504e-01 3.07501514e-02 6.09735910e-03 5.48325164e+00] [-3.07529561e-02 9.99526949e-01 3.66734260e-04 3.06744670e-01] [-6.08319761e-03 -5.54065828e-04 9.99981344e-01 3.39501793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581400513 meters 0.09218183764784571 Centerline is valid? [True, True] Translation: X:5.54, Y:0.31, Z:0.03 [[ 9.99435003e-01 3.32667688e-02 4.79541760e-03 5.54381940e+00] [-3.32685325e-02 9.99446408e-01 2.88477599e-04 3.14347291e-01] [-4.78316617e-03 -4.47851116e-04 9.99988460e-01 3.18554524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641400513 meters 0.09350736879594866 Centerline is valid? [True, True] Translation: X:5.60, Y:0.32, Z:0.03 [[ 9.99375658e-01 3.51916152e-02 3.13751408e-03 5.60413007e+00] [-3.51923795e-02 9.99380539e-01 1.88692871e-04 3.24993333e-01] [-3.12893010e-03 -2.98991649e-04 9.99995060e-01 2.95716931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701400513 meters 0.0953056076019113 Centerline is valid? [True, True] Translation: X:5.66, Y:0.34, Z:0.03 [[ 9.99353385e-01 3.59552482e-02 1.80826886e-04 5.66270607e+00] [-3.59552508e-02 9.99353401e-01 1.10772297e-05 3.37435887e-01] [-1.80311679e-04 -1.75717430e-05 9.99999984e-01 2.55035909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761400513 meters 0.08892346167619976 Centerline is valid? [True, True] Translation: X:5.72, Y:0.34, Z:0.03 [[ 9.99372362e-01 3.54201931e-02 5.39913839e-04 5.72145694e+00] [-3.54202159e-02 9.99372507e-01 3.27880748e-05 3.39186646e-01] [-5.38413686e-04 -5.18913605e-05 9.99999854e-01 2.61408066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8214005129999995 meters 0.0890469193125231 Centerline is valid? [True, True] Translation: X:5.78, Y:0.35, Z:0.03 [[ 9.99444864e-01 3.33146056e-02 3.17878362e-04 5.78134746e+00] [-3.33146133e-02 9.99444914e-01 1.91607754e-05 3.47929246e-01] [-3.17063578e-04 -2.97401333e-05 9.99999949e-01 2.56987375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881400513 meters 0.09182952398693486 Centerline is valid? [True, True] Translation: X:5.84, Y:0.36, Z:0.02 [[ 9.99511896e-01 3.11837166e-02 -1.88308886e-03 5.84045906e+00] [-3.11839851e-02 9.99513655e-01 -1.13382750e-04 3.58449747e-01] [ 1.87863733e-03 1.72049622e-04 9.99998221e-01 2.24066451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.941400513 meters 0.08684241729511906 Centerline is valid? [True, True] Translation: X:5.90, Y:0.36, Z:0.02 [[ 9.99614621e-01 2.77438295e-02 -9.43354158e-04 5.90106914e+00] [-2.77438954e-02 9.99615062e-01 -5.68469929e-05 3.60199765e-01] [ 9.41413872e-04 8.29974043e-05 9.99999553e-01 2.48980403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001400513 meters 0.08852445246776326 Centerline is valid? [True, True] Translation: X:5.96, Y:0.37, Z:0.03 [[ 9.99655205e-01 2.62576862e-02 7.69363106e-05 5.95966901e+00] [-2.62576867e-02 9.99655207e-01 4.76579137e-06 3.65776833e-01] [-7.67846448e-05 -6.78431768e-06 9.99999997e-01 2.73247510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061400513 meters 0.07915294382035569 Centerline is valid? [True, True] Translation: X:6.02, Y:0.36, Z:0.03 [[ 9.99658767e-01 2.60785197e-02 1.50352625e-03 6.01898488e+00] [-2.60786858e-02 9.99659889e-01 9.09657771e-05 3.58591699e-01] [-1.50064263e-03 -1.30144725e-04 9.99998866e-01 2.90983796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121400513 meters 0.09300873866633426 Centerline is valid? [True, True] Translation: X:6.08, Y:0.38, Z:0.03 [[ 9.99565409e-01 2.93734105e-02 2.48896151e-03 6.07700082e+00] [-2.93738749e-02 9.99568483e-01 1.50228482e-04 3.84633746e-01] [-2.48347476e-03 -2.23273639e-04 9.99996891e-01 3.25866490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181400513 meters 0.0927808750492849 Centerline is valid? [True, True] Translation: X:6.14, Y:0.39, Z:0.03 [[ 9.99527525e-01 3.07050375e-02 1.38828584e-03 6.13721692e+00] [-3.07051833e-02 9.99528481e-01 8.38409471e-05 3.87796953e-01] [-1.38505690e-03 -1.26428906e-04 9.99999033e-01 3.00177037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.241400513 meters 0.08336852358236636 Centerline is valid? [True, True] Translation: X:6.20, Y:0.38, Z:0.03 [[ 9.99568124e-01 2.91770409e-02 3.50212950e-03 6.19747749e+00] [-2.91779598e-02 9.99574210e-01 2.11555288e-04 3.81385486e-01] [-3.49446577e-03 -3.13648916e-04 9.99993845e-01 3.28611141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301400513 meters 0.07900399874408198 Centerline is valid? [True, True] Translation: X:6.26, Y:0.38, Z:0.03 [[ 9.99668495e-01 2.55372199e-02 3.27881425e-03 6.25869252e+00] [-2.55380053e-02 9.99673832e-01 1.97905357e-04 3.80024152e-01] [-3.27269086e-03 -2.81574126e-04 9.99994605e-01 3.27364233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3614005129999995 meters 0.07664608452413188 Centerline is valid? [True, True] Translation: X:6.32, Y:0.38, Z:0.03 [[ 9.99836971e-01 1.78843106e-02 2.48659226e-03 6.31902309e+00] [-1.78847388e-02 9.99840044e-01 1.50069160e-04 3.76956457e-01] [-2.48351063e-03 -1.94516747e-04 9.99996897e-01 3.22106826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421400513 meters 0.06896741065097411 Centerline is valid? [True, True] Translation: X:6.38, Y:0.37, Z:0.04 [[ 9.99894950e-01 1.38492050e-02 4.27658244e-03 6.38082271e+00] [-1.38504346e-02 9.99904045e-01 2.58039533e-04 3.67672955e-01] [-4.27259844e-03 -3.17244951e-04 9.99990822e-01 3.60723728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.481400513 meters 0.07828280252333764 Centerline is valid? [True, True] Translation: X:6.44, Y:0.38, Z:0.04 [[ 9.99916981e-01 1.21595858e-02 4.26316615e-03 6.44045014e+00] [-1.21607927e-02 9.99926022e-01 2.57286084e-04 3.77249106e-01] [-4.25972228e-03 -3.09108205e-04 9.99990880e-01 3.93708115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541400513 meters 0.06692040957007858 Centerline is valid? [True, True] Translation: X:6.50, Y:0.37, Z:0.04 [[ 9.99914000e-01 1.22036818e-02 4.80230302e-03 6.50380058e+00] [-1.22052052e-02 9.99925472e-01 2.88043355e-04 3.65692190e-01] [-4.79842993e-03 -3.46631677e-04 9.99988427e-01 3.88911898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601400513 meters 0.06836127343729853 Centerline is valid? [True, True] Translation: X:6.56, Y:0.37, Z:0.04 [[ 9.99941589e-01 1.00571573e-02 3.95888371e-03 6.56399873e+00] [-1.00581789e-02 9.99949387e-01 2.38238892e-04 3.67509623e-01] [-3.95628733e-03 -2.78044137e-04 9.99992135e-01 3.90006924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.661400513 meters 0.062398125119551055 Centerline is valid? [True, True] Translation: X:6.62, Y:0.36, Z:0.04 [[ 9.99974496e-01 6.41437491e-03 3.14062995e-03 6.62498747e+00] [-6.41500001e-03 9.99979406e-01 1.89005031e-04 3.63412105e-01] [-3.13935292e-03 -2.09147352e-04 9.99995050e-01 3.79832665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721400513 meters 0.06608611008463852 Centerline is valid? [True, True] Translation: X:6.68, Y:0.37, Z:0.04 [[ 9.99987410e-01 2.71985763e-03 4.21687599e-03 6.68417253e+00] [-2.72095236e-03 9.99996266e-01 2.53890673e-04 3.69200603e-01] [-4.21616969e-03 -2.65361395e-04 9.99991077e-01 4.11959053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7814005129999995 meters 0.06389772139014939 Centerline is valid? [True, True] Translation: X:6.75, Y:0.37, Z:0.04 [[ 9.99992747e-01 -3.10704116e-04 3.79606911e-03 6.74503918e+00] [ 3.09839000e-04 9.99999926e-01 2.28483583e-04 3.68623281e-01] [-3.79613982e-03 -2.27305756e-04 9.99992769e-01 4.02496445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841400513 meters 0.059918947690700865 Centerline is valid? [True, True] Translation: X:6.81, Y:0.37, Z:0.04 [[ 9.99994902e-01 -1.11256311e-03 2.99313151e-03 6.80693385e+00] [ 1.11202976e-03 9.99999366e-01 1.79850764e-04 3.67467898e-01] [-2.99332971e-03 -1.76521396e-04 9.99995504e-01 3.85233942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901400513 meters 0.055356431730332334 Centerline is valid? [True, True] Translation: X:6.87, Y:0.36, Z:0.04 [[ 9.99987596e-01 -2.42350962e-03 4.35129257e-03 6.86889365e+00] [ 2.42239512e-03 9.99997032e-01 2.61383781e-04 3.63912931e-01] [-4.35191312e-03 -2.50839989e-04 9.99990499e-01 4.06624907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961400513 meters 0.0535751170033787 Centerline is valid? [True, True] Translation: X:6.93, Y:0.36, Z:0.04 [[ 9.99939948e-01 -9.81395524e-03 4.87706547e-03 6.92835198e+00] [ 9.81264106e-03 9.99951812e-01 2.93315753e-04 3.61903319e-01] [-4.87970904e-03 -2.45441246e-04 9.99988064e-01 4.31148506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.021400513 meters 0.04803548556293634 Centerline is valid? [True, True] Translation: X:6.99, Y:0.36, Z:0.04 [[ 9.99856081e-01 -1.64604897e-02 4.10731247e-03 6.98813996e+00] [ 1.64596133e-02 9.99864501e-01 2.47094440e-04 3.56174098e-01] [-4.11082323e-03 -1.79454103e-04 9.99991534e-01 4.19772614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081400513 meters 0.035748815240422255 Centerline is valid? [True, True] Translation: X:7.05, Y:0.34, Z:0.04 [[ 9.99609483e-01 -2.76898935e-02 3.76191322e-03 7.04985549e+00] [ 2.76892381e-02 9.99616554e-01 2.26203774e-04 3.37030437e-01] [-3.76673429e-03 -1.21950927e-04 9.99992898e-01 4.16535427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141400513 meters 0.02846227726735957 Centerline is valid? [True, True] Translation: X:7.11, Y:0.33, Z:0.04 [[ 9.99408350e-01 -3.41733204e-02 3.89025029e-03 7.11073899e+00] [ 3.41726685e-02 9.99415916e-01 2.33932608e-04 3.28361757e-01] [-3.89597231e-03 -1.00853969e-04 9.99992406e-01 4.18553019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201400512999999 meters 0.02350490491061622 Centerline is valid? [True, True] Translation: X:7.17, Y:0.32, Z:0.04 [[ 9.99209907e-01 -3.96616581e-02 2.55253186e-03 7.17114253e+00] [ 3.96613953e-02 9.99213166e-01 1.53497635e-04 3.20672720e-01] [-2.55661142e-03 -5.21393820e-05 9.99996731e-01 4.05505971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261400513 meters 0.01835655289720493 Centerline is valid? [True, True] Translation: X:7.23, Y:0.31, Z:0.04 [[ 9.99072556e-01 -4.30065232e-02 2.11352095e-03 7.23357597e+00] [ 4.30063512e-02 9.99074791e-01 1.26808414e-04 3.14762912e-01] [-2.11701909e-03 -3.57959822e-05 9.99997758e-01 3.90744210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3214005129999995 meters 0.016789282287349043 Centerline is valid? [True, True] Translation: X:7.29, Y:0.31, Z:0.04 [[ 9.98905602e-01 -4.65644154e-02 4.39922560e-03 7.29427029e+00] [ 4.65637047e-02 9.98915288e-01 2.63897650e-04 3.14506389e-01] [-4.40674195e-03 -5.87645993e-05 9.99990289e-01 4.39434181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381400513 meters 0.014771192496176668 Centerline is valid? [True, True] Translation: X:7.36, Y:0.32, Z:0.04 [[ 9.98884650e-01 -4.70703477e-02 3.72006170e-03 7.35698262e+00] [ 4.70698447e-02 9.98891576e-01 2.22701807e-04 3.16101590e-01] [-3.72642095e-03 -4.73506901e-05 9.99993056e-01 4.30897421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.441400513 meters 0.01576150241625167 Centerline is valid? [True, True] Translation: X:7.42, Y:0.32, Z:0.04 [[ 9.98906935e-01 -4.66525845e-02 2.91048787e-03 7.41829587e+00] [ 4.66522748e-02 9.98911175e-01 1.74236632e-04 3.21140516e-01] [-2.91544745e-03 -3.82652996e-05 9.99995749e-01 4.39474037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501400513 meters 0.01688385124289615 Centerline is valid? [True, True] Translation: X:7.48, Y:0.33, Z:0.05 [[ 9.98979117e-01 -4.49742158e-02 4.24768811e-03 7.47954452e+00] [ 4.49735408e-02 9.98988146e-01 2.54346183e-04 3.29525249e-01] [-4.25482909e-03 -6.30529507e-05 9.99990946e-01 4.54122698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561400513 meters 0.023595370819583683 Centerline is valid? [True, True] Translation: X:7.54, Y:0.34, Z:0.05 [[ 9.98975662e-01 -4.49863609e-02 4.88407908e-03 7.54011411e+00] [ 4.49854720e-02 9.98987599e-01 2.91760450e-04 3.39607155e-01] [-4.89225967e-03 -7.17489861e-05 9.99988030e-01 4.74120429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621400513 meters 0.016004483763602313 Centerline is valid? [True, True] Translation: X:7.60, Y:0.34, Z:0.05 [[ 9.98774386e-01 -4.89850446e-02 7.08451899e-03 7.60150671e+00] [ 4.89832724e-02 9.98799509e-01 4.23553702e-04 3.40080856e-01] [-7.09676188e-03 -7.60116656e-05 9.99974815e-01 5.04205435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681400513 meters 0.010345500681169555 Centerline is valid? [True, True] Translation: X:7.66, Y:0.34, Z:0.05 [[ 9.98408811e-01 -5.57979299e-02 8.15092903e-03 7.66405106e+00] [ 5.57958152e-02 9.98442081e-01 4.86790385e-04 3.35815429e-01] [-8.16539244e-03 -3.12280797e-05 9.99966662e-01 5.04669985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741400512999999 meters 0.012411144359595734 Centerline is valid? [True, True] Translation: X:7.73, Y:0.33, Z:0.05 [[ 9.97635348e-01 -6.84071538e-02 6.64628117e-03 7.72712755e+00] [ 6.84060299e-02 9.97657485e-01 3.96543869e-04 3.25448725e-01] [-6.65783860e-03 5.90395275e-05 9.99977835e-01 4.77027869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801400513 meters 0.018292574488048444 Centerline is valid? [True, True] Translation: X:7.79, Y:0.32, Z:0.05 [[ 9.97166628e-01 -7.50570578e-02 5.01538133e-03 7.78779549e+00] [ 7.50565015e-02 9.97179238e-01 2.99316676e-04 3.16802572e-01] [-5.02369996e-03 7.79683758e-05 9.99987378e-01 4.71546304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8614005129999995 meters 0.025468267713288847 Centerline is valid? [True, True] Translation: X:7.85, Y:0.30, Z:0.05 [[ 9.96576338e-01 -8.25163394e-02 5.16293614e-03 7.84905290e+00] [ 8.25158489e-02 9.96589705e-01 3.08318768e-04 3.04683408e-01] [-5.17077034e-03 1.18760870e-04 9.99986624e-01 4.80990438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921400513 meters 0.025501939790762644 Centerline is valid? [True, True] Translation: X:7.91, Y:0.31, Z:0.05 [[ 9.96374225e-01 -8.48211421e-02 6.61645457e-03 7.90879430e+00] [ 8.48203858e-02 9.96396179e-01 3.95334795e-04 3.05158433e-01] [-6.62614281e-03 1.67308830e-04 9.99978033e-01 4.87838391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.981400513 meters 0.023376344599442628 Centerline is valid? [True, True] Translation: X:7.97, Y:0.30, Z:0.05 [[ 9.96539912e-01 -8.30103497e-02 4.18163895e-03 7.96812157e+00] [ 8.30100255e-02 9.96548680e-01 2.51328626e-04 3.04920411e-01] [-4.18806965e-03 9.66589487e-05 9.99991225e-01 4.58197361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041400513 meters 0.021910171344636988 Centerline is valid? [True, True] Translation: X:8.03, Y:0.31, Z:0.05 [[ 9.96801927e-01 -7.98524518e-02 3.08298892e-03 8.02658880e+00] [ 7.98522612e-02 9.96806692e-01 1.85058672e-04 3.07423253e-01] [-3.08792138e-03 6.17167955e-05 9.99995230e-01 4.57554830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101400513 meters 0.019374755238688476 Centerline is valid? [True, True] Translation: X:8.09, Y:0.31, Z:0.05 [[ 9.97028042e-01 -7.69249183e-02 4.19996142e-03 8.08537563e+00] [ 7.69245332e-02 9.97036886e-01 2.53375863e-04 3.12636728e-01] [-4.20700737e-03 7.04572305e-05 9.99991148e-01 4.94264154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161400513 meters 0.01905311459162561 Centerline is valid? [True, True] Translation: X:8.14, Y:0.32, Z:0.05 [[ 9.97415792e-01 -7.16957231e-02 4.63260614e-03 8.14256168e+00] [ 7.16952002e-02 9.97426549e-01 2.79057595e-04 3.21419908e-01] [-4.64069159e-03 5.37991722e-05 9.99989230e-01 5.10289107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221400512999999 meters 0.01126759577387058 Centerline is valid? [True, True] Translation: X:8.20, Y:0.33, Z:0.06 [[ 9.97893579e-01 -6.41193577e-02 9.85456704e-03 8.20182159e+00] [ 6.41166251e-02 9.97942236e-01 5.93293110e-04 3.34585889e-01] [-9.87233024e-03 3.97981954e-05 9.99951267e-01 6.03651407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281400513 meters 0.01006016026644398 Centerline is valid? [True, True] Translation: X:8.26, Y:0.35, Z:0.06 [[ 9.98338541e-01 -5.70255802e-02 8.26077816e-03 8.26318398e+00] [ 5.70234237e-02 9.98372717e-01 4.96539676e-04 3.48743174e-01] [-8.27565100e-03 -2.46568420e-05 9.99965756e-01 5.77097864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341400513 meters 0.01791818080786811 Centerline is valid? [True, True] Translation: X:8.32, Y:0.37, Z:0.06 [[ 9.98913748e-01 -4.61917637e-02 6.13555643e-03 8.32284743e+00] [ 4.61903710e-02 9.98932587e-01 3.68567228e-04 3.72784265e-01] [-6.14603203e-03 -8.47632431e-05 9.99981109e-01 5.54668510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401400513 meters 0.02320704328000315 Centerline is valid? [True, True] Translation: X:8.38, Y:0.39, Z:0.06 [[ 9.99180236e-01 -3.98186710e-02 7.30269799e-03 8.38273063e+00] [ 3.98165273e-02 9.99206911e-01 4.38764203e-04 3.86283965e-01] [-7.31437731e-03 -1.47636446e-04 9.99973239e-01 5.71496435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461400513 meters 0.02702849387754023 Centerline is valid? [True, True] Translation: X:8.44, Y:0.40, Z:0.06 [[ 9.99335157e-01 -3.56564901e-02 7.60651887e-03 8.44314545e+00] [ 3.56540445e-02 9.99364088e-01 4.56928102e-04 3.97402016e-01] [-7.61797425e-03 -1.85421154e-04 9.99970966e-01 5.70625248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521400513 meters 0.03038880512644002 Centerline is valid? [True, True] Translation: X:8.51, Y:0.41, Z:0.05 [[ 9.99484559e-01 -3.16299941e-02 5.49187639e-03 8.50513062e+00] [ 3.16286612e-02 9.99499634e-01 3.29410245e-04 4.06767942e-01] [-5.49954768e-03 -1.55539756e-04 9.99984865e-01 5.27841705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581400513 meters 0.03284652819503887 Centerline is valid? [True, True] Translation: X:8.57, Y:0.41, Z:0.05 [[ 9.99540911e-01 -2.98023441e-02 5.45772267e-03 8.56637450e+00] [ 2.98010029e-02 9.99555798e-01 3.26922980e-04 4.13642660e-01] [-5.46504141e-03 -1.64127285e-04 9.99985053e-01 5.30003063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641400513 meters 0.042480755500025336 Centerline is valid? [True, True] Translation: X:8.63, Y:0.43, Z:0.06 [[ 9.99748951e-01 -2.12465616e-02 7.11461695e-03 8.62500215e+00] [ 2.12440643e-02 9.99774228e-01 4.26401355e-04 4.30649747e-01] [-7.12207024e-03 -2.75150927e-04 9.99974600e-01 5.63019018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701400513 meters 0.048113420856352646 Centerline is valid? [True, True] Translation: X:8.69, Y:0.44, Z:0.05 [[ 9.99873265e-01 -1.50438584e-02 5.20915880e-03 8.68564299e+00] [ 1.50424365e-02 9.99886807e-01 3.12051974e-04 4.41194629e-01] [-5.21326363e-03 -2.33653986e-04 9.99986384e-01 5.33260305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761400513 meters 0.05959240666114778 Centerline is valid? [True, True] Translation: X:8.74, Y:0.46, Z:0.05 [[ 9.99979640e-01 -6.20278523e-03 1.49842012e-03 8.74390318e+00] [ 6.20265740e-03 9.99980759e-01 8.99401066e-05 4.59285244e-01] [-1.49894917e-03 -8.06440887e-05 9.99998873e-01 4.89637535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821400513 meters 0.06223074215186694 Centerline is valid? [True, True] Translation: X:8.80, Y:0.47, Z:0.05 [[ 9.99999491e-01 9.64528564e-04 2.95423421e-04 8.80438245e+00] [-9.64533833e-04 9.99999535e-01 1.76933795e-05 4.65133868e-01] [-2.95406218e-04 -1.79783164e-05 9.99999956e-01 4.56762967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881400512999999 meters 0.06458026205867909 Centerline is valid? [True, True] Translation: X:8.86, Y:0.47, Z:0.05 [[ 9.99988039e-01 4.72401474e-03 1.26700966e-03 8.86485498e+00] [-4.72411474e-03 9.99988838e-01 7.59458224e-05 4.69934658e-01] [-1.26663675e-03 -8.19304130e-05 9.99999194e-01 4.77697566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941400513 meters 0.06959481152996155 Centerline is valid? [True, True] Translation: X:8.92, Y:0.48, Z:0.05 [[ 9.99967277e-01 7.96180152e-03 1.43352063e-03 8.92381467e+00] [-7.96193280e-03 9.99968300e-01 8.58960854e-05 4.82460376e-01] [-1.43279130e-03 -9.73068696e-05 9.99998969e-01 4.96779635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001400513 meters 0.07205203850004 Centerline is valid? [True, True] Translation: X:8.98, Y:0.49, Z:0.05 [[ 9.99908332e-01 1.34608773e-02 1.46053206e-03 8.98415403e+00] [-1.34610195e-02 9.99909393e-01 8.75775302e-05 4.88799189e-01] [-1.45922086e-03 -1.07229753e-04 9.99998930e-01 4.91005028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061400513 meters 0.0771117594205243 Centerline is valid? [True, True] Translation: X:9.04, Y:0.50, Z:0.05 [[ 9.99869697e-01 1.60632399e-02 1.60039040e-03 9.04266930e+00] [-1.60634141e-02 9.99870970e-01 9.60887801e-05 4.99182320e-01] [-1.59864041e-03 -1.21783993e-04 9.99998715e-01 4.98088673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121400513 meters 0.0720851776931468 Centerline is valid? [True, True] Translation: X:9.10, Y:0.49, Z:0.05 [[ 9.99865581e-01 1.61747777e-02 2.68256378e-03 9.10273262e+00] [-1.61752677e-02 9.99869159e-01 1.61060958e-04 4.94782006e-01] [-2.67960766e-03 -2.04430496e-04 9.99996389e-01 5.15373242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181400513 meters 0.07633168971145994 Centerline is valid? [True, True] Translation: X:9.16, Y:0.50, Z:0.05 [[ 9.99855965e-01 1.62652984e-02 4.84659527e-03 9.16244414e+00] [-1.62668971e-02 9.99867643e-01 2.90622818e-04 5.01677819e-01] [-4.84122672e-03 -3.69420024e-04 9.99988213e-01 5.48392383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241400513 meters 0.08845919607736889 Centerline is valid? [True, True] Translation: X:9.22, Y:0.52, Z:0.05 [[ 9.99824341e-01 1.85321542e-02 2.80112068e-03 9.22141749e+00] [-1.85326966e-02 9.99828241e-01 1.67799378e-04 5.19251337e-01] [-2.79752988e-03 -2.19682222e-04 9.99996063e-01 5.42775353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301400512999999 meters 0.07576770154426755 Centerline is valid? [True, True] Translation: X:9.28, Y:0.51, Z:0.05 [[ 9.99825190e-01 1.85431264e-02 2.39634322e-03 9.28332009e+00] [-1.85435237e-02 9.99828044e-01 1.43668343e-04 5.05175163e-01] [-2.39326709e-03 -1.88079875e-04 9.99997118e-01 5.24978304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361400513 meters 0.0742350929370411 Centerline is valid? [True, True] Translation: X:9.34, Y:0.50, Z:0.05 [[ 9.99889664e-01 1.48019306e-02 1.25036691e-03 9.34354113e+00] [-1.48020359e-02 9.99890441e-01 7.49713769e-05 5.01536907e-01] [-1.24912020e-03 -9.34710807e-05 9.99999215e-01 5.04077210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421400513 meters 0.07629636084332424 Centerline is valid? [True, True] Translation: X:9.40, Y:0.50, Z:0.05 [[ 9.99899308e-01 1.41808042e-02 -5.28083788e-04 9.40284103e+00] [-1.41808228e-02 9.99899447e-01 -3.16022862e-05 5.03659542e-01] [ 5.27582542e-04 3.90877667e-05 9.99999860e-01 4.81066385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481400513 meters 0.07480797687963887 Centerline is valid? [True, True] Translation: X:9.46, Y:0.50, Z:0.05 [[ 9.99846161e-01 1.75186112e-02 -8.67955868e-04 9.46353334e+00] [-1.75186630e-02 9.99846535e-01 -5.20517796e-05 5.02834434e-01] [ 8.66910792e-04 6.72491983e-05 9.99999622e-01 4.89401297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541400513 meters 0.08561126844179513 Centerline is valid? [True, True] Translation: X:9.52, Y:0.52, Z:0.05 [[ 9.99777465e-01 2.09415970e-02 -2.54364863e-03 9.52191105e+00] [-2.09420523e-02 9.99780680e-01 -1.52462861e-04 5.17682449e-01] [ 2.53989794e-03 2.05698155e-04 9.99996753e-01 4.75552941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601400513 meters 0.07807371299523447 Centerline is valid? [True, True] Translation: X:9.58, Y:0.51, Z:0.05 [[ 9.99781417e-01 2.06887485e-02 -3.01552858e-03 9.58102529e+00] [-2.06893872e-02 9.99785935e-01 -1.80776958e-04 5.07130985e-01] [ 3.01114302e-03 2.43126882e-04 9.99995437e-01 4.64373965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661400513 meters 0.07988618210804595 Centerline is valid? [True, True] Translation: X:9.64, Y:0.51, Z:0.05 [[ 9.99823394e-01 1.85597907e-02 -2.95206559e-03 9.63988766e+00] [-1.85603943e-02 9.99827725e-01 -1.77192771e-04 5.12875951e-01] [ 2.94826837e-03 2.31952979e-04 9.99995627e-01 4.67311637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721400512999999 meters 0.07731174417474826 Centerline is valid? [True, True] Translation: X:9.70, Y:0.51, Z:0.05 [[ 9.99845540e-01 1.72030507e-02 -3.59887503e-03 9.69973372e+00] [-1.72039392e-02 9.99851978e-01 -2.16070057e-04 5.13266490e-01] [ 3.59462525e-03 2.77951509e-04 9.99993501e-01 4.64987452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781400513 meters 0.07882842484894877 Centerline is valid? [True, True] Translation: X:9.76, Y:0.52, Z:0.05 [[ 9.99848145e-01 1.73489074e-02 -1.64391581e-03 9.75837094e+00] [-1.73490928e-02 9.99849488e-01 -9.85753583e-05 5.18440151e-01] [ 1.64195821e-03 1.27080837e-04 9.99998644e-01 5.04434393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841400513 meters 0.07921418457251107 Centerline is valid? [True, True] Translation: X:9.82, Y:0.52, Z:0.05 [[ 9.99872009e-01 1.59143992e-02 -1.64255043e-03 9.81827323e+00] [-1.59145826e-02 9.99873350e-01 -9.86624857e-05 5.18190746e-01] [ 1.64077224e-03 1.24790362e-04 9.99998646e-01 5.10625074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901400513 meters 0.07336637672391638 Centerline is valid? [True, True] Translation: X:9.88, Y:0.51, Z:0.05 [[ 9.99903352e-01 1.38919979e-02 -5.47389763e-04 9.87922723e+00] [-1.38920180e-02 9.99903501e-01 -3.28639316e-05 5.12234099e-01] [ 5.46880394e-04 4.04651038e-05 9.99999850e-01 5.18562657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961400513 meters 0.07598582232664042 Centerline is valid? [True, True] Translation: X:9.94, Y:0.52, Z:0.05 [[ 9.99925907e-01 1.21672297e-02 3.71826486e-04 9.93809923e+00] [-1.21672389e-02 9.99925976e-01 2.25059739e-05 5.15593094e-01] [-3.71525127e-04 -2.70284081e-05 9.99999931e-01 5.45689885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021400513 meters 0.07851855334194978 Centerline is valid? [True, True] Translation: X:10.00, Y:0.52, Z:0.05 [[ 9.99907063e-01 1.32661422e-02 -3.14235336e-03 9.99735763e+00] [-1.32668019e-02 9.99911974e-01 -1.89174429e-04 5.16521750e-01] [ 3.13956714e-03 2.30845827e-04 9.99995045e-01 4.99444730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081400513 meters 0.08504065200145482 Centerline is valid? [True, True] Translation: X:10.06, Y:0.53, Z:0.05 [[ 9.99849408e-01 1.69294277e-02 -3.81523444e-03 1.00566260e+01] [-1.69304258e-02 9.99856644e-01 -2.29474424e-04 5.25628202e-01] [ 3.81080264e-03 2.94033411e-04 9.99992696e-01 4.92082663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141400512999999 meters 0.09233804089304143 Centerline is valid? [True, True] Translation: X:10.12, Y:0.54, Z:0.05 [[ 9.99613014e-01 2.77383351e-02 -2.09913790e-03 1.01162346e+01] [-2.77386610e-02 9.99615201e-01 -1.26275148e-04 5.39568104e-01] [ 2.09482750e-03 1.84453556e-04 9.99997789e-01 5.27720918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201400513 meters 0.09656212578425566 Centerline is valid? [True, True] Translation: X:10.18, Y:0.55, Z:0.05 [[ 9.99332980e-01 3.63793273e-02 -3.18436163e-03 1.01763536e+01] [-3.63801208e-02 9.99338006e-01 -1.91594005e-04 5.52982559e-01] [ 3.17528354e-03 3.07313668e-04 9.99994912e-01 5.05214834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261400513 meters 0.11081403888134954 Centerline is valid? [True, False] Translation: X:10.18, Y:0.55, Z:0.05 [[ 9.99436361e-01 3.35518599e-02 -1.11035681e-03 1.01776362e+01] [-3.35290417e-02 9.99301922e-01 1.64764313e-02 5.50814781e-01] [ 1.66239661e-03 -1.64299153e-02 9.99863638e-01 4.69890465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321400513 meters 0.10110620226918514 Centerline is valid? [False, False] Translation: X:10.18, Y:0.56, Z:0.05 [[ 9.99595093e-01 2.84415089e-02 -8.54826792e-04 1.01760250e+01] [-2.84316314e-02 9.99546410e-01 9.93058110e-03 5.60048969e-01] [ 1.13687976e-03 -9.90225602e-03 9.99950325e-01 4.75546014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381400512999999 meters 0.0933843041996926 Centerline is valid? [False, True] Translation: X:10.17, Y:0.56, Z:0.05 [[ 9.99897528e-01 1.43068362e-02 4.97731888e-04 1.01734083e+01] [-1.43128056e-02 9.99778972e-01 1.53996848e-02 5.60575692e-01] [-2.77301108e-04 -1.54052307e-02 9.99881294e-01 4.80200792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441400513 meters 0.1002517364432091 Centerline is valid? [True, False] Translation: X:10.17, Y:0.56, Z:0.05 [[ 9.99953199e-01 9.66229214e-03 4.90546647e-04 1.01732675e+01] [-9.66675819e-03 9.99902179e-01 1.01087544e-02 5.64747210e-01] [-3.92824923e-04 -1.01130233e-02 9.99948785e-01 4.79169080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501400513 meters 0.0889266349565257 Centerline is valid? [False, True] Translation: X:10.17, Y:0.57, Z:0.05 [[ 9.99987042e-01 5.06958025e-03 4.63951552e-04 1.01732809e+01] [-5.07186394e-03 9.99974330e-01 5.06109605e-03 5.67893141e-01] [-4.38282010e-04 -5.06338357e-03 9.99987085e-01 4.77790498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561400512999999 meters 0.0874964792199913 Centerline is valid? [True, True] Translation: X:10.23, Y:0.58, Z:0.06 [[ 9.99978249e-01 4.00871128e-03 5.23760977e-03 1.02337402e+01] [-4.01107006e-03 9.99991859e-01 4.39926047e-04 5.75418719e-01] [-5.23580359e-03 -4.60924897e-04 9.99986187e-01 5.53282775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621400513 meters 0.09602956776000104 Centerline is valid? [True, True] Translation: X:10.29, Y:0.59, Z:0.06 [[ 9.99965019e-01 4.72517393e-03 6.90172667e-03 1.02937347e+01] [-4.72928139e-03 9.99988649e-01 5.78935699e-04 5.89506786e-01] [-6.89891275e-03 -6.11555655e-04 9.99976015e-01 5.81055495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681400513 meters 0.0911189255371099 Centerline is valid? [True, True] Translation: X:10.36, Y:0.59, Z:0.06 [[ 9.99952911e-01 7.74288037e-03 5.85017527e-03 1.03552866e+01] [-7.74588080e-03 9.99969880e-01 4.90394615e-04 5.90828489e-01] [-5.84620200e-03 -5.35686283e-04 9.99982767e-01 5.56184045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741400513 meters 0.0941839604662573 Centerline is valid? [True, True] Translation: X:10.42, Y:0.60, Z:0.06 [[ 9.99936855e-01 7.93037331e-03 7.96215422e-03 1.04157993e+01] [-7.93592967e-03 9.99968288e-01 6.66494103e-04 6.01696544e-01] [-7.95661618e-03 -7.29639113e-04 9.99968079e-01 5.84036222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801400512999999 meters 0.09164945145517739 Centerline is valid? [True, True] Translation: X:10.48, Y:0.60, Z:0.06 [[ 9.99944212e-01 6.89078604e-03 8.00565393e-03 1.04776472e+01] [-6.89636613e-03 9.99975996e-01 6.69622253e-04 6.03603609e-01] [-8.00084753e-03 -7.24794817e-04 9.99967730e-01 5.74292053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861400513 meters 0.08818425725489205 Centerline is valid? [True, True] Translation: X:10.54, Y:0.60, Z:0.05 [[ 9.99981747e-01 5.20371726e-03 3.07026072e-03 1.05385404e+01] [-5.20452998e-03 9.99986423e-01 2.56776739e-04 6.02253020e-01] [-3.06888284e-03 -2.72751316e-04 9.99995254e-01 4.93856330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921400513 meters 0.09573121559558681 Centerline is valid? [True, True] Translation: X:10.60, Y:0.61, Z:0.05 [[ 9.99989000e-01 3.83404078e-03 2.70187562e-03 1.05974395e+01] [-3.83466521e-03 9.99992622e-01 2.25968286e-04 6.12355640e-01] [-2.70098932e-03 -2.36326589e-04 9.99996324e-01 4.85965659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981400513 meters 0.086119395446172 Centerline is valid? [True, True] Translation: X:10.66, Y:0.60, Z:0.05 [[ 9.99982072e-01 3.80043461e-03 4.62728681e-03 1.06607291e+01] [-3.80226398e-03 9.99992697e-01 3.86610406e-04 6.03142209e-01] [-4.62578373e-03 -4.04197641e-04 9.99989219e-01 5.11648148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041400513 meters 0.08897090694403813 Centerline is valid? [True, True] Translation: X:10.72, Y:0.61, Z:0.05 [[ 9.99986975e-01 4.29503133e-03 2.75725078e-03 1.07214995e+01] [-4.29568187e-03 9.99990747e-01 2.30059015e-04 6.10402150e-01] [-2.75623716e-03 -2.41900291e-04 9.99996172e-01 4.87819337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101400513 meters 0.08903903169480902 Centerline is valid? [True, True] Translation: X:10.78, Y:0.61, Z:0.04 [[ 9.99985208e-01 5.36351821e-03 9.03662720e-04 1.07824486e+01] [-5.36358844e-03 9.99985613e-01 7.53116604e-05 6.12127220e-01] [-9.03245784e-04 -8.01574214e-05 9.99999589e-01 4.41677069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161400513 meters 0.09084321884316102 Centerline is valid? [True, True] Translation: X:10.84, Y:0.62, Z:0.05 [[ 9.99980928e-01 5.70797132e-03 2.35860337e-03 1.08430692e+01] [-5.70845055e-03 9.99983687e-01 1.96501688e-04 6.17632887e-01] [-2.35744327e-03 -2.09961911e-04 9.99997199e-01 4.64368113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221400512999999 meters 0.09215268579156596 Centerline is valid? [True, True] Translation: X:10.90, Y:0.62, Z:0.05 [[ 9.99955341e-01 9.33595147e-03 1.46802621e-03 1.09038071e+01] [-9.33614098e-03 9.99956410e-01 1.22291315e-04 6.20514499e-01] [-1.46682051e-03 -1.35991554e-04 9.99998915e-01 4.67635947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281400513 meters 0.1063404018097135 Centerline is valid? [True, False] Translation: X:10.90, Y:0.63, Z:0.05 [[ 9.99958002e-01 9.00281373e-03 1.71553069e-03 1.09031158e+01] [-9.00086949e-03 9.99958844e-01 -1.13768394e-03 6.25944741e-01] [-1.72570244e-03 1.12219490e-03 9.99997881e-01 4.65424006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341400513 meters 0.09612561305834963 Centerline is valid? [False, True] Translation: X:10.92, Y:0.62, Z:0.04 [[ 9.99921242e-01 1.12420847e-02 5.57901428e-03 1.09236491e+01] [-1.13096575e-02 9.99861226e-01 1.22319341e-02 6.20144840e-01] [-5.44072762e-03 -1.22940675e-02 9.99909623e-01 4.34293138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401400513 meters 0.09775285280449407 Centerline is valid? [True, True] Translation: X:10.98, Y:0.64, Z:0.04 [[ 9.99934573e-01 9.57383638e-03 6.26029386e-03 1.09814934e+01] [-9.57755729e-03 9.99953975e-01 5.64657305e-04 6.41640408e-01] [-6.25459980e-03 -6.24578684e-04 9.99980245e-01 4.38459688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461400513 meters 0.08957656383111187 Centerline is valid? [True, True] Translation: X:11.04, Y:0.64, Z:0.04 [[ 9.99975665e-01 2.31791974e-03 6.57997915e-03 1.10426532e+01] [-2.32187491e-03 9.99997128e-01 5.93515939e-04 6.40531866e-01] [-6.57858453e-03 -6.08779385e-04 9.99978176e-01 4.39192536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521400513 meters 0.08773691307110233 Centerline is valid? [True, True] Translation: X:11.10, Y:0.65, Z:0.05 [[ 9.99973681e-01 -1.58924904e-03 7.07892835e-03 1.11027863e+01] [ 1.58476858e-03 9.99998540e-01 6.38494437e-04 6.46209880e-01] [-7.07993275e-03 -6.27259170e-04 9.99974740e-01 4.50011575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581400513 meters 0.0856509710271621 Centerline is valid? [True, True] Translation: X:11.16, Y:0.65, Z:0.04 [[ 9.99978619e-01 -2.54176583e-03 6.02500210e-03 1.11643474e+01] [ 2.53853785e-03 9.99996630e-01 5.43350737e-04 6.49435304e-01] [-6.02636287e-03 -5.28044423e-04 9.99981702e-01 4.27636930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641400512999999 meters 0.08980027635012919 Centerline is valid? [True, True] Translation: X:11.22, Y:0.66, Z:0.04 [[ 9.99984720e-01 -4.59001037e-04 5.50900206e-03 1.12229744e+01] [ 4.56271549e-04 9.99999773e-01 4.96706289e-04 6.64859074e-01] [-5.50922880e-03 -4.94185099e-04 9.99984702e-01 4.10758396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701400513 meters 0.09656390120769061 Centerline is valid? [True, True] Translation: X:11.28, Y:0.69, Z:0.04 [[ 9.99971802e-01 5.10780121e-03 5.50510096e-03 1.12815003e+01] [-5.11061063e-03 9.99986818e-01 4.96385196e-04 6.86700847e-01] [-5.50249296e-03 -5.24505626e-04 9.99984724e-01 4.15067264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761400513 meters 0.09603839874183448 Centerline is valid? [True, True] Translation: X:11.34, Y:0.70, Z:0.04 [[ 9.99966892e-01 7.37955966e-03 3.42894158e-03 1.13412255e+01] [-7.38066280e-03 9.99972715e-01 3.09171124e-04 6.99346310e-01] [-3.42656648e-03 -3.34468749e-04 9.99994073e-01 3.93867619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821400513 meters 0.10528238999905405 Centerline is valid? [True, False] Translation: X:11.34, Y:0.71, Z:0.04 [[ 9.99970552e-01 6.81025671e-03 3.53783805e-03 1.13406455e+01] [-6.80602662e-03 9.99976111e-01 -1.20633549e-03 7.06089844e-01] [-3.54596898e-03 1.18222134e-03 9.99993014e-01 3.98706279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881400512999999 meters 0.08711337265179092 Centerline is valid? [False, True] Translation: X:11.32, Y:0.71, Z:0.04 [[ 9.99984941e-01 1.02732169e-03 5.39098750e-03 1.13165780e+01] [-1.04089832e-03 9.99996293e-01 2.51619363e-03 7.11158754e-01] [-5.38838257e-03 -2.52176721e-03 9.99982303e-01 3.89452438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941400513 meters 0.09106500520850856 Centerline is valid? [True, True] Translation: X:11.37, Y:0.73, Z:0.04 [[ 9.99988392e-01 -2.48820230e-03 4.12619079e-03 1.13749970e+01] [ 2.48665476e-03 9.99996836e-01 3.80139802e-04 7.27715012e-01] [-4.12712360e-03 -3.69874977e-04 9.99991415e-01 3.76481230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001400513 meters 0.0848419978099969 Centerline is valid? [True, True] Translation: X:11.44, Y:0.73, Z:0.04 [[ 9.99933946e-01 -1.07863098e-02 3.96982821e-03 1.14361478e+01] [ 1.07849422e-02 9.99941774e-01 3.65733744e-04 7.27838545e-01] [-3.97354198e-03 -3.22895218e-04 9.99992053e-01 3.66795215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061400512999999 meters 0.07933641383995091 Centerline is valid? [True, True] Translation: X:11.50, Y:0.73, Z:0.04 [[ 9.99901544e-01 -1.35145931e-02 3.77600836e-03 1.14970848e+01] [ 1.35133752e-02 9.99908630e-01 3.47874678e-04 7.27912004e-01] [-3.78036473e-03 -2.96813810e-04 9.99992810e-01 3.58234177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121400513 meters 0.08295243907579176 Centerline is valid? [True, True] Translation: X:11.56, Y:0.74, Z:0.03 [[ 9.99913028e-01 -1.29781901e-02 2.34589163e-03 1.15580070e+01] [ 1.29777186e-02 9.99915763e-01 2.16112285e-04 7.36852746e-01] [-2.34849877e-03 -1.85649167e-04 9.99997225e-01 3.44297975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181400513 meters 0.08559765157660693 Centerline is valid? [True, True] Translation: X:11.62, Y:0.74, Z:0.04 [[ 9.99950751e-01 -8.82342831e-03 4.54335577e-03 1.16185912e+01] [ 8.82161776e-03 9.99961001e-01 4.18391204e-04 7.44888237e-01] [-4.54687023e-03 -3.78290851e-04 9.99989591e-01 3.78658666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241400513 meters 0.08859011705988255 Centerline is valid? [True, True] Translation: X:11.68, Y:0.76, Z:0.04 [[ 9.99965023e-01 -5.49474697e-03 6.30552133e-03 1.16784741e+01] [ 5.49119389e-03 9.99984755e-01 5.80661588e-04 7.55214643e-01] [-6.30861579e-03 -5.46016439e-04 9.99979951e-01 3.93172894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301400512999999 meters 0.09856254310220633 Centerline is valid? [True, True] Translation: X:11.74, Y:0.77, Z:0.04 [[ 9.99967481e-01 -3.33545547e-03 7.34239221e-03 1.17370095e+01] [ 3.33057956e-03 9.99994225e-01 6.76204610e-04 7.71837506e-01] [-7.34460526e-03 -6.51728199e-04 9.99972816e-01 4.06524762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361400513 meters 0.08556416230169221 Centerline is valid? [True, True] Translation: X:11.80, Y:0.76, Z:0.04 [[ 9.99961364e-01 -4.24844793e-03 7.69550354e-03 1.17997799e+01] [ 4.24311943e-03 9.99990747e-01 7.08611821e-04 7.61272823e-01] [-7.69844283e-03 -6.75931503e-04 9.99970138e-01 3.98892307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421400513 meters 0.08651561357342909 Centerline is valid? [True, True] Translation: X:11.86, Y:0.77, Z:0.04 [[ 9.99945063e-01 -7.54602150e-03 7.27514344e-03 1.18595561e+01] [ 7.54134618e-03 9.99971339e-01 6.69863072e-04 7.66083903e-01] [-7.27998973e-03 -6.14961897e-04 9.99973311e-01 3.69759443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481400513 meters 0.08757189550518728 Centerline is valid? [True, True] Translation: X:11.92, Y:0.77, Z:0.04 [[ 9.99900105e-01 -1.22825992e-02 6.99408827e-03 1.19196914e+01] [ 1.22783928e-02 9.99924410e-01 6.44046269e-04 7.65226692e-01] [-7.00147015e-03 -5.58105769e-04 9.99975334e-01 3.60137833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541400513 meters 0.08224400336303407 Centerline is valid? [True, True] Translation: X:11.98, Y:0.76, Z:0.04 [[ 9.99904668e-01 -1.19347485e-02 6.94382956e-03 1.19830910e+01] [ 1.19305955e-02 9.99928624e-01 6.39214575e-04 7.56390179e-01] [-6.95096280e-03 -5.56309616e-04 9.99975687e-01 3.68030616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601400513 meters 0.07894598206545635 Centerline is valid? [True, True] Translation: X:12.05, Y:0.75, Z:0.04 [[ 9.99903153e-01 -1.15460581e-02 7.77007820e-03 1.20459055e+01] [ 1.15408486e-02 9.99933147e-01 7.14961747e-04 7.46820859e-01] [-7.77781374e-03 -6.25219208e-04 9.99969557e-01 3.74161516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661400513 meters 0.07287816607166933 Centerline is valid? [True, True] Translation: X:12.11, Y:0.72, Z:0.04 [[ 9.99783368e-01 -1.78807286e-02 1.06534634e-02 1.21093163e+01] [ 1.78712944e-02 9.99839815e-01 9.80101403e-04 7.24255271e-01] [-1.06692818e-02 -7.89497902e-04 9.99942770e-01 4.10986160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721400512999999 meters 0.06762029794084878 Centerline is valid? [True, True] Translation: X:12.17, Y:0.71, Z:0.04 [[ 9.99616777e-01 -2.54315573e-02 1.09332079e-02 1.21705641e+01] [ 2.54220698e-02 9.99676301e-01 1.00589861e-03 7.11410321e-01] [-1.09552504e-02 -7.27568355e-04 9.99939725e-01 4.19626566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781400513 meters 0.06477559826670853 Centerline is valid? [True, True] Translation: X:12.23, Y:0.70, Z:0.04 [[ 9.99353718e-01 -3.51436708e-02 7.55443497e-03 1.22322010e+01] [ 3.51394178e-02 9.99382178e-01 6.95022018e-04 6.97121477e-01] [-7.57419330e-03 -4.29114391e-04 9.99971223e-01 3.66444607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841400513 meters 0.055272975957663874 Centerline is valid? [True, True] Translation: X:12.29, Y:0.68, Z:0.04 [[ 9.99182541e-01 -3.97867259e-02 7.16001950e-03 1.22941359e+01] [ 3.97830243e-02 9.99208125e-01 6.58729088e-04 6.83954705e-01] [-7.18055833e-03 -3.73343375e-04 9.99974150e-01 3.65270095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901400513 meters 0.050264134273824194 Centerline is valid? [True, True] Translation: X:12.36, Y:0.68, Z:0.04 [[ 9.99036484e-01 -4.32619529e-02 7.38293607e-03 1.23558722e+01] [ 4.32581119e-02 9.99063699e-01 6.79218874e-04 6.78022259e-01] [-7.40540775e-03 -3.59192561e-04 9.99972515e-01 3.78488868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961400513 meters 0.046025994222797455 Centerline is valid? [True, True] Translation: X:12.42, Y:0.67, Z:0.04 [[ 9.98800635e-01 -4.82577099e-02 8.27561725e-03 1.24177824e+01] [ 4.82530557e-02 9.98834853e-01 7.61262541e-04 6.69928753e-01] [-8.30271172e-03 -3.61025689e-04 9.99965467e-01 3.84518303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021400513 meters 0.046261901768989463 Centerline is valid? [True, True] Translation: X:12.48, Y:0.67, Z:0.04 [[ 9.98555746e-01 -5.27351943e-02 1.02674446e-02 1.24776277e+01] [ 5.27282658e-02 9.98608451e-01 9.44520575e-04 6.72021885e-01] [-1.03029664e-02 -4.01771898e-04 9.99946842e-01 4.27891586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081400513 meters 0.03599799003972247 Centerline is valid? [True, True] Translation: X:12.54, Y:0.65, Z:0.04 [[ 9.98175550e-01 -5.94946061e-02 1.02938019e-02 1.25402433e+01] [ 5.94880006e-02 9.98228572e-01 9.46967874e-04 6.54622204e-01] [-1.03319067e-02 -3.32882483e-04 9.99946569e-01 4.10182307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141400512999999 meters 0.03165858720860213 Centerline is valid? [True, True] Translation: X:12.60, Y:0.65, Z:0.04 [[ 9.97871083e-01 -6.43875182e-02 1.03705590e-02 1.26021583e+01] [ 6.43810788e-02 9.97924930e-01 9.53934355e-04 6.49086691e-01] [-1.04104608e-02 -2.84235733e-04 9.99945769e-01 4.08245552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201400513 meters 0.027457398470486272 Centerline is valid? [True, True] Translation: X:12.66, Y:0.64, Z:0.04 [[ 9.97520433e-01 -6.94713401e-02 1.12569522e-02 1.26627187e+01] [ 6.94640802e-02 9.97583916e-01 1.03510614e-03 6.40399127e-01] [-1.13016646e-02 -2.50585699e-04 9.99936103e-01 4.32268300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261400513 meters 0.025682186463044526 Centerline is valid? [True, True] Translation: X:12.72, Y:0.64, Z:0.04 [[ 9.97587196e-01 -6.87894200e-02 9.37032163e-03 1.27239193e+01] [ 6.87843602e-02 9.97631179e-01 8.61562082e-04 6.39745694e-01] [-9.40739138e-03 -2.14951722e-04 9.99955726e-01 3.83169195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321400513 meters 0.027969800149294143 Centerline is valid? [True, True] Translation: X:12.78, Y:0.65, Z:0.04 [[ 9.97745766e-01 -6.65626901e-02 8.53201725e-03 1.27834957e+01] [ 6.65584126e-02 9.97782222e-01 7.84638080e-04 6.45186714e-01] [-8.56532275e-03 -2.14991798e-04 9.99963294e-01 3.61699743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381400512999999 meters 0.027616934510436036 Centerline is valid? [True, True] Translation: X:12.84, Y:0.65, Z:0.04 [[ 9.97764249e-01 -6.63628153e-02 7.90438730e-03 1.28431399e+01] [ 6.63591362e-02 9.97795538e-01 7.27105873e-04 6.46824992e-01] [-7.93521517e-03 -2.00951933e-04 9.99968495e-01 3.55020474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441400513 meters 0.025221947638490113 Centerline is valid? [True, True] Translation: X:12.90, Y:0.65, Z:0.03 [[ 9.97581090e-01 -6.91346120e-02 7.23694887e-03 1.29022237e+01] [ 6.91315987e-02 9.97607327e-01 6.66002847e-04 6.46896603e-01] [-7.26567706e-03 -1.64090001e-04 9.99973591e-01 3.43800380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501400513 meters 0.018041897775408898 Centerline is valid? [True, True] Translation: X:12.96, Y:0.64, Z:0.03 [[ 9.97080581e-01 -7.60000544e-02 7.36935675e-03 1.29626587e+01] [ 7.59971160e-02 9.97107807e-01 6.78353754e-04 6.44015080e-01] [-7.39959807e-03 -1.16323495e-04 9.99972616e-01 3.39152671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561400512999999 meters 0.01516756631664997 Centerline is valid? [True, True] Translation: X:13.02, Y:0.65, Z:0.04 [[ 9.96697679e-01 -8.05086580e-02 1.05873853e-02 1.30203776e+01] [ 8.05028412e-02 9.96753902e-01 9.75125659e-04 6.45191540e-01] [-1.06315237e-02 -1.19590882e-04 9.99943477e-01 4.00832344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621400513 meters 0.021417198263001282 Centerline is valid? [True, True] Translation: X:13.08, Y:0.65, Z:0.04 [[ 9.96361735e-01 -8.47598166e-02 8.89189791e-03 1.30790052e+01] [ 8.47558721e-02 9.96401410e-01 8.20181963e-04 6.46801043e-01] [-8.92941809e-03 -6.35573620e-05 9.99960130e-01 3.72187422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681400513 meters 0.0075524947077184905 Centerline is valid? [True, True] Translation: X:13.14, Y:0.65, Z:0.03 [[ 9.95810407e-01 -9.11955023e-02 6.70915005e-03 1.31383464e+01] [ 9.11933956e-02 9.95833008e-01 6.19899657e-04 6.46069653e-01] [-6.73772514e-03 -5.47235523e-06 9.99977301e-01 3.44168919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741400513 meters 0.008608320361584113 Centerline is valid? [True, True] Translation: X:13.20, Y:0.65, Z:0.04 [[ 9.95427232e-01 -9.50575639e-02 9.41728251e-03 1.31969259e+01] [ 9.50535690e-02 9.95471777e-01 8.71900282e-04 6.51411267e-01] [-9.45751967e-03 2.72330284e-05 9.99955276e-01 3.96492334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801400512999999 meters 0.01337314218689283 Centerline is valid? [True, True] Translation: X:13.25, Y:0.66, Z:0.04 [[ 9.94782217e-01 -1.01457652e-01 1.07090891e-02 1.32540733e+01] [ 1.01452842e-01 9.94839854e-01 9.92842633e-04 6.55121949e-01] [-1.07545602e-02 9.88053359e-05 9.99942163e-01 4.27481573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861400513 meters 0.015624987521842198 Centerline is valid? [True, True] Translation: X:13.31, Y:0.66, Z:0.04 [[ 9.94365476e-01 -1.05304786e-01 1.21738045e-02 1.33121405e+01] [ 1.05298848e-01 9.94439981e-01 1.12952754e-03 6.61806175e-01] [-1.22250626e-02 1.58724395e-04 9.99925259e-01 4.41777304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921400513 meters 0.020154481202920557 Centerline is valid? [True, True] Translation: X:13.37, Y:0.67, Z:0.05 [[ 9.93986256e-01 -1.08764061e-01 1.27162115e-02 1.33692996e+01] [ 1.08757851e-01 9.94067571e-01 1.18098079e-03 6.74582230e-01] [-1.27692217e-02 2.09109153e-04 9.99918448e-01 4.73907550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981400512999999 meters 0.022705765328250523 Centerline is valid? [True, True] Translation: X:13.43, Y:0.68, Z:0.04 [[ 9.93672298e-01 -1.11878637e-01 9.92643021e-03 1.34278565e+01] [ 1.11874993e-01 9.93721859e-01 9.23354337e-04 6.84797220e-01] [-9.96741431e-03 1.93007686e-04 9.99950305e-01 4.19148012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041400513 meters 0.02948702864182162 Centerline is valid? [True, True] Translation: X:13.49, Y:0.69, Z:0.04 [[ 9.92870873e-01 -1.18848814e-01 9.07683778e-03 1.34882204e+01] [ 1.18846055e-01 9.92912333e-01 8.44727338e-04 6.88901817e-01] [-9.11289902e-03 2.40041191e-04 9.99958448e-01 3.91995539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101400513 meters 0.04382070063563543 Centerline is valid? [True, True] Translation: X:13.55, Y:0.68, Z:0.04 [[ 9.90973354e-01 -1.33535936e-01 1.18307406e-02 1.35489070e+01] [ 1.33532290e-01 9.91043851e-01 1.10110411e-03 6.83804745e-01] [-1.18718197e-02 4.88621052e-04 9.99929408e-01 4.25022469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161400513 meters 0.05498610858347621 Centerline is valid? [True, True] Translation: X:13.61, Y:0.68, Z:0.04 [[ 9.89984788e-01 -1.40790297e-01 1.04025170e-02 1.36085067e+01] [ 1.40787877e-01 9.90039310e-01 9.68241383e-04 6.80022795e-01] [-1.04352197e-02 5.06004039e-04 9.99945424e-01 4.04048610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221400512999999 meters 0.05554639219281864 Centerline is valid? [True, True] Translation: X:13.67, Y:0.69, Z:0.04 [[ 9.89353557e-01 -1.45246245e-01 9.11414133e-03 1.36687336e+01] [ 1.45244575e-01 9.89395418e-01 8.48332732e-04 6.89673980e-01] [-9.14070681e-03 4.84478580e-04 9.99958106e-01 3.54509593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281400513 meters 0.05427355287841366 Centerline is valid? [True, True] Translation: X:13.73, Y:0.70, Z:0.04 [[ 9.89210892e-01 -1.46164595e-01 9.88544015e-03 1.37274066e+01] [ 1.46162664e-01 9.89260141e-01 9.21423070e-04 6.96726231e-01] [-9.91395134e-03 5.33400531e-04 9.99950713e-01 3.66406393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341400513 meters 0.05835623744539292 Centerline is valid? [True, True] Translation: X:13.79, Y:0.70, Z:0.04 [[ 9.88999668e-01 -1.47601908e-01 9.66093865e-03 1.37855970e+01] [ 1.47600124e-01 9.89046708e-01 9.01248072e-04 6.98716597e-01] [-9.68814551e-03 5.34621702e-04 9.99952926e-01 3.81960738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401400512999999 meters 0.057545794951581374 Centerline is valid? [True, True] Translation: X:13.84, Y:0.71, Z:0.04 [[ 9.88902624e-01 -1.48245062e-01 9.74692924e-03 1.38432738e+01] [ 1.48243273e-01 9.88950506e-01 9.09832917e-04 7.08091401e-01] [-9.77410885e-03 5.45180533e-04 9.99952084e-01 3.82699764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461400513 meters 0.06226298786265676 Centerline is valid? [True, True] Translation: X:13.90, Y:0.71, Z:0.04 [[ 9.88598778e-01 -1.50094930e-01 1.19986955e-02 1.39028106e+01] [ 1.50092349e-01 9.88671347e-01 1.12040500e-03 7.07105268e-01] [-1.20309336e-02 6.93281380e-04 9.99927385e-01 4.15250778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521400513 meters 0.05956858530976253 Centerline is valid? [True, True] Translation: X:13.96, Y:0.72, Z:0.04 [[ 9.88402172e-01 -1.51421041e-01 1.15245279e-02 1.39614714e+01] [ 1.51418746e-01 9.88469122e-01 1.07650867e-03 7.16083977e-01] [-1.15546460e-02 6.81006052e-04 9.99933011e-01 4.00440791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581400513 meters 0.05890440820612699 Centerline is valid? [True, True] Translation: X:14.02, Y:0.73, Z:0.04 [[ 9.89243231e-01 -1.45784682e-01 1.20273098e-02 1.40205762e+01] [ 1.45781764e-01 9.89316135e-01 1.12370599e-03 7.25864461e-01] [-1.20626308e-02 6.41743895e-04 9.99927038e-01 4.12190071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641400512999999 meters 0.04867805150136156 Centerline is valid? [True, True] Translation: X:14.08, Y:0.75, Z:0.04 [[ 9.90159753e-01 -1.39231187e-01 1.40833624e-02 1.40787945e+01] [ 1.39226521e-01 9.90259685e-01 1.31597407e-03 7.48422503e-01] [-1.41294106e-02 6.57752995e-04 9.99899959e-01 4.41458413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701400513 meters 0.04859521830416677 Centerline is valid? [True, True] Translation: X:14.14, Y:0.77, Z:0.04 [[ 9.91182018e-01 -1.31926880e-01 1.23897615e-02 1.41366471e+01] [ 1.31922698e-01 9.91259331e-01 1.15781826e-03 7.67817970e-01] [-1.24342141e-02 4.86882134e-04 9.99922574e-01 4.30113271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761400513 meters 0.04038390413415977 Centerline is valid? [True, True] Translation: X:14.19, Y:0.79, Z:0.04 [[ 9.91358325e-01 -1.30626186e-01 1.20611182e-02 1.41944373e+01] [ 1.30622108e-01 9.91431587e-01 1.12865318e-03 7.87112847e-01] [-1.21052052e-02 4.56548952e-04 9.99926625e-01 3.94110920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821400513 meters 0.04494184837438468 Centerline is valid? [True, True] Translation: X:14.25, Y:0.79, Z:0.04 [[ 9.91229566e-01 -1.31373830e-01 1.43130919e-02 1.42512283e+01] [ 1.31368147e-01 9.91332746e-01 1.34062225e-03 7.94466783e-01] [-1.43651594e-02 5.51419946e-04 9.99896664e-01 4.37261074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881400512999999 meters 0.042250611615775764 Centerline is valid? [True, True] Translation: X:14.31, Y:0.82, Z:0.04 [[ 9.90945624e-01 -1.33395871e-01 1.52417665e-02 1.43088788e+01] [ 1.33389652e-01 9.91062642e-01 1.42844735e-03 8.15576042e-01] [-1.52960944e-02 6.17580284e-04 9.99882817e-01 4.40670948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941400513 meters 0.0440735230266153 Centerline is valid? [True, True] Translation: X:14.37, Y:0.83, Z:0.04 [[ 9.90734177e-01 -1.35003530e-01 1.48269032e-02 1.43667178e+01] [ 1.34997792e-01 9.90844922e-01 1.39177479e-03 8.26559810e-01] [-1.48790562e-02 6.22720341e-04 9.99889107e-01 4.25757964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001400513 meters 0.04668032398351862 Centerline is valid? [True, True] Translation: X:14.42, Y:0.84, Z:0.04 [[ 9.90525055e-01 -1.36383548e-01 1.61134227e-02 1.44249699e+01] [ 1.36376939e-01 9.90655864e-01 1.51340161e-03 8.36051954e-01] [-1.61692598e-02 6.98437051e-04 9.99869025e-01 4.38665917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061400512999999 meters 0.04530620463544777 Centerline is valid? [True, True] Translation: X:14.48, Y:0.85, Z:0.04 [[ 9.90386657e-01 -1.37487256e-01 1.52159450e-02 1.44817374e+01] [ 1.37481480e-01 9.90503305e-01 1.42995343e-03 8.54892231e-01] [-1.52680442e-02 6.75703838e-04 9.99883208e-01 4.11865149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121400513 meters 0.045550623178970046 Centerline is valid? [True, True] Translation: X:14.54, Y:0.87, Z:0.04 [[ 9.90208917e-01 -1.38768010e-01 1.51572144e-02 1.45394075e+01] [ 1.38762393e-01 9.90324675e-01 1.42675244e-03 8.68326992e-01] [-1.52085511e-02 6.90468359e-04 9.99884105e-01 3.98783609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181400513 meters 0.051069021732857905 Centerline is valid? [True, True] Translation: X:14.60, Y:0.88, Z:0.04 [[ 9.89731360e-01 -1.41915922e-01 1.70793848e-02 1.45978394e+01] [ 1.41909247e-01 9.89878366e-01 1.60830286e-03 8.77177282e-01] [-1.71347573e-02 8.31934847e-04 9.99852843e-01 4.30048169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241400513 meters 0.05506712655405107 Centerline is valid? [True, True] Translation: X:14.66, Y:0.89, Z:0.04 [[ 9.89265871e-01 -1.45085294e-01 1.74153308e-02 1.46575288e+01] [ 1.45078841e-01 9.89418739e-01 1.64006359e-03 8.89567079e-01] [-1.74690038e-02 9.04137077e-04 9.99846997e-01 4.16435294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301400512999999 meters 0.05675190901704093 Centerline is valid? [True, True] Translation: X:14.72, Y:0.89, Z:0.04 [[ 9.88604639e-01 -1.49457624e-01 1.79801401e-02 1.47175899e+01] [ 1.49451463e-01 9.88767613e-01 1.69344011e-03 8.92748635e-01] [-1.80312778e-02 1.01301550e-03 9.99836910e-01 4.20134211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361400513 meters 0.06552979961526724 Centerline is valid? [True, True] Translation: X:14.78, Y:0.89, Z:0.04 [[ 9.86874046e-01 -1.60506812e-01 1.78095438e-02 1.47783613e+01] [ 1.60502555e-01 9.87033999e-01 1.67747917e-03 8.91299023e-01] [-1.78478721e-02 1.20301663e-03 9.99839990e-01 4.00354779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421400513 meters 0.07093760594138826 Centerline is valid? [True, True] Translation: X:14.84, Y:0.89, Z:0.04 [[ 9.85658922e-01 -1.67770721e-01 1.81514461e-02 1.48391178e+01] [ 1.67767522e-01 9.85825104e-01 1.70973745e-03 8.87397361e-01] [-1.81809952e-02 1.36000515e-03 9.99833787e-01 3.83287907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481400512999999 meters 0.07856979881342167 Centerline is valid? [True, True] Translation: X:14.90, Y:0.88, Z:0.04 [[ 9.84927031e-01 -1.72197085e-01 1.63373228e-02 1.48988932e+01] [ 1.72195096e-01 9.85061663e-01 1.53895726e-03 8.80030414e-01] [-1.63582743e-02 1.29744626e-03 9.99865353e-01 3.83765486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541400513 meters 0.07250981967973598 Centerline is valid? [True, True] Translation: X:14.96, Y:0.89, Z:0.04 [[ 9.85064004e-01 -1.71466673e-01 1.57507912e-02 1.49571661e+01] [ 1.71464721e-01 9.85189142e-01 1.48435930e-03 8.91196453e-01] [-1.57720266e-02 1.23851610e-03 9.99874847e-01 3.70776796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601400513 meters 0.07388716707796862 Centerline is valid? [True, True] Translation: X:15.02, Y:0.89, Z:0.04 [[ 9.85678107e-01 -1.67934460e-01 1.53845932e-02 1.50170124e+01] [ 1.67932165e-01 9.85797487e-01 1.45013676e-03 8.91152318e-01] [-1.54096213e-02 1.15419999e-03 9.99880599e-01 3.64087428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661400513 meters 0.0696339344245288 Centerline is valid? [True, True] Translation: X:15.08, Y:0.90, Z:0.03 [[ 9.85904944e-01 -1.66715652e-01 1.40475483e-02 1.50767724e+01] [ 1.66713613e-01 9.86004471e-01 1.32427600e-03 8.97228090e-01] [-1.40717230e-02 1.03630729e-03 9.99900451e-01 3.22655219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721400512999999 meters 0.07223177971421053 Centerline is valid? [True, True] Translation: X:15.14, Y:0.90, Z:0.03 [[ 9.85638718e-01 -1.68356081e-01 1.31357211e-02 1.51370612e+01] [ 1.68354441e-01 9.85725747e-01 1.23848050e-03 8.95207616e-01] [-1.31567242e-02 9.90762645e-04 9.99912956e-01 3.08094778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781400513 meters 0.0733589179739129 Centerline is valid? [True, True] Translation: X:15.19, Y:0.89, Z:0.03 [[ 9.85606304e-01 -1.68597521e-01 1.24535299e-02 1.51940054e+01] [ 1.68596049e-01 9.85684529e-01 1.17552414e-03 8.94458854e-01] [-1.24734422e-02 9.41011932e-04 9.99921761e-01 2.89460835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841400513 meters 0.0687660824681771 Centerline is valid? [True, True] Translation: X:15.25, Y:0.90, Z:0.03 [[ 9.85999728e-01 -1.66297797e-01 1.22302609e-02 1.52542734e+01] [ 1.66296198e-01 9.86075170e-01 1.15474206e-03 9.03557547e-01] [-1.22519877e-02 8.95270527e-04 9.99924541e-01 2.72240207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901400512999999 meters 0.06541933453550372 Centerline is valid? [True, True] Translation: X:15.31, Y:0.91, Z:0.02 [[ 9.86700852e-01 -1.62210903e-01 1.04428000e-02 1.53148071e+01] [ 1.62209508e-01 9.86755848e-01 9.86063245e-04 9.08842873e-01] [-1.04644442e-02 7.20972004e-04 9.99944986e-01 2.41979772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961400513 meters 0.061827205229044696 Centerline is valid? [True, True] Translation: X:15.37, Y:0.92, Z:0.02 [[ 9.86966779e-01 -1.60789603e-01 6.57879178e-03 1.53739180e+01] [ 1.60789017e-01 9.86988605e-01 6.21324590e-04 9.15677990e-01] [-6.59309506e-03 4.44570736e-04 9.99978166e-01 1.73388699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021400513 meters 0.06590691387924345 Centerline is valid? [True, True] Translation: X:15.43, Y:0.91, Z:0.01 [[ 9.87154085e-01 -1.59701058e-01 4.73121217e-03 1.54336024e+01] [ 1.59700742e-01 9.87165373e-01 4.46931522e-04 9.14204418e-01] [-4.74186426e-03 3.14387814e-04 9.99988708e-01 1.45563253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081400513 meters 0.06633964120886195 Centerline is valid? [True, True] Translation: X:15.49, Y:0.92, Z:0.02 [[ 9.87378959e-01 -1.58303050e-01 4.78904699e-03 1.54932885e+01] [ 1.58302710e-01 9.87390524e-01 4.52476043e-04 9.20562303e-01] [-4.80028795e-03 3.11353792e-04 9.99988430e-01 1.51101289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141400513 meters 0.06011123086597001 Centerline is valid? [True, True] Translation: X:15.55, Y:0.94, Z:0.02 [[ 9.87792789e-01 -1.55556135e-01 8.22768671e-03 1.55521224e+01] [ 1.55555034e-01 9.87826922e-01 7.77466470e-04 9.35352099e-01] [-8.24847011e-03 5.11882315e-04 9.99965850e-01 2.04526123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201400513 meters 0.0641315060500541 Centerline is valid? [True, True] Translation: X:15.61, Y:0.94, Z:0.02 [[ 9.87779222e-01 -1.55623752e-01 8.57064628e-03 1.56087784e+01] [ 1.55622556e-01 9.87816260e-01 8.10426042e-04 9.37069296e-01] [-8.59234530e-03 5.33263872e-04 9.99962943e-01 2.20940809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261400512999998 meters 0.06497908501771335 Centerline is valid? [True, True] Translation: X:15.67, Y:0.95, Z:0.02 [[ 9.87323375e-01 -1.58670310e-01 4.03546870e-03 1.56683112e+01] [ 1.58670070e-01 9.87331587e-01 3.81672284e-04 9.49029109e-01] [-4.04490577e-03 2.63474133e-04 9.99991785e-01 1.50882189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321400513 meters 0.0752298418406547 Centerline is valid? [True, True] Translation: X:15.73, Y:0.94, Z:0.01 [[ 9.86719884e-01 -1.62392763e-01 3.52989954e-03 1.57282048e+01] [ 1.62392603e-01 9.86726168e-01 3.33847756e-04 9.43769755e-01] [-3.53725871e-03 2.43815357e-04 9.99993714e-01 1.44324273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381400513 meters 0.07692698502550556 Centerline is valid? [True, True] Translation: X:15.79, Y:0.95, Z:0.02 [[ 9.85611548e-01 -1.68957671e-01 4.81480671e-03 1.57874499e+01] [ 1.68957450e-01 9.85623241e-01 4.55367036e-04 9.52583271e-01] [-4.82252315e-03 3.64682457e-04 9.99988305e-01 1.67442899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441400512999998 meters 0.07843624034008737 Centerline is valid? [True, True] Translation: X:15.85, Y:0.96, Z:0.01 [[ 9.84815618e-01 -1.73592043e-01 2.00029486e-03 1.58470857e+01] [ 1.73592014e-01 9.84817636e-01 1.89187072e-04 9.59074190e-01] [-2.00276703e-03 1.60920831e-04 9.99997982e-01 1.06065384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501400513 meters 0.07900240131665003 Centerline is valid? [True, True] Translation: X:15.91, Y:0.97, Z:0.01 [[ 9.84523290e-01 -1.75189252e-01 4.75579839e-03 1.59070079e+01] [ 1.75189109e-01 9.84534699e-01 4.49868964e-04 9.65693181e-01] [-4.76106074e-03 3.90257607e-04 9.99988590e-01 1.45758927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561400513 meters 0.08070678301842549 Centerline is valid? [True, True] Translation: X:15.97, Y:0.97, Z:0.01 [[ 9.84691395e-01 -1.74275195e-01 3.31858996e-03 1.59667221e+01] [ 1.74275120e-01 9.84696950e-01 3.13981874e-04 9.70947436e-01] [-3.32252467e-03 2.69172413e-04 9.99994444e-01 1.31630515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621400513 meters 0.07796764274326748 Centerline is valid? [True, True] Translation: X:16.03, Y:0.98, Z:0.01 [[ 9.85393424e-01 -1.70281201e-01 2.02813553e-03 1.60260996e+01] [ 1.70281165e-01 9.85395498e-01 1.91930507e-04 9.83605339e-01] [-2.03119777e-03 1.56226219e-04 9.99997925e-01 1.16956839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681400513 meters 0.07210143863288736 Centerline is valid? [True, True] Translation: X:16.09, Y:1.00, Z:0.01 [[ 9.86185732e-01 -1.65638122e-01 -1.30952077e-03 1.60853327e+01] [ 1.65638103e-01 9.86186597e-01 -1.23952115e-04 9.98035893e-01] [ 1.31196303e-03 -9.46667289e-05 9.99999135e-01 6.83421960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741400513 meters 0.06909428476786873 Centerline is valid? [True, True] Translation: X:16.14, Y:1.01, Z:0.01 [[ 9.86745397e-01 -1.62270958e-01 1.28759353e-03 1.61443988e+01] [ 1.62270936e-01 9.86746233e-01 1.21863106e-04 1.01432026e+00] [-1.29030291e-03 8.86911494e-05 9.99999164e-01 1.02018079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801400513 meters 0.0726010887282311 Centerline is valid? [True, True] Translation: X:16.20, Y:1.02, Z:0.01 [[ 9.86983445e-01 -1.60801600e-01 2.55421923e-03 1.62030309e+01] [ 1.60801510e-01 9.86986735e-01 2.41781136e-04 1.02033568e+00] [-2.55985929e-03 1.72088331e-04 9.99996709e-01 1.24333804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861400513 meters 0.07339585778999047 Centerline is valid? [True, True] Translation: X:16.26, Y:1.04, Z:0.01 [[ 9.87240620e-01 -1.59224517e-01 1.87396066e-03 1.62616837e+01] [ 1.59224466e-01 9.87242391e-01 1.77417198e-04 1.03791145e+00] [-1.87830257e-03 1.23226921e-04 9.99998228e-01 1.12469075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921400513 meters 0.0748593584983019 Centerline is valid? [True, True] Translation: X:16.32, Y:1.04, Z:0.01 [[ 9.86828831e-01 -1.61735321e-01 3.24715927e-03 1.63214078e+01] [ 1.61735181e-01 9.86834149e-01 3.07543376e-04 1.03873193e+00] [-3.25414828e-03 2.21687221e-04 9.99994681e-01 1.30689933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981400513 meters 0.08567747845124636 Centerline is valid? [True, True] Translation: X:16.38, Y:1.03, Z:0.02 [[ 9.85828760e-01 -1.67700206e-01 4.27757950e-03 1.63814215e+01] [ 1.67700018e-01 9.85837989e-01 4.05167609e-04 1.03388247e+00] [-4.28494706e-03 3.17924276e-04 9.99990769e-01 1.68105416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041400513 meters 0.0778165609322927 Centerline is valid? [True, True] Translation: X:16.44, Y:1.05, Z:0.01 [[ 9.85005308e-01 -1.72501369e-01 2.79650915e-03 1.64402649e+01] [ 1.72501308e-01 9.85009253e-01 2.64877648e-04 1.04867531e+00] [-2.80027915e-03 2.21495597e-04 9.99996055e-01 1.40368854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101400512999998 meters 0.07831743138164647 Centerline is valid? [True, True] Translation: X:16.50, Y:1.05, Z:0.02 [[ 9.84334979e-01 -1.76227673e-01 5.33449109e-03 1.65001492e+01] [ 1.76227504e-01 9.84349334e-01 5.05310387e-04 1.05194193e+00] [-5.34005242e-03 4.42689362e-04 9.99985644e-01 1.70184599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161400513 meters 0.07393346747312028 Centerline is valid? [True, True] Translation: X:16.56, Y:1.06, Z:0.01 [[ 9.84064769e-01 -1.77769045e-01 3.83371116e-03 1.65602864e+01] [ 1.77768969e-01 9.84072183e-01 3.63167008e-04 1.05890870e+00] [-3.83720836e-03 3.24135024e-04 9.99992585e-01 1.47751030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221400513 meters 0.09149482855478844 Centerline is valid? [True, True] Translation: X:16.62, Y:1.04, Z:0.01 [[ 9.83362381e-01 -1.81654601e-01 1.81741361e-04 1.66222339e+01] [ 1.81654601e-01 9.83362398e-01 1.72044654e-05 1.03845978e+00] [-1.81842891e-04 1.60959304e-05 9.99999983e-01 9.80764087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281400513 meters 0.0865508291498274 Centerline is valid? [True, True] Translation: X:16.68, Y:1.04, Z:0.02 [[ 9.83276855e-01 -1.82074769e-01 3.92482390e-03 1.66807913e+01] [ 1.82074722e-01 9.83284627e-01 3.72116771e-04 1.04343335e+00] [-3.92697207e-03 3.48717413e-04 9.99992229e-01 1.60412606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341400513 meters 0.08680433382870503 Centerline is valid? [True, True] Translation: X:16.74, Y:1.05, Z:0.02 [[ 9.83994363e-01 -1.78077719e-01 6.58935971e-03 1.67399733e+01] [ 1.78077495e-01 9.84016267e-01 6.25370333e-04 1.04612846e+00] [-6.59540167e-03 5.58055791e-04 9.99978094e-01 2.13151442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401400513 meters 0.07639646200867074 Centerline is valid? [True, True] Translation: X:16.80, Y:1.06, Z:0.02 [[ 9.85222232e-01 -1.71207210e-01 5.02446707e-03 1.67989878e+01] [ 1.71206991e-01 9.85234966e-01 4.76895065e-04 1.06380943e+00] [-5.03192852e-03 3.90376269e-04 9.99987264e-01 1.74816278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461400513 meters 0.0761653349104601 Centerline is valid? [True, True] Translation: X:16.86, Y:1.07, Z:0.02 [[ 9.85680008e-01 -1.68484021e-01 6.93222753e-03 1.68573915e+01] [ 1.68483536e-01 9.85704248e-01 6.58065469e-04 1.07190163e+00] [-6.94399965e-03 5.19324231e-04 9.99975755e-01 2.14682767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521400513 meters 0.06640869009732706 Centerline is valid? [True, True] Translation: X:16.91, Y:1.09, Z:0.02 [[ 9.85579167e-01 -1.69020072e-01 8.11916718e-03 1.69144861e+01] [ 1.69019417e-01 9.85612419e-01 7.71803241e-04 1.09069065e+00] [-8.13280224e-03 6.11623706e-04 9.99966741e-01 2.29514792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581400513 meters 0.08210835490381965 Centerline is valid? [True, True] Translation: X:16.98, Y:1.08, Z:0.02 [[ 9.85032673e-01 -1.72293690e-01 5.05147755e-03 1.69753657e+01] [ 1.72293478e-01 9.85045545e-01 4.80443090e-04 1.08030445e+00] [-5.05871277e-03 3.97084494e-04 9.99987126e-01 1.66773134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641400513 meters 0.0767012186609421 Centerline is valid? [True, True] Translation: X:17.04, Y:1.09, Z:0.02 [[ 9.84442169e-01 -1.75645209e-01 4.73034264e-03 1.70354679e+01] [ 1.75645061e-01 9.84453457e-01 4.49919115e-04 1.08714406e+00] [-4.73582830e-03 3.87941974e-04 9.99988711e-01 1.70963475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701400513 meters 0.08209983640321984 Centerline is valid? [True, True] Translation: X:17.10, Y:1.08, Z:0.02 [[ 9.84006629e-01 -1.78104348e-01 3.12984062e-03 1.70958429e+01] [ 1.78104295e-01 9.84011571e-01 2.97701424e-04 1.08451216e+00] [-3.13282131e-03 2.64497885e-04 9.99995058e-01 1.58001502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761400512999998 meters 0.08899368312889745 Centerline is valid? [True, True] Translation: X:17.16, Y:1.08, Z:0.02 [[ 9.83684353e-01 -1.79855559e-01 4.13166308e-03 1.71550423e+01] [ 1.79855483e-01 9.83692966e-01 3.93072031e-04 1.08406348e+00] [-4.13498410e-03 3.56443452e-04 9.99991387e-01 1.58210039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821400513 meters 0.08617827220164286 Centerline is valid? [True, True] Translation: X:17.21, Y:1.09, Z:0.02 [[ 9.83954516e-01 -1.78340201e-01 5.31816424e-03 1.72141815e+01] [ 1.78340052e-01 9.83968785e-01 5.06047848e-04 1.09385664e+00] [-5.32315628e-03 4.50513621e-04 9.99985730e-01 1.63390203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881400513 meters 0.08044390903829714 Centerline is valid? [True, True] Translation: X:17.27, Y:1.11, Z:0.02 [[ 9.84729439e-01 -1.74026145e-01 4.77837666e-03 1.72735474e+01] [ 1.74025974e-01 9.84740958e-01 4.54717136e-04 1.10785808e+00] [-4.78459588e-03 3.83788301e-04 9.99988480e-01 1.50060115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941400512999998 meters 0.07831853148201 Centerline is valid? [True, True] Translation: X:17.33, Y:1.12, Z:0.02 [[ 9.85110632e-01 -1.71832767e-01 5.52664209e-03 1.73331085e+01] [ 1.71832504e-01 9.85126040e-01 5.25946347e-04 1.11528290e+00] [-5.53481385e-03 4.31541409e-04 9.99984590e-01 1.59095512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001400513 meters 0.0667470435277978 Centerline is valid? [True, True] Translation: X:17.39, Y:1.14, Z:0.01 [[ 9.85955779e-01 -1.67005591e-01 5.78358453e-04 1.73912124e+01] [ 1.67005587e-01 9.85955948e-01 5.50364323e-05 1.14067323e+00] [-5.79427348e-04 4.23256046e-05 9.99999831e-01 8.36062530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061400513 meters 0.06982570160459212 Centerline is valid? [True, True] Translation: X:17.45, Y:1.14, Z:0.01 [[ 9.86377020e-01 -1.64500353e-01 8.85024849e-05 1.74508656e+01] [ 1.64500353e-01 9.86377024e-01 8.39217189e-06 1.13912930e+00] [-8.86773329e-05 6.28084449e-06 9.99999996e-01 7.67395160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121400513 meters 0.06676500953883989 Centerline is valid? [True, True] Translation: X:17.51, Y:1.15, Z:0.01 [[ 9.86561556e-01 -1.63369243e-01 2.60509661e-03 1.75098299e+01] [ 1.63369155e-01 9.86564979e-01 2.47979041e-04 1.14999926e+00] [-2.61060923e-03 1.80945844e-04 9.99996576e-01 1.07966519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181400513 meters 0.059856064761230454 Centerline is valid? [True, True] Translation: X:17.57, Y:1.17, Z:0.01 [[ 9.86704920e-01 -1.62506479e-01 2.24616095e-03 1.75676321e+01] [ 1.62514583e-01 9.86697697e-01 -4.08237006e-03 1.17084172e+00] [-1.55287025e-03 4.39312853e-03 9.99989144e-01 1.04056458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241400513 meters 0.06913877691280669 Centerline is valid? [True, True] Translation: X:17.63, Y:1.16, Z:0.01 [[ 9.86384058e-01 -1.64424896e-01 3.30801318e-03 1.76278809e+01] [ 1.64408949e-01 9.86381425e-01 4.62415273e-03 1.15983317e+00] [-4.02328859e-03 -4.01732356e-03 9.99983837e-01 1.07038180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301400513 meters 0.07836788795713533 Centerline is valid? [True, True] Translation: X:17.69, Y:1.16, Z:0.01 [[ 9.85881024e-01 -1.67412511e-01 3.41421577e-03 1.76870974e+01] [ 1.67412381e-01 9.85886905e-01 3.25652164e-04 1.16012975e+00] [-3.42054886e-03 2.50527703e-04 9.99994119e-01 1.03112093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361400513 meters 0.08046138232561739 Centerline is valid? [True, True] Translation: X:17.75, Y:1.16, Z:0.01 [[ 9.85725090e-01 -1.68309131e-01 4.25239622e-03 1.77460003e+01] [ 1.68308939e-01 9.85734212e-01 4.05610749e-04 1.16485063e+00] [-4.26000043e-03 3.15895605e-04 9.99990876e-01 1.15725180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421400513 meters 0.0735094542478706 Centerline is valid? [True, True] Translation: X:17.80, Y:1.18, Z:0.02 [[ 9.85673933e-01 -1.68459361e-01 8.26687345e-03 1.78031816e+01] [ 1.68458630e-01 9.85708408e-01 7.89660690e-04 1.18229645e+00] [-8.28175241e-03 6.14278219e-04 9.99965517e-01 1.80204580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481400513 meters 0.06604518731258228 Centerline is valid? [True, True] Translation: X:17.86, Y:1.20, Z:0.02 [[ 9.85422949e-01 -1.69965511e-01 7.30316347e-03 1.78607590e+01] [ 1.69964977e-01 9.85449856e-01 6.98180944e-04 1.20097812e+00] [-7.31556808e-03 5.53278490e-04 9.99973088e-01 1.64333228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541400513 meters 0.07269570946442236 Centerline is valid? [True, True] Translation: X:17.92, Y:1.20, Z:0.02 [[ 9.85291733e-01 -1.70755198e-01 6.54697546e-03 1.79192179e+01] [ 1.70754784e-01 9.85313357e-01 6.26256193e-04 1.19758332e+00] [-6.55775887e-03 5.00882331e-04 9.99978372e-01 1.51155256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601400512999998 meters 0.07714682233163067 Centerline is valid? [True, True] Translation: X:17.98, Y:1.20, Z:0.02 [[ 9.85054263e-01 -1.72025681e-01 8.67550738e-03 1.79786219e+01] [ 1.72025000e-01 9.85092234e-01 8.30177469e-04 1.19868036e+00] [-8.68898679e-03 6.74634304e-04 9.99962022e-01 1.97175610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661400513 meters 0.0758525597917138 Centerline is valid? [True, True] Translation: X:18.04, Y:1.20, Z:0.02 [[ 9.84858366e-01 -1.73229673e-01 6.74378060e-03 1.80382176e+01] [ 1.73229289e-01 9.84881311e-01 6.45471318e-04 1.20481590e+00] [-6.75363826e-03 5.32522494e-04 9.99977052e-01 1.65876640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721400513 meters 0.057533643543589114 Centerline is valid? [True, True] Translation: X:18.09, Y:1.24, Z:0.01 [[ 9.85129011e-01 -1.71751150e-01 4.73018941e-03 1.80947852e+01] [ 1.71777518e-01 9.85118197e-01 -5.88400757e-03 1.24200121e+00] [-3.64921059e-03 6.60904675e-03 9.99971501e-01 1.33921391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781400512999998 meters 0.06748938386129284 Centerline is valid? [True, True] Translation: X:18.16, Y:1.23, Z:0.01 [[ 9.85361528e-01 -1.70453351e-01 2.88330520e-03 1.81550576e+01] [ 1.70431338e-01 9.85347014e-01 6.66498866e-03 1.22704498e+00] [-3.97712582e-03 -6.07601785e-03 9.99973632e-01 1.10655675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841400513 meters 0.07135925429714887 Centerline is valid? [True, True] Translation: X:18.21, Y:1.24, Z:0.01 [[ 9.85915407e-01 -1.67179848e-01 4.65935771e-03 1.82138462e+01] [ 1.67179595e-01 9.85926358e-01 4.46361449e-04 1.23690103e+00] [-4.66840622e-03 3.38874907e-04 9.99989046e-01 1.27690267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901400513 meters 0.06858488807379573 Centerline is valid? [True, True] Translation: X:18.27, Y:1.25, Z:0.02 [[ 9.85706337e-01 -1.68325557e-01 7.03736357e-03 1.82723862e+01] [ 1.68325009e-01 9.85731321e-01 6.74354005e-04 1.25077300e+00] [-7.05046070e-03 5.19849269e-04 9.99975010e-01 1.66110934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961400513 meters 0.07054218738448295 Centerline is valid? [True, True] Translation: X:18.33, Y:1.26, Z:0.01 [[ 9.85582764e-01 -1.69107927e-01 5.39672633e-03 1.83303971e+01] [ 1.69107615e-01 9.85597457e-01 5.17373903e-04 1.25688811e+00] [-5.40649178e-03 4.02712721e-04 9.99985304e-01 1.40001627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021400513 meters 0.0741122457252234 Centerline is valid? [True, True] Translation: X:18.39, Y:1.27, Z:0.02 [[ 9.85594190e-01 -1.68983240e-01 6.98261628e-03 1.83876486e+01] [ 1.68982710e-01 9.85618788e-01 6.69994818e-04 1.26757212e+00] [-6.99541569e-03 5.19598425e-04 9.99975397e-01 1.62897280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081400513 meters 0.07879244719580492 Centerline is valid? [True, True] Translation: X:18.45, Y:1.27, Z:0.01 [[ 9.85407069e-01 -1.70127459e-01 5.43654255e-03 1.84456123e+01] [ 1.70127153e-01 9.85421980e-01 5.21937444e-04 1.27032885e+00] [-5.44608441e-03 4.10582660e-04 9.99985086e-01 1.31919064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141400513 meters 0.08261033191101268 Centerline is valid? [True, True] Translation: X:18.51, Y:1.27, Z:0.01 [[ 9.84759431e-01 -1.73900506e-01 2.73430255e-03 1.85059618e+01] [ 1.73900444e-01 9.84763203e-01 2.62552582e-04 1.27449005e+00] [-2.73829857e-03 2.16945296e-04 9.99996227e-01 8.68524156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201400513 meters 0.08564647680940687 Centerline is valid? [True, True] Translation: X:18.56, Y:1.28, Z:0.01 [[ 9.84860950e-01 -1.73261822e-01 5.40834069e-03 1.85643455e+01] [ 1.73261566e-01 9.84875708e-01 5.19462785e-04 1.28429521e+00] [-5.41654644e-03 4.25458966e-04 9.99985240e-01 1.26871954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261400512999998 meters 0.07382686274408493 Centerline is valid? [True, True] Translation: X:18.62, Y:1.31, Z:0.01 [[ 9.85332477e-01 -1.70550250e-01 5.70275651e-03 1.86226269e+01] [ 1.70549919e-01 9.85348885e-01 5.47843704e-04 1.30716101e+00] [-5.71263965e-03 4.32796468e-04 9.99983589e-01 1.32828484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321400513 meters 0.06767831452243044 Centerline is valid? [True, True] Translation: X:18.68, Y:1.33, Z:0.02 [[ 9.85991414e-01 -1.66668732e-01 6.51648402e-03 1.86808844e+01] [ 1.66668216e-01 9.86012837e-01 6.26075481e-04 1.32827717e+00] [-6.52968410e-03 4.68785716e-04 9.99978572e-01 1.51000557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381400513 meters 0.06851290326630018 Centerline is valid? [True, True] Translation: X:18.74, Y:1.34, Z:0.01 [[ 9.86055043e-01 -1.66382303e-01 3.51868467e-03 1.87389767e+01] [ 1.66382150e-01 9.86061289e-01 3.38299305e-04 1.34226000e+00] [-3.52592576e-03 2.51864585e-04 9.99993752e-01 1.18455610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441400512999998 meters 0.08103623280034628 Centerline is valid? [True, True] Translation: X:18.80, Y:1.34, Z:0.01 [[ 9.84668965e-01 -1.74416358e-01 2.44211457e-03 1.87988966e+01] [ 1.74416308e-01 9.84671974e-01 2.34999761e-04 1.33797728e+00] [-2.44566957e-03 1.94547636e-04 9.99996990e-01 7.91387906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501400513 meters 0.07144640422824194 Centerline is valid? [True, True] Translation: X:18.86, Y:1.36, Z:0.01 [[ 9.83556527e-01 -1.80566314e-01 3.51628702e-03 1.88577869e+01] [ 1.80567953e-01 9.83562500e-01 -1.51790603e-04 1.35525187e+00] [-3.43107978e-03 7.84223388e-04 9.99993806e-01 9.36331150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561400513 meters 0.08537640883756205 Centerline is valid? [True, True] Translation: X:18.92, Y:1.34, Z:0.01 [[ 9.83244955e-01 -1.82232683e-01 4.53957995e-03 1.89170361e+01] [ 1.82230180e-01 9.83255427e-01 9.62575125e-04 1.34355936e+00] [-4.63897927e-03 -1.19198663e-04 9.99989233e-01 1.36674811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621400513 meters 0.08032141845327642 Centerline is valid? [True, True] Translation: X:18.98, Y:1.36, Z:0.02 [[ 9.84634010e-01 -1.74545966e-01 5.43797175e-03 1.89768756e+01] [ 1.74545718e-01 9.84648931e-01 5.23746561e-04 1.35718610e+00] [-5.44591092e-03 4.33476007e-04 9.99985077e-01 1.54566735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681400513 meters 0.060477920901710995 Centerline is valid? [True, True] Translation: X:19.03, Y:1.39, Z:0.02 [[ 9.87416270e-01 -1.57964275e-01 7.50983644e-03 1.90340394e+01] [ 1.57963324e-01 9.87444715e-01 7.23327142e-04 1.39456727e+00] [-7.52980815e-03 4.72053741e-04 9.99971539e-01 1.82836067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741400513 meters 0.04899095690298797 Centerline is valid? [True, True] Translation: X:19.09, Y:1.42, Z:0.01 [[ 9.89315089e-01 -1.45671031e-01 5.96702352e-03 1.90930952e+01] [ 1.45670207e-01 9.89333038e-01 5.74747769e-04 1.41613099e+00] [-5.98709761e-03 3.00610913e-04 9.99982032e-01 1.48331005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801400513 meters 0.04655115300117528 Centerline is valid? [True, True] Translation: X:19.15, Y:1.42, Z:0.01 [[ 9.89677931e-01 -1.43227541e-01 4.84404588e-03 1.91530777e+01] [ 1.43226969e-01 9.89689758e-01 4.66587482e-04 1.42447024e+00] [-4.86093078e-03 2.32026673e-04 9.99988159e-01 1.26052664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861400513 meters 0.04722287239541634 Centerline is valid? [True, True] Translation: X:19.21, Y:1.43, Z:0.02 [[ 9.89739469e-01 -1.42730625e-01 6.61449705e-03 1.92145627e+01] [ 1.42729548e-01 9.89761522e-01 6.37013195e-04 1.42759599e+00] [-6.63769595e-03 3.13607072e-04 9.99977921e-01 1.60280328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921400513 meters 0.04761431027668831 Centerline is valid? [True, True] Translation: X:19.27, Y:1.43, Z:0.02 [[ 9.90163137e-01 -1.39617778e-01 9.15635095e-03 1.92743447e+01] [ 1.39615582e-01 9.90205389e-01 8.81744070e-04 1.43113608e+00] [-9.18977520e-03 4.05298794e-04 9.99957691e-01 2.15259649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981400513 meters 0.041637908495166076 Centerline is valid? [True, True] Translation: X:19.34, Y:1.44, Z:0.02 [[ 9.90436801e-01 -1.37606993e-01 9.96282599e-03 1.93355768e+01] [ 1.37604294e-01 9.90486819e-01 9.59124189e-04 1.44085790e+00] [-1.00000300e-02 4.20975742e-04 9.99949910e-01 2.17086993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041400513 meters 0.03320945922126671 Centerline is valid? [True, True] Translation: X:19.39, Y:1.45, Z:0.02 [[ 9.91960705e-01 -1.26222750e-01 9.04308884e-03 1.93946275e+01] [ 1.26220054e-01 9.92001885e-01 8.70481444e-04 1.45109261e+00] [-9.08063574e-03 2.77935777e-04 9.99958732e-01 1.94118941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101400512999998 meters 0.019184724044654634 Centerline is valid? [True, True] Translation: X:19.45, Y:1.47, Z:0.02 [[ 9.93485358e-01 -1.13739040e-01 7.09046117e-03 1.94533938e+01] [ 1.13737065e-01 9.93510651e-01 6.82521702e-04 1.47213432e+00] [-7.12207806e-03 1.28372924e-04 9.99974629e-01 1.67639365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161400513 meters 0.0214286606076031 Centerline is valid? [True, True] Translation: X:19.51, Y:1.48, Z:0.02 [[ 9.94262677e-01 -1.06699302e-01 7.54899254e-03 1.95129295e+01] [ 1.06696860e-01 9.94291332e-01 7.26593594e-04 1.48063481e+00] [-7.58342488e-03 8.30289119e-05 9.99971242e-01 1.89103715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221400513 meters 0.011844294620509059 Centerline is valid? [True, True] Translation: X:19.58, Y:1.49, Z:0.02 [[ 9.94765852e-01 -1.01836867e-01 8.37565708e-03 1.95750464e+01] [ 1.01833693e-01 9.94801111e-01 8.05763052e-04 1.48922122e+00] [-8.41416936e-03 5.13785193e-05 9.99964599e-01 1.86863841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281400512999998 meters 0.010045052570122198 Centerline is valid? [True, True] Translation: X:19.64, Y:1.49, Z:0.02 [[ 9.95087279e-01 -9.87133591e-02 7.54844865e-03 1.96374767e+01] [ 9.87106938e-02 9.95115909e-01 7.25745737e-04 1.49474115e+00] [-7.58322214e-03 2.29322530e-05 9.99971247e-01 1.59976734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341400513 meters 0.010099710725032731 Centerline is valid? [True, True] Translation: X:19.70, Y:1.50, Z:0.02 [[ 9.95640616e-01 -9.28861285e-02 8.48125044e-03 1.96978699e+01] [ 9.28675707e-02 9.95675186e-01 2.55717080e-03 1.50001887e+00] [-8.68209630e-03 -1.75838999e-03 9.99960764e-01 1.58850795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401400513 meters 0.013012136867254286 Centerline is valid? [True, True] Translation: X:19.76, Y:1.51, Z:0.02 [[ 9.96118561e-01 -8.77365826e-02 7.07840793e-03 1.97602769e+01] [ 8.77465969e-02 9.96142203e-01 -1.11624109e-03 1.51058233e+00] [-6.95316569e-03 1.73301467e-03 9.99974325e-01 1.55829500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461400513 meters 0.02029802792109168 Centerline is valid? [True, True] Translation: X:19.82, Y:1.52, Z:0.02 [[ 9.96698561e-01 -8.09138745e-02 6.70256010e-03 1.98193850e+01] [ 8.09113739e-02 9.96721092e-01 6.43843759e-04 1.52169509e+00] [-6.73267891e-03 -9.94048014e-05 9.99977330e-01 1.55660516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521400513 meters 0.022418372286249485 Centerline is valid? [True, True] Translation: X:19.88, Y:1.53, Z:0.02 [[ 9.97006748e-01 -7.69013449e-02 7.98296297e-03 1.98812218e+01] [ 7.68976714e-02 9.97038696e-01 7.66550421e-04 1.52728722e+00] [-8.01827174e-03 -1.50384680e-04 9.99967842e-01 1.53591218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581400513 meters 0.027010171121585692 Centerline is valid? [True, True] Translation: X:19.94, Y:1.54, Z:0.01 [[ 9.97418041e-01 -7.15866426e-02 5.70993042e-03 1.99415603e+01] [ 7.15846768e-02 9.97434376e-01 5.48174000e-04 1.53664849e+00] [-5.73452282e-03 -1.38015114e-04 9.99983548e-01 1.09336990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641400513 meters 0.02924256019335276 Centerline is valid? [True, True] Translation: X:20.00, Y:1.54, Z:0.01 [[ 9.97655999e-01 -6.82471869e-02 4.98289060e-03 2.00023549e+01] [ 6.82456487e-02 9.97668433e-01 4.78279105e-04 1.54386483e+00] [-5.00391386e-03 -1.37097417e-04 9.99987471e-01 9.92266512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701400513 meters 0.035246621036410575 Centerline is valid? [True, True] Translation: X:20.06, Y:1.55, Z:0.01 [[ 9.97945453e-01 -6.37194142e-02 6.68646245e-03 2.00621664e+01] [ 6.37165433e-02 9.97967830e-01 6.41729820e-04 1.55116189e+00] [-6.71376507e-03 -2.14373082e-04 9.99977439e-01 1.31741203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761400512999998 meters 0.040144821708562865 Centerline is valid? [True, True] Translation: X:20.12, Y:1.56, Z:0.01 [[ 9.98236581e-01 -5.90036963e-02 6.50322482e-03 2.01218828e+01] [ 5.90008809e-02 9.98257736e-01 6.24093404e-04 1.55982480e+00] [-6.52871830e-03 -2.39296873e-04 9.99978659e-01 1.31405686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821400513 meters 0.05539976754082262 Centerline is valid? [True, True] Translation: X:20.18, Y:1.58, Z:0.01 [[ 9.98735167e-01 -4.98742463e-02 6.37389407e-03 2.01799293e+01] [ 4.98713565e-02 9.98755462e-01 6.11614459e-04 1.58071183e+00] [-6.39646533e-03 -2.92966125e-04 9.99979499e-01 1.41792392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881400513 meters 0.05442233303144183 Centerline is valid? [True, True] Translation: X:20.24, Y:1.59, Z:0.01 [[ 9.99056454e-01 -4.29412007e-02 6.50037351e-03 2.02395970e+01] [ 4.29380488e-02 9.99077542e-01 6.23726798e-04 1.58951826e+00] [-6.52116077e-03 -3.44024928e-04 9.99978678e-01 1.28754959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941400512999998 meters 0.058974870391114854 Centerline is valid? [True, True] Translation: X:20.30, Y:1.60, Z:0.01 [[ 9.99116379e-01 -4.19434536e-02 2.68480428e-03 2.02994640e+01] [ 4.19429124e-02 9.99119976e-01 2.57595024e-04 1.59976272e+00] [-2.69324601e-03 -1.44758897e-04 9.99996363e-01 6.77191683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001400513 meters 0.057207670789387405 Centerline is valid? [True, True] Translation: X:20.36, Y:1.60, Z:0.01 [[ 9.99011196e-01 -4.41688773e-02 5.07342184e-03 2.03602530e+01] [ 4.41669737e-02 9.99024045e-01 4.86682076e-04 1.60089049e+00] [-5.08996660e-03 -2.62123154e-04 9.99987012e-01 1.09650595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061400513 meters 0.04942907911478329 Centerline is valid? [True, True] Translation: X:20.42, Y:1.59, Z:0.01 [[ 9.98843866e-01 -4.76207792e-02 6.57215281e-03 2.04221544e+01] [ 4.76176599e-02 9.98865437e-01 6.30383243e-04 1.58966025e+00] [-6.59471563e-03 -3.16703898e-04 9.99978204e-01 1.38018390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121400512999998 meters 0.058578283360416185 Centerline is valid? [True, True] Translation: X:20.48, Y:1.60, Z:0.02 [[ 9.98908038e-01 -4.59205296e-02 8.60442163e-03 2.04819903e+01] [ 4.59151222e-02 9.98945004e-01 8.25046631e-04 1.59837444e+00] [-8.63323057e-03 -4.29072642e-04 9.99962641e-01 1.88390991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181400513 meters 0.05629628236658059 Centerline is valid? [True, True] Translation: X:20.54, Y:1.60, Z:0.02 [[ 9.99069493e-01 -4.24792579e-02 7.46068331e-03 2.05428207e+01] [ 4.24750974e-02 9.99097270e-01 7.15286231e-04 1.59636021e+00] [-7.48433316e-03 -3.97727401e-04 9.99971913e-01 1.56928677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241400513 meters 0.05997463713719518 Centerline is valid? [True, True] Translation: X:20.60, Y:1.60, Z:0.01 [[ 9.99240438e-01 -3.86719871e-02 4.79830338e-03 2.06039187e+01] [ 3.86702225e-02 9.99251921e-01 4.60019519e-04 1.59712793e+00] [-4.81250374e-03 -2.74118646e-04 9.99988382e-01 1.10982945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301400513 meters 0.06866124603638075 Centerline is valid? [True, True] Translation: X:20.66, Y:1.61, Z:0.01 [[ 9.99397789e-01 -3.40355802e-02 6.75566320e-03 2.06633139e+01] [ 3.40319776e-02 9.99420535e-01 6.47551615e-04 1.60846859e+00] [-6.77378832e-03 -4.17253074e-04 9.99976971e-01 1.48337798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361400513 meters 0.07414405811029241 Centerline is valid? [True, True] Translation: X:20.72, Y:1.61, Z:0.02 [[ 9.99408204e-01 -3.33376453e-02 8.47607667e-03 2.07238273e+01] [ 3.33319508e-02 9.99444006e-01 8.12248577e-04 1.61453453e+00] [-8.49844248e-03 -5.29243720e-04 9.99963748e-01 1.76239115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421400513 meters 0.05995777422072158 Centerline is valid? [True, True] Translation: X:20.79, Y:1.59, Z:0.01 [[ 9.99239737e-01 -3.83907753e-02 6.78943574e-03 2.07867523e+01] [ 3.83872381e-02 9.99262727e-01 6.50590456e-04 1.59196634e+00] [-6.80940674e-03 -3.89468150e-04 9.99976740e-01 1.16993527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481400513 meters 0.057783103110563 Centerline is valid? [True, True] Translation: X:20.85, Y:1.57, Z:0.01 [[ 9.98929499e-01 -4.56665981e-02 7.37678454e-03 2.08480923e+01] [ 4.56626196e-02 9.98956668e-01 7.06938360e-04 1.57239871e+00] [-7.40137157e-03 -3.69338276e-04 9.99972541e-01 1.18601800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541400513 meters 0.05351667888883107 Centerline is valid? [True, True] Translation: X:20.91, Y:1.57, Z:0.02 [[ 9.98788508e-01 -4.82452370e-02 9.69087155e-03 2.09088220e+01] [ 4.82384916e-02 9.98835415e-01 9.28733792e-04 1.56987566e+00] [-9.72439268e-03 -4.60135613e-04 9.99952611e-01 1.70333852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601400512999998 meters 0.05484210996560124 Centerline is valid? [True, True] Translation: X:20.97, Y:1.56, Z:0.01 [[ 9.98980956e-01 -4.45262875e-02 7.37965154e-03 2.09706451e+01] [ 4.45222749e-02 9.99008142e-01 7.07220252e-04 1.56091204e+00] [-7.40382187e-03 -3.77940689e-04 9.99972520e-01 1.14950656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661400513 meters 0.06119819099262071 Centerline is valid? [True, True] Translation: X:21.03, Y:1.56, Z:0.01 [[ 9.99210614e-01 -3.92733753e-02 5.97924545e-03 2.10303096e+01] [ 3.92706485e-02 9.99228446e-01 5.72810012e-04 1.56429101e+00] [-5.99712833e-03 -3.37548997e-04 9.99981960e-01 1.03954591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721400513 meters 0.061422207926990706 Centerline is valid? [True, True] Translation: X:21.09, Y:1.56, Z:0.01 [[ 9.99281078e-01 -3.75931674e-02 4.90716760e-03 2.10922868e+01] [ 3.75913113e-02 9.99293086e-01 4.69955961e-04 1.56273288e+00] [-4.92136579e-03 -2.85151234e-04 9.99987849e-01 8.02827263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781400512999998 meters 0.06627746416889618 Centerline is valid? [True, True] Translation: X:21.15, Y:1.56, Z:0.00 [[ 9.99309967e-01 -3.70786644e-02 2.18253613e-03 2.11537894e+01] [ 3.70782961e-02 9.99312342e-01 2.08991206e-04 1.56249139e+00] [-2.18878440e-03 -1.27922274e-04 9.99997596e-01 3.67353603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841400513 meters 0.06378724146937026 Centerline is valid? [True, True] Translation: X:21.22, Y:1.56, Z:0.01 [[ 9.99431014e-01 -3.35687226e-02 3.28469160e-03 2.12156158e+01] [ 3.35678698e-02 9.99436391e-01 3.14423169e-04 1.55591617e+00] [-3.29339510e-03 -2.03984166e-04 9.99994556e-01 5.43476577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901400513 meters 0.07241173927138783 Centerline is valid? [True, True] Translation: X:21.27, Y:1.57, Z:0.01 [[ 9.99473164e-01 -3.22712420e-02 3.45848743e-03 2.12745823e+01] [ 3.22702889e-02 9.99479124e-01 3.31055522e-04 1.56839351e+00] [-3.46736956e-03 -2.19274722e-04 9.99993965e-01 5.79680432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961400513 meters 0.07027812429004535 Centerline is valid? [True, True] Translation: X:21.34, Y:1.57, Z:0.00 [[ 9.99541974e-01 -3.02250778e-02 1.51219296e-03 2.13356226e+01] [ 3.02248933e-02 9.99543113e-01 1.44756182e-04 1.56767513e+00] [-1.51587732e-03 -9.89840094e-05 9.99998846e-01 1.53906614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021400513 meters 0.07201595601703731 Centerline is valid? [True, True] Translation: X:21.40, Y:1.57, Z:0.00 [[ 9.99629899e-01 -2.71763401e-02 1.22971998e-03 2.13963226e+01] [ 2.71762158e-02 9.99630652e-01 1.17698027e-04 1.56625356e+00] [-1.23246439e-03 -8.42353314e-05 9.99999237e-01 2.17078678e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081400513 meters 0.0760545257914702 Centerline is valid? [True, True] Translation: X:21.46, Y:1.57, Z:-0.00 [[ 9.99714838e-01 -2.38791551e-02 -1.67798830e-04 2.14567205e+01] [ 2.38791528e-02 9.99714852e-01 -1.60559834e-05 1.57062653e+00] [ 1.68134386e-04 1.20445109e-05 9.99999986e-01 -2.69113267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141400513 meters 0.07322460443528148 Centerline is valid? [True, True] Translation: X:21.52, Y:1.57, Z:-0.00 [[ 9.99751020e-01 -2.23006693e-02 7.60745550e-04 2.15179932e+01] [ 2.23006203e-02 9.99751308e-01 7.28099612e-05 1.56723490e+00] [-7.62180069e-04 -5.58267353e-05 9.99999708e-01 -1.60495498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201400513 meters 0.07666689181917839 Centerline is valid? [True, True] Translation: X:21.58, Y:1.57, Z:0.00 [[ 9.99786044e-01 -2.06292606e-02 1.51673344e-03 2.15781770e+01] [ 2.06290640e-02 9.99787188e-01 1.45164573e-04 1.56743311e+00] [-1.51940530e-03 -1.13844723e-04 9.99998839e-01 1.08790314e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261400512999998 meters 0.07837564444061772 Centerline is valid? [True, True] Translation: X:21.64, Y:1.56, Z:0.00 [[ 9.99805898e-01 -1.95834756e-02 2.15743953e-03 2.16398658e+01] [ 1.95830754e-02 9.99808212e-01 2.06483326e-04 1.56400474e+00] [-2.16106942e-03 -1.64193947e-04 9.99997651e-01 1.18563149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321400513 meters 0.07773638746455383 Centerline is valid? [True, True] Translation: X:21.70, Y:1.56, Z:0.00 [[ 9.99825332e-01 -1.83593004e-02 3.49881471e-03 2.17014960e+01] [ 1.83582405e-02 9.99831417e-01 3.34808506e-04 1.56186510e+00] [-3.50437172e-03 -2.70517943e-04 9.99993823e-01 3.88325670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381400513 meters 0.08445168033385024 Centerline is valid? [True, True] Translation: X:21.76, Y:1.56, Z:0.00 [[ 9.99906277e-01 -1.36061222e-02 1.52016803e-03 2.17611629e+01] [ 1.36059167e-02 9.99907425e-01 1.45460569e-04 1.56396486e+00] [-1.52200645e-03 -1.24763656e-04 9.99998834e-01 7.69783751e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441400512999998 meters 0.08622263029256612 Centerline is valid? [True, True] Translation: X:21.82, Y:1.57, Z:-0.00 [[ 9.99959892e-01 -8.94601875e-03 4.27200785e-04 2.18218602e+01] [ 8.94600210e-03 9.99959983e-01 4.08729352e-05 1.56571524e+00] [-4.27549340e-04 -3.70495568e-05 9.99999908e-01 -2.41780690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501400513 meters 0.09898764262778974 Centerline is valid? [True, True] Translation: X:21.88, Y:1.58, Z:0.00 [[ 9.99991373e-01 3.47380548e-04 4.13922922e-03 2.18798133e+01] [-3.49022823e-04 9.99999861e-01 3.96042902e-04 1.58349836e+00] [-4.13909106e-03 -3.97484171e-04 9.99991355e-01 3.56483932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561400513 meters 0.10184908142367283 Centerline is valid? [True, False] Translation: X:21.86, Y:1.59, Z:0.01 [[ 9.99971345e-01 7.56514581e-03 2.79114839e-04 2.18600473e+01] [-7.56413957e-03 9.99965456e-01 -3.44538696e-03 1.58945979e+00] [-3.05170051e-04 3.44317696e-03 9.99994026e-01 5.16846267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621400512999998 meters 0.10161729953890382 Centerline is valid? [False, False] Translation: X:21.84, Y:1.58, Z:0.01 [[ 9.99967668e-01 6.41099719e-03 -4.85401266e-03 2.18426785e+01] [-6.37926331e-03 9.99958363e-01 6.52515890e-03 1.58383786e+00] [ 4.89564332e-03 -6.49398291e-03 9.99966930e-01 6.85637717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681400513 meters 0.09516481434954707 Centerline is valid? [False, True] Translation: X:21.85, Y:1.59, Z:0.00 [[ 9.99974233e-01 4.23085732e-03 -5.79948375e-03 2.18488058e+01] [-4.21046796e-03 9.99984929e-01 3.52343167e-03 1.59056062e+00] [ 5.81430348e-03 -3.49892234e-03 9.99976975e-01 2.37191722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741400513 meters 0.09490488058289084 Centerline is valid? [True, True] Translation: X:21.91, Y:1.60, Z:0.00 [[ 9.99973470e-01 -5.42289943e-03 -4.86328133e-03 2.19072605e+01] [ 5.42068105e-03 9.99985198e-01 -4.69212989e-04 1.59973162e+00] [ 4.86575383e-03 4.42838244e-04 9.99988064e-01 4.13711288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801400513 meters 0.09244857366754168 Centerline is valid? [True, True] Translation: X:21.97, Y:1.60, Z:0.00 [[ 9.99904570e-01 -1.22022351e-02 -6.47740586e-03 2.19673905e+01] [ 1.21984401e-02 9.99925401e-01 -6.25069164e-04 1.60160493e+00] [ 6.48454989e-03 5.45995266e-04 9.99978826e-01 2.31260797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861400513 meters 0.0884206218515042 Centerline is valid? [True, True] Translation: X:22.03, Y:1.60, Z:0.00 [[ 9.99887142e-01 -1.41275394e-02 -5.11031868e-03 2.20283879e+01] [ 1.41252023e-02 9.99900113e-01 -4.93136439e-04 1.60040763e+00] [ 5.11677503e-03 4.20896499e-04 9.99986821e-01 4.37387402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921400513 meters 0.07847482715113885 Centerline is valid? [True, True] Translation: X:22.09, Y:1.59, Z:0.00 [[ 9.99856452e-01 -1.58775236e-02 -5.91436804e-03 2.20895601e+01] [ 1.58744235e-02 9.99873831e-01 -5.70741572e-04 1.59040064e+00] [ 5.92268379e-03 4.76772460e-04 9.99982347e-01 3.49631213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981400513 meters 0.08672392551405199 Centerline is valid? [True, True] Translation: X:22.15, Y:1.60, Z:0.01 [[ 9.99845192e-01 -1.71183730e-02 -4.06858370e-03 2.21479880e+01] [ 1.71169161e-02 9.99853418e-01 -3.92625020e-04 1.60139227e+00] [ 4.07470842e-03 3.22922632e-04 9.99991646e-01 8.71512388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041400513 meters 0.07733279048480522 Centerline is valid? [True, True] Translation: X:22.21, Y:1.59, Z:0.01 [[ 9.99820966e-01 -1.84434888e-02 -4.22772902e-03 2.22085687e+01] [ 1.84419271e-02 9.99829850e-01 -4.08086903e-04 1.59279257e+00] [ 4.23453622e-03 3.30046371e-04 9.99990980e-01 8.68946764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101400512999998 meters 0.07632219092646306 Centerline is valid? [True, True] Translation: X:22.27, Y:1.59, Z:0.01 [[ 9.99785304e-01 -1.95154996e-02 -6.96355792e-03 2.22684746e+01] [ 1.95112859e-02 9.99809411e-01 -6.72540491e-04 1.58900143e+00] [ 6.97535570e-03 5.36528130e-04 9.99975528e-01 5.95830209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161400513 meters 0.07828035110204576 Centerline is valid? [True, True] Translation: X:22.33, Y:1.59, Z:0.01 [[ 9.99806331e-01 -1.84623240e-02 -6.81495983e-03 2.23278045e+01] [ 1.84582576e-02 9.99829415e-01 -6.59097787e-04 1.59450028e+00] [ 6.82596577e-03 5.33177856e-04 9.99976561e-01 7.04342900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221400513 meters 0.08706523357778308 Centerline is valid? [True, True] Translation: X:22.39, Y:1.61, Z:0.01 [[ 9.99837246e-01 -1.68575223e-02 -6.42699031e-03 2.23858524e+01] [ 1.68538719e-02 9.99857770e-01 -6.21716809e-04 1.60671615e+00] [ 6.43655680e-03 5.13295951e-04 9.99979153e-01 7.40441905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281400512999998 meters 0.08511232638581999 Centerline is valid? [True, True] Translation: X:22.44, Y:1.60, Z:0.01 [[ 9.99848242e-01 -1.71186782e-02 -3.23157086e-03 2.24439066e+01] [ 1.71177581e-02 9.99853432e-01 -3.12177139e-04 1.60342346e+00] [ 3.23644127e-03 2.56812515e-04 9.99994730e-01 1.24795447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341400513 meters 0.07853810873595467 Centerline is valid? [True, True] Translation: X:22.51, Y:1.59, Z:0.01 [[ 9.99713109e-01 -2.29682000e-02 -6.79428503e-03 2.25060506e+01] [ 2.29642514e-02 9.99736070e-01 -6.58612173e-04 1.59400173e+00] [ 6.80761894e-03 5.02397554e-04 9.99976702e-01 7.85376896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401400513 meters 0.07548853286335212 Centerline is valid? [True, True] Translation: X:22.57, Y:1.59, Z:0.00 [[ 9.99678909e-01 -2.38122170e-02 -8.66352617e-03 2.25654370e+01] [ 2.38058247e-02 9.99716248e-01 -8.40225420e-04 1.58979780e+00] [ 8.68107551e-03 6.33713246e-04 9.99962118e-01 4.99012276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461400513 meters 0.0827562428100697 Centerline is valid? [True, True] Translation: X:22.62, Y:1.60, Z:0.01 [[ 9.99770802e-01 -2.00288400e-02 -7.56239239e-03 2.26237528e+01] [ 2.00238555e-02 9.99799233e-01 -7.34268807e-04 1.59989494e+00] [ 7.57558066e-03 5.82672261e-04 9.99971135e-01 7.42556418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521400513 meters 0.08606117020517505 Centerline is valid? [True, True] Translation: X:22.68, Y:1.61, Z:0.01 [[ 9.99862770e-01 -1.52524321e-02 -6.46559396e-03 2.26841972e+01] [ 1.52486893e-02 9.99883535e-01 -6.27779439e-04 1.60617606e+00] [ 6.47441610e-03 5.29101455e-04 9.99978901e-01 9.98231140e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581400513 meters 0.0868883255828479 Centerline is valid? [True, True] Translation: X:22.74, Y:1.61, Z:0.01 [[ 9.99900035e-01 -1.25080080e-02 -6.59313374e-03 2.27446494e+01] [ 1.25040569e-02 9.99921616e-01 -6.40160904e-04 1.61008451e+00] [ 6.60062408e-03 5.57655991e-04 9.99978060e-01 9.57746015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641400513 meters 0.08923736210031646 Centerline is valid? [True, True] Translation: X:22.80, Y:1.62, Z:0.01 [[ 9.99935449e-01 -9.08055058e-03 -6.82952176e-03 2.28045964e+01] [ 9.07623172e-03 9.99958590e-01 -6.63108632e-04 1.61858558e+00] [ 6.83526034e-03 6.01079506e-04 9.99976459e-01 9.54889349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701400513 meters 0.09266787425128527 Centerline is valid? [True, True] Translation: X:22.86, Y:1.63, Z:0.01 [[ 9.99958360e-01 -6.57199314e-03 -6.33137310e-03 2.28648316e+01] [ 6.56823152e-03 9.99978240e-01 -6.14734848e-04 1.62754905e+00] [ 6.33527536e-03 5.73123326e-04 9.99979768e-01 1.07090447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761400512999998 meters 0.09113963211734841 Centerline is valid? [True, True] Translation: X:22.92, Y:1.63, Z:0.01 [[ 9.99961304e-01 -5.67282827e-03 -6.72380543e-03 2.29243882e+01] [ 5.66856550e-03 9.99983720e-01 -6.52869843e-04 1.62902747e+00] [ 6.72739959e-03 6.14730248e-04 9.99977182e-01 1.25905472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821400513 meters 0.09636007636082092 Centerline is valid? [True, True] Translation: X:22.98, Y:1.64, Z:0.01 [[ 9.99957955e-01 -5.95200513e-03 -6.97577821e-03 2.29816825e+01] [ 5.94742090e-03 9.99982084e-01 -6.77724516e-04 1.63863989e+00] [ 6.97968706e-03 6.36208132e-04 9.99975439e-01 1.32912774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881400513 meters 0.09369021398243917 Centerline is valid? [True, True] Translation: X:23.04, Y:1.64, Z:0.02 [[ 9.99961112e-01 -7.19660422e-03 -5.09735704e-03 2.30414623e+01] [ 7.19417084e-03 9.99973999e-01 -4.95556240e-04 1.64156309e+00] [ 5.10079083e-03 4.58865711e-04 9.99986886e-01 1.54143978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941400512999998 meters 0.11161039889256981 Centerline is valid? [True, False] Translation: X:23.04, Y:1.64, Z:0.02 [[ 9.99960114e-01 -7.42459873e-03 -4.96447727e-03 2.30407924e+01] [ 7.41923286e-03 9.99971874e-01 -1.09839668e-03 1.64436759e+00] [ 4.97249279e-03 1.06152026e-03 9.99987074e-01 1.59236892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001400513 meters 0.08817602390271025 Centerline is valid? [False, True] Translation: X:23.02, Y:1.65, Z:0.01 [[ 9.99942490e-01 -7.73150043e-03 -7.43245655e-03 2.30242988e+01] [ 7.63927734e-03 9.99894461e-01 -1.23574835e-02 1.64958754e+00] [ 7.52721403e-03 1.22999942e-02 9.99896020e-01 1.30838587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061400513 meters 0.08981194037517408 Centerline is valid? [True, True] Translation: X:23.08, Y:1.65, Z:0.01 [[ 9.99909193e-01 -1.06726208e-02 -8.22810789e-03 2.30841561e+01] [ 1.06666395e-02 9.99942813e-01 -7.70480396e-04 1.64587489e+00] [ 8.23586039e-03 6.82644171e-04 9.99965852e-01 1.41260606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121400512999998 meters 0.07636472966734853 Centerline is valid? [True, True] Translation: X:23.15, Y:1.63, Z:0.02 [[ 9.99883341e-01 -1.34613359e-02 -7.21787195e-03 2.31451372e+01] [ 1.34568045e-02 9.99909225e-01 -6.75992778e-04 1.63364762e+00] [ 7.22631651e-03 5.78784425e-04 9.99973722e-01 1.65562818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181400513 meters 0.07757147902741376 Centerline is valid? [True, True] Translation: X:23.20, Y:1.64, Z:0.02 [[ 9.99861698e-01 -1.38903082e-02 -9.14575643e-03 2.32035377e+01] [ 1.38830481e-02 9.99903259e-01 -8.56833176e-04 1.63960868e+00] [ 9.15677333e-03 7.29743698e-04 9.99957810e-01 1.55650072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241400513 meters 0.08804273233023759 Centerline is valid? [True, True] Translation: X:23.26, Y:1.66, Z:0.02 [[ 9.99904492e-01 -1.18497182e-02 -7.11279805e-03 2.32613326e+01] [ 1.18452680e-02 9.99929620e-01 -6.67461227e-04 1.66086125e+00] [ 7.12020667e-03 5.83144479e-04 9.99974481e-01 1.91649996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301400513 meters 0.0906881915198973 Centerline is valid? [True, True] Translation: X:23.32, Y:1.68, Z:0.02 [[ 9.99953450e-01 -7.88558155e-03 -5.56017130e-03 2.33210705e+01] [ 7.88280081e-03 9.99968794e-01 -5.21855155e-04 1.67570661e+00] [ 5.56411293e-03 4.78001140e-04 9.99984406e-01 2.24234754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361400513 meters 0.08563989694214509 Centerline is valid? [True, True] Translation: X:23.38, Y:1.68, Z:0.02 [[ 9.99925374e-01 -9.71939556e-03 -7.40128148e-03 2.33813543e+01] [ 9.71451788e-03 9.99952572e-01 -6.94697014e-04 1.68030879e+00] [ 7.40768248e-03 6.22745290e-04 9.99972369e-01 2.05435158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421400513 meters 0.07245502437516195 Centerline is valid? [True, True] Translation: X:23.44, Y:1.67, Z:0.02 [[ 9.99828932e-01 -1.73773847e-02 -6.33511074e-03 2.34429262e+01] [ 1.73739636e-02 9.99848884e-01 -5.94662537e-04 1.67421427e+00] [ 6.34448709e-03 4.84494826e-04 9.99979756e-01 2.20876914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481400513 meters 0.0770545917619983 Centerline is valid? [True, True] Translation: X:23.50, Y:1.69, Z:0.02 [[ 9.99717445e-01 -2.30899856e-02 -5.64654326e-03 2.35021735e+01] [ 2.30873588e-02 9.99733311e-01 -5.29954900e-04 1.68527294e+00] [ 5.65727404e-03 3.99441388e-04 9.99983918e-01 2.36326954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541400513 meters 0.06768878710022756 Centerline is valid? [True, True] Translation: X:23.56, Y:1.68, Z:0.02 [[ 9.99536764e-01 -2.98801456e-02 -5.78216186e-03 2.35635872e+01] [ 2.98775040e-02 9.99553420e-01 -5.42706145e-04 1.67800424e+00] [ 5.79579580e-03 3.69698180e-04 9.99983136e-01 2.33565501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601400512999998 meters 0.06749088898773346 Centerline is valid? [True, True] Translation: X:23.62, Y:1.68, Z:0.03 [[ 9.99489624e-01 -3.16952131e-02 -3.98810034e-03 2.36227985e+01] [ 3.16939712e-02 9.99497550e-01 -3.74220347e-04 1.68250606e+00] [ 3.99795751e-03 2.47630616e-04 9.99991977e-01 2.78676303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661400513 meters 0.06584213708177968 Centerline is valid? [True, True] Translation: X:23.68, Y:1.68, Z:0.03 [[ 9.99486827e-01 -3.18377945e-02 -3.52680319e-03 2.36807399e+01] [ 3.18368270e-02 9.99493025e-01 -3.30149145e-04 1.68358715e+00] [ 3.53552641e-03 2.17697498e-04 9.99993726e-01 2.81312594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721400513 meters 0.06668768151388434 Centerline is valid? [True, True] Translation: X:23.74, Y:1.69, Z:0.03 [[ 9.99501239e-01 -3.11980080e-02 -4.89472848e-03 2.37392148e+01] [ 3.11961289e-02 9.99513177e-01 -4.59803211e-04 1.68717393e+00] [ 4.90669056e-03 3.06877298e-04 9.99987915e-01 2.61742304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781400512999998 meters 0.06646168801531568 Centerline is valid? [True, True] Translation: X:23.80, Y:1.69, Z:0.03 [[ 9.99544127e-01 -2.95430657e-02 -6.22461837e-03 2.37967741e+01] [ 2.95842832e-02 9.99540254e-01 6.63703972e-03 1.68643306e+00] [ 6.02567812e-03 -6.81816495e-03 9.99958601e-01 2.57892974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841400513 meters 0.08362054735835936 Centerline is valid? [True, True] Translation: X:23.86, Y:1.72, Z:0.02 [[ 9.99713876e-01 -2.29822938e-02 -6.63181241e-03 2.38556454e+01] [ 2.29299230e-02 9.99706115e-01 -7.86775802e-03 1.72333127e+00] [ 6.81068255e-03 7.71343992e-03 9.99947057e-01 2.40902995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901400513 meters 0.09047009043993201 Centerline is valid? [True, True] Translation: X:23.92, Y:1.73, Z:0.02 [[ 9.99840061e-01 -1.55383860e-02 -8.85500608e-03 2.39150943e+01] [ 1.55315988e-02 9.99879029e-01 -8.34733586e-04 1.73373763e+00] [ 8.86690530e-03 6.97067677e-04 9.99960445e-01 2.22911723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961400513 meters 0.08689078640991801 Centerline is valid? [True, True] Translation: X:23.97, Y:1.74, Z:0.02 [[ 9.99892577e-01 -1.19277563e-02 -8.51839700e-03 2.39748858e+01] [ 1.19213445e-02 9.99928616e-01 -8.03082753e-04 1.73640852e+00] [ 8.52736790e-03 7.01445738e-04 9.99963395e-01 2.33201427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021400513 meters 0.08196652042714177 Centerline is valid? [True, True] Translation: X:24.04, Y:1.74, Z:0.03 [[ 9.99922260e-01 -9.61688893e-03 -7.93654159e-03 2.40355119e+01] [ 9.61125024e-03 9.99953531e-01 -7.48307073e-04 1.73792253e+00] [ 7.94336917e-03 6.71968812e-04 9.99968225e-01 2.51194244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081400513 meters 0.09859707016165635 Centerline is valid? [True, True] Translation: X:24.09, Y:1.77, Z:0.03 [[ 9.99920662e-01 -1.03466958e-02 -7.18433857e-03 2.40907961e+01] [ 1.03420945e-02 9.99946290e-01 -6.77315485e-04 1.76679772e+00] [ 7.19096068e-03 6.02960640e-04 9.99973963e-01 2.73032080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141400513 meters 0.08844273699147435 Centerline is valid? [True, True] Translation: X:24.15, Y:1.76, Z:0.02 [[ 9.99872432e-01 -1.31110273e-02 -9.12252626e-03 2.41509038e+01] [ 1.31037167e-02 9.99913772e-01 -8.60689701e-04 1.76356563e+00] [ 9.13302417e-03 7.41040905e-04 9.99958018e-01 2.44603313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201400513 meters 0.07911959952835905 Centerline is valid? [True, True] Translation: X:24.21, Y:1.76, Z:0.02 [[ 9.99845803e-01 -1.48979827e-02 -9.29623315e-03 2.42111966e+01] [ 1.48904660e-02 9.99888746e-01 -8.77266886e-04 1.76229146e+00] [ 9.30826842e-03 7.38706370e-04 9.99956404e-01 2.47897312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261400512999998 meters 0.08546132008948892 Centerline is valid? [True, True] Translation: X:24.27, Y:1.78, Z:0.03 [[ 9.99839520e-01 -1.65766730e-02 -6.79321237e-03 2.42690413e+01] [ 1.65726970e-02 9.99862458e-01 -6.41160807e-04 1.78099604e+00] [ 6.80290633e-03 5.28476063e-04 9.99976720e-01 3.00111030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321400513 meters 0.07492769365497906 Centerline is valid? [True, True] Translation: X:24.33, Y:1.78, Z:0.03 [[ 9.99792704e-01 -1.97974144e-02 -4.75518893e-03 2.43292341e+01] [ 1.97955021e-02 9.99803949e-01 -4.48874957e-04 1.77853096e+00] [ 4.76314323e-03 3.54650554e-04 9.99988593e-01 3.29515901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381400513 meters 0.07622445801410825 Centerline is valid? [True, True] Translation: X:24.39, Y:1.79, Z:0.04 [[ 9.99751567e-01 -2.21284001e-02 -2.67188416e-03 2.43877181e+01] [ 2.21278047e-02 9.99755118e-01 -2.52216191e-04 1.78634942e+00] [ 2.67681101e-03 1.93030601e-04 9.99996399e-01 3.67232019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441400512999998 meters 0.07554181113180532 Centerline is valid? [True, True] Translation: X:24.45, Y:1.79, Z:0.04 [[ 9.99695420e-01 -2.44227432e-02 -3.54910495e-03 2.44474217e+01] [ 2.44217064e-02 9.99701689e-01 -3.35182760e-04 1.79272036e+00] [ 3.55623230e-03 2.48405471e-04 9.99993646e-01 3.59415119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501400513 meters 0.07486644981555116 Centerline is valid? [True, True] Translation: X:24.51, Y:1.80, Z:0.03 [[ 9.99677125e-01 -2.45217719e-02 -6.65789053e-03 2.45059661e+01] [ 2.45181274e-02 9.99699188e-01 -6.28473915e-04 1.79817785e+00] [ 6.67129905e-03 4.65031989e-04 9.99977639e-01 3.03318717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561400513 meters 0.07291849479766338 Centerline is valid? [True, True] Translation: X:24.57, Y:1.80, Z:0.03 [[ 9.99738895e-01 -2.17217692e-02 -7.09265958e-03 2.45665881e+01] [ 2.17175526e-02 9.99763921e-01 -6.71001328e-04 1.80179329e+00] [ 7.10556049e-03 5.16790920e-04 9.99974622e-01 3.00672104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621400512999998 meters 0.08148752093238992 Centerline is valid? [True, True] Translation: X:24.62, Y:1.82, Z:0.03 [[ 9.99786772e-01 -1.93850658e-02 -7.11545516e-03 2.46244378e+01] [ 1.93807631e-02 9.99811949e-01 -6.73162447e-04 1.81650050e+00] [ 7.12716639e-03 5.35115959e-04 9.99974458e-01 3.14653907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681400513 meters 0.07971783837313337 Centerline is valid? [True, True] Translation: X:24.68, Y:1.82, Z:0.03 [[ 9.99774697e-01 -2.01855774e-02 -6.56483813e-03 2.46830946e+01] [ 2.01819343e-02 9.99796131e-01 -6.20715263e-04 1.81863680e+00] [ 6.57602927e-03 4.88084283e-04 9.99978259e-01 3.23961266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741400513 meters 0.0735592429273932 Centerline is valid? [True, True] Translation: X:24.74, Y:1.81, Z:0.03 [[ 9.99713971e-01 -2.33885906e-02 -4.99504962e-03 2.47443405e+01] [ 2.33865166e-02 9.99726386e-01 -4.73222666e-04 1.81235070e+00] [ 5.00475092e-03 3.56270499e-04 9.99987413e-01 3.44563693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801400513 meters 0.07285258850686765 Centerline is valid? [True, True] Translation: X:24.80, Y:1.81, Z:0.03 [[ 9.99673392e-01 -2.46156900e-02 -6.86859233e-03 2.48049360e+01] [ 2.46117952e-02 9.99696872e-01 -6.51009960e-04 1.81259853e+00] [ 6.88253533e-03 4.81748947e-04 9.99976199e-01 3.19863427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861400513 meters 0.07206408944905934 Centerline is valid? [True, True] Translation: X:24.86, Y:1.81, Z:0.03 [[ 9.99668637e-01 -2.47345923e-02 -7.12849332e-03 2.48631574e+01] [ 2.47304016e-02 9.99693929e-01 -6.75436086e-04 1.81460394e+00] [ 7.14301812e-03 4.98921770e-04 9.99974364e-01 3.29816661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921400513 meters 0.07418705675743473 Centerline is valid? [True, True] Translation: X:24.92, Y:1.82, Z:0.04 [[ 9.99669133e-01 -2.52373851e-02 -4.96973071e-03 2.49207296e+01] [ 2.52353505e-02 9.99681427e-01 -4.71698093e-04 1.81837311e+00] [ 4.98005191e-03 3.46129128e-04 9.99987540e-01 3.76361982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981400513 meters 0.06479623127681385 Centerline is valid? [True, True] Translation: X:24.98, Y:1.81, Z:0.04 [[ 9.99590643e-01 -2.81345815e-02 -5.19542142e-03 2.49827840e+01] [ 2.81323929e-02 9.99604084e-01 -4.93879888e-04 1.80933329e+00] [ 5.20725957e-03 3.47518078e-04 9.99986382e-01 3.71338972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041400513 meters 0.06296280961687474 Centerline is valid? [True, True] Translation: X:25.04, Y:1.81, Z:0.03 [[ 9.99351731e-01 -3.53429248e-02 -6.85527688e-03 2.50421630e+01] [ 3.53392828e-02 9.99375160e-01 -6.51711641e-04 1.80979055e+00] [ 6.87402682e-03 4.09028588e-04 9.99976290e-01 3.46066889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101400512999998 meters 0.054390546929556756 Centerline is valid? [True, True] Translation: X:25.10, Y:1.80, Z:0.04 [[ 9.99172279e-01 -4.01789629e-02 -6.35666293e-03 2.51031878e+01] [ 4.01759281e-02 9.99192439e-01 -6.04440941e-04 1.80331746e+00] [ 6.37581534e-03 3.48555800e-04 9.99979614e-01 3.52466688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161400513 meters 0.05354554208354434 Centerline is valid? [True, True] Translation: X:25.16, Y:1.80, Z:0.04 [[ 9.98766367e-01 -4.93600229e-02 -5.41589010e-03 2.51629033e+01] [ 4.93579543e-02 9.98781021e-01 -5.15032884e-04 1.80417975e+00] [ 5.43471028e-03 2.47080267e-04 9.99985201e-01 3.82921524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221400513 meters 0.0393182453934026 Centerline is valid? [True, True] Translation: X:25.22, Y:1.79, Z:0.04 [[ 9.98380382e-01 -5.65602536e-02 -6.12787865e-03 2.52242866e+01] [ 5.65577407e-02 9.98399160e-01 -5.82740162e-04 1.79322083e+00] [ 6.15102883e-03 2.35217374e-04 9.99981055e-01 3.86586242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281400512999998 meters 0.031040260674464658 Centerline is valid? [True, True] Translation: X:25.29, Y:1.78, Z:0.04 [[ 9.97821473e-01 -6.58870043e-02 -3.34818695e-03 2.52857587e+01] [ 6.58863063e-02 9.97827086e-01 -3.18452819e-04 1.78424924e+00] [ 3.36189353e-03 9.71593900e-05 9.99994344e-01 4.38337709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341400513 meters 0.026044533507870848 Centerline is valid? [True, True] Translation: X:25.35, Y:1.78, Z:0.04 [[ 9.97434255e-01 -7.15165668e-02 -3.20749353e-03 2.53462051e+01] [ 7.15159557e-02 9.97439409e-01 -3.04961187e-04 1.78092102e+00] [ 3.22109023e-03 7.47917690e-05 9.99994809e-01 4.43119718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401400513 meters 0.02551299079547125 Centerline is valid? [True, True] Translation: X:25.41, Y:1.77, Z:0.04 [[ 9.97012687e-01 -7.69925476e-02 -6.15215941e-03 2.54070074e+01] [ 7.69904017e-02 9.97031662e-01 -5.85243553e-04 1.77434934e+00] [ 6.17895712e-03 1.09838024e-04 9.99980904e-01 3.98824925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461400512999997 meters 0.01735052742018255 Centerline is valid? [True, True] Translation: X:25.47, Y:1.77, Z:0.04 [[ 9.96819825e-01 -7.93412280e-02 -7.43002611e-03 2.54665530e+01] [ 7.93381625e-02 9.96847509e-01 -7.06888505e-04 1.77492401e+00] [ 7.46268842e-03 1.15155857e-04 9.99972147e-01 3.93134152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521400513 meters 0.0183137498876647 Centerline is valid? [True, True] Translation: X:25.52, Y:1.78, Z:0.04 [[ 9.96792117e-01 -7.97737284e-02 -6.45199677e-03 2.55240034e+01] [ 7.97714190e-02 9.96812993e-01 -6.14904723e-04 1.78185251e+00] [ 6.48048745e-03 9.82472434e-05 9.99978997e-01 4.03307048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581400513 meters 0.018583357960931635 Centerline is valid? [True, True] Translation: X:25.58, Y:1.79, Z:0.04 [[ 9.96875497e-01 -7.88650200e-02 -4.42175871e-03 2.55829263e+01] [ 7.88639281e-02 9.96885301e-01 -4.21032907e-04 1.78736755e+00] [ 4.44119103e-03 7.10001276e-05 9.99990135e-01 4.41341743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641400513 meters 0.017932358208503054 Centerline is valid? [True, True] Translation: X:25.64, Y:1.80, Z:0.05 [[ 9.96674249e-01 -8.14392115e-02 -2.84540792e-03 2.56404247e+01] [ 8.14387686e-02 9.96678310e-01 -2.71368542e-04 1.79543322e+00] [ 2.85805640e-03 3.87395202e-05 9.99995915e-01 4.78896107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701400513 meters 0.021510507768505462 Centerline is valid? [True, True] Translation: X:25.70, Y:1.80, Z:0.05 [[ 9.96426530e-01 -8.43846792e-02 -3.66007988e-03 2.56993329e+01] [ 8.43839658e-02 9.96433251e-01 -3.49186581e-04 1.79617398e+00] [ 3.67649129e-03 3.90867179e-05 9.99993241e-01 4.60761396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761400512999998 meters 0.012243715021315325 Centerline is valid? [True, True] Translation: X:25.76, Y:1.80, Z:0.05 [[ 9.96260735e-01 -8.62529749e-02 -4.99729172e-03 2.57579211e+01] [ 8.62516614e-02 9.96273267e-01 -4.78163980e-04 1.80307255e+00] [ 5.01991121e-03 4.53512847e-05 9.99987399e-01 4.55455035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821400513 meters 0.012771562319118544 Centerline is valid? [True, True] Translation: X:25.81, Y:1.82, Z:0.05 [[ 9.96252975e-01 -8.63220795e-02 -5.33939762e-03 2.58140941e+01] [ 8.63205740e-02 9.96267281e-01 -5.12196858e-04 1.81503923e+00] [ 5.36368105e-03 4.93777760e-05 9.99985614e-01 4.53735010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881400513 meters 0.011418572268667987 Centerline is valid? [True, True] Translation: X:25.87, Y:1.82, Z:0.05 [[ 9.96124209e-01 -8.78065067e-02 -5.15533943e-03 2.58727925e+01] [ 8.78051225e-02 9.96137549e-01 -4.94646735e-04 1.82374173e+00] [ 5.17886039e-03 4.00643777e-05 9.99986589e-01 4.69185761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941400512999998 meters 0.007620329110815678 Centerline is valid? [True, True] Translation: X:25.93, Y:1.83, Z:0.05 [[ 9.95618976e-01 -9.33449652e-02 -5.43798651e-03 2.59312197e+01] [ 9.33435024e-02 9.95633827e-01 -5.22734893e-04 1.82953929e+00] [ 5.46303799e-03 1.28440724e-05 9.99985077e-01 4.75883498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001400513 meters 0.009833855028685442 Centerline is valid? [True, True] Translation: X:25.99, Y:1.83, Z:0.05 [[ 9.94744093e-01 -1.02376854e-01 -1.78047198e-03 2.59903501e+01] [ 1.02376713e-01 9.94745686e-01 -1.70386489e-04 1.83210973e+00] [ 1.78856046e-03 -1.27879157e-05 9.99998400e-01 5.31473909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061400513 meters 0.01389355219749711 Centerline is valid? [True, True] Translation: X:26.05, Y:1.84, Z:0.05 [[ 9.94217665e-01 -1.07363336e-01 -2.08543165e-03 2.60478522e+01] [ 1.07363150e-01 9.94219852e-01 -2.00982090e-04 1.83662548e+00] [ 2.09495566e-03 -2.40785681e-05 9.99997805e-01 5.31035482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121400512999998 meters 0.019740452951797025 Centerline is valid? [True, True] Translation: X:26.11, Y:1.84, Z:0.05 [[ 9.93579131e-01 -1.13089039e-01 -3.37336323e-03 2.61069658e+01] [ 1.13088585e-01 9.93584856e-01 -3.25869776e-04 1.84481206e+00] [ 3.38857492e-03 -5.77114640e-05 9.99994257e-01 5.07227223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181400513 meters 0.022941660542874484 Centerline is valid? [True, True] Translation: X:26.16, Y:1.85, Z:0.05 [[ 9.93307646e-01 -1.15384558e-01 -5.13063811e-03 2.61644351e+01] [ 1.15383536e-01 9.93320892e-01 -4.95732284e-04 1.85068939e+00] [ 5.15356988e-03 -9.95764999e-05 9.99986715e-01 4.88650038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241400513 meters 0.026221504013814262 Centerline is valid? [True, True] Translation: X:26.22, Y:1.87, Z:0.05 [[ 9.93335613e-01 -1.15053133e-01 -6.86556917e-03 2.62224793e+01] [ 1.15051292e-01 9.93359330e-01 -6.63789421e-04 1.86689612e+00] [ 6.89634824e-03 -1.30526935e-04 9.99976211e-01 4.71195028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301400513 meters 0.018428985147341953 Centerline is valid? [True, True] Translation: X:26.28, Y:1.89, Z:0.05 [[ 9.93611989e-01 -1.12749463e-01 -4.77211429e-03 2.62796770e+01] [ 1.12748544e-01 9.93623446e-01 -4.62001770e-04 1.89027989e+00] [ 4.79377510e-03 -7.89984415e-05 9.99988507e-01 5.17858498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361400513 meters 0.02891385771282903 Centerline is valid? [True, True] Translation: X:26.34, Y:1.91, Z:0.05 [[ 9.93771224e-01 -1.11342642e-01 -4.64449957e-03 2.63359811e+01] [ 1.11341754e-01 9.93782074e-01 -4.50163615e-04 1.90573372e+00] [ 4.66574282e-03 -6.97670802e-05 9.99989113e-01 5.37770647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421400513 meters 0.021729470432203052 Centerline is valid? [True, True] Translation: X:26.39, Y:1.92, Z:0.05 [[ 9.93409544e-01 -1.14445081e-01 -6.30886426e-03 2.63931365e+01] [ 1.14443501e-01 9.93429570e-01 -6.12061412e-04 1.92101994e+00] [ 6.33745973e-03 -1.13980868e-04 9.99979912e-01 5.03803551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481400513 meters 0.025235504900126642 Centerline is valid? [True, True] Translation: X:26.45, Y:1.93, Z:0.05 [[ 9.92891459e-01 -1.18860249e-01 -6.22833509e-03 2.64524873e+01] [ 1.18858793e-01 9.92910984e-01 -6.04710154e-04 1.92633912e+00] [ 6.25605832e-03 -1.39880842e-04 9.99980421e-01 5.02989661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541400513 meters 0.025196961324078795 Centerline is valid? [True, True] Translation: X:26.51, Y:1.94, Z:0.05 [[ 9.93133909e-01 -1.16819615e-01 -6.18191203e-03 2.65094900e+01] [ 1.16818142e-01 9.93153141e-01 -5.99978334e-04 1.94159505e+00] [ 6.20967459e-03 -1.26300651e-04 9.99980712e-01 5.12865005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601400512999998 meters 0.029950223041436363 Centerline is valid? [True, True] Translation: X:26.57, Y:1.96, Z:0.05 [[ 9.93556365e-01 -1.13163726e-01 -6.30235690e-03 2.65674363e+01] [ 1.13162114e-01 9.93576348e-01 -6.13028937e-04 1.95588033e+00] [ 6.33124539e-03 -1.04109226e-04 9.99979952e-01 5.16546941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661400513 meters 0.007530473431273312 Centerline is valid? [True, True] Translation: X:26.62, Y:1.99, Z:0.05 [[ 9.95038078e-01 -9.92974899e-02 -6.26355088e-03 2.66231843e+01] [ 9.92956198e-02 9.95057791e-01 -6.09608429e-04 1.98969624e+00] [ 6.29312769e-03 -1.53595675e-05 9.99980198e-01 5.27328449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721400513 meters 0.010355415786966082 Centerline is valid? [True, True] Translation: X:26.68, Y:2.01, Z:0.05 [[ 9.95865298e-01 -9.06539206e-02 -5.84585846e-03 2.66790516e+01] [ 9.06521425e-02 9.95882456e-01 -5.68975846e-04 2.01437710e+00] [ 5.87336776e-03 3.66837075e-05 9.99982751e-01 5.45375848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781400512999998 meters 0.02074031873026005 Centerline is valid? [True, True] Translation: X:26.74, Y:2.04, Z:0.05 [[ 9.96715918e-01 -8.07914644e-02 -5.48791582e-03 2.67367129e+01] [ 8.07897453e-02 9.96731023e-01 -5.34580528e-04 2.04171632e+00] [ 5.51316549e-03 8.94576003e-05 9.99984798e-01 5.48451188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841400513 meters 0.023400924677808115 Centerline is valid? [True, True] Translation: X:26.80, Y:2.06, Z:0.05 [[ 9.97088789e-01 -7.60176172e-02 -5.93880721e-03 2.67953174e+01] [ 7.60155191e-02 9.97106467e-01 -5.78541949e-04 2.05518180e+00] [ 5.96560246e-03 1.25416178e-04 9.99982198e-01 5.41745946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901400513 meters 0.030103541760219846 Centerline is valid? [True, True] Translation: X:26.85, Y:2.08, Z:0.06 [[ 9.97502860e-01 -7.04002457e-02 -5.64351431e-03 2.68531449e+01] [ 7.03982603e-02 9.97518813e-01 -5.49930723e-04 2.07630933e+00] [ 5.66822695e-03 1.51263880e-04 9.99983924e-01 5.53931556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961400512999997 meters 0.034568144717534964 Centerline is valid? [True, True] Translation: X:26.91, Y:2.09, Z:0.06 [[ 9.97902726e-01 -6.45191327e-02 -5.23740822e-03 2.69120861e+01] [ 6.45173412e-02 9.97916455e-01 -5.10469704e-04 2.09168765e+00] [ 5.25943091e-03 1.71495456e-04 9.99986154e-01 5.65105864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021400513 meters 0.04059714111266928 Centerline is valid? [True, True] Translation: X:26.97, Y:2.11, Z:0.06 [[ 9.98134560e-01 -6.07657981e-02 -5.90917616e-03 2.69703496e+01] [ 6.07634518e-02 9.98152028e-01 -5.75941149e-04 2.10885169e+00] [ 5.93325370e-03 2.15804824e-04 9.99982375e-01 5.64997700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081400513 meters 0.04200499484950032 Centerline is valid? [True, True] Translation: X:27.03, Y:2.12, Z:0.06 [[ 9.98282266e-01 -5.83831996e-02 -4.89074409e-03 2.70295398e+01] [ 5.83815638e-02 9.98294228e-01 -4.76697743e-04 2.11783806e+00] [ 4.91023274e-03 1.90349615e-04 9.99987927e-01 5.77675190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141400513 meters 0.041143499817967166 Centerline is valid? [True, True] Translation: X:27.09, Y:2.12, Z:0.06 [[ 9.98261556e-01 -5.87775412e-02 -4.36661856e-03 2.70871043e+01] [ 5.87762439e-02 9.98271092e-01 -4.24941880e-04 2.12250154e+00] [ 4.38404612e-03 1.67549705e-04 9.99990376e-01 5.96993095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201400513 meters 0.04963842952536867 Centerline is valid? [True, True] Translation: X:27.14, Y:2.14, Z:0.06 [[ 9.98410399e-01 -5.59820925e-02 -6.53302246e-03 2.71442363e+01] [ 5.59791126e-02 9.98431736e-01 -6.38230919e-04 2.14176955e+00] [ 6.55850646e-03 2.71503586e-04 9.99978456e-01 5.71828811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261400512999998 meters 0.04800920163531957 Centerline is valid? [True, True] Translation: X:27.20, Y:2.15, Z:0.06 [[ 9.98587934e-01 -5.26298531e-02 -7.22748276e-03 2.72044847e+01] [ 5.26261160e-02 9.98614036e-01 -7.06402071e-04 2.14673041e+00] [ 7.25464357e-03 3.25050239e-04 9.99973632e-01 5.75702507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321400513 meters 0.05034286742054874 Centerline is valid? [True, True] Translation: X:27.26, Y:2.16, Z:0.06 [[ 9.98672088e-01 -5.08790695e-02 -8.08582200e-03 2.72629813e+01] [ 5.08743341e-02 9.98704750e-01 -7.90387040e-04 2.15568261e+00] [ 8.11556300e-03 3.77976666e-04 9.99966997e-01 5.74531025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381400513 meters 0.05046988400759175 Centerline is valid? [True, True] Translation: X:27.32, Y:2.16, Z:0.06 [[ 9.98835276e-01 -4.76518566e-02 -7.57572085e-03 2.73226671e+01] [ 4.76476051e-02 9.98863933e-01 -7.40804573e-04 2.15923350e+00] [ 7.60241504e-03 3.78976785e-04 9.99971029e-01 5.75479697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441400512999998 meters 0.056757291854778735 Centerline is valid? [True, True] Translation: X:27.38, Y:2.18, Z:0.06 [[ 9.99038341e-01 -4.31154416e-02 -7.96565892e-03 2.73804378e+01] [ 4.31105962e-02 9.99070002e-01 -7.79072490e-04 2.17521266e+00] [ 7.99184093e-03 4.34918983e-04 9.99967970e-01 5.78250604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501400513 meters 0.05811725332718952 Centerline is valid? [True, True] Translation: X:27.44, Y:2.18, Z:0.06 [[ 9.99092260e-01 -4.17643079e-02 -8.39043958e-03 2.74396280e+01] [ 4.17588865e-02 9.99127380e-01 -8.20371611e-04 2.17878359e+00] [ 8.41738017e-03 4.69251513e-04 9.99964463e-01 5.73530968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561400513 meters 0.057278026551055135 Centerline is valid? [True, True] Translation: X:27.50, Y:2.18, Z:0.06 [[ 9.99100522e-01 -4.20891770e-02 -5.16224011e-03 2.74984984e+01] [ 4.20871318e-02 9.99113817e-01 -5.04225977e-04 2.17644932e+00] [ 5.17888787e-03 2.86508556e-04 9.99986548e-01 6.28841777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621400512999998 meters 0.058145262538393465 Centerline is valid? [True, True] Translation: X:27.56, Y:2.18, Z:0.06 [[ 9.99038599e-01 -4.34250457e-02 -6.01197281e-03 2.75568808e+01] [ 4.34222847e-02 9.99056634e-01 -5.89069409e-04 2.17777433e+00] [ 6.03188169e-03 3.27449481e-04 9.99981754e-01 6.25082521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681400513 meters 0.06125413504441337 Centerline is valid? [True, True] Translation: X:27.61, Y:2.18, Z:0.06 [[ 9.98981854e-01 -4.44691827e-02 -7.59909505e-03 2.76148555e+01] [ 4.44647982e-02 9.99010674e-01 -7.45037826e-04 2.17658869e+00] [ 7.62470829e-03 4.06387041e-04 9.99970849e-01 6.09654548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741400513 meters 0.05809818064364642 Centerline is valid? [True, True] Translation: X:27.68, Y:2.17, Z:0.06 [[ 9.99127338e-01 -4.13418354e-02 -5.95100669e-03 2.76757784e+01] [ 4.13390888e-02 9.99145004e-01 -5.83847077e-04 2.17115119e+00] [ 5.97005591e-03 3.37328382e-04 9.99982122e-01 6.36642132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801400512999997 meters 0.05429068494986693 Centerline is valid? [True, True] Translation: X:27.74, Y:2.17, Z:0.06 [[ 9.99222235e-01 -3.86944561e-02 -7.59363733e-03 2.77366990e+01] [ 3.86899077e-02 9.99250987e-01 -7.45026398e-04 2.16810378e+00] [ 7.61677799e-03 4.50649815e-04 9.99970890e-01 6.05526954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861400513 meters 0.06131164469610635 Centerline is valid? [True, True] Translation: X:27.80, Y:2.17, Z:0.06 [[ 9.99350995e-01 -3.46940566e-02 -9.69077474e-03 2.77952962e+01] [ 3.46864598e-02 9.99397791e-01 -9.50941874e-04 2.17447554e+00] [ 9.71793090e-03 6.14186039e-04 9.99952591e-01 5.64302674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921400513 meters 0.06702846309915485 Centerline is valid? [True, True] Translation: X:27.85, Y:2.18, Z:0.06 [[ 9.99428372e-01 -3.25792921e-02 -9.02874828e-03 2.78544855e+01] [ 3.25726102e-02 9.99468979e-01 -8.86178392e-04 2.18151322e+00] [ 9.05282489e-03 5.91581929e-04 9.99958847e-01 5.72738789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981400513 meters 0.07633701294945493 Centerline is valid? [True, True] Translation: X:27.91, Y:2.19, Z:0.06 [[ 9.99535471e-01 -2.91525227e-02 -8.88669777e-03 2.79133606e+01] [ 2.91459136e-02 9.99574787e-01 -8.72340324e-04 2.19342334e+00] [ 8.90834995e-03 6.12924171e-04 9.99960132e-01 5.72112289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041400513 meters 0.07365784753370071 Centerline is valid? [True, True] Translation: X:27.97, Y:2.19, Z:0.06 [[ 9.99596161e-01 -2.66850146e-02 -9.76857424e-03 2.79738777e+01] [ 2.66769110e-02 9.99643648e-01 -9.58945244e-04 2.19391668e+00] [ 9.79068265e-03 6.97962599e-04 9.99951827e-01 5.52120053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101400512999998 meters 0.07687676965309428 Centerline is valid? [True, True] Translation: X:28.03, Y:2.20, Z:0.05 [[ 9.99653699e-01 -2.38298618e-02 -1.11633075e-02 2.80341449e+01] [ 2.38191013e-02 9.99715684e-01 -1.09589723e-03 2.20193523e+00] [ 1.11862487e-02 8.29617767e-04 9.99937088e-01 5.33857712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161400513 meters 0.07465291818302365 Centerline is valid? [True, True] Translation: X:28.09, Y:2.20, Z:0.05 [[ 9.99649644e-01 -2.37022875e-02 -1.17809632e-02 2.80930395e+01] [ 2.36902921e-02 9.99718676e-01 -1.15673788e-03 2.19888010e+00] [ 1.18050662e-02 8.77238151e-04 9.99929933e-01 5.37738178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221400513 meters 0.07551410374656502 Centerline is valid? [True, True] Translation: X:28.15, Y:2.20, Z:0.05 [[ 9.99640226e-01 -2.44274139e-02 -1.10779002e-02 2.81517687e+01] [ 2.44168452e-02 9.99701272e-01 -1.08829802e-03 2.20384616e+00] [ 1.11011753e-02 8.17419103e-04 9.99938046e-01 5.46911509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281400512999998 meters 0.0741569548223025 Centerline is valid? [True, True] Translation: X:28.21, Y:2.21, Z:0.06 [[ 9.99659239e-01 -2.43140870e-02 -9.49902862e-03 2.82104136e+01] [ 2.43063069e-02 9.99704122e-01 -9.33654257e-04 2.20569292e+00] [ 9.51891902e-03 7.02449799e-04 9.99954447e-01 5.71997449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341400513 meters 0.07601996407908719 Centerline is valid? [True, True] Translation: X:28.27, Y:2.21, Z:0.06 [[ 9.99743279e-01 -2.08806721e-02 -8.79620655e-03 2.82703358e+01] [ 2.08738567e-02 9.99781742e-01 -8.65919057e-04 2.21303235e+00] [ 8.81236768e-03 6.82086002e-04 9.99960938e-01 5.83223120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401400513 meters 0.09157145173771711 Centerline is valid? [True, True] Translation: X:28.33, Y:2.24, Z:0.06 [[ 9.99853216e-01 -1.45551620e-02 -9.03851119e-03 2.83279306e+01] [ 1.45477092e-02 9.99893781e-01 -8.89763702e-04 2.23886263e+00] [ 9.05050178e-03 7.58143466e-04 9.99958756e-01 5.90092561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461400512999997 meters 0.09219072217487333 Centerline is valid? [True, True] Translation: X:28.39, Y:2.25, Z:0.06 [[ 9.99912872e-01 -1.16474518e-02 -6.21177400e-03 2.83877555e+01] [ 1.16438760e-02 9.99932021e-01 -6.11509138e-04 2.24547881e+00] [ 6.21847425e-03 5.39126732e-04 9.99980520e-01 6.45471361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521400513 meters 0.08400990622522803 Centerline is valid? [True, True] Translation: X:28.45, Y:2.24, Z:0.07 [[ 9.99936578e-01 -1.07178177e-02 -3.45942632e-03 2.84477563e+01] [ 1.07167037e-02 9.99942517e-01 -3.40403727e-04 2.24137767e+00] [ 3.46287585e-03 3.03308491e-04 9.99993958e-01 6.81722887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581400513 meters 0.0905358824116831 Centerline is valid? [True, True] Translation: X:28.51, Y:2.25, Z:0.06 [[ 9.99904657e-01 -1.20684321e-02 -6.71045747e-03 2.85058087e+01] [ 1.20642668e-02 9.99927006e-01 -6.60854905e-04 2.25262804e+00] [ 6.71794312e-03 5.79835148e-04 9.99977266e-01 6.30807435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641400513 meters 0.08570712026169502 Centerline is valid? [True, True] Translation: X:28.57, Y:2.25, Z:0.06 [[ 9.99861767e-01 -1.43571543e-02 -8.38560417e-03 2.85662837e+01] [ 1.43507275e-02 9.99896682e-01 -8.26079773e-04 2.25315097e+00] [ 8.39659794e-03 7.05626061e-04 9.99964499e-01 6.03786919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701400513 meters 0.0817294063878866 Centerline is valid? [True, True] Translation: X:28.63, Y:2.25, Z:0.06 [[ 9.99805850e-01 -1.83743080e-02 -7.11662846e-03 2.86276679e+01] [ 1.83697802e-02 9.99831016e-01 -7.01078187e-04 2.24873083e+00] [ 7.12830769e-03 5.70211173e-04 9.99974431e-01 6.35643795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761400512999998 meters 0.07038570334972086 Centerline is valid? [True, True] Translation: X:28.69, Y:2.24, Z:0.06 [[ 9.99712618e-01 -2.25936758e-02 -8.01289627e-03 2.86896846e+01] [ 2.25880699e-02 9.99744545e-01 -7.89422689e-04 2.23694167e+00] [ 8.02868530e-03 6.08199962e-04 9.99967585e-01 6.33533139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821400513 meters 0.07849193496693896 Centerline is valid? [True, True] Translation: X:28.75, Y:2.24, Z:0.06 [[ 9.99558522e-01 -2.85399289e-02 -8.26041017e-03 2.87491803e+01] [ 2.85341734e-02 9.99592486e-01 -8.13809545e-04 2.24351177e+00] [ 8.28027001e-03 5.77746290e-04 9.99965551e-01 6.31822979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881400513 meters 0.062075637532787206 Centerline is valid? [True, True] Translation: X:28.81, Y:2.22, Z:0.06 [[ 9.99458323e-01 -3.20556509e-02 -7.44948858e-03 2.88119208e+01] [ 3.20510671e-02 9.99485963e-01 -7.33918036e-04 2.21612807e+00] [ 7.46918549e-03 4.94756432e-04 9.99971983e-01 6.40957017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941400512999998 meters 0.076208522918956 Centerline is valid? [True, True] Translation: X:28.87, Y:2.23, Z:0.06 [[ 9.99490024e-01 -3.10642825e-02 -7.39609833e-03 2.88696527e+01] [ 3.10597364e-02 9.99517264e-01 -7.28762258e-04 2.22871979e+00] [ 7.41516645e-03 4.98669742e-04 9.99972383e-01 6.47630537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001400513 meters 0.07213131768334577 Centerline is valid? [True, True] Translation: X:28.93, Y:2.22, Z:0.07 [[ 9.99657605e-01 -2.50240057e-02 -7.64666350e-03 2.89308303e+01] [ 2.50189680e-02 9.99686692e-01 -7.53773430e-04 2.22182848e+00] [ 7.66313017e-03 5.62203713e-04 9.99970480e-01 6.62170653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061400513 meters 0.0823544990410767 Centerline is valid? [True, True] Translation: X:28.99, Y:2.24, Z:0.06 [[ 9.99806989e-01 -1.69340704e-02 -9.96100261e-03 2.89889256e+01] [ 1.69251221e-02 9.99856278e-01 -9.81953785e-04 2.23677154e+00] [ 9.97619946e-03 8.13173072e-04 9.99949906e-01 6.25465830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121400512999998 meters 0.10113674437608025 Centerline is valid? [True, False] Translation: X:29.00, Y:2.24, Z:0.06 [[ 9.99953480e-01 -7.81686513e-03 -5.65105266e-03 2.90044497e+01] [ 7.79961303e-03 9.99964874e-01 -3.06852065e-03 2.23905789e+00] [ 5.67484038e-03 3.02430187e-03 9.99979325e-01 6.34920281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181400513 meters 0.08539659358029314 Centerline is valid? [False, True] Translation: X:28.99, Y:2.25, Z:0.06 [[ 9.99991778e-01 -3.72208786e-03 -1.60926244e-03 2.89875184e+01] [ 3.71067377e-03 9.99968345e-01 -7.03848764e-03 2.24598733e+00] [ 1.63540937e-03 7.03245832e-03 9.99973935e-01 5.53272700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241400513 meters 0.08828768819878378 Centerline is valid? [True, True] Translation: X:29.05, Y:2.25, Z:0.05 [[ 9.99983121e-01 -4.55375738e-03 -3.60838708e-03 2.90454713e+01] [ 4.55251670e-03 9.99989575e-01 -3.51971279e-04 2.25465286e+00] [ 3.60995226e-03 3.35538096e-04 9.99993428e-01 5.30799434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301400512999997 meters 0.09367616080046781 Centerline is valid? [True, True] Translation: X:29.10, Y:2.27, Z:0.05 [[ 9.99966312e-01 -7.83135460e-03 -2.45847013e-03 2.91039420e+01] [ 7.83078835e-03 9.99969310e-01 -2.39866015e-04 2.26785230e+00] [ 2.46027316e-03 2.20606175e-04 9.99996949e-01 5.41292684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361400513 meters 0.08902819370426021 Centerline is valid? [True, True] Translation: X:29.16, Y:2.27, Z:0.06 [[ 9.99891232e-01 -1.47386107e-02 -5.44779017e-04 2.91637248e+01] [ 1.47385839e-02 9.99891380e-01 -5.31266672e-05 2.26609947e+00] [ 5.45502856e-04 4.50916175e-05 9.99999850e-01 5.76338002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421400513 meters 0.0850460801105089 Centerline is valid? [True, True] Translation: X:29.22, Y:2.27, Z:0.06 [[ 9.99795190e-01 -2.01857914e-02 -1.45329933e-03 2.92248652e+01] [ 2.01856064e-02 9.99796240e-01 -1.41833482e-04 2.26636767e+00] [ 1.45586623e-03 1.12468705e-04 9.99998934e-01 5.64319712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481400513 meters 0.07822576114403643 Centerline is valid? [True, True] Translation: X:29.28, Y:2.27, Z:0.06 [[ 9.99779255e-01 -2.08634157e-02 -2.48186612e-03 2.92843876e+01] [ 2.08628784e-02 9.99782317e-01 -2.42178462e-04 2.26521528e+00] [ 2.48637853e-03 1.90346131e-04 9.99996891e-01 5.56038458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541400513 meters 0.08092976413955578 Centerline is valid? [True, True] Translation: X:29.34, Y:2.28, Z:0.06 [[ 9.99840153e-01 -1.76966297e-02 -2.54908699e-03 2.93443278e+01] [ 1.76960516e-02 9.99843382e-01 -2.49163849e-04 2.27669101e+00] [ 2.55309711e-03 2.04015246e-04 9.99996720e-01 5.72087467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601400512999998 meters 0.07596603044742777 Centerline is valid? [True, True] Translation: X:29.40, Y:2.28, Z:0.06 [[ 9.99858032e-01 -1.68250159e-02 -9.13209962e-04 2.94042073e+01] [ 1.68249414e-02 9.99858447e-01 -8.92225594e-05 2.27815909e+00] [ 9.14581865e-04 7.38451886e-05 9.99999579e-01 6.01754232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661400513 meters 0.08471557603296816 Centerline is valid? [True, True] Translation: X:29.46, Y:2.30, Z:0.06 [[ 9.99861421e-01 -1.66400274e-02 -4.97323847e-04 2.94618638e+01] [ 1.66400053e-02 9.99861544e-01 -4.85984459e-05 2.29815112e+00] [ 4.98063669e-04 4.03162397e-05 9.99999875e-01 6.02729150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721400513 meters 0.08175357897730114 Centerline is valid? [True, True] Translation: X:29.52, Y:2.31, Z:0.06 [[ 9.99872077e-01 -1.56960235e-02 -3.07640561e-03 2.95215306e+01] [ 1.56951717e-02 9.99876778e-01 -3.00819778e-04 2.30623939e+00] [ 3.08074820e-03 2.52496582e-04 9.99995223e-01 5.74172436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781400512999998 meters 0.09479918428000887 Centerline is valid? [True, True] Translation: X:29.58, Y:2.33, Z:0.06 [[ 9.99878435e-01 -1.54273153e-02 -2.26105760e-03 2.95771957e+01] [ 1.54268545e-02 9.99880975e-01 -2.21096528e-04 2.33048900e+00] [ 2.26419941e-03 1.86188643e-04 9.99997419e-01 5.92762873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841400513 meters 0.08146876897957431 Centerline is valid? [True, True] Translation: X:29.64, Y:2.32, Z:0.06 [[ 9.99845029e-01 -1.74373731e-02 -2.41971908e-03 2.96386794e+01] [ 1.74368508e-02 9.99847939e-01 -2.36766922e-04 2.31703271e+00] [ 2.42347972e-03 1.94537949e-04 9.99997044e-01 5.87888181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901400513 meters 0.0813569456877351 Centerline is valid? [True, True] Translation: X:29.70, Y:2.32, Z:0.06 [[ 9.99754701e-01 -2.20466258e-02 -2.11763076e-03 2.96979511e+01] [ 2.20462360e-02 9.99756931e-01 -2.07237019e-04 2.32109905e+00] [ 2.12168491e-03 1.60500396e-04 9.99997736e-01 5.92881815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961400512999997 meters 0.06588636603658578 Centerline is valid? [True, True] Translation: X:29.76, Y:2.30, Z:0.06 [[ 9.99660940e-01 -2.60037927e-02 -1.34445239e-03 2.97599237e+01] [ 2.60036392e-02 9.99661840e-01 -1.31552621e-04 2.30387085e+00] [ 1.34741862e-03 9.65473617e-05 9.99999088e-01 6.01704271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021400513 meters 0.0741089944183418 Centerline is valid? [True, True] Translation: X:29.82, Y:2.31, Z:0.06 [[ 9.99565455e-01 -2.94569769e-02 -1.08993124e-03 2.98186365e+01] [ 2.94568780e-02 9.99566046e-01 -1.06652279e-04 2.30999901e+00] [ 1.09259992e-03 7.44999623e-05 9.99999400e-01 6.11747525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081400513 meters 0.07341415460120868 Centerline is valid? [True, True] Translation: X:29.88, Y:2.31, Z:0.06 [[ 9.99564745e-01 -2.94762291e-02 -1.21373288e-03 2.98772980e+01] [ 2.94761067e-02 9.99565478e-01 -1.18636461e-04 2.30983850e+00] [ 1.21670244e-03 8.28087040e-05 9.99999256e-01 6.09918690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141400513 meters 0.07837784961442895 Centerline is valid? [True, True] Translation: X:29.94, Y:2.32, Z:0.06 [[ 9.99647458e-01 -2.65506790e-02 1.46827401e-04 2.99362174e+01] [ 2.65506771e-02 9.99647469e-01 1.44312339e-05 2.31569048e+00] [-1.47158799e-04 -1.05277794e-05 9.99999989e-01 6.38976329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201400513 meters 0.08453589629956292 Centerline is valid? [True, True] Translation: X:30.00, Y:2.32, Z:0.06 [[ 9.99810424e-01 -1.94687563e-02 -2.88758136e-04 2.99962392e+01] [ 1.94687489e-02 9.99810466e-01 -2.83171633e-05 2.32445344e+00] [ 2.89254707e-04 2.26900354e-05 9.99999958e-01 6.32357221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261400512999998 meters 0.08700754233459951 Centerline is valid? [True, True] Translation: X:30.06, Y:2.33, Z:0.06 [[ 9.99862705e-01 -1.64193170e-02 -2.23102255e-03 3.00562013e+01] [ 1.64188693e-02 9.99865177e-01 -2.18853371e-04 2.33008562e+00] [ 2.23431518e-03 1.82192456e-04 9.99997487e-01 5.97506225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321400513 meters 0.08005180650053725 Centerline is valid? [True, True] Translation: X:30.12, Y:2.33, Z:0.06 [[ 9.99842829e-01 -1.76007182e-02 -2.12908675e-03 3.01173135e+01] [ 1.76003131e-02 9.99845081e-01 -2.08863429e-04 2.32549738e+00] [ 2.13243306e-03 1.71358008e-04 9.99997712e-01 5.98426480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381400513 meters 0.07464697532068165 Centerline is valid? [True, True] Translation: X:30.18, Y:2.32, Z:0.06 [[ 9.99806514e-01 -1.96008351e-02 -1.65554653e-03 3.01777389e+01] [ 1.96005929e-02 9.99807877e-01 -1.62424550e-04 2.32431447e+00] [ 1.65841212e-03 1.29943430e-04 9.99998616e-01 5.95687850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441400512999998 meters 0.0826292166942129 Centerline is valid? [True, True] Translation: X:30.23, Y:2.34, Z:0.06 [[ 9.99785882e-01 -2.05279707e-02 -2.60640462e-03 3.02348940e+01] [ 2.05273733e-02 9.99789259e-01 -2.55747729e-04 2.33806802e+00] [ 2.61110533e-03 2.02190328e-04 9.99996571e-01 5.79282550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501400513 meters 0.07839985967650222 Centerline is valid? [True, True] Translation: X:30.30, Y:2.33, Z:0.06 [[ 9.99731199e-01 -2.29374684e-02 -3.37685096e-03 3.02963358e+01] [ 2.29364787e-02 9.99736869e-01 -3.31503358e-04 2.33249080e+00] [ 3.38356625e-03 2.53961179e-04 9.99994243e-01 5.67098775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561400513 meters 0.07315531809418309 Centerline is valid? [True, True] Translation: X:30.36, Y:2.33, Z:0.06 [[ 9.99648874e-01 -2.63967742e-02 -2.31055930e-03 3.03572482e+01] [ 2.63963201e-02 9.99651531e-01 -2.26823256e-04 2.32833965e+00] [ 2.31574154e-03 1.65753350e-04 9.99997305e-01 5.85426588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621400512999998 meters 0.06450215461746957 Centerline is valid? [True, True] Translation: X:30.42, Y:2.31, Z:0.06 [[ 9.99486414e-01 -3.19529520e-02 -2.43231074e-03 3.04194589e+01] [ 3.19524650e-02 9.99489361e-01 -2.38840751e-04 2.31099955e+00] [ 2.43870037e-03 1.60999762e-04 9.99997013e-01 5.97062007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681400513 meters 0.06284135094622147 Centerline is valid? [True, True] Translation: X:30.48, Y:2.31, Z:0.06 [[ 9.99456057e-01 -3.28200051e-02 -3.23056171e-03 3.04791717e+01] [ 3.28191503e-02 9.99461256e-01 -3.17264779e-04 2.30804259e+00] [ 3.23923389e-03 2.11067915e-04 9.99994731e-01 5.88670754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741400513 meters 0.06455129331674656 Centerline is valid? [True, True] Translation: X:30.54, Y:2.31, Z:0.06 [[ 9.99516932e-01 -3.09673479e-02 -2.63157720e-03 3.05390441e+01] [ 3.09667740e-02 9.99520381e-01 -2.58539997e-04 2.30960226e+00] [ 2.63832134e-03 1.76923648e-04 9.99996504e-01 5.96238058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801400512999997 meters 0.07238928046523206 Centerline is valid? [True, True] Translation: X:30.60, Y:2.32, Z:0.06 [[ 9.99712615e-01 -2.39193815e-02 -1.59692096e-03 3.05980519e+01] [ 2.39191612e-02 9.99713884e-01 -1.56908048e-04 2.31741136e+00] [ 1.60021720e-03 1.18665945e-04 9.99998713e-01 6.24916988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861400513 meters 0.07428368323697263 Centerline is valid? [True, True] Translation: X:30.66, Y:2.32, Z:0.06 [[ 9.99825266e-01 -1.85153587e-02 -2.57273364e-03 3.06583168e+01] [ 1.85147691e-02 9.99828555e-01 -2.52789607e-04 2.32499639e+00] [ 2.57697305e-03 2.05111866e-04 9.99996659e-01 6.19426536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921400513 meters 0.08986075235636522 Centerline is valid? [True, True] Translation: X:30.72, Y:2.35, Z:0.06 [[ 9.99908908e-01 -1.34500123e-02 -1.12785535e-03 3.07158899e+01] [ 1.34498958e-02 9.99909540e-01 -1.10819295e-04 2.34817726e+00] [ 1.12924385e-03 9.56396629e-05 9.99999358e-01 6.39978439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981400513 meters 0.08704591804530022 Centerline is valid? [True, True] Translation: X:30.78, Y:2.35, Z:0.06 [[ 9.99907633e-01 -1.35598616e-02 -9.24507983e-04 3.07750402e+01] [ 1.35597836e-02 9.99908058e-01 -9.05871121e-05 2.34925832e+00] [ 9.25651331e-04 7.80426167e-05 9.99999569e-01 6.47845985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041400513 meters 0.08057456411904382 Centerline is valid? [True, True] Translation: X:30.84, Y:2.35, Z:0.06 [[ 9.99887909e-01 -1.48467921e-02 -1.93450927e-03 3.08352141e+01] [ 1.48464514e-02 9.99889767e-01 -1.90384909e-04 2.34694714e+00] [ 1.93712263e-03 1.61642971e-04 9.99998111e-01 6.30884272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101400513 meters 0.09348240280523538 Centerline is valid? [True, True] Translation: X:30.89, Y:2.37, Z:0.06 [[ 9.99888889e-01 -1.41460071e-02 -4.70115904e-03 3.08920272e+01] [ 1.41439860e-02 9.99899862e-01 -4.62882369e-04 2.36863842e+00] [ 4.70723621e-03 3.96337810e-04 9.99988842e-01 5.83803264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161400513 meters 0.09449322576549313 Centerline is valid? [True, True] Translation: X:30.95, Y:2.38, Z:0.06 [[ 9.99931430e-01 -9.81825288e-03 -6.38251184e-03 3.09519102e+01] [ 9.81443932e-03 9.99951640e-01 -6.28548338e-04 2.38193627e+00] [ 6.38837443e-03 5.65864464e-04 9.99979434e-01 5.56612227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221400513 meters 0.0889008539219036 Centerline is valid? [True, True] Translation: X:31.01, Y:2.38, Z:0.06 [[ 9.99955519e-01 -7.10984641e-03 -6.19758722e-03 3.10123744e+01] [ 7.10619907e-03 9.99974564e-01 -6.10332959e-04 2.38333188e+00] [ 6.20176895e-03 5.66264522e-04 9.99980609e-01 5.68962634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281400513 meters 0.08839698437173224 Centerline is valid? [True, True] Translation: X:31.07, Y:2.39, Z:0.06 [[ 9.99971939e-01 -6.15027192e-03 -4.27727766e-03 3.10714278e+01] [ 6.14852580e-03 9.99981009e-01 -4.21260399e-04 2.39234215e+00] [ 4.27978729e-03 3.94949626e-04 9.99990764e-01 5.96426292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341400512999996 meters 0.08847156575044855 Centerline is valid? [True, True] Translation: X:31.13, Y:2.40, Z:0.06 [[ 9.99955036e-01 -8.45423617e-03 -4.29548559e-03 3.11317851e+01] [ 8.45249606e-03 9.99964188e-01 -4.23096810e-04 2.40061492e+00] [ 4.29890872e-03 3.86770211e-04 9.99990685e-01 5.83536173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401400513 meters 0.08061764830545844 Centerline is valid? [True, True] Translation: X:31.19, Y:2.40, Z:0.06 [[ 9.99916455e-01 -1.14056358e-02 -6.08235217e-03 3.11918767e+01] [ 1.14022007e-02 9.99934813e-01 -5.99132160e-04 2.39879711e+00] [ 6.08878917e-03 5.29729905e-04 9.99981323e-01 5.56339488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461400513 meters 0.09209464994860496 Centerline is valid? [True, True] Translation: X:31.25, Y:2.42, Z:0.06 [[ 9.99882829e-01 -1.39773535e-02 -6.24190841e-03 3.12495082e+01] [ 1.39737850e-02 9.99902173e-01 -6.14949720e-04 2.41917512e+00] [ 6.24989315e-03 5.27654580e-04 9.99980330e-01 5.51645040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521400512999996 meters 0.08146802285690519 Centerline is valid? [True, True] Translation: X:31.31, Y:2.41, Z:0.06 [[ 9.99811123e-01 -1.91875187e-02 -3.09158071e-03 3.13116787e+01] [ 1.91866680e-02 9.99815873e-01 -3.04597969e-04 2.41077958e+00] [ 3.09685594e-03 2.45223305e-04 9.99995175e-01 6.09894516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581400513 meters 0.07157636488662437 Centerline is valid? [True, True] Translation: X:31.37, Y:2.40, Z:0.06 [[ 9.99780785e-01 -2.09210752e-02 -8.30482759e-04 3.13723213e+01] [ 2.09210144e-02 9.99781128e-01 -8.17813759e-05 2.40346743e+00] [ 8.32011944e-04 6.43889065e-05 9.99999652e-01 6.49366790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641400513 meters 0.08239540014910164 Centerline is valid? [True, True] Translation: X:31.43, Y:2.42, Z:0.07 [[ 9.99802428e-01 -1.98565895e-02 -9.05751613e-04 3.14300690e+01] [ 1.98565168e-02 9.99802836e-01 -8.92010469e-05 2.41739641e+00] [ 9.07344260e-04 7.11983512e-05 9.99999586e-01 6.51660973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701400512999996 meters 0.08955632026593624 Centerline is valid? [True, True] Translation: X:31.49, Y:2.43, Z:0.06 [[ 9.99841795e-01 -1.77228967e-02 -1.51154245e-03 3.14888663e+01] [ 1.77226916e-02 9.99842930e-01 -1.48998548e-04 2.43075274e+00] [ 1.51394572e-03 1.22186374e-04 9.99998847e-01 6.46297489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761400513 meters 0.08989768918872376 Centerline is valid? [True, True] Translation: X:31.55, Y:2.44, Z:0.07 [[ 9.99910289e-01 -1.33672828e-02 -8.54592643e-04 3.15484638e+01] [ 1.33672156e-02 9.99910651e-01 -8.42595979e-05 2.43836998e+00] [ 8.55642608e-04 7.28285147e-05 9.99999631e-01 6.60590556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821400513 meters 0.0937349675280162 Centerline is valid? [True, True] Translation: X:31.61, Y:2.45, Z:0.07 [[ 9.99970818e-01 -7.63717011e-03 -1.90211571e-04 3.16079066e+01] [ 7.63716669e-03 9.99970836e-01 -1.87442451e-05 2.45046255e+00] [ 1.90349176e-04 1.72910207e-05 9.99999982e-01 6.79984392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881400512999996 meters 0.0947273762133425 Centerline is valid? [True, True] Translation: X:31.67, Y:2.46, Z:0.07 [[ 9.99981981e-01 -5.93508568e-03 -9.01512829e-04 3.16672893e+01] [ 5.93500795e-03 9.99982384e-01 -8.88787111e-05 2.45830181e+00] [ 9.02024450e-04 8.35266238e-05 9.99999590e-01 6.63832952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941400513 meters 0.08960324478796602 Centerline is valid? [True, True] Translation: X:31.73, Y:2.46, Z:0.06 [[ 9.99986300e-01 -4.43766481e-03 -2.77620902e-03 3.17280840e+01] [ 4.43692176e-03 9.99990119e-01 -2.73752611e-04 2.45945107e+00] [ 2.77739641e-03 2.61431039e-04 9.99996109e-01 6.28056378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001400513 meters 0.09321716664834023 Centerline is valid? [True, True] Translation: X:31.79, Y:2.47, Z:0.06 [[ 9.99980225e-01 -5.41533076e-03 -3.19732385e-03 3.17855438e+01] [ 5.41435007e-03 9.99985293e-01 -3.15298487e-04 2.47223162e+00] [ 3.19898427e-03 2.97980821e-04 9.99994839e-01 6.24100914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061400513 meters 0.09283494482642937 Centerline is valid? [True, True] Translation: X:31.85, Y:2.48, Z:0.06 [[ 9.99964706e-01 -7.32179508e-03 -4.12048861e-03 3.18459885e+01] [ 7.32018188e-03 9.99973125e-01 -4.06451097e-04 2.47709981e+00] [ 4.12335382e-03 3.76274026e-04 9.99991428e-01 6.14150589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121400513 meters 0.07432389434569871 Centerline is valid? [True, True] Translation: X:31.91, Y:2.46, Z:0.06 [[ 9.99934491e-01 -1.04626189e-02 -4.64183167e-03 3.19080500e+01] [ 1.04606049e-02 9.99945182e-01 -4.57935404e-04 2.45978314e+00] [ 4.64636841e-03 4.09349038e-04 9.99989122e-01 6.07141190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181400513 meters 0.09587809139151106 Centerline is valid? [True, True] Translation: X:31.96, Y:2.49, Z:0.06 [[ 9.99943288e-01 -1.00681955e-02 -3.47165882e-03 3.19631313e+01] [ 1.00670663e-02 9.99949267e-01 -3.42596235e-04 2.49437783e+00] [ 3.47493202e-03 3.07627386e-04 9.99993915e-01 6.13519261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241400513 meters 0.09596631096491397 Centerline is valid? [True, True] Translation: X:32.02, Y:2.50, Z:0.06 [[ 9.99922253e-01 -1.04301216e-02 -6.83380234e-03 3.20219442e+01] [ 1.04257477e-02 9.99945422e-01 -6.75344100e-04 2.50052710e+00] [ 6.84047329e-03 6.04044095e-04 9.99976421e-01 5.74232135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301400513 meters 0.09128666347563458 Centerline is valid? [True, True] Translation: X:32.08, Y:2.50, Z:0.06 [[ 9.99898466e-01 -1.17647203e-02 -8.04048153e-03 3.20825895e+01] [ 1.17587040e-02 9.99930548e-01 -7.95119425e-04 2.50142269e+00] [ 8.04927746e-03 7.00493051e-04 9.99967359e-01 5.63556421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361400513 meters 0.08864342937222455 Centerline is valid? [True, True] Translation: X:32.14, Y:2.50, Z:0.06 [[ 9.99847320e-01 -1.53882217e-02 -8.27886966e-03 3.21431478e+01] [ 1.53819664e-02 9.99881355e-01 -8.18725507e-04 2.50460172e+00] [ 8.29048615e-03 6.91255209e-04 9.99965394e-01 5.60053383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421400513 meters 0.07954549427911238 Centerline is valid? [True, True] Translation: X:32.20, Y:2.50, Z:0.06 [[ 9.99796917e-01 -1.90386094e-02 -6.60723198e-03 3.22043885e+01] [ 1.90347042e-02 9.99818610e-01 -6.53434257e-04 2.49888039e+00] [ 6.61847398e-03 5.27534850e-04 9.99977959e-01 5.89324897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481400513 meters 0.08172850048645774 Centerline is valid? [True, True] Translation: X:32.26, Y:2.51, Z:0.06 [[ 9.99723647e-01 -2.32427525e-02 -3.52205117e-03 3.22629639e+01] [ 2.32416687e-02 9.99729815e-01 -3.48339634e-04 2.51010750e+00] [ 3.52919594e-03 2.66385023e-04 9.99993737e-01 6.31371692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541400513 meters 0.07201757720217818 Centerline is valid? [True, True] Translation: X:32.32, Y:2.50, Z:0.06 [[ 9.99653632e-01 -2.60200487e-02 -3.94616702e-03 3.23241579e+01] [ 2.60187095e-02 9.99661380e-01 -3.90324899e-04 2.50396664e+00] [ 3.95498704e-03 2.87515530e-04 9.99992138e-01 6.27458048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601400513 meters 0.07291208454477485 Centerline is valid? [True, True] Translation: X:32.38, Y:2.51, Z:0.06 [[ 9.99590768e-01 -2.84111915e-02 -3.33179771e-03 3.23829963e+01] [ 2.84102500e-02 9.99596293e-01 -3.29567839e-04 2.51180620e+00] [ 3.33981605e-03 2.34775763e-04 9.99994395e-01 6.40642581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661400513 meters 0.07379073050906756 Centerline is valid? [True, True] Translation: X:32.44, Y:2.52, Z:0.07 [[ 9.99611434e-01 -2.78738561e-02 -1.72671217e-04 3.24409798e+01] [ 2.78738536e-02 9.99611449e-01 -1.69448915e-05 2.51793112e+00] [ 1.73076445e-04 1.21252951e-05 9.99999985e-01 6.97110907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721400513 meters 0.07676902631123943 Centerline is valid? [True, True] Translation: X:32.50, Y:2.53, Z:0.07 [[ 9.99714407e-01 -2.37563261e-02 -2.59656034e-03 3.25000825e+01] [ 2.37557383e-02 9.99717760e-01 -2.57016708e-04 2.53104063e+00] [ 2.60193326e-03 1.95260098e-04 9.99996596e-01 6.53716661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781400513 meters 0.08626537629967247 Centerline is valid? [True, True] Translation: X:32.56, Y:2.55, Z:0.06 [[ 9.99822806e-01 -1.79462251e-02 -5.68237655e-03 3.25580626e+01] [ 1.79433158e-02 9.99838847e-01 -5.62559882e-04 2.55170575e+00] [ 5.69155664e-03 4.60499523e-04 9.99983697e-01 5.95401647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841400512999996 meters 0.09077669575190205 Centerline is valid? [True, True] Translation: X:32.62, Y:2.56, Z:0.06 [[ 9.99932877e-01 -1.08168852e-02 -4.15174937e-03 3.26173459e+01] [ 1.08152710e-02 9.99941429e-01 -4.11053909e-04 2.56305616e+00] [ 4.15595252e-03 3.66124023e-04 9.99991297e-01 6.31386297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901400513 meters 0.09036213976763256 Centerline is valid? [True, True] Translation: X:32.68, Y:2.57, Z:0.06 [[ 9.99940414e-01 -9.31222327e-03 -5.69664816e-03 3.26772120e+01] [ 9.30915990e-03 9.99956510e-01 -5.64031155e-04 2.57321551e+00] [ 5.70165280e-03 5.10966538e-04 9.99983615e-01 5.87053456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961400513 meters 0.09469670580217553 Centerline is valid? [True, True] Translation: X:32.73, Y:2.58, Z:0.06 [[ 9.99934670e-01 -1.01340275e-02 -5.28742284e-03 3.27342005e+01] [ 1.01313990e-02 9.99948539e-01 -5.23666011e-04 2.58275711e+00] [ 5.29245759e-03 4.70062809e-04 9.99985884e-01 5.91431948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021400512999996 meters 0.08418147783884933 Centerline is valid? [True, True] Translation: X:32.80, Y:2.58, Z:0.06 [[ 9.99928410e-01 -1.13294290e-02 -3.84951370e-03 3.27950784e+01] [ 1.13280441e-02 9.99935763e-01 -3.81376053e-04 2.57914128e+00] [ 3.85358719e-03 3.37741290e-04 9.99992518e-01 6.17522262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081400513 meters 0.08344509428642491 Centerline is valid? [True, True] Translation: X:32.85, Y:2.59, Z:0.06 [[ 9.99883309e-01 -1.41542286e-02 -5.74689721e-03 3.28538939e+01] [ 1.41511877e-02 9.99899705e-01 -5.69453512e-04 2.59022353e+00] [ 5.75438100e-03 4.88061641e-04 9.99983324e-01 6.08677702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141400513 meters 0.08741478894848999 Centerline is valid? [True, True] Translation: X:32.91, Y:2.60, Z:0.06 [[ 9.99839631e-01 -1.63842754e-02 -7.22966548e-03 3.29122930e+01] [ 1.63795199e-02 9.99865590e-01 -7.16501688e-04 2.60410288e+00] [ 7.24043310e-03 5.97968334e-04 9.99973609e-01 6.02816745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201400512999996 meters 0.07695625419865385 Centerline is valid? [True, True] Translation: X:32.97, Y:2.60, Z:0.07 [[ 9.99809132e-01 -1.90843706e-02 -4.18156390e-03 3.29732639e+01] [ 1.90828029e-02 9.99817821e-01 -4.14481290e-04 2.60174667e+00] [ 4.18871222e-03 3.34606219e-04 9.99991171e-01 6.60401926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261400513 meters 0.07915260142520095 Centerline is valid? [True, True] Translation: X:33.03, Y:2.61, Z:0.07 [[ 9.99710975e-01 -2.37738360e-02 -3.57369852e-03 3.30317530e+01] [ 2.37727205e-02 9.99717326e-01 -3.54303045e-04 2.61210664e+00] [ 3.58111147e-03 2.69244106e-04 9.99993552e-01 6.79549233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321400513 meters 0.07251274064866796 Centerline is valid? [True, True] Translation: X:33.09, Y:2.61, Z:0.07 [[ 9.99665977e-01 -2.55300249e-02 -4.01893453e-03 3.30924646e+01] [ 2.55286279e-02 9.99674012e-01 -3.98522543e-04 2.61064113e+00] [ 4.02779870e-03 2.95791543e-04 9.99991845e-01 6.72518105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381400512999996 meters 0.07828813292704552 Centerline is valid? [True, True] Translation: X:33.15, Y:2.62, Z:0.07 [[ 9.99614178e-01 -2.74739576e-02 -4.08361360e-03 3.31503416e+01] [ 2.74725310e-02 9.99622477e-01 -4.05036952e-04 2.62319340e+00] [ 4.09319991e-03 2.92693478e-04 9.99991580e-01 6.65234567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441400513 meters 0.07679707114725527 Centerline is valid? [True, True] Translation: X:33.21, Y:2.63, Z:0.07 [[ 9.99663434e-01 -2.56403309e-02 -3.94856784e-03 3.32102474e+01] [ 2.56389826e-02 9.99671191e-01 -3.91715708e-04 2.62587406e+00] [ 3.95731323e-03 2.90346608e-04 9.99992128e-01 6.81132371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501400513 meters 0.08203745138329291 Centerline is valid? [True, True] Translation: X:33.27, Y:2.65, Z:0.07 [[ 9.99818076e-01 -1.89395497e-02 -2.26027111e-03 3.32683585e+01] [ 1.89390909e-02 9.99820614e-01 -2.24246638e-04 2.64633845e+00] [ 2.26411278e-03 1.81398363e-04 9.99997420e-01 7.10460452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561400513 meters 0.08044235509717824 Centerline is valid? [True, True] Translation: X:33.33, Y:2.65, Z:0.07 [[ 9.99880104e-01 -1.52796720e-02 -2.51187307e-03 3.33281271e+01] [ 1.52790938e-02 9.99883237e-01 -2.49203101e-04 2.65326056e+00] [ 2.51538751e-03 2.10794078e-04 9.99996814e-01 7.04647508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621400513 meters 0.08708408910184437 Centerline is valid? [True, True] Translation: X:33.38, Y:2.67, Z:0.07 [[ 9.99865211e-01 -1.57016922e-02 -4.79757052e-03 3.33840395e+01] [ 1.56995871e-02 9.99876641e-01 -4.76147847e-04 2.67126797e+00] [ 4.80445502e-03 4.00763791e-04 9.99988378e-01 6.74548202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681400513 meters 0.07381014671678518 Centerline is valid? [True, True] Translation: X:33.45, Y:2.66, Z:0.07 [[ 9.99672157e-01 -2.52452980e-02 -4.27246098e-03 3.34458308e+01] [ 2.52437144e-02 9.99681237e-01 -4.24168676e-04 2.65618448e+00] [ 4.28180734e-03 3.16176830e-04 9.99990783e-01 6.72712444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741400513 meters 0.0678529591758605 Centerline is valid? [True, True] Translation: X:33.51, Y:2.65, Z:0.07 [[ 9.99415142e-01 -3.40514867e-02 -3.14180332e-03 3.35064128e+01] [ 3.40506737e-02 9.99420059e-01 -3.11923612e-04 2.65311231e+00] [ 3.15060272e-03 2.04760662e-04 9.99995016e-01 6.89110819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801400513 meters 0.055357139630976666 Centerline is valid? [True, True] Translation: X:33.57, Y:2.64, Z:0.07 [[ 9.99131676e-01 -4.13825981e-02 -4.83466963e-03 3.35690663e+01] [ 4.13807583e-02 9.99143334e-01 -4.79989304e-04 2.63731291e+00] [ 4.85039113e-03 2.79510222e-04 9.99988198e-01 6.66876077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861400513 meters 0.04983220054278722 Centerline is valid? [True, True] Translation: X:33.63, Y:2.63, Z:0.07 [[ 9.98862368e-01 -4.72621225e-02 -6.34527626e-03 3.36312997e+01] [ 4.72590719e-02 9.98882467e-01 -6.29934915e-04 2.62511317e+00] [ 6.36795727e-03 3.29346413e-04 9.99979670e-01 6.57827965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921400513 meters 0.058300927308430936 Centerline is valid? [True, True] Translation: X:33.69, Y:2.63, Z:0.07 [[ 9.98871168e-01 -4.69767237e-02 -7.04104588e-03 3.36885501e+01] [ 4.69729584e-02 9.98895917e-01 -6.99278302e-04 2.63328152e+00] [ 7.06612179e-03 3.67750180e-04 9.99974967e-01 6.50294028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981400513 meters 0.05270725426178523 Centerline is valid? [True, True] Translation: X:33.75, Y:2.63, Z:0.06 [[ 9.99006437e-01 -4.37468205e-02 -8.50617267e-03 3.37502295e+01] [ 4.37412065e-02 9.99042538e-01 -8.44999401e-04 2.62567759e+00] [ 8.53499437e-03 4.72089586e-04 9.99963465e-01 6.35848934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041400513 meters 0.06294400688046058 Centerline is valid? [True, True] Translation: X:33.81, Y:2.64, Z:0.07 [[ 9.99466664e-01 -3.20228109e-02 -6.39736663e-03 3.38095068e+01] [ 3.20193960e-02 9.99487046e-01 -6.35536987e-04 2.63621421e+00] [ 6.41443675e-03 4.30358217e-04 9.99979335e-01 6.73026273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101400513 meters 0.07809532904035021 Centerline is valid? [True, True] Translation: X:33.87, Y:2.66, Z:0.07 [[ 9.99718245e-01 -2.31811553e-02 -5.10543782e-03 3.38670927e+01] [ 2.31788656e-02 9.99731205e-01 -5.07217458e-04 2.65803259e+00] [ 5.11582339e-03 3.88736290e-04 9.99986839e-01 6.91100148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161400513 meters 0.08514580996545668 Centerline is valid? [True, True] Translation: X:33.93, Y:2.67, Z:0.07 [[ 9.99837749e-01 -1.70573016e-02 -5.78997263e-03 3.39262302e+01] [ 1.70542544e-02 9.99854400e-01 -5.75261155e-04 2.67087926e+00] [ 5.79894202e-03 4.76424152e-04 9.99983073e-01 6.76531558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221400513 meters 0.07497718504585793 Centerline is valid? [True, True] Translation: X:33.99, Y:2.66, Z:0.07 [[ 9.99853844e-01 -1.59768652e-02 -6.08518426e-03 3.39867735e+01] [ 1.59734786e-02 9.99872233e-01 -6.04732864e-04 2.66285766e+00] [ 6.09406851e-03 5.07442918e-04 9.99981302e-01 6.79131597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281400513 meters 0.08411477624367833 Centerline is valid? [True, True] Translation: X:34.05, Y:2.68, Z:0.07 [[ 9.99790843e-01 -1.96964094e-02 -5.50649487e-03 3.40451985e+01] [ 1.96936917e-02 9.99805911e-01 -5.47339118e-04 2.67561735e+00] [ 5.51620673e-03 4.38781426e-04 9.99984689e-01 6.88295090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341400512999996 meters 0.07261050272728561 Centerline is valid? [True, True] Translation: X:34.11, Y:2.67, Z:0.07 [[ 9.99687530e-01 -2.48493349e-02 -2.71168244e-03 3.41066408e+01] [ 2.48486947e-02 9.99691187e-01 -2.69552023e-04 2.66590191e+00] [ 2.71754323e-03 2.02086027e-04 9.99996287e-01 7.26678827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401400513 meters 0.06648104153721343 Centerline is valid? [True, True] Translation: X:34.17, Y:2.66, Z:0.08 [[ 9.99581342e-01 -2.89327593e-02 -1.91833439e-04 3.41682941e+01] [ 2.89327562e-02 9.99581360e-01 -1.90571086e-05 2.66001993e+00] [ 1.92304505e-04 1.34988601e-05 9.99999981e-01 7.57557244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461400513 meters 0.07077594526625273 Centerline is valid? [True, True] Translation: X:34.23, Y:2.66, Z:0.08 [[ 9.99465035e-01 -3.26939827e-02 -8.64702601e-04 3.42268600e+01] [ 3.26939206e-02 9.99465407e-01 -8.59091845e-05 2.66416850e+00] [ 8.67049051e-04 5.75927080e-05 9.99999622e-01 7.58338563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521400512999996 meters 0.06793671065893064 Centerline is valid? [True, True] Translation: X:34.28, Y:2.66, Z:0.07 [[ 9.99457595e-01 -3.25925398e-02 -4.71620945e-03 3.42840612e+01] [ 3.25693489e-02 9.99457402e-01 -4.91325642e-03 2.66230101e+00] [ 4.87378594e-03 4.75698757e-03 9.99976808e-01 7.12028855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581400513 meters 0.06754590380015325 Centerline is valid? [True, True] Translation: X:34.35, Y:2.65, Z:0.07 [[ 9.99412107e-01 -3.38044828e-02 -5.71807192e-03 3.43455453e+01] [ 3.38267677e-02 9.99420309e-01 3.84649204e-03 2.65075447e+00] [ 5.58472853e-03 -4.03765461e-03 9.99976254e-01 7.01834919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641400513 meters 0.07784454072769588 Centerline is valid? [True, True] Translation: X:34.40, Y:2.67, Z:0.07 [[ 9.99482326e-01 -3.20908141e-02 -2.29337686e-03 3.44029910e+01] [ 3.20903744e-02 9.99484945e-01 -2.28274191e-04 2.66826556e+00] [ 2.29952115e-03 1.54560697e-04 9.99997344e-01 7.38834602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701400512999996 meters 0.07171127126295786 Centerline is valid? [True, True] Translation: X:34.46, Y:2.66, Z:0.07 [[ 9.99591813e-01 -2.85021487e-02 -1.95815815e-03 3.44643448e+01] [ 2.85018213e-02 9.99593722e-01 -1.94918535e-04 2.66494870e+00] [ 1.96291819e-03 1.39027898e-04 9.99998064e-01 7.32374662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761400513 meters 0.07928056379061556 Centerline is valid? [True, True] Translation: X:34.52, Y:2.68, Z:0.07 [[ 9.99769175e-01 -2.12253214e-02 -3.32896344e-03 3.45237606e+01] [ 2.12243349e-02 9.99774684e-01 -3.31370208e-04 2.67979168e+00] [ 3.33524681e-03 2.60638684e-04 9.99994404e-01 7.11535259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821400513 meters 0.08635592447056219 Centerline is valid? [True, True] Translation: X:34.58, Y:2.70, Z:0.07 [[ 9.99930750e-01 -1.07147307e-02 -4.86727021e-03 3.45830617e+01] [ 1.07124982e-02 9.99942502e-01 -4.84517177e-04 2.69626755e+00] [ 4.87218182e-03 4.32343000e-04 9.99988037e-01 6.93324034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881400512999996 meters 0.09649465220129123 Centerline is valid? [True, True] Translation: X:34.64, Y:2.72, Z:0.07 [[ 9.99992504e-01 -1.65078767e-04 -3.86841874e-03 3.46418696e+01] [ 1.63590253e-04 9.99999912e-01 -3.85099540e-04 2.71782526e+00] [ 3.86848198e-03 3.84463817e-04 9.99992443e-01 7.05056809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941400513 meters 0.0947185774078333 Centerline is valid? [True, True] Translation: X:34.70, Y:2.72, Z:0.07 [[ 9.99998921e-01 1.76640406e-04 -1.45856737e-03 3.47006735e+01] [-1.76852124e-04 9.99999974e-01 -1.45027174e-04 2.72326569e+00] [ 1.45854171e-03 1.45284968e-04 9.99998926e-01 7.38358595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001400513 meters 0.0918107088654366 Centerline is valid? [True, True] Translation: X:34.76, Y:2.73, Z:0.07 [[ 9.99994889e-01 -2.93517899e-03 -1.26773712e-03 3.47613303e+01] [ 2.93502107e-03 9.99995685e-01 -1.26411069e-04 2.72747226e+00] [ 1.26810268e-03 1.22689588e-04 9.99999188e-01 7.39005213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061400512999995 meters 0.08707341589977259 Centerline is valid? [True, True] Translation: X:34.82, Y:2.73, Z:0.07 [[ 9.99937129e-01 -1.03186458e-02 -4.38894186e-03 3.48224351e+01] [ 1.03168235e-02 9.99946684e-01 -4.37633791e-04 2.72849662e+00] [ 4.39322365e-03 3.92326338e-04 9.99990273e-01 7.00684985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121400513 meters 0.07810820976494763 Centerline is valid? [True, True] Translation: X:34.88, Y:2.72, Z:0.07 [[ 9.99852071e-01 -1.68118013e-02 -3.63314424e-03 3.48842799e+01] [ 1.68105951e-02 9.99858626e-01 -3.62285131e-04 2.72099443e+00] [ 3.63872127e-03 3.01156222e-04 9.99993334e-01 7.11652900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181400513 meters 0.07602589207165304 Centerline is valid? [True, True] Translation: X:34.94, Y:2.72, Z:0.07 [[ 9.99693602e-01 -2.46524403e-02 -2.22699711e-03 3.49443795e+01] [ 2.46520065e-02 9.99696068e-01 -2.22077056e-04 2.71884907e+00] [ 2.23179500e-03 1.67109065e-04 9.99997496e-01 7.33161649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241400513 meters 0.05980697108955573 Centerline is valid? [True, True] Translation: X:35.01, Y:2.69, Z:0.08 [[ 9.99283316e-01 -3.78530419e-02 3.13003130e-05 3.50071199e+01] [ 3.78530419e-02 9.99283317e-01 3.13071245e-06 2.69416152e+00] [-3.13963875e-05 -1.94365666e-06 1.00000000e+00 7.66436214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301400513 meters 0.059330110606988805 Centerline is valid? [True, True] Translation: X:35.07, Y:2.69, Z:0.08 [[ 9.99061077e-01 -4.32993351e-02 1.45993944e-03 3.50665573e+01] [ 4.32991683e-02 9.99062141e-01 1.45694759e-04 2.69300681e+00] [-1.46487871e-03 -8.23437991e-05 9.99998924e-01 7.80933186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361400513 meters 0.05542532072268207 Centerline is valid? [True, True] Translation: X:35.13, Y:2.69, Z:0.08 [[ 9.98917349e-01 -4.64783864e-02 1.97224118e-03 3.51279688e+01] [ 4.64780882e-02 9.98919290e-01 1.96746736e-04 2.68574788e+00] [-1.97925423e-03 -1.04867728e-04 9.99998036e-01 7.92337738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421400513 meters 0.05476902908996356 Centerline is valid? [True, True] Translation: X:35.19, Y:2.68, Z:0.08 [[ 9.98775070e-01 -4.94284874e-02 2.27709513e-03 3.51880610e+01] [ 4.94280975e-02 9.98777659e-01 2.27227530e-04 2.68432615e+00] [-2.28554326e-03 -1.14396712e-04 9.99997382e-01 8.06558947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481400513 meters 0.04701822075401119 Centerline is valid? [True, True] Translation: X:35.25, Y:2.68, Z:0.08 [[ 9.98702404e-01 -5.09252103e-02 -3.62330258e-04 3.52483933e+01] [ 5.09252006e-02 9.98702470e-01 -3.58097751e-05 2.67536358e+00] [ 3.63683744e-04 1.73115674e-05 9.99999934e-01 7.55532162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541400513 meters 0.0496481250114553 Centerline is valid? [True, True] Translation: X:35.31, Y:2.68, Z:0.07 [[ 9.98649340e-01 -5.19132869e-02 -2.12282611e-03 3.53064454e+01] [ 5.19129532e-02 9.98651591e-01 -2.12048080e-04 2.68058225e+00] [ 2.13097179e-03 1.01559503e-04 9.99997724e-01 7.32841236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601400513 meters 0.04730307571575031 Centerline is valid? [True, True] Translation: X:35.37, Y:2.68, Z:0.08 [[ 9.98557394e-01 -5.36829620e-02 -1.12713300e-03 3.53663276e+01] [ 5.36828688e-02 9.98558029e-01 -1.12779335e-04 2.68122935e+00] [ 1.13156204e-03 5.21089054e-05 9.99999358e-01 7.58216687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661400513 meters 0.04319501016772131 Centerline is valid? [True, True] Translation: X:35.43, Y:2.68, Z:0.08 [[ 9.98308909e-01 -5.81302028e-02 -4.50128488e-04 3.54270378e+01] [ 5.81301884e-02 9.98309010e-01 -4.50585940e-05 2.68280121e+00] [ 4.51986591e-04 1.88163420e-05 9.99999898e-01 7.62341334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721400513 meters 0.03643443500653487 Centerline is valid? [True, True] Translation: X:35.49, Y:2.68, Z:0.07 [[ 9.98066158e-01 -6.21370683e-02 -1.71138097e-03 3.54879315e+01] [ 6.21368657e-02 9.98067623e-01 -1.71327876e-04 2.67983265e+00] [ 1.71871975e-03 6.46567054e-05 9.99998521e-01 7.48391094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781400513 meters 0.03654579729602504 Centerline is valid? [True, True] Translation: X:35.55, Y:2.69, Z:0.08 [[ 9.97804870e-01 -6.62129238e-02 -1.13594512e-03 3.55462528e+01] [ 6.62128373e-02 9.97805516e-01 -1.13677182e-04 2.68503870e+00] [ 1.14097920e-03 3.82134966e-05 9.99999348e-01 7.68121553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841400512999996 meters 0.030748428762717692 Centerline is valid? [True, True] Translation: X:35.61, Y:2.69, Z:0.08 [[ 9.97378888e-01 -7.23247102e-02 2.11874723e-03 3.56065262e+01] [ 7.23244225e-02 9.97381137e-01 2.12212612e-04 2.68551168e+00] [-2.12854674e-03 -5.84192086e-05 9.99997733e-01 8.29398690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901400513 meters 0.026826655327154347 Centerline is valid? [True, True] Translation: X:35.67, Y:2.69, Z:0.09 [[ 9.97058303e-01 -7.65070670e-02 4.62699317e-03 3.56668081e+01] [ 7.65057394e-02 9.97069033e-01 4.63503910e-04 2.68643953e+00] [-4.64889293e-03 -1.08148888e-04 9.99989188e-01 8.63532002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961400513 meters 0.022080571760290203 Centerline is valid? [True, True] Translation: X:35.73, Y:2.69, Z:0.09 [[ 9.96830482e-01 -7.93435138e-02 5.79633154e-03 3.57255335e+01] [ 7.93414704e-02 9.96847327e-01 5.81990300e-04 2.68692854e+00] [-5.82423475e-03 -1.20256204e-04 9.99983032e-01 8.66371766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021400512999996 meters 0.022607876651222457 Centerline is valid? [True, True] Translation: X:35.78, Y:2.69, Z:0.09 [[ 9.96722323e-01 -8.08082133e-02 3.82667053e-03 3.57828642e+01] [ 8.08073332e-02 9.96729666e-01 3.84321255e-04 2.69472402e+00] [-3.84521235e-03 -7.38385342e-05 9.99992604e-01 8.56376100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081400513 meters 0.018028034132032977 Centerline is valid? [True, True] Translation: X:35.84, Y:2.70, Z:0.09 [[ 9.96451373e-01 -8.40887218e-02 3.70775776e-03 3.58416887e+01] [ 8.40879176e-02 9.96458270e-01 3.72528986e-04 2.69754768e+00] [-3.72595137e-03 -5.94293908e-05 9.99993057e-01 8.54023199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141400513 meters 0.01769559912159438 Centerline is valid? [True, True] Translation: X:35.90, Y:2.70, Z:0.09 [[ 9.96292711e-01 -8.58626743e-02 5.33238581e-03 3.58994588e+01] [ 8.58610349e-02 9.96306978e-01 5.36048377e-04 2.70364489e+00] [-5.35871974e-03 -7.62169276e-05 9.99985639e-01 8.83239828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201400512999996 meters 0.013577820736069886 Centerline is valid? [True, True] Translation: X:35.96, Y:2.70, Z:0.09 [[ 9.95947536e-01 -8.96671695e-02 6.95017123e-03 3.59586647e+01] [ 8.96644670e-02 9.95971783e-01 7.00089530e-04 2.70481331e+00] [-6.98494948e-03 -7.40690431e-05 9.99975602e-01 9.00320542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261400513 meters 0.008885972096799604 Centerline is valid? [True, True] Translation: X:36.02, Y:2.70, Z:0.09 [[ 9.95185339e-01 -9.77010868e-02 7.78703193e-03 3.60184869e+01] [ 9.76979300e-02 9.95215804e-01 7.85677696e-04 2.70119442e+00] [-7.82653881e-03 -2.11180245e-05 9.99969372e-01 9.00422468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321400513 meters 0.009164241030507886 Centerline is valid? [True, True] Translation: X:36.08, Y:2.70, Z:0.09 [[ 9.94598181e-01 -1.03517213e-01 7.65803723e-03 3.60761737e+01] [ 1.03514329e-01 9.94627662e-01 7.73098602e-04 2.69997600e+00] [-7.69692468e-03 2.37941188e-05 9.99970378e-01 9.03739366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381400512999996 meters 0.010786814441018007 Centerline is valid? [True, True] Translation: X:36.13, Y:2.70, Z:0.09 [[ 9.94237528e-01 -1.07022017e-01 6.16658273e-03 3.61345205e+01] [ 1.07020212e-01 9.94256650e-01 6.22869578e-04 2.70109345e+00] [-6.19782665e-03 4.06686810e-05 9.99980792e-01 8.85265712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441400513 meters 0.01227226320590179 Centerline is valid? [True, True] Translation: X:36.19, Y:2.71, Z:0.09 [[ 9.93966084e-01 -1.09525074e-01 5.97341208e-03 3.61933614e+01] [ 1.09523418e-01 9.93984032e-01 6.04638745e-04 2.70504644e+00] [-6.00369932e-03 5.32380998e-05 9.99981976e-01 8.83121504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501400513 meters 0.013997319716518452 Centerline is valid? [True, True] Translation: X:36.25, Y:2.71, Z:0.09 [[ 9.93778891e-01 -1.11181194e-01 6.50056704e-03 3.62512310e+01] [ 1.11179268e-01 9.93800150e-01 6.58065092e-04 2.71058892e+00] [-6.53342896e-03 6.87570877e-05 9.99978655e-01 8.84494341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561400512999995 meters 0.01538458099653173 Centerline is valid? [True, True] Translation: X:36.31, Y:2.72, Z:0.09 [[ 9.93648829e-01 -1.12359220e-01 6.11646197e-03 3.63088034e+01] [ 1.12357534e-01 9.93667651e-01 6.19545644e-04 2.71592866e+00] [-6.14734206e-03 7.16197830e-05 9.99981102e-01 8.75677918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621400513 meters 0.012080101579667355 Centerline is valid? [True, True] Translation: X:36.37, Y:2.74, Z:0.10 [[ 9.94055346e-01 -1.08366040e-01 1.05247370e-02 3.63655996e+01] [ 1.08360805e-01 9.94111058e-01 1.06804408e-03 2.73501323e+00] [-1.05784971e-02 7.87740449e-05 9.99944043e-01 9.50677947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681400513 meters 0.009800795960698144 Centerline is valid? [True, True] Translation: X:36.42, Y:2.75, Z:0.09 [[ 9.94456829e-01 -1.04696418e-01 9.70951046e-03 3.64228614e+01] [ 1.04691771e-01 9.94504228e-01 9.87022152e-04 2.75251299e+00] [-9.75948689e-03 3.49549263e-05 9.99952374e-01 9.37912329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741400513 meters 0.013093886871476725 Centerline is valid? [True, True] Translation: X:36.48, Y:2.77, Z:0.09 [[ 9.94497900e-01 -1.04442814e-01 8.10100146e-03 3.64805150e+01] [ 1.04439559e-01 9.94530893e-01 8.24977488e-04 2.76536833e+00] [-8.14285919e-03 2.56266381e-05 9.99966846e-01 8.98608576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801400513 meters 0.012990428832551014 Centerline is valid? [True, True] Translation: X:36.54, Y:2.77, Z:0.09 [[ 9.93875992e-01 -1.09989504e-01 1.06217810e-02 3.65390076e+01] [ 1.09984226e-01 9.93932744e-01 1.08158474e-03 2.77195244e+00] [-1.06762989e-02 9.32672479e-05 9.99943002e-01 9.35135842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861400513 meters 0.017511336949062734 Centerline is valid? [True, True] Translation: X:36.60, Y:2.78, Z:0.09 [[ 9.93244958e-01 -1.15625588e-01 9.75586324e-03 3.65981871e+01] [ 1.15621387e-01 9.93292859e-01 9.95406687e-04 2.77532695e+00] [-9.80552377e-03 1.39303765e-04 9.99951915e-01 9.38864295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921400513 meters 0.021231387715762513 Centerline is valid? [True, True] Translation: X:36.66, Y:2.78, Z:0.09 [[ 9.92789573e-01 -1.19631056e-01 7.56794773e-03 3.66566103e+01] [ 1.19628634e-01 9.92818408e-01 7.73540311e-04 2.78064242e+00] [-7.60613727e-03 1.37380496e-04 9.99971063e-01 9.10663681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981400513 meters 0.022640239268172765 Centerline is valid? [True, True] Translation: X:36.72, Y:2.79, Z:0.09 [[ 9.92474763e-01 -1.22132972e-01 8.79674183e-03 3.67152165e+01] [ 1.22129798e-01 9.92513730e-01 8.99214567e-04 2.78866581e+00] [-8.84071080e-03 1.81896536e-04 9.99960904e-01 9.27341447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041400513 meters 0.02535923824138135 Centerline is valid? [True, True] Translation: X:36.77, Y:2.80, Z:0.09 [[ 9.92113294e-01 -1.25023411e-01 8.96433976e-03 3.67737166e+01] [ 1.25020229e-01 9.92153769e-01 9.16644766e-04 2.79871892e+00] [-9.00860554e-03 2.11308350e-04 9.99959399e-01 9.26621879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101400513 meters 0.027222911686994068 Centerline is valid? [True, True] Translation: X:36.83, Y:2.81, Z:0.09 [[ 9.92085324e-01 -1.25371156e-01 6.98453111e-03 3.68314861e+01] [ 1.25369229e-01 9.92109896e-01 7.14717096e-04 2.80679282e+00] [-7.01902734e-03 1.66584941e-04 9.99975352e-01 8.96340617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161400513 meters 0.027130251122571874 Centerline is valid? [True, True] Translation: X:36.89, Y:2.82, Z:0.09 [[ 9.92095723e-01 -1.25210472e-01 8.27124269e-03 3.68888400e+01] [ 1.25207748e-01 9.92130183e-01 8.48285115e-04 2.81564900e+00] [-8.31236370e-03 1.94043639e-04 9.99965433e-01 9.23537440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221400513 meters 0.022309931772360115 Centerline is valid? [True, True] Translation: X:36.95, Y:2.83, Z:0.09 [[ 9.92546552e-01 -1.21397749e-01 1.06737403e-02 3.69464942e+01] [ 1.21392993e-01 9.92603920e-01 1.09469566e-03 2.83184852e+00] [-1.07276901e-02 2.09180880e-04 9.99942435e-01 9.47260296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281400513 meters 0.01801399753135291 Centerline is valid? [True, True] Translation: X:37.00, Y:2.84, Z:0.10 [[ 9.93159878e-01 -1.16190460e-01 1.15426976e-02 3.70042236e+01] [ 1.16184540e-01 9.93226938e-01 1.18436447e-03 2.84286618e+00] [-1.16021300e-02 1.64819740e-04 9.99932679e-01 9.52201404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341400512999996 meters 0.012692990275328444 Centerline is valid? [True, True] Translation: X:37.06, Y:2.86, Z:0.10 [[ 9.93909059e-01 -1.09330730e-01 1.38410150e-02 3.70620395e+01] [ 1.09321514e-01 9.94005423e-01 1.42294213e-03 2.85829649e+00] [-1.39136153e-02 9.88456496e-05 9.99903196e-01 9.70534959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401400513 meters 0.012894016984358297 Centerline is valid? [True, True] Translation: X:37.12, Y:2.88, Z:0.10 [[ 9.95362824e-01 -9.54191771e-02 1.21667569e-02 3.71179996e+01] [ 9.54110093e-02 9.95437177e-01 1.25133454e-03 2.88269524e+00] [-1.22306435e-02 -8.46893227e-05 9.99925199e-01 9.55846897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461400513 meters 0.02138822416969306 Centerline is valid? [True, True] Translation: X:37.17, Y:2.91, Z:0.09 [[ 9.96277634e-01 -8.55082884e-02 1.09182322e-02 3.71745216e+01] [ 8.55011117e-02 9.96337442e-01 1.12326539e-03 2.90608117e+00] [-1.09742920e-02 -1.85563202e-04 9.99939763e-01 9.38297569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521400512999996 meters 0.031269393619118305 Centerline is valid? [True, True] Translation: X:37.23, Y:2.93, Z:0.09 [[ 9.97056430e-01 -7.58718117e-02 1.10428237e-02 3.72331963e+01] [ 7.58638801e-02 9.97117536e-01 1.13598817e-03 2.92940412e+00] [-1.10971827e-02 -2.94892855e-04 9.99938381e-01 9.39222128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581400513 meters 0.035421665148122006 Centerline is valid? [True, True] Translation: X:37.29, Y:2.95, Z:0.09 [[ 9.97571170e-01 -6.90865530e-02 8.87746063e-03 3.72926113e+01] [ 6.90811582e-02 9.97610625e-01 9.13264367e-04 2.94518013e+00] [-8.91934334e-03 -2.97780941e-04 9.99960178e-01 8.92568279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641400513 meters 0.04337573543876485 Centerline is valid? [True, True] Translation: X:37.35, Y:2.97, Z:0.08 [[ 9.97837975e-01 -6.55733531e-02 4.41702484e-03 3.73488499e+01] [ 6.55719816e-02 9.97847738e-01 4.54766312e-04 2.96568483e+00] [-4.43733880e-03 -1.64150025e-04 9.99990141e-01 8.08183551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701400512999996 meters 0.03993640214752354 Centerline is valid? [True, True] Translation: X:37.41, Y:2.97, Z:0.08 [[ 9.97727875e-01 -6.71320437e-02 5.68996384e-03 3.74063276e+01] [ 6.71297902e-02 9.97744079e-01 5.86318391e-04 2.97484254e+00] [-5.71648848e-03 -2.03020123e-04 9.99983640e-01 8.40451577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761400513 meters 0.03693064852328913 Centerline is valid? [True, True] Translation: X:37.47, Y:2.98, Z:0.08 [[ 9.97480886e-01 -7.07686537e-02 4.86612505e-03 3.74662244e+01] [ 7.07670487e-02 9.97492744e-01 5.01425459e-04 2.98016827e+00] [-4.88940963e-03 -1.55801003e-04 9.99988035e-01 8.30815365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821400513 meters 0.027588573336762578 Centerline is valid? [True, True] Translation: X:37.53, Y:2.98, Z:0.07 [[ 9.97085735e-01 -7.62751327e-02 -1.46348433e-03 3.75268757e+01] [ 7.62749935e-02 9.97086808e-01 -1.50782757e-04 2.97831229e+00] [ 1.47072189e-03 3.87160780e-05 9.99998918e-01 7.02692374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881400512999996 meters 0.027796805089850028 Centerline is valid? [True, True] Translation: X:37.58, Y:2.98, Z:0.07 [[ 9.97194486e-01 -7.48417527e-02 -1.36721386e-03 3.75827327e+01] [ 7.48479058e-02 9.97181374e-01 5.20563091e-03 2.97982787e+00] [ 9.73761659e-04 -5.29335954e-03 9.99985516e-01 6.94538280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941400513 meters 0.029942517422110362 Centerline is valid? [True, True] Translation: X:37.64, Y:3.00, Z:0.07 [[ 9.97074287e-01 -7.64081704e-02 -2.15808862e-03 3.76426113e+01] [ 7.63952168e-02 9.97062142e-01 -5.55480495e-03 3.00113267e+00] [ 2.57618095e-03 5.37368554e-03 9.99982243e-01 6.78261326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001400513 meters 0.03315255426529713 Centerline is valid? [True, True] Translation: X:37.70, Y:3.01, Z:0.07 [[ 9.97215727e-01 -7.44407768e-02 -4.40046435e-03 3.77000576e+01] [ 7.44394983e-02 9.97225428e-01 -4.53827957e-04 3.01069577e+00] [ 4.42203826e-03 1.24996017e-04 9.99990215e-01 6.50719879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061400512999995 meters 0.033502090547134086 Centerline is valid? [True, True] Translation: X:37.76, Y:3.02, Z:0.06 [[ 9.97475210e-01 -7.05995534e-02 -7.67524010e-03 3.77593951e+01] [ 7.05955483e-02 9.97504708e-01 -7.91827559e-04 3.01884946e+00] [ 7.71199081e-03 2.47990576e-04 9.99970231e-01 6.09768223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121400513 meters 0.038438525952655955 Centerline is valid? [True, True] Translation: X:37.82, Y:3.03, Z:0.06 [[ 9.97704414e-01 -6.68192753e-02 -1.10039677e-02 3.78173194e+01] [ 6.68108104e-02 9.97765016e-01 -1.13548449e-03 3.03153989e+00] [ 1.10552463e-02 3.97693891e-04 9.99938810e-01 5.54876476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181400513 meters 0.04116914409356983 Centerline is valid? [True, True] Translation: X:37.88, Y:3.04, Z:0.05 [[ 9.97992121e-01 -6.22234577e-02 -1.18308010e-02 3.78767568e+01] [ 6.22133492e-02 9.98062127e-01 -1.22089674e-03 3.04203856e+00] [ 1.18838428e-02 4.82411570e-04 9.99929268e-01 5.42248140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241400513 meters 0.05482354874362936 Centerline is valid? [True, True] Translation: X:37.93, Y:3.06, Z:0.06 [[ 9.98534264e-01 -5.34095909e-02 -8.76006199e-03 3.79344279e+01] [ 5.34037103e-02 9.98572595e-01 -9.04011941e-04 3.05981240e+00] [ 8.79584073e-03 4.34867086e-04 9.99961221e-01 5.97727855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301400513 meters 0.05652510111787358 Centerline is valid? [True, True] Translation: X:37.99, Y:3.07, Z:0.06 [[ 9.98906849e-01 -4.54065480e-02 -1.11064104e-02 3.79943994e+01] [ 4.53966018e-02 9.98968385e-01 -1.14613446e-03 3.06891644e+00] [ 1.11469949e-02 6.40688269e-04 9.99937665e-01 5.80221486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361400513 meters 0.07217072254435378 Centerline is valid? [True, True] Translation: X:38.05, Y:3.10, Z:0.05 [[ 9.99258179e-01 -3.61261699e-02 -1.33413397e-02 3.80509734e+01] [ 3.61109962e-02 9.99346837e-01 -1.37657262e-03 3.09583014e+00] [ 1.33823559e-02 8.93782379e-04 9.99910053e-01 5.33066101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421400513 meters 0.08459782448793492 Centerline is valid? [True, True] Translation: X:38.11, Y:3.12, Z:0.05 [[ 9.99614980e-01 -2.39282895e-02 -1.40473862e-02 3.81095906e+01] [ 2.39102689e-02 9.99713058e-01 -1.44941563e-03 3.11767469e+00] [ 1.40780374e-02 1.11298079e-03 9.99900280e-01 5.23521127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481400513 meters 0.08380299636431553 Centerline is valid? [True, True] Translation: X:38.17, Y:3.13, Z:0.05 [[ 9.99688699e-01 -1.97657973e-02 -1.52255925e-02 3.81691069e+01] [ 1.97441466e-02 9.99803831e-01 -1.57101254e-03 3.12552927e+00] [ 1.52536580e-02 1.26990716e-03 9.99882850e-01 5.16619639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541400513 meters 0.09097801717017684 Centerline is valid? [True, True] Translation: X:38.23, Y:3.14, Z:0.05 [[ 9.99700526e-01 -1.85015871e-02 -1.60171808e-02 3.82272470e+01] [ 1.84774627e-02 9.99827911e-01 -1.65284736e-03 3.14281409e+00] [ 1.60450047e-02 1.35639552e-03 9.99870351e-01 4.95221038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601400513 meters 0.08502898666820517 Centerline is valid? [True, True] Translation: X:38.29, Y:3.14, Z:0.05 [[ 9.99696242e-01 -1.83682044e-02 -1.64326749e-02 3.82863836e+01] [ 1.83427568e-02 9.99830316e-01 -1.69799403e-03 3.14470658e+00] [ 1.64610756e-02 1.39605769e-03 9.99863533e-01 5.17227872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661400513 meters 0.08578526279859734 Centerline is valid? [True, True] Translation: X:38.35, Y:3.15, Z:0.05 [[ 9.99632950e-01 -2.15081324e-02 -1.64731943e-02 3.83454855e+01] [ 2.14829712e-02 9.99767764e-01 -1.70286171e-03 3.15037210e+00] [ 1.65059940e-02 1.34834352e-03 9.99862858e-01 5.10606964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721400513 meters 0.07912469759424676 Centerline is valid? [True, True] Translation: X:38.41, Y:3.14, Z:0.05 [[ 9.99486529e-01 -2.82629825e-02 -1.50957783e-02 3.84070374e+01] [ 2.82426178e-02 9.99599880e-01 -1.56056261e-03 3.14243962e+00] [ 1.51338444e-02 1.13341701e-03 9.99884834e-01 5.37901797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781400513 meters 0.07332600317561858 Centerline is valid? [True, True] Translation: X:38.47, Y:3.13, Z:0.06 [[ 9.99290851e-01 -3.51988025e-02 -1.33730585e-02 3.84680730e+01] [ 3.51834382e-02 9.99379915e-01 -1.38250572e-03 3.13489100e+00] [ 1.34134287e-02 9.11015141e-04 9.99909621e-01 5.72409706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841400512999996 meters 0.06618667406510166 Centerline is valid? [True, True] Translation: X:38.53, Y:3.13, Z:0.06 [[ 9.99168709e-01 -3.83028909e-02 -1.39563636e-02 3.85303083e+01] [ 3.82864598e-02 9.99265763e-01 -1.44270848e-03 3.12512731e+00] [ 1.40013763e-02 9.07169418e-04 9.99901564e-01 5.69577397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901400513 meters 0.07650930544223447 Centerline is valid? [True, True] Translation: X:38.59, Y:3.14, Z:0.05 [[ 9.99320349e-01 -3.32636279e-02 -1.58861770e-02 3.85882094e+01] [ 3.32417047e-02 9.99445993e-01 -1.64215894e-03 3.14145720e+00] [ 1.59320001e-02 1.11295924e-03 9.99872458e-01 5.43990929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961400513 meters 0.07925616172256827 Centerline is valid? [True, True] Translation: X:38.65, Y:3.15, Z:0.06 [[ 9.99549162e-01 -2.46255686e-02 -1.71771212e-02 3.86477610e+01] [ 2.45986665e-02 9.99695830e-01 -1.77572218e-03 3.15260882e+00] [ 1.72156246e-02 1.35238734e-03 9.99850886e-01 5.52798227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021400512999996 meters 0.09647904009565361 Centerline is valid? [True, True] Translation: X:38.70, Y:3.18, Z:0.06 [[ 9.99822757e-01 -9.21288744e-03 -1.64187978e-02 3.87006861e+01] [ 9.18943995e-03 9.99956647e-01 -1.50296261e-03 3.18174085e+00] [ 1.64319326e-02 1.35181667e-03 9.99864073e-01 5.84636925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081400513 meters 0.09696939645213319 Centerline is valid? [True, True] Translation: X:38.76, Y:3.19, Z:0.06 [[ 9.99843805e-01 -5.91959867e-03 -1.66530330e-02 3.87638848e+01] [ 5.89020179e-03 9.99981008e-01 -1.81375180e-03 3.19317506e+00] [ 1.66634534e-02 1.71537878e-03 9.99859684e-01 5.83310721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141400513 meters 0.10554599141976445 Centerline is valid? [True, False] Translation: X:38.76, Y:3.20, Z:0.06 [[ 9.99844485e-01 -6.17225775e-03 -1.65199784e-02 3.87635572e+01] [ 6.12985295e-03 9.99977790e-01 -2.61628637e-03 3.19671400e+00] [ 1.65357599e-02 2.51461446e-03 9.99860113e-01 5.80036807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201400512999996 meters 0.10851106591870333 Centerline is valid? [False, False] Translation: X:38.76, Y:3.20, Z:0.06 [[ 9.99846358e-01 -6.46694216e-03 -1.62923247e-02 3.87627605e+01] [ 6.40953764e-03 9.99973075e-01 -3.57316582e-03 3.20099684e+00] [ 1.63149935e-02 3.46819056e-03 9.99860887e-01 5.82873617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261400513 meters 0.11241346267878803 Centerline is valid? [False, False] Translation: X:38.78, Y:3.21, Z:0.06 [[ 9.99944812e-01 9.55546699e-04 -1.04623402e-02 3.87797902e+01] [-1.03259684e-03 9.99972370e-01 -7.36159950e-03 3.21107964e+00] [ 1.04550168e-02 7.37199660e-03 9.99918170e-01 5.63860598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321400513 meters 0.10458697549071175 Centerline is valid? [False, False] Translation: X:38.78, Y:3.21, Z:0.06 [[ 9.99929295e-01 5.45031837e-03 -1.05687707e-02 3.87800050e+01] [-5.47913037e-03 9.99981347e-01 -2.69910933e-03 3.20964883e+00] [ 1.05538626e-02 2.75682617e-03 9.99940506e-01 5.68236819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381400512999996 meters 0.11697195609418835 Centerline is valid? [False, False] Translation: X:38.78, Y:3.21, Z:0.06 [[ 9.99932074e-01 5.08321558e-03 -1.04885087e-02 3.87798033e+01] [-5.12220770e-03 9.99980058e-01 -3.69409614e-03 3.21413231e+00] [ 1.04695217e-02 3.74756953e-03 9.99938171e-01 5.66387928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441400513 meters 0.11769248884607933 Centerline is valid? [False, False] Translation: X:38.78, Y:3.22, Z:0.06 [[ 9.99933667e-01 4.82210537e-03 -1.04598652e-02 3.87794050e+01] [-4.86787439e-03 9.99978670e-01 -4.35464252e-03 3.21716314e+00] [ 1.04386436e-02 4.40527098e-03 9.99935812e-01 5.72302216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501400513 meters 0.09564879653164662 Centerline is valid? [False, True] Translation: X:38.76, Y:3.22, Z:0.06 [[ 9.99955032e-01 -1.47396522e-03 -9.36815753e-03 3.87573221e+01] [ 1.47703225e-03 9.99998858e-01 3.20478439e-04 3.21654867e+00] [ 9.36767445e-03 -3.34301099e-04 9.99956066e-01 5.53965154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561400512999995 meters 0.0853509665902513 Centerline is valid? [True, True] Translation: X:38.82, Y:3.21, Z:0.06 [[ 9.99901906e-01 -1.08322400e-02 -8.87929207e-03 3.88186830e+01] [ 1.08244523e-02 9.99940986e-01 -9.24647488e-04 3.21284459e+00] [ 8.88878407e-03 8.28443312e-04 9.99960151e-01 5.70516636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621400513 meters 0.0928613459886621 Centerline is valid? [True, True] Translation: X:38.88, Y:3.23, Z:0.06 [[ 9.99838108e-01 -1.63995944e-02 -7.40340904e-03 3.88763629e+01] [ 1.63943313e-02 9.99865307e-01 -7.71039365e-04 3.22925260e+00] [ 7.41505658e-03 6.49540600e-04 9.99972297e-01 5.90899355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681400513 meters 0.08747412008172556 Centerline is valid? [True, True] Translation: X:38.94, Y:3.23, Z:0.06 [[ 9.99797490e-01 -1.72677327e-02 -1.03346479e-02 3.89350278e+01] [ 1.72575074e-02 9.99850497e-01 -1.07778611e-03 3.23365591e+00] [ 1.03517137e-02 8.99217582e-04 9.99946015e-01 5.55661947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741400513 meters 0.09426973653425416 Centerline is valid? [True, True] Translation: X:38.99, Y:3.25, Z:0.06 [[ 9.99873594e-01 -1.22986740e-02 -1.00766540e-02 3.89901845e+01] [ 1.22773615e-02 9.99922267e-01 -2.17417779e-03 3.24925593e+00] [ 1.01026103e-02 2.05018824e-03 9.99946866e-01 5.60170232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801400513 meters 0.1003061831830863 Centerline is valid? [True, False] Translation: X:38.99, Y:3.25, Z:0.06 [[ 9.99918110e-01 -8.01360442e-03 -9.97776347e-03 3.89894594e+01] [ 8.03296036e-03 9.99965928e-01 1.90134461e-03 3.25047604e+00] [ 9.96218688e-03 -1.98133988e-03 9.99948413e-01 5.66974480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861400513 meters 0.09403436831577014 Centerline is valid? [False, True] Translation: X:38.99, Y:3.25, Z:0.06 [[ 9.99916994e-01 -8.13153537e-03 -9.99416187e-03 3.89896363e+01] [ 8.14788031e-03 9.99965532e-01 1.59582124e-03 3.25183998e+00] [ 9.98084091e-03 -1.67712001e-03 9.99948784e-01 5.63781821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921400513 meters 0.10023938126680651 Centerline is valid? [True, False] Translation: X:39.01, Y:3.27, Z:0.05 [[ 9.99959760e-01 -7.94711133e-03 -4.16195303e-03 3.90102547e+01] [ 7.90722855e-03 9.99923486e-01 -9.51305841e-03 3.26742681e+00] [ 4.23723592e-03 9.47976609e-03 9.99946088e-01 5.06261546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981400513 meters 0.09919850299771994 Centerline is valid? [False, True] Translation: X:39.01, Y:3.26, Z:0.05 [[ 9.99984965e-01 -3.27733062e-03 -4.39638990e-03 3.90106879e+01] [ 3.25959018e-03 9.99986541e-01 -4.03634435e-03 3.26253226e+00] [ 4.40955916e-03 4.02195324e-03 9.99982190e-01 5.13934437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041400513 meters 0.10532076931843318 Centerline is valid? [True, False] Translation: X:39.02, Y:3.26, Z:0.05 [[ 9.99985011e-01 -7.53079815e-04 -5.42312872e-03 3.90172445e+01] [ 7.47376291e-04 9.99999166e-01 -1.05365338e-03 3.25902254e+00] [ 5.42391768e-03 1.04958447e-03 9.99984740e-01 4.66521067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101400513 meters 0.09405985081589445 Centerline is valid? [False, True] Translation: X:39.02, Y:3.26, Z:0.05 [[ 9.99984647e-01 -7.15307178e-04 -5.49495272e-03 3.90175476e+01] [ 7.10087315e-04 9.99999295e-01 -9.51830045e-04 3.25855231e+00] [ 5.49562970e-03 9.47913536e-04 9.99984450e-01 4.64791850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161400513 meters 0.07984868387332754 Centerline is valid? [True, True] Translation: X:39.08, Y:3.24, Z:0.05 [[ 9.99987904e-01 -3.55933862e-03 -3.39446718e-03 3.90794761e+01] [ 3.55833860e-03 9.99993624e-01 -3.00596677e-04 3.24496930e+00] [ 3.39551547e-03 2.88514378e-04 9.99994194e-01 5.13339667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221400513 meters 0.09336719001474576 Centerline is valid? [True, True] Translation: X:39.14, Y:3.26, Z:0.05 [[ 9.99992080e-01 -3.79458158e-03 -1.20009624e-03 3.91363193e+01] [ 3.79445616e-03 9.99992795e-01 -1.06770618e-04 3.26442632e+00] [ 1.20049274e-03 1.02216060e-04 9.99999274e-01 5.33457401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281400513 meters 0.09345424875573362 Centerline is valid? [True, True] Translation: X:39.20, Y:3.27, Z:0.05 [[ 9.99996398e-01 -7.70982427e-04 -2.57090473e-03 3.91962415e+01] [ 7.70398471e-04 9.99999677e-01 -2.28122639e-04 3.26714427e+00] [ 2.57107978e-03 2.26141196e-04 9.99996669e-01 4.90739676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341400512999996 meters 0.09931736827692637 Centerline is valid? [True, True] Translation: X:39.26, Y:3.29, Z:0.05 [[ 9.99977739e-01 6.25055460e-03 -2.33485926e-03 3.92584913e+01] [-6.27795060e-03 9.99909289e-01 -1.19164556e-02 3.28770011e+00] [ 2.26016300e-03 1.19308485e-02 9.99926271e-01 5.24823034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401400513 meters 0.10221499998623944 Centerline is valid? [True, False] Translation: X:39.26, Y:3.28, Z:0.05 [[ 9.99998200e-01 1.44617091e-03 -1.22784212e-03 3.92556254e+01] [-1.44113881e-03 9.99990600e-01 4.08936367e-03 3.27827362e+00] [ 1.23374450e-03 -4.08758682e-03 9.99990885e-01 5.41882187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461400513 meters 0.09460339113138548 Centerline is valid? [False, True] Translation: X:39.25, Y:3.28, Z:0.06 [[ 9.99999913e-01 -2.08664409e-04 -3.61182190e-04 3.92499087e+01] [ 2.09415556e-04 9.99997813e-01 2.08090415e-03 3.28247545e+00] [ 3.60747190e-04 -2.08097961e-03 9.99997770e-01 5.86964216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521400512999996 meters 0.09646832926919363 Centerline is valid? [True, True] Translation: X:39.31, Y:3.29, Z:0.06 [[ 9.99993396e-01 -3.30101541e-03 -1.52030602e-03 3.93091009e+01] [ 3.30079909e-03 9.99994542e-01 -1.44772028e-04 3.28860792e+00] [ 1.52077562e-03 1.39752847e-04 9.99998834e-01 5.70876113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581400513 meters 0.10440630538160503 Centerline is valid? [True, False] Translation: X:39.33, Y:3.30, Z:0.05 [[ 9.99988455e-01 -3.43633859e-03 3.35892739e-03 3.93301556e+01] [ 3.47522375e-03 9.99926211e-01 -1.16402055e-02 3.29755740e+00] [-3.31867985e-03 1.16517442e-02 9.99926609e-01 5.18392486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641400513 meters 0.08200363486637818 Centerline is valid? [False, True] Translation: X:39.33, Y:3.28, Z:0.06 [[ 9.99992619e-01 1.72573488e-03 3.43261384e-03 3.93288541e+01] [-1.71261219e-03 9.99991229e-01 -3.82221637e-03 3.28327291e+00] [-3.43917986e-03 3.81630942e-03 9.99986804e-01 5.51862931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701400512999996 meters 0.07193011580484474 Centerline is valid? [True, True] Translation: X:39.39, Y:3.27, Z:0.05 [[ 9.99991513e-01 -1.20693264e-03 3.93921855e-03 3.93897970e+01] [ 1.23804373e-03 9.99967989e-01 -7.90492444e-03 3.27366524e+00] [-3.92955174e-03 7.90973427e-03 9.99960997e-01 5.48187746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761400513 meters 0.07509594978718687 Centerline is valid? [True, True] Translation: X:39.45, Y:3.27, Z:0.05 [[ 9.99953554e-01 -9.56731493e-03 -1.16424112e-03 3.94518806e+01] [ 9.57646133e-03 9.99921160e-01 8.12194870e-03 3.26525945e+00] [ 1.08644409e-03 -8.13272079e-03 9.99966339e-01 4.84690210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821400513 meters 0.07206363003567806 Centerline is valid? [True, True] Translation: X:39.51, Y:3.27, Z:0.05 [[ 9.99938854e-01 -1.09756935e-02 1.34999611e-03 3.95118980e+01] [ 1.09755623e-02 9.99939761e-01 1.04597859e-04 3.26825582e+00] [-1.35106282e-03 -8.97744969e-05 9.99999083e-01 5.20335527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881400512999996 meters 0.07216165782990495 Centerline is valid? [True, True] Translation: X:39.57, Y:3.27, Z:0.06 [[ 9.99925030e-01 -1.18763055e-02 2.98107692e-03 3.95726359e+01] [ 1.18756690e-02 9.99929455e-01 2.31115732e-04 3.26616282e+00] [-2.98361142e-03 -1.95696122e-04 9.99995530e-01 5.51884485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941400513 meters 0.06264185972104137 Centerline is valid? [True, True] Translation: X:39.63, Y:3.25, Z:0.06 [[ 9.99878932e-01 -1.50390551e-02 3.99344340e-03 3.96344887e+01] [ 1.50379381e-02 9.99886876e-01 3.09607230e-04 3.24619557e+00] [-3.99764785e-03 -2.49516592e-04 9.99991978e-01 5.59945452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001400513 meters 0.06016473235560914 Centerline is valid? [True, True] Translation: X:39.70, Y:3.24, Z:0.06 [[ 9.99856942e-01 -1.65321506e-02 3.57537965e-03 3.96969603e+01] [ 1.65312645e-02 9.99863311e-01 2.77246710e-04 3.23876274e+00] [-3.57947442e-03 -2.18101501e-04 9.99993570e-01 5.52294882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061400512999995 meters 0.06050302776030177 Centerline is valid? [True, True] Translation: X:39.76, Y:3.23, Z:0.05 [[ 9.99878119e-01 -1.55911513e-02 -8.14693080e-04 3.97585835e+01] [ 1.55911051e-02 9.99878449e-01 -6.30553381e-05 3.22999666e+00] [ 8.15577159e-04 5.03456873e-05 9.99999666e-01 4.89335960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121400513 meters 0.0685681179281322 Centerline is valid? [True, True] Translation: X:39.82, Y:3.24, Z:0.05 [[ 9.99902682e-01 -1.39292249e-02 -7.77286497e-04 3.98170900e+01] [ 1.39291821e-02 9.99902982e-01 -6.04465823e-05 3.23670192e+00] [ 7.78053061e-04 4.96137346e-05 9.99999696e-01 4.89888744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181400513 meters 0.0724594698749068 Centerline is valid? [True, True] Translation: X:39.88, Y:3.24, Z:0.05 [[ 9.99951382e-01 -9.85604748e-03 3.03337863e-04 3.98769849e+01] [ 9.85604081e-03 9.99951428e-01 2.34739952e-05 3.24133671e+00] [-3.03554490e-04 -2.04831436e-05 9.99999954e-01 5.09241625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241400512999995 meters 0.07485237200854926 Centerline is valid? [True, True] Translation: X:39.94, Y:3.25, Z:0.05 [[ 9.99986321e-01 -5.20937493e-03 4.69357793e-04 3.99374146e+01] [ 5.20935844e-03 9.99986431e-01 3.63532248e-05 3.24521928e+00] [-4.69540802e-04 -3.39076745e-05 9.99999889e-01 5.20443946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301400513 meters 0.08220167668936969 Centerline is valid? [True, True] Translation: X:40.00, Y:3.26, Z:0.05 [[ 9.99999541e-01 -8.81947637e-04 3.75707906e-04 3.99964555e+01] [ 8.81936766e-04 9.99999611e-01 2.91002836e-05 3.25754901e+00] [-3.75733424e-04 -2.87689196e-05 9.99999929e-01 5.10049104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361400513 meters 0.07862678176930432 Centerline is valid? [True, True] Translation: X:40.05, Y:3.26, Z:0.05 [[ 9.99982079e-01 5.67044653e-03 1.92032108e-03 4.00527623e+01] [-5.65846387e-03 9.99964839e-01 -6.18890528e-03 3.25763159e+00] [-1.95534741e-03 6.17792830e-03 9.99979005e-01 5.00519249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421400513 meters 0.08803914115303867 Centerline is valid? [True, True] Translation: X:40.12, Y:3.27, Z:0.05 [[ 9.99995660e-01 2.35420833e-03 -1.77148645e-03 4.01168901e+01] [-2.34319840e-03 9.99978086e-01 6.19169602e-03 3.26554423e+00] [ 1.78602417e-03 -6.18751820e-03 9.99979262e-01 4.92307151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481400513 meters 0.0815418982344652 Centerline is valid? [True, True] Translation: X:40.18, Y:3.27, Z:0.05 [[ 9.99998757e-01 1.43626233e-03 6.50530692e-04 4.01768221e+01] [-1.43629542e-03 9.99998967e-01 5.03977302e-05 3.26780631e+00] [-6.50457636e-04 -5.13320218e-05 9.99999787e-01 5.06981206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541400513 meters 0.08198066800293671 Centerline is valid? [True, True] Translation: X:40.24, Y:3.27, Z:0.05 [[ 9.99999154e-01 -5.94214237e-04 -1.15690580e-03 4.02362287e+01] [ 5.94110722e-04 9.99999819e-01 -8.98174454e-05 3.27088059e+00] [ 1.15695896e-03 8.91300393e-05 9.99999327e-01 4.66504745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601400513 meters 0.08091497016447755 Centerline is valid? [True, True] Translation: X:40.30, Y:3.27, Z:0.05 [[ 9.99989533e-01 -4.05950382e-03 -2.11045583e-03 4.02961592e+01] [ 4.05916723e-03 9.99991748e-01 -1.63745265e-04 3.27186429e+00] [ 2.11110314e-03 1.55176858e-04 9.99997760e-01 4.60427453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661400513 meters 0.07943016749320318 Centerline is valid? [True, True] Translation: X:40.36, Y:3.28, Z:0.05 [[ 9.99998046e-01 -1.77772011e-03 8.65063174e-04 4.03558541e+01] [ 1.77766276e-03 9.99998418e-01 6.70624881e-05 3.27577428e+00] [-8.65181024e-04 -6.55245664e-05 9.99999624e-01 5.15046220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721400513 meters 0.085688395541482 Centerline is valid? [True, True] Translation: X:40.41, Y:3.29, Z:0.05 [[ 9.99993752e-01 3.52514529e-03 -2.64023049e-04 4.04149051e+01] [-3.52515083e-03 9.99993786e-01 -2.05003594e-05 3.28916964e+00] [ 2.63949142e-04 2.14309523e-05 9.99999965e-01 4.82878341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781400513 meters 0.09160903009436598 Centerline is valid? [True, True] Translation: X:40.47, Y:3.30, Z:0.05 [[ 9.99961754e-01 8.70500900e-03 -8.44615258e-04 4.04740546e+01] [-8.70506749e-03 9.99962108e-01 -6.56042198e-05 3.30162566e+00] [ 8.44012168e-04 7.29541435e-05 9.99999641e-01 4.76490003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841400512999996 meters 0.09252056780056937 Centerline is valid? [True, True] Translation: X:40.53, Y:3.31, Z:0.05 [[ 9.99935847e-01 1.13268626e-02 -6.11775794e-05 4.05334789e+01] [-1.13268629e-02 9.99935849e-01 -4.72346464e-06 3.31228669e+00] [ 6.11201528e-05 5.41611167e-06 9.99999998e-01 4.83710380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901400513 meters 0.09196366105708294 Centerline is valid? [True, True] Translation: X:40.59, Y:3.32, Z:0.05 [[ 9.99944421e-01 1.05226161e-02 -6.56077299e-04 4.05941950e+01] [-1.05226517e-02 9.99944634e-01 -5.08424997e-05 3.31948766e+00] [ 6.55505978e-04 5.77433468e-05 9.99999783e-01 4.60260085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961400513 meters 0.08561543438903757 Centerline is valid? [True, True] Translation: X:40.66, Y:3.32, Z:0.04 [[ 9.99963964e-01 8.19292570e-03 -2.22393055e-03 4.06555565e+01] [-8.19332938e-03 9.99966419e-01 -1.72463460e-04 3.31778734e+00] [ 2.22244289e-03 1.90678641e-04 9.99997512e-01 4.34571091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021400512999996 meters 0.09264808151319237 Centerline is valid? [True, True] Translation: X:40.71, Y:3.33, Z:0.04 [[ 9.99972584e-01 6.48717244e-03 -3.57034904e-03 4.07134568e+01] [-6.48820313e-03 9.99978913e-01 -2.77173517e-04 3.33270638e+00] [ 3.56847568e-03 3.00331068e-04 9.99993588e-01 3.99688945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081400513 meters 0.08609394025493713 Centerline is valid? [True, True] Translation: X:40.77, Y:3.33, Z:0.04 [[ 9.99974760e-01 6.02640837e-03 -3.76328210e-03 4.07729548e+01] [-6.02755135e-03 9.99981791e-01 -2.92450921e-04 3.32964075e+00] [ 3.76145115e-03 3.15126915e-04 9.99992876e-01 4.07581964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141400513 meters 0.08298695136952118 Centerline is valid? [True, True] Translation: X:40.83, Y:3.35, Z:0.04 [[ 9.99938630e-01 1.09312221e-02 -1.80119852e-03 4.08283309e+01] [-1.09579466e-02 9.99818839e-01 -1.55631538e-02 3.34935035e+00] [ 1.63074793e-03 1.55819361e-02 9.99877264e-01 4.42251604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201400512999996 meters 0.08846206968922034 Centerline is valid? [True, True] Translation: X:40.89, Y:3.34, Z:0.05 [[ 9.99960153e-01 8.75297289e-03 -1.75413584e-03 4.08925679e+01] [-8.72501122e-03 9.99843960e-01 1.53599983e-02 3.34043743e+00] [ 1.88830778e-03 -1.53440814e-02 9.99880490e-01 4.57440453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261400513 meters 0.08398794988934027 Centerline is valid? [True, True] Translation: X:40.95, Y:3.37, Z:0.04 [[ 9.99949606e-01 9.67292928e-03 -2.68683464e-03 4.09511955e+01] [-9.67352442e-03 9.99953189e-01 -2.08592695e-04 3.36640095e+00] [ 2.68469116e-03 2.34573344e-04 9.99996369e-01 4.19089643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321400513 meters 0.08533196835629611 Centerline is valid? [True, True] Translation: X:41.01, Y:3.38, Z:0.04 [[ 9.99960129e-01 8.70242905e-03 -2.00227904e-03 4.10105422e+01] [-8.70275780e-03 9.99962118e-01 -1.55533178e-04 3.38048833e+00] [ 2.00084967e-03 1.72952326e-04 9.99997983e-01 4.23087376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381400512999996 meters 0.08131906942903198 Centerline is valid? [True, True] Translation: X:41.07, Y:3.39, Z:0.04 [[ 9.99978789e-01 6.36246293e-03 -1.39300390e-03 4.10701264e+01] [-6.36261975e-03 9.99979752e-01 -1.08175156e-04 3.39382671e+00] [ 1.39228744e-03 1.17036016e-04 9.99999024e-01 4.36767828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441400513 meters 0.08645369798451139 Centerline is valid? [True, True] Translation: X:41.13, Y:3.41, Z:0.04 [[ 9.99989484e-01 3.49474348e-03 -2.96960654e-03 4.11282596e+01] [-3.49544386e-03 9.99993864e-01 -2.30692814e-04 3.40965055e+00] [ 2.96878211e-03 2.41070481e-04 9.99995564e-01 4.06334146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501400513 meters 0.07039896560026031 Centerline is valid? [True, True] Translation: X:41.19, Y:3.40, Z:0.04 [[ 9.99993734e-01 -3.43811837e-03 -8.43108253e-04 4.11891324e+01] [ 3.43806437e-03 9.99994088e-01 -6.54945270e-05 3.40404377e+00] [ 8.43328446e-04 6.25954562e-05 9.99999642e-01 4.44999872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561400512999995 meters 0.08120113540413429 Centerline is valid? [True, True] Translation: X:41.25, Y:3.43, Z:0.05 [[ 9.99979508e-01 -6.20527489e-03 1.57390031e-03 4.12471809e+01] [ 6.20509023e-03 9.99980741e-01 1.22183220e-04 3.42721598e+00] [-1.57462818e-03 -1.12414523e-04 9.99998754e-01 4.58359904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621400513 meters 0.07311315585861673 Centerline is valid? [True, True] Translation: X:41.31, Y:3.43, Z:0.05 [[ 9.99977942e-01 -5.94238860e-03 2.96708856e-03 4.13084157e+01] [ 5.94173059e-03 9.99982321e-01 2.30533671e-04 3.42947651e+00] [-2.96840603e-03 -2.12898945e-04 9.99995572e-01 4.77706949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681400513 meters 0.07682024800873535 Centerline is valid? [True, True] Translation: X:41.37, Y:3.45, Z:0.05 [[ 9.99989109e-01 -3.71200474e-03 2.82902322e-03 4.13682204e+01] [ 3.71139799e-03 9.99993089e-01 2.19692014e-04 3.44513223e+00] [-2.82981917e-03 -2.09189990e-04 9.99995974e-01 4.69090498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741400512999995 meters 0.0784690110004375 Centerline is valid? [True, True] Translation: X:41.43, Y:3.45, Z:0.04 [[ 9.99996093e-01 -2.20475274e-03 1.71845422e-03 4.14292449e+01] [ 2.20452651e-03 9.99997561e-01 1.33528628e-04 3.45374976e+00] [-1.71874442e-03 -1.29739728e-04 9.99998515e-01 4.39062437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801400513 meters 0.08398647810607572 Centerline is valid? [True, True] Translation: X:41.49, Y:3.47, Z:0.04 [[ 9.99999455e-01 -1.04320959e-03 2.90723406e-05 4.14877318e+01] [ 1.04320953e-03 9.99999456e-01 2.25683970e-06 3.47398362e+00] [-2.90746792e-05 -2.22650993e-06 1.00000000e+00 4.10912577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861400513 meters 0.07344563887731935 Centerline is valid? [True, True] Translation: X:41.55, Y:3.47, Z:0.04 [[ 9.99989878e-01 -4.36443194e-03 1.09310446e-03 4.15484759e+01] [ 4.36434178e-03 9.99990473e-01 8.48514852e-05 3.46929264e+00] [-1.09346437e-03 -8.00799449e-05 9.99999399e-01 4.17191089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921400513 meters 0.07182843075543238 Centerline is valid? [True, True] Translation: X:41.61, Y:3.47, Z:0.04 [[ 9.99902422e-01 -1.39637975e-02 3.97738141e-04 4.16087688e+01] [ 1.39637863e-02 9.99902501e-01 3.08637171e-05 3.46966177e+00] [-3.98130337e-04 -2.53067751e-05 9.99999920e-01 3.96980280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981400513 meters 0.061931494378504474 Centerline is valid? [True, True] Translation: X:41.67, Y:3.46, Z:0.04 [[ 9.99818513e-01 -1.90509254e-02 5.63610021e-05 4.16705403e+01] [ 1.90509252e-02 9.99818515e-01 4.38374692e-06 3.46068557e+00] [-5.64342878e-05 -3.30922210e-06 9.99999998e-01 4.09851456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041400513 meters 0.06995882042678025 Centerline is valid? [True, True] Translation: X:41.73, Y:3.48, Z:0.04 [[ 9.99874466e-01 -1.58066925e-02 -1.09548735e-03 4.17286786e+01] [ 1.58066086e-02 9.99875064e-01 -8.51946855e-05 3.47505182e+00] [ 1.09669713e-03 6.78680509e-05 9.99999396e-01 3.78539704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101400513 meters 0.0737067459776436 Centerline is valid? [True, True] Translation: X:41.79, Y:3.49, Z:0.04 [[ 9.99940751e-01 -1.08066466e-02 -1.30832988e-03 4.17879121e+01] [ 1.08065228e-02 9.99941603e-01 -1.01641961e-04 3.48703591e+00] [ 1.30935189e-03 8.74974421e-05 9.99999139e-01 3.68494474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161400513 meters 0.07536783484995524 Centerline is valid? [True, True] Translation: X:41.85, Y:3.50, Z:0.04 [[ 9.99989514e-01 -3.66785293e-03 2.74201895e-03 4.18476660e+01] [ 3.66728273e-03 9.99993253e-01 2.12950994e-04 3.50270133e+00] [-2.74278152e-03 -2.02893003e-04 9.99996218e-01 4.34086066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221400513 meters 0.07671366008278221 Centerline is valid? [True, True] Translation: X:41.91, Y:3.52, Z:0.05 [[ 9.99993659e-01 4.79701662e-04 3.52859745e-03 4.19070936e+01] [-4.80671580e-04 9.99999847e-01 2.74030598e-04 3.51804422e+00] [-3.52846546e-03 -2.75724957e-04 9.99993737e-01 4.55456355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281400513 meters 0.08098478002966 Centerline is valid? [True, True] Translation: X:41.97, Y:3.54, Z:0.05 [[ 9.99979535e-01 3.21056040e-03 5.53362856e-03 4.19661780e+01] [-3.21298714e-03 9.99994746e-01 4.29710700e-04 3.54191509e+00] [-5.53221987e-03 -4.47481383e-04 9.99984597e-01 4.74583287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341400512999996 meters 0.0808127197845598 Centerline is valid? [True, True] Translation: X:42.03, Y:3.55, Z:0.05 [[ 9.99982750e-01 5.23122643e-04 5.85033310e-03 4.20251629e+01] [-5.25789373e-04 9.99999759e-01 4.54296645e-04 3.54964571e+00] [-5.85009403e-03 -4.57364851e-04 9.99982783e-01 4.69642728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401400513 meters 0.07179338826091598 Centerline is valid? [True, True] Translation: X:42.09, Y:3.55, Z:0.04 [[ 9.99965966e-01 -7.65857774e-03 3.06797256e-03 4.20860643e+01] [ 7.65788254e-03 9.99970650e-01 2.38283379e-04 3.55067274e+00] [-3.06970743e-03 -2.14781096e-04 9.99995265e-01 4.08547887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461400513 meters 0.06705236235018375 Centerline is valid? [True, True] Translation: X:42.15, Y:3.55, Z:0.04 [[ 9.99928571e-01 -1.13254252e-02 3.81947306e-03 4.21470753e+01] [ 1.13243743e-02 9.99935833e-01 2.96637260e-04 3.55141172e+00] [-3.82258752e-03 -2.53362929e-04 9.99992662e-01 4.18176462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521400512999996 meters 0.06916101664397145 Centerline is valid? [True, True] Translation: X:42.21, Y:3.56, Z:0.04 [[ 9.99938409e-01 -1.07737040e-02 2.66548902e-03 4.22077546e+01] [ 1.07731901e-02 9.99941946e-01 2.07070907e-04 3.55679462e+00] [-2.66756520e-03 -1.78342334e-04 9.99996426e-01 3.92756388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581400513 meters 0.07323704914832066 Centerline is valid? [True, True] Translation: X:42.27, Y:3.57, Z:0.04 [[ 9.99952184e-01 -9.51968946e-03 2.23734900e-03 4.22673521e+01] [ 9.51932456e-03 9.99954675e-01 1.73685897e-04 3.56650253e+00] [-2.23890103e-03 -1.52379541e-04 9.99997482e-01 3.70202782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641400513 meters 0.06706528581100071 Centerline is valid? [True, True] Translation: X:42.33, Y:3.58, Z:0.04 [[ 9.99960991e-01 -8.26444757e-03 -3.11707151e-03 4.23280702e+01] [ 8.17746443e-03 9.99603182e-01 -2.69556416e-02 3.58486223e+00] [ 3.33860809e-03 2.69291003e-02 9.99631771e-01 3.91956879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701400512999996 meters 0.07472242637119705 Centerline is valid? [True, True] Translation: X:42.39, Y:3.55, Z:0.03 [[ 9.99960153e-01 -8.55009114e-03 -2.56675734e-03 4.23894944e+01] [ 8.61515464e-03 9.99611449e-01 2.65090719e-02 3.55108141e+00] [ 2.33910505e-03 -2.65301286e-02 9.99645278e-01 3.17007568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761400513 meters 0.08029892626500794 Centerline is valid? [True, True] Translation: X:42.45, Y:3.58, Z:0.03 [[ 9.99972135e-01 -7.40768369e-03 -9.24443444e-04 4.24470392e+01] [ 7.40762048e-03 9.99972561e-01 -7.17900151e-05 3.58488952e+00] [ 9.24949876e-04 6.49400885e-05 9.99999570e-01 3.00928052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821400513 meters 0.08926166442766666 Centerline is valid? [True, True] Translation: X:42.51, Y:3.60, Z:0.04 [[ 9.99996109e-01 -1.32015941e-03 2.45748200e-03 4.25068041e+01] [ 1.31969437e-03 9.99999111e-01 1.90846640e-04 3.60066092e+00] [-2.45773176e-03 -1.87602773e-04 9.99996962e-01 3.59127410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881400512999996 meters 0.08760292654298733 Centerline is valid? [True, True] Translation: X:42.57, Y:3.60, Z:0.04 [[ 9.99993216e-01 2.64040758e-03 2.56822629e-03 4.25677690e+01] [-2.64092844e-03 9.99996493e-01 1.99439158e-04 3.60152661e+00] [-2.56769068e-03 -2.06220307e-04 9.99996682e-01 3.64624652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941400513 meters 0.08160447261911938 Centerline is valid? [True, True] Translation: X:42.63, Y:3.60, Z:0.04 [[ 9.99991619e-01 3.54308222e-03 2.05148591e-03 4.26307487e+01] [-3.54341677e-03 9.99993709e-01 1.59465616e-04 3.59710092e+00] [-2.05090801e-03 -1.66733549e-04 9.99997883e-01 3.59091735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001400513 meters 0.09136686774972111 Centerline is valid? [True, True] Translation: X:42.69, Y:3.61, Z:0.04 [[ 9.99986768e-01 3.70212513e-03 3.57177440e-03 4.26907311e+01] [-3.70313968e-03 9.99993105e-01 2.77477217e-04 3.61244110e+00] [-3.57072252e-03 -2.90700325e-04 9.99993583e-01 3.78649320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061400512999995 meters 0.09725974437783044 Centerline is valid? [True, True] Translation: X:42.75, Y:3.63, Z:0.03 [[ 9.99980648e-01 5.51069284e-03 2.88727220e-03 4.27493661e+01] [-5.51136133e-03 9.99984787e-01 2.23623771e-04 3.62586300e+00] [-2.88599595e-03 -2.39532244e-04 9.99995807e-01 3.49648356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121400513 meters 0.0852912985180435 Centerline is valid? [True, True] Translation: X:42.81, Y:3.62, Z:0.03 [[ 9.99962099e-01 8.69892450e-03 3.59376963e-04 4.28109607e+01] [-8.69893510e-03 9.99962163e-01 2.79437401e-05 3.62268758e+00] [-3.59120284e-04 -3.10688779e-05 9.99999935e-01 3.12355181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181400513 meters 0.08708298052602262 Centerline is valid? [True, True] Translation: X:42.87, Y:3.63, Z:0.03 [[ 9.99976986e-01 6.73900450e-03 7.83134588e-04 4.28701805e+01] [-6.73905403e-03 9.99977290e-01 6.06150687e-05 3.63246953e+00] [-7.82708318e-04 -6.58912600e-05 9.99999692e-01 3.11734634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241400512999995 meters 0.08170405658122183 Centerline is valid? [True, True] Translation: X:42.93, Y:3.63, Z:0.04 [[ 9.99987020e-01 2.32432310e-03 4.53392215e-03 4.29312344e+01] [-2.32593905e-03 9.99997233e-01 3.51174035e-04 3.63127033e+00] [-4.53309336e-03 -3.61715103e-04 9.99989660e-01 3.61404540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301400513 meters 0.07462608481293605 Centerline is valid? [True, True] Translation: X:42.99, Y:3.63, Z:0.03 [[ 9.99983715e-01 -4.75918595e-03 3.14945447e-03 4.29922813e+01] [ 4.75844113e-03 9.99988649e-01 2.43941139e-04 3.62812158e+00] [-3.15057968e-03 -2.28950673e-04 9.99995011e-01 3.27942193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361400513 meters 0.06895236216840232 Centerline is valid? [True, True] Translation: X:43.05, Y:3.62, Z:0.03 [[ 9.99960912e-01 -8.28247263e-03 3.09423672e-03 4.30531035e+01] [ 8.28177047e-03 9.99965677e-01 2.39670772e-04 3.62379934e+00] [-3.09611558e-03 -2.14035646e-04 9.99995184e-01 3.16768855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421400513 meters 0.06836854971958131 Centerline is valid? [True, True] Translation: X:43.11, Y:3.63, Z:0.04 [[ 9.99908169e-01 -1.19721812e-02 6.34983226e-03 4.31125457e+01] [ 1.19692985e-02 9.99928244e-01 4.91790937e-04 3.62637512e+00] [-6.35526443e-03 -4.15742738e-04 9.99979719e-01 3.69432992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481400513 meters 0.06558468294364507 Centerline is valid? [True, True] Translation: X:43.17, Y:3.63, Z:0.04 [[ 9.99877791e-01 -1.44754803e-02 5.90445552e-03 4.31735483e+01] [ 1.44730309e-02 9.99895156e-01 4.57356271e-04 3.62596773e+00] [-5.91045693e-03 -3.71845011e-04 9.99982464e-01 3.51242858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541400513 meters 0.06285945461634668 Centerline is valid? [True, True] Translation: X:43.23, Y:3.62, Z:0.03 [[ 9.99857779e-01 -1.65720860e-02 3.12866518e-03 4.32349897e+01] [ 1.65714085e-02 9.99862655e-01 2.42359350e-04 3.62389303e+00] [-3.13225187e-03 -1.90478493e-04 9.99995076e-01 3.26340271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601400513 meters 0.0690963986306893 Centerline is valid? [True, True] Translation: X:43.29, Y:3.63, Z:0.03 [[ 9.99885756e-01 -1.49395148e-02 2.29898582e-03 4.32941993e+01] [ 1.49391448e-02 9.99888389e-01 1.78030172e-04 3.63147280e+00] [-2.30138891e-03 -1.43664951e-04 9.99997341e-01 3.07886527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661400513 meters 0.06910729054541268 Centerline is valid? [True, True] Translation: X:43.35, Y:3.63, Z:0.03 [[ 9.99943456e-01 -1.04490259e-02 1.97529212e-03 4.33545121e+01] [ 1.04487441e-02 9.99945399e-01 1.52931621e-04 3.63277058e+00] [-1.97678225e-03 -1.32283652e-04 9.99998037e-01 3.05785715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721400513 meters 0.07505712346859673 Centerline is valid? [True, True] Translation: X:43.41, Y:3.65, Z:0.03 [[ 9.99987594e-01 -4.30592671e-03 2.50433938e-03 4.34143404e+01] [ 4.30545441e-03 9.99990713e-01 1.93951572e-04 3.64548263e+00] [-2.50515126e-03 -1.83166847e-04 9.99996845e-01 3.14126413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781400513 meters 0.08408424013083658 Centerline is valid? [True, True] Translation: X:43.47, Y:3.66, Z:0.03 [[ 9.99973112e-01 6.43604293e-03 3.51454525e-03 4.34739392e+01] [-6.43703912e-03 9.99979245e-01 2.72208729e-04 3.66450943e+00] [-3.51272036e-03 -2.94824675e-04 9.99993787e-01 3.33690024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841400512999996 meters 0.08456566960198293 Centerline is valid? [True, True] Translation: X:43.53, Y:3.67, Z:0.03 [[ 9.99942982e-01 1.00378329e-02 3.64357337e-03 4.35343746e+01] [-1.00389272e-02 9.99949569e-01 2.82188567e-04 3.67070390e+00] [-3.64055705e-03 -3.18750045e-04 9.99993322e-01 3.29914362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901400513 meters 0.0885439251971666 Centerline is valid? [True, True] Translation: X:43.59, Y:3.68, Z:0.03 [[ 9.99938895e-01 1.04402484e-02 3.63434546e-03 4.35949213e+01] [-1.04413407e-02 9.99945448e-01 2.81700735e-04 3.68028401e+00] [-3.63120617e-03 -3.19630961e-04 9.99993356e-01 3.13959185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961400513 meters 0.08404738225214038 Centerline is valid? [True, True] Translation: X:43.65, Y:3.68, Z:0.03 [[ 9.99949219e-01 8.29285255e-03 5.72614841e-03 4.36549931e+01] [-8.29552177e-03 9.99965494e-01 4.42550461e-04 3.68333726e+00] [-5.72228082e-03 -4.90029377e-04 9.99983508e-01 3.43403458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021400512999996 meters 0.07212174664866294 Centerline is valid? [True, True] Translation: X:43.72, Y:3.68, Z:0.03 [[ 9.99980965e-01 1.87075505e-03 5.87964574e-03 4.37160729e+01] [-1.87345897e-03 9.99998142e-01 4.54405063e-04 3.67537539e+00] [-5.87878474e-03 -4.65411688e-04 9.99982611e-01 3.39125924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081400513 meters 0.07591950553892982 Centerline is valid? [True, True] Translation: X:43.78, Y:3.69, Z:0.03 [[ 9.99986043e-01 -3.56597811e-03 3.89829241e-03 4.37755154e+01] [ 3.56483066e-03 9.99993601e-01 3.01254970e-04 3.68562865e+00] [-3.89934173e-03 -2.87354013e-04 9.99992356e-01 3.10509182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141400513 meters 0.06688040332188859 Centerline is valid? [True, True] Translation: X:43.84, Y:3.68, Z:0.03 [[ 9.99952200e-01 -7.66148532e-03 6.07440757e-03 4.38369410e+01] [ 7.65877442e-03 9.99970561e-01 4.69419252e-04 3.68075688e+00] [-6.07782520e-03 -4.22874297e-04 9.99981440e-01 3.41678380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201400512999996 meters 0.06489279536252952 Centerline is valid? [True, True] Translation: X:43.90, Y:3.68, Z:0.03 [[ 9.99931410e-01 -9.72599378e-03 6.52540363e-03 4.38973451e+01] [ 9.72290955e-03 9.99952604e-01 5.04207719e-04 3.68406995e+00] [-6.52999828e-03 -4.40727226e-04 9.99978582e-01 3.40840326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261400513 meters 0.06409751717821205 Centerline is valid? [True, True] Translation: X:43.96, Y:3.69, Z:0.03 [[ 9.99964069e-01 -7.41113830e-03 4.11529452e-03 4.39578129e+01] [ 7.40989208e-03 9.99972496e-01 3.17991015e-04 3.68923332e+00] [-4.11753801e-03 -2.87485701e-04 9.99991482e-01 3.01945325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321400513 meters 0.07393486986459077 Centerline is valid? [True, True] Translation: X:44.02, Y:3.71, Z:0.03 [[ 9.99992955e-01 -2.51673688e-03 2.78485205e-03 4.40154149e+01] [ 2.51614728e-03 9.99996811e-01 2.15200111e-04 3.71176030e+00] [-2.78538477e-03 -2.08191497e-04 9.99996099e-01 2.81487069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381400512999996 meters 0.07520602824896826 Centerline is valid? [True, True] Translation: X:44.08, Y:3.72, Z:0.03 [[ 9.99994356e-01 2.12965290e-03 2.59874284e-03 4.40757187e+01] [-2.13018175e-03 9.99997711e-01 2.00751424e-04 3.72276429e+00] [-2.59830936e-03 -2.06286086e-04 9.99996603e-01 2.78714330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441400513 meters 0.08487673178434207 Centerline is valid? [True, True] Translation: X:44.13, Y:3.75, Z:0.03 [[ 9.99964470e-01 7.45005469e-03 3.94397905e-03 4.41333223e+01] [-7.45131394e-03 9.99972192e-01 3.04688241e-04 3.74765561e+00] [-3.94159944e-03 -3.34065242e-04 9.99992176e-01 2.96209600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501400513 meters 0.08016574943027543 Centerline is valid? [True, True] Translation: X:44.19, Y:3.75, Z:0.03 [[ 9.99990639e-01 2.40628917e-03 3.59599190e-03 4.41938384e+01] [-2.40730321e-03 9.99997064e-01 2.77688950e-04 3.74874188e+00] [-3.59531314e-03 -2.86342994e-04 9.99993496e-01 2.80553390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561400512999995 meters 0.06554601257640831 Centerline is valid? [True, True] Translation: X:44.26, Y:3.73, Z:0.03 [[ 9.99953160e-01 -7.43747462e-03 6.19374703e-03 4.42559215e+01] [ 7.43465401e-03 9.99972248e-01 4.78297019e-04 3.73275296e+00] [-6.19713247e-03 -4.32226249e-04 9.99980704e-01 3.14203323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621400513 meters 0.06746609200001245 Centerline is valid? [True, True] Translation: X:44.32, Y:3.74, Z:0.03 [[ 9.99929795e-01 -9.98238213e-03 6.38416208e-03 4.43158404e+01] [ 9.97943716e-03 9.99950083e-01 4.92983920e-04 3.73662454e+00] [-6.38876456e-03 -4.29238966e-04 9.99979500e-01 3.15854938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681400513 meters 0.06761056266019187 Centerline is valid? [True, True] Translation: X:44.38, Y:3.74, Z:0.03 [[ 9.99928431e-01 -1.02639136e-02 6.14695851e-03 4.43781880e+01] [ 1.02611887e-02 9.99947240e-01 4.74671494e-04 3.73972554e+00] [-6.15150618e-03 -4.11562421e-04 9.99980995e-01 3.05382579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741400512999995 meters 0.0664572185668905 Centerline is valid? [True, True] Translation: X:44.44, Y:3.73, Z:0.03 [[ 9.99891213e-01 -1.37815944e-02 5.25635832e-03 4.44396090e+01] [ 1.37796515e-02 9.99904974e-01 4.05679991e-04 3.73127915e+00] [-5.26144974e-03 -3.33205073e-04 9.99986103e-01 2.78891142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801400513 meters 0.06464267725171699 Centerline is valid? [True, True] Translation: X:44.50, Y:3.73, Z:0.03 [[ 9.99860900e-01 -1.57391771e-02 5.51904595e-03 4.45006732e+01] [ 1.57370648e-02 9.99876074e-01 4.25956762e-04 3.72581741e+00] [-5.52506621e-03 -3.39043927e-04 9.99984679e-01 2.82504368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861400513 meters 0.06540685354776864 Centerline is valid? [True, True] Translation: X:44.56, Y:3.72, Z:0.03 [[ 9.99865350e-01 -1.53845856e-02 5.70925758e-03 4.45631700e+01] [ 1.53823195e-02 9.99881588e-01 4.40626596e-04 3.71758212e+00] [-5.71536040e-03 -3.52745642e-04 9.99983605e-01 2.85373419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921400513 meters 0.06936079278349908 Centerline is valid? [True, True] Translation: X:44.62, Y:3.72, Z:0.03 [[ 9.99951553e-01 -9.04687414e-03 3.87892462e-03 4.46239546e+01] [ 9.04578109e-03 9.99959041e-01 2.99242514e-04 3.71801868e+00] [-3.88147295e-03 -2.64140113e-04 9.99992432e-01 2.59523846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981400513 meters 0.07892768018637694 Centerline is valid? [True, True] Translation: X:44.68, Y:3.73, Z:0.02 [[ 9.99997659e-01 1.27044662e-03 1.75163062e-03 4.46836367e+01] [-1.27068525e-03 9.99999184e-01 1.35129795e-04 3.73210878e+00] [-1.75145751e-03 -1.37355250e-04 9.99998457e-01 2.17367398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041400513 meters 0.08310437094624785 Centerline is valid? [True, True] Translation: X:44.74, Y:3.74, Z:0.02 [[ 9.99963755e-01 8.26830151e-03 2.03083030e-03 4.47439346e+01] [-8.26863661e-03 9.99965802e-01 1.56663607e-04 3.74254496e+00] [-2.02946551e-03 -1.73450126e-04 9.99997926e-01 2.11613274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101400513 meters 0.09150265820757024 Centerline is valid? [True, True] Translation: X:44.80, Y:3.76, Z:0.02 [[ 9.99947723e-01 1.00933566e-02 1.63587031e-03 4.48027799e+01] [-1.00935766e-02 9.99949051e-01 1.26257702e-04 3.75878883e+00] [-1.63451260e-03 -1.42762884e-04 9.99998654e-01 1.96670334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161400513 meters 0.08811540534956265 Centerline is valid? [True, True] Translation: X:44.86, Y:3.76, Z:0.02 [[ 9.99932536e-01 1.08972016e-02 4.02179032e-03 4.48640465e+01] [-1.08985367e-02 9.99940561e-01 3.10194070e-04 3.76137099e+00] [-4.01817102e-03 -3.54004772e-04 9.99991864e-01 2.33773689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221400513 meters 0.0908892840734931 Centerline is valid? [True, True] Translation: X:44.93, Y:3.77, Z:0.02 [[ 9.99929161e-01 1.17544694e-02 1.87245438e-03 4.49251145e+01] [-1.17547604e-02 9.99930900e-01 1.44441892e-04 3.76986701e+00] [-1.87062716e-03 -1.66441913e-04 9.99998237e-01 2.08290456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281400513 meters 0.09764612456133508 Centerline is valid? [True, True] Translation: X:44.98, Y:3.78, Z:0.02 [[ 9.99906288e-01 1.33962788e-02 2.82049050e-03 4.49840272e+01] [-1.33969452e-02 9.99910233e-01 2.17495662e-04 3.78024096e+00] [-2.81732368e-03 -2.55261236e-04 9.99995999e-01 2.08069177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341400512999996 meters 0.09634915305222883 Centerline is valid? [True, True] Translation: X:45.05, Y:3.78, Z:0.02 [[ 9.99910254e-01 1.30099806e-02 3.19745429e-03 4.50461329e+01] [-1.30108353e-02 9.99915325e-01 2.46653504e-04 3.78322241e+00] [-3.19397459e-03 -2.88232919e-04 9.99994858e-01 2.10865334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401400513 meters 0.09450431581664176 Centerline is valid? [True, True] Translation: X:45.11, Y:3.79, Z:0.02 [[ 9.99915241e-01 1.27715505e-02 2.52947571e-03 4.51086115e+01] [-1.27720841e-02 9.99918415e-01 1.94910874e-04 3.78554574e+00] [-2.52678003e-03 -2.27201030e-04 9.99996782e-01 1.95427564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461400513 meters 0.08599316189202592 Centerline is valid? [True, True] Translation: X:45.17, Y:3.78, Z:0.03 [[ 9.99925158e-01 1.05496520e-02 6.19544883e-03 4.51697071e+01] [-1.05527980e-02 9.99944205e-01 4.75311188e-04 3.77885773e+00] [-6.19008878e-03 -5.40654935e-04 9.99980695e-01 2.51197901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521400512999996 meters 0.09304495817359482 Centerline is valid? [True, True] Translation: X:45.23, Y:3.80, Z:0.03 [[ 9.99931804e-01 9.51845542e-03 6.76650341e-03 4.52294073e+01] [-9.52218438e-03 9.99954528e-01 5.19088378e-04 3.79676449e+00] [-6.76125480e-03 -5.83484872e-04 9.99976972e-01 2.57934480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581400513 meters 0.08937048162988742 Centerline is valid? [True, True] Translation: X:45.29, Y:3.80, Z:0.02 [[ 9.99961050e-01 6.29278241e-03 6.18868164e-03 4.52903036e+01] [-6.29583959e-03 9.99980068e-01 4.74638445e-04 3.80312061e+00] [-6.18557150e-03 -5.13582905e-04 9.99980737e-01 2.48983177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641400513 meters 0.072468106139359 Centerline is valid? [True, True] Translation: X:45.35, Y:3.79, Z:0.02 [[ 9.99980818e-01 -5.06975989e-04 6.17299018e-03 4.53523637e+01] [ 5.04063380e-04 9.99999761e-01 4.73377777e-04 3.78814716e+00] [-6.17322869e-03 -4.70257118e-04 9.99980835e-01 2.43268549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701400512999996 meters 0.0790178486939998 Centerline is valid? [True, True] Translation: X:45.41, Y:3.80, Z:0.02 [[ 9.99954243e-01 -7.47571960e-03 5.96870029e-03 4.54111673e+01] [ 7.47312021e-03 9.99971971e-01 4.57687983e-04 3.79996848e+00] [-5.97195454e-03 -4.13062226e-04 9.99982082e-01 2.25984487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761400513 meters 0.06889133245909212 Centerline is valid? [True, True] Translation: X:45.47, Y:3.79, Z:0.03 [[ 9.99935228e-01 -8.80784024e-03 7.20840365e-03 4.54738325e+01] [ 8.80408402e-03 9.99961091e-01 5.52656071e-04 3.79239502e+00] [-7.21299088e-03 -4.89156883e-04 9.99973866e-01 2.52560678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821400513 meters 0.08050198970100443 Centerline is valid? [True, True] Translation: X:45.53, Y:3.81, Z:0.02 [[ 9.99968780e-01 -5.47716151e-03 5.69556883e-03 4.55321494e+01] [ 5.47476359e-03 9.99984918e-01 4.36520788e-04 3.80998442e+00] [-5.69787383e-03 -4.05325267e-04 9.99983685e-01 2.24181339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881400512999996 meters 0.08006814007348816 Centerline is valid? [True, True] Translation: X:45.59, Y:3.81, Z:0.02 [[ 9.99986295e-01 -3.87546311e-03 3.51990847e-03 4.55930275e+01] [ 3.87453725e-03 9.99992458e-01 2.69814771e-04 3.81273481e+00] [-3.52092758e-03 -2.56173057e-04 9.99993769e-01 1.87026412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941400513 meters 0.07227685898333376 Centerline is valid? [True, True] Translation: X:45.66, Y:3.80, Z:0.02 [[ 9.99984596e-01 -4.17547087e-03 3.65683302e-03 4.56563570e+01] [ 4.17447351e-03 9.99991248e-01 2.80329547e-04 3.80254762e+00] [-3.65797152e-03 -2.65059877e-04 9.99993274e-01 1.79089396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001400513 meters 0.06875570264800415 Centerline is valid? [True, True] Translation: X:45.72, Y:3.80, Z:0.02 [[ 9.99949873e-01 -8.98230706e-03 4.42366904e-03 4.57173766e+01] [ 8.98089568e-03 9.99959614e-01 3.38813586e-04 3.79542631e+00] [-4.42653371e-03 -2.99068092e-04 9.99990158e-01 1.85664409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061400512999995 meters 0.07295490198600084 Centerline is valid? [True, True] Translation: X:45.78, Y:3.80, Z:0.02 [[ 9.99967358e-01 -7.59500134e-03 2.75651446e-03 4.57775267e+01] [ 7.59444804e-03 9.99971139e-01 2.11136175e-04 3.80159504e+00] [-2.75803849e-03 -1.90195078e-04 9.99996179e-01 1.58448026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121400513 meters 0.0795091508427903 Centerline is valid? [True, True] Translation: X:45.84, Y:3.81, Z:0.01 [[ 9.99990712e-01 -3.25900393e-03 2.82060243e-03 4.58360775e+01] [ 3.25840749e-03 9.99994668e-01 2.16025445e-04 3.81105946e+00] [-2.82129142e-03 -2.06832767e-04 9.99995999e-01 1.47288241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181400513 meters 0.07615118416033582 Centerline is valid? [True, True] Translation: X:45.90, Y:3.81, Z:0.02 [[ 9.99984989e-01 -1.69653430e-03 5.20998778e-03 4.58975458e+01] [ 1.69447912e-03 9.99998485e-01 3.98859136e-04 3.81067821e+00] [-5.21065656e-03 -3.90024933e-04 9.99986348e-01 1.86042891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241400512999995 meters 0.08381160588507428 Centerline is valid? [True, True] Translation: X:45.96, Y:3.82, Z:0.02 [[ 9.99987714e-01 2.16811436e-03 4.45778644e-03 4.59564127e+01] [-2.16965662e-03 9.99997588e-01 3.41163455e-04 3.82416589e+00] [-4.45703601e-03 -3.50831129e-04 9.99990006e-01 1.72625279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301400513 meters 0.08400352844895805 Centerline is valid? [True, True] Translation: X:46.02, Y:3.83, Z:0.01 [[ 9.99974445e-01 6.59428328e-03 2.76147984e-03 4.60163062e+01] [-6.59489192e-03 9.99978231e-01 2.11357668e-04 3.83041207e+00] [-2.76002598e-03 -2.29563928e-04 9.99996165e-01 1.45472963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361400513 meters 0.0929118634700283 Centerline is valid? [True, True] Translation: X:46.08, Y:3.85, Z:0.01 [[ 9.99955367e-01 9.44741542e-03 1.00125450e-04 4.60754976e+01] [-9.44741624e-03 9.99955372e-01 7.70179040e-06 3.84560087e+00] [-1.00048219e-04 -8.64737345e-06 9.99999995e-01 9.56656708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421400513 meters 0.09053276120904707 Centerline is valid? [True, True] Translation: X:46.14, Y:3.85, Z:0.02 [[ 9.99971646e-01 6.78254074e-03 3.27184104e-03 4.61363683e+01] [-6.78339608e-03 9.99976961e-01 2.50398129e-04 3.84763036e+00] [-3.27006732e-03 -2.72585223e-04 9.99994616e-01 1.53874152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481400513 meters 0.08222061429553863 Centerline is valid? [True, True] Translation: X:46.20, Y:3.84, Z:0.01 [[ 9.99993143e-01 1.96720996e-03 3.13753732e-03 4.61979194e+01] [-1.96797283e-03 9.99998035e-01 2.40074111e-04 3.83968768e+00] [-3.13705888e-03 -2.46247053e-04 9.99995049e-01 1.45551005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541400513 meters 0.07781526458580872 Centerline is valid? [True, True] Translation: X:46.26, Y:3.84, Z:0.01 [[ 9.99990161e-01 -4.16638858e-03 1.52312219e-03 4.62587249e+01] [ 4.16621588e-03 9.99991314e-01 1.16538465e-04 3.83773644e+00] [-1.52359451e-03 -1.10191663e-04 9.99998833e-01 1.13085713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601400513 meters 0.0685543746633684 Centerline is valid? [True, True] Translation: X:46.32, Y:3.83, Z:0.01 [[ 9.99900432e-01 -1.38682926e-02 2.60705949e-03 4.63204595e+01] [ 1.38678193e-02 9.99903817e-01 1.99507197e-04 3.82649615e+00] [-2.60957556e-03 -1.63333102e-04 9.99996582e-01 1.37100717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661400513 meters 0.05713455200860977 Centerline is valid? [True, True] Translation: X:46.38, Y:3.81, Z:0.02 [[ 9.99785295e-01 -2.04416726e-02 3.39159457e-03 4.63826758e+01] [ 2.04409095e-02 9.99791029e-01 2.59513714e-04 3.80807982e+00] [-3.39619072e-03 -1.90130718e-04 9.99994215e-01 1.57767213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721400513 meters 0.051266536964821155 Centerline is valid? [True, True] Translation: X:46.45, Y:3.79, Z:0.02 [[ 9.99647171e-01 -2.61386046e-02 4.72297629e-03 4.64451459e+01] [ 2.61371883e-02 9.99658300e-01 3.61364574e-04 3.79366905e+00] [-4.73080802e-03 -2.37791754e-04 9.99988781e-01 1.78107906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781400513 meters 0.05062931171710463 Centerline is valid? [True, True] Translation: X:46.51, Y:3.79, Z:0.02 [[ 9.99517093e-01 -3.04267609e-02 6.30819130e-03 4.65055709e+01] [ 3.04243198e-02 9.99536957e-01 4.82587196e-04 3.78905823e+00] [-6.31995390e-03 -2.90431721e-04 9.99979987e-01 1.97064846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841400512999996 meters 0.046447732213824575 Centerline is valid? [True, True] Translation: X:46.57, Y:3.77, Z:0.02 [[ 9.99432811e-01 -3.33432013e-02 4.72088899e-03 4.65673294e+01] [ 3.33418664e-02 9.99443940e-01 3.61203699e-04 3.77439319e+00] [-4.73030758e-03 -2.03595578e-04 9.99988791e-01 1.69430768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901400513 meters 0.04805998233176716 Centerline is valid? [True, True] Translation: X:46.63, Y:3.77, Z:0.02 [[ 9.99442884e-01 -3.28669651e-02 5.80387618e-03 4.66268305e+01] [ 3.28649395e-02 9.99459703e-01 4.44069551e-04 3.77195494e+00] [-5.81533559e-03 -2.53078113e-04 9.99983059e-01 1.79363701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961400513 meters 0.04337209920066836 Centerline is valid? [True, True] Translation: X:46.69, Y:3.76, Z:0.01 [[ 9.99390288e-01 -3.48009029e-02 2.81945160e-03 4.66880435e+01] [ 3.48004325e-02 9.99394258e-01 2.15753530e-04 3.76127812e+00] [-2.82525216e-03 -1.17503848e-04 9.99996002e-01 1.35070029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021400512999996 meters 0.03976911900456313 Centerline is valid? [True, True] Translation: X:46.75, Y:3.75, Z:0.01 [[ 9.99180777e-01 -4.03898314e-02 2.53717990e-03 4.67484827e+01] [ 4.03894685e-02 9.99183994e-01 1.94114222e-04 3.75353085e+00] [-2.54294978e-03 -9.14798513e-05 9.99996763e-01 1.18866269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081400513 meters 0.02756733609483686 Centerline is valid? [True, True] Translation: X:46.81, Y:3.73, Z:0.01 [[ 9.98739261e-01 -5.00312308e-02 4.09449318e-03 4.68103067e+01] [ 5.00303662e-02 9.98747648e-01 3.13366468e-04 3.73236305e+00] [-4.10504354e-03 -1.08122401e-04 9.99991568e-01 1.35125094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141400513 meters 0.024139366020205034 Centerline is valid? [True, True] Translation: X:46.87, Y:3.73, Z:0.01 [[ 9.98454203e-01 -5.54586162e-02 3.68049402e-03 4.68695509e+01] [ 5.54579545e-02 9.98460984e-01 2.81668524e-04 3.72503008e+00] [-3.69045062e-03 -7.71204516e-05 9.99993187e-01 1.38491815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201400512999996 meters 0.020748232193513554 Centerline is valid? [True, True] Translation: X:46.93, Y:3.72, Z:0.02 [[ 9.98294558e-01 -5.82089488e-02 4.43772276e-03 4.69296667e+01] [ 5.82080137e-02 9.98304418e-01 3.39703668e-04 3.71819139e+00] [-4.44997203e-03 -8.08132956e-05 9.99990096e-01 1.57346852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261400513 meters 0.017741123943444854 Centerline is valid? [True, True] Translation: X:46.99, Y:3.72, Z:0.01 [[ 9.98214030e-01 -5.95545628e-02 4.69083230e-03 4.69893331e+01] [ 5.95535292e-02 9.98225049e-01 3.59832775e-04 3.71639300e+00] [-4.70393598e-03 -7.98345058e-05 9.99988933e-01 1.43512253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321400513 meters 0.015035363018046841 Centerline is valid? [True, True] Translation: X:47.05, Y:3.71, Z:0.01 [[ 9.97917832e-01 -6.43914324e-02 3.70729471e-03 4.70477842e+01] [ 6.43908180e-02 9.97924717e-01 2.84965164e-04 3.71365138e+00] [-3.71795034e-03 -4.56560795e-05 9.99993087e-01 1.33242362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381400512999996 meters 0.009159701182817805 Centerline is valid? [True, True] Translation: X:47.11, Y:3.71, Z:0.01 [[ 9.97500876e-01 -7.04681913e-02 5.12209128e-03 4.71073721e+01] [ 7.04670963e-02 9.97514026e-01 3.94157165e-04 3.70775449e+00] [-5.13713344e-03 -3.22332181e-05 9.99986804e-01 1.48681267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441400513 meters 0.006407890702215759 Centerline is valid? [True, True] Translation: X:47.17, Y:3.70, Z:0.02 [[ 9.97006203e-01 -7.69419297e-02 7.65319082e-03 4.71670978e+01] [ 7.69396698e-02 9.97035576e-01 5.89698508e-04 3.70146217e+00] [-7.67587606e-03 9.00904841e-07 9.99970540e-01 1.81125137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501400513 meters 0.011984020484319253 Centerline is valid? [True, True] Translation: X:47.23, Y:3.69, Z:0.02 [[ 9.96266647e-01 -8.59147258e-02 8.45155105e-03 4.72259562e+01] [ 8.59122815e-02 9.96302491e-01 6.52507285e-04 3.69103477e+00] [-8.47636135e-03 7.60207888e-05 9.99964072e-01 1.95654837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561400512999995 meters 0.013800214092711852 Centerline is valid? [True, True] Translation: X:47.29, Y:3.69, Z:0.02 [[ 9.96047728e-01 -8.85631561e-02 6.74462625e-03 4.72852009e+01] [ 8.85616560e-02 9.96070560e-01 5.21342356e-04 3.69100135e+00] [-6.76429537e-03 7.80334004e-05 9.99977119e-01 1.71944530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621400513 meters 0.014204187752771673 Centerline is valid? [True, True] Translation: X:47.34, Y:3.69, Z:0.01 [[ 9.96068721e-01 -8.84412635e-02 5.02450064e-03 4.73420890e+01] [ 8.84404262e-02 9.96081392e-01 3.89028747e-04 3.69215932e+00] [-5.03921779e-03 5.68696120e-05 9.99987301e-01 1.48235916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681400513 meters 0.008402366579003126 Centerline is valid? [True, True] Translation: X:47.40, Y:3.70, Z:0.02 [[ 9.96551394e-01 -8.27558940e-02 6.06482337e-03 4.74000419e+01] [ 8.27545647e-02 9.96569847e-01 4.70235254e-04 3.70238729e+00] [-6.08293484e-03 3.32782211e-05 9.99981498e-01 1.78345999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741400512999995 meters 0.006528741251023135 Centerline is valid? [True, True] Translation: X:47.46, Y:3.72, Z:0.02 [[ 9.97085032e-01 -7.60547870e-02 6.09169224e-03 4.74580913e+01] [ 7.60533143e-02 9.97103640e-01 4.73363633e-04 3.71734830e+00] [-6.11005008e-03 -8.69040795e-06 9.99981333e-01 1.69208397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801400513 meters 0.014394380051976517 Centerline is valid? [True, True] Translation: X:47.52, Y:3.74, Z:0.01 [[ 9.97871394e-01 -6.51239898e-02 3.39811204e-03 4.75159459e+01] [ 6.51234667e-02 9.97877179e-01 2.64498765e-04 3.73652843e+00] [-3.40812367e-03 -4.26389146e-05 9.99994191e-01 1.21632632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861400513 meters 0.019196158340877935 Centerline is valid? [True, True] Translation: X:47.57, Y:3.75, Z:0.01 [[ 9.98222766e-01 -5.94910978e-02 3.48106824e-03 4.75748133e+01] [ 5.94905140e-02 9.98228834e-01 2.71109061e-04 3.75205217e+00] [-3.49103126e-03 -6.35366984e-05 9.99993904e-01 1.13281271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921400513 meters 0.02157168925127308 Centerline is valid? [True, True] Translation: X:47.63, Y:3.76, Z:0.01 [[ 9.98325416e-01 -5.78008162e-02 2.32999840e-03 4.76318802e+01] [ 5.78005504e-02 9.98328134e-01 1.81327946e-04 3.75863448e+00] [-2.33658386e-03 -4.63491072e-05 9.99997269e-01 8.26606580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981400513 meters 0.018768511955927755 Centerline is valid? [True, True] Translation: X:47.69, Y:3.76, Z:0.01 [[ 9.98291361e-01 -5.83066760e-02 3.83270521e-03 4.76901876e+01] [ 5.83059590e-02 9.98298716e-01 2.98638282e-04 3.76347856e+00] [-3.84359729e-03 -7.46584639e-05 9.99992611e-01 1.09172073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041400513 meters 0.02285172232883921 Centerline is valid? [True, True] Translation: X:47.75, Y:3.78, Z:0.01 [[ 9.98330606e-01 -5.76656933e-02 3.26631170e-03 4.77474303e+01] [ 5.76651668e-02 9.98335947e-01 2.55190258e-04 3.77671946e+00] [-3.27559211e-03 -6.64118358e-05 9.99994633e-01 9.84754246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101400513 meters 0.026359386453376682 Centerline is valid? [True, True] Translation: X:47.81, Y:3.79, Z:0.01 [[ 9.98520047e-01 -5.43694460e-02 1.29579780e-03 4.78062569e+01] [ 5.43693603e-02 9.98520887e-01 1.01273529e-04 3.79021387e+00] [-1.29938736e-03 -3.06719507e-05 9.99999155e-01 5.71847606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161400513 meters 0.026629777594673578 Centerline is valid? [True, True] Translation: X:47.86, Y:3.80, Z:0.01 [[ 9.98637724e-01 -5.18838608e-02 5.54619638e-03 4.78647446e+01] [ 5.18822498e-02 9.98653115e-01 4.34046249e-04 3.79891448e+00] [-5.56124629e-03 -1.45705813e-04 9.99984526e-01 1.17767690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221400513 meters 0.02639859527242592 Centerline is valid? [True, True] Translation: X:47.92, Y:3.81, Z:0.01 [[ 9.98611855e-01 -5.23240482e-02 6.04629686e-03 4.79224360e+01] [ 5.23221349e-02 9.98630146e-01 4.74304438e-04 3.80568055e+00] [-6.06283185e-03 -1.57290874e-04 9.99981608e-01 1.26786601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281400513 meters 0.02811893574289456 Centerline is valid? [True, True] Translation: X:47.98, Y:3.81, Z:0.01 [[ 9.98657717e-01 -5.16105679e-02 4.37199809e-03 4.79792886e+01] [ 5.16095578e-02 9.98667280e-01 3.43610614e-04 3.81380124e+00] [-4.38390538e-03 -1.17512503e-04 9.99990384e-01 8.63715397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341400512999996 meters 0.03655978609713329 Centerline is valid? [True, True] Translation: X:48.04, Y:3.83, Z:0.01 [[ 9.98944718e-01 -4.55635245e-02 5.78066385e-03 4.80381721e+01] [ 4.55616532e-02 9.98961425e-01 4.55069426e-04 3.82825502e+00] [-5.79539476e-03 -1.91212598e-04 9.99983188e-01 1.14530821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401400513 meters 0.03987222143106837 Centerline is valid? [True, True] Translation: X:48.10, Y:3.84, Z:0.01 [[ 9.99196748e-01 -3.95611468e-02 6.38542135e-03 4.80985359e+01] [ 3.95587404e-02 9.99217120e-01 5.02758946e-04 3.83779740e+00] [-6.40031205e-03 -2.49755878e-04 9.99979487e-01 1.24785139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461400513 meters 0.04415048965973605 Centerline is valid? [True, True] Translation: X:48.16, Y:3.84, Z:0.01 [[ 9.99455580e-01 -3.25081107e-02 5.63618389e-03 4.81580356e+01] [ 3.25061240e-02 9.99471438e-01 4.43768565e-04 3.84362263e+00] [-5.64763089e-03 -2.60316476e-04 9.99984018e-01 8.86082157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521400512999996 meters 0.046534666398130295 Centerline is valid? [True, True] Translation: X:48.22, Y:3.85, Z:0.01 [[ 9.99497270e-01 -3.12568218e-02 5.31218255e-03 4.82169154e+01] [ 3.12550390e-02 9.99511354e-01 4.18315221e-04 3.84920653e+00] [-5.32266198e-03 -2.52072448e-04 9.99985803e-01 7.17568773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581400513 meters 0.05291328783006234 Centerline is valid? [True, True] Translation: X:48.28, Y:3.85, Z:0.01 [[ 9.99516910e-01 -3.04822509e-02 6.06459184e-03 4.82755860e+01] [ 3.04799133e-02 9.99535265e-01 4.77509889e-04 3.85464942e+00] [-6.07632899e-03 -2.92430976e-04 9.99981496e-01 6.84433013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641400513 meters 0.04868508625089219 Centerline is valid? [True, True] Translation: X:48.34, Y:3.85, Z:0.00 [[ 9.99557480e-01 -2.95340637e-02 3.54719560e-03 4.83359817e+01] [ 2.95332578e-02 9.99563759e-01 2.79364741e-04 3.84909772e+00] [-3.55389895e-03 -1.74480874e-04 9.99993670e-01 3.11187456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701400512999996 meters 0.05142639226311018 Centerline is valid? [True, True] Translation: X:48.40, Y:3.85, Z:0.00 [[ 9.99698201e-01 -2.45261698e-02 1.40485153e-03 4.83968423e+01] [ 2.45260385e-02 9.99699185e-01 1.10666654e-04 3.85026048e+00] [-1.40714316e-03 -7.61778124e-05 9.99999007e-01 6.49142533e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761400513 meters 0.06218379630293055 Centerline is valid? [True, True] Translation: X:48.46, Y:3.87, Z:0.00 [[ 9.99782395e-01 -2.07344408e-02 2.29029909e-03 4.84553312e+01] [ 2.07340816e-02 9.99785010e-01 1.80434933e-04 3.86513830e+00] [-2.29354792e-03 -1.32908421e-04 9.99997361e-01 1.57361004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821400513 meters 0.056285240341360364 Centerline is valid? [True, True] Translation: X:48.52, Y:3.86, Z:0.00 [[ 9.99802414e-01 -1.97677931e-02 2.08965420e-03 4.85159900e+01] [ 1.97674921e-02 9.99804590e-01 1.64608362e-04 3.85660412e+00] [-2.09249980e-03 -1.23268615e-04 9.99997803e-01 1.01864220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881400512999996 meters 0.05722391924847379 Centerline is valid? [True, True] Translation: X:48.57, Y:3.86, Z:0.00 [[ 9.99698762e-01 -2.43773277e-02 2.85155390e-03 4.85747858e+01] [ 2.43767856e-02 9.99702817e-01 2.24720858e-04 3.85869092e+00] [-2.85618456e-03 -1.55141446e-04 9.99995909e-01 2.35542541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941400513 meters 0.05262190499415951 Centerline is valid? [True, True] Translation: X:48.63, Y:3.86, Z:0.00 [[ 9.99680177e-01 -2.51440872e-02 2.70537479e-03 4.86344140e+01] [ 2.51436022e-02 9.99683827e-01 2.13128044e-04 3.85685883e+00] [-2.70987834e-03 -1.45037013e-04 9.99996318e-01 3.26445850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001400513 meters 0.05769311453682614 Centerline is valid? [True, True] Translation: X:48.69, Y:3.87, Z:0.00 [[ 9.99717658e-01 -2.34911923e-02 3.57320962e-03 4.86923615e+01] [ 2.34903338e-02 9.99724024e-01 2.82049013e-04 3.86954719e+00] [-3.57884917e-03 -1.98033492e-04 9.99993576e-01 3.89280219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061400512999995 meters 0.05930461447028959 Centerline is valid? [True, True] Translation: X:48.75, Y:3.87, Z:0.01 [[ 9.99719254e-01 -2.27655688e-02 6.56820300e-03 4.87518495e+01] [ 2.27626499e-02 9.99740763e-01 5.18828819e-04 3.87317285e+00] [-6.57831171e-03 -3.69173455e-04 9.99978295e-01 9.34932223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121400513 meters 0.0604482790624669 Centerline is valid? [True, True] Translation: X:48.81, Y:3.88, Z:0.01 [[ 9.99703273e-01 -2.28429425e-02 8.45967794e-03 4.88133890e+01] [ 2.28381023e-02 9.99738953e-01 6.68327376e-04 3.87911892e+00] [-8.47273613e-03 -4.74926076e-04 9.99963993e-01 1.12972252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181400513 meters 0.06081254260778932 Centerline is valid? [True, True] Translation: X:48.87, Y:3.88, Z:0.01 [[ 9.99743553e-01 -2.10844502e-02 8.26281426e-03 4.88745780e+01] [ 2.10797740e-02 9.99777584e-01 6.52623474e-04 3.88104063e+00] [-8.27473669e-03 -4.78277854e-04 9.99965649e-01 1.02392739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241400512999995 meters 0.05936767824809415 Centerline is valid? [True, True] Translation: X:48.93, Y:3.88, Z:0.01 [[ 9.99833887e-01 -1.74125137e-02 5.38546984e-03 4.89346292e+01] [ 1.74104744e-02 9.99848336e-01 4.25321612e-04 3.88496886e+00] [-5.39205898e-03 -3.31487376e-04 9.99985408e-01 6.73034252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301400513 meters 0.07026513582357959 Centerline is valid? [True, True] Translation: X:48.99, Y:3.90, Z:0.00 [[ 9.99923432e-01 -1.21328728e-02 2.43379805e-03 4.89930766e+01] [ 1.21324408e-02 9.99926381e-01 1.92176963e-04 3.90015505e+00] [-2.43595053e-03 -1.62634338e-04 9.99997020e-01 2.44461823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361400513 meters 0.07216297265307886 Centerline is valid? [True, True] Translation: X:49.05, Y:3.91, Z:0.00 [[ 9.99943763e-01 -1.03550674e-02 2.29004653e-03 4.90527593e+01] [ 1.03546803e-02 9.99946373e-01 1.80841173e-04 3.90654500e+00] [-2.29179635e-03 -1.57118303e-04 9.99997361e-01 1.30100176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421400512999995 meters 0.07186169722748285 Centerline is valid? [True, True] Translation: X:49.11, Y:3.91, Z:-0.00 [[ 9.99974315e-01 -7.01963338e-03 1.44740756e-03 4.91129903e+01] [ 7.01947520e-03 9.99975357e-01 1.14341034e-04 3.91059024e+00] [-1.44817453e-03 -1.04178055e-04 9.99998946e-01 -1.08480374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481400513 meters 0.08688463573946827 Centerline is valid? [True, True] Translation: X:49.17, Y:3.94, Z:-0.00 [[ 9.99990466e-01 -4.11711583e-03 1.45525630e-03 4.91709682e+01] [ 4.11695290e-03 9.99991519e-01 1.14941419e-04 3.93561965e+00] [-1.45571719e-03 -1.08949102e-04 9.99998935e-01 -1.87313751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541400513 meters 0.07807423670923963 Centerline is valid? [True, True] Translation: X:49.23, Y:3.93, Z:-0.00 [[ 9.99992701e-01 -2.92730138e-03 2.45520849e-03 4.92327528e+01] [ 2.92683379e-03 9.99995698e-01 1.94021714e-04 3.93280919e+00] [-2.45576588e-03 -1.86834311e-04 9.99996967e-01 -5.14160733e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601400513 meters 0.07211627744740085 Centerline is valid? [True, True] Translation: X:49.29, Y:3.93, Z:0.00 [[ 9.99975358e-01 -6.20138584e-03 3.29024552e-03 4.92932875e+01] [ 6.20056420e-03 9.99980743e-01 2.59859924e-04 3.93117246e+00] [-3.29179365e-03 -2.39452142e-04 9.99994553e-01 1.65220108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661400513 meters 0.06812881781750044 Centerline is valid? [True, True] Translation: X:49.35, Y:3.94, Z:-0.00 [[ 9.99897824e-01 -1.41469255e-02 2.05090541e-03 4.93529709e+01] [ 1.41466230e-02 9.99899918e-01 1.61921370e-04 3.93515147e+00] [-2.05299084e-03 -1.32891440e-04 9.99997884e-01 -9.69965093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721400513 meters 0.061386581072056655 Centerline is valid? [True, True] Translation: X:49.41, Y:3.94, Z:-0.00 [[ 9.99819812e-01 -1.88457932e-02 2.27593222e-03 4.94137370e+01] [ 1.88454326e-02 9.99822393e-01 1.79779876e-04 3.93590745e+00] [-2.27891609e-03 -1.36856554e-04 9.99997394e-01 -1.03862534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781400513 meters 0.05930370341518352 Centerline is valid? [True, True] Translation: X:49.47, Y:3.94, Z:0.00 [[ 9.99736129e-01 -2.24949631e-02 4.65275469e-03 4.94741388e+01] [ 2.24934959e-02 9.99746922e-01 3.67437148e-04 3.94417836e+00] [-4.65984267e-03 -2.62683474e-04 9.99989108e-01 2.79900534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841400512999996 meters 0.05636249773303075 Centerline is valid? [True, True] Translation: X:49.53, Y:3.95, Z:0.00 [[ 9.99626671e-01 -2.70364888e-02 3.94285742e-03 4.95349343e+01] [ 2.70354703e-02 9.99634426e-01 3.11400128e-04 3.94527567e+00] [-3.94983518e-03 -2.04686869e-04 9.99992178e-01 1.34525389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901400513 meters 0.04500112309103172 Centerline is valid? [True, True] Translation: X:49.60, Y:3.94, Z:0.00 [[ 9.99275175e-01 -3.75183207e-02 6.44202360e-03 4.95967636e+01] [ 3.75158195e-02 9.99295904e-01 5.08700702e-04 3.93509397e+00] [-6.45657339e-03 -2.66654188e-04 9.99979121e-01 4.34404882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961400513 meters 0.03554339859635975 Centerline is valid? [True, True] Translation: X:49.66, Y:3.93, Z:0.00 [[ 9.99005175e-01 -4.40658280e-02 6.84568004e-03 4.96579502e+01] [ 4.40631568e-02 9.99028601e-01 5.40609524e-04 3.92703611e+00] [-6.86285256e-03 -2.38429439e-04 9.99976422e-01 4.90806648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021400512999996 meters 0.041075561657210324 Centerline is valid? [True, True] Translation: X:49.71, Y:3.94, Z:0.01 [[ 9.98992560e-01 -4.42166383e-02 7.66505601e-03 4.97145580e+01] [ 4.42132921e-02 9.99021931e-01 6.05543081e-04 3.93992261e+00] [-7.68433414e-03 -2.66035672e-04 9.99970440e-01 6.09076567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081400513 meters 0.034719925741328775 Centerline is valid? [True, True] Translation: X:49.77, Y:3.93, Z:0.01 [[ 9.98901533e-01 -4.60051849e-02 8.90228645e-03 4.97743895e+01] [ 4.60007361e-02 9.98941158e-01 7.03961212e-04 3.93321324e+00] [-8.92524620e-03 -2.93676204e-04 9.99960126e-01 7.05241181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141400513 meters 0.03018706043125078 Centerline is valid? [True, True] Translation: X:49.84, Y:3.93, Z:0.00 [[ 9.98713790e-01 -5.00995501e-02 7.79742742e-03 4.98350920e+01] [ 5.00962598e-02 9.98744204e-01 6.16841818e-04 3.92970468e+00] [-7.81853893e-03 -2.25426480e-04 9.99969409e-01 4.06328927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201400512999996 meters 0.02777776637006011 Centerline is valid? [True, True] Translation: X:49.89, Y:3.93, Z:0.00 [[ 9.98637405e-01 -5.18852196e-02 5.59081419e-03 4.98939957e+01] [ 5.18835557e-02 9.98653043e-01 4.42334709e-04 3.92807228e+00] [-5.60623424e-03 -1.51660666e-04 9.99984273e-01 1.62046099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261400513 meters 0.03328625106974657 Centerline is valid? [True, True] Translation: X:49.95, Y:3.94, Z:0.00 [[ 9.98811858e-01 -4.85112481e-02 4.64016781e-03 4.99518736e+01] [ 4.85100647e-02 9.98822626e-01 3.67308592e-04 3.93822733e+00] [-4.65252319e-03 -1.41777337e-04 9.99989167e-01 2.95520601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321400513 meters 0.03733583683962417 Centerline is valid? [True, True] Translation: X:50.01, Y:3.94, Z:0.00 [[ 9.99024254e-01 -4.37729005e-02 5.87146408e-03 5.00119780e+01] [ 4.37709225e-02 9.99041486e-01 4.65027012e-04 3.94397829e+00] [-5.88619178e-03 -2.07573864e-04 9.99982655e-01 8.27320614e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381400512999996 meters 0.03639697471950502 Centerline is valid? [True, True] Translation: X:50.07, Y:3.95, Z:0.00 [[ 9.99086037e-01 -4.22735118e-02 6.32775831e-03 5.00711275e+01] [ 4.22711835e-02 9.99106048e-01 5.01295151e-04 3.94610410e+00] [-6.34329310e-03 -2.33355153e-04 9.99979854e-01 9.31988875e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441400513 meters 0.042916226471599164 Centerline is valid? [True, True] Translation: X:50.13, Y:3.96, Z:-0.00 [[ 9.99227719e-01 -3.89780580e-02 4.96757812e-03 5.01294458e+01] [ 3.89765817e-02 9.99240047e-01 3.93681167e-04 3.95616611e+00] [-4.97914792e-03 -1.99757920e-04 9.99987584e-01 -1.24406466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501400513 meters 0.04418017497149542 Centerline is valid? [True, True] Translation: X:50.19, Y:3.96, Z:-0.00 [[ 9.99404343e-01 -3.43823388e-02 2.96877018e-03 5.01901618e+01] [ 3.43817911e-02 9.99408744e-01 2.35349909e-04 3.95957360e+00] [-2.97510675e-03 -1.33138085e-04 9.99995565e-01 -4.56290529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561400512999995 meters 0.055632944938235715 Centerline is valid? [True, True] Translation: X:50.25, Y:3.98, Z:-0.00 [[ 9.99489867e-01 -3.17715425e-02 3.25181491e-03 5.02480388e+01] [ 3.17708716e-02 9.99495145e-01 2.57777582e-04 3.97720809e+00] [-3.25836321e-03 -1.54333088e-04 9.99994680e-01 -4.79784669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621400513 meters 0.05099326753000071 Centerline is valid? [True, True] Translation: X:50.31, Y:3.97, Z:-0.00 [[ 9.99536158e-01 -3.02177748e-02 3.78872953e-03 5.03076114e+01] [ 3.02168530e-02 9.99543322e-01 3.00327560e-04 3.97449697e+00] [-3.79607453e-03 -1.85704773e-04 9.99992778e-01 -4.48303976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681400513 meters 0.04754841125010495 Centerline is valid? [True, True] Translation: X:50.37, Y:3.97, Z:-0.00 [[ 9.99462947e-01 -3.22492111e-02 5.81425492e-03 5.03672746e+01] [ 3.22470727e-02 9.99479822e-01 4.61184277e-04 3.97439414e+00] [-5.82610329e-03 -2.73443896e-04 9.99982991e-01 -2.96673592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741400512999995 meters 0.050882769873466134 Centerline is valid? [True, True] Translation: X:50.43, Y:3.98, Z:-0.00 [[ 9.99439980e-01 -3.28329699e-02 6.45936272e-03 5.04257174e+01] [ 3.28303416e-02 9.99460808e-01 5.12533069e-04 3.98409666e+00] [-6.47270786e-03 -3.00182956e-04 9.99979007e-01 -1.87329461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801400513 meters 0.0499868733959442 Centerline is valid? [True, True] Translation: X:50.48, Y:3.99, Z:-0.00 [[ 9.99447435e-01 -3.26912030e-02 6.00911836e-03 5.04848656e+01] [ 3.26889246e-02 9.99465460e-01 4.77007735e-04 3.99124785e+00] [-6.02150021e-03 -2.80312540e-04 9.99981831e-01 -1.74715538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861400513 meters 0.05479641341341168 Centerline is valid? [True, True] Translation: X:50.54, Y:4.01, Z:-0.00 [[ 9.99452918e-01 -3.25797038e-02 5.69445115e-03 5.05425086e+01] [ 3.25776553e-02 9.99469105e-01 4.52155413e-04 4.01014806e+00] [-5.70615908e-03 -2.66396181e-04 9.99983684e-01 -2.92082017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921400512999995 meters 0.042725757657474994 Centerline is valid? [True, True] Translation: X:50.60, Y:4.00, Z:-0.00 [[ 9.99366588e-01 -3.52951692e-02 4.54688615e-03 5.06035208e+01] [ 3.52938905e-02 9.99376911e-01 3.61171037e-04 3.99994305e+00] [-4.55680063e-03 -2.00464965e-04 9.99989598e-01 -4.67148842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981400513 meters 0.036654431888151665 Centerline is valid? [True, True] Translation: X:50.66, Y:4.00, Z:-0.01 [[ 9.99005933e-01 -4.43999264e-02 3.97387142e-03 5.06631382e+01] [ 4.43990215e-02 9.99013827e-01 3.15690652e-04 3.99749651e+00] [-3.98396914e-03 -1.38940832e-04 9.99992054e-01 -5.99055117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041400513 meters 0.03395508717978487 Centerline is valid? [True, True] Translation: X:50.72, Y:3.99, Z:-0.00 [[ 9.98813806e-01 -4.84735130e-02 4.61511207e-03 5.07225860e+01] [ 4.84723355e-02 9.98824458e-01 3.66704085e-04 3.99267529e+00] [-4.62746225e-03 -1.42563842e-04 9.99989283e-01 -4.21227253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101400513 meters 0.03219521670619456 Centerline is valid? [True, True] Translation: X:50.78, Y:3.99, Z:-0.00 [[ 9.98818778e-01 -4.83320357e-02 5.00630374e-03 5.07821237e+01] [ 4.83306480e-02 9.98831312e-01 3.97856756e-04 3.98806349e+00] [-5.01968216e-03 -1.55428895e-04 9.99987389e-01 -4.58903923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161400513 meters 0.03826224082820583 Centerline is valid? [True, True] Translation: X:50.84, Y:3.99, Z:-0.00 [[ 9.99003913e-01 -4.42602381e-02 5.67568321e-03 5.08408292e+01] [ 4.42583832e-02 9.99020015e-01 4.52066692e-04 3.99391393e+00] [-5.69012971e-03 -2.00419831e-04 9.99983791e-01 -4.43034022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221400513 meters 0.052570360448363704 Centerline is valid? [True, True] Translation: X:50.90, Y:4.01, Z:-0.00 [[ 9.99458432e-01 -3.25336648e-02 4.93987550e-03 5.08995395e+01] [ 3.25321164e-02 9.99470613e-01 3.93512472e-04 4.00674525e+00] [-4.95006279e-03 -2.32594754e-04 9.99987721e-01 -4.37902384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281400513 meters 0.057811762076294675 Centerline is valid? [True, True] Translation: X:50.96, Y:4.01, Z:-0.00 [[ 9.99689831e-01 -2.42366131e-02 5.72955217e-03 5.09591896e+01] [ 2.42343941e-02 9.99706200e-01 4.56424027e-04 4.01291414e+00] [-5.73893099e-03 -3.17430234e-04 9.99983482e-01 -3.50760115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341400512999996 meters 0.06659867348856194 Centerline is valid? [True, True] Translation: X:51.02, Y:4.02, Z:-0.00 [[ 9.99874871e-01 -1.44032226e-02 6.54141537e-03 5.10195136e+01] [ 1.44001201e-02 9.99896177e-01 5.21131965e-04 4.02214599e+00] [-6.54824220e-03 -4.26869589e-04 9.99978469e-01 -3.08779883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401400513 meters 0.06828288889199857 Centerline is valid? [True, True] Translation: X:51.08, Y:4.03, Z:-0.00 [[ 9.99899656e-01 -1.25850693e-02 6.50330511e-03 5.10804335e+01] [ 1.25819648e-02 9.99920710e-01 5.18074031e-04 4.02548291e+00] [-6.50930946e-03 -4.36197690e-04 9.99978719e-01 -3.75011113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461400513 meters 0.05913327900129562 Centerline is valid? [True, True] Translation: X:51.14, Y:4.01, Z:-0.00 [[ 9.99793259e-01 -1.90949299e-02 6.98739792e-03 5.11422038e+01] [ 1.90915047e-02 9.99817586e-01 5.56574693e-04 4.01112300e+00] [-6.99675108e-03 -4.23059685e-04 9.99975433e-01 -4.39778241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521400512999996 meters 0.05510401830148877 Centerline is valid? [True, True] Translation: X:51.20, Y:4.00, Z:-0.01 [[ 9.99642911e-01 -2.63386792e-02 4.50832633e-03 5.12021302e+01] [ 2.63373268e-02 9.99653048e-01 3.59099372e-04 4.00435641e+00] [-4.51622036e-03 -2.40233877e-04 9.99989773e-01 -8.05395875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581400513 meters 0.04595384114894743 Centerline is valid? [True, True] Translation: X:51.26, Y:3.99, Z:-0.01 [[ 9.99368931e-01 -3.51783093e-02 4.92202472e-03 5.12640964e+01] [ 3.51768038e-02 9.99381028e-01 3.92123395e-04 3.98909274e+00] [-4.93277236e-03 -2.18734840e-04 9.99987810e-01 -7.44170312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641400513 meters 0.03756934156351481 Centerline is valid? [True, True] Translation: X:51.33, Y:3.98, Z:-0.01 [[ 9.99149147e-01 -4.09500473e-02 4.90673002e-03 5.13255677e+01] [ 4.09486206e-02 9.99161177e-01 3.90919267e-04 3.97860643e+00] [-4.91862230e-03 -1.89662826e-04 9.99987886e-01 -6.82095087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701400512999996 meters 0.03378130662226299 Centerline is valid? [True, True] Translation: X:51.39, Y:3.97, Z:-0.01 [[ 9.98914152e-01 -4.65576048e-02 1.70467131e-03 5.13853394e+01] [ 4.65574408e-02 9.98915605e-01 1.35770952e-04 3.97036847e+00] [-1.70914394e-03 -5.62583914e-05 9.99998538e-01 -1.33095796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761400513 meters 0.03540617616625539 Centerline is valid? [True, True] Translation: X:51.44, Y:3.97, Z:-0.01 [[ 9.98877855e-01 -4.71074445e-02 4.89082880e-03 5.14436730e+01] [ 4.71061005e-02 9.98889815e-01 3.89710599e-04 3.97092124e+00] [-4.90375734e-03 -1.58885414e-04 9.99987964e-01 -8.85868874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821400513 meters 0.035876013396899865 Centerline is valid? [True, True] Translation: X:51.50, Y:3.97, Z:-0.01 [[ 9.98916633e-01 -4.61234701e-02 6.17942834e-03 5.15024570e+01] [ 4.61213012e-02 9.98935725e-01 4.93096669e-04 3.97368626e+00] [-6.19559506e-03 -2.07559188e-04 9.99980786e-01 -7.72674283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881400512999996 meters 0.03874115481512066 Centerline is valid? [True, True] Translation: X:51.56, Y:3.98, Z:-0.01 [[ 9.99026712e-01 -4.37090222e-02 5.92871054e-03 5.15620525e+01] [ 4.37069783e-02 9.99044281e-01 4.73934666e-04 3.98043339e+00] [-5.94375958e-03 -2.14347368e-04 9.99982313e-01 -9.24097636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941400513 meters 0.043466192794141115 Centerline is valid? [True, True] Translation: X:51.62, Y:3.99, Z:-0.01 [[ 9.99210026e-01 -3.94199275e-02 5.03921407e-03 5.16214397e+01] [ 3.94183959e-02 9.99222712e-01 4.02932271e-04 3.99311570e+00] [-5.05118071e-03 -2.03976230e-04 9.99987222e-01 -1.04112835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001400513 meters 0.044921425392073513 Centerline is valid? [True, True] Translation: X:51.68, Y:4.00, Z:-0.01 [[ 9.99320368e-01 -3.64923782e-02 5.20651645e-03 5.16812331e+01] [ 3.64907034e-02 9.99333906e-01 4.16327229e-04 4.00041994e+00] [-5.21824119e-03 -2.26054832e-04 9.99986359e-01 -1.05098316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061400512999995 meters 0.046520226640094635 Centerline is valid? [True, True] Translation: X:51.74, Y:4.01, Z:-0.01 [[ 9.99375274e-01 -3.47214471e-02 6.59411987e-03 5.17393522e+01] [ 3.47187214e-02 9.99396984e-01 5.27404659e-04 4.01273854e+00] [-6.60845576e-03 -2.98135765e-04 9.99978119e-01 -8.75440525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121400513 meters 0.04459894613533973 Centerline is valid? [True, True] Translation: X:51.80, Y:4.02, Z:-0.01 [[ 9.99312488e-01 -3.65225127e-02 6.37627883e-03 5.17989401e+01] [ 3.65199995e-02 9.99332792e-01 5.10184531e-04 4.01695450e+00] [-6.39065775e-03 -2.76972074e-04 9.99979541e-01 -9.13168252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181400513 meters 0.04125494099898635 Centerline is valid? [True, True] Translation: X:51.86, Y:4.02, Z:-0.01 [[ 9.99309814e-01 -3.69772698e-02 3.54650540e-03 5.18576120e+01] [ 3.69764960e-02 9.99316095e-01 2.83528227e-04 4.01962310e+00] [-3.55456403e-03 -1.52195197e-04 9.99993671e-01 -1.33668486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241400512999995 meters 0.0421465230883947 Centerline is valid? [True, True] Translation: X:51.92, Y:4.03, Z:-0.02 [[ 9.99355257e-01 -3.58295939e-02 2.30462609e-03 5.19164304e+01] [ 3.58292630e-02 9.99357909e-01 1.84715007e-04 4.02831896e+00] [-2.30976457e-03 -1.02022859e-04 9.99997327e-01 -1.60018275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301400513 meters 0.04276236937735202 Centerline is valid? [True, True] Translation: X:51.97, Y:4.04, Z:-0.02 [[ 9.99389849e-01 -3.48410230e-02 2.45598174e-03 5.19746766e+01] [ 3.48406450e-02 9.99392861e-01 1.96558244e-04 4.03513573e+00] [-2.46133891e-03 -1.10870326e-04 9.99996965e-01 -1.63954377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361400513 meters 0.049593257652983135 Centerline is valid? [True, True] Translation: X:52.03, Y:4.05, Z:-0.02 [[ 9.99472901e-01 -3.22522959e-02 3.70275648e-03 5.20325134e+01] [ 3.22514138e-02 9.99479744e-01 2.97690935e-04 4.04875233e+00] [-3.71043132e-03 -1.78114890e-04 9.99993100e-01 -1.51491196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421400512999995 meters 0.045702331603753 Centerline is valid? [True, True] Translation: X:52.09, Y:4.05, Z:-0.02 [[ 9.99461082e-01 -3.26718259e-02 3.17776405e-03 5.20915031e+01] [ 3.26711794e-02 9.99466122e-01 2.55146312e-04 4.04773507e+00] [-3.18440361e-03 -1.51187509e-04 9.99994918e-01 -1.69320331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481400513 meters 0.04433282008943675 Centerline is valid? [True, True] Translation: X:52.15, Y:4.05, Z:-0.02 [[ 9.99400255e-01 -3.44826429e-02 3.17439352e-03 5.21509273e+01] [ 3.44820051e-02 9.99405286e-01 2.55425261e-04 4.05045847e+00] [-3.18131340e-03 -1.45812618e-04 9.99994929e-01 -1.72593788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541400513 meters 0.047525821494013444 Centerline is valid? [True, True] Translation: X:52.21, Y:4.06, Z:-0.01 [[ 9.99429961e-01 -3.31949876e-02 6.15182481e-03 5.22091245e+01] [ 3.31925581e-02 9.99448852e-01 4.96634093e-04 4.06074733e+00] [-6.16492000e-03 -2.92156190e-04 9.99980954e-01 -1.28189368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601400513 meters 0.05181001754734822 Centerline is valid? [True, True] Translation: X:52.27, Y:4.06, Z:-0.01 [[ 9.99493319e-01 -3.06110732e-02 8.72170289e-03 5.22693895e+01] [ 3.06060890e-02 9.99531276e-01 7.04407306e-04 4.06397568e+00] [-8.73917748e-03 -4.37113181e-04 9.99961717e-01 -9.89579769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661400513 meters 0.04530256630614265 Centerline is valid? [True, True] Translation: X:52.33, Y:4.06, Z:-0.01 [[ 9.99469068e-01 -3.16741852e-02 7.63731225e-03 5.23297936e+01] [ 3.16703936e-02 9.99498177e-01 6.16909165e-04 4.06454501e+00] [-7.65301976e-03 -3.74704943e-04 9.99970645e-01 -1.20304016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721400513 meters 0.039611724511431905 Centerline is valid? [True, True] Translation: X:52.39, Y:4.06, Z:-0.02 [[ 9.99258904e-01 -3.81486719e-02 5.13044023e-03 5.23912227e+01] [ 3.81470458e-02 9.99272051e-01 4.14459521e-04 4.05647234e+00] [-5.14251661e-03 -2.18441229e-04 9.99986753e-01 -1.58875348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781400513 meters 0.04324974800109813 Centerline is valid? [True, True] Translation: X:52.45, Y:4.06, Z:-0.02 [[ 9.99143839e-01 -4.09894354e-02 5.60840431e-03 5.24506575e+01] [ 4.09875371e-02 9.99159555e-01 4.53045711e-04 4.05612075e+00] [-5.62226085e-03 -2.22783151e-04 9.99984170e-01 -1.54022159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841400512999996 meters 0.039798901551235166 Centerline is valid? [True, True] Translation: X:52.51, Y:4.06, Z:-0.01 [[ 9.99155175e-01 -4.04649095e-02 7.17822517e-03 5.25095699e+01] [ 4.04617829e-02 9.99180918e-01 5.80309646e-04 4.06020194e+00] [-7.19582780e-03 -2.89375597e-04 9.99974068e-01 -1.19930014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901400513 meters 0.04108904027780182 Centerline is valid? [True, True] Translation: X:52.57, Y:4.07, Z:-0.01 [[ 9.99221247e-01 -3.85734970e-02 8.30576185e-03 5.25686700e+01] [ 3.85692368e-02 9.99255704e-01 6.72555812e-04 4.06713485e+00] [-8.32552273e-03 -3.51685161e-04 9.99965280e-01 -1.15976565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961400513 meters 0.040445704944544934 Centerline is valid? [True, True] Translation: X:52.63, Y:4.07, Z:-0.02 [[ 9.99241315e-01 -3.84478811e-02 6.20918486e-03 5.26273802e+01] [ 3.84454964e-02 9.99260572e-01 5.03015530e-04 4.07285254e+00] [-6.22393349e-03 -2.63918706e-04 9.99980596e-01 -1.51446808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021400512999996 meters 0.03853171936317951 Centerline is valid? [True, True] Translation: X:52.69, Y:4.08, Z:-0.02 [[ 9.99131695e-01 -4.13568426e-02 5.04658193e-03 5.26874636e+01] [ 4.13553007e-02 9.99144420e-01 4.09551964e-04 4.07869944e+00] [-5.05920195e-03 -2.00493435e-04 9.99987182e-01 -1.64287328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081400513 meters 0.04190782877992102 Centerline is valid? [True, True] Translation: X:52.75, Y:4.09, Z:-0.02 [[ 9.99013814e-01 -4.39951082e-02 5.98580037e-03 5.27459288e+01] [ 4.39929851e-02 9.99031722e-01 4.85964301e-04 4.08718192e+00] [-6.00138451e-03 -2.22151823e-04 9.99981967e-01 -1.50340409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141400513 meters 0.033800227121914134 Centerline is valid? [True, True] Translation: X:52.81, Y:4.09, Z:-0.02 [[ 9.98702011e-01 -5.06660612e-02 5.21945016e-03 5.28062622e+01] [ 5.06645373e-02 9.98715638e-01 4.23857811e-04 4.08836493e+00] [-5.23422170e-03 -1.58866621e-04 9.99986289e-01 -1.78336370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201400512999996 meters 0.028895098924801032 Centerline is valid? [True, True] Translation: X:52.87, Y:4.09, Z:-0.02 [[ 9.98396224e-01 -5.63559408e-02 5.38410592e-03 5.28652514e+01] [ 5.63544018e-02 9.98410732e-01 4.37239370e-04 4.09245355e+00] [-5.40019017e-03 -1.33120067e-04 9.99985410e-01 -1.78032165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261400513 meters 0.015443793193430144 Centerline is valid? [True, True] Translation: X:52.93, Y:4.08, Z:-0.02 [[ 9.97769606e-01 -6.67102312e-02 2.35762095e-03 5.29269696e+01] [ 6.67099648e-02 9.97772391e-01 1.91530460e-04 4.08299493e+00] [-2.36514613e-03 -3.38264605e-05 9.99997202e-01 -1.83879793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321400513 meters 0.012627386799707022 Centerline is valid? [True, True] Translation: X:52.98, Y:4.09, Z:-0.02 [[ 9.97473461e-01 -7.10235241e-02 1.53411323e-03 5.29847771e+01] [ 7.10234168e-02 9.97474641e-01 1.24361881e-04 4.08836791e+00] [-1.53907167e-03 -1.50897126e-05 9.99998816e-01 -2.08675552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381400512999996 meters 0.02452122689162174 Centerline is valid? [True, True] Translation: X:53.04, Y:4.10, Z:-0.02 [[ 9.97560185e-01 -6.96289743e-02 5.04800253e-03 5.30430210e+01] [ 6.96277898e-02 9.97572956e-01 4.10219978e-04 4.10414490e+00] [-5.06431400e-03 -5.77378581e-05 9.99987175e-01 -1.62249023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441400513 meters 0.01478680094271051 Centerline is valid? [True, True] Translation: X:53.10, Y:4.12, Z:-0.02 [[ 9.97668892e-01 -6.80242801e-02 5.42952699e-03 5.31012709e+01] [ 6.80228806e-02 9.97683663e-01 4.42211142e-04 4.11951137e+00] [-5.44703147e-03 -7.18482337e-05 9.99985162e-01 -1.59341464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501400513 meters 0.01353971238354176 Centerline is valid? [True, True] Translation: X:53.16, Y:4.14, Z:-0.02 [[ 9.97542984e-01 -6.97458420e-02 6.59644809e-03 5.31592675e+01] [ 6.97438054e-02 9.97564791e-01 5.38561905e-04 4.13740156e+00] [-6.61794681e-03 -7.71772580e-05 9.99978098e-01 -1.56446030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561400512999995 meters 0.022557577754967143 Centerline is valid? [True, True] Translation: X:53.22, Y:4.14, Z:-0.01 [[ 9.97125942e-01 -7.53541829e-02 7.84873677e-03 5.32185415e+01] [ 7.53514616e-02 9.97156831e-01 6.42280198e-04 4.14205651e+00] [-7.87481998e-03 -4.90204602e-05 9.99968992e-01 -1.37516606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621400513 meters 0.019893408947597516 Centerline is valid? [True, True] Translation: X:53.28, Y:4.14, Z:-0.02 [[ 9.96297869e-01 -8.57416991e-02 6.23834028e-03 5.32759339e+01] [ 8.57401788e-02 9.96317399e-01 5.11241868e-04 4.14465594e+00] [-6.25920171e-03 2.55272272e-05 9.99980411e-01 -1.74634762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681400513 meters 0.026807306654629902 Centerline is valid? [True, True] Translation: X:53.33, Y:4.15, Z:-0.02 [[ 9.95868055e-01 -9.06306728e-02 5.73562289e-03 5.33341587e+01] [ 9.06294667e-02 9.95884571e-01 4.70369821e-04 4.14848753e+00] [-5.75464827e-03 5.13901650e-05 9.99983441e-01 -1.81880251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741400512999995 meters 0.025228039447960256 Centerline is valid? [True, True] Translation: X:53.39, Y:4.16, Z:-0.02 [[ 9.95787638e-01 -9.15561353e-02 4.94505744e-03 5.33926184e+01] [ 9.15552493e-02 9.95799916e-01 4.05737175e-04 4.16011924e+00] [-4.96143551e-03 4.87179041e-05 9.99987691e-01 -1.91576665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801400513 meters 0.02386011336632328 Centerline is valid? [True, True] Translation: X:53.45, Y:4.18, Z:-0.02 [[ 9.96245419e-01 -8.64977469e-02 3.63394462e-03 5.34495037e+01] [ 8.64972333e-02 9.96252046e-01 2.98560079e-04 4.17903726e+00] [-3.64614953e-03 1.68870438e-05 9.99993353e-01 -2.26035580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861400513 meters 0.025344953876580253 Centerline is valid? [True, True] Translation: X:53.51, Y:4.20, Z:-0.02 [[ 9.96637277e-01 -8.17526207e-02 5.53605472e-03 5.35055904e+01] [ 8.17513473e-02 9.96652652e-01 4.56304879e-04 4.19720793e+00] [-5.55482774e-03 -2.19051998e-06 9.99984572e-01 -2.09004100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921400512999995 meters 0.023711973917222566 Centerline is valid? [True, True] Translation: X:53.56, Y:4.21, Z:-0.02 [[ 9.96777286e-01 -8.00848452e-02 4.63255689e-03 5.35626433e+01] [ 8.00839349e-02 9.96788050e-01 3.81955558e-04 4.21008819e+00] [-4.64826620e-03 -9.73123961e-06 9.99989197e-01 -2.24363155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981400513 meters 0.014891851695131804 Centerline is valid? [True, True] Translation: X:53.62, Y:4.22, Z:-0.02 [[ 9.96799772e-01 -7.98802636e-02 3.05924575e-03 5.36202081e+01] [ 7.98798649e-02 9.96804466e-01 2.52470058e-04 4.21856985e+00] [-3.06963720e-03 -7.28995924e-06 9.99995289e-01 -2.43597044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041400513 meters 0.02178742813437474 Centerline is valid? [True, True] Translation: X:53.68, Y:4.23, Z:-0.02 [[ 9.96658493e-01 -8.15657633e-02 4.34459381e-03 5.36778195e+01] [ 8.15649695e-02 9.96667962e-01 3.59867607e-04 4.22655903e+00] [-4.35947034e-03 -4.29844467e-06 9.99990497e-01 -2.27360371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101400513 meters 0.007099383553499048 Centerline is valid? [True, True] Translation: X:53.74, Y:4.24, Z:-0.02 [[ 9.96750428e-01 -8.03825915e-02 5.21760402e-03 5.37358169e+01] [ 8.03814240e-02 9.96764084e-01 4.33425042e-04 4.23515372e+00] [-5.23556012e-03 -1.26181552e-05 9.99986294e-01 -2.16625192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161400513 meters 0.015364117999784942 Centerline is valid? [True, True] Translation: X:53.79, Y:4.24, Z:-0.02 [[ 9.96883371e-01 -7.87476221e-02 4.72821410e-03 5.37933465e+01] [ 7.87466406e-02 9.96894584e-01 3.93692492e-04 4.24421578e+00] [-4.74453337e-03 -2.01345227e-05 9.99988744e-01 -2.31109292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221400513 meters 0.011742698732047089 Centerline is valid? [True, True] Translation: X:53.85, Y:4.26, Z:-0.02 [[ 9.97295641e-01 -7.33693415e-02 4.28298023e-03 5.38509517e+01] [ 7.33684861e-02 9.97304837e-01 3.56722768e-04 4.26035908e+00] [-4.29760941e-03 -4.15222861e-05 9.99990764e-01 -2.47119668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281400513 meters 0.023952302932167678 Centerline is valid? [True, True] Translation: X:53.91, Y:4.27, Z:-0.03 [[ 9.97625465e-01 -6.88325846e-02 2.34656812e-03 5.39092244e+01] [ 6.88323143e-02 9.97628224e-01 1.95841913e-04 4.27433605e+00] [-2.35448289e-03 -3.38571650e-05 9.99997228e-01 -2.74339125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341400512999996 meters 0.01914618413813198 Centerline is valid? [True, True] Translation: X:53.97, Y:4.29, Z:-0.03 [[ 9.97847672e-01 -6.55646674e-02 1.13907634e-03 5.39666862e+01] [ 6.55646017e-02 9.97848322e-01 9.50062980e-05 4.28774628e+00] [-1.14285447e-03 -2.01187266e-05 9.99999347e-01 -2.92683687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401400513 meters 0.0219445670678464 Centerline is valid? [True, True] Translation: X:54.02, Y:4.30, Z:-0.03 [[ 9.98022550e-01 -6.28116719e-02 2.38405090e-03 5.40244713e+01] [ 6.28113762e-02 9.98025396e-01 1.98753257e-04 4.29905285e+00] [-2.39182737e-03 -4.86147148e-05 9.99997138e-01 -2.72492667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461400513 meters 0.0273134448991143 Centerline is valid? [True, True] Translation: X:54.08, Y:4.32, Z:-0.02 [[ 9.98370445e-01 -5.67354873e-02 6.12693441e-03 5.40833996e+01] [ 5.67334057e-02 9.98389231e-01 5.13154915e-04 4.31547864e+00] [-6.14617943e-03 -1.64716845e-04 9.99981098e-01 -2.16862639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521400512999996 meters 0.0352923484979765 Centerline is valid? [True, True] Translation: X:54.14, Y:4.33, Z:-0.02 [[ 9.98646569e-01 -5.17051437e-02 5.62214809e-03 5.41428536e+01] [ 5.17033109e-02 9.98662378e-01 4.70958422e-04 4.32676647e+00] [-5.63897876e-03 -1.79637341e-04 9.99984085e-01 -2.34200151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581400513 meters 0.03344725971654125 Centerline is valid? [True, True] Translation: X:54.20, Y:4.34, Z:-0.02 [[ 9.98871697e-01 -4.69895901e-02 6.87838597e-03 5.42021809e+01] [ 4.69867342e-02 9.98895347e-01 5.76298446e-04 4.33813364e+00] [-6.89786777e-03 -2.52455313e-04 9.99976178e-01 -2.33380774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641400513 meters 0.04386478641138 Centerline is valid? [True, True] Translation: X:54.26, Y:4.36, Z:-0.02 [[ 9.99029739e-01 -4.35042995e-02 6.85254540e-03 5.42603639e+01] [ 4.35013824e-02 9.99053202e-01 5.74246688e-04 4.35620017e+00] [-6.87103962e-03 -2.75594321e-04 9.99976356e-01 -2.26494593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701400512999996 meters 0.04640738632220695 Centerline is valid? [True, True] Translation: X:54.32, Y:4.36, Z:-0.03 [[ 9.99299480e-01 -3.73226645e-02 2.75091847e-03 5.43197862e+01] [ 3.73221710e-02 9.99303258e-01 2.30526418e-04 4.36461171e+00] [-2.75760566e-03 -1.27694681e-04 9.99996190e-01 -2.90706505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761400513 meters 0.04693888860039554 Centerline is valid? [True, True] Translation: X:54.38, Y:4.37, Z:-0.03 [[ 9.99352094e-01 -3.56085976e-02 5.23633787e-03 5.43791240e+01] [ 3.56067855e-02 9.99365781e-01 4.38911776e-04 4.36857064e+00] [-5.24864591e-03 -2.52178243e-04 9.99986194e-01 -2.69042443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821400513 meters 0.046590947277447954 Centerline is valid? [True, True] Translation: X:54.44, Y:4.37, Z:-0.03 [[ 9.99358866e-01 -3.51195747e-02 6.96215880e-03 5.44388970e+01] [ 3.51163580e-02 9.99383060e-01 5.83780859e-04 4.37120669e+00] [-6.97836570e-03 -3.38920917e-04 9.99975593e-01 -2.61173312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881400512999996 meters 0.050199140964152685 Centerline is valid? [True, True] Translation: X:54.50, Y:4.38, Z:-0.03 [[ 9.99468309e-01 -3.22906717e-02 4.51791808e-03 5.44988500e+01] [ 3.22892879e-02 9.99478493e-01 3.78903870e-04 4.37517088e+00] [-4.52779701e-03 -2.32822052e-04 9.99989722e-01 -2.93919922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941400513 meters 0.052089805243642165 Centerline is valid? [True, True] Translation: X:54.56, Y:4.38, Z:-0.03 [[ 9.99584332e-01 -2.86294094e-02 3.39419628e-03 5.45590422e+01] [ 2.86286072e-02 9.99590077e-01 2.84707700e-04 4.38077067e+00] [-3.40095594e-03 -1.87418244e-04 9.99994199e-01 -3.12741487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001400513 meters 0.06282471920784416 Centerline is valid? [True, True] Translation: X:54.62, Y:4.39, Z:-0.04 [[ 9.99684891e-01 -2.50052245e-02 2.20377377e-03 5.46178768e+01] [ 2.50048776e-02 9.99687312e-01 1.84818109e-04 4.39392672e+00] [-2.20770610e-03 -1.29654778e-04 9.99997555e-01 -3.55861017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061400512999995 meters 0.054972146438897466 Centerline is valid? [True, True] Translation: X:54.68, Y:4.38, Z:-0.03 [[ 9.99694872e-01 -2.45429087e-02 2.79450106e-03 5.46781148e+01] [ 2.45423491e-02 9.99698764e-01 2.34347597e-04 4.38329180e+00] [-2.79941083e-03 -1.65692470e-04 9.99996068e-01 -3.34740324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121400513 meters 0.06212782571391271 Centerline is valid? [True, True] Translation: X:54.74, Y:4.39, Z:-0.03 [[ 9.99730136e-01 -2.27116420e-02 4.88217504e-03 5.47367288e+01] [ 2.27099107e-02 9.99742013e-01 4.09749530e-04 4.39318296e+00] [-4.89022158e-03 -2.98765195e-04 9.99987998e-01 -2.91498304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181400513 meters 0.06599430114892348 Centerline is valid? [True, True] Translation: X:54.80, Y:4.40, Z:-0.03 [[ 9.99832461e-01 -1.69329943e-02 6.95144979e-03 5.47962424e+01] [ 1.69293440e-02 9.99856518e-01 5.83616716e-04 4.40301207e+00] [-6.96033476e-03 -4.65835452e-04 9.99975668e-01 -2.72025468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241400512999995 meters 0.07356274717183411 Centerline is valid? [True, True] Translation: X:54.86, Y:4.42, Z:-0.03 [[ 9.99964570e-01 -7.07260670e-03 4.56468268e-03 5.48561904e+01] [ 7.07093039e-03 9.99974927e-01 3.83269200e-04 4.41697559e+00] [-4.56727895e-03 -3.50979067e-04 9.99989508e-01 -3.14604375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301400513 meters 0.0818883782487556 Centerline is valid? [True, True] Translation: X:54.92, Y:4.43, Z:-0.04 [[ 9.99989580e-01 -4.10906128e-03 1.98893740e-03 5.49152773e+01] [ 4.10873718e-03 9.99991545e-01 1.67010680e-04 4.43188102e+00] [-1.98960684e-03 -1.58836919e-04 9.99998008e-01 -3.61788515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361400513 meters 0.0754661688381939 Centerline is valid? [True, True] Translation: X:54.98, Y:4.43, Z:-0.03 [[ 9.99992071e-01 -2.40475038e-03 3.17423781e-03 5.49764326e+01] [ 2.40391643e-03 9.99997075e-01 2.66513161e-04 4.43297611e+00] [-3.17486942e-03 -2.58880445e-04 9.99994927e-01 -3.39662599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421400512999995 meters 0.07973102576494492 Centerline is valid? [True, True] Translation: X:55.04, Y:4.44, Z:-0.04 [[ 9.99997541e-01 -2.53851461e-04 2.20312216e-03 5.50356979e+01] [ 2.53444711e-04 9.99999951e-01 1.84901352e-04 4.44472827e+00] [-2.20316899e-03 -1.84342527e-04 9.99997556e-01 -3.51293548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481400513 meters 0.0857382571387909 Centerline is valid? [True, True] Translation: X:55.09, Y:4.46, Z:-0.04 [[ 9.99988469e-01 4.01854563e-03 2.62917554e-03 5.50947881e+01] [-4.01913975e-03 9.99991899e-01 2.20729404e-04 4.46196516e+00] [-2.62826723e-03 -2.31293883e-04 9.99996519e-01 -3.52744599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541400513 meters 0.08246550208178914 Centerline is valid? [True, True] Translation: X:55.16, Y:4.46, Z:-0.04 [[ 9.99990796e-01 3.88640427e-03 1.81771385e-03 5.51574962e+01] [-3.88668859e-03 9.99992435e-01 1.52912750e-04 4.46400793e+00] [-1.81710582e-03 -1.59976230e-04 9.99998336e-01 -3.64199267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.601400512999994 meters 0.0778818976100716 Centerline is valid? [True, True] Translation: X:55.22, Y:4.47, Z:-0.04 [[ 9.99999407e-01 3.62067686e-04 1.02753922e-03 5.52180560e+01] [-3.62156465e-04 9.99999931e-01 8.62154051e-05 4.46794847e+00] [-1.02750793e-03 -8.65874839e-05 9.99999468e-01 -3.67079085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661400513 meters 0.0779606461155567 Centerline is valid? [True, True] Translation: X:55.28, Y:4.48, Z:-0.04 [[ 9.99995608e-01 -1.73811397e-03 2.40065172e-03 5.52778991e+01] [ 1.73763570e-03 9.99998470e-01 2.01297468e-04 4.47532574e+00] [-2.40099792e-03 -1.97125125e-04 9.99997098e-01 -3.55134178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721400513 meters 0.07900015573159938 Centerline is valid? [True, True] Translation: X:55.34, Y:4.49, Z:-0.04 [[ 9.99991737e-01 -3.18210292e-03 2.52996680e-03 5.53379928e+01] [ 3.18157627e-03 9.99994916e-01 2.12163011e-04 4.48689566e+00] [-2.53062907e-03 -2.04111976e-04 9.99996777e-01 -3.63910365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781400513 meters 0.07598323286264481 Centerline is valid? [True, True] Translation: X:55.40, Y:4.49, Z:-0.03 [[ 9.99973991e-01 -4.55922333e-03 5.58847785e-03 5.53984832e+01] [ 4.55667574e-03 9.99989509e-01 4.68511942e-04 4.48801228e+00] [-5.59055527e-03 -4.43034875e-04 9.99984275e-01 -3.28044405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841400512999996 meters 0.0816367175356372 Centerline is valid? [True, True] Translation: X:55.46, Y:4.50, Z:-0.03 [[ 9.99975990e-01 -4.57955236e-03 5.20077964e-03 5.54586327e+01] [ 4.57734623e-03 9.99989429e-01 4.36016102e-04 4.50261778e+00] [-5.20272142e-03 -4.12199864e-04 9.99986381e-01 -3.37616555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901400513 meters 0.07818656336075602 Centerline is valid? [True, True] Translation: X:55.52, Y:4.50, Z:-0.03 [[ 9.99971304e-01 -5.71930695e-03 4.96792609e-03 5.55199639e+01] [ 5.71730877e-03 9.99983569e-01 4.16325699e-04 4.50420764e+00] [-4.97022555e-03 -3.87910585e-04 9.99987573e-01 -3.34334985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961400513 meters 0.07277863303471606 Centerline is valid? [True, True] Translation: X:55.58, Y:4.50, Z:-0.03 [[ 9.99854574e-01 -1.48100599e-02 8.45529529e-03 5.55798555e+01] [ 1.48045967e-02 9.99890155e-01 7.08357720e-04 4.50477882e+00] [-8.46485733e-03 -5.83077470e-04 9.99964002e-01 -2.82034880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021400512999996 meters 0.06869290071049354 Centerline is valid? [True, True] Translation: X:55.64, Y:4.51, Z:-0.03 [[ 9.99746363e-01 -2.15504575e-02 6.54118684e-03 5.56395033e+01] [ 2.15473317e-02 9.99767679e-01 5.47981930e-04 4.50703488e+00] [-6.55147645e-03 -4.06897819e-04 9.99978456e-01 -3.19094782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081400513 meters 0.06364450519382049 Centerline is valid? [True, True] Translation: X:55.70, Y:4.50, Z:-0.04 [[ 9.99704869e-01 -2.39152929e-02 4.27012019e-03 5.57002667e+01] [ 2.39139824e-02 9.99713956e-01 3.57703005e-04 4.50491089e+00] [-4.27745332e-03 -2.55481857e-04 9.99990819e-01 -3.58244439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141400513 meters 0.05429917931359689 Centerline is valid? [True, True] Translation: X:55.76, Y:4.49, Z:-0.04 [[ 9.99668659e-01 -2.54825279e-02 3.63490381e-03 5.57618149e+01] [ 2.54815886e-02 9.99675245e-01 3.04491667e-04 4.49441809e+00] [-3.64148257e-03 -2.11767653e-04 9.99993347e-01 -3.62838714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201400512999996 meters 0.06323835397458749 Centerline is valid? [True, True] Translation: X:55.82, Y:4.51, Z:-0.04 [[ 9.99789399e-01 -2.03264689e-02 2.82718353e-03 5.58195412e+01] [ 2.03258802e-02 9.99793380e-01 2.36801224e-04 4.51015474e+00] [-2.83141271e-03 -1.79286359e-04 9.99995975e-01 -3.79414741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261400513 meters 0.07229343191636833 Centerline is valid? [True, True] Translation: X:55.88, Y:4.52, Z:-0.04 [[ 9.99955235e-01 -8.79939015e-03 3.47824463e-03 5.58794667e+01] [ 8.79842948e-03 9.99961251e-01 2.91398059e-04 4.52174982e+00] [-3.48067398e-03 -2.60781924e-04 9.99993908e-01 -3.84140203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321400513 meters 0.07943541499047273 Centerline is valid? [True, True] Translation: X:55.94, Y:4.54, Z:-0.04 [[ 9.99986402e-01 -3.12764953e-03 4.17295702e-03 5.59376729e+01] [ 3.12621768e-03 9.99995052e-01 3.49605234e-04 4.53571638e+00] [-4.17402981e-03 -3.36554908e-04 9.99991232e-01 -3.76970364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381400512999996 meters 0.08868129184953376 Centerline is valid? [True, True] Translation: X:56.00, Y:4.55, Z:-0.04 [[ 9.99987974e-01 3.70939945e-03 3.20805395e-03 5.59957976e+01] [-3.71028111e-03 9.99993081e-01 2.68917618e-04 4.55060747e+00] [-3.20703423e-03 -2.80817166e-04 9.99994818e-01 -3.97445493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441400513 meters 0.0920371288269529 Centerline is valid? [True, True] Translation: X:56.06, Y:4.56, Z:-0.04 [[ 9.99958412e-01 7.20191674e-03 5.59517803e-03 5.60554976e+01] [-7.20465130e-03 9.99973936e-01 4.68732837e-04 4.56363474e+00] [-5.59165643e-03 -5.09024650e-04 9.99984237e-01 -3.64647078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501400513 meters 0.08718128851189652 Centerline is valid? [True, True] Translation: X:56.12, Y:4.57, Z:-0.04 [[ 9.99935607e-01 9.35919912e-03 6.41772705e-03 5.61162112e+01] [-9.36284086e-03 9.99956023e-01 5.37639080e-04 4.56864204e+00] [-6.41241294e-03 -5.97692616e-04 9.99979262e-01 -3.57762217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561400512999995 meters 0.08607324250671737 Centerline is valid? [True, True] Translation: X:56.18, Y:4.57, Z:-0.04 [[ 9.99961407e-01 5.78284512e-03 6.61385091e-03 5.61764050e+01] [-5.78663524e-03 9.99983104e-01 5.54064233e-04 4.57146243e+00] [-6.61053510e-03 -5.92314793e-04 9.99977975e-01 -3.50414533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621400513 meters 0.0836753852374678 Centerline is valid? [True, True] Translation: X:56.24, Y:4.57, Z:-0.03 [[ 9.99966044e-01 -1.60253566e-04 8.23927997e-03 5.62359932e+01] [ 1.54571274e-04 9.99999750e-01 6.90290947e-04 4.57473667e+00] [-8.23938853e-03 -6.88993951e-04 9.99965818e-01 -3.37899237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681400513 meters 0.08139962730166735 Centerline is valid? [True, True] Translation: X:56.30, Y:4.58, Z:-0.03 [[ 9.99953695e-01 -4.95836942e-03 8.24755651e-03 5.62951967e+01] [ 4.95283718e-03 9.99987496e-01 6.91063372e-04 4.57971661e+00] [-8.25087993e-03 -6.50182568e-04 9.99965750e-01 -3.42741851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741400512999995 meters 0.07608420765574382 Centerline is valid? [True, True] Translation: X:56.36, Y:4.58, Z:-0.03 [[ 9.99948837e-01 -4.15372350e-03 9.22336015e-03 5.63575327e+01] [ 4.14677164e-03 9.99991104e-01 7.72720069e-04 4.58173527e+00] [-9.22648776e-03 -7.34433366e-04 9.99957165e-01 -3.34608654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801400513 meters 0.08280916845128837 Centerline is valid? [True, True] Translation: X:56.42, Y:4.60, Z:-0.04 [[ 9.99966617e-01 1.79805910e-03 7.97066002e-03 5.64173442e+01] [-1.80343670e-03 9.99998151e-01 6.67539063e-04 4.59876765e+00] [-7.96944500e-03 -6.81891359e-04 9.99968011e-01 -3.67002337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861400513 meters 0.09164688460405283 Centerline is valid? [True, True] Translation: X:56.48, Y:4.62, Z:-0.04 [[ 9.99952805e-01 5.00112747e-03 8.32921803e-03 5.64756325e+01] [-5.00710966e-03 9.99987221e-01 6.97519254e-04 4.62079376e+00] [-8.32562320e-03 -7.39191643e-04 9.99965068e-01 -3.71130651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921400512999995 meters 0.08874966487953795 Centerline is valid? [True, True] Translation: X:56.54, Y:4.63, Z:-0.04 [[ 9.99948298e-01 6.44589553e-03 7.86462058e-03 5.65360864e+01] [-6.45127280e-03 9.99978973e-01 6.58552539e-04 4.62856994e+00] [-7.86021026e-03 -7.09255303e-04 9.99968857e-01 -3.87206047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981400513 meters 0.088816326156826 Centerline is valid? [True, True] Translation: X:56.60, Y:4.64, Z:-0.04 [[ 9.99955259e-01 6.61460375e-03 6.76220861e-03 5.65987565e+01] [-6.61858093e-03 9.99977937e-01 5.65938924e-04 4.63684619e+00] [-6.75831595e-03 -6.10669828e-04 9.99976976e-01 -4.21070198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041400513 meters 0.093644721493868 Centerline is valid? [True, True] Translation: X:56.66, Y:4.65, Z:-0.04 [[ 9.99957736e-01 6.42989984e-03 6.57135698e-03 5.66587993e+01] [-6.43364428e-03 9.99979153e-01 5.48832187e-04 4.65315911e+00] [-6.56769105e-03 -5.91086765e-04 9.99978258e-01 -4.17890191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.101400512999994 meters 0.08342755781347805 Centerline is valid? [True, True] Translation: X:56.72, Y:4.65, Z:-0.04 [[ 9.99955175e-01 4.94003284e-03 8.07734503e-03 5.67198356e+01] [-4.94563413e-03 9.99987543e-01 6.73630331e-04 4.64773863e+00] [-8.07391665e-03 -7.13547729e-04 9.99967151e-01 -3.97650824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161400513 meters 0.0826731323331803 Centerline is valid? [True, True] Translation: X:56.78, Y:4.65, Z:-0.04 [[ 9.99960172e-01 4.77924936e-05 8.92480425e-03 5.67798255e+01] [-5.44374729e-05 9.99999722e-01 7.44310379e-04 4.65083807e+00] [-8.92476619e-03 -7.44766578e-04 9.99959896e-01 -4.00774619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221400513 meters 0.08383659665597244 Centerline is valid? [True, True] Translation: X:56.84, Y:4.66, Z:-0.04 [[ 9.99956994e-01 -2.91616511e-03 8.80371870e-03 5.68391373e+01] [ 2.90981290e-03 9.99995497e-01 7.34260132e-04 4.65659879e+00] [-8.80582028e-03 -7.08611380e-04 9.99960977e-01 -4.02470227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281400513 meters 0.0770307588591267 Centerline is valid? [True, True] Translation: X:56.90, Y:4.66, Z:-0.04 [[ 9.99943431e-01 -2.55589327e-03 1.03248401e-02 5.69016208e+01] [ 2.54713870e-03 9.99996385e-01 8.60974415e-04 4.65608448e+00] [-1.03270034e-02 -8.34626910e-04 9.99946327e-01 -3.79988514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341400512999996 meters 0.08946258105616234 Centerline is valid? [True, True] Translation: X:56.96, Y:4.68, Z:-0.03 [[ 9.99911828e-01 -1.47658378e-03 1.31968176e-02 5.69598886e+01] [ 1.46219187e-03 9.99998326e-01 1.10014150e-03 4.67596852e+00] [-1.31984200e-02 -1.08074822e-03 9.99912313e-01 -3.41900597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401400513 meters 0.08370930530760087 Centerline is valid? [True, True] Translation: X:57.02, Y:4.68, Z:-0.03 [[ 9.99894609e-01 -5.14502238e-03 1.35757183e-02 5.70211192e+01] [ 5.13012913e-03 9.99986200e-01 1.13164711e-03 4.67668835e+00] [-1.35813533e-02 -1.06188266e-03 9.99907205e-01 -3.44066654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461400513 meters 0.08057851065176334 Centerline is valid? [True, True] Translation: X:57.08, Y:4.68, Z:-0.04 [[ 9.99872485e-01 -9.34642678e-03 1.29483106e-02 5.70818253e+01] [ 9.33322978e-03 9.99955862e-01 1.07926006e-03 4.67596391e+00] [-1.29578263e-02 -9.58272880e-04 9.99915585e-01 -3.62872761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521400512999996 meters 0.06425321754571209 Centerline is valid? [True, True] Translation: X:57.14, Y:4.66, Z:-0.04 [[ 9.99790628e-01 -1.50222651e-02 1.38935923e-02 5.71440030e+01] [ 1.50076167e-02 9.99886709e-01 1.15799273e-03 4.65879850e+00] [-1.39094139e-02 -9.49240570e-04 9.99902809e-01 -3.75223834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581400513 meters 0.059982239797729514 Centerline is valid? [True, True] Translation: X:57.20, Y:4.65, Z:-0.04 [[ 9.99567184e-01 -2.55454020e-02 1.45903001e-02 5.72046999e+01] [ 2.55303650e-02 9.99673308e-01 1.21597819e-03 4.65248559e+00] [-1.46165962e-02 -8.42956213e-04 9.99892817e-01 -3.63233257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641400513 meters 0.05312815824205664 Centerline is valid? [True, True] Translation: X:57.27, Y:4.64, Z:-0.04 [[ 9.99215258e-01 -3.66490517e-02 1.50238103e-02 5.72652254e+01] [ 3.66343593e-02 9.99327952e-01 1.25207793e-03 4.63983963e+00] [-1.50596011e-02 -7.00707703e-04 9.99886352e-01 -3.56813715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701400512999996 meters 0.04038615240142621 Centerline is valid? [True, True] Translation: X:57.33, Y:4.62, Z:-0.04 [[ 9.98964442e-01 -4.20839533e-02 1.72911444e-02 5.73274310e+01] [ 4.20653034e-02 9.99113824e-01 1.44104053e-03 4.62481104e+00] [-1.73364661e-02 -7.12191011e-04 9.99849459e-01 -3.56069519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761400513 meters 0.038982708798167696 Centerline is valid? [True, True] Translation: X:57.39, Y:4.62, Z:-0.04 [[ 9.98774009e-01 -4.62888373e-02 1.75448492e-02 5.73890141e+01] [ 4.62702872e-02 9.98927887e-01 1.46197819e-03 4.61842609e+00] [-1.75937124e-02 -6.48380606e-04 9.99845008e-01 -3.64805028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821400513 meters 0.04357783878002014 Centerline is valid? [True, True] Translation: X:57.45, Y:4.63, Z:-0.04 [[ 9.98853253e-01 -4.53664159e-02 1.52992888e-02 5.74496269e+01] [ 4.53522094e-02 9.98970246e-01 1.27442457e-03 4.62842440e+00] [-1.53413504e-02 -5.79106574e-04 9.99882147e-01 -3.80813350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881400512999996 meters 0.0420192965562149 Centerline is valid? [True, True] Translation: X:57.51, Y:4.63, Z:-0.04 [[ 9.98986155e-01 -4.22332888e-02 1.55888087e-02 5.75110559e+01] [ 4.22181635e-02 9.99107572e-01 1.29822291e-03 4.62853575e+00] [-1.56297251e-02 -6.38775837e-04 9.99877644e-01 -3.94717942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941400513 meters 0.04396079013977717 Centerline is valid? [True, True] Translation: X:57.57, Y:4.64, Z:-0.04 [[ 9.99096083e-01 -3.96044041e-02 1.54437090e-02 5.75716881e+01] [ 3.95892503e-02 9.99215211e-01 1.28583791e-03 4.64024160e+00] [-1.54825137e-02 -6.73270756e-04 9.99879912e-01 -4.09755482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001400513 meters 0.046682270750739725 Centerline is valid? [True, True] Translation: X:57.63, Y:4.65, Z:-0.04 [[ 9.99099980e-01 -3.97418552e-02 1.48261675e-02 5.76323387e+01] [ 3.97279110e-02 9.99209773e-01 1.23396636e-03 4.64836458e+00] [-1.48634915e-02 -6.43843104e-04 9.99889325e-01 -4.16919506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061400512999995 meters 0.04095637313427631 Centerline is valid? [True, True] Translation: X:57.69, Y:4.64, Z:-0.04 [[ 9.98774622e-01 -4.68010278e-02 1.60909136e-02 5.76931853e+01] [ 4.67855204e-02 9.98904060e-01 1.33903475e-03 4.64259863e+00] [-1.61359471e-02 -5.84572159e-04 9.99869636e-01 -4.08818826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121400513 meters 0.030089989535208462 Centerline is valid? [True, True] Translation: X:57.75, Y:4.63, Z:-0.04 [[ 9.98324762e-01 -5.48726943e-02 1.83482267e-02 5.77542422e+01] [ 5.48538909e-02 9.98493224e-01 1.52689444e-03 4.63386247e+00] [-1.84043648e-02 -5.17864900e-04 9.99830491e-01 -3.94718306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181400513 meters 0.022217859745253022 Centerline is valid? [True, True] Translation: X:57.82, Y:4.62, Z:-0.04 [[ 9.97876361e-01 -6.32637755e-02 1.55068550e-02 5.78157395e+01] [ 6.32513581e-02 9.97996794e-01 1.29040002e-03 4.62397276e+00] [-1.55574271e-02 -3.06830035e-04 9.99878929e-01 -4.44433784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241400512999995 meters 0.019064708717473264 Centerline is valid? [True, True] Translation: X:57.88, Y:4.63, Z:-0.05 [[ 9.97585734e-01 -6.83121493e-02 1.24961068e-02 5.78751304e+01] [ 6.83044798e-02 9.97663980e-01 1.04001110e-03 4.62630161e+00] [-1.25379610e-02 -1.83960165e-04 9.99921380e-01 -4.88236118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301400513 meters 0.01428861011949677 Centerline is valid? [True, True] Translation: X:57.93, Y:4.62, Z:-0.05 [[ 9.97307903e-01 -7.21693180e-02 1.29821208e-02 5.79349425e+01] [ 7.21613563e-02 9.97392385e-01 1.08127979e-03 4.62305294e+00] [-1.30263036e-02 -1.41561438e-04 9.99915144e-01 -4.92519457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361400513 meters 0.009942331126219457 Centerline is valid? [True, True] Translation: X:57.99, Y:4.62, Z:-0.05 [[ 9.96772656e-01 -7.92205178e-02 1.29762155e-02 5.79941715e+01] [ 7.92131493e-02 9.96857115e-01 1.08164241e-03 4.61844631e+00] [-1.30211210e-02 -5.02646876e-05 9.99915220e-01 -4.81653921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421400512999995 meters 0.00924709847954643 Centerline is valid? [True, True] Translation: X:58.05, Y:4.62, Z:-0.05 [[ 9.96414843e-01 -8.34956085e-02 1.36361074e-02 5.80519682e+01] [ 8.34878460e-02 9.96508145e-01 1.13851676e-03 4.61840489e+00] [-1.36835533e-02 4.01423380e-06 9.99906376e-01 -4.86461035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481400513 meters 0.012264579077206269 Centerline is valid? [True, True] Translation: X:58.11, Y:4.62, Z:-0.05 [[ 9.95839188e-01 -8.95686912e-02 1.67857353e-02 5.81096062e+01] [ 8.95577574e-02 9.95980642e-01 1.40345620e-03 4.61943112e+00] [-1.68439731e-02 1.05676123e-04 9.99858125e-01 -4.51114918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541400513 meters 0.014123968277603227 Centerline is valid? [True, True] Translation: X:58.17, Y:4.62, Z:-0.05 [[ 9.95524389e-01 -9.30677324e-02 1.64191100e-02 5.81684581e+01] [ 9.30577107e-02 9.95659767e-01 1.37499523e-03 4.62306632e+00] [-1.64758149e-02 1.59083495e-04 9.99864252e-01 -4.62268369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.601400512999994 meters 0.018110581765300525 Centerline is valid? [True, True] Translation: X:58.23, Y:4.62, Z:-0.05 [[ 9.95032555e-01 -9.80309926e-02 1.73245467e-02 5.82279371e+01] [ 9.80205648e-02 9.95183330e-01 1.45208349e-03 4.62449548e+00] [-1.73834493e-02 2.53291506e-04 9.99848864e-01 -4.68837502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661400513 meters 0.02149674770677172 Centerline is valid? [True, True] Translation: X:58.29, Y:4.63, Z:-0.05 [[ 9.94701642e-01 -1.01064091e-01 1.88333004e-02 5.82878405e+01] [ 1.01052302e-01 9.94879862e-01 1.57901337e-03 4.62838488e+00] [-1.88964529e-02 3.32501170e-04 9.99821391e-01 -4.50244031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721400513 meters 0.028281050524185683 Centerline is valid? [True, True] Translation: X:58.35, Y:4.63, Z:-0.05 [[ 9.94616919e-01 -1.02310357e-01 1.64248686e-02 5.83463477e+01] [ 1.02301527e-01 9.94752480e-01 1.37911379e-03 4.63494573e+00] [-1.64797764e-02 3.08599228e-04 9.99864152e-01 -4.94681555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781400513 meters 0.020259777710019643 Centerline is valid? [True, True] Translation: X:58.40, Y:4.65, Z:-0.05 [[ 9.94770934e-01 -1.00923533e-01 1.56597960e-02 5.84039960e+01] [ 1.00915292e-01 9.94894149e-01 1.31754656e-03 4.64752054e+00] [-1.57128109e-02 2.69655868e-04 9.99876510e-01 -5.11886710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841400512999996 meters 0.01788476979674664 Centerline is valid? [True, True] Translation: X:58.46, Y:4.66, Z:-0.05 [[ 9.95026237e-01 -9.83802881e-02 1.56239408e-02 5.84616901e+01] [ 9.83717295e-02 9.95148867e-01 1.31723424e-03 4.66353381e+00] [-1.56777369e-02 2.26271451e-04 9.99877071e-01 -5.29034795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901400513 meters 0.02470964367939383 Centerline is valid? [True, True] Translation: X:58.52, Y:4.67, Z:-0.06 [[ 9.95020908e-01 -9.86445405e-02 1.42353961e-02 5.85193840e+01] [ 9.86374289e-02 9.95122712e-01 1.20252996e-03 4.67323319e+00] [-1.42845890e-02 2.07600420e-04 9.99897949e-01 -5.56136452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961400513 meters 0.020259315240546173 Centerline is valid? [True, True] Translation: X:58.58, Y:4.68, Z:-0.06 [[ 9.94751784e-01 -1.01345356e-01 1.40714753e-02 5.85770856e+01] [ 1.01338657e-01 9.94851275e-01 1.19012873e-03 4.68201952e+00] [-1.41196392e-02 2.42101737e-04 9.99900284e-01 -5.79600607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021400512999996 meters 0.02478063032339283 Centerline is valid? [True, True] Translation: X:58.64, Y:4.68, Z:-0.06 [[ 9.94359043e-01 -1.05118278e-01 1.41506919e-02 5.86355936e+01] [ 1.05111874e-01 9.94459682e-01 1.19759260e-03 4.67969688e+00] [-1.41981815e-02 2.96568713e-04 9.99899157e-01 -5.83122331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081400513 meters 0.028381800116377833 Centerline is valid? [True, True] Translation: X:58.69, Y:4.69, Z:-0.06 [[ 9.94248261e-01 -1.06354035e-01 1.26180361e-02 5.86923708e+01] [ 1.06298811e-01 9.94321804e-01 4.97127651e-03 4.68512998e+00] [-1.30751037e-02 -3.60140080e-03 9.99908032e-01 -6.05899328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141400513 meters 0.020174013982405762 Centerline is valid? [True, True] Translation: X:58.75, Y:4.70, Z:-0.06 [[ 9.94672074e-01 -1.02146192e-01 1.39147757e-02 5.87509617e+01] [ 1.02192653e-01 9.94761048e-01 -2.66802679e-03 4.69971545e+00] [-1.35693481e-02 4.07579959e-03 9.99899625e-01 -6.08006855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201400512999996 meters 0.01693000421583962 Centerline is valid? [True, True] Translation: X:58.81, Y:4.71, Z:-0.06 [[ 9.95025992e-01 -9.87613119e-02 1.30184226e-02 5.88092288e+01] [ 9.87552956e-02 9.95111134e-01 1.10575208e-03 4.70661152e+00] [-1.30639828e-02 1.85386120e-04 9.99914645e-01 -6.08199456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261400513 meters 0.02411441116342671 Centerline is valid? [True, True] Translation: X:58.87, Y:4.71, Z:-0.06 [[ 9.95212555e-01 -9.71056698e-02 1.10661531e-02 5.88671356e+01] [ 9.71012069e-02 9.95274068e-01 9.41141137e-04 4.71318110e+00] [-1.11052453e-02 1.37901345e-04 9.99938325e-01 -6.23268166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321400513 meters 0.013172678329907156 Centerline is valid? [True, True] Translation: X:58.93, Y:4.72, Z:-0.06 [[ 9.95466560e-01 -9.44142994e-02 1.15007725e-02 5.89259335e+01] [ 9.44092761e-02 9.95532987e-01 9.80121436e-04 4.72021821e+00] [-1.15419359e-02 1.10101495e-04 9.99933384e-01 -6.23485646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381400512999996 meters 0.009167544228520053 Centerline is valid? [True, True] Translation: X:58.98, Y:4.73, Z:-0.06 [[ 9.96047590e-01 -8.78477801e-02 1.31136012e-02 5.89836934e+01] [ 8.78406484e-02 9.96133910e-01 1.11994857e-03 4.73495172e+00] [-1.31612878e-02 3.63851582e-05 9.99913386e-01 -6.08237493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441400513 meters 0.020522236389850207 Centerline is valid? [True, True] Translation: X:59.04, Y:4.75, Z:-0.06 [[ 9.96942386e-01 -7.70779039e-02 1.28403977e-02 5.90408854e+01] [ 7.70701442e-02 9.97025068e-01 1.09879364e-03 4.75298284e+00] [-1.28868911e-02 -1.05822645e-04 9.99916955e-01 -6.06413222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501400513 meters 0.01673924344706269 Centerline is valid? [True, True] Translation: X:59.10, Y:4.77, Z:-0.06 [[ 9.97368953e-01 -7.15949025e-02 1.13728807e-02 5.90976706e+01] [ 7.15884452e-02 9.97433780e-01 9.74390028e-04 4.76732635e+00] [-1.14134567e-02 -1.57659516e-04 9.99934852e-01 -6.27220290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561400512999995 meters 0.019228987169305767 Centerline is valid? [True, True] Translation: X:59.16, Y:4.77, Z:-0.06 [[ 9.97633872e-01 -6.76296580e-02 1.23647805e-02 5.91568917e+01] [ 6.76217140e-02 9.97710469e-01 1.05989867e-03 4.77266131e+00] [-1.24081515e-02 -2.21263163e-04 9.99922991e-01 -6.33905357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621400513 meters 0.021399745217950482 Centerline is valid? [True, True] Translation: X:59.21, Y:4.78, Z:-0.06 [[ 9.97588329e-01 -6.79503496e-02 1.41519139e-02 5.92143027e+01] [ 6.79399622e-02 9.97688673e-01 1.21402853e-03 4.77784767e+00] [-1.42016978e-02 -2.49620201e-04 9.99899120e-01 -6.09589830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681400513 meters 0.022524567303896702 Centerline is valid? [True, True] Translation: X:59.27, Y:4.78, Z:-0.06 [[ 9.97747897e-01 -6.56417679e-02 1.37946546e-02 5.92737193e+01] [ 6.56316683e-02 9.97843215e-01 1.18405426e-03 4.78195985e+00] [-1.38426259e-02 -2.76021454e-04 9.99904148e-01 -6.18375456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741400512999995 meters 0.029703506481167236 Centerline is valid? [True, True] Translation: X:59.33, Y:4.80, Z:-0.07 [[ 9.98131350e-01 -6.03789368e-02 9.39110718e-03 5.93322294e+01] [ 6.03740220e-02 9.98175499e-01 8.06219844e-04 4.79671906e+00] [-9.42265180e-03 -2.37734389e-04 9.99955578e-01 -6.90331592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801400513 meters 0.030480904487495117 Centerline is valid? [True, True] Translation: X:59.39, Y:4.80, Z:-0.07 [[ 9.98384264e-01 -5.63000539e-02 7.69191471e-03 5.93914167e+01] [ 5.62966349e-02 9.98413868e-01 6.60458295e-04 4.80395797e+00] [-7.71689816e-03 -2.26362254e-04 9.99970199e-01 -7.31416195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861400513 meters 0.03509021734970583 Centerline is valid? [True, True] Translation: X:59.45, Y:4.81, Z:-0.08 [[ 9.98494596e-01 -5.45654943e-02 5.58115632e-03 5.94500594e+01] [ 5.45636667e-02 9.98510178e-01 4.79318984e-04 4.81164779e+00] [-5.59899567e-03 -1.74069062e-04 9.99984310e-01 -7.56129730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921400512999995 meters 0.03165162611272833 Centerline is valid? [True, True] Translation: X:59.51, Y:4.82, Z:-0.08 [[ 9.98430184e-01 -5.59611888e-02 2.34801521e-03 5.95088888e+01] [ 5.59604435e-02 9.98432914e-01 3.81956119e-04 4.81686188e+00] [-2.36571039e-03 -2.49960546e-04 9.99997170e-01 -7.84643304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981400513 meters 0.033502569489424774 Centerline is valid? [True, True] Translation: X:59.57, Y:4.82, Z:-0.08 [[ 9.98514854e-01 -5.41577936e-02 5.91770478e-03 5.95657991e+01] [ 5.41568067e-02 9.98532390e-01 3.27000054e-04 4.82297714e+00] [-5.92672949e-03 -6.03041758e-06 9.99982437e-01 -7.76114742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041400513 meters 0.03564175395341731 Centerline is valid? [True, True] Translation: X:59.62, Y:4.83, Z:-0.08 [[ 9.98599892e-01 -5.28697665e-02 1.74477044e-03 5.96233907e+01] [ 5.28695850e-02 9.98601414e-01 1.49984769e-04 4.83109709e+00] [-1.75025989e-03 -5.75294849e-05 9.99998467e-01 -8.28882409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.101400512999994 meters 0.03725827593960438 Centerline is valid? [True, True] Translation: X:59.68, Y:4.84, Z:-0.08 [[ 9.98770842e-01 -4.95578733e-02 9.06843152e-04 5.96826710e+01] [ 4.95578228e-02 9.98771253e-01 7.80663489e-05 4.84427045e+00] [-9.09597673e-04 -3.30292208e-05 9.99999586e-01 -8.45335543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161400513 meters 0.03744158185233012 Centerline is valid? [True, True] Translation: X:59.74, Y:4.85, Z:-0.09 [[ 9.98868276e-01 -4.75406850e-02 1.43164941e-03 5.97420866e+01] [ 4.75405571e-02 9.98869301e-01 1.23249690e-04 4.85060521e+00] [-1.43589002e-03 -5.50487945e-05 9.99998968e-01 -8.57535529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221400513 meters 0.03660304310358512 Centerline is valid? [True, True] Translation: X:59.80, Y:4.85, Z:-0.09 [[ 9.98690108e-01 -5.09734968e-02 -4.44654479e-03 5.98030029e+01] [ 5.09958992e-02 9.98685946e-01 5.07926674e-03 4.84993008e+00] [ 4.18179381e-03 -5.29936900e-03 9.99977214e-01 -9.02455755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281400513 meters 0.03363470733158162 Centerline is valid? [True, True] Translation: X:59.86, Y:4.86, Z:-0.09 [[ 9.98575732e-01 -5.33346862e-02 -1.38512942e-03 5.98624990e+01] [ 5.33329514e-02 9.98575990e-01 -1.26053380e-03 4.85666839e+00] [ 1.45038716e-03 1.18486542e-03 9.99998246e-01 -8.64405963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341400512999996 meters 0.0348893739196474 Centerline is valid? [True, True] Translation: X:59.92, Y:4.86, Z:-0.08 [[ 9.98724514e-01 -5.03748218e-02 3.42390053e-03 5.99190899e+01] [ 5.03855229e-02 9.98724987e-01 -3.11447229e-03 4.85999028e+00] [-3.26264403e-03 3.28301485e-03 9.99989288e-01 -8.27776833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401400513 meters 0.044582652700465804 Centerline is valid? [True, True] Translation: X:59.98, Y:4.87, Z:-0.09 [[ 9.98969469e-01 -4.53245426e-02 2.38438665e-03 5.99777403e+01] [ 4.53241789e-02 9.98972310e-01 2.06368377e-04 4.86957035e+00] [-2.39128979e-03 -9.80853409e-05 9.99997136e-01 -8.52542287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461400513 meters 0.04850767748599678 Centerline is valid? [True, True] Translation: X:60.04, Y:4.88, Z:-0.09 [[ 9.99163812e-01 -4.08192437e-02 -2.33817494e-03 6.00368485e+01] [ 4.08188812e-02 9.99166542e-01 -2.02531635e-04 4.87903948e+00] [ 2.34449336e-03 1.06920595e-04 9.99997246e-01 -9.31352792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521400512999996 meters 0.04624966483069544 Centerline is valid? [True, True] Translation: X:60.10, Y:4.88, Z:-0.09 [[ 9.99118171e-01 -4.19064247e-02 -2.59456428e-03 6.00964166e+01] [ 4.19059804e-02 9.99121533e-01 -2.25372956e-04 4.87915826e+00] [ 2.60172962e-03 1.16446456e-04 9.99996609e-01 -9.31668033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581400513 meters 0.048467126924005066 Centerline is valid? [True, True] Translation: X:60.16, Y:4.88, Z:-0.09 [[ 9.99041856e-01 -4.37648452e-02 -8.65680902e-05 6.01552640e+01] [ 4.37648447e-02 9.99041860e-01 -7.63575050e-06 4.88358330e+00] [ 8.68193233e-05 3.83979533e-06 9.99999996e-01 -9.05174710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641400513 meters 0.04310640141289149 Centerline is valid? [True, True] Translation: X:60.21, Y:4.88, Z:-0.09 [[ 9.99076507e-01 -4.29422698e-02 -1.44744216e-03 6.02138996e+01] [ 4.29421324e-02 9.99077553e-01 -1.25918458e-04 4.88162276e+00] [ 1.45151419e-03 6.36459201e-05 9.99998945e-01 -9.22255693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701400512999996 meters 0.051969447676737876 Centerline is valid? [True, True] Translation: X:60.27, Y:4.89, Z:-0.10 [[ 9.99261142e-01 -3.81493339e-02 -4.66882731e-03 6.02740349e+01] [ 3.81478567e-02 9.99272023e-01 -4.05068393e-04 4.89153796e+00] [ 4.68088161e-03 2.26663350e-04 9.99989019e-01 -9.66671889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761400513 meters 0.05359297689687371 Centerline is valid? [True, True] Translation: X:60.33, Y:4.90, Z:-0.10 [[ 9.99384477e-01 -3.46084995e-02 -5.73751654e-03 6.03327006e+01] [ 3.46062105e-02 9.99400902e-01 -4.97779692e-04 4.90454799e+00] [ 5.75130661e-03 2.98919592e-04 9.99983416e-01 -9.87754427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821400513 meters 0.05924514039775071 Centerline is valid? [True, True] Translation: X:60.39, Y:4.92, Z:-0.10 [[ 9.99477739e-01 -3.19766747e-02 -4.66274914e-03 6.03910545e+01] [ 3.19751338e-02 9.99488583e-01 -4.04659600e-04 4.92065461e+00] [ 4.67330420e-03 2.55356234e-04 9.99989047e-01 -9.87531671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881400512999996 meters 0.05933910865903374 Centerline is valid? [True, True] Translation: X:60.45, Y:4.93, Z:-0.10 [[ 9.99544243e-01 -2.98428675e-02 -4.55075982e-03 6.04508902e+01] [ 2.98413774e-02 9.99554569e-01 -3.94994213e-04 4.92964816e+00] [ 4.56052053e-03 2.59013250e-04 9.99989567e-01 -9.85232902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941400513 meters 0.06371830941242948 Centerline is valid? [True, True] Translation: X:60.51, Y:4.94, Z:-0.10 [[ 9.99568550e-01 -2.79706112e-02 -8.96434449e-03 6.05108832e+01] [ 2.79647545e-02 9.99608607e-01 -7.78035560e-04 4.93975494e+00] [ 8.98259804e-03 5.27014184e-04 9.99959517e-01 -1.04435336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001400513 meters 0.06267251829513222 Centerline is valid? [True, True] Translation: X:60.57, Y:4.95, Z:-0.11 [[ 9.99548690e-01 -2.79670635e-02 -1.09662973e-02 6.05689838e+01] [ 2.79582881e-02 9.99608637e-01 -9.52732402e-04 4.94540407e+00] [ 1.09886506e-02 6.45703524e-04 9.99939414e-01 -1.06887035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061400512999995 meters 0.0674896972899995 Centerline is valid? [True, True] Translation: X:60.63, Y:4.96, Z:-0.10 [[ 9.99672636e-01 -2.43518482e-02 -7.84914274e-03 6.06267560e+01] [ 2.43472436e-02 9.99703330e-01 -6.81680378e-04 4.96456256e+00] [ 7.86341430e-03 4.90352230e-04 9.99968963e-01 -1.02039132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121400513 meters 0.06480495225000958 Centerline is valid? [True, True] Translation: X:60.69, Y:4.97, Z:-0.10 [[ 9.99691868e-01 -2.28016887e-02 -9.81078491e-03 6.06861522e+01] [ 2.27944186e-02 9.99739810e-01 -8.52225887e-04 4.97257482e+00] [ 9.82766444e-03 6.28332151e-04 9.99951510e-01 -1.04433961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181400513 meters 0.06411173908873093 Centerline is valid? [True, True] Translation: X:60.75, Y:4.98, Z:-0.11 [[ 9.99617464e-01 -2.50330603e-02 -1.17589320e-02 6.07461862e+01] [ 2.50227683e-02 9.99686360e-01 -1.02158088e-03 4.97678996e+00] [ 1.17808172e-02 7.26949057e-04 9.99930340e-01 -1.07877336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241400512999995 meters 0.06164458959350887 Centerline is valid? [True, True] Translation: X:60.81, Y:4.98, Z:-0.11 [[ 9.99426909e-01 -3.22311997e-02 -1.03442652e-02 6.08055036e+01] [ 3.22236197e-02 9.99480280e-01 -8.98660225e-04 4.98307529e+00] [ 1.03678540e-02 5.64815544e-04 9.99946093e-01 -1.08181332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301400513 meters 0.05469701443345957 Centerline is valid? [True, True] Translation: X:60.87, Y:4.98, Z:-0.11 [[ 9.99260532e-01 -3.72225147e-02 -9.63704485e-03 6.08661763e+01] [ 3.72161661e-02 9.99306888e-01 -8.37327655e-04 4.97887018e+00] [ 9.66153273e-03 4.78054617e-04 9.99953212e-01 -1.05367677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361400513 meters 0.04923957387129671 Centerline is valid? [True, True] Translation: X:60.93, Y:4.98, Z:-0.10 [[ 9.99172625e-01 -3.97892162e-02 -8.41918874e-03 6.09262744e+01] [ 3.97844593e-02 9.99208017e-01 -7.31804441e-04 4.97641089e+00] [ 8.44163881e-03 3.96246093e-04 9.99964290e-01 -1.01985346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421400512999995 meters 0.04802062022621871 Centerline is valid? [True, True] Translation: X:60.98, Y:4.98, Z:-0.10 [[ 9.99195322e-01 -3.93564055e-02 -7.73181389e-03 6.09848545e+01] [ 3.93523643e-02 9.99225168e-01 -6.74174062e-04 4.97824535e+00] [ 7.75235611e-03 3.69366412e-04 9.99969882e-01 -1.00478333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481400513 meters 0.05132316278763698 Centerline is valid? [True, True] Translation: X:61.04, Y:4.99, Z:-0.10 [[ 9.99255909e-01 -3.77592556e-02 -7.86552549e-03 6.10424605e+01] [ 3.77550265e-02 9.99286790e-01 -6.85517331e-04 4.98667311e+00] [ 7.88580034e-03 3.88044120e-04 9.99968831e-01 -1.01747951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541400513 meters 0.05611610157516018 Centerline is valid? [True, True] Translation: X:61.10, Y:4.99, Z:-0.09 [[ 9.99368568e-01 -3.52637976e-02 -4.35089255e-03 6.11004850e+01] [ 3.52624787e-02 9.99378013e-01 -3.79515856e-04 4.99298619e+00] [ 4.36156952e-03 2.25852962e-04 9.99990463e-01 -9.37764271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.601400512999994 meters 0.05844424092290221 Centerline is valid? [True, True] Translation: X:61.16, Y:5.00, Z:-0.09 [[ 9.99518617e-01 -3.07995922e-02 -3.73074214e-03 6.11601269e+01] [ 3.07985921e-02 9.99525558e-01 -3.25235068e-04 4.99875949e+00] [ 3.73898923e-03 2.10176900e-04 9.99992988e-01 -9.19109061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661400513 meters 0.0627630721245646 Centerline is valid? [True, True] Translation: X:61.22, Y:5.01, Z:-0.09 [[ 9.99709233e-01 -2.36851171e-02 -4.52370115e-03 6.12198740e+01] [ 2.36835739e-02 9.99719427e-01 -3.94391967e-04 5.01051672e+00] [ 4.53177314e-03 2.87139880e-04 9.99989690e-01 -9.21279285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721400513 meters 0.06364022695569121 Centerline is valid? [True, True] Translation: X:61.28, Y:5.02, Z:-0.09 [[ 9.99777539e-01 -2.08147794e-02 -3.40850013e-03 6.12796079e+01] [ 2.08138867e-02 9.99783323e-01 -2.97172707e-04 5.01610863e+00] [ 3.41394717e-03 2.26162462e-04 9.99994147e-01 -8.94543649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781400513 meters 0.07285460975094894 Centerline is valid? [True, True] Translation: X:61.34, Y:5.03, Z:-0.09 [[ 9.99804457e-01 -1.95295204e-02 -3.10573802e-03 6.13366871e+01] [ 1.95287717e-02 9.99809259e-01 -2.71222983e-04 5.02913291e+00] [ 3.11044248e-03 2.10518698e-04 9.99995140e-01 -9.17599484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841400512999996 meters 0.06509875746621217 Centerline is valid? [True, True] Translation: X:61.40, Y:5.02, Z:-0.09 [[ 9.99779034e-01 -2.07511582e-02 -3.35749712e-03 6.13964800e+01] [ 2.07502897e-02 9.99784647e-01 -2.93303321e-04 5.02201279e+00] [ 3.36286046e-03 2.23569473e-04 9.99994321e-01 -9.18589237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901400513 meters 0.061707452922903236 Centerline is valid? [True, True] Translation: X:61.46, Y:5.01, Z:-0.09 [[ 9.99666483e-01 -2.56664850e-02 -2.85557678e-03 6.14583219e+01] [ 2.56658774e-02 9.99670546e-01 -2.49229519e-04 5.01217894e+00] [ 2.86103285e-03 1.75855513e-04 9.99995892e-01 -9.08778653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961400513 meters 0.058436008415461045 Centerline is valid? [True, True] Translation: X:61.52, Y:5.00, Z:-0.09 [[ 9.99458005e-01 -3.28703370e-02 -1.79925545e-03 6.15195142e+01] [ 3.28701074e-02 9.99459620e-01 -1.57026608e-04 5.00031549e+00] [ 1.80344469e-03 9.77997798e-05 9.99998369e-01 -9.02664192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02140051299999 meters 0.05622476221417322 Centerline is valid? [True, True] Translation: X:61.58, Y:4.99, Z:-0.09 [[ 9.99404727e-01 -3.43631337e-02 -3.06042423e-03 6.15791588e+01] [ 3.43624752e-02 9.99409400e-01 -2.67503848e-04 4.99041019e+00] [ 3.06780901e-03 1.62180858e-04 9.99995281e-01 -9.24732500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08140051299999 meters 0.053597940975204456 Centerline is valid? [True, True] Translation: X:61.64, Y:4.98, Z:-0.09 [[ 9.99503346e-01 -3.14336186e-02 -2.23360427e-03 6.16402576e+01] [ 3.14332608e-02 9.99505834e-01 -1.95140584e-04 4.97853642e+00] [ 2.23863448e-03 1.24834201e-04 9.99997486e-01 -8.88770091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141400513 meters 0.0633579019215032 Centerline is valid? [True, True] Translation: X:61.70, Y:4.99, Z:-0.09 [[ 9.99620738e-01 -2.75366269e-02 -3.39528918e-04 6.16987763e+01] [ 2.75366184e-02 9.99620795e-01 -2.97226160e-05 4.99115475e+00] [ 3.40218628e-04 2.03618651e-05 9.99999942e-01 -8.73489972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201400513 meters 0.06922766638059372 Centerline is valid? [True, True] Translation: X:61.76, Y:5.00, Z:-0.09 [[ 9.99775071e-01 -2.12006445e-02 -5.83984467e-04 6.17590950e+01] [ 2.12006183e-02 9.99775240e-01 -5.10043973e-05 4.99547424e+00] [ 5.84934537e-04 3.86120931e-05 9.99999828e-01 -8.79519312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26140051299998 meters 0.07108134796091924 Centerline is valid? [True, True] Translation: X:61.82, Y:5.00, Z:-0.09 [[ 9.99796342e-01 -2.01779166e-02 3.55531747e-04 6.18179906e+01] [ 2.01779069e-02 9.99796405e-01 3.08778232e-05 4.99929991e+00] [-3.56082413e-04 -2.36976482e-05 9.99999936e-01 -8.57460189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32140051299999 meters 0.07112136078354957 Centerline is valid? [True, True] Translation: X:61.88, Y:5.00, Z:-0.08 [[ 9.99802691e-01 -1.97437371e-02 2.18285096e-03 6.18772322e+01] [ 1.97433686e-02 9.99805063e-01 1.90204502e-04 5.00087745e+00] [-2.18618079e-03 -1.47070142e-04 9.99997599e-01 -8.20691145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38140051299999 meters 0.07456393194268487 Centerline is valid? [True, True] Translation: X:61.94, Y:5.01, Z:-0.08 [[ 9.99816917e-01 -1.91010977e-02 1.13170424e-03 6.19362442e+01] [ 1.91009978e-02 9.99817554e-01 9.90360954e-05 5.00831956e+00] [-1.13338946e-03 -7.74012835e-05 9.99999355e-01 -8.47075242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44140051299999 meters 0.07756193348358696 Centerline is valid? [True, True] Translation: X:62.00, Y:5.02, Z:-0.09 [[ 9.99845538e-01 -1.75570653e-02 8.06289967e-04 6.19954288e+01] [ 1.75570141e-02 9.99845861e-01 7.05342611e-05 5.01620870e+00] [-8.07404061e-04 -5.63673219e-05 9.99999672e-01 -8.54131084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501400513 meters 0.07705928975802338 Centerline is valid? [True, True] Translation: X:62.06, Y:5.02, Z:-0.09 [[ 9.99913522e-01 -1.31303116e-02 7.36569931e-04 6.20557536e+01] [ 1.31302677e-02 9.99913792e-01 6.44556842e-05 5.01950679e+00] [-7.37352756e-04 -5.47787499e-05 9.99999727e-01 -8.57470577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561400513 meters 0.07760897034841306 Centerline is valid? [True, True] Translation: X:62.12, Y:5.03, Z:-0.09 [[ 9.99927842e-01 -1.18699562e-02 -1.84799390e-03 6.21151584e+01] [ 1.18696770e-02 9.99929540e-01 -1.61945761e-04 5.02706020e+00] [ 1.84978598e-03 1.39998985e-04 9.99998279e-01 -8.97231937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621400513 meters 0.076785430413165 Centerline is valid? [True, True] Translation: X:62.17, Y:5.04, Z:-0.08 [[ 9.99914540e-01 -1.27150888e-02 3.03969561e-03 6.21740571e+01] [ 1.27143381e-02 9.99919134e-01 2.66161643e-04 5.03644817e+00] [-3.04283407e-03 -2.27491179e-04 9.99995345e-01 -8.35510749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68140051299999 meters 0.07540330619352856 Centerline is valid? [True, True] Translation: X:62.23, Y:5.04, Z:-0.08 [[ 9.99885563e-01 -1.45871765e-02 4.00947547e-03 6.22349875e+01] [ 1.45858846e-02 9.99893559e-01 3.51258369e-04 5.03936951e+00] [-4.01417256e-03 -2.92736426e-04 9.99991900e-01 -8.26402753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74140051299999 meters 0.07394249100415025 Centerline is valid? [True, True] Translation: X:62.30, Y:5.04, Z:-0.09 [[ 9.99838639e-01 -1.78764143e-02 1.76898511e-03 6.22961830e+01] [ 1.78761680e-02 9.99840197e-01 1.54963496e-04 5.04016355e+00] [-1.77147262e-03 -1.23315816e-04 9.99998423e-01 -8.59092178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80140051299999 meters 0.07101676432258426 Centerline is valid? [True, True] Translation: X:62.36, Y:5.04, Z:-0.09 [[ 9.99765950e-01 -2.16170116e-02 8.66083699e-04 6.23563308e+01] [ 2.16169540e-02 9.99766323e-01 7.57737982e-05 5.03810289e+00] [-8.67519318e-04 -5.70339718e-05 9.99999622e-01 -8.78493761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86140051299999 meters 0.07408701553243864 Centerline is valid? [True, True] Translation: X:62.41, Y:5.04, Z:-0.09 [[ 9.99746040e-01 -2.25209978e-02 -8.12385483e-04 6.24149439e+01] [ 2.25209465e-02 9.99746369e-01 -7.21574154e-05 5.04005829e+00] [ 8.13804493e-04 5.38434003e-05 9.99999667e-01 -9.01535511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921400513 meters 0.06984533490212334 Centerline is valid? [True, True] Translation: X:62.47, Y:5.04, Z:-0.08 [[ 9.99758732e-01 -2.18598126e-02 2.15080690e-03 6.24739557e+01] [ 2.18594580e-02 9.99761036e-01 1.88223368e-04 5.03841832e+00] [-2.15440746e-03 -1.41162482e-04 9.99997669e-01 -8.46491948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981400513 meters 0.06307042481904376 Centerline is valid? [True, True] Translation: X:62.54, Y:5.03, Z:-0.08 [[ 9.99798377e-01 -1.98489278e-02 3.03725095e-03 6.25356351e+01] [ 1.98482078e-02 9.99802969e-01 2.67035908e-04 5.02871704e+00] [-3.04195289e-03 -2.06698079e-04 9.99995352e-01 -8.25497301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04140051299999 meters 0.07686928798867358 Centerline is valid? [True, True] Translation: X:62.59, Y:5.05, Z:-0.08 [[ 9.99848285e-01 -1.73063401e-02 1.97430308e-03 6.25935541e+01] [ 1.73060309e-02 9.99850224e-01 1.73584690e-04 5.04938929e+00] [-1.97701149e-03 -1.39391004e-04 9.99998036e-01 -8.40520808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10140051299999 meters 0.07683806273197931 Centerline is valid? [True, True] Translation: X:62.65, Y:5.05, Z:-0.08 [[ 9.99961445e-01 -8.10961823e-03 3.36786122e-03 6.26538155e+01] [ 8.10866669e-03 9.99967080e-01 2.96093431e-04 5.05069660e+00] [-3.37015156e-03 -2.68773151e-04 9.99994285e-01 -8.18559110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16140051299999 meters 0.08944381053113287 Centerline is valid? [True, True] Translation: X:62.71, Y:5.07, Z:-0.08 [[ 9.99994535e-01 1.22061026e-03 3.07253995e-03 6.27116282e+01] [-1.22144615e-03 9.99999218e-01 2.70190616e-04 5.06884573e+00] [-3.07220775e-03 -2.73942082e-04 9.99995243e-01 -8.36151619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22140051299999 meters 0.09807874236434543 Centerline is valid? [True, True] Translation: X:62.77, Y:5.09, Z:-0.08 [[ 9.99909487e-01 1.28532626e-02 3.97647315e-03 6.27707263e+01] [-1.28547533e-02 9.99917313e-01 3.49547829e-04 5.08742500e+00] [-3.97165152e-03 -4.00632771e-04 9.99992033e-01 -8.28905856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281400513 meters 0.10341067683102313 Centerline is valid? [True, False] Translation: X:62.77, Y:5.09, Z:-0.08 [[ 9.99911797e-01 1.26370629e-02 4.08693182e-03 6.27704862e+01] [-1.26359453e-02 9.99920119e-01 -2.99160216e-04 5.09030254e+00] [-4.09038586e-03 2.47491583e-04 9.99991604e-01 -8.31412666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341400513 meters 0.10166762038458188 Centerline is valid? [False, False] Translation: X:62.77, Y:5.09, Z:-0.08 [[ 9.99957877e-01 8.24535461e-03 4.03223609e-03 6.27707860e+01] [-8.22583164e-03 9.99954480e-01 -4.83457244e-03 5.09112042e+00] [-4.07191531e-03 4.80120030e-03 9.99980184e-01 -8.38030116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40140051299998 meters 0.08898282856237953 Centerline is valid? [False, True] Translation: X:62.77, Y:5.08, Z:-0.07 [[ 9.99994451e-01 -2.45209973e-03 -2.25483091e-03 6.27655411e+01] [ 2.45876917e-03 9.99992597e-01 2.95984500e-03 5.08315681e+00] [ 2.24755638e-03 -2.96537268e-03 9.99993078e-01 -7.47018312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46140051299999 meters 0.07675885949886163 Centerline is valid? [True, True] Translation: X:62.83, Y:5.08, Z:-0.07 [[ 9.99955410e-01 -9.44333274e-03 -2.50320602e-05 6.28271633e+01] [ 9.44333269e-03 9.99955411e-01 -2.29049605e-06 5.07533027e+00] [ 2.50525739e-05 2.05400785e-06 1.00000000e+00 -7.20133191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52140051299999 meters 0.07331430497258279 Centerline is valid? [True, True] Translation: X:62.89, Y:5.07, Z:-0.07 [[ 9.99798006e-01 -2.00413741e-02 -1.51328052e-03 6.28875673e+01] [ 2.00411873e-02 9.99799146e-01 -1.38502946e-04 5.07217383e+00] [ 1.51575236e-03 1.08147030e-04 9.99998845e-01 -7.43515356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58140051299999 meters 0.06724765360881584 Centerline is valid? [True, True] Translation: X:62.95, Y:5.07, Z:-0.08 [[ 9.99617203e-01 -2.74724048e-02 -3.27331047e-03 6.29484313e+01] [ 2.74715704e-02 9.99622540e-01 -2.99610159e-04 5.06923222e+00] [ 3.28030594e-03 2.09572490e-04 9.99994598e-01 -7.60558402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641400513 meters 0.05985507458056542 Centerline is valid? [True, True] Translation: X:63.01, Y:5.07, Z:-0.07 [[ 9.99578396e-01 -2.89554920e-02 -2.14694791e-03 6.30089030e+01] [ 2.89551364e-02 9.99580693e-01 -1.96528242e-04 5.06931163e+00] [ 2.15173825e-03 1.34280216e-04 9.99997676e-01 -7.44448819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701400513 meters 0.06437552965977354 Centerline is valid? [True, True] Translation: X:63.07, Y:5.08, Z:-0.08 [[ 9.99569659e-01 -2.92510992e-02 -2.20658486e-03 6.30660392e+01] [ 2.92507241e-02 9.99572086e-01 -2.02065708e-04 5.08249657e+00] [ 2.21155127e-03 1.37434546e-04 9.99997545e-01 -7.50303747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76140051299998 meters 0.06849397554156217 Centerline is valid? [True, True] Translation: X:63.12, Y:5.10, Z:-0.08 [[ 9.99506412e-01 -3.13169596e-02 -2.48584336e-03 6.31238194e+01] [ 3.13164897e-02 9.99509493e-01 -2.27740420e-04 5.09914267e+00] [ 2.49175617e-03 1.49780122e-04 9.99996884e-01 -7.57982956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82140051299999 meters 0.05695584419083338 Centerline is valid? [True, True] Translation: X:63.18, Y:5.09, Z:-0.07 [[ 9.99347645e-01 -3.60626436e-02 -1.94144280e-03 6.31845377e+01] [ 3.60623658e-02 9.99349526e-01 -1.77903582e-04 5.09422192e+00] [ 1.94659561e-03 1.07774505e-04 9.99998100e-01 -7.45510592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88140051299999 meters 0.05001688709554894 Centerline is valid? [True, True] Translation: X:63.25, Y:5.10, Z:-0.07 [[ 9.99220652e-01 -3.94721157e-02 1.99591307e-04 6.32455554e+01] [ 3.94721128e-02 9.99220672e-01 1.82948492e-05 5.09537788e+00] [-2.00157896e-04 -1.04023006e-05 9.99999980e-01 -7.16144389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94140051299999 meters 0.04960477224242734 Centerline is valid? [True, True] Translation: X:63.30, Y:5.10, Z:-0.07 [[ 9.98996431e-01 -4.47790856e-02 9.82445128e-04 6.33044479e+01] [ 4.47790187e-02 9.98996913e-01 9.00841449e-05 5.10291229e+00] [-9.85493535e-04 -4.60008105e-05 9.99999513e-01 -7.07767669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001400513 meters 0.03952702391631742 Centerline is valid? [True, True] Translation: X:63.37, Y:5.10, Z:-0.08 [[ 9.98518444e-01 -5.43914829e-02 -1.57601194e-03 6.33653330e+01] [ 5.43913225e-02 9.98519686e-01 -1.44473904e-04 5.09911323e+00] [ 1.58153710e-03 5.85384836e-05 9.99998748e-01 -7.58248821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061400513 meters 0.03295094908297537 Centerline is valid? [True, True] Translation: X:63.43, Y:5.10, Z:-0.08 [[ 9.98170640e-01 -6.03749805e-02 -3.19910234e-03 6.34260503e+01] [ 6.03743504e-02 9.98175762e-01 -2.93267276e-04 5.09544692e+00] [ 3.21097242e-03 9.95870586e-05 9.99994840e-01 -7.80386149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121400513 meters 0.024968663125491893 Centerline is valid? [True, True] Translation: X:63.49, Y:5.09, Z:-0.08 [[ 9.97627981e-01 -6.87380535e-02 -3.67306044e-03 6.34870027e+01] [ 6.87372794e-02 9.97634739e-01 -3.36735575e-04 5.09014360e+00] [ 3.68751924e-03 8.34606504e-05 9.99993198e-01 -7.88105178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18140051299999 meters 0.018683350537266972 Centerline is valid? [True, True] Translation: X:63.55, Y:5.09, Z:-0.08 [[ 9.97275675e-01 -7.37433087e-02 -1.77578718e-03 6.35475056e+01] [ 7.37431356e-02 9.97277255e-01 -1.62810900e-04 5.08599834e+00] [ 1.78295838e-03 3.14152350e-05 9.99998410e-01 -7.68984857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24140051299999 meters 0.01256459214591086 Centerline is valid? [True, True] Translation: X:63.61, Y:5.08, Z:-0.08 [[ 9.96648668e-01 -8.17735253e-02 -2.12691826e-03 6.36068299e+01] [ 8.17732952e-02 9.96650937e-01 -1.95057054e-04 5.08168548e+00] [ 2.13574558e-03 2.04782385e-05 9.99997719e-01 -7.75453983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30140051299999 meters 0.007974479450460726 Centerline is valid? [True, True] Translation: X:63.67, Y:5.07, Z:-0.08 [[ 9.96244338e-01 -8.65541087e-02 -2.36755757e-03 6.36662953e+01] [ 8.65538364e-02 9.96247151e-01 -2.17388183e-04 5.07427512e+00] [ 2.37748833e-03 1.16505556e-05 9.99997174e-01 -7.66910637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36140051299999 meters 0.008251581346804548 Centerline is valid? [True, True] Translation: X:63.72, Y:5.08, Z:-0.07 [[ 9.96261577e-01 -8.63746836e-02 -1.51123960e-03 6.37239750e+01] [ 8.63745722e-02 9.96262723e-01 -1.38962644e-04 5.07622392e+00] [ 1.51759453e-03 7.91046932e-06 9.99998848e-01 -7.49880816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421400513 meters 0.012729930975169227 Centerline is valid? [True, True] Translation: X:63.78, Y:5.09, Z:-0.08 [[ 9.96647243e-01 -8.17742450e-02 -2.69170056e-03 6.37808935e+01] [ 8.17738733e-02 9.96650878e-01 -2.48027531e-04 5.08954278e+00] [ 2.70296799e-03 2.70851748e-05 9.99996347e-01 -7.73209459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481400513 meters 0.015711579004712588 Centerline is valid? [True, True] Translation: X:63.84, Y:5.10, Z:-0.08 [[ 9.96873076e-01 -7.89968805e-02 -1.88783889e-03 6.38387925e+01] [ 7.89966923e-02 9.96874863e-01 -1.74154944e-04 5.10083703e+00] [ 1.89569683e-03 2.44773463e-05 9.99998203e-01 -7.53171702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54140051299999 meters 0.016963839746827154 Centerline is valid? [True, True] Translation: X:63.90, Y:5.11, Z:-0.07 [[ 9.96964677e-01 -7.78513398e-02 -7.75545427e-04 6.38972992e+01] [ 7.78513077e-02 9.96964979e-01 -7.15675707e-05 5.11186802e+00] [ 7.78763262e-04 1.09731144e-05 9.99999697e-01 -7.32660477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60140051299999 meters 0.010131464137354182 Centerline is valid? [True, True] Translation: X:63.96, Y:5.11, Z:-0.07 [[ 9.96437355e-01 -8.43170507e-02 -1.79810188e-03 6.39570395e+01] [ 8.43168877e-02 9.96438977e-01 -1.66392254e-04 5.11052381e+00] [ 1.80572850e-03 1.41891034e-05 9.99998370e-01 -7.49987951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66140051299999 meters 0.006237389978888747 Centerline is valid? [True, True] Translation: X:64.02, Y:5.11, Z:-0.07 [[ 9.95766367e-01 -9.19062965e-02 -1.60485369e-03 6.40164083e+01] [ 9.19061762e-02 9.95767660e-01 -1.48676065e-04 5.10849783e+00] [ 1.61172567e-03 5.50659215e-07 9.99998701e-01 -7.48143766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72140051299999 meters 0.008423591731011907 Centerline is valid? [True, True] Translation: X:64.07, Y:5.11, Z:-0.08 [[ 9.95237908e-01 -9.74039057e-02 -3.73986350e-03 6.40748679e+01] [ 9.74032893e-02 9.95244934e-01 -3.47059819e-04 5.10765929e+00] [ 3.75588519e-03 -1.88679186e-05 9.99992946e-01 -7.82787265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781400513 meters 0.010448861978380752 Centerline is valid? [True, True] Translation: X:64.13, Y:5.12, Z:-0.08 [[ 9.95251753e-01 -9.73036282e-02 -2.43985935e-03 6.41326142e+01] [ 9.73033648e-02 9.95254743e-01 -2.26729348e-04 5.11608891e+00] [ 2.45034318e-03 -1.17537435e-05 9.99996998e-01 -7.58333914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841400513 meters 0.00640037942327209 Centerline is valid? [True, True] Translation: X:64.19, Y:5.13, Z:-0.07 [[ 9.95650804e-01 -9.31614713e-02 6.45390560e-04 6.41897116e+01] [ 9.31614519e-02 9.95651013e-01 6.01868850e-05 5.13083766e+00] [-6.48190864e-04 2.00401145e-07 9.99999790e-01 -7.03324206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90140051299998 meters 0.007408200712886312 Centerline is valid? [True, True] Translation: X:64.25, Y:5.15, Z:-0.07 [[ 9.96004176e-01 -8.93041775e-02 6.66832882e-04 6.42472512e+01] [ 8.93041558e-02 9.96004400e-01 6.23734203e-05 5.14920778e+00] [-6.69738692e-04 -2.57323945e-06 9.99999776e-01 -7.10482427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96140051299999 meters 0.01729631559633785 Centerline is valid? [True, True] Translation: X:64.30, Y:5.16, Z:-0.07 [[ 9.96056941e-01 -8.87160653e-02 1.71835073e-04 6.43041211e+01] [ 8.87160639e-02 9.96056956e-01 1.62728650e-05 5.15976087e+00] [-1.72601184e-04 -9.64168770e-07 9.99999985e-01 -7.21014919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02140051299999 meters 0.007444738941333995 Centerline is valid? [True, True] Translation: X:64.36, Y:5.17, Z:-0.08 [[ 9.95981874e-01 -8.95121483e-02 -2.77172263e-03 6.43610465e+01] [ 8.95117736e-02 9.95985730e-01 -2.59207707e-04 5.16667754e+00] [ 2.78379843e-03 1.00643687e-05 9.99996125e-01 -7.67931211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08140051299999 meters 0.006889346902771681 Centerline is valid? [True, True] Translation: X:64.42, Y:5.17, Z:-0.08 [[ 9.95851124e-01 -9.09034714e-02 -4.13504561e-03 6.44188610e+01] [ 9.09026463e-02 9.95859708e-01 -3.87437804e-04 5.16983102e+00] [ 4.15314476e-03 9.94378410e-06 9.99991376e-01 -7.85227133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141400513 meters 0.006307560005446144 Centerline is valid? [True, True] Translation: X:64.48, Y:5.17, Z:-0.07 [[ 9.95679576e-01 -9.28361710e-02 -1.90464770e-03 6.44761992e+01] [ 9.28359992e-02 9.95681398e-01 -1.78605144e-04 5.17309077e+00] [ 1.91300330e-03 1.01362180e-06 9.99998170e-01 -7.39777959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201400513 meters 0.006712233223645604 Centerline is valid? [True, True] Translation: X:64.53, Y:5.18, Z:-0.07 [[ 9.95818304e-01 -9.13384462e-02 -1.78724675e-03 6.45337956e+01] [ 9.13382921e-02 9.95819908e-01 -1.67796600e-04 5.18042310e+00] [ 1.79510217e-03 3.85085946e-06 9.99998389e-01 -7.44670454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26140051299998 meters 0.0096727349967536 Centerline is valid? [True, True] Translation: X:64.59, Y:5.19, Z:-0.08 [[ 9.96242382e-01 -8.65737780e-02 -2.46918876e-03 6.45914388e+01] [ 8.65734680e-02 9.96245442e-01 -2.32350690e-04 5.19282595e+00] [ 2.48003353e-03 1.77113700e-05 9.99996925e-01 -7.60362941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32140051299999 meters 0.011957889000839684 Centerline is valid? [True, True] Translation: X:64.65, Y:5.20, Z:-0.07 [[ 9.96444924e-01 -8.42369353e-02 -1.28552109e-03 6.46486142e+01] [ 8.42368492e-02 9.96445753e-01 -1.21075640e-04 5.20221337e+00] [ 1.29115107e-03 1.23569607e-05 9.99999166e-01 -7.36133760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38140051299999 meters 0.016218580772704282 Centerline is valid? [True, True] Translation: X:64.71, Y:5.21, Z:-0.08 [[ 9.96846339e-01 -7.92946788e-02 -3.11943924e-03 6.47074114e+01] [ 7.92941470e-02 9.96851218e-01 -2.94007288e-04 5.21298036e+00] [ 3.13293002e-03 4.57268148e-05 9.99995091e-01 -7.63791548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44140051299999 meters 0.019970127770198572 Centerline is valid? [True, True] Translation: X:64.77, Y:5.23, Z:-0.08 [[ 9.97193121e-01 -7.48322065e-02 -2.45382790e-03 6.47662923e+01] [ 7.48318637e-02 9.97196139e-01 -2.31327201e-04 5.22561742e+00] [ 2.46425843e-03 4.70533783e-05 9.99996963e-01 -7.65273772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501400513 meters 0.03193831774845886 Centerline is valid? [True, True] Translation: X:64.82, Y:5.25, Z:-0.07 [[ 9.97779910e-01 -6.65753888e-02 -1.72308563e-03 6.48239563e+01] [ 6.65752074e-02 9.97781397e-01 -1.62466036e-04 5.24791432e+00] [ 1.73007903e-03 4.73905630e-05 9.99998502e-01 -7.48068766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561400513 meters 0.03344093607568459 Centerline is valid? [True, True] Translation: X:64.88, Y:5.26, Z:-0.07 [[ 9.98134745e-01 -6.10068555e-02 -2.27921336e-03 6.48837742e+01] [ 6.10065236e-02 9.98137344e-01 -2.14930296e-04 5.25703664e+00] [ 2.28808020e-03 7.54825122e-05 9.99997379e-01 -7.45823777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621400513 meters 0.036711267069073336 Centerline is valid? [True, True] Translation: X:64.94, Y:5.27, Z:-0.07 [[ 9.98299054e-01 -5.82859591e-02 -1.32098565e-03 6.49420259e+01] [ 5.82858452e-02 9.98299927e-01 -1.24582240e-04 5.26901961e+00] [ 1.32600127e-03 4.73755674e-05 9.99999120e-01 -7.32769241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68140051299999 meters 0.04249690603026633 Centerline is valid? [True, True] Translation: X:65.00, Y:5.29, Z:-0.07 [[ 9.98638819e-01 -5.21104286e-02 2.23874286e-03 6.50007784e+01] [ 5.21100857e-02 9.98641324e-01 2.11237505e-04 5.28680917e+00] [-2.24670881e-03 -9.42888905e-05 9.99997472e-01 -6.83948516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74140051299999 meters 0.04808135641249135 Centerline is valid? [True, True] Translation: X:65.06, Y:5.30, Z:-0.07 [[ 9.98739972e-01 -5.01812557e-02 5.57051948e-04 6.50581731e+01] [ 5.01812341e-02 9.98740127e-01 5.26150752e-05 5.30283733e+00] [-5.58990424e-04 -2.45952244e-05 9.99999843e-01 -7.11549243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80140051299999 meters 0.04389078187929372 Centerline is valid? [True, True] Translation: X:65.12, Y:5.30, Z:-0.07 [[ 9.98681469e-01 -5.13239978e-02 -1.08191583e-03 6.51175682e+01] [ 5.13239173e-02 9.98682054e-01 -1.02117291e-04 5.30434788e+00] [ 1.08573099e-03 4.64544876e-05 9.99999410e-01 -7.41988245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86140051299999 meters 0.04675969848886512 Centerline is valid? [True, True] Translation: X:65.17, Y:5.32, Z:-0.07 [[ 9.98687642e-01 -5.11458337e-02 2.66427709e-03 6.51740978e+01] [ 5.11453427e-02 9.98691189e-01 2.52135879e-04 5.31598454e+00] [-2.67368575e-03 -1.15539622e-04 9.99996419e-01 -6.71306425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921400513 meters 0.05201849209677752 Centerline is valid? [True, True] Translation: X:65.23, Y:5.33, Z:-0.07 [[ 9.98791758e-01 -4.90142285e-02 3.55369483e-03 6.52318260e+01] [ 4.90133414e-02 9.98798067e-01 3.36363901e-04 5.33107769e+00] [-3.56591015e-03 -1.61779034e-04 9.99993629e-01 -6.51214420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981400513 meters 0.052040397138480535 Centerline is valid? [True, True] Translation: X:65.29, Y:5.34, Z:-0.07 [[ 9.98915323e-01 -4.65340245e-02 1.66184759e-03 6.52909824e+01] [ 4.65338271e-02 9.98916702e-01 1.57311098e-04 5.34157660e+00] [-1.66736764e-03 -7.98083382e-05 9.99998607e-01 -6.92915621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04140051299999 meters 0.053831970758789836 Centerline is valid? [True, True] Translation: X:65.35, Y:5.35, Z:-0.07 [[ 9.98989306e-01 -4.49428709e-02 7.11214146e-04 6.53495805e+01] [ 4.49428343e-02 9.98989558e-01 6.74077526e-05 5.35024583e+00] [-7.13525003e-04 -3.53756445e-05 9.99999745e-01 -7.12878025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10140051299999 meters 0.05251303118782185 Centerline is valid? [True, True] Translation: X:65.41, Y:5.36, Z:-0.08 [[ 9.99178894e-01 -4.04469141e-02 -2.36308649e-03 6.54097747e+01] [ 4.04464976e-02 9.99181681e-01 -2.23790375e-04 5.35981139e+00] [ 2.37020436e-03 1.28028047e-04 9.99997183e-01 -7.53093288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16140051299999 meters 0.06110492852228552 Centerline is valid? [True, True] Translation: X:65.47, Y:5.38, Z:-0.08 [[ 9.99343853e-01 -3.61734413e-02 -1.82915697e-03 6.54676339e+01] [ 3.61731846e-02 9.99345521e-01 -1.73233828e-04 5.37952949e+00] [ 1.83422629e-03 1.06953729e-04 9.99998312e-01 -7.55695159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22140051299999 meters 0.06366886282042131 Centerline is valid? [True, True] Translation: X:65.53, Y:5.39, Z:-0.08 [[ 9.99474283e-01 -3.23298301e-02 -2.43708119e-03 6.55275243e+01] [ 3.23293630e-02 9.99477243e-01 -2.30830373e-04 5.39012528e+00] [ 2.44326990e-03 1.51919739e-04 9.99997004e-01 -7.64524627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281400513 meters 0.06138266713690188 Centerline is valid? [True, True] Translation: X:65.59, Y:5.40, Z:-0.08 [[ 9.99435385e-01 -3.33713361e-02 -3.90717384e-03 6.55867112e+01] [ 3.33701416e-02 9.99442993e-01 -3.70510245e-04 5.39565737e+00] [ 3.91736194e-03 2.39918104e-04 9.99992298e-01 -7.96458102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341400513 meters 0.06310696335369428 Centerline is valid? [True, True] Translation: X:65.65, Y:5.40, Z:-0.07 [[ 9.99377040e-01 -3.52773707e-02 1.01889833e-03 6.56453855e+01] [ 3.52772903e-02 9.99377558e-01 9.67118751e-05 5.40216801e+00] [-1.02167587e-03 -6.07076552e-05 9.99999476e-01 -7.12366393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40140051299998 meters 0.06798054169813171 Centerline is valid? [True, True] Translation: X:65.70, Y:5.42, Z:-0.07 [[ 9.99399220e-01 -3.45922487e-02 2.13908475e-03 6.57021801e+01] [ 3.45918926e-02 9.99401501e-01 2.03263121e-04 5.41548506e+00] [-2.14483584e-03 -1.29146014e-04 9.99997691e-01 -6.84564770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46140051299999 meters 0.057338229564810224 Centerline is valid? [True, True] Translation: X:65.76, Y:5.41, Z:-0.07 [[ 9.99422925e-01 -3.39516800e-02 1.04933155e-03 6.57622121e+01] [ 3.39515937e-02 9.99423473e-01 1.00023705e-04 5.40744218e+00] [-1.05212256e-03 -6.43395054e-05 9.99999444e-01 -7.13305736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52140051299999 meters 0.05847204529708348 Centerline is valid? [True, True] Translation: X:65.82, Y:5.41, Z:-0.07 [[ 9.99380131e-01 -3.49838845e-02 3.93466942e-03 6.58206423e+01] [ 3.49826774e-02 9.99387848e-01 3.75212294e-04 5.40941413e+00] [-3.94538719e-03 -2.37334441e-04 9.99992189e-01 -6.68400802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58140051299999 meters 0.05629929048633035 Centerline is valid? [True, True] Translation: X:65.88, Y:5.41, Z:-0.06 [[ 9.99257266e-01 -3.79006150e-02 6.96137347e-03 6.58814273e+01] [ 3.78969086e-02 9.99281434e-01 6.63613524e-04 5.40536664e+00] [-6.98152262e-03 -3.99306101e-04 9.99975549e-01 -6.38065262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641400513 meters 0.05866269137906349 Centerline is valid? [True, True] Translation: X:65.94, Y:5.41, Z:-0.07 [[ 9.99160801e-01 -4.05373051e-02 5.86698070e-03 6.59411128e+01] [ 4.05347174e-02 9.99177974e-01 5.59338683e-04 5.40557148e+00] [-5.88483197e-03 -3.21052881e-04 9.99982633e-01 -6.52122457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701400513 meters 0.05365827774057179 Centerline is valid? [True, True] Translation: X:66.00, Y:5.39, Z:-0.07 [[ 9.99047486e-01 -4.32318330e-02 5.92696823e-03 6.60024058e+01] [ 4.32292390e-02 9.99065020e-01 5.65127912e-04 5.39464634e+00] [-5.94585815e-03 -3.08371294e-04 9.99982276e-01 -6.54387639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76140051299998 meters 0.05691251626107242 Centerline is valid? [True, True] Translation: X:66.06, Y:5.40, Z:-0.07 [[ 9.99131614e-01 -4.14086964e-02 4.61933242e-03 6.60608554e+01] [ 4.14071001e-02 9.99142261e-01 4.40698176e-04 5.39518489e+00] [-4.63361898e-03 -2.49042319e-04 9.99989234e-01 -6.71415517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82140051299999 meters 0.06730719182923543 Centerline is valid? [True, True] Translation: X:66.12, Y:5.40, Z:-0.07 [[ 9.99485309e-01 -3.17873034e-02 4.32250027e-03 6.61208215e+01] [ 3.17858162e-02 9.99494618e-01 4.12353050e-04 5.40265798e+00] [-4.33342335e-03 -2.74746616e-04 9.99990573e-01 -6.71313562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88140051299999 meters 0.07774377226393792 Centerline is valid? [True, True] Translation: X:66.18, Y:5.42, Z:-0.07 [[ 9.99783725e-01 -2.04294262e-02 3.89131948e-03 6.61803402e+01] [ 2.04281351e-02 9.99791255e-01 3.71241597e-04 5.41651486e+00] [-3.89809144e-03 -2.91668906e-04 9.99992360e-01 -6.79264491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94140051299999 meters 0.09117097351595829 Centerline is valid? [True, True] Translation: X:66.24, Y:5.44, Z:-0.07 [[ 9.99885557e-01 -1.50227975e-02 1.78540246e-03 6.62380974e+01] [ 1.50225171e-02 9.99887141e-01 1.70349466e-04 5.43883687e+00] [-1.78776009e-03 -1.43508732e-04 9.99998392e-01 -7.12200934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001400513 meters 0.08505035255418565 Centerline is valid? [True, True] Translation: X:66.30, Y:5.44, Z:-0.07 [[ 9.99931310e-01 -1.16558010e-02 1.23158974e-03 6.62988636e+01] [ 1.16556651e-02 9.99932064e-01 1.17500899e-04 5.43870845e+00] [-1.23287564e-03 -1.03137831e-04 9.99999235e-01 -7.30854437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061400513 meters 0.07664784053148582 Centerline is valid? [True, True] Translation: X:66.36, Y:5.43, Z:-0.07 [[ 9.99891960e-01 -1.46499564e-02 1.20267439e-03 6.63597019e+01] [ 1.46498289e-02 9.99892679e-01 1.14747991e-04 5.43483925e+00] [-1.20422637e-03 -9.71166194e-05 9.99999270e-01 -7.41148740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121400513 meters 0.07760790206357837 Centerline is valid? [True, True] Translation: X:66.42, Y:5.44, Z:-0.07 [[ 9.99737659e-01 -2.25228224e-02 4.16351572e-03 6.64186699e+01] [ 2.25213620e-02 9.99746283e-01 3.97315991e-04 5.44010108e+00] [-4.17140805e-03 -3.03443714e-04 9.99991254e-01 -6.85582758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18140051299999 meters 0.0667882864052452 Centerline is valid? [True, True] Translation: X:66.48, Y:5.43, Z:-0.07 [[ 9.99606095e-01 -2.76670251e-02 4.71072266e-03 6.64797144e+01] [ 2.76652124e-02 9.99617144e-01 4.49527704e-04 5.43360328e+00] [-4.72135623e-03 -3.19027489e-04 9.99988803e-01 -6.93491879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24140051299999 meters 0.0688977583621555 Centerline is valid? [True, True] Translation: X:66.54, Y:5.44, Z:-0.07 [[ 9.99595388e-01 -2.84140977e-02 1.30338665e-03 6.65386769e+01] [ 2.84139595e-02 9.99596234e-01 1.24404244e-04 5.44379478e+00] [-1.30639522e-03 -8.73195327e-05 9.99999143e-01 -7.42626141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30140051299999 meters 0.0644501138711777 Centerline is valid? [True, True] Translation: X:66.60, Y:5.45, Z:-0.07 [[ 9.99621743e-01 -2.74932649e-02 7.00861567e-04 6.65983003e+01] [ 2.74932247e-02 9.99621988e-01 6.69302061e-05 5.44934587e+00] [-7.02436763e-04 -4.76359447e-05 9.99999752e-01 -7.45755521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36140051299999 meters 0.07418915140099618 Centerline is valid? [True, True] Translation: X:66.65, Y:5.47, Z:-0.07 [[ 9.99642598e-01 -2.67193628e-02 8.67469206e-04 6.66549143e+01] [ 2.67193009e-02 9.99642972e-01 8.28775213e-05 5.47410520e+00] [-8.69373930e-04 -5.96697299e-05 9.99999620e-01 -7.42263322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421400513 meters 0.07297428324350666 Centerline is valid? [True, True] Translation: X:66.71, Y:5.48, Z:-0.08 [[ 9.99606841e-01 -2.80385653e-02 -4.43807638e-05 6.67143330e+01] [ 2.80385651e-02 9.99606842e-01 -4.20505689e-06 5.48331260e+00] [ 4.44812189e-05 2.95903070e-06 9.99999999e-01 -7.66603707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481400513 meters 0.060705689889441444 Centerline is valid? [True, True] Translation: X:66.78, Y:5.48, Z:-0.08 [[ 9.99379193e-01 -3.52300734e-02 2.65077872e-04 6.67753675e+01] [ 3.52300679e-02 9.99379228e-01 2.53297655e-05 5.47681557e+00] [-2.65805689e-04 -1.59753291e-05 9.99999965e-01 -7.80617820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54140051299999 meters 0.05725447397766013 Centerline is valid? [True, True] Translation: X:66.84, Y:5.48, Z:-0.08 [[ 9.99301692e-01 -3.73605893e-02 5.60446087e-04 6.68358284e+01] [ 3.73605651e-02 9.99301849e-01 5.35605746e-05 5.47924095e+00] [-5.62055866e-04 -3.25845903e-05 9.99999842e-01 -7.80359348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60140051299999 meters 0.05977708775326164 Centerline is valid? [True, True] Translation: X:66.89, Y:5.49, Z:-0.08 [[ 9.99254350e-01 -3.86061762e-02 -5.54183576e-04 6.68934507e+01] [ 3.86061528e-02 9.99254503e-01 -5.29252203e-05 5.48930941e+00] [ 5.55813675e-04 3.14908608e-05 9.99999845e-01 -7.95262991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66140051299999 meters 0.06430001858576313 Centerline is valid? [True, True] Translation: X:66.95, Y:5.50, Z:-0.08 [[ 9.99347333e-01 -3.60086737e-02 -2.87819049e-03 6.69521443e+01] [ 3.60080301e-02 9.99351463e-01 -2.75147944e-04 5.50292546e+00] [ 2.88623159e-03 1.71330394e-04 9.99995820e-01 -8.35103409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72140051299999 meters 0.06999805509493116 Centerline is valid? [True, True] Translation: X:67.01, Y:5.52, Z:-0.08 [[ 9.99567786e-01 -2.92698729e-02 -2.74162261e-03 6.70114608e+01] [ 2.92692636e-02 9.99571529e-01 -2.62099361e-04 5.51733184e+00] [ 2.74811952e-03 1.81740803e-04 9.99996207e-01 -8.31362643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781400513 meters 0.07518648200209542 Centerline is valid? [True, True] Translation: X:67.07, Y:5.53, Z:-0.09 [[ 9.99670454e-01 -2.53767365e-02 -3.87350034e-03 6.70709185e+01] [ 2.53754913e-02 9.99677922e-01 -3.70301507e-04 5.53113390e+00] [ 3.88164982e-03 2.71887501e-04 9.99992429e-01 -8.51528226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841400513 meters 0.07878479856789139 Centerline is valid? [True, True] Translation: X:67.13, Y:5.55, Z:-0.09 [[ 9.99781398e-01 -2.03564167e-02 -4.77208028e-03 6.71300848e+01] [ 2.03544697e-02 9.99792722e-01 -4.56216258e-04 5.54632788e+00] [ 4.78037806e-03 3.58983364e-04 9.99988509e-01 -8.78413864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90140051299998 meters 0.08308560525762573 Centerline is valid? [True, True] Translation: X:67.19, Y:5.56, Z:-0.09 [[ 9.99793532e-01 -1.94224006e-02 -5.97189698e-03 6.71870470e+01] [ 1.94193333e-02 9.99811264e-01 -5.71187580e-04 5.55972822e+00] [ 5.98186370e-03 4.55099390e-04 9.99982005e-01 -9.04654153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96140051299999 meters 0.07476277222514498 Centerline is valid? [True, True] Translation: X:67.25, Y:5.55, Z:-0.09 [[ 9.99704148e-01 -2.32820437e-02 -7.04006441e-03 6.72485924e+01] [ 2.32778756e-02 9.99728807e-01 -6.73416472e-04 5.55436567e+00] [ 7.05383370e-03 5.09339497e-04 9.99974992e-01 -9.05170159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02140051299999 meters 0.07586743593716941 Centerline is valid? [True, True] Translation: X:67.31, Y:5.56, Z:-0.09 [[ 9.99650800e-01 -2.51889778e-02 -7.98704707e-03 6.73070535e+01] [ 2.51836723e-02 9.99682549e-01 -7.64155139e-04 5.56407722e+00] [ 8.00375986e-03 5.62745120e-04 9.99967811e-01 -9.17555623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08140051299999 meters 0.08137839792192554 Centerline is valid? [True, True] Translation: X:67.36, Y:5.58, Z:-0.09 [[ 9.99707454e-01 -2.24347021e-02 -9.03832488e-03 6.73647428e+01] [ 2.24277950e-02 9.99748091e-01 -8.64849527e-04 5.58228886e+00] [ 9.05545069e-03 6.61886821e-04 9.99958780e-01 -9.34804131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141400513 meters 0.07674287386421749 Centerline is valid? [True, True] Translation: X:67.43, Y:5.59, Z:-0.09 [[ 9.99715962e-01 -2.08373647e-02 -1.15671945e-02 6.74250924e+01] [ 2.08259435e-02 9.99782504e-01 -1.10696397e-03 5.58546312e+00] [ 1.15877449e-02 8.65751807e-04 9.99932485e-01 -9.47205592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201400513 meters 0.07802394841859693 Centerline is valid? [True, True] Translation: X:67.48, Y:5.60, Z:-0.09 [[ 9.99651069e-01 -2.40902841e-02 -1.08350235e-02 6.74837347e+01] [ 2.40804510e-02 9.99709486e-01 -1.03708775e-03 5.59500529e+00] [ 1.08568595e-02 7.75813629e-04 9.99940762e-01 -9.36598981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26140051299998 meters 0.07005137775866392 Centerline is valid? [True, True] Translation: X:67.54, Y:5.59, Z:-0.09 [[ 9.99569737e-01 -2.77416431e-02 -9.52581496e-03 6.75441690e+01] [ 2.77342061e-02 9.99614917e-01 -9.11957436e-04 5.59277900e+00] [ 9.54744592e-03 6.47374139e-04 9.99954213e-01 -9.14375290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32140051299999 meters 0.05844454411504386 Centerline is valid? [True, True] Translation: X:67.61, Y:5.59, Z:-0.09 [[ 9.99409775e-01 -3.33020927e-02 -8.43042485e-03 6.76057233e+01] [ 3.32964652e-02 9.99445193e-01 -8.07038650e-04 5.58903591e+00] [ 8.45262366e-03 5.25858968e-04 9.99964138e-01 -8.91867221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38140051299999 meters 0.06855380473082084 Centerline is valid? [True, True] Translation: X:67.66, Y:5.60, Z:-0.09 [[ 9.99367232e-01 -3.38405480e-02 -1.09522645e-02 6.76621470e+01] [ 3.38310758e-02 9.99427015e-01 -1.04902753e-03 5.60389826e+00] [ 1.09814887e-02 6.77836843e-04 9.99939472e-01 -9.32506240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44140051299999 meters 0.06148172164252056 Centerline is valid? [True, True] Translation: X:67.72, Y:5.60, Z:-0.09 [[ 9.99406615e-01 -3.21299907e-02 -1.24129889e-02 6.77229803e+01] [ 3.21176893e-02 9.99483387e-01 -1.18914581e-03 5.60071984e+00] [ 1.24447834e-02 7.89763668e-04 9.99922249e-01 -9.26873163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501400513 meters 0.06601820535451917 Centerline is valid? [True, True] Translation: X:67.78, Y:5.61, Z:-0.09 [[ 9.99544754e-01 -2.88351464e-02 -8.87798335e-03 6.77823528e+01] [ 2.88287243e-02 9.99584004e-01 -8.50520967e-04 5.61263583e+00] [ 8.89881504e-03 5.94192837e-04 9.99960228e-01 -8.81242041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561400513 meters 0.0642617223629295 Centerline is valid? [True, True] Translation: X:67.84, Y:5.61, Z:-0.09 [[ 9.99574617e-01 -2.81245132e-02 -7.71993924e-03 6.78410400e+01] [ 2.81196276e-02 9.99604291e-01 -7.40688796e-04 5.61451202e+00] [ 7.73771590e-03 5.23291903e-04 9.99969927e-01 -8.60813586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62140051299998 meters 0.06383734328558777 Centerline is valid? [True, True] Translation: X:67.90, Y:5.62, Z:-0.09 [[ 9.99448718e-01 -3.19790157e-02 -8.92206902e-03 6.79006452e+01] [ 3.19726398e-02 9.99488378e-01 -8.56377464e-04 5.61614393e+00] [ 8.94489040e-03 5.70643260e-04 9.99959831e-01 -8.82546508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68140051299999 meters 0.05689243484289428 Centerline is valid? [True, True] Translation: X:67.96, Y:5.61, Z:-0.09 [[ 9.99194033e-01 -3.89403187e-02 -9.74350473e-03 6.79621093e+01] [ 3.89330442e-02 9.99241384e-01 -9.35243579e-04 5.60944016e+00] [ 9.77253183e-03 5.55145503e-04 9.99952094e-01 -8.90049315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74140051299999 meters 0.05726341890385244 Centerline is valid? [True, True] Translation: X:68.02, Y:5.61, Z:-0.09 [[ 9.99080763e-01 -4.12218848e-02 -1.17637018e-02 6.80208024e+01] [ 4.12114355e-02 9.99149810e-01 -1.12939903e-03 5.61093225e+00] [ 1.18002564e-02 6.43561804e-04 9.99930167e-01 -9.23017017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80140051299999 meters 0.05819023970042043 Centerline is valid? [True, True] Translation: X:68.08, Y:5.61, Z:-0.09 [[ 9.99257387e-01 -3.70785383e-02 -1.04812426e-02 6.80813765e+01] [ 3.70700154e-02 9.99312164e-01 -1.00633242e-03 5.61367080e+00] [ 1.05113465e-02 6.17045281e-04 9.99944564e-01 -8.73338211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86140051299999 meters 0.06819859507464544 Centerline is valid? [True, True] Translation: X:68.14, Y:5.63, Z:-0.09 [[ 9.99460383e-01 -3.07774171e-02 -1.14757453e-02 6.81397165e+01] [ 3.07667858e-02 9.99525983e-01 -1.10185142e-03 5.63140818e+00] [ 1.15042177e-02 7.48185042e-04 9.99933544e-01 -8.96718751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921400513 meters 0.07958307776773196 Centerline is valid? [True, True] Translation: X:68.20, Y:5.66, Z:-0.09 [[ 9.99725579e-01 -1.93927027e-02 -1.31411212e-02 6.81979918e+01] [ 1.93777816e-02 9.99811437e-01 -1.26183694e-03 5.65624819e+00] [ 1.31631137e-02 1.00684489e-03 9.99912856e-01 -9.03587468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981400513 meters 0.0819498700575423 Centerline is valid? [True, True] Translation: X:68.26, Y:5.67, Z:-0.09 [[ 9.99833126e-01 -1.51452511e-02 -1.02147318e-02 6.82572201e+01] [ 1.51360144e-02 9.99884963e-01 -9.80952708e-04 5.66798557e+00] [ 1.02284135e-02 8.26178685e-04 9.99947347e-01 -8.56247409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04140051299999 meters 0.07616582373167874 Centerline is valid? [True, True] Translation: X:68.32, Y:5.67, Z:-0.08 [[ 9.99817721e-01 -1.73453010e-02 -7.97910942e-03 6.83176815e+01] [ 1.73397346e-02 9.99849362e-01 -7.66282382e-04 5.66712570e+00] [ 7.99119886e-03 6.27787065e-04 9.99967873e-01 -8.07622953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10140051299999 meters 0.0830747758081459 Centerline is valid? [True, True] Translation: X:68.38, Y:5.68, Z:-0.08 [[ 9.99772930e-01 -1.92365055e-02 -9.16757326e-03 6.83752113e+01] [ 1.92292337e-02 9.99814713e-01 -8.80698731e-04 5.68008960e+00] [ 9.18281620e-03 7.04213342e-04 9.99957589e-01 -8.29978133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16140051299999 meters 0.0807969914182061 Centerline is valid? [True, True] Translation: X:68.43, Y:5.68, Z:-0.08 [[ 9.99771237e-01 -1.95370520e-02 -8.70502904e-03 6.84344503e+01] [ 1.95304961e-02 9.99808911e-01 -8.37498298e-04 5.68084615e+00] [ 8.71972785e-03 6.67293174e-04 9.99961760e-01 -8.18982430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22140051299999 meters 0.08353327568469007 Centerline is valid? [True, True] Translation: X:68.49, Y:5.69, Z:-0.08 [[ 9.99797185e-01 -1.92500352e-02 -5.91813847e-03 6.84914967e+01] [ 1.92469979e-02 9.99814597e-01 -5.69758931e-04 5.68745409e+00] [ 5.92800911e-03 4.55736977e-04 9.99982325e-01 -7.76233172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281400513 meters 0.07255924114924135 Centerline is valid? [True, True] Translation: X:68.55, Y:5.68, Z:-0.08 [[ 9.99793809e-01 -1.96820211e-02 -4.99578978e-03 6.85518516e+01] [ 1.96798586e-02 9.99806217e-01 -4.81656985e-04 5.67701209e+00] [ 5.00430167e-03 3.83241235e-04 9.99987405e-01 -7.56183724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341400513 meters 0.07365656682093608 Centerline is valid? [True, True] Translation: X:68.61, Y:5.68, Z:-0.08 [[ 9.99678195e-01 -2.45943827e-02 -6.21466169e-03 6.86110324e+01] [ 2.45911290e-02 9.99697413e-01 -5.99425377e-04 5.67856044e+00] [ 6.22752371e-03 4.46406932e-04 9.99980509e-01 -7.78670499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40140051299998 meters 0.07352067963970607 Centerline is valid? [True, True] Translation: X:68.67, Y:5.68, Z:-0.08 [[ 9.99612884e-01 -2.70565836e-02 -6.48257980e-03 6.86707649e+01] [ 2.70530944e-02 9.99633802e-01 -6.25348490e-04 5.68232653e+00] [ 6.49712569e-03 4.49732564e-04 9.99978792e-01 -7.88097444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46140051299999 meters 0.06475940758427597 Centerline is valid? [True, True] Translation: X:68.73, Y:5.67, Z:-0.08 [[ 9.99441207e-01 -3.24716864e-02 -7.92867363e-03 6.87322856e+01] [ 3.24666362e-02 9.99472527e-01 -7.64881801e-04 5.66873477e+00] [ 7.94932847e-03 5.07037028e-04 9.99968275e-01 -8.08375479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52140051299999 meters 0.06632187934848818 Centerline is valid? [True, True] Translation: X:68.79, Y:5.67, Z:-0.08 [[ 9.99409888e-01 -3.35785089e-02 -7.23599320e-03 6.87908483e+01] [ 3.35743293e-02 9.99435979e-01 -6.98342337e-04 5.67026234e+00] [ 7.25536124e-03 4.54986618e-04 9.99973576e-01 -7.90129083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58140051299999 meters 0.0715273028840973 Centerline is valid? [True, True] Translation: X:68.85, Y:5.67, Z:-0.08 [[ 9.99607970e-01 -2.72863484e-02 -6.27390855e-03 6.88507716e+01] [ 2.72830823e-02 9.99627564e-01 -6.05588125e-04 5.67466370e+00] [ 6.28809621e-03 4.34179152e-04 9.99980135e-01 -7.69896992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641400513 meters 0.07857750756345427 Centerline is valid? [True, True] Translation: X:68.91, Y:5.69, Z:-0.08 [[ 9.99764014e-01 -2.07661596e-02 -6.37835776e-03 6.89102348e+01] [ 2.07626516e-02 9.99784243e-01 -6.15728342e-04 5.68696344e+00] [ 6.38976790e-03 4.83151419e-04 9.99979469e-01 -7.79309534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701400513 meters 0.08469462143354071 Centerline is valid? [True, True] Translation: X:68.97, Y:5.70, Z:-0.07 [[ 9.99908555e-01 -1.31836573e-02 -3.01213990e-03 6.89696731e+01] [ 1.31828407e-02 9.99913060e-01 -2.90787970e-04 5.69830691e+00] [ 3.01571168e-03 2.51052818e-04 9.99995421e-01 -7.17851673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76140051299998 meters 0.09263023598762088 Centerline is valid? [True, True] Translation: X:69.03, Y:5.71, Z:-0.08 [[ 9.99950928e-01 -8.31954314e-03 -5.37829259e-03 6.90274654e+01] [ 8.31686939e-03 9.99965279e-01 -5.19312404e-04 5.71497584e+00] [ 5.38242630e-03 4.74556364e-04 9.99985402e-01 -7.57881310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82140051299999 meters 0.08703921675505913 Centerline is valid? [True, True] Translation: X:69.09, Y:5.71, Z:-0.08 [[ 9.99957485e-01 -6.75868921e-03 -6.27284153e-03 6.90877843e+01] [ 6.75502104e-03 9.99977001e-01 -6.05773003e-04 5.71098321e+00] [ 6.27679150e-03 5.63374072e-04 9.99980142e-01 -7.69846721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88140051299999 meters 0.09621358387802989 Centerline is valid? [True, True] Translation: X:69.14, Y:5.72, Z:-0.08 [[ 9.99951818e-01 -7.47299876e-03 -6.36515445e-03 6.91447763e+01] [ 7.46923333e-03 9.99971916e-01 -6.15136026e-04 5.72418418e+00] [ 6.36957260e-03 5.67563564e-04 9.99979553e-01 -7.70997857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94140051299999 meters 0.0935142901972469 Centerline is valid? [True, True] Translation: X:69.20, Y:5.73, Z:-0.07 [[ 9.99971902e-01 -6.68715567e-03 -3.38781416e-03 6.92038563e+01] [ 6.68608411e-03 9.99977594e-01 -3.27526248e-04 5.72650356e+00] [ 3.38992847e-03 3.04865835e-04 9.99994208e-01 -7.28269550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001400513 meters 0.08867030708035892 Centerline is valid? [True, True] Translation: X:69.26, Y:5.73, Z:-0.07 [[ 9.99979495e-01 -4.51595400e-03 -4.54053626e-03 6.92641334e+01] [ 4.51400656e-03 9.99989715e-01 -4.39056231e-04 5.72593795e+00] [ 4.54247232e-03 4.18551217e-04 9.99989595e-01 -7.46200282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061400513 meters 0.08217445386090372 Centerline is valid? [True, True] Translation: X:69.32, Y:5.72, Z:-0.08 [[ 9.99949431e-01 -6.73397389e-03 -7.46925965e-03 6.93248535e+01] [ 6.72876499e-03 9.99977101e-01 -7.22289557e-04 5.72209102e+00] [ 7.47395249e-03 6.71994139e-04 9.99971844e-01 -7.86898765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12140051299998 meters 0.0822108456625763 Centerline is valid? [True, True] Translation: X:69.38, Y:5.73, Z:-0.07 [[ 9.99872467e-01 -1.55704562e-02 -3.55103772e-03 6.93838888e+01] [ 1.55693341e-02 9.99878732e-01 -3.43431588e-04 5.72534592e+00] [ 3.55595448e-03 2.88100497e-04 9.99993636e-01 -7.19948465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18140051299999 meters 0.07543031085346433 Centerline is valid? [True, True] Translation: X:69.45, Y:5.72, Z:-0.08 [[ 9.99704992e-01 -2.37861026e-02 -4.91427007e-03 6.94456788e+01] [ 2.37840520e-02 9.99717006e-01 -4.75290254e-04 5.71913715e+00] [ 4.92418466e-03 3.58268785e-04 9.99987812e-01 -7.54566629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24140051299999 meters 0.06892470312260068 Centerline is valid? [True, True] Translation: X:69.51, Y:5.71, Z:-0.08 [[ 9.99652137e-01 -2.49169003e-02 -8.64594845e-03 6.95050988e+01] [ 2.49105921e-02 9.99689333e-01 -8.36553285e-04 5.71446478e+00] [ 8.66410676e-03 6.20886584e-04 9.99962273e-01 -8.09578093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30140051299999 meters 0.06999396816503313 Centerline is valid? [True, True] Translation: X:69.56, Y:5.72, Z:-0.08 [[ 9.99654604e-01 -2.48225905e-02 -8.63206482e-03 6.95634043e+01] [ 2.48162880e-02 9.99691679e-01 -8.36487857e-04 5.71864972e+00] [ 8.65016716e-03 6.21983130e-04 9.99962393e-01 -8.04947569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36140051299999 meters 0.0762682252450709 Centerline is valid? [True, True] Translation: X:69.62, Y:5.73, Z:-0.08 [[ 9.99647964e-01 -2.49296981e-02 -9.08061250e-03 6.96195035e+01] [ 2.49227204e-02 9.99688993e-01 -8.80779305e-04 5.72770380e+00] [ 9.09974593e-03 6.54155673e-04 9.99958382e-01 -8.27604661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421400513 meters 0.07758550970318064 Centerline is valid? [True, True] Translation: X:69.68, Y:5.73, Z:-0.08 [[ 9.99751578e-01 -2.15630039e-02 -5.64083278e-03 6.96796687e+01] [ 2.15602579e-02 9.99767401e-01 -5.47186702e-04 5.73465675e+00] [ 5.65131972e-03 4.25432959e-04 9.99983941e-01 -7.69189805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481400513 meters 0.07781058452924204 Centerline is valid? [True, True] Translation: X:69.74, Y:5.74, Z:-0.07 [[ 9.99830191e-01 -1.81427005e-02 -3.22984046e-03 6.97397541e+01] [ 1.81417824e-02 9.99835375e-01 -3.13322232e-04 5.74080890e+00] [ 3.23499326e-03 2.54673964e-04 9.99994735e-01 -7.19934821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54140051299999 meters 0.08150136220755765 Centerline is valid? [True, True] Translation: X:69.80, Y:5.75, Z:-0.07 [[ 9.99842403e-01 -1.74870644e-02 -3.06134379e-03 6.97976948e+01] [ 1.74862363e-02 9.99847060e-01 -2.97077830e-04 5.75246819e+00] [ 3.06607061e-03 2.43499630e-04 9.99995270e-01 -7.27676411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60140051299999 meters 0.071275007729244 Centerline is valid? [True, True] Translation: X:69.86, Y:5.74, Z:-0.07 [[ 9.99749718e-01 -2.17455493e-02 -5.25674038e-03 6.98590334e+01] [ 2.17431652e-02 9.99763459e-01 -5.10264005e-04 5.74114471e+00] [ 5.26659292e-03 3.95838120e-04 9.99986053e-01 -7.47290427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66140051299999 meters 0.07223558418181689 Centerline is valid? [True, True] Translation: X:69.92, Y:5.75, Z:-0.07 [[ 9.99667863e-01 -2.54520338e-02 -4.04455512e-03 6.99185176e+01] [ 2.54506525e-02 9.99676003e-01 -3.92642087e-04 5.74671909e+00] [ 4.05323824e-03 2.89575109e-04 9.99991744e-01 -7.38938973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72140051299999 meters 0.0726228041656809 Centerline is valid? [True, True] Translation: X:69.98, Y:5.75, Z:-0.07 [[ 9.99666905e-01 -2.55840405e-02 -3.39634181e-03 6.99768339e+01] [ 2.55830658e-02 9.99672645e-01 -3.30143647e-04 5.74952728e+00] [ 3.40367641e-03 2.43144842e-04 9.99994178e-01 -7.14335925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781400513 meters 0.07497718766874308 Centerline is valid? [True, True] Translation: X:70.04, Y:5.76, Z:-0.07 [[ 9.99715510e-01 -2.33486935e-02 -4.87209072e-03 7.00360886e+01] [ 2.33466598e-02 9.99727317e-01 -4.73885655e-04 5.76155214e+00] [ 4.88182679e-03 3.60003795e-04 9.99988019e-01 -7.48941447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841400513 meters 0.07150582422209285 Centerline is valid? [True, True] Translation: X:70.10, Y:5.76, Z:-0.07 [[ 9.99788378e-01 -2.04539388e-02 -2.19887979e-03 7.00970979e+01] [ 2.04535176e-02 9.99790782e-01 -2.13876157e-04 5.76255146e+00] [ 2.20279435e-03 1.68856070e-04 9.99997560e-01 -7.10226418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90140051299998 meters 0.08123690665048772 Centerline is valid? [True, True] Translation: X:70.15, Y:5.78, Z:-0.07 [[ 9.99875554e-01 -1.57747211e-02 -1.87456121e-04 7.01546216e+01] [ 1.57747179e-02 9.99875571e-01 -1.82221765e-05 5.78278786e+00] [ 1.87720246e-04 1.52628414e-05 9.99999982e-01 -6.67354836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96140051299999 meters 0.08169191226341685 Centerline is valid? [True, True] Translation: X:70.21, Y:5.79, Z:-0.07 [[ 9.99944735e-01 -1.02811402e-02 -2.19670881e-03 7.02144778e+01] [ 1.02806954e-02 9.99947129e-01 -2.13689656e-04 5.79205218e+00] [ 2.19878965e-03 1.91094153e-04 9.99997564e-01 -7.05158728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02140051299999 meters 0.09979419593898348 Centerline is valid? [True, True] Translation: X:70.27, Y:5.82, Z:-0.07 [[ 9.99982397e-01 -5.38259568e-03 -2.49665878e-03 7.02719832e+01] [ 5.38200591e-03 9.99985487e-01 -2.42879605e-04 5.81554469e+00] [ 2.49792987e-03 2.29438297e-04 9.99996854e-01 -6.94627849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08140051299999 meters 0.09005612004332474 Centerline is valid? [True, True] Translation: X:70.33, Y:5.81, Z:-0.07 [[ 9.99965044e-01 -8.05304136e-03 -2.24926507e-03 7.03333673e+01] [ 8.05256935e-03 9.99967554e-01 -2.18830271e-04 5.80795540e+00] [ 2.25095434e-03 2.00710259e-04 9.99997446e-01 -6.88766438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141400513 meters 0.08419886026506364 Centerline is valid? [True, True] Translation: X:70.39, Y:5.80, Z:-0.07 [[ 9.99872954e-01 -1.58236040e-02 -1.92072693e-03 7.03944973e+01] [ 1.58232740e-02 9.99874787e-01 -1.86876558e-04 5.80240237e+00] [ 1.92344349e-03 1.56460627e-04 9.99998138e-01 -6.92505964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201400513 meters 0.07978738628570628 Centerline is valid? [True, True] Translation: X:70.45, Y:5.80, Z:-0.07 [[ 9.99842732e-01 -1.76985201e-02 -1.12828563e-03 7.04547527e+01] [ 1.76984074e-02 9.99843365e-01 -1.09779175e-04 5.80382302e+00] [ 1.13005183e-03 8.97930511e-05 9.99999357e-01 -6.66246339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26140051299998 meters 0.08254840087222383 Centerline is valid? [True, True] Translation: X:70.51, Y:5.82, Z:-0.06 [[ 9.99860008e-01 -1.67172228e-02 -7.06311186e-04 7.05134284e+01] [ 1.67171784e-02 9.99860256e-01 -6.87193906e-05 5.81634229e+00] [ 7.07361280e-04 5.69022403e-05 9.99999748e-01 -6.45986802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32140051299999 meters 0.0819664323161353 Centerline is valid? [True, True] Translation: X:70.57, Y:5.82, Z:-0.06 [[ 9.99875152e-01 -1.57783073e-02 -8.51293161e-04 7.05723369e+01] [ 1.57782425e-02 9.99875512e-01 -8.28489999e-05 5.82483052e+00] [ 8.52494403e-04 6.94067465e-05 9.99999634e-01 -6.44521307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38140051299999 meters 0.08140831068471356 Centerline is valid? [True, True] Translation: X:70.63, Y:5.84, Z:-0.07 [[ 9.99818759e-01 -1.88809445e-02 -2.44131951e-03 7.06297438e+01] [ 1.88804201e-02 9.99821721e-01 -2.37702195e-04 5.83909279e+00] [ 2.44537231e-03 1.91565976e-04 9.99996992e-01 -6.77226376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44140051299999 meters 0.07742216017638671 Centerline is valid? [True, True] Translation: X:70.69, Y:5.85, Z:-0.07 [[ 9.99521730e-01 -3.07425193e-02 -3.34797010e-03 7.06891990e+01] [ 3.07415990e-02 9.99527312e-01 -3.26029190e-04 5.84595554e+00] [ 3.35641052e-03 2.22951306e-04 9.99994342e-01 -6.92387524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501400513 meters 0.06104715456792312 Centerline is valid? [True, True] Translation: X:70.75, Y:5.83, Z:-0.07 [[ 9.99213013e-01 -3.95051366e-02 -3.56353138e-03 7.07515472e+01] [ 3.95041493e-02 9.99219346e-01 -3.47039442e-04 5.83413249e+00] [ 3.57445933e-03 2.05992051e-04 9.99993590e-01 -6.84593948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561400513 meters 0.059102352368195894 Centerline is valid? [True, True] Translation: X:70.81, Y:5.84, Z:-0.07 [[ 9.98832183e-01 -4.82336038e-02 -2.79098133e-03 7.08109904e+01] [ 4.82330320e-02 9.98836073e-01 -2.71827163e-04 5.84044920e+00] [ 2.80084404e-03 1.36892227e-04 9.99996068e-01 -6.93621899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62140051299998 meters 0.04957640562411844 Centerline is valid? [True, True] Translation: X:70.87, Y:5.83, Z:-0.07 [[ 9.98750267e-01 -4.98564505e-02 -3.49839719e-03 7.08716938e+01] [ 4.98555619e-02 9.98756380e-01 -3.40795955e-04 5.83146367e+00] [ 3.51103739e-03 1.65955493e-04 9.99993823e-01 -6.98110834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68140051299999 meters 0.04703017285725457 Centerline is valid? [True, True] Translation: X:70.93, Y:5.83, Z:-0.07 [[ 9.98847697e-01 -4.78041387e-02 -4.24757754e-03 7.09309343e+01] [ 4.78028094e-02 9.98856706e-01 -4.13973218e-04 5.83394556e+00] [ 4.26251094e-03 2.10450056e-04 9.99990893e-01 -7.01603403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74140051299999 meters 0.06256510459910976 Centerline is valid? [True, True] Translation: X:70.99, Y:5.85, Z:-0.07 [[ 9.99179569e-01 -4.02568346e-02 -4.42444210e-03 7.09888055e+01] [ 4.02553182e-02 9.99189333e-01 -4.31276629e-04 5.85056470e+00] [ 4.43821718e-03 2.52815472e-04 9.99990119e-01 -7.02324740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80140051299999 meters 0.06678149647216727 Centerline is valid? [True, True] Translation: X:71.05, Y:5.86, Z:-0.07 [[ 9.99492659e-01 -3.15439163e-02 -4.40532463e-03 7.10487884e+01] [ 3.15423286e-02 9.99502325e-01 -4.29427719e-04 5.85694732e+00] [ 4.41667804e-03 2.90255655e-04 9.99990204e-01 -7.03894024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86140051299999 meters 0.07508662873920197 Centerline is valid? [True, True] Translation: X:71.11, Y:5.87, Z:-0.07 [[ 9.99659469e-01 -2.60066174e-02 -2.14534169e-03 7.11076560e+01] [ 2.60062282e-02 9.99661759e-01 -2.09140253e-04 5.86736594e+00] [ 2.15005508e-03 1.53276789e-04 9.99997677e-01 -6.72495190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921400513 meters 0.07926940391968494 Centerline is valid? [True, True] Translation: X:71.17, Y:5.87, Z:-0.07 [[ 9.99795916e-01 -1.93761570e-02 -5.71757895e-03 7.11674162e+01] [ 1.93732840e-02 9.99812165e-01 -5.57432503e-04 5.87431951e+00] [ 5.72730589e-03 4.46550459e-04 9.99983499e-01 -7.41821451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981400513 meters 0.08390669782380812 Centerline is valid? [True, True] Translation: X:71.23, Y:5.88, Z:-0.08 [[ 9.99806523e-01 -1.76490216e-02 -8.68493987e-03 7.12262995e+01] [ 1.76423268e-02 9.99844003e-01 -8.46869257e-04 5.87943910e+00] [ 8.69853146e-03 6.93482860e-04 9.99961927e-01 -7.96814505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04140051299999 meters 0.08040913385318252 Centerline is valid? [True, True] Translation: X:71.29, Y:5.87, Z:-0.07 [[ 9.99821086e-01 -1.81383718e-02 -5.36608644e-03 7.12862371e+01] [ 1.81358220e-02 9.99835395e-01 -5.23450834e-04 5.87201291e+00] [ 5.37469771e-03 4.26038793e-04 9.99985465e-01 -7.45447815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10140051299999 meters 0.07996646552237878 Centerline is valid? [True, True] Translation: X:71.35, Y:5.87, Z:-0.08 [[ 9.99767208e-01 -2.07273123e-02 -5.99233097e-03 7.13473595e+01] [ 2.07241785e-02 9.99785060e-01 -5.84602391e-04 5.86939096e+00] [ 6.00316021e-03 4.60280164e-04 9.99981875e-01 -7.64612929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16140051299999 meters 0.07639675838470397 Centerline is valid? [True, True] Translation: X:71.41, Y:5.87, Z:-0.08 [[ 9.99716797e-01 -2.31242441e-02 -5.62102277e-03 7.14081260e+01] [ 2.31215242e-02 9.99732511e-01 -5.48388921e-04 5.86575176e+00] [ 5.63220029e-03 4.18267002e-04 9.99984052e-01 -7.50924321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22140051299999 meters 0.07456006754999155 Centerline is valid? [True, True] Translation: X:71.47, Y:5.86, Z:-0.07 [[ 9.99626925e-01 -2.73049712e-02 -6.70309377e-04 7.14677601e+01] [ 2.73049335e-02 9.99627149e-01 -6.53861746e-05 5.86202174e+00] [ 6.71844819e-04 4.70590277e-05 9.99999773e-01 -6.58241943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281400513 meters 0.07050249448577926 Centerline is valid? [True, True] Translation: X:71.53, Y:5.86, Z:-0.07 [[ 9.99578778e-01 -2.89551188e-02 -1.96660275e-03 7.15281036e+01] [ 2.89547969e-02 9.99580704e-01 -1.91929883e-04 5.85862619e+00] [ 1.97133551e-03 1.34906455e-04 9.99998048e-01 -6.76759430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341400513 meters 0.08186415649929303 Centerline is valid? [True, True] Translation: X:71.59, Y:5.88, Z:-0.07 [[ 9.99656846e-01 -2.61323012e-02 -1.81474110e-03 7.15863435e+01] [ 2.61320224e-02 9.99658485e-01 -1.77139380e-04 5.87527643e+00] [ 1.81875040e-03 1.29655739e-04 9.99998338e-01 -6.75538756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40140051299998 meters 0.07953545436255914 Centerline is valid? [True, True] Translation: X:71.65, Y:5.87, Z:-0.07 [[ 9.99817320e-01 -1.88965621e-02 -2.87170206e-03 7.16469475e+01] [ 1.88958344e-02 9.99821418e-01 -2.80331345e-04 5.87205457e+00] [ 2.87648652e-03 2.26016927e-04 9.99995837e-01 -6.88309344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46140051299999 meters 0.0787458482601559 Centerline is valid? [True, True] Translation: X:71.71, Y:5.87, Z:-0.07 [[ 9.99870548e-01 -1.60596461e-02 -9.87790295e-04 7.17077660e+01] [ 1.60595586e-02 9.99871032e-01 -9.64266281e-05 5.87489920e+00] [ 9.89211480e-04 8.05506693e-05 9.99999507e-01 -6.63979022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52140051299999 meters 0.07657025212719866 Centerline is valid? [True, True] Translation: X:71.77, Y:5.87, Z:-0.07 [[ 9.99888696e-01 -1.47409736e-02 -2.30192794e-03 7.17687736e+01] [ 1.47404951e-02 9.99891328e-01 -2.24721395e-04 5.87231390e+00] [ 2.30499039e-03 1.90764825e-04 9.99997325e-01 -6.82216584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58140051299999 meters 0.0825895868529898 Centerline is valid? [True, True] Translation: X:71.83, Y:5.88, Z:-0.07 [[ 9.99873392e-01 -1.53821840e-02 -4.07278583e-03 7.18262920e+01] [ 1.53806893e-02 9.99881631e-01 -3.98075788e-04 5.88252659e+00] [ 4.07842701e-03 3.35383135e-04 9.99991627e-01 -7.17339006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641400513 meters 0.08474680733113212 Centerline is valid? [True, True] Translation: X:71.89, Y:5.89, Z:-0.07 [[ 9.99882022e-01 -1.43799850e-02 -5.39978143e-03 7.18857587e+01] [ 1.43773413e-02 9.99896501e-01 -5.28100090e-04 5.88814515e+00] [ 5.40681663e-03 4.50403285e-04 9.99985282e-01 -7.36770066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701400513 meters 0.09206282858932467 Centerline is valid? [True, True] Translation: X:71.94, Y:5.90, Z:-0.07 [[ 9.99930910e-01 -1.01433381e-02 -5.94041523e-03 7.19446232e+01] [ 1.01400641e-02 9.99948419e-01 -5.81004044e-04 5.89602915e+00] [ 5.94600214e-03 5.20727712e-04 9.99982187e-01 -7.25471626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76140051299998 meters 0.09759629131592305 Centerline is valid? [True, True] Translation: X:72.00, Y:5.91, Z:-0.07 [[ 9.99964553e-01 -7.44416072e-03 -3.93405806e-03 7.20037123e+01] [ 7.44270398e-03 9.99972229e-01 -3.84800405e-04 5.90652115e+00] [ 3.93681332e-03 3.55506736e-04 9.99992188e-01 -7.05269563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82140051299999 meters 0.08782102127623952 Centerline is valid? [True, True] Translation: X:72.06, Y:5.90, Z:-0.07 [[ 9.99960962e-01 -7.99752387e-03 -3.75682705e-03 7.20638650e+01] [ 7.99619769e-03 9.99967962e-01 -3.67893217e-04 5.89566797e+00] [ 3.75964893e-03 3.37838523e-04 9.99992875e-01 -7.06654351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88140051299999 meters 0.0851024991668809 Centerline is valid? [True, True] Translation: X:72.12, Y:5.90, Z:-0.07 [[ 9.99934849e-01 -1.08243705e-02 -3.62364190e-03 7.21241146e+01] [ 1.08231543e-02 9.99941365e-01 -3.55071868e-04 5.89915077e+00] [ 3.62727286e-03 3.15829499e-04 9.99993372e-01 -7.19621586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94140051299999 meters 0.0854114481173171 Centerline is valid? [True, True] Translation: X:72.18, Y:5.91, Z:-0.07 [[ 9.99917913e-01 -1.17989502e-02 -4.99522079e-03 7.21830205e+01] [ 1.17966481e-02 9.99930297e-01 -4.90067961e-04 5.90551711e+00] [ 5.00065490e-03 4.31100871e-04 9.99987404e-01 -7.11113369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001400513 meters 0.09325153753153918 Centerline is valid? [True, True] Translation: X:72.24, Y:5.92, Z:-0.07 [[ 9.99922173e-01 -1.12647478e-02 -5.36223451e-03 7.22394978e+01] [ 1.12620855e-02 9.99936442e-01 -5.26441262e-04 5.92465607e+00] [ 5.36782393e-03 4.66010347e-04 9.99985485e-01 -7.23213875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061400513 meters 0.09394833179692202 Centerline is valid? [True, True] Translation: X:72.30, Y:5.94, Z:-0.07 [[ 9.99932013e-01 -1.13911225e-02 -2.49229031e-03 7.22970692e+01] [ 1.13905472e-02 9.99935096e-01 -2.44933719e-04 5.93707254e+00] [ 2.49491862e-03 2.16528516e-04 9.99996864e-01 -6.82610748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12140051299998 meters 0.09301947523636837 Centerline is valid? [True, True] Translation: X:72.36, Y:5.95, Z:-0.07 [[ 9.99894516e-01 -1.39292950e-02 -4.11489346e-03 7.23568858e+01] [ 1.39277464e-02 9.99902922e-01 -4.04756671e-04 5.94635662e+00] [ 4.12013198e-03 3.47402783e-04 9.99991452e-01 -7.16718252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18140051299999 meters 0.08960402048600134 Centerline is valid? [True, True] Translation: X:72.42, Y:5.95, Z:-0.07 [[ 9.99812725e-01 -1.89511641e-02 -3.92019755e-03 7.24170948e+01] [ 1.89497968e-02 9.99820362e-01 -3.85643674e-04 5.95055147e+00] [ 3.92680173e-03 3.11284506e-04 9.99992242e-01 -7.01616972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24140051299999 meters 0.07846384126374897 Centerline is valid? [True, True] Translation: X:72.48, Y:5.94, Z:-0.07 [[ 9.99790785e-01 -2.01752835e-02 -3.36821359e-03 7.24780784e+01] [ 2.01742809e-02 9.99796424e-01 -3.31373039e-04 5.94493616e+00] [ 3.37421344e-03 2.63352423e-04 9.99994273e-01 -6.86627019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30140051299999 meters 0.08520663974791969 Centerline is valid? [True, True] Translation: X:72.54, Y:5.96, Z:-0.07 [[ 9.99829697e-01 -1.81094379e-02 -3.55315771e-03 7.25356622e+01] [ 1.81083090e-02 9.99835970e-01 -3.49615210e-04 5.96428918e+00] [ 3.55890622e-03 2.85213991e-04 9.99993626e-01 -7.02897826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36140051299999 meters 0.07705522454415165 Centerline is valid? [True, True] Translation: X:72.60, Y:5.96, Z:-0.07 [[ 9.99907458e-01 -1.34112525e-02 -2.28317435e-03 7.25969140e+01] [ 1.34107742e-02 9.99910046e-01 -2.24663710e-04 5.96309349e+00] [ 2.28598199e-03 1.94023784e-04 9.99997368e-01 -6.71439447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421400513 meters 0.09078432804473732 Centerline is valid? [True, True] Translation: X:72.65, Y:5.99, Z:-0.07 [[ 9.99925475e-01 -1.20654856e-02 -1.86246856e-03 7.26539963e+01] [ 1.20651650e-02 9.99927196e-01 -1.83284253e-04 5.98826801e+00] [ 1.86454438e-03 1.60799603e-04 9.99998249e-01 -6.72019039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481400513 meters 0.08144149563428174 Centerline is valid? [True, True] Translation: X:72.72, Y:5.98, Z:-0.07 [[ 9.99844945e-01 -1.68511727e-02 -5.11123680e-03 7.27153518e+01] [ 1.68488198e-02 9.99857922e-01 -5.03060091e-04 5.98144624e+00] [ 5.11898775e-03 4.16863781e-04 9.99986811e-01 -7.20742987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54140051299999 meters 0.08046248175186926 Centerline is valid? [True, True] Translation: X:72.77, Y:5.98, Z:-0.07 [[ 9.99675450e-01 -2.53690210e-02 -2.32541057e-03 7.27747022e+01] [ 2.53685568e-02 9.99678140e-01 -2.28880344e-04 5.98299772e+00] [ 2.33046859e-03 1.69813750e-04 9.99997270e-01 -6.73782646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60140051299999 meters 0.06971440773198734 Centerline is valid? [True, True] Translation: X:72.84, Y:5.97, Z:-0.06 [[ 9.99552488e-01 -2.98816060e-02 -1.38314633e-03 7.28365322e+01] [ 2.98814461e-02 9.99553441e-01 -1.36142917e-04 5.97376006e+00] [ 1.38659685e-03 9.47515792e-05 9.99999034e-01 -6.48264295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66140051299999 meters 0.07008065011158915 Centerline is valid? [True, True] Translation: X:72.90, Y:5.98, Z:-0.07 [[ 9.99586526e-01 -2.84747342e-02 -3.99587013e-03 7.28964715e+01] [ 2.84733883e-02 9.99594474e-01 -3.93328551e-04 5.98356096e+00] [ 4.00544962e-03 2.79389958e-04 9.99991939e-01 -6.90793932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72140051299999 meters 0.07323792167071425 Centerline is valid? [True, True] Translation: X:72.96, Y:5.99, Z:-0.07 [[ 9.99688227e-01 -2.45772890e-02 -4.40509907e-03 7.29558665e+01] [ 2.45756155e-02 9.99697880e-01 -4.33643398e-04 5.99195183e+00] [ 4.41442598e-03 3.25250179e-04 9.99990203e-01 -6.70550143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781400513 meters 0.07381232718493538 Centerline is valid? [True, True] Translation: X:73.01, Y:6.00, Z:-0.07 [[ 9.99654000e-01 -2.57738683e-02 -5.25233951e-03 7.30147810e+01] [ 2.57715050e-02 9.99667726e-01 -5.17152586e-04 6.00087271e+00] [ 5.26392331e-03 3.81612958e-04 9.99986073e-01 -7.02101612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841400513 meters 0.08023814303334081 Centerline is valid? [True, True] Translation: X:73.07, Y:6.01, Z:-0.07 [[ 9.99446239e-01 -3.29556988e-02 -4.59744795e-03 7.30729778e+01] [ 3.29539635e-02 9.99456768e-01 -4.52714353e-04 6.01456306e+00] [ 4.60986998e-03 3.00959526e-04 9.99989329e-01 -7.09310501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90140051299998 meters 0.054575894047735884 Centerline is valid? [True, True] Translation: X:73.14, Y:5.99, Z:-0.07 [[ 9.98943557e-01 -4.59192994e-02 -1.78532378e-03 7.31368395e+01] [ 4.59190583e-02 9.98945148e-01 -1.75807388e-04 5.98736118e+00] [ 1.79151348e-03 9.36412711e-05 9.99998391e-01 -6.51048393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96140051299999 meters 0.04453400761243456 Centerline is valid? [True, True] Translation: X:73.20, Y:5.98, Z:-0.06 [[ 9.98450406e-01 -5.56331092e-02 -1.32038289e-03 7.31990943e+01] [ 5.56329858e-02 9.98451278e-01 -1.30027319e-04 5.97547396e+00] [ 1.32557181e-03 5.63689870e-05 9.99999120e-01 -6.30669865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02140051299999 meters 0.0324933050803726 Centerline is valid? [True, True] Translation: X:73.26, Y:5.96, Z:-0.07 [[ 9.97862631e-01 -6.52697410e-02 -3.16716135e-03 7.32606776e+01] [ 6.52690794e-02 9.97867652e-01 -3.11917574e-04 5.96451517e+00] [ 3.18076664e-03 1.04533185e-04 9.99994936e-01 -6.58403404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08140051299999 meters 0.03435419647091814 Centerline is valid? [True, True] Translation: X:73.32, Y:5.97, Z:-0.07 [[ 9.97768857e-01 -6.67171527e-02 -2.47570721e-03 7.33183138e+01] [ 6.67167527e-02 9.97771926e-01 -2.43905116e-04 5.97257557e+00] [ 2.48646380e-03 7.81897834e-05 9.99996906e-01 -6.55956304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141400513 meters 0.034475230447381086 Centerline is valid? [True, True] Translation: X:73.38, Y:5.98, Z:-0.07 [[ 9.97836704e-01 -6.56783708e-02 -2.87454076e-03 7.33769781e+01] [ 6.56778262e-02 9.97840840e-01 -2.83562233e-04 5.97938389e+00] [ 2.88695807e-03 9.41552157e-05 9.99995828e-01 -6.53090132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201400513 meters 0.029868606905303605 Centerline is valid? [True, True] Translation: X:73.44, Y:5.98, Z:-0.07 [[ 9.97624293e-01 -6.88387384e-02 -2.64521960e-03 7.34376427e+01] [ 6.88382878e-02 9.97627797e-01 -2.61119645e-04 5.97746387e+00] [ 2.65691975e-03 7.84069134e-05 9.99996467e-01 -6.68117899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26140051299998 meters 0.026501865022446475 Centerline is valid? [True, True] Translation: X:73.50, Y:5.98, Z:-0.07 [[ 9.97252041e-01 -7.39853941e-02 -3.81164695e-03 7.34965577e+01] [ 7.39844957e-02 9.97259321e-01 -3.76344201e-04 5.98096994e+00] [ 3.82904442e-03 9.33072449e-05 9.99992665e-01 -6.70546988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32140051299999 meters 0.023331841204129032 Centerline is valid? [True, True] Translation: X:73.56, Y:5.98, Z:-0.06 [[ 9.97094802e-01 -7.61300371e-02 -2.48465824e-03 7.35559325e+01] [ 7.61296615e-02 9.97097896e-01 -2.45556024e-04 5.98463861e+00] [ 2.49614169e-03 5.56864440e-05 9.99996883e-01 -6.30535556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38140051299999 meters 0.020135531960828047 Centerline is valid? [True, True] Translation: X:73.61, Y:5.99, Z:-0.06 [[ 9.96854749e-01 -7.92076020e-02 -2.60080696e-03 7.36146918e+01] [ 7.92072002e-02 9.96858141e-01 -2.57280687e-04 5.98907410e+00] [ 2.61301418e-03 5.04688371e-05 9.99996585e-01 -6.40951834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44140051299999 meters 0.021051000878057904 Centerline is valid? [True, True] Translation: X:73.67, Y:6.00, Z:-0.07 [[ 9.96774485e-01 -8.01289273e-02 -4.47002114e-03 7.36719377e+01] [ 8.01277485e-02 9.96784504e-01 -4.42478627e-04 5.99604939e+00] [ 4.49110315e-03 8.28786756e-05 9.99989912e-01 -6.77667739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501400513 meters 0.022777269553682145 Centerline is valid? [True, True] Translation: X:73.73, Y:6.01, Z:-0.07 [[ 9.96869197e-01 -7.89022446e-02 -5.12248126e-03 7.37302829e+01] [ 7.89006766e-02 9.96882353e-01 -5.07784692e-04 6.00615384e+00] [ 5.14657652e-03 1.02027681e-04 9.99986751e-01 -6.71188495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561400513 meters 0.025803627866498622 Centerline is valid? [True, True] Translation: X:73.79, Y:6.02, Z:-0.07 [[ 9.97120499e-01 -7.57434600e-02 -3.69314687e-03 7.37886312e+01] [ 7.57426224e-02 9.97127334e-01 -3.66341328e-04 6.01652714e+00] [ 3.71028566e-03 8.55578183e-05 9.99993113e-01 -6.57875819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62140051299998 meters 0.02488682290265656 Centerline is valid? [True, True] Translation: X:73.85, Y:6.02, Z:-0.07 [[ 9.97093037e-01 -7.60456055e-02 -4.74773778e-03 7.38463197e+01] [ 7.60442210e-02 9.97104335e-01 -4.71703261e-04 6.02425179e+00] [ 4.76986087e-03 1.09294016e-04 9.99988618e-01 -6.58948567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68140051299999 meters 0.0220887916308846 Centerline is valid? [True, True] Translation: X:73.90, Y:6.03, Z:-0.06 [[ 9.96897700e-01 -7.86375501e-02 -3.33344913e-03 7.39046196e+01] [ 7.86368813e-02 9.96903271e-01 -3.31437275e-04 6.02983933e+00] [ 3.34918975e-03 6.82770144e-05 9.99994389e-01 -6.33748867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74140051299999 meters 0.019883763948950285 Centerline is valid? [True, True] Translation: X:73.96, Y:6.04, Z:-0.07 [[ 9.96658277e-01 -8.16074038e-02 -3.53691725e-03 7.39613984e+01] [ 8.16066688e-02 9.96664551e-01 -3.51865648e-04 6.04102479e+00] [ 3.55383489e-03 6.20537756e-05 9.99993683e-01 -6.51042614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80140051299999 meters 0.013611513459215425 Centerline is valid? [True, True] Translation: X:74.02, Y:6.04, Z:-0.06 [[ 9.96154536e-01 -8.75275844e-02 -3.88110306e-03 7.40213433e+01] [ 8.75267438e-02 9.96162095e-01 -3.86243158e-04 6.04265554e+00] [ 3.90001469e-03 4.50575604e-05 9.99992394e-01 -6.45262971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86140051299999 meters 0.00787264573454434 Centerline is valid? [True, True] Translation: X:74.08, Y:6.03, Z:-0.07 [[ 9.94800087e-01 -1.01702307e-01 -5.42466494e-03 7.40812906e+01] [ 1.01700874e-01 9.94814878e-01 -5.40104257e-04 6.03168169e+00] [ 5.45146724e-03 -1.43974037e-05 9.99985141e-01 -6.63137057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921400513 meters 0.014453252181994907 Centerline is valid? [True, True] Translation: X:74.14, Y:6.02, Z:-0.07 [[ 9.93800883e-01 -1.11025426e-01 -5.75841818e-03 7.41417649e+01] [ 1.11023966e-01 9.93817564e-01 -5.73561400e-04 6.02277358e+00] [ 5.78649703e-03 -6.93165990e-05 9.99983256e-01 -6.67184377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981400513 meters 0.02250324089512867 Centerline is valid? [True, True] Translation: X:74.20, Y:6.01, Z:-0.06 [[ 9.92990615e-01 -1.18111478e-01 -4.39504096e-03 7.42016197e+01] [ 1.18110697e-01 9.93000338e-01 -4.37914759e-04 6.01242891e+00] [ 4.41599992e-03 -8.42561032e-05 9.99990246e-01 -6.34866761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04140051299999 meters 0.01847355117637304 Centerline is valid? [True, True] Translation: X:74.26, Y:6.02, Z:-0.06 [[ 9.93416714e-01 -1.14520807e-01 -2.86656643e-03 7.42596608e+01] [ 1.14520459e-01 9.93420849e-01 -2.85730405e-04 6.02089245e+00] [ 2.88042893e-03 -4.44311425e-05 9.99995851e-01 -6.13134517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10140051299999 meters 0.012491036817852538 Centerline is valid? [True, True] Translation: X:74.32, Y:6.04, Z:-0.06 [[ 9.94124188e-01 -1.08186360e-01 -3.57903635e-03 7.43176271e+01] [ 1.08185776e-01 9.94130630e-01 -3.56869420e-04 6.03520011e+00] [ 3.59663807e-03 -3.24283045e-05 9.99993532e-01 -6.14147274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16140051299999 meters 0.008238688290813843 Centerline is valid? [True, True] Translation: X:74.38, Y:6.05, Z:-0.06 [[ 9.94680229e-01 -1.02925856e-01 -4.18446448e-03 7.43752847e+01] [ 1.02925009e-01 9.94689031e-01 -4.17783147e-04 6.05274349e+00] [ 4.20524161e-03 -1.51254069e-05 9.99991158e-01 -6.28791933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22140051299999 meters 0.007175009144851847 Centerline is valid? [True, True] Translation: X:74.43, Y:6.06, Z:-0.06 [[ 9.94935089e-01 -1.00456370e-01 -3.56166867e-03 7.44334085e+01] [ 1.00455739e-01 9.94941464e-01 -3.56174969e-04 6.06320196e+00] [ 3.57943189e-03 -3.41908394e-06 9.99993594e-01 -6.24526448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281400513 meters 0.008948673535811703 Centerline is valid? [True, True] Translation: X:74.49, Y:6.08, Z:-0.06 [[ 9.95532032e-01 -9.42918089e-02 -5.00288633e-03 7.44902371e+01] [ 9.42904828e-02 9.95544602e-01 -5.00794964e-04 6.08155388e+00] [ 5.02781735e-03 2.68328595e-05 9.99987360e-01 -6.37170838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341400513 meters 0.016298058278888538 Centerline is valid? [True, True] Translation: X:74.55, Y:6.10, Z:-0.07 [[ 9.96253191e-01 -8.61175545e-02 -7.95905065e-03 7.45463283e+01] [ 8.61139333e-02 9.96284977e-01 -7.97206954e-04 6.10362773e+00] [ 7.99813610e-03 1.08834816e-04 9.99968008e-01 -6.87899534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40140051299998 meters 0.023313239963241382 Centerline is valid? [True, True] Translation: X:74.60, Y:6.12, Z:-0.07 [[ 9.96929219e-01 -7.79010785e-02 -7.97212164e-03 7.46045650e+01] [ 7.78971814e-02 9.96961078e-01 -7.98659884e-04 6.12497385e+00] [ 8.01011145e-03 1.75201568e-04 9.99967903e-01 -6.85092335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46140051299999 meters 0.03491727254657228 Centerline is valid? [True, True] Translation: X:74.66, Y:6.15, Z:-0.07 [[ 9.97481491e-01 -7.06507665e-02 -6.25661501e-03 7.46619886e+01] [ 7.06482230e-02 9.97501096e-01 -6.26893866e-04 6.14801227e+00] [ 6.28527086e-03 1.83296296e-04 9.99980231e-01 -6.59353850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52140051299999 meters 0.04573513127708208 Centerline is valid? [True, True] Translation: X:74.72, Y:6.18, Z:-0.06 [[ 9.98380903e-01 -5.67567177e-02 -3.77470022e-03 7.47197731e+01] [ 5.67556925e-02 9.98388025e-01 -3.78238846e-04 6.17986283e+00] [ 3.79008309e-03 1.63390716e-04 9.99992804e-01 -6.12769452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58140051299999 meters 0.0695496080744524 Centerline is valid? [True, True] Translation: X:74.77, Y:6.23, Z:-0.06 [[ 9.99217074e-01 -3.93118304e-02 -4.45187570e-03 7.47747696e+01] [ 3.93102315e-02 9.99226955e-01 -4.46107826e-04 6.23081094e+00] [ 4.46597151e-03 2.70754292e-04 9.99989991e-01 -6.28010897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641400513 meters 0.07638455275652412 Centerline is valid? [True, True] Translation: X:74.83, Y:6.25, Z:-0.07 [[ 9.99378246e-01 -3.44989355e-02 -7.27632250e-03 7.48335559e+01] [ 3.44945370e-02 9.99404620e-01 -7.29160683e-04 6.25213176e+00] [ 7.29714559e-03 4.77713949e-04 9.99973261e-01 -6.78148020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701400513 meters 0.06616097447203707 Centerline is valid? [True, True] Translation: X:74.89, Y:6.26, Z:-0.07 [[ 9.99278514e-01 -3.73494980e-02 -6.88956402e-03 7.48938138e+01] [ 3.73456220e-02 9.99302170e-01 -6.90422490e-04 6.25788971e+00] [ 6.91054321e-03 4.32629306e-04 9.99976028e-01 -6.83180757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76140051299998 meters 0.06207900280168695 Centerline is valid? [True, True] Translation: X:74.95, Y:6.27, Z:-0.06 [[ 9.99209745e-01 -3.95326102e-02 -4.13026231e-03 7.49532633e+01] [ 3.95312356e-02 9.99218249e-01 -4.13940799e-04 6.26996871e+00] [ 4.14339763e-03 2.50339308e-04 9.99991385e-01 -6.32081991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82140051299999 meters 0.07117323567224895 Centerline is valid? [True, True] Translation: X:75.01, Y:6.30, Z:-0.06 [[ 9.99254427e-01 -3.83508378e-02 -4.45015400e-03 7.50097442e+01] [ 3.83492298e-02 9.99264298e-01 -4.46129154e-04 6.29625456e+00] [ 4.46398944e-03 2.75136553e-04 9.99989998e-01 -6.45414809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88140051299999 meters 0.06634773069033333 Centerline is valid? [True, True] Translation: X:75.07, Y:6.31, Z:-0.07 [[ 9.99198676e-01 -3.96909382e-02 -5.16084524e-03 7.50684951e+01] [ 3.96887928e-02 9.99211955e-01 -5.17510407e-04 6.30833504e+00] [ 5.17731874e-03 3.12267996e-04 9.99986549e-01 -6.59228774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94140051299999 meters 0.056832628552677907 Centerline is valid? [True, True] Translation: X:75.13, Y:6.31, Z:-0.06 [[ 9.98904466e-01 -4.65584569e-02 -4.70942608e-03 7.51296898e+01] [ 4.65567463e-02 9.98915535e-01 -4.72279437e-04 6.30703301e+00] [ 4.72630748e-03 2.52506484e-04 9.99988799e-01 -6.41489434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001400513 meters 0.05328313234936261 Centerline is valid? [True, True] Translation: X:75.19, Y:6.30, Z:-0.06 [[ 9.98687863e-01 -5.09189854e-02 -5.45985766e-03 7.51912450e+01] [ 5.09167513e-02 9.98702751e-01 -5.47499549e-04 6.30327868e+00] [ 5.48065299e-03 2.68782940e-04 9.99984945e-01 -6.49257401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061400513 meters 0.04962566904918037 Centerline is valid? [True, True] Translation: X:75.25, Y:6.31, Z:-0.07 [[ 9.98644641e-01 -5.14728985e-02 -7.70856945e-03 7.52491967e+01] [ 5.14684519e-02 9.98674321e-01 -7.74235305e-04 6.30998243e+00] [ 7.73820250e-03 3.76437802e-04 9.99969989e-01 -6.80683507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12140051299998 meters 0.05936827752617361 Centerline is valid? [True, True] Translation: X:75.31, Y:6.33, Z:-0.06 [[ 9.99031289e-01 -4.37268264e-02 -4.94460835e-03 7.53070362e+01] [ 4.37249014e-02 9.99043486e-01 -4.96803418e-04 6.32743261e+00] [ 4.96160240e-03 2.80119646e-04 9.99987652e-01 -6.36719439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18140051299999 meters 0.058403350895722086 Centerline is valid? [True, True] Translation: X:75.37, Y:6.33, Z:-0.06 [[ 9.99148366e-01 -4.08568354e-02 -5.76736418e-03 7.53670915e+01] [ 4.08541685e-02 9.99164952e-01 -5.79503103e-04 6.32872089e+00] [ 5.78622482e-03 3.43388710e-04 9.99983201e-01 -6.39312097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24140051299999 meters 0.06409179199631064 Centerline is valid? [True, True] Translation: X:75.42, Y:6.34, Z:-0.06 [[ 9.99371010e-01 -3.52733967e-02 -3.65687535e-03 7.54230082e+01] [ 3.52832859e-02 9.99373768e-01 2.67596351e-03 6.33569048e+00] [ 3.56019498e-03 -2.80330694e-03 9.99989733e-01 -6.13858840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30140051299999 meters 0.07188618090846828 Centerline is valid? [True, True] Translation: X:75.48, Y:6.36, Z:-0.06 [[ 9.99533364e-01 -3.03771636e-02 -3.20665718e-03 7.54834234e+01] [ 3.03663095e-02 9.99533119e-01 -3.38097376e-03 6.36090283e+00] [ 3.30786445e-03 3.28202173e-03 9.99989143e-01 -5.99862174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36140051299999 meters 0.0740529835552218 Centerline is valid? [True, True] Translation: X:75.54, Y:6.37, Z:-0.06 [[ 9.99630397e-01 -2.65511281e-02 -5.84009717e-03 7.55427851e+01] [ 2.65481494e-02 9.99647363e-01 -5.86999064e-04 6.37066637e+00] [ 5.85362323e-03 4.31738335e-04 9.99982774e-01 -6.28802591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421400513 meters 0.08347927399023133 Centerline is valid? [True, True] Translation: X:75.60, Y:6.39, Z:-0.06 [[ 9.99588787e-01 -2.83253302e-02 -4.46455986e-03 7.56003657e+01] [ 2.83236066e-02 9.99598705e-01 -4.48826947e-04 6.38646714e+00] [ 4.47548143e-03 3.22189946e-04 9.99989933e-01 -6.02868534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481400513 meters 0.07420918501420334 Centerline is valid? [True, True] Translation: X:75.66, Y:6.38, Z:-0.06 [[ 9.99260556e-01 -3.80174383e-02 -5.74590945e-03 7.56619529e+01] [ 3.80147425e-02 9.99277011e-01 -5.77690881e-04 6.37652887e+00] [ 5.76371756e-03 3.58834442e-04 9.99983325e-01 -6.31006525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54140051299999 meters 0.05878116549538607 Centerline is valid? [True, True] Translation: X:75.72, Y:6.36, Z:-0.06 [[ 9.99015621e-01 -4.42824701e-02 -2.61777453e-03 7.57244677e+01] [ 4.42819320e-02 9.99019039e-01 -2.63194212e-04 6.35921583e+00] [ 2.62686148e-03 1.47015015e-04 9.99996539e-01 -5.80323579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60140051299999 meters 0.05992047309647559 Centerline is valid? [True, True] Translation: X:75.78, Y:6.36, Z:-0.07 [[ 9.99014825e-01 -4.36672809e-02 -7.90875861e-03 7.57839768e+01] [ 4.36623480e-02 9.99046028e-01 -7.95397102e-04 6.35772600e+00] [ 7.93594671e-03 4.49298526e-04 9.99968409e-01 -6.57262825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66140051299999 meters 0.06336313055808623 Centerline is valid? [True, True] Translation: X:75.84, Y:6.36, Z:-0.07 [[ 9.99077140e-01 -4.17617689e-02 -1.00410631e-02 7.58436050e+01] [ 4.17537199e-02 9.99127423e-01 -1.00999528e-03 6.36164456e+00] [ 1.00744807e-02 5.89811455e-04 9.99949077e-01 -7.04892561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72140051299999 meters 0.06360677868187789 Centerline is valid? [True, True] Translation: X:75.90, Y:6.36, Z:-0.07 [[ 9.99185677e-01 -3.95499399e-02 -7.98655670e-03 7.59045483e+01] [ 3.95447773e-02 9.99217476e-01 -8.03349403e-04 6.36055068e+00] [ 8.01207946e-03 4.86868610e-04 9.99967784e-01 -6.65693890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781400513 meters 0.05935409532838193 Centerline is valid? [True, True] Translation: X:75.97, Y:6.36, Z:-0.06 [[ 9.99252714e-01 -3.77480402e-02 -8.31254793e-03 7.59660111e+01] [ 3.77423855e-02 9.99287153e-01 -8.36140112e-04 6.35637662e+00] [ 8.33818500e-03 5.21779888e-04 9.99965101e-01 -6.46996367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841400513 meters 0.06617279669745715 Centerline is valid? [True, True] Translation: X:76.02, Y:6.37, Z:-0.07 [[ 9.99264701e-01 -3.72323661e-02 -9.15468479e-03 7.60227680e+01] [ 3.72254816e-02 9.99306467e-01 -9.21323229e-04 6.36738557e+00] [ 9.18263876e-03 5.79858230e-04 9.99957671e-01 -6.61254731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90140051299998 meters 0.06444954495500572 Centerline is valid? [True, True] Translation: X:76.08, Y:6.37, Z:-0.07 [[ 9.99084499e-01 -4.13720509e-02 -1.08865178e-02 7.60819723e+01] [ 4.13625560e-02 9.99143602e-01 -1.09597674e-03 6.36822046e+00] [ 1.09225374e-02 6.44679173e-04 9.99940139e-01 -6.90716146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96140051299999 meters 0.06241870238834936 Centerline is valid? [True, True] Translation: X:76.14, Y:6.37, Z:-0.07 [[ 9.98710770e-01 -4.92799488e-02 -1.21771768e-02 7.61418626e+01] [ 4.92686531e-02 9.98784810e-01 -1.22604489e-03 6.36880397e+00] [ 1.22227987e-02 6.24511138e-04 9.99925104e-01 -7.04894605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02140051299999 meters 0.05203590424518508 Centerline is valid? [True, True] Translation: X:76.20, Y:6.36, Z:-0.07 [[ 9.98625239e-01 -5.12292474e-02 -1.10994049e-02 7.62024879e+01] [ 5.12199803e-02 9.98686770e-01 -1.11777070e-03 6.36193253e+00] [ 1.11420914e-02 5.47722734e-04 9.99937775e-01 -6.63568808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08140051299999 meters 0.04676930242868521 Centerline is valid? [True, True] Translation: X:76.26, Y:6.36, Z:-0.06 [[ 9.98492790e-01 -5.41407153e-02 -8.99621769e-03 7.62641149e+01] [ 5.41347448e-02 9.98533229e-01 -9.06034108e-04 6.35584595e+00] [ 9.03207563e-03 4.17660575e-04 9.99959123e-01 -6.24641544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141400513 meters 0.0501139405280341 Centerline is valid? [True, True] Translation: X:76.32, Y:6.36, Z:-0.06 [[ 9.98455739e-01 -5.50465717e-02 -7.48418172e-03 7.63211684e+01] [ 5.50424621e-02 9.98483730e-01 -7.54133544e-04 6.36382625e+00] [ 7.51434614e-03 3.41021176e-04 9.99971709e-01 -6.23084967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201400513 meters 0.04685660621337018 Centerline is valid? [True, True] Translation: X:76.38, Y:6.34, Z:-0.06 [[ 9.98624861e-01 -5.23590110e-02 -2.63058618e-03 7.63781730e+01] [ 5.23889152e-02 9.98542160e-01 1.29983101e-02 6.34451968e+00] [ 1.94617255e-03 -1.31182492e-02 9.99912058e-01 -5.60569800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26140051299998 meters 0.05060198983832547 Centerline is valid? [True, True] Translation: X:76.44, Y:6.38, Z:-0.06 [[ 9.98702756e-01 -5.02185502e-02 -8.42036812e-03 7.64388701e+01] [ 5.00968978e-02 9.98645046e-01 -1.40844769e-02 6.37551602e+00] [ 9.11626092e-03 1.36443716e-02 9.99865353e-01 -6.27046378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32140051299999 meters 0.05923494799816094 Centerline is valid? [True, True] Translation: X:76.50, Y:6.38, Z:-0.06 [[ 9.98963039e-01 -4.46886681e-02 -8.70455916e-03 7.64978937e+01] [ 4.46827006e-02 9.99000843e-01 -8.78936099e-04 6.37743036e+00] [ 8.73514042e-03 4.89081467e-04 9.99961728e-01 -6.03509295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38140051299999 meters 0.058201204419829636 Centerline is valid? [True, True] Translation: X:76.56, Y:6.38, Z:-0.06 [[ 9.99187160e-01 -3.92237764e-02 -9.30134091e-03 7.65580862e+01] [ 3.92167257e-02 9.99230287e-01 -9.39277921e-04 6.38102457e+00] [ 9.33102357e-03 5.73746303e-04 9.99956300e-01 -6.00318724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44140051299999 meters 0.06365189830026902 Centerline is valid? [True, True] Translation: X:76.62, Y:6.40, Z:-0.06 [[ 9.99386374e-01 -3.28627725e-02 -1.21208318e-02 7.66172906e+01] [ 3.28503323e-02 9.99459533e-01 -1.22407097e-03 6.39640904e+00] [ 1.21545072e-02 8.25146495e-04 9.99925791e-01 -6.34753660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501400513 meters 0.07339476678881111 Centerline is valid? [True, True] Translation: X:76.67, Y:6.42, Z:-0.06 [[ 9.99563104e-01 -2.82170015e-02 -8.79779505e-03 7.66748021e+01] [ 2.82102679e-02 9.99601616e-01 -8.88565699e-04 6.42149980e+00] [ 8.81936281e-03 6.39989334e-04 9.99960904e-01 -5.89933156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561400513 meters 0.07106731911813546 Centerline is valid? [True, True] Translation: X:76.73, Y:6.43, Z:-0.06 [[ 9.99441753e-01 -3.21635699e-02 -9.03813055e-03 7.67334417e+01] [ 3.21566220e-02 9.99482425e-01 -9.13046513e-04 6.42858305e+00] [ 9.06281948e-03 6.21901060e-04 9.99958738e-01 -5.91279295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62140051299998 meters 0.05404207014047193 Centerline is valid? [True, True] Translation: X:76.80, Y:6.41, Z:-0.06 [[ 9.98981392e-01 -4.30982476e-02 -1.33686149e-02 7.67962506e+01] [ 4.30840192e-02 9.99070540e-01 -1.35062403e-03 6.41110101e+00] [ 1.34143988e-02 7.73274614e-04 9.99909724e-01 -6.30843033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68140051299999 meters 0.05537393012929775 Centerline is valid? [True, True] Translation: X:76.85, Y:6.42, Z:-0.06 [[ 9.98727091e-01 -4.90641642e-02 -1.17006706e-02 7.68549955e+01] [ 4.90536711e-02 9.98795444e-01 -1.18227642e-03 6.41870736e+00] [ 1.17445839e-02 6.06810648e-04 9.99930846e-01 -6.30536996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74140051299999 meters 0.05089217937863705 Centerline is valid? [True, True] Translation: X:76.92, Y:6.42, Z:-0.06 [[ 9.98617639e-01 -5.17205684e-02 -9.36981377e-03 7.69154907e+01] [ 5.17139548e-02 9.98661489e-01 -9.46911216e-04 6.41544461e+00] [ 9.40624696e-03 4.61052117e-04 9.99955654e-01 -5.81249232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80140051299999 meters 0.055416501967948756 Centerline is valid? [True, True] Translation: X:76.97, Y:6.42, Z:-0.06 [[ 9.98756943e-01 -4.88309728e-02 -1.00052844e-02 7.69735868e+01] [ 4.88232857e-02 9.98806920e-01 -1.01126716e-03 6.42482038e+00] [ 1.00427285e-02 5.21519232e-04 9.99949435e-01 -6.10076622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86140051299999 meters 0.05401087639811314 Centerline is valid? [True, True] Translation: X:77.03, Y:6.41, Z:-0.06 [[ 9.99197671e-01 -3.97448321e-02 -4.93594408e-03 7.70267002e+01] [ 3.97777170e-02 9.99185733e-01 6.75311488e-03 6.41451553e+00] [ 4.66352349e-03 -6.94403724e-03 9.99965015e-01 -5.56512773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921400513 meters 0.07067081536996306 Centerline is valid? [True, True] Translation: X:77.09, Y:6.45, Z:-0.06 [[ 9.99562556e-01 -2.85303720e-02 -7.79199613e-03 7.70903916e+01] [ 2.84672413e-02 9.99561938e-01 -8.09619455e-03 6.45387578e+00] [ 8.01957020e-03 7.87083628e-03 9.99936866e-01 -5.53113421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981400513 meters 0.08022251705559616 Centerline is valid? [True, True] Translation: X:77.15, Y:6.47, Z:-0.05 [[ 9.99865968e-01 -1.47388576e-02 -7.12821622e-03 7.71495068e+01] [ 1.47340886e-02 9.99891187e-01 -7.21082340e-04 6.46747440e+00] [ 7.13806851e-03 6.15957923e-04 9.99974334e-01 -5.29955848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04140051299999 meters 0.09371351400010554 Centerline is valid? [True, True] Translation: X:77.21, Y:6.50, Z:-0.06 [[ 9.99913613e-01 -8.01392830e-03 -1.04184504e-02 7.72058770e+01] [ 8.00337878e-03 9.99967417e-01 -1.05387979e-03 6.49504984e+00] [ 1.04265567e-02 9.70405944e-04 9.99945171e-01 -5.95146706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10140051299999 meters 0.09778116554172088 Centerline is valid? [True, True] Translation: X:77.26, Y:6.51, Z:-0.06 [[ 9.99906745e-01 -4.42165980e-03 -1.29209476e-02 7.72643124e+01] [ 4.40513440e-03 9.99989443e-01 -1.30714328e-03 6.51470608e+00] [ 1.29265909e-02 1.25010287e-03 9.99915667e-01 -6.41080639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16140051299999 meters 0.09349215699806801 Centerline is valid? [True, True] Translation: X:77.32, Y:6.53, Z:-0.06 [[ 9.99921010e-01 -6.12049168e-03 -1.09778283e-02 7.73235298e+01] [ 6.10866427e-03 9.99980725e-01 -1.11059772e-03 6.52585056e+00] [ 1.09844141e-02 1.04345012e-03 9.99939125e-01 -5.99091015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22140051299999 meters 0.08903146381274019 Centerline is valid? [True, True] Translation: X:77.38, Y:6.54, Z:-0.06 [[ 9.99844795e-01 -1.44141385e-02 -1.01300672e-02 7.73822051e+01] [ 1.44044894e-02 9.99895725e-01 -1.02484332e-03 6.53964421e+00] [ 1.01437831e-02 8.78765815e-04 9.99948164e-01 -5.96076762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281400513 meters 0.08032102552282819 Centerline is valid? [True, True] Translation: X:77.44, Y:6.54, Z:-0.06 [[ 9.99695175e-01 -2.31128068e-02 -8.68077611e-03 7.74432275e+01] [ 2.31060466e-02 9.99732634e-01 -8.78259163e-04 6.54158715e+00] [ 8.69875419e-03 6.77413031e-04 9.99961936e-01 -5.72310595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341400513 meters 0.0640622483090262 Centerline is valid? [True, True] Translation: X:77.50, Y:6.54, Z:-0.06 [[ 9.99357583e-01 -3.48187343e-02 -8.48986513e-03 7.75043792e+01] [ 3.48126879e-02 9.99393486e-01 -8.58979301e-04 6.54103408e+00] [ 8.51462447e-03 5.62872453e-04 9.99963592e-01 -5.73751186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40140051299998 meters 0.0672358422846791 Centerline is valid? [True, True] Translation: X:77.56, Y:6.56, Z:-0.06 [[ 9.99213760e-01 -3.82183459e-02 -1.05460529e-02 7.75623300e+01] [ 3.82092029e-02 9.99269192e-01 -1.06715443e-03 6.55660841e+00] [ 1.05791306e-02 6.63359110e-04 9.99943819e-01 -6.10459517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46140051299999 meters 0.05977651883924516 Centerline is valid? [True, True] Translation: X:77.62, Y:6.56, Z:-0.06 [[ 9.99119484e-01 -4.06300826e-02 -1.04620183e-02 7.76217919e+01] [ 4.06212153e-02 9.99174057e-01 -1.05877233e-03 6.56357251e+00] [ 1.04963952e-02 6.32860169e-04 9.99944711e-01 -5.92968347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52140051299999 meters 0.059938859833723095 Centerline is valid? [True, True] Translation: X:77.68, Y:6.58, Z:-0.06 [[ 9.99181506e-01 -3.95362193e-02 -8.55604033e-03 7.76791334e+01] [ 3.95302448e-02 9.99217999e-01 -8.66339180e-04 6.57555158e+00] [ 8.58360128e-03 5.27407718e-04 9.99963021e-01 -5.66897109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58140051299999 meters 0.06960117743594016 Centerline is valid? [True, True] Translation: X:77.74, Y:6.60, Z:-0.06 [[ 9.99272498e-01 -3.72911821e-02 -7.99019862e-03 7.77363855e+01] [ 3.72858991e-02 9.99304311e-01 -8.09177323e-04 6.59688855e+00] [ 8.01481511e-03 5.10666905e-04 9.99967750e-01 -5.65275154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641400513 meters 0.06544453461748402 Centerline is valid? [True, True] Translation: X:77.80, Y:6.60, Z:-0.06 [[ 9.99302412e-01 -3.61400882e-02 -9.41187969e-03 7.77952828e+01] [ 3.61327042e-02 9.99346546e-01 -9.53459485e-04 6.60206280e+00] [ 9.44018757e-03 6.12717698e-04 9.99955253e-01 -5.85713745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701400513 meters 0.06410359419794112 Centerline is valid? [True, True] Translation: X:77.86, Y:6.61, Z:-0.06 [[ 9.99241939e-01 -3.76883723e-02 -9.75368843e-03 7.78554533e+01] [ 3.76805127e-02 9.99289349e-01 -9.88396153e-04 6.60692226e+00] [ 9.78400800e-03 6.20122907e-04 9.99951943e-01 -5.92132165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76140051299998 meters 0.06577361491044349 Centerline is valid? [True, True] Translation: X:77.91, Y:6.61, Z:-0.06 [[ 9.99227599e-01 -3.85427187e-02 -7.65930989e-03 7.79128546e+01] [ 3.85378940e-02 9.99256838e-01 -7.76570423e-04 6.61313532e+00] [ 7.68354891e-03 4.80796926e-04 9.99970366e-01 -5.52810333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82140051299999 meters 0.06326371849252585 Centerline is valid? [True, True] Translation: X:77.97, Y:6.62, Z:-0.05 [[ 9.99275506e-01 -3.73378901e-02 -7.37192175e-03 7.79725266e+01] [ 3.73333864e-02 9.99302586e-01 -7.47640533e-04 6.61557289e+00] [ 7.39469579e-03 4.71880068e-04 9.99972548e-01 -5.44821074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88140051299999 meters 0.06610807141930423 Centerline is valid? [True, True] Translation: X:78.03, Y:6.62, Z:-0.05 [[ 9.99241889e-01 -3.85363906e-02 -5.53121314e-03 7.80304574e+01] [ 3.85338726e-02 9.99257137e-01 -5.61136550e-04 6.62398506e+00] [ 5.54872838e-03 3.47572084e-04 9.99984545e-01 -5.28199928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94140051299999 meters 0.059891315869042464 Centerline is valid? [True, True] Translation: X:78.09, Y:6.62, Z:-0.05 [[ 9.99203418e-01 -3.97098665e-02 -3.95687600e-03 7.80909744e+01] [ 3.97085867e-02 9.99211222e-01 -4.01516626e-04 6.62003301e+00] [ 3.96969908e-03 2.44074831e-04 9.99992091e-01 -4.98657450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001400513 meters 0.056124399033206165 Centerline is valid? [True, True] Translation: X:78.15, Y:6.61, Z:-0.05 [[ 9.98942983e-01 -4.57443196e-02 -4.51364981e-03 7.81513258e+01] [ 4.57427153e-02 9.98953149e-01 -4.58090918e-04 6.61458596e+00] [ 4.52987975e-03 2.51140110e-04 9.99989709e-01 -5.03891034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061400513 meters 0.05801056586338997 Centerline is valid? [True, True] Translation: X:78.21, Y:6.62, Z:-0.05 [[ 9.98826556e-01 -4.80893710e-02 -5.73782300e-03 7.82099155e+01] [ 4.80868163e-02 9.98842990e-01 -5.82459204e-04 6.62014368e+00] [ 5.75919438e-03 3.05862081e-04 9.99983369e-01 -5.32210404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12140051299998 meters 0.058724519340316264 Centerline is valid? [True, True] Translation: X:78.27, Y:6.62, Z:-0.05 [[ 9.98899140e-01 -4.65637004e-02 -5.68600465e-03 7.82691247e+01] [ 4.65611659e-02 9.98915274e-01 -5.77381665e-04 6.62149502e+00] [ 5.70672192e-03 3.11999042e-04 9.99983668e-01 -5.23586794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18140051299999 meters 0.065979956533421 Centerline is valid? [True, True] Translation: X:78.33, Y:6.63, Z:-0.05 [[ 9.99204864e-01 -3.92007166e-02 -7.27624876e-03 7.83281597e+01] [ 3.91963709e-02 9.99231254e-01 -7.38952223e-04 6.63302330e+00] [ 7.29962263e-03 4.53162111e-04 9.99973255e-01 -5.43117323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24140051299999 meters 0.07692833151200659 Centerline is valid? [True, True] Translation: X:78.39, Y:6.65, Z:-0.05 [[ 9.99451351e-01 -3.23688689e-02 -7.01801619e-03 7.83864748e+01] [ 3.23646580e-02 9.99475873e-01 -7.12784738e-04 6.64693775e+00] [ 7.03740989e-03 4.85257976e-04 9.99975119e-01 -5.41475138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30140051299999 meters 0.07152373474549963 Centerline is valid? [True, True] Translation: X:78.45, Y:6.65, Z:-0.05 [[ 9.99645531e-01 -2.62220225e-02 -4.60621745e-03 7.84476164e+01] [ 2.62201436e-02 9.99656083e-01 -4.67832126e-04 6.64578097e+00] [ 4.61690080e-03 3.46890612e-04 9.99989282e-01 -4.99825393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36140051299999 meters 0.08052924941511226 Centerline is valid? [True, True] Translation: X:78.51, Y:6.66, Z:-0.05 [[ 9.99740046e-01 -2.21761147e-02 -5.29720468e-03 7.85054387e+01] [ 2.21735729e-02 9.99753991e-01 -5.38105342e-04 6.66082606e+00] [ 5.30783461e-03 4.20507505e-04 9.99985825e-01 -5.25590080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421400513 meters 0.08267094161780272 Centerline is valid? [True, True] Translation: X:78.56, Y:6.66, Z:-0.06 [[ 9.99713175e-01 -2.29357381e-02 -6.89341901e-03 7.85642870e+01] [ 2.29314449e-02 9.99736794e-01 -7.01213869e-04 6.66461838e+00] [ 6.90768748e-03 5.42936685e-04 9.99975994e-01 -5.59608408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481400513 meters 0.08335259605575758 Centerline is valid? [True, True] Translation: X:78.62, Y:6.67, Z:-0.06 [[ 9.99669310e-01 -2.51135069e-02 -5.53012494e-03 7.86234679e+01] [ 2.51107759e-02 9.99684516e-01 -5.62731646e-04 6.66796670e+00] [ 5.54251244e-03 4.23679829e-04 9.99984550e-01 -5.52405681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54140051299999 meters 0.07194053509879372 Centerline is valid? [True, True] Translation: X:78.68, Y:6.65, Z:-0.05 [[ 9.99585646e-01 -2.84335646e-02 -4.47990995e-03 7.86846382e+01] [ 2.84318052e-02 9.99595631e-01 -4.55940659e-04 6.65490275e+00] [ 4.49106243e-03 3.28379811e-04 9.99989861e-01 -5.42110328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60140051299999 meters 0.07613351326697454 Centerline is valid? [True, True] Translation: X:78.74, Y:6.66, Z:-0.06 [[ 9.99499196e-01 -3.11558174e-02 -5.53831333e-03 7.87435703e+01] [ 3.11531696e-02 9.99514463e-01 -5.63744560e-04 6.66098257e+00] [ 5.55318820e-03 3.90926220e-04 9.99984505e-01 -5.69217934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66140051299999 meters 0.07074790161365126 Centerline is valid? [True, True] Translation: X:78.81, Y:6.65, Z:-0.06 [[ 9.99378613e-01 -3.49799212e-02 -4.33506218e-03 7.88053096e+01] [ 3.49783345e-02 9.99387973e-01 -4.41302471e-04 6.65214740e+00] [ 4.34784573e-03 2.89394996e-04 9.99990506e-01 -5.51352985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72140051299999 meters 0.06737530471833468 Centerline is valid? [True, True] Translation: X:78.87, Y:6.65, Z:-0.06 [[ 9.99210135e-01 -3.94007079e-02 -5.16620684e-03 7.88668516e+01] [ 3.93985133e-02 9.99223439e-01 -5.25924797e-04 6.64603757e+00] [ 5.18291678e-03 3.21968518e-04 9.99986517e-01 -5.61993770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781400513 meters 0.06008123472816583 Centerline is valid? [True, True] Translation: X:78.93, Y:6.64, Z:-0.06 [[ 9.98893230e-01 -4.66602492e-02 -5.92762320e-03 7.89269388e+01] [ 4.66574868e-02 9.98910764e-01 -6.03518127e-04 6.64275007e+00] [ 5.94932692e-03 3.26282169e-04 9.99982249e-01 -5.82950247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841400513 meters 0.045635631120896664 Centerline is valid? [True, True] Translation: X:78.99, Y:6.62, Z:-0.05 [[ 9.98315158e-01 -5.78450674e-02 -4.56003542e-03 7.89900242e+01] [ 5.78435489e-02 9.98325552e-01 -4.64314769e-04 6.62339838e+00] [ 4.57925820e-03 1.99763840e-04 9.99989495e-01 -5.47582830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90140051299998 meters 0.04185917781432764 Centerline is valid? [True, True] Translation: X:79.05, Y:6.62, Z:-0.06 [[ 9.97990597e-01 -6.31707038e-02 -4.92241695e-03 7.90505271e+01] [ 6.31689988e-02 9.98002719e-01 -5.01241397e-04 6.62005243e+00] [ 4.94424927e-03 1.89290051e-04 9.99987759e-01 -5.52069194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96140051299999 meters 0.03679014002332275 Centerline is valid? [True, True] Translation: X:79.11, Y:6.62, Z:-0.06 [[ 9.97664594e-01 -6.80843083e-02 -5.46665380e-03 7.91119730e+01] [ 6.80822789e-02 9.97679554e-01 -5.56679835e-04 6.61545735e+00] [ 5.49186989e-03 1.83197513e-04 9.99984903e-01 -5.65525215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02140051299999 meters 0.034016597756220006 Centerline is valid? [True, True] Translation: X:79.17, Y:6.61, Z:-0.05 [[ 9.97545039e-01 -6.99001453e-02 -4.22663677e-03 7.91713760e+01] [ 6.98989478e-02 9.97553984e-01 -4.30563017e-04 6.61050109e+00] [ 4.24639476e-03 1.34068539e-04 9.99990975e-01 -5.38410574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08140051299999 meters 0.03249714579224199 Centerline is valid? [True, True] Translation: X:79.23, Y:6.62, Z:-0.05 [[ 9.97472479e-01 -7.09655522e-02 -3.54176950e-03 7.92291343e+01] [ 7.09647174e-02 9.97478761e-01 -3.60988875e-04 6.61604209e+00] [ 3.55845763e-03 1.08735796e-04 9.99993663e-01 -5.25374227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141400513 meters 0.029313643145407325 Centerline is valid? [True, True] Translation: X:79.29, Y:6.61, Z:-0.05 [[ 9.97275130e-01 -7.36310503e-02 -4.55879219e-03 7.92887487e+01] [ 7.36296938e-02 9.97285542e-01 -4.64899922e-04 6.61284675e+00] [ 4.58064861e-03 1.27970657e-04 9.99989501e-01 -5.49231961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201400513 meters 0.02680189586129751 Centerline is valid? [True, True] Translation: X:79.35, Y:6.61, Z:-0.05 [[ 9.96984166e-01 -7.75293656e-02 -3.43063876e-03 7.93477746e+01] [ 7.75286202e-02 9.96990065e-01 -3.49948624e-04 6.61429788e+00] [ 3.44744406e-03 8.29205478e-05 9.99994054e-01 -5.37799623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26140051299998 meters 0.018819869597288274 Centerline is valid? [True, True] Translation: X:79.41, Y:6.61, Z:-0.05 [[ 9.96494544e-01 -8.36282804e-02 -2.22159559e-03 7.94083361e+01] [ 8.36279828e-02 9.96497019e-01 -2.26662931e-04 6.60795109e+00] [ 2.23276881e-03 4.00808162e-05 9.99997507e-01 -5.24519971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32140051299999 meters 0.01697125010896354 Centerline is valid? [True, True] Translation: X:79.47, Y:6.61, Z:-0.05 [[ 9.96240660e-01 -8.65604763e-02 -3.43980081e-03 7.94660999e+01] [ 8.65597798e-02 9.96246597e-01 -3.51136592e-04 6.61081963e+00] [ 3.45728440e-03 5.20681489e-05 9.99994022e-01 -5.36344411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38140051299999 meters 0.022979656295090696 Centerline is valid? [True, True] Translation: X:79.53, Y:6.61, Z:-0.05 [[ 9.95507211e-01 -9.46758084e-02 -1.37266842e-03 7.95270069e+01] [ 9.46757051e-02 9.95508157e-01 -1.40151903e-04 6.60705572e+00] [ 1.37977161e-03 9.56387958e-06 9.99999048e-01 -5.06067278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44140051299999 meters 0.023645907644037033 Centerline is valid? [True, True] Translation: X:79.59, Y:6.61, Z:-0.05 [[ 9.94809955e-01 -1.01747516e-01 -7.72445516e-04 7.95862423e+01] [ 1.01747485e-01 9.94810255e-01 -7.88279367e-05 6.60555137e+00] [ 7.76457268e-04 -1.75572627e-07 9.99999699e-01 -4.93098902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501400513 meters 0.01850564533449464 Centerline is valid? [True, True] Translation: X:79.65, Y:6.61, Z:-0.05 [[ 9.94111609e-01 -1.08358824e-01 -6.89202465e-04 7.96453329e+01] [ 1.08358801e-01 9.94111847e-01 -7.04296807e-05 6.60587198e+00] [ 6.92776013e-04 -4.66618976e-06 9.99999760e-01 -4.92907758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561400513 meters 0.02804722159778445 Centerline is valid? [True, True] Translation: X:79.71, Y:6.60, Z:-0.05 [[ 9.93075640e-01 -1.17470927e-01 -1.16347634e-03 7.97058593e+01] [ 1.17470868e-01 9.93076322e-01 -1.19201099e-04 6.60074715e+00] [ 1.16942347e-03 -1.82988680e-05 9.99999316e-01 -4.82069155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62140051299998 meters 0.03227257138405086 Centerline is valid? [True, True] Translation: X:79.77, Y:6.60, Z:-0.05 [[ 9.92270254e-01 -1.24022828e-01 -4.25222420e-03 7.97665806e+01] [ 1.24022098e-01 9.92279360e-01 -4.35785427e-04 6.59648484e+00] [ 4.27344165e-03 -9.49528511e-05 9.99990864e-01 -5.18321392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68140051299999 meters 0.03808051453215128 Centerline is valid? [True, True] Translation: X:79.83, Y:6.59, Z:-0.05 [[ 9.91414794e-01 -1.30707053e-01 -3.51744211e-03 7.98271221e+01] [ 1.30706596e-01 9.91421028e-01 -3.60518806e-04 6.59441124e+00] [ 3.53438842e-03 -1.02329208e-04 9.99993749e-01 -5.12888848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74140051299999 meters 0.040839577070759976 Centerline is valid? [True, True] Translation: X:79.89, Y:6.59, Z:-0.05 [[ 9.90792008e-01 -1.35376325e-01 -2.10882649e-03 7.98881425e+01] [ 1.35376171e-01 9.90794250e-01 -2.16149996e-04 6.59321705e+00] [ 2.11867475e-03 -7.13251674e-05 9.99997753e-01 -4.84893997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80140051299999 meters 0.042229799421431395 Centerline is valid? [True, True] Translation: X:79.95, Y:6.60, Z:-0.05 [[ 9.91038168e-01 -1.33554213e-01 -2.57341436e-03 7.99463528e+01] [ 1.33553977e-01 9.91041505e-01 -2.63844899e-04 6.60188465e+00] [ 2.58559804e-03 -8.22093579e-05 9.99996654e-01 -4.83424478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86140051299999 meters 0.03124879114520686 Centerline is valid? [True, True] Translation: X:80.00, Y:6.61, Z:-0.05 [[ 9.91331283e-01 -1.31378855e-01 -1.37221377e-03 8.00041570e+01] [ 1.31378786e-01 9.91332232e-01 -1.40733118e-04 6.61190054e+00] [ 1.37880909e-03 -4.07666361e-05 9.99999049e-01 -4.56600839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921400513 meters 0.040253717644686195 Centerline is valid? [True, True] Translation: X:80.06, Y:6.62, Z:-0.05 [[ 9.91241327e-01 -1.32036329e-01 -2.65303496e-03 8.00621502e+01] [ 1.32036072e-01 9.91244875e-01 -2.72474598e-04 6.61937896e+00] [ 2.66578385e-03 -8.02082322e-05 9.99996444e-01 -4.74843053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981400513 meters 0.03844783445071415 Centerline is valid? [True, True] Translation: X:80.12, Y:6.62, Z:-0.05 [[ 9.91054755e-01 -1.33418826e-01 -3.14488651e-03 8.01208991e+01] [ 1.33418471e-01 9.91059739e-01 -3.23579004e-04 6.62449571e+00] [ 3.15994194e-03 -9.89014386e-05 9.99995002e-01 -4.89765488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04140051299999 meters 0.04387588339632738 Centerline is valid? [True, True] Translation: X:80.18, Y:6.63, Z:-0.05 [[ 9.90596068e-01 -1.36721225e-01 -5.17074159e-03 8.01798243e+01] [ 1.36720306e-01 9.90609547e-01 -5.32446784e-04 6.62538010e+00] [ 5.19498276e-03 -1.79505683e-04 9.99986490e-01 -5.23010746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10140051299999 meters 0.042920044033126346 Centerline is valid? [True, True] Translation: X:80.24, Y:6.63, Z:-0.05 [[ 9.90160970e-01 -1.39831382e-01 -5.33268084e-03 8.02392166e+01] [ 1.39830449e-01 9.90175310e-01 -5.49316379e-04 6.62813689e+00] [ 5.35710057e-03 -2.01759515e-04 9.99985630e-01 -5.27883462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16140051299999 meters 0.04544461976733764 Centerline is valid? [True, True] Translation: X:80.30, Y:6.63, Z:-0.05 [[ 9.89562258e-01 -1.43926220e-01 -7.19590611e-03 8.02999498e+01] [ 1.43924627e-01 9.89588375e-01 -7.41409355e-04 6.62585126e+00] [ 7.22769328e-03 -3.01997391e-04 9.99973834e-01 -5.46872048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22140051299999 meters 0.05173796714442563 Centerline is valid? [True, True] Translation: X:80.36, Y:6.63, Z:-0.05 [[ 9.89592046e-01 -1.43766555e-01 -6.22575126e-03 8.03585222e+01] [ 1.43765354e-01 9.89611596e-01 -6.42378397e-04 6.63293073e+00] [ 6.25342817e-03 -2.59354783e-04 9.99980413e-01 -5.28583960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281400513 meters 0.04846804960752704 Centerline is valid? [True, True] Translation: X:80.42, Y:6.64, Z:-0.05 [[ 9.89871985e-01 -1.41869737e-01 -5.14118898e-03 8.04181573e+01] [ 1.41868891e-01 9.89885315e-01 -5.30773848e-04 6.64140953e+00] [ 5.16448822e-03 -2.03976615e-04 9.99986643e-01 -5.03925970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341400513 meters 0.047366911478654905 Centerline is valid? [True, True] Translation: X:80.48, Y:6.66, Z:-0.05 [[ 9.90148496e-01 -1.39891698e-01 -6.02235804e-03 8.04756385e+01] [ 1.39890499e-01 9.90166785e-01 -6.22040029e-04 6.65883757e+00] [ 6.05015713e-03 -2.26558671e-04 9.99981672e-01 -5.23525883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40140051299998 meters 0.042575601461247004 Centerline is valid? [True, True] Translation: X:80.53, Y:6.67, Z:-0.05 [[ 9.90055886e-01 -1.40581331e-01 -5.12168225e-03 8.05331041e+01] [ 1.40580469e-01 9.90069114e-01 -5.29792777e-04 6.67381921e+00] [ 5.14529839e-03 -1.95484035e-04 9.99986744e-01 -5.09284682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46140051299999 meters 0.05352112266699769 Centerline is valid? [True, True] Translation: X:80.59, Y:6.68, Z:-0.05 [[ 9.89831367e-01 -1.42123185e-01 -5.90460518e-03 8.05916320e+01] [ 1.42122063e-01 9.89848951e-01 -6.11255018e-04 6.67655310e+00] [ 5.93154075e-03 -2.34135281e-04 9.99982381e-01 -5.21021983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52140051299999 meters 0.04768592315119963 Centerline is valid? [True, True] Translation: X:80.65, Y:6.69, Z:-0.05 [[ 9.89741318e-01 -1.42814987e-01 -4.00042878e-03 8.06498462e+01] [ 1.42814475e-01 9.89749389e-01 -4.14666236e-04 6.68854296e+00] [ 4.01864250e-03 -1.60906831e-04 9.99991912e-01 -4.96061789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58140051299999 meters 0.04175978336935954 Centerline is valid? [True, True] Translation: X:80.71, Y:6.70, Z:-0.04 [[ 9.89805052e-01 -1.42409932e-01 -2.31747066e-03 8.07054323e+01] [ 1.42425584e-01 9.89760885e-01 9.39907305e-03 6.70293571e+00] [ 9.55220455e-04 -9.63331710e-03 9.99953142e-01 -4.38344142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641400513 meters 0.04725588075913613 Centerline is valid? [True, True] Translation: X:80.76, Y:6.73, Z:-0.05 [[ 9.89453271e-01 -1.44827708e-01 -2.67561091e-03 8.07644914e+01] [ 1.44795070e-01 9.89412507e-01 -9.86301399e-03 6.72643705e+00] [ 4.07572060e-03 9.37157619e-03 9.99947780e-01 -5.07220360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701400513 meters 0.050402809849415434 Centerline is valid? [True, True] Translation: X:80.82, Y:6.72, Z:-0.05 [[ 9.88835428e-01 -1.48975455e-01 -3.28798323e-03 8.08241218e+01] [ 1.48975140e-01 9.88840882e-01 -3.41747032e-04 6.72208669e+00] [ 3.30220415e-03 -1.51896190e-04 9.99994536e-01 -4.75149823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76140051299998 meters 0.051609090203975874 Centerline is valid? [True, True] Translation: X:80.88, Y:6.74, Z:-0.05 [[ 9.88383869e-01 -1.51887058e-01 -5.25830021e-03 8.08832534e+01] [ 1.51886295e-01 9.88397822e-01 -5.46628512e-04 6.73608865e+00] [ 5.28031827e-03 -2.58384931e-04 9.99986026e-01 -5.05174518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82140051299999 meters 0.05784232135723532 Centerline is valid? [True, True] Translation: X:80.94, Y:6.74, Z:-0.06 [[ 9.88346722e-01 -1.52028427e-01 -7.62326853e-03 8.09407309e+01] [ 1.52026823e-01 9.88376050e-01 -7.92909974e-04 6.74428960e+00] [ 7.65520090e-03 -3.75271320e-04 9.99970628e-01 -5.55543150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88140051299999 meters 0.051895248504254136 Centerline is valid? [True, True] Translation: X:81.00, Y:6.76, Z:-0.05 [[ 9.88360264e-01 -1.52032784e-01 -5.47917594e-03 8.09984336e+01] [ 1.52031951e-01 9.88375415e-01 -5.70715333e-04 6.76103936e+00] [ 5.50225024e-03 -2.68937449e-04 9.99984826e-01 -5.02070308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94140051299999 meters 0.05522545943387642 Centerline is valid? [True, True] Translation: X:81.06, Y:6.77, Z:-0.05 [[ 9.88266387e-01 -1.52685218e-01 -4.09553492e-03 8.10552252e+01] [ 1.52684757e-01 9.88274852e-01 -4.26913945e-04 6.77177706e+00] [ 4.11269761e-03 -2.03421051e-04 9.99991522e-01 -4.86765333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001400513 meters 0.06291050356409811 Centerline is valid? [True, True] Translation: X:81.11, Y:6.78, Z:-0.05 [[ 9.87307885e-01 -1.58773986e-01 -3.73653176e-03 8.11143899e+01] [ 1.58773645e-01 9.87314933e-01 -3.89575005e-04 6.77594221e+00] [ 3.75098798e-03 -2.08632292e-04 9.99992943e-01 -5.02877052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061400513 meters 0.062004282639507614 Centerline is valid? [True, True] Translation: X:81.17, Y:6.79, Z:-0.05 [[ 9.86620686e-01 -1.62952429e-01 -5.11144702e-03 8.11735999e+01] [ 1.62951847e-01 9.86633879e-01 -5.33002172e-04 6.78914984e+00] [ 5.12998080e-03 -3.07048763e-04 9.99986794e-01 -5.15675797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12140051299998 meters 0.0695020958405924 Centerline is valid? [True, True] Translation: X:81.23, Y:6.79, Z:-0.05 [[ 9.86431053e-01 -1.64076856e-01 -5.70644693e-03 8.12332230e+01] [ 1.64076148e-01 9.86447497e-01 -5.95295425e-04 6.78517482e+00] [ 5.72678449e-03 -3.49073937e-04 9.99983541e-01 -5.35804406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18140051299999 meters 0.0678526263373452 Centerline is valid? [True, True] Translation: X:81.29, Y:6.81, Z:-0.06 [[ 9.86693166e-01 -1.62407084e-01 -7.78040388e-03 8.12909772e+01] [ 1.62405713e-01 9.86723733e-01 -8.11881367e-04 6.80766550e+00] [ 7.80896445e-03 -4.62504246e-04 9.99969403e-01 -5.65597325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24140051299999 meters 0.06530697806368918 Centerline is valid? [True, True] Translation: X:81.35, Y:6.82, Z:-0.05 [[ 9.86662499e-01 -1.62646028e-01 -6.58655384e-03 8.13484249e+01] [ 1.62645044e-01 9.86684405e-01 -6.88409011e-04 6.81743863e+00] [ 6.61081695e-03 -3.92042982e-04 9.99978071e-01 -5.44987054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30140051299999 meters 0.062465449932850914 Centerline is valid? [True, True] Translation: X:81.41, Y:6.83, Z:-0.05 [[ 9.86336569e-01 -1.64695536e-01 -3.94363535e-03 8.14068916e+01] [ 1.64695199e-01 9.86344423e-01 -4.12408179e-04 6.82935468e+00] [ 3.95770452e-03 -2.42724539e-04 9.99992139e-01 -5.11524949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36140051299999 meters 0.06546225856443272 Centerline is valid? [True, True] Translation: X:81.47, Y:6.83, Z:-0.05 [[ 9.86470012e-01 -1.63924254e-01 -2.39898555e-03 8.14652874e+01] [ 1.63924127e-01 9.86472918e-01 -2.50984778e-04 6.82730696e+00] [ 2.40767677e-03 -1.45662655e-04 9.99997091e-01 -4.86682464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421400513 meters 0.05852868366476413 Centerline is valid? [True, True] Translation: X:81.52, Y:6.84, Z:-0.05 [[ 9.86782559e-01 -1.62016924e-01 -3.27072089e-03 8.15237040e+01] [ 1.62016677e-01 9.86787961e-01 -3.42329343e-04 6.84171109e+00] [ 3.28297114e-03 -1.92106703e-04 9.99994593e-01 -4.87867233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48140051299998 meters 0.05154984694826664 Centerline is valid? [True, True] Translation: X:81.58, Y:6.87, Z:-0.05 [[ 9.87648605e-01 -1.56590183e-01 -5.45422650e-03 8.15814149e+01] [ 1.56589411e-01 9.87663622e-01 -5.70946192e-04 6.86867872e+00] [ 5.47634567e-03 -2.90179903e-04 9.99984963e-01 -5.13120290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54140051299999 meters 0.05436570678917139 Centerline is valid? [True, True] Translation: X:81.64, Y:6.88, Z:-0.05 [[ 9.87299958e-01 -1.58844696e-01 -2.67491976e-03 8.16407535e+01] [ 1.58844519e-01 9.87303571e-01 -2.80035323e-04 6.87854368e+00] [ 2.68543996e-03 -1.48417480e-04 9.99996383e-01 -4.77797660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60140051299999 meters 0.06326452479308957 Centerline is valid? [True, True] Translation: X:81.70, Y:6.88, Z:-0.05 [[ 9.85999457e-01 -1.66720773e-01 -3.04208155e-03 8.17017321e+01] [ 1.66720580e-01 9.86004131e-01 -3.18509791e-04 6.87832352e+00] [ 3.05260717e-03 -1.93127119e-04 9.99995322e-01 -4.81404364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66140051299999 meters 0.07203672878174612 Centerline is valid? [True, True] Translation: X:81.76, Y:6.88, Z:-0.05 [[ 9.84302737e-01 -1.76405029e-01 -5.42098303e-03 8.17626046e+01] [ 1.76404564e-01 9.84317585e-01 -5.67654573e-04 6.87776913e+00] [ 5.43610604e-03 -3.97542197e-04 9.99985145e-01 -5.13607704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72140051299999 meters 0.07981751217666042 Centerline is valid? [True, True] Translation: X:81.82, Y:6.87, Z:-0.06 [[ 9.82359148e-01 -1.86804622e-01 -8.63346324e-03 8.18235025e+01] [ 1.86803839e-01 9.82396818e-01 -9.04199018e-04 6.86942721e+00] [ 8.65039537e-03 -7.24515900e-04 9.99962322e-01 -5.62797162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781400513 meters 0.08873410717290062 Centerline is valid? [True, True] Translation: X:81.88, Y:6.86, Z:-0.06 [[ 9.82164235e-01 -1.87780700e-01 -9.58246310e-03 8.18825035e+01] [ 1.87779777e-01 9.82210643e-01 -1.00402343e-03 6.86487147e+00] [ 9.60053347e-03 -8.13276874e-04 9.99953583e-01 -5.84063125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841400513 meters 0.08932038354586713 Centerline is valid? [True, True] Translation: X:81.94, Y:6.87, Z:-0.06 [[ 9.82170909e-01 -1.87744140e-01 -9.61474207e-03 8.19410159e+01] [ 1.87743195e-01 9.82217631e-01 -1.00887487e-03 6.87221422e+00] [ 9.63317952e-03 -8.14214846e-04 9.99953268e-01 -5.64357087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90140051299998 meters 0.08286259396217843 Centerline is valid? [True, True] Translation: X:82.00, Y:6.88, Z:-0.05 [[ 9.83149040e-01 -1.82711440e-01 -5.87330341e-03 8.20003668e+01] [ 1.82710997e-01 9.83166472e-01 -6.16512635e-04 6.88274914e+00] [ 5.88707890e-03 -4.66993315e-04 9.99982562e-01 -5.28435294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96140051299999 meters 0.06821366991919037 Centerline is valid? [True, True] Translation: X:82.06, Y:6.90, Z:-0.05 [[ 9.83601813e-01 -1.80311590e-01 -3.89923764e-03 8.20585802e+01] [ 1.80311376e-01 9.83609496e-01 -4.09350481e-04 6.90420673e+00] [ 3.90913781e-03 -3.00439028e-04 9.99992314e-01 -4.86622671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02140051299999 meters 0.07295804111110198 Centerline is valid? [True, True] Translation: X:82.12, Y:6.90, Z:-0.06 [[ 9.83687145e-01 -1.79678445e-01 -8.67508164e-03 8.21171129e+01] [ 1.79677355e-01 9.83725174e-01 -9.11237724e-04 6.89884091e+00] [ 8.69762597e-03 -6.62342891e-04 9.99961956e-01 -5.57952574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08140051299999 meters 0.07561411169593892 Centerline is valid? [True, True] Translation: X:82.18, Y:6.90, Z:-0.06 [[ 9.83473750e-01 -1.80792788e-01 -9.66180528e-03 8.21773105e+01] [ 1.80791487e-01 9.83520924e-01 -1.01516750e-03 6.89801459e+00] [ 9.68612261e-03 -7.48381551e-04 9.99952808e-01 -5.61759954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141400513 meters 0.0804113348371879 Centerline is valid? [True, True] Translation: X:82.24, Y:6.89, Z:-0.05 [[ 9.84010791e-01 -1.78017935e-01 -5.69021430e-03 8.22369186e+01] [ 1.78017437e-01 9.84027151e-01 -5.98031610e-04 6.89436101e+00] [ 5.70578572e-03 -4.24487806e-04 9.99983632e-01 -4.97297410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201400513 meters 0.08009812106975078 Centerline is valid? [True, True] Translation: X:82.30, Y:6.90, Z:-0.05 [[ 9.84807758e-01 -1.73574688e-01 -5.05058237e-03 8.22961803e+01] [ 1.73574237e-01 9.84820645e-01 -5.30923808e-04 6.89602757e+00] [ 5.06607272e-03 -3.53793094e-04 9.99987105e-01 -5.03636740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26140051299998 meters 0.06656566611464032 Centerline is valid? [True, True] Translation: X:82.35, Y:6.91, Z:-0.05 [[ 9.85187059e-01 -1.71426091e-01 -4.42196089e-03 8.23547408e+01] [ 1.71425723e-01 9.85196937e-01 -4.64902888e-04 6.91309287e+00] [ 4.43619881e-03 -3.00021536e-04 9.99990115e-01 -4.99604596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32140051299999 meters 0.0687667216687155 Centerline is valid? [True, True] Translation: X:82.41, Y:6.92, Z:-0.05 [[ 9.84586008e-01 -1.74888390e-01 -2.10790268e-03 8.24145780e+01] [ 1.74888315e-01 9.84588253e-01 -2.21629532e-04 6.91975960e+00] [ 2.11417665e-03 -1.50434212e-04 9.99997754e-01 -4.64547296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38140051299999 meters 0.07743253595751148 Centerline is valid? [True, True] Translation: X:82.48, Y:6.92, Z:-0.05 [[ 9.83673346e-01 -1.79897690e-01 -4.85492351e-03 8.24757249e+01] [ 1.79897349e-01 9.83685256e-01 -5.10517817e-04 6.91657471e+00] [ 4.86755765e-03 -3.71205099e-04 9.99988084e-01 -5.01048277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44140051299999 meters 0.07986749265927917 Centerline is valid? [True, True] Translation: X:82.54, Y:6.91, Z:-0.05 [[ 9.82812671e-01 -1.84448962e-01 -7.60492650e-03 8.25367231e+01] [ 1.84448259e-01 9.82841900e-01 -7.99787709e-04 6.91248476e+00] [ 7.62196043e-03 -6.16673960e-04 9.99970762e-01 -5.33302131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501400513 meters 0.0748012997329252 Centerline is valid? [True, True] Translation: X:82.60, Y:6.93, Z:-0.05 [[ 9.83081380e-01 -1.83064460e-01 -6.19706345e-03 8.25954077e+01] [ 1.83063966e-01 9.83100788e-01 -6.51800757e-04 6.92787844e+00] [ 6.21165952e-03 -4.93685823e-04 9.99980586e-01 -4.90444272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561400513 meters 0.07405788794819786 Centerline is valid? [True, True] Translation: X:82.65, Y:6.94, Z:-0.05 [[ 9.84105097e-01 -1.77422492e-01 -7.64313062e-03 8.26533743e+01] [ 1.77421569e-01 9.84134615e-01 -8.04111223e-04 6.93901712e+00] [ 7.66453683e-03 -5.64726270e-04 9.99970468e-01 -5.17029778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62140051299998 meters 0.07312378951645032 Centerline is valid? [True, True] Translation: X:82.71, Y:6.95, Z:-0.05 [[ 9.84781609e-01 -1.73685807e-01 -6.19855973e-03 8.27107986e+01] [ 1.73685125e-01 9.84801021e-01 -6.52326898e-04 6.95244268e+00] [ 6.21764788e-03 -4.34198088e-04 9.99980576e-01 -5.06517722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68140051299999 meters 0.0705731133933097 Centerline is valid? [True, True] Translation: X:82.77, Y:6.97, Z:-0.05 [[ 9.84604572e-01 -1.74668051e-01 -6.70143297e-03 8.27692177e+01] [ 1.74667275e-01 9.84627262e-01 -7.05422809e-04 6.96641332e+00] [ 6.72162843e-03 -4.75958513e-04 9.99977296e-01 -5.13630416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74140051299999 meters 0.07082677356697546 Centerline is valid? [True, True] Translation: X:82.83, Y:6.98, Z:-0.05 [[ 9.84326866e-01 -1.76144042e-01 -8.59638018e-03 8.28289631e+01] [ 1.76142821e-01 9.84364205e-01 -9.04939222e-04 6.97568717e+00] [ 8.62136859e-03 -6.23434668e-04 9.99962641e-01 -5.29521092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80140051299999 meters 0.07006669712781854 Centerline is valid? [True, True] Translation: X:82.89, Y:6.98, Z:-0.05 [[ 9.84486270e-01 -1.75301932e-01 -7.48439113e-03 8.28871253e+01] [ 1.75300979e-01 9.84514573e-01 -7.88200554e-04 6.98251092e+00] [ 7.50666522e-03 -5.36048472e-04 9.99971681e-01 -5.16539986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86140051299999 meters 0.06936016211332248 Centerline is valid? [True, True] Translation: X:82.95, Y:6.99, Z:-0.05 [[ 9.84816858e-01 -1.73396778e-01 -8.32548392e-03 8.29454940e+01] [ 1.73395530e-01 9.84851878e-01 -8.77012948e-04 6.98929438e+00] [ 8.35143969e-03 -5.79904557e-04 9.99964958e-01 -5.42536940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921400513 meters 0.06204050600663782 Centerline is valid? [True, True] Translation: X:83.00, Y:7.01, Z:-0.05 [[ 9.85896261e-01 -1.67188381e-01 -7.52381341e-03 8.30034444e+01] [ 1.67187181e-01 9.85924854e-01 -7.92717584e-04 7.00913976e+00] [ 7.55044781e-03 -4.76347849e-04 9.99971382e-01 -5.31830295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98140051299998 meters 0.06295510162311369 Centerline is valid? [True, True] Translation: X:83.06, Y:7.02, Z:-0.05 [[ 9.86614383e-01 -1.62947256e-01 -6.34442564e-03 8.30614696e+01] [ 1.62946313e-01 9.86634710e-01 -6.68645663e-04 7.02062844e+00] [ 6.36858453e-03 -3.74105339e-04 9.99979650e-01 -5.01662485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04140051299999 meters 0.05723074839338967 Centerline is valid? [True, True] Translation: X:83.12, Y:7.04, Z:-0.05 [[ 9.87139302e-01 -1.59792331e-01 -4.73378283e-03 8.31199388e+01] [ 1.59791770e-01 9.87150617e-01 -4.98961631e-04 7.04220903e+00] [ 4.75268688e-03 -2.63874899e-04 9.99988671e-01 -4.94668340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10140051299999 meters 0.06210025315728915 Centerline is valid? [True, True] Translation: X:83.18, Y:7.05, Z:-0.05 [[ 9.86846704e-01 -1.61584897e-01 -4.88913026e-03 8.31782574e+01] [ 1.61584319e-01 9.86858775e-01 -5.15549122e-04 7.05211784e+00] [ 4.90818606e-03 -2.81238832e-04 9.99987915e-01 -5.00538335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16140051299999 meters 0.06514566714808545 Centerline is valid? [True, True] Translation: X:83.24, Y:7.06, Z:-0.05 [[ 9.86113549e-01 -1.65976022e-01 -5.65935665e-03 8.32381493e+01] [ 1.65975320e-01 9.86129726e-01 -5.96890875e-04 7.05754290e+00] [ 5.67992940e-03 -3.50711350e-04 9.99983808e-01 -5.09281328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22140051299999 meters 0.07311973440154004 Centerline is valid? [True, True] Translation: X:83.30, Y:7.06, Z:-0.06 [[ 9.84750080e-01 -1.73764625e-01 -8.55190896e-03 8.32975147e+01] [ 1.73763311e-01 9.84787032e-01 -9.02104144e-04 7.06427262e+00] [ 8.57856283e-03 -5.97660887e-04 9.99963025e-01 -5.60363539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281400513 meters 0.07452978172909926 Centerline is valid? [True, True] Translation: X:83.36, Y:7.07, Z:-0.06 [[ 9.83966465e-01 -1.78103129e-01 -9.44833833e-03 8.33570912e+01] [ 1.78101722e-01 9.84011577e-01 -9.96812528e-04 7.07209401e+00] [ 9.47480973e-03 -7.01935231e-04 9.99954867e-01 -5.71106076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341400513 meters 0.08075401454408178 Centerline is valid? [True, True] Translation: X:83.42, Y:7.08, Z:-0.05 [[ 9.82985904e-01 -1.83605211e-01 -5.27629089e-03 8.34159474e+01] [ 1.83604850e-01 9.82999974e-01 -5.56745916e-04 7.07989229e+00] [ 5.28881526e-03 -4.21479211e-04 9.99985925e-01 -5.09994702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40140051299998 meters 0.08983162889443606 Centerline is valid? [True, True] Translation: X:83.47, Y:7.07, Z:-0.05 [[ 9.82533209e-01 -1.86019189e-01 -5.03528252e-03 8.34719966e+01] [ 1.86049921e-01 9.82518533e-01 6.53903604e-03 7.07286863e+00] [ 3.73087222e-03 -7.36163398e-03 9.99965943e-01 -5.40121253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46140051299999 meters 0.08801498051665438 Centerline is valid? [True, True] Translation: X:83.53, Y:7.09, Z:-0.05 [[ 9.81720046e-01 -1.90270483e-01 -4.78488068e-03 8.35306187e+01] [ 1.90266312e-01 9.81731632e-01 -1.31643413e-03 7.08777573e+00] [ 4.94794728e-03 3.81968177e-04 9.99987686e-01 -5.41814187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52140051299999 meters 0.08672018335232554 Centerline is valid? [True, True] Translation: X:83.59, Y:7.10, Z:-0.05 [[ 9.81135784e-01 -1.93220863e-01 -6.18640317e-03 8.35926636e+01] [ 1.93181576e-01 9.81141990e-01 -6.42456226e-03 7.10422147e+00] [ 7.31109938e-03 5.10826882e-03 9.99960226e-01 -5.25508620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58140051299999 meters 0.0859468002249476 Centerline is valid? [True, True] Translation: X:83.65, Y:7.10, Z:-0.05 [[ 9.82406407e-01 -1.86746276e-01 -1.86535940e-03 8.36506648e+01] [ 1.86755185e-01 9.82376125e-01 7.72331678e-03 7.10288657e+00] [ 3.90183889e-04 -7.93580143e-03 9.99968435e-01 -4.72765835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641400513 meters 0.07806988011856646 Centerline is valid? [True, True] Translation: X:83.71, Y:7.13, Z:-0.05 [[ 9.82598182e-01 -1.85699612e-01 -4.05804127e-03 8.37094667e+01] [ 1.85663139e-01 9.82580649e-01 -8.02910314e-03 7.13462739e+00] [ 5.47835416e-03 7.13595346e-03 9.99959532e-01 -5.08089008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701400513 meters 0.07893660950845353 Centerline is valid? [True, True] Translation: X:83.77, Y:7.14, Z:-0.05 [[ 9.83186327e-01 -1.82495200e-01 -6.33636084e-03 8.37684021e+01] [ 1.82494662e-01 9.83206617e-01 -6.67867013e-04 7.13831107e+00] [ 6.35183443e-03 -4.99714312e-04 9.99979702e-01 -5.29446688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76140051299998 meters 0.07674760279013725 Centerline is valid? [True, True] Translation: X:83.83, Y:7.15, Z:-0.05 [[ 9.82981470e-01 -1.83593894e-01 -6.38062248e-03 8.38267965e+01] [ 1.83593370e-01 9.83002046e-01 -6.72689033e-04 7.15340425e+00] [ 6.39566655e-03 -5.10199133e-04 9.99979417e-01 -5.15694770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82140051299999 meters 0.09126546026983712 Centerline is valid? [True, True] Translation: X:83.89, Y:7.14, Z:-0.05 [[ 9.81731219e-01 -1.90124282e-01 -7.52141543e-03 8.38873549e+01] [ 1.90123743e-01 9.81759814e-01 -7.93081185e-04 7.14378305e+00] [ 7.53500741e-03 -6.51407098e-04 9.99971399e-01 -5.38246486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88140051299999 meters 0.08652339492271495 Centerline is valid? [True, True] Translation: X:83.94, Y:7.15, Z:-0.05 [[ 9.81308981e-01 -1.92394898e-01 -4.10947915e-03 8.39433141e+01] [ 1.92422800e-01 9.81278938e-01 8.06914197e-03 7.14856681e+00] [ 2.48008359e-03 -8.70907896e-03 9.99959000e-01 -5.06643870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94140051299999 meters 0.08785828663836825 Centerline is valid? [True, True] Translation: X:84.00, Y:7.17, Z:-0.05 [[ 9.81310483e-01 -1.92362807e-01 -5.12693093e-03 8.39998290e+01] [ 1.92317611e-01 9.81298474e-01 -8.20005999e-03 7.17017266e+00] [ 6.60843606e-03 7.06080573e-03 9.99953236e-01 -5.40619513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001400513 meters 0.07988580037572131 Centerline is valid? [True, True] Translation: X:84.06, Y:7.18, Z:-0.05 [[ 9.81486000e-01 -1.91360422e-01 -8.14990063e-03 8.40609285e+01] [ 1.91357549e-01 9.81519737e-01 -1.13804084e-03 7.17704011e+00] [ 8.21706429e-03 -4.42573862e-04 9.99966141e-01 -5.38712446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061400513 meters 0.08033291505388522 Centerline is valid? [True, True] Translation: X:84.12, Y:7.18, Z:-0.05 [[ 9.81451792e-01 -1.91552471e-01 -7.74791798e-03 8.41192063e+01] [ 1.91551928e-01 9.81482138e-01 -8.19022554e-04 7.18153321e+00] [ 7.76132891e-03 -6.80297477e-04 9.99969649e-01 -5.31968709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12140051299998 meters 0.08907555477259935 Centerline is valid? [True, True] Translation: X:84.18, Y:7.18, Z:-0.05 [[ 9.81133320e-01 -1.93190332e-01 -7.40974612e-03 8.41790177e+01] [ 1.93189880e-01 9.81161076e-01 -7.83484682e-04 7.17625792e+00] [ 7.42151614e-03 -6.62785035e-04 9.99972241e-01 -5.48982679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18140051299999 meters 0.09408306719106548 Centerline is valid? [True, True] Translation: X:84.24, Y:7.17, Z:-0.05 [[ 9.80680144e-01 -1.95511668e-01 -6.45318226e-03 8.42383237e+01] [ 1.95511374e-01 9.80701197e-01 -6.82480292e-04 7.17425084e+00] [ 6.46207643e-03 -5.92375661e-04 9.99978945e-01 -5.35120513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24140051299999 meters 0.0937881202660368 Centerline is valid? [True, True] Translation: X:84.30, Y:7.17, Z:-0.05 [[ 9.79285659e-01 -2.02303948e-01 -8.52701140e-03 8.42990628e+01] [ 2.02303689e-01 9.79322421e-01 -9.01959092e-04 7.17383043e+00] [ 8.53316333e-03 -8.41770259e-04 9.99963238e-01 -5.48209865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30140051299999 meters 0.101156315060414 Centerline is valid? [True, False] Translation: X:84.27, Y:7.16, Z:-0.06 [[ 9.80747546e-01 -1.95270982e-01 -1.86951224e-03 8.42745207e+01] [ 1.95273846e-01 9.80747618e-01 1.49491053e-03 7.16061552e+00] [ 1.54160703e-03 -1.83119668e-03 9.99997135e-01 -5.72068151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36140051299999 meters 0.09060224311257048 Centerline is valid? [False, True] Translation: X:84.25, Y:7.15, Z:-0.06 [[ 9.83971888e-01 -1.78257623e-01 4.85220623e-03 8.42537131e+01] [ 1.78278257e-01 9.83971091e-01 -4.21361536e-03 7.15466363e+00] [-4.02332160e-03 5.01112193e-03 9.99979351e-01 -5.66416017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421400513 meters 0.09682780857899698 Centerline is valid? [True, True] Translation: X:84.31, Y:7.14, Z:-0.06 [[ 9.85365591e-01 -1.70287187e-01 7.54492285e-03 8.43134974e+01] [ 1.70232966e-01 9.85376586e-01 7.32946038e-03 7.13764885e+00] [-8.68270351e-03 -5.93780347e-03 9.99944675e-01 -5.71062447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48140051299998 meters 0.08775808919845944 Centerline is valid? [True, True] Translation: X:84.37, Y:7.16, Z:-0.06 [[ 9.86004724e-01 -1.66699269e-01 2.45729821e-03 8.43722515e+01] [ 1.66712162e-01 9.85983372e-01 -6.62150963e-03 7.16494337e+00] [-1.31905436e-03 6.93850127e-03 9.99975058e-01 -6.43401179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54140051299999 meters 0.08272942023255515 Centerline is valid? [True, True] Translation: X:84.43, Y:7.16, Z:-0.06 [[ 9.85815454e-01 -1.67797105e-01 3.46720580e-03 8.44321091e+01] [ 1.67797135e-01 9.85821505e-01 2.84413739e-04 7.16310504e+00] [-3.46576984e-03 3.01407740e-04 9.99993949e-01 -6.03010044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60140051299999 meters 0.09176029285445517 Centerline is valid? [True, True] Translation: X:84.49, Y:7.15, Z:-0.06 [[ 9.85559461e-01 -1.69186864e-01 6.95366537e-03 8.44907072e+01] [ 1.69127795e-01 9.85558724e-01 8.35401934e-03 7.14823631e+00] [-8.26663590e-03 -7.05732471e-03 9.99940927e-01 -5.78986310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66140051299999 meters 0.09376725271733351 Centerline is valid? [True, True] Translation: X:84.55, Y:7.16, Z:-0.06 [[ 9.85588817e-01 -1.69004883e-01 7.21348754e-03 8.45481520e+01] [ 1.69007783e-01 9.85614694e-01 2.10036780e-04 7.15621711e+00] [-7.14521656e-03 1.01212563e-03 9.99973960e-01 -6.14219738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72140051299999 meters 0.08674237465396965 Centerline is valid? [True, True] Translation: X:84.61, Y:7.17, Z:-0.06 [[ 9.85828218e-01 -1.67442840e-01 1.02771710e-02 8.46076040e+01] [ 1.67431364e-01 9.85881760e-01 1.97317004e-03 7.16727832e+00] [-1.04624686e-02 -2.24485939e-04 9.99945242e-01 -5.68273660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781400513 meters 0.08472364899327789 Centerline is valid? [True, True] Translation: X:84.67, Y:7.18, Z:-0.06 [[ 9.85948579e-01 -1.66884235e-01 7.41968861e-03 8.46660745e+01] [ 1.66938817e-01 9.85938965e-01 -7.46923515e-03 7.18268139e+00] [-6.06886252e-03 8.60291582e-03 9.99944578e-01 -6.09822259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841400513 meters 0.0835345914521059 Centerline is valid? [True, True] Translation: X:84.73, Y:7.18, Z:-0.06 [[ 9.85849764e-01 -1.67584764e-01 3.94834512e-03 8.47261135e+01] [ 1.67584797e-01 9.85857612e-01 3.24799484e-04 7.18212588e+00] [-3.94693753e-03 3.41479121e-04 9.99992153e-01 -6.33390176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90140051299998 meters 0.09067092183463549 Centerline is valid? [True, True] Translation: X:84.79, Y:7.17, Z:-0.06 [[ 9.85658988e-01 -1.68690746e-01 4.44886333e-03 8.47854001e+01] [ 1.68690800e-01 9.85668951e-01 3.65926444e-04 7.17357802e+00] [-4.44683486e-03 3.89803626e-04 9.99990037e-01 -6.33050503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96140051299999 meters 0.08401652717074386 Centerline is valid? [True, True] Translation: X:84.84, Y:7.18, Z:-0.06 [[ 9.85450960e-01 -1.69924240e-01 3.48689839e-03 8.48445103e+01] [ 1.69924279e-01 9.85457080e-01 2.87171644e-04 7.18473999e+00] [-3.48498613e-03 3.09515123e-04 9.99993880e-01 -6.33254885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02140051299999 meters 0.08135779166947016 Centerline is valid? [True, True] Translation: X:84.90, Y:7.19, Z:-0.06 [[ 9.86012598e-01 -1.66538985e-01 6.62739996e-03 8.49045494e+01] [ 1.66516602e-01 9.86031326e-01 3.80073066e-03 7.18805656e+00] [-7.16779379e-03 -2.64399620e-03 9.99970816e-01 -6.27547008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08140051299999 meters 0.08378063509102365 Centerline is valid? [True, True] Translation: X:84.96, Y:7.20, Z:-0.07 [[ 9.86685986e-01 -1.62591861e-01 3.82785236e-03 8.49641035e+01] [ 1.62599670e-01 9.86690438e-01 -1.82371693e-03 7.19599519e+00] [-3.48038380e-03 2.42184347e-03 9.99991011e-01 -6.68445391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141400513 meters 0.08311912418405039 Centerline is valid? [True, True] Translation: X:85.02, Y:7.20, Z:-0.07 [[ 9.86837992e-01 -1.61653923e-01 4.33437296e-03 8.50225514e+01] [ 1.61653145e-01 9.86847495e-01 5.31511853e-04 7.19810334e+00] [-4.36328607e-03 1.76148931e-04 9.99990465e-01 -6.64149428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201400513 meters 0.0772058948690796 Centerline is valid? [True, True] Translation: X:85.08, Y:7.21, Z:-0.06 [[ 9.86564944e-01 -1.63270695e-01 5.68262152e-03 8.50806727e+01] [ 1.63276765e-01 9.86580111e-01 -6.17938389e-04 7.21165292e+00] [-5.50547015e-03 1.53747641e-03 9.99983663e-01 -6.36148907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26140051299998 meters 0.07962583415328543 Centerline is valid? [True, True] Translation: X:85.14, Y:7.21, Z:-0.07 [[ 9.86360173e-01 -1.64588126e-01 2.08775095e-03 8.51405836e+01] [ 1.64588127e-01 9.86362367e-01 1.72195174e-04 7.21034770e+00] [-2.08762024e-03 1.73772557e-04 9.99997806e-01 -6.94812538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32140051299999 meters 0.0933819672575637 Centerline is valid? [True, True] Translation: X:85.20, Y:7.20, Z:-0.07 [[ 9.86327629e-01 -1.64788152e-01 1.63487102e-03 8.52001190e+01] [ 1.64787285e-01 9.86328913e-01 6.52723177e-04 7.19552590e+00] [-1.72008161e-03 -3.74392947e-04 9.99998451e-01 -7.33422367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38140051299999 meters 0.07952562610114297 Centerline is valid? [True, True] Translation: X:85.26, Y:7.22, Z:-0.07 [[ 9.86717560e-01 -1.62417532e-01 3.00052353e-03 8.52579882e+01] [ 1.62435190e-01 9.86693669e-01 -7.10022476e-03 7.21918351e+00] [-1.80739659e-03 7.49330705e-03 9.99970291e-01 -6.98474826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44140051299999 meters 0.08104388287985126 Centerline is valid? [True, True] Translation: X:85.32, Y:7.21, Z:-0.07 [[ 9.87646278e-01 -1.56608997e-01 5.33391537e-03 8.53191711e+01] [ 1.56546160e-01 9.87613104e-01 1.06609863e-02 7.20554666e+00] [-6.93745109e-03 -9.69427951e-03 9.99928944e-01 -6.70552592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501400513 meters 0.06415293486963974 Centerline is valid? [True, True] Translation: X:85.38, Y:7.25, Z:-0.07 [[ 9.88995868e-01 -1.47884053e-01 4.18089564e-03 8.53772414e+01] [ 1.47896551e-01 9.88998713e-01 -2.85580821e-03 7.24985560e+00] [-3.71257191e-03 3.44272256e-03 9.99987182e-01 -7.11217085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561400513 meters 0.07324712769664966 Centerline is valid? [True, True] Translation: X:85.44, Y:7.25, Z:-0.07 [[ 9.89442689e-01 -1.44888969e-01 3.21757283e-03 8.54353454e+01] [ 1.44890002e-01 9.89447765e-01 -8.90688544e-05 7.25096794e+00] [-3.17071515e-03 5.54322660e-04 9.99994820e-01 -7.28247778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62140051299998 meters 0.07482320689473129 Centerline is valid? [True, True] Translation: X:85.49, Y:7.25, Z:-0.07 [[ 9.89565857e-01 -1.44023835e-01 4.06813927e-03 8.54944524e+01] [ 1.43983573e-01 9.89540189e-01 8.88505673e-03 7.24880679e+00] [-5.30524725e-03 -8.20660355e-03 9.99952252e-01 -7.44089913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68140051299999 meters 0.06663724008020148 Centerline is valid? [True, True] Translation: X:85.55, Y:7.28, Z:-0.07 [[ 9.89070887e-01 -1.47363643e-01 4.76842557e-03 8.55515419e+01] [ 1.47391602e-01 9.89058989e-01 -6.16707068e-03 7.27644276e+00] [-3.80745217e-03 6.80249595e-03 9.99969614e-01 -7.38685392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74140051299999 meters 0.07502318522763403 Centerline is valid? [True, True] Translation: X:85.61, Y:7.26, Z:-0.07 [[ 9.88217100e-01 -1.52928150e-01 6.32014037e-03 8.56127499e+01] [ 1.52886628e-01 9.88221674e-01 6.60316993e-03 7.25543798e+00] [-7.25551026e-03 -5.55910049e-03 9.99958226e-01 -7.20822318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80140051299999 meters 0.08740489929783211 Centerline is valid? [True, True] Translation: X:85.67, Y:7.26, Z:-0.08 [[ 9.87531062e-01 -1.57368179e-01 4.20216860e-03 8.56720717e+01] [ 1.57394803e-01 9.87510854e-01 -7.01353072e-03 7.26266528e+00] [-3.04598054e-03 7.58747894e-03 9.99966576e-01 -7.82175293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86140051299999 meters 0.0792126305655916 Centerline is valid? [True, True] Translation: X:85.73, Y:7.27, Z:-0.07 [[ 9.87445562e-01 -1.57893055e-01 4.58745373e-03 8.57333365e+01] [ 1.57891283e-01 9.87456218e-01 7.48112526e-04 7.27002655e+00] [-4.64803149e-03 -1.44014378e-05 9.99989198e-01 -7.32120597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921400513 meters 0.0885350607988781 Centerline is valid? [True, True] Translation: X:85.79, Y:7.26, Z:-0.07 [[ 9.87875797e-01 -1.55149446e-01 5.48267865e-03 8.57906361e+01] [ 1.55148968e-01 9.87890952e-01 5.14858556e-04 7.26185009e+00] [-5.49616865e-03 3.42015630e-04 9.99984837e-01 -7.47136236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98140051299998 meters 0.07553950160124855 Centerline is valid? [True, True] Translation: X:85.85, Y:7.28, Z:-0.07 [[ 9.87609189e-01 -1.56742924e-01 7.72951875e-03 8.58465781e+01] [ 1.56697832e-01 9.87627545e-01 6.13372710e-03 7.28027947e+00] [-8.59530395e-03 -4.84652642e-03 9.99951315e-01 -7.23039611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04140051299999 meters 0.07423611244413546 Centerline is valid? [True, True] Translation: X:85.91, Y:7.30, Z:-0.07 [[ 9.87176707e-01 -1.59486576e-01 6.79563044e-03 8.59084404e+01] [ 1.59519473e-01 9.87184032e-01 -4.60701916e-03 7.29819413e+00] [-5.97378014e-03 5.63197740e-03 9.99966297e-01 -7.47102198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10140051299999 meters 0.0813766348058127 Centerline is valid? [True, True] Translation: X:85.96, Y:7.29, Z:-0.07 [[ 9.87299746e-01 -1.58772589e-01 5.52048400e-03 8.59635092e+01] [ 1.58738993e-01 9.87301918e-01 6.07082241e-03 7.28818188e+00] [-6.41426463e-03 -5.11740535e-03 9.99966334e-01 -7.49139237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16140051299999 meters 0.07242836634669207 Centerline is valid? [True, True] Translation: X:86.02, Y:7.31, Z:-0.08 [[ 9.87469898e-01 -1.57758223e-01 3.94255690e-03 8.60213195e+01] [ 1.57774521e-01 9.87466085e-01 -4.23465659e-03 7.31346197e+00] [-3.22508932e-03 4.80363094e-03 9.99983262e-01 -7.92391690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22140051299999 meters 0.07249300229419779 Centerline is valid? [True, True] Translation: X:86.08, Y:7.32, Z:-0.07 [[ 9.87431420e-01 -1.57887298e-01 7.12679930e-03 8.60838699e+01] [ 1.57891970e-01 9.87456387e-01 -9.42067378e-05 7.31693045e+00] [-7.02252944e-03 1.21828707e-03 9.99974600e-01 -7.46388155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281400513 meters 0.08380881381453095 Centerline is valid? [True, True] Translation: X:86.14, Y:7.31, Z:-0.08 [[ 9.87686366e-01 -1.56296969e-01 6.84833473e-03 8.61402768e+01] [ 1.56263921e-01 9.87702045e-01 5.12411122e-03 7.30664299e+00] [-7.56499727e-03 -3.99086716e-03 9.99963421e-01 -7.71098465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341400513 meters 0.07551633869065809 Centerline is valid? [True, True] Translation: X:86.20, Y:7.33, Z:-0.08 [[ 9.87612848e-01 -1.56841634e-01 4.64376391e-03 8.61973655e+01] [ 1.56836002e-01 9.87623435e-01 1.55544965e-03 7.32504170e+00] [-4.83024933e-03 -8.07872692e-04 9.99988008e-01 -8.17373125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40140051299998 meters 0.08455673198655785 Centerline is valid? [True, True] Translation: X:86.26, Y:7.33, Z:-0.08 [[ 9.87498463e-01 -1.57539476e-01 5.30087663e-03 8.62551197e+01] [ 1.57570238e-01 9.87489588e-01 -5.99442409e-03 7.32836588e+00] [-4.29020205e-03 6.75474497e-03 9.99967983e-01 -8.25794154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46140051299999 meters 0.07200885282726222 Centerline is valid? [True, True] Translation: X:86.31, Y:7.35, Z:-0.08 [[ 9.88022132e-01 -1.54264938e-01 3.82037129e-03 8.63131941e+01] [ 1.54264745e-01 9.88029487e-01 3.47016085e-04 7.34862988e+00] [-3.82817190e-03 2.46489029e-04 9.99992642e-01 -8.19171383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52140051299999 meters 0.06815047763059547 Centerline is valid? [True, True] Translation: X:86.37, Y:7.36, Z:-0.08 [[ 9.88365495e-01 -1.52072559e-01 2.75395771e-03 8.63747347e+01] [ 1.52070576e-01 9.88369212e-01 9.16982463e-04 7.36078518e+00] [-2.86137488e-03 -4.87517892e-04 9.99995787e-01 -8.31644755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58140051299999 meters 0.07072041944553373 Centerline is valid? [True, True] Translation: X:86.43, Y:7.37, Z:-0.09 [[ 9.88964941e-01 -1.48125660e-01 2.67095841e-03 8.64303424e+01] [ 1.48122158e-01 9.88967986e-01 1.46566696e-03 7.37120617e+00] [-2.85859524e-03 -1.05386512e-03 9.99995359e-01 -8.52404188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641400513 meters 0.0971399065513823 Centerline is valid? [True, True] Translation: X:86.49, Y:7.35, Z:-0.09 [[ 9.89500440e-01 -1.44448558e-01 4.84705783e-03 8.64912943e+01] [ 1.44439080e-01 9.89511129e-01 2.25338260e-03 7.35012631e+00] [-5.12171553e-03 -1.52961849e-03 9.99985714e-01 -8.81526026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701400513 meters 0.07452367698466963 Centerline is valid? [True, True] Translation: X:86.55, Y:7.39, Z:-0.09 [[ 9.89253338e-01 -1.46109272e-01 5.46943104e-03 8.65483998e+01] [ 1.46114555e-01 9.89267509e-01 -5.76907358e-04 7.38813223e+00] [-5.32643891e-03 1.36987101e-03 9.99984876e-01 -8.52681436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76140051299998 meters 0.06492991925436156 Centerline is valid? [True, True] Translation: X:86.60, Y:7.41, Z:-0.09 [[ 9.90204891e-01 -1.39533900e-01 4.95616498e-03 8.66032407e+01] [ 1.39524710e-01 9.90216243e-01 2.15585455e-03 7.41303577e+00] [-5.20848986e-03 -1.44323024e-03 9.99985394e-01 -8.60136526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82140051299999 meters 0.06034376845940135 Centerline is valid? [True, True] Translation: X:86.66, Y:7.44, Z:-0.08 [[ 9.91085368e-01 -1.33087956e-01 6.11464452e-03 8.66615867e+01] [ 1.33091359e-01 9.91103762e-01 -1.51087721e-04 7.43585173e+00] [-6.04013923e-03 9.63547176e-04 9.99981294e-01 -8.45973304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88140051299999 meters 0.04390501258984236 Centerline is valid? [True, True] Translation: X:86.72, Y:7.48, Z:-0.08 [[ 9.92486556e-01 -1.21971587e-01 9.66275261e-03 8.67233486e+01] [ 1.21994967e-01 9.92528965e-01 -1.86611406e-03 7.47556284e+00] [-9.36294895e-03 3.03090030e-03 9.99951573e-01 -7.69421866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94140051299999 meters 0.03614071363313177 Centerline is valid? [True, True] Translation: X:86.78, Y:7.49, Z:-0.08 [[ 9.93497327e-01 -1.13207231e-01 1.21319467e-02 8.67781631e+01] [ 1.13179819e-01 9.93570216e-01 2.92491292e-03 7.49078392e+00] [-1.23850622e-02 -1.53280163e-03 9.99922127e-01 -7.64213424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001400513 meters 0.030882553910356984 Centerline is valid? [True, True] Translation: X:86.84, Y:7.51, Z:-0.08 [[ 9.93946768e-01 -1.09176678e-01 1.22587177e-02 8.68375647e+01] [ 1.09095123e-01 9.94005690e-01 7.13733208e-03 7.50873182e+00] [-1.29644653e-02 -5.75676184e-03 9.99899386e-01 -7.91777796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061400513 meters 0.03105196008574714 Centerline is valid? [True, True] Translation: X:86.90, Y:7.54, Z:-0.08 [[ 9.94019718e-01 -1.08686918e-01 1.05808535e-02 8.68968331e+01] [ 1.08756667e-01 9.94048725e-01 -6.25460509e-03 7.53647715e+00] [-9.83809023e-03 7.36793915e-03 9.99924460e-01 -8.14184014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12140051299998 meters 0.03739583202542092 Centerline is valid? [True, True] Translation: X:86.95, Y:7.54, Z:-0.08 [[ 9.93950668e-01 -1.09289894e-01 1.08530651e-02 8.69547385e+01] [ 1.09286646e-01 9.94009874e-01 8.93656002e-04 7.53869456e+00] [-1.08857215e-02 2.97845109e-04 9.99940704e-01 -8.07458817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18140051299999 meters 0.030540333220488207 Centerline is valid? [True, True] Translation: X:87.01, Y:7.54, Z:-0.08 [[ 9.94065333e-01 -1.07843060e-01 1.42824769e-02 8.70101096e+01] [ 1.07684651e-01 9.94119357e-01 1.14332492e-02 7.53601747e+00] [-1.54314833e-02 -9.82739312e-03 9.99832632e-01 -7.84522538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24140051299999 meters 0.027605160049134627 Centerline is valid? [True, True] Translation: X:87.07, Y:7.57, Z:-0.08 [[ 9.94245749e-01 -1.06618871e-01 1.03830260e-02 8.70696862e+01] [ 1.06713904e-01 9.94248370e-01 -9.07310516e-03 7.56505069e+00] [-9.35594242e-03 1.01289095e-02 9.99904931e-01 -8.19692017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30140051299999 meters 0.02457259479540945 Centerline is valid? [True, True] Translation: X:87.13, Y:7.57, Z:-0.08 [[ 9.94545868e-01 -1.03903041e-01 9.09250491e-03 8.71279992e+01] [ 1.03901661e-01 9.94587379e-01 6.25314854e-04 7.56859194e+00] [-9.10826274e-03 3.22822057e-04 9.99958467e-01 -8.40249387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36140051299999 meters 0.01861370757886911 Centerline is valid? [True, True] Translation: X:87.19, Y:7.58, Z:-0.08 [[ 9.95227754e-01 -9.71317554e-02 9.33485986e-03 8.71861114e+01] [ 9.71275363e-02 9.95271532e-01 9.05337475e-04 7.58039426e+00] [-9.37865729e-03 5.65495729e-06 9.99956019e-01 -8.45604092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421400513 meters 0.011858578103742402 Centerline is valid? [True, True] Translation: X:87.24, Y:7.59, Z:-0.09 [[ 9.96089704e-01 -8.80741925e-02 6.94536518e-03 8.72448179e+01] [ 8.80723257e-02 9.96113917e-01 5.74782538e-04 7.59464502e+00] [-6.96899842e-03 3.91594955e-05 9.99975715e-01 -8.82407800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48140051299998 meters 0.010657768424782192 Centerline is valid? [True, True] Translation: X:87.30, Y:7.60, Z:-0.09 [[ 9.96354757e-01 -8.51095989e-02 5.79262966e-03 8.73022380e+01] [ 8.51082559e-02 9.96371595e-01 4.78404664e-04 7.60416930e+00] [-5.81232848e-03 1.63398453e-05 9.99983108e-01 -9.07475146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54140051299999 meters 0.013385545362449913 Centerline is valid? [True, True] Translation: X:87.36, Y:7.62, Z:-0.09 [[ 9.97137686e-01 -7.54222878e-02 5.28326244e-03 8.73603268e+01] [ 7.54210292e-02 9.97151682e-01 4.37329616e-04 7.62016527e+00] [-5.30119843e-03 -3.76087511e-05 9.99985948e-01 -9.35461665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60140051299999 meters 0.014050753040909565 Centerline is valid? [True, True] Translation: X:87.42, Y:7.63, Z:-0.09 [[ 9.97672910e-01 -6.79261212e-02 5.89965958e-03 8.74208389e+01] [ 6.79650834e-02 9.97665366e-01 -6.67563652e-03 7.63275759e+00] [-5.43243594e-03 7.06107257e-03 9.99960314e-01 -8.95741459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66140051299999 meters 0.0267580261578582 Centerline is valid? [True, True] Translation: X:87.48, Y:7.64, Z:-0.10 [[ 9.98066171e-01 -6.19556708e-02 5.04118777e-03 8.74788690e+01] [ 6.19165446e-02 9.98052554e-01 7.57895661e-03 7.64175916e+00] [-5.50092967e-03 -7.25216727e-03 9.99958572e-01 -9.57148846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72140051299999 meters 0.026792064118204884 Centerline is valid? [True, True] Translation: X:87.54, Y:7.65, Z:-0.10 [[ 9.98187299e-01 -5.98827614e-02 6.01430655e-03 8.75394264e+01] [ 5.98808352e-02 9.98205408e-01 4.99995474e-04 7.65189749e+00] [-6.03345443e-03 -1.38947433e-04 9.99981789e-01 -9.72031533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781400513 meters 0.023682351310591907 Centerline is valid? [True, True] Translation: X:87.60, Y:7.65, Z:-0.10 [[ 9.97954372e-01 -6.35539693e-02 6.92567303e-03 8.76007360e+01] [ 6.35515053e-02 9.97978394e-01 5.75486746e-04 7.64860108e+00] [-6.94824652e-03 -1.34172567e-04 9.99975852e-01 -9.60138423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841400513 meters 0.01654248026990919 Centerline is valid? [True, True] Translation: X:87.66, Y:7.65, Z:-0.09 [[ 9.97736900e-01 -6.68561594e-02 7.16463393e-03 8.76633272e+01] [ 6.68641530e-02 9.97761699e-01 -8.81775992e-04 7.64527516e+00] [-7.08964516e-03 1.35883762e-03 9.99973945e-01 -9.25539945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90140051299998 meters 0.028737117953223958 Centerline is valid? [True, True] Translation: X:87.72, Y:7.65, Z:-0.09 [[ 9.97850468e-01 -6.43114919e-02 1.25886955e-02 8.77232507e+01] [ 6.42848183e-02 9.97928429e-01 2.51257382e-03 7.65482480e+00] [-1.27242045e-02 -1.69791096e-03 9.99917602e-01 -9.04322387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96140051299999 meters 0.02929591493209391 Centerline is valid? [True, True] Translation: X:87.78, Y:7.67, Z:-0.09 [[ 9.98024222e-01 -6.14415537e-02 1.31372731e-02 8.77832508e+01] [ 6.14325236e-02 9.98110643e-01 1.09019447e-03 7.66830876e+00] [-1.31794354e-02 -2.80984645e-04 9.99913108e-01 -9.00177764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02140051299999 meters 0.02461893782542441 Centerline is valid? [True, True] Translation: X:87.84, Y:7.67, Z:-0.09 [[ 9.98150652e-01 -5.98996674e-02 1.03588189e-02 8.78438522e+01] [ 5.99300013e-02 9.98199084e-01 -2.64284614e-03 7.67290464e+00] [-1.01818579e-02 3.25876263e-03 9.99942853e-01 -9.34175890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08140051299999 meters 0.025787702492036463 Centerline is valid? [True, True] Translation: X:87.91, Y:7.67, Z:-0.09 [[ 9.98026394e-01 -6.18482258e-02 1.08679895e-02 8.79066653e+01] [ 6.17910437e-02 9.98073837e-01 5.52111522e-03 7.67234762e+00] [-1.11885271e-02 -4.83867430e-03 9.99925699e-01 -9.36005034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141400513 meters 0.02340141717783401 Centerline is valid? [True, True] Translation: X:87.97, Y:7.68, Z:-0.10 [[ 9.98018643e-01 -6.21908468e-02 9.54395030e-03 8.79684019e+01] [ 6.21984619e-02 9.98063675e-01 -5.02880686e-04 7.67866081e+00] [-9.49419553e-03 1.09550333e-03 9.99954329e-01 -9.72124873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201400513 meters 0.022740342692456998 Centerline is valid? [True, True] Translation: X:88.03, Y:7.67, Z:-0.10 [[ 9.97872963e-01 -6.43617446e-02 1.03497111e-02 8.80291857e+01] [ 6.43563220e-02 9.97926616e-01 8.56477628e-04 7.67131618e+00] [-1.03833766e-02 -1.88586525e-04 9.99946074e-01 -9.61368466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26140051299998 meters 0.017747292961794905 Centerline is valid? [True, True] Translation: X:88.09, Y:7.66, Z:-0.09 [[ 9.97508047e-01 -6.94013542e-02 1.26944399e-02 8.80921063e+01] [ 6.93638922e-02 9.97585738e-01 3.36844155e-03 7.66105128e+00] [-1.28975666e-02 -2.47951179e-03 9.99913749e-01 -9.37067920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32140051299999 meters 0.015421217687569178 Centerline is valid? [True, True] Translation: X:88.15, Y:7.65, Z:-0.10 [[ 9.97395959e-01 -7.15613569e-02 8.95957456e-03 8.81548971e+01] [ 7.15782673e-02 9.97433734e-01 -1.58077936e-03 7.64825480e+00] [-8.82345919e-03 2.21797377e-03 9.99958613e-01 -9.94978057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38140051299999 meters 0.015422538343746222 Centerline is valid? [True, True] Translation: X:88.22, Y:7.64, Z:-0.10 [[ 9.97395572e-01 -7.17701583e-02 7.14970639e-03 8.82151544e+01] [ 7.17677647e-02 9.97421194e-01 5.91109379e-04 7.64400001e+00] [-7.17369270e-03 -7.64514307e-05 9.99974266e-01 -1.02618171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44140051299999 meters 0.015362357543114945 Centerline is valid? [True, True] Translation: X:88.27, Y:7.64, Z:-0.10 [[ 9.97533254e-01 -6.97915762e-02 7.51956196e-03 8.82745183e+01] [ 6.98027193e-02 9.97560058e-01 -1.22944637e-03 7.64445744e+00] [-7.41540966e-03 1.75129951e-03 9.99970972e-01 -1.01453729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501400513 meters 0.020344650425026617 Centerline is valid? [True, True] Translation: X:88.33, Y:7.64, Z:-0.10 [[ 9.97791392e-01 -6.60106269e-02 7.41182736e-03 8.83331404e+01] [ 6.60045617e-02 9.97818758e-01 1.06022343e-03 7.64234992e+00] [-7.46564638e-03 -5.68667399e-04 9.99971970e-01 -1.01217702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561400513 meters 0.019561216964042207 Centerline is valid? [True, True] Translation: X:88.39, Y:7.64, Z:-0.10 [[ 9.97664749e-01 -6.76409987e-02 9.47328456e-03 8.83917174e+01] [ 6.76229102e-02 9.97708487e-01 2.21725998e-03 7.64170614e+00] [-9.60155408e-03 -1.57147105e-03 9.99952669e-01 -1.01418030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62140051299998 meters 0.019599163502963025 Centerline is valid? [True, True] Translation: X:88.45, Y:7.64, Z:-0.10 [[ 9.97409638e-01 -7.09501655e-02 1.18358412e-02 8.84520749e+01] [ 7.09435107e-02 9.97479852e-01 9.81698350e-04 7.63842874e+00] [-1.18756648e-02 -1.39479267e-04 9.99929472e-01 -9.95755417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68140051299999 meters 0.012911136211337588 Centerline is valid? [True, True] Translation: X:88.51, Y:7.64, Z:-0.10 [[ 9.97095672e-01 -7.50616211e-02 1.28830694e-02 8.85116340e+01] [ 7.50540751e-02 9.97178892e-01 1.06890063e-03 7.63554243e+00] [-1.29269583e-02 -9.88693301e-05 9.99916438e-01 -9.76861426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74140051299999 meters 0.012397168855381242 Centerline is valid? [True, True] Translation: X:88.57, Y:7.64, Z:-0.10 [[ 9.97084062e-01 -7.56805342e-02 9.78932660e-03 8.85706863e+01] [ 7.56762055e-02 9.97132114e-01 8.12381812e-04 7.64048281e+00] [-9.82273341e-03 -6.91938644e-05 9.99951753e-01 -1.02416561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80140051299999 meters 0.012662319901119115 Centerline is valid? [True, True] Translation: X:88.63, Y:7.65, Z:-0.11 [[ 9.97158769e-01 -7.49255821e-02 7.78113387e-03 8.86286715e+01] [ 7.49228284e-02 9.97189126e-01 6.45206986e-04 7.64877905e+00] [-7.80760459e-03 -6.03892466e-05 9.99969518e-01 -1.06569345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86140051299999 meters 0.011356590367534428 Centerline is valid? [True, True] Translation: X:88.69, Y:7.65, Z:-0.11 [[ 9.96990958e-01 -7.71249604e-02 7.79551305e-03 8.86860974e+01] [ 7.71219843e-02 9.97021431e-01 6.82106815e-04 7.65124831e+00] [-7.82490104e-03 -7.88488920e-05 9.99969382e-01 -1.07159736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921400513 meters 0.011809193808842133 Centerline is valid? [True, True] Translation: X:88.74, Y:7.64, Z:-0.10 [[ 9.95992133e-01 -8.88476809e-02 1.02840379e-02 8.87446389e+01] [ 8.88061023e-02 9.96039071e-01 4.43233585e-03 7.63811661e+00] [-1.06371063e-02 -3.50128631e-03 9.99937295e-01 -1.03604743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98140051299998 meters 0.019931396917759914 Centerline is valid? [True, True] Translation: X:88.81, Y:7.63, Z:-0.11 [[ 9.95054276e-01 -9.89717474e-02 8.46061058e-03 8.88060326e+01] [ 9.90053349e-02 9.95080220e-01 -3.64672866e-03 7.63439666e+00] [-8.05806314e-03 4.46633853e-03 9.99957559e-01 -1.08111982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04140051299999 meters 0.025388578504877635 Centerline is valid? [True, True] Translation: X:88.87, Y:7.62, Z:-0.10 [[ 9.94380216e-01 -1.05259883e-01 1.13288411e-02 8.88661013e+01] [ 1.05211148e-01 9.94438240e-01 4.81678797e-03 7.62086836e+00] [-1.17728473e-02 -3.59779829e-03 9.99924225e-01 -1.04091655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10140051299999 meters 0.020774744826301556 Centerline is valid? [True, True] Translation: X:88.92, Y:7.64, Z:-0.10 [[ 9.94633090e-01 -1.02721472e-01 1.23820868e-02 8.89248677e+01] [ 1.02757834e-01 9.94703661e-01 -2.33549704e-03 7.64057827e+00] [-1.20766013e-02 3.59531906e-03 9.99920612e-01 -1.02855775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16140051299999 meters 0.016090994157649564 Centerline is valid? [True, True] Translation: X:88.98, Y:7.65, Z:-0.11 [[ 9.95136126e-01 -9.79089190e-02 1.08597362e-02 8.89818401e+01] [ 9.78695963e-02 9.95190817e-01 4.09643066e-03 7.65016469e+00] [-1.12085868e-02 -3.01366814e-03 9.99932640e-01 -1.05605476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22140051299999 meters 0.021789449797309676 Centerline is valid? [True, True] Translation: X:89.04, Y:7.65, Z:-0.11 [[ 9.94614867e-01 -1.03051083e-01 1.10335949e-02 8.90414584e+01] [ 1.03081514e-01 9.94670425e-01 -2.22422843e-03 7.65365488e+00] [-1.07455814e-02 3.34961033e-03 9.99936654e-01 -1.06518369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281400513 meters 0.03977965016763103 Centerline is valid? [True, True] Translation: X:89.10, Y:7.64, Z:-0.11 [[ 9.93638507e-01 -1.12138190e-01 1.03703478e-02 8.91021856e+01] [ 1.12135189e-01 9.93692578e-01 8.72227066e-04 7.64154707e+00] [-1.04027476e-02 2.96202507e-04 9.99945846e-01 -1.07734674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341400513 meters 0.04926628543920572 Centerline is valid? [True, True] Translation: X:89.16, Y:7.63, Z:-0.11 [[ 9.92119749e-01 -1.24939814e-01 9.40456562e-03 8.91638869e+01] [ 1.24937919e-01 9.92164246e-01 7.90993731e-04 7.63336608e+00] [-9.42970036e-03 3.90226356e-04 9.99955463e-01 -1.10903969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40140051299998 meters 0.051957412158659295 Centerline is valid? [True, True] Translation: X:89.22, Y:7.64, Z:-0.11 [[ 9.91748812e-01 -1.27912004e-01 8.53305693e-03 8.92239247e+01] [ 1.27910554e-01 9.91785448e-01 7.17709870e-04 7.63553614e+00] [-8.55476540e-03 3.79680132e-04 9.99963335e-01 -1.11837109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46140051299999 meters 0.049284053575076925 Centerline is valid? [True, True] Translation: X:89.28, Y:7.64, Z:-0.11 [[ 9.91475169e-01 -1.30009589e-01 8.63115117e-03 8.92834765e+01] [ 1.30008184e-01 9.91512655e-01 7.26027307e-04 7.63801729e+00] [-8.65228612e-03 4.02282245e-04 9.99962487e-01 -1.10483380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52140051299999 meters 0.047238193633078525 Centerline is valid? [True, True] Translation: X:89.34, Y:7.65, Z:-0.11 [[ 9.91829225e-01 -1.27206466e-01 9.65939148e-03 8.93423945e+01] [ 1.27183692e-01 9.91874826e-01 2.93901321e-03 7.64908586e+00] [-9.95476873e-03 -1.68648212e-03 9.99949028e-01 -1.10279837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58140051299999 meters 0.043567540481238405 Centerline is valid? [True, True] Translation: X:89.40, Y:7.67, Z:-0.11 [[ 9.92061696e-01 -1.25418491e-01 9.15389245e-03 8.94009571e+01] [ 1.25434230e-01 9.92101255e-01 -1.16374779e-03 7.66649839e+00] [-8.93563269e-03 2.30272106e-03 9.99957425e-01 -1.13594172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641400513 meters 0.04302856612438894 Centerline is valid? [True, True] Translation: X:89.46, Y:7.68, Z:-0.11 [[ 9.91973657e-01 -1.26240602e-01 7.18145938e-03 8.94591293e+01] [ 1.26239528e-01 9.91999605e-01 6.04412115e-04 7.67728876e+00] [-7.20030621e-03 3.07023147e-04 9.99974030e-01 -1.14884169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701400513 meters 0.05181534330165163 Centerline is valid? [True, True] Translation: X:89.52, Y:7.68, Z:-0.12 [[ 9.91704715e-01 -1.28364088e-01 6.66474758e-03 8.95171372e+01] [ 1.28363200e-01 9.91727065e-01 5.62584918e-04 7.67940681e+00] [-6.68182625e-03 2.97590213e-04 9.99977632e-01 -1.18126959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76140051299998 meters 0.045131653247200997 Centerline is valid? [True, True] Translation: X:89.58, Y:7.69, Z:-0.12 [[ 9.91453150e-01 -1.30126712e-01 9.36425934e-03 8.95761164e+01] [ 1.30125031e-01 9.91497277e-01 7.91214188e-04 7.68839332e+00] [-9.38759573e-03 4.34072736e-04 9.99955841e-01 -1.15098506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82140051299999 meters 0.05543955643089133 Centerline is valid? [True, True] Translation: X:89.64, Y:7.69, Z:-0.12 [[ 9.91101194e-01 -1.32752450e-01 9.75761656e-03 8.96363694e+01] [ 1.32750748e-01 9.91149110e-01 8.24761126e-04 7.69283087e+00] [-9.78074203e-03 4.77909164e-04 9.99952053e-01 -1.15690578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88140051299999 meters 0.05731901885060415 Centerline is valid? [True, True] Translation: X:89.70, Y:7.69, Z:-0.11 [[ 9.90870843e-01 -1.34297630e-01 1.17948493e-02 8.96951217e+01] [ 1.34295253e-01 9.90940862e-01 9.96950420e-04 7.69314320e+00] [-1.18218862e-02 5.96143167e-04 9.99929941e-01 -1.14555653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94140051299999 meters 0.04937848079560994 Centerline is valid? [True, True] Translation: X:89.75, Y:7.71, Z:-0.12 [[ 9.90784621e-01 -1.35104627e-01 9.62161461e-03 8.97524623e+01] [ 1.35103081e-01 9.90831215e-01 8.13468266e-04 7.70653272e+00] [-9.64329941e-03 4.93937932e-04 9.99953380e-01 -1.16662203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001400513 meters 0.052861090653901065 Centerline is valid? [True, True] Translation: X:89.81, Y:7.71, Z:-0.12 [[ 9.90776240e-01 -1.35268336e-01 8.05725731e-03 8.98104765e+01] [ 1.35267254e-01 9.90808915e-01 6.81590516e-04 7.70800406e+00] [-8.07539999e-03 4.14579382e-04 9.99967307e-01 -1.19385081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061400513 meters 0.06118402327232638 Centerline is valid? [True, True] Translation: X:89.87, Y:7.71, Z:-0.12 [[ 9.90316002e-01 -1.38614573e-01 7.75994509e-03 8.98709845e+01] [ 1.38613666e-01 9.90346313e-01 6.57119008e-04 7.71136247e+00] [-7.77611928e-03 4.24878969e-04 9.99969675e-01 -1.21616612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12140051299998 meters 0.06050104939810794 Centerline is valid? [True, True] Translation: X:89.93, Y:7.72, Z:-0.12 [[ 9.90060145e-01 -1.40429913e-01 7.76845905e-03 8.99301243e+01] [ 1.40429061e-01 9.90090524e-01 6.57818168e-04 7.71919697e+00] [-7.78385505e-03 4.39637858e-04 9.99969609e-01 -1.23411809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18140051299999 meters 0.06212422262184959 Centerline is valid? [True, True] Translation: X:89.99, Y:7.72, Z:-0.12 [[ 9.89921838e-01 -1.41297704e-01 9.47176528e-03 8.99884145e+01] [ 1.41296475e-01 9.89967001e-01 8.02255334e-04 7.72027348e+00] [-9.49009191e-03 5.44156970e-04 9.99954820e-01 -1.21028101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24140051299999 meters 0.0608163931192587 Centerline is valid? [True, True] Translation: X:90.05, Y:7.73, Z:-0.12 [[ 9.89877694e-01 -1.41572274e-01 9.97203181e-03 9.00465956e+01] [ 1.41570921e-01 9.89927755e-01 8.45053333e-04 7.72743272e+00] [-9.99122718e-03 5.75250280e-04 9.99949921e-01 -1.20337372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30140051299999 meters 0.06672407526100252 Centerline is valid? [True, True] Translation: X:90.10, Y:7.73, Z:-0.12 [[ 9.89647275e-01 -1.43275200e-01 8.39576714e-03 9.01048389e+01] [ 1.43274289e-01 9.89682762e-01 7.12970963e-04 7.72794498e+00] [-8.41129707e-03 4.97307800e-04 9.99964501e-01 -1.24475253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36140051299999 meters 0.06519585490913513 Centerline is valid? [True, True] Translation: X:90.16, Y:7.74, Z:-0.12 [[ 9.89482659e-01 -1.44365480e-01 9.09263704e-03 9.01632400e+01] [ 1.44364453e-01 9.89524284e-01 7.72651142e-04 7.73848627e+00] [-9.10892931e-03 5.48128667e-04 9.99958363e-01 -1.22997790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421400513 meters 0.05980116616857579 Centerline is valid? [True, True] Translation: X:90.22, Y:7.75, Z:-0.12 [[ 9.89432688e-01 -1.44707302e-01 9.09683790e-03 9.02210230e+01] [ 1.44706289e-01 9.89474352e-01 7.72931919e-04 7.75463092e+00] [-9.11293668e-03 5.51605551e-04 9.99958324e-01 -1.23259849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48140051299998 meters 0.06531841428501571 Centerline is valid? [True, True] Translation: X:90.28, Y:7.75, Z:-0.12 [[ 9.88990309e-01 -1.47578760e-01 1.08939202e-02 9.02806314e+01] [ 1.47577454e-01 9.89050066e-01 9.28078270e-04 7.75269290e+00] [-1.09115972e-02 6.89836596e-04 9.99940229e-01 -1.21243245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54140051299999 meters 0.07842453538199014 Centerline is valid? [True, True] Translation: X:90.34, Y:7.75, Z:-0.13 [[ 9.87793781e-01 -1.55458568e-01 9.80206854e-03 9.03408833e+01] [ 1.55457894e-01 9.87842166e-01 8.35252029e-04 7.74519749e+00] [-9.81274370e-03 6.98752174e-04 9.99951610e-01 -1.25237519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60140051299999 meters 0.07946273137719953 Centerline is valid? [True, True] Translation: X:90.40, Y:7.75, Z:-0.13 [[ 9.86860487e-01 -1.61397973e-01 7.55468891e-03 9.04016821e+01] [ 1.61397745e-01 9.86889231e-01 6.43782605e-04 7.74704155e+00] [-7.55954633e-03 5.83986139e-04 9.99971256e-01 -1.29354613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66140051299999 meters 0.08253016027717706 Centerline is valid? [True, True] Translation: X:90.46, Y:7.75, Z:-0.13 [[ 9.86109232e-01 -1.65883922e-01 8.43247231e-03 9.04619677e+01] [ 1.65883802e-01 9.86145044e-01 7.18531016e-04 7.74515927e+00] [-8.43483352e-03 6.90260501e-04 9.99964188e-01 -1.28510955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72140051299999 meters 0.08018499513484102 Centerline is valid? [True, True] Translation: X:90.52, Y:7.75, Z:-0.12 [[ 9.85709671e-01 -1.68033474e-01 1.18825864e-02 9.05221158e+01] [ 1.68033389e-01 9.85780784e-01 1.01266458e-03 7.74649537e+00] [-1.18837869e-02 9.98478003e-04 9.99928887e-01 -1.23353558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781400513 meters 0.0757988983559677 Centerline is valid? [True, True] Translation: X:90.58, Y:7.75, Z:-0.12 [[ 9.85754182e-01 -1.67707999e-01 1.27561396e-02 9.05803584e+01] [ 1.67707871e-01 9.85836136e-01 1.08732628e-03 7.75307938e+00] [-1.27578167e-02 1.06746859e-03 9.99918046e-01 -1.23275931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841400513 meters 0.08377700810232945 Centerline is valid? [True, True] Translation: X:90.64, Y:7.74, Z:-0.12 [[ 9.85676409e-01 -1.68161538e-01 1.27950444e-02 9.06391622e+01] [ 1.68161421e-01 9.85758866e-01 1.09272967e-03 7.73959424e+00] [-1.27965836e-02 1.07455499e-03 9.99917543e-01 -1.23903859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90140051299998 meters 0.09128843173365292 Centerline is valid? [True, True] Translation: X:90.70, Y:7.73, Z:-0.13 [[ 9.85662095e-01 -1.68294737e-01 1.21291739e-02 9.06982144e+01] [ 1.68294633e-01 9.85736193e-01 1.03654991e-03 7.73042093e+00] [-1.21306116e-02 1.01958691e-03 9.99925902e-01 -1.25603910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96140051299999 meters 0.08308850865048283 Centerline is valid? [True, True] Translation: X:90.76, Y:7.74, Z:-0.13 [[ 9.86211020e-01 -1.65204581e-01 9.76060879e-03 9.07570867e+01] [ 1.65204359e-01 9.86259004e-01 8.34646334e-04 7.74016816e+00] [-9.76437571e-03 7.89357705e-04 9.99952016e-01 -1.30247211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02140051299999 meters 0.07256787434883552 Centerline is valid? [True, True] Translation: X:90.82, Y:7.76, Z:-0.13 [[ 9.87865024e-01 -1.55141291e-01 7.33992392e-03 9.08158510e+01] [ 1.55140887e-01 9.87892156e-01 6.27769287e-04 7.75566465e+00] [-7.34844620e-03 5.18570990e-04 9.99972865e-01 -1.33884324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08140051299999 meters 0.06326904579695757 Centerline is valid? [True, True] Translation: X:90.88, Y:7.77, Z:-0.13 [[ 9.89112478e-01 -1.46983070e-01 7.24444382e-03 9.08751984e+01] [ 1.46982459e-01 9.89138905e-01 6.19693377e-04 7.77387153e+00] [-7.25684566e-03 4.51859714e-04 9.99973567e-01 -1.33988186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141400513 meters 0.060170087770674285 Centerline is valid? [True, True] Translation: X:90.93, Y:7.79, Z:-0.13 [[ 9.89952370e-01 -1.41192269e-01 7.68431989e-03 9.09335663e+01] [ 1.41191406e-01 9.89982098e-01 6.57358254e-04 7.78771153e+00] [-7.70015303e-03 4.34206569e-04 9.99970259e-01 -1.34342484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201400513 meters 0.05342180782721998 Centerline is valid? [True, True] Translation: X:90.99, Y:7.81, Z:-0.13 [[ 9.89788918e-01 -1.42188907e-01 1.00106206e-02 9.09903046e+01] [ 1.42187492e-01 9.89839373e-01 8.56498918e-04 7.80834304e+00] [-1.00306911e-02 5.75631904e-04 9.99949526e-01 -1.32251951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26140051299998 meters 0.05667038527162864 Centerline is valid? [True, True] Translation: X:91.05, Y:7.81, Z:-0.13 [[ 9.89492832e-01 -1.44144774e-01 1.12347734e-02 9.10498738e+01] [ 1.44143108e-01 9.89556385e-01 9.62061388e-04 7.81291226e+00] [-1.12561179e-02 6.67462315e-04 9.99936425e-01 -1.31766950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32140051299999 meters 0.06517488261612314 Centerline is valid? [True, True] Translation: X:91.11, Y:7.81, Z:-0.14 [[ 9.87877709e-01 -1.54992491e-01 8.65787279e-03 9.11102367e+01] [ 1.54991916e-01 9.87915460e-01 7.41486549e-04 7.81480016e+00] [-8.66817122e-03 6.09402257e-04 9.99962245e-01 -1.35540276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38140051299999 meters 0.07628172655435991 Centerline is valid? [True, True] Translation: X:91.17, Y:7.81, Z:-0.14 [[ 9.86688633e-01 -1.62456055e-01 7.31929883e-03 9.11698061e+01] [ 1.62455847e-01 9.86715615e-01 6.26892942e-04 7.81289278e+00] [-7.32390900e-03 5.70514753e-04 9.99973017e-01 -1.38933156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44140051299999 meters 0.07893050546671036 Centerline is valid? [True, True] Translation: X:91.23, Y:7.82, Z:-0.14 [[ 9.86154072e-01 -1.65525691e-01 1.00693114e-02 9.12289808e+01] [ 1.65525457e-01 9.86205141e-01 8.62473723e-04 7.82464520e+00] [-1.00731682e-02 8.16195386e-04 9.99948931e-01 -1.36016088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501400513 meters 0.07608697023119226 Centerline is valid? [True, True] Translation: X:91.29, Y:7.84, Z:-0.13 [[ 9.86685683e-01 -1.62159803e-01 1.24724576e-02 9.12878960e+01] [ 1.62159173e-01 9.86764035e-01 1.06849821e-03 7.84031696e+00] [-1.24806400e-02 9.68251521e-04 9.99921645e-01 -1.32183560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561400513 meters 0.06989304219793785 Centerline is valid? [True, True] Translation: X:91.35, Y:7.87, Z:-0.13 [[ 9.87673616e-01 -1.56050556e-01 1.22086899e-02 9.13461730e+01] [ 1.56049485e-01 9.87748684e-01 1.04618515e-03 7.87005529e+00] [-1.22223752e-02 8.71870297e-04 9.99924924e-01 -1.32089833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62140051299998 meters 0.0651007894862536 Centerline is valid? [True, True] Translation: X:91.41, Y:7.89, Z:-0.14 [[ 9.88068193e-01 -1.53713759e-01 9.66059119e-03 9.14053307e+01] [ 1.53712976e-01 9.88115193e-01 8.27932630e-04 7.89094332e+00] [-9.67304157e-03 6.66904328e-04 9.99952993e-01 -1.36955158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68140051299999 meters 0.06981924882580616 Centerline is valid? [True, True] Translation: X:91.46, Y:7.90, Z:-0.14 [[ 9.87654401e-01 -1.56364717e-01 9.42657815e-03 9.14638271e+01] [ 1.56364091e-01 9.87699154e-01 8.07901651e-04 7.90125573e+00] [-9.43695058e-03 6.76050708e-04 9.99955242e-01 -1.38798073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74140051299999 meters 0.07678731619393613 Centerline is valid? [True, True] Translation: X:91.52, Y:7.90, Z:-0.14 [[ 9.86918760e-01 -1.60922256e-01 9.76673105e-03 9.15227322e+01] [ 1.60921805e-01 9.86966804e-01 8.37224098e-04 7.90398574e+00] [-9.77416732e-03 7.45407821e-04 9.99951954e-01 -1.39385764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80140051299999 meters 0.08808476494685001 Centerline is valid? [True, True] Translation: X:91.58, Y:7.90, Z:-0.14 [[ 9.85720931e-01 -1.68122843e-01 9.43164525e-03 9.15824250e+01] [ 1.68122749e-01 9.85765737e-01 8.08487839e-04 7.90246526e+00] [-9.43331800e-03 7.88730743e-04 9.99955194e-01 -1.41635357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86140051299999 meters 0.08690384869687562 Centerline is valid? [True, True] Translation: X:91.64, Y:7.91, Z:-0.14 [[ 9.85034710e-01 -1.72089494e-01 9.58260692e-03 9.16419350e+01] [ 1.72089582e-01 9.85080962e-01 8.21541641e-04 7.91320372e+00] [-9.58102232e-03 8.39819788e-04 9.99953748e-01 -1.42011233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921400513 meters 0.08650682331940623 Centerline is valid? [True, True] Translation: X:91.70, Y:7.92, Z:-0.15 [[ 9.84527482e-01 -1.75084810e-01 7.13760932e-03 9.17015583e+01] [ 1.75084937e-01 9.84553142e-01 6.11936631e-04 7.92309433e+00] [-7.13449650e-03 6.47219449e-04 9.99974340e-01 -1.45814305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98140051299998 meters 0.08854534684052945 Centerline is valid? [True, True] Translation: X:91.76, Y:7.93, Z:-0.15 [[ 9.84326244e-01 -1.76309227e-01 4.11107555e-03 9.17613693e+01] [ 1.76309280e-01 9.84334757e-01 3.52440977e-04 7.92530808e+00] [-4.10881315e-03 3.77903866e-04 9.99991487e-01 -1.51379281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04140051299999 meters 0.08656375203591264 Centerline is valid? [True, True] Translation: X:91.82, Y:7.93, Z:-0.15 [[ 9.84123002e-01 -1.77431603e-01 4.46579774e-03 9.18207781e+01] [ 1.77431676e-01 9.84133047e-01 3.82825009e-04 7.93316540e+00] [-4.46286439e-03 4.15627083e-04 9.99989955e-01 -1.51623428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10140051299999 meters 0.09519535599314718 Centerline is valid? [True, True] Translation: X:91.88, Y:7.92, Z:-0.15 [[ 9.84419787e-01 -1.75684156e-01 7.26363654e-03 9.18807743e+01] [ 1.75684302e-01 9.84446361e-01 6.23045702e-04 7.92430901e+00] [-7.26011982e-03 6.62768395e-04 9.99973425e-01 -1.48769522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16140051299999 meters 0.09523545770013127 Centerline is valid? [True, True] Translation: X:91.94, Y:7.93, Z:-0.15 [[ 9.84845297e-01 -1.73282032e-01 7.28549572e-03 9.19394197e+01] [ 1.73282112e-01 9.84872032e-01 6.24989494e-04 7.92570900e+00] [-7.28358043e-03 6.46928124e-04 9.99973265e-01 -1.48230068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22140051299999 meters 0.08833781197896703 Centerline is valid? [True, True] Translation: X:92.00, Y:7.93, Z:-0.15 [[ 9.85543421e-01 -1.69286211e-01 6.80761456e-03 9.19990533e+01] [ 1.69286185e-01 9.85566764e-01 5.84279394e-04 7.93488029e+00] [-6.80826910e-03 5.76602384e-04 9.99976657e-01 -1.49433488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281400513 meters 0.07999607677504246 Centerline is valid? [True, True] Translation: X:92.06, Y:7.95, Z:-0.15 [[ 9.86360381e-01 -1.64447989e-01 7.07513085e-03 9.20583586e+01] [ 1.64447836e-01 9.86385594e-01 6.07239247e-04 7.95225359e+00] [-7.07866642e-03 5.64533226e-04 9.99974787e-01 -1.48931671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341400513 meters 0.07492042175350826 Centerline is valid? [True, True] Translation: X:92.12, Y:7.97, Z:-0.15 [[ 9.87766915e-01 -1.55805452e-01 6.41732634e-03 9.21168068e+01] [ 1.55805145e-01 9.87787656e-01 5.50874593e-04 7.96837540e+00] [-6.42478501e-03 4.55716765e-04 9.99979257e-01 -1.52154160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40140051299998 meters 0.06978924394044844 Centerline is valid? [True, True] Translation: X:92.18, Y:7.99, Z:-0.15 [[ 9.87974643e-01 -1.54305875e-01 9.78782973e-03 9.21758186e+01] [ 1.54305085e-01 9.88022892e-01 8.40349634e-04 7.98707702e+00] [-9.80027072e-03 6.80067770e-04 9.99951745e-01 -1.46458111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46140051299999 meters 0.07065957738155865 Centerline is valid? [True, True] Translation: X:92.23, Y:8.00, Z:-0.15 [[ 9.87660722e-01 -1.56278100e-01 1.01712180e-02 9.22348535e+01] [ 1.56277350e-01 9.87712826e-01 8.73390047e-04 7.99701136e+00] [-1.01827342e-02 7.26917956e-04 9.99947890e-01 -1.47619143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52140051299999 meters 0.07355111828173395 Centerline is valid? [True, True] Translation: X:92.30, Y:8.00, Z:-0.15 [[ 9.86819155e-01 -1.61524397e-01 9.89058338e-03 9.22955181e+01] [ 1.61523948e-01 9.86868427e-01 8.49429254e-04 7.99988448e+00] [-9.89790801e-03 7.59333016e-04 9.99950726e-01 -1.50851146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58140051299999 meters 0.08810721315213242 Centerline is valid? [True, True] Translation: X:92.36, Y:7.99, Z:-0.15 [[ 9.85376004e-01 -1.70111399e-01 9.81035766e-03 9.23564157e+01] [ 1.70111380e-01 9.85424481e-01 8.42535020e-04 7.98871767e+00] [-9.81069142e-03 8.38639691e-04 9.99951522e-01 -1.50314161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641400513 meters 0.08639914179392127 Centerline is valid? [True, True] Translation: X:92.42, Y:7.99, Z:-0.15 [[ 9.84887517e-01 -1.72877458e-01 1.04863636e-02 9.24164615e+01] [ 1.72877591e-01 9.84942906e-01 9.00592520e-04 7.99169160e+00] [-1.04841615e-02 9.25874941e-04 9.99944611e-01 -1.50619540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701400513 meters 0.09083577124403162 Centerline is valid? [True, True] Translation: X:92.48, Y:7.98, Z:-0.16 [[ 9.85468721e-01 -1.69651483e-01 8.35312252e-03 9.24766987e+01] [ 1.69651453e-01 9.85503866e-01 7.17376579e-04 7.98315761e+00] [-8.35373853e-03 7.10167192e-04 9.99964855e-01 -1.56754349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76140051299998 meters 0.07965703566067055 Centerline is valid? [True, True] Translation: X:92.54, Y:8.00, Z:-0.16 [[ 9.86846353e-01 -1.61473242e-01 7.78889579e-03 9.25357989e+01] [ 1.61472961e-01 9.86876910e-01 6.69074418e-04 8.00111601e+00] [-7.79471902e-03 5.97422417e-04 9.99969442e-01 -1.56861802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82140051299999 meters 0.06823244367136345 Centerline is valid? [True, True] Translation: X:92.59, Y:8.02, Z:-0.15 [[ 9.88978182e-01 -1.47772790e-01 9.23893807e-03 9.25934967e+01] [ 1.47771798e-01 9.89021165e-01 7.93707963e-04 8.01998478e+00] [-9.25479374e-03 5.80294632e-04 9.99957005e-01 -1.50681029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88140051299999 meters 0.06260086787780457 Centerline is valid? [True, True] Translation: X:92.65, Y:8.04, Z:-0.15 [[ 9.89908094e-01 -1.41413091e-01 9.18168235e-03 9.26524613e+01] [ 1.41411837e-01 9.89950539e-01 7.88939665e-04 8.03685908e+00] [-9.20097779e-03 5.17420805e-04 9.99957536e-01 -1.54154589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94140051299999 meters 0.05689419635082701 Centerline is valid? [True, True] Translation: X:92.71, Y:8.05, Z:-0.15 [[ 9.90556877e-01 -1.36753938e-01 9.76905568e-03 9.27114707e+01] [ 1.36752293e-01 9.90604919e-01 8.39400831e-04 8.05009714e+00] [-9.79206598e-03 5.04466495e-04 9.99951929e-01 -1.54502470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001400513 meters 0.05490511336797842 Centerline is valid? [True, True] Translation: X:92.77, Y:8.06, Z:-0.16 [[ 9.90721552e-01 -1.35667046e-01 8.07827811e-03 9.27700186e+01] [ 1.35665888e-01 9.90754402e-01 6.93730198e-04 8.06195777e+00] [-8.09770593e-03 4.08653312e-04 9.99967130e-01 -1.56431292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061400513 meters 0.05199123609055131 Centerline is valid? [True, True] Translation: X:92.83, Y:8.07, Z:-0.16 [[ 9.90924882e-01 -1.34191441e-01 7.78040483e-03 9.28282087e+01] [ 1.34190310e-01 9.90955353e-01 6.69667884e-04 8.07426311e+00] [-7.79989752e-03 3.80464365e-04 9.99969508e-01 -1.57956857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12140051299998 meters 0.050570063087698854 Centerline is valid? [True, True] Translation: X:92.89, Y:8.09, Z:-0.16 [[ 9.91356544e-01 -1.30820494e-01 9.90968541e-03 9.28868906e+01] [ 1.30818484e-01 9.91405969e-01 8.53603800e-04 8.09030575e+00] [-9.93619014e-03 4.50144305e-04 9.99950534e-01 -1.55932675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18140051299999 meters 0.04772883700275954 Centerline is valid? [True, True] Translation: X:92.95, Y:8.10, Z:-0.16 [[ 9.91639156e-01 -1.28596176e-01 1.07148737e-02 9.29464126e+01] [ 1.28593694e-01 9.91696934e-01 9.23124577e-04 8.10309057e+00] [-1.07446177e-02 4.62458716e-04 9.99942168e-01 -1.55313864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24140051299999 meters 0.040942212992969684 Centerline is valid? [True, True] Translation: X:93.00, Y:8.13, Z:-0.16 [[ 9.92407765e-01 -1.22503435e-01 1.09424253e-02 9.30042402e+01] [ 1.22500476e-01 9.92468007e-01 9.42848616e-04 8.12843469e+00] [-1.09755092e-02 4.04762016e-04 9.99939685e-01 -1.56743587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30140051299999 meters 0.03734857622884552 Centerline is valid? [True, True] Translation: X:93.06, Y:8.14, Z:-0.16 [[ 9.92514115e-01 -1.21724082e-01 9.94880892e-03 9.30636876e+01] [ 1.21721594e-01 9.92563911e-01 8.57435029e-04 8.14438739e+00] [-9.97919919e-03 3.59968514e-04 9.99950142e-01 -1.59481980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36140051299999 meters 0.04517201185767995 Centerline is valid? [True, True] Translation: X:93.12, Y:8.14, Z:-0.16 [[ 9.92071667e-01 -1.25318181e-01 9.44251897e-03 9.31236523e+01] [ 1.25316103e-01 9.92116532e-01 8.13758288e-04 8.14291092e+00] [-9.47005788e-03 3.75993139e-04 9.99955087e-01 -1.61767679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421400513 meters 0.04204428412067321 Centerline is valid? [True, True] Translation: X:93.18, Y:8.16, Z:-0.16 [[ 9.92102631e-01 -1.25162889e-01 8.16216621e-03 9.31818848e+01] [ 1.25161334e-01 9.92136153e-01 7.02966490e-04 8.15612865e+00] [-8.18596550e-03 3.24172710e-04 9.99966442e-01 -1.64922243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48140051299998 meters 0.03157313711332798 Centerline is valid? [True, True] Translation: X:93.24, Y:8.18, Z:-0.16 [[ 9.93098585e-01 -1.16844350e-01 1.01290584e-02 9.32406855e+01] [ 1.16841500e-01 9.93150189e-01 8.74771191e-04 8.17660868e+00] [-1.01618884e-02 3.14760342e-04 9.99948317e-01 -1.62246350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54140051299999 meters 0.0185919010194883 Centerline is valid? [True, True] Translation: X:93.30, Y:8.21, Z:-0.16 [[ 9.94540292e-01 -1.03992978e-01 8.66423539e-03 9.32988525e+01] [ 1.03990404e-01 9.94578019e-01 7.48309887e-04 8.20655737e+00] [-8.69507705e-03 1.56773006e-04 9.99962185e-01 -1.64643334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60140051299999 meters 0.015208429021584717 Centerline is valid? [True, True] Translation: X:93.36, Y:8.22, Z:-0.17 [[ 9.95138027e-01 -9.80049381e-02 9.76418328e-03 9.33581581e+01] [ 9.80013800e-02 9.95185921e-01 8.43354946e-04 8.21826796e+00] [-9.79983068e-03 1.17648859e-04 9.99951974e-01 -1.66745878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66140051299999 meters 0.011729303939349555 Centerline is valid? [True, True] Translation: X:93.42, Y:8.23, Z:-0.16 [[ 9.95331154e-01 -9.58857652e-02 1.10369688e-02 9.34194317e+01] [ 9.58810900e-02 9.95392339e-01 9.53169187e-04 8.23097659e+00] [-1.10775096e-02 1.09517616e-04 9.99938637e-01 -1.64620614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72140051299999 meters 0.012734607705980002 Centerline is valid? [True, True] Translation: X:93.48, Y:8.24, Z:-0.17 [[ 9.95397678e-01 -9.56226460e-02 6.30646773e-03 9.34802732e+01] [ 9.56211136e-02 9.95417654e-01 5.44738044e-04 8.23537561e+00] [-6.32965861e-03 6.08004833e-05 9.99979966e-01 -1.72534664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781400513 meters 0.010333608668149896 Centerline is valid? [True, True] Translation: X:93.54, Y:8.25, Z:-0.17 [[ 9.95648113e-01 -9.28796619e-02 7.62911591e-03 9.35418723e+01] [ 9.28773460e-02 9.95677340e-01 6.58065616e-04 8.24613445e+00] [-7.65725875e-03 5.33702493e-05 9.99970681e-01 -1.72153440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841400513 meters 0.007296144381591891 Centerline is valid? [True, True] Translation: X:93.60, Y:8.26, Z:-0.17 [[ 9.96073520e-01 -8.80636398e-02 9.07398458e-03 9.36032467e+01] [ 8.80601685e-02 9.96114850e-01 7.82159438e-04 8.25941862e+00] [-9.10761059e-03 1.99683059e-05 9.99958525e-01 -1.70165078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90140051299998 meters 0.007221650799456726 Centerline is valid? [True, True] Translation: X:93.67, Y:8.27, Z:-0.17 [[ 9.96300171e-01 -8.56942894e-02 6.51601108e-03 9.36654494e+01] [ 8.56924496e-02 9.96321479e-01 5.61520323e-04 8.26599203e+00] [-6.54016088e-03 -1.06984240e-06 9.99978613e-01 -1.74430600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96140051299999 meters 0.011264903235171035 Centerline is valid? [True, True] Translation: X:93.73, Y:8.27, Z:-0.17 [[ 9.96395333e-01 -8.43822016e-02 8.71695838e-03 9.37261897e+01] [ 8.43788649e-02 9.96433462e-01 7.50506265e-04 8.26910430e+00] [-8.74919839e-03 -1.22738854e-05 9.99961725e-01 -1.73174704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02140051299999 meters 0.014691594744211925 Centerline is valid? [True, True] Translation: X:93.79, Y:8.27, Z:-0.17 [[ 9.96567317e-01 -8.17303272e-02 1.31809012e-02 9.37884251e+01] [ 8.17224754e-02 9.96654479e-01 1.13410802e-03 8.27318521e+00] [-1.32294952e-02 -5.30391115e-05 9.99912485e-01 -1.67046785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08140051299999 meters 0.018705504866909806 Centerline is valid? [True, True] Translation: X:93.85, Y:8.28, Z:-0.17 [[ 9.96934198e-01 -7.69582851e-02 1.41289329e-02 9.38505337e+01] [ 7.69487942e-02 9.97034306e-01 1.21494878e-03 8.27941662e+00] [-1.41805312e-02 -1.24019639e-04 9.99899444e-01 -1.65347414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141400513 meters 0.016191210608044876 Centerline is valid? [True, True] Translation: X:93.91, Y:8.29, Z:-0.17 [[ 9.97298411e-01 -7.22978201e-02 1.29963473e-02 9.39111248e+01] [ 7.22894016e-02 9.97383073e-01 1.11698219e-03 8.28707476e+00] [-1.30430922e-02 -1.74466395e-04 9.99914920e-01 -1.66472528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201400513 meters 0.02323434563001971 Centerline is valid? [True, True] Translation: X:93.97, Y:8.30, Z:-0.17 [[ 9.97773679e-01 -6.59007723e-02 1.02359096e-02 9.39719260e+01] [ 6.58952167e-02 9.97826161e-01 8.79431630e-04 8.29632997e+00] [-1.02716136e-02 -2.02976250e-04 9.99947225e-01 -1.72301098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26140051299998 meters 0.02914502845595713 Centerline is valid? [True, True] Translation: X:94.03, Y:8.30, Z:-0.17 [[ 9.98130877e-01 -6.01861953e-02 1.06006368e-02 9.40327939e+01] [ 6.01799173e-02 9.98187131e-01 9.10505862e-04 8.30338495e+00] [-1.06362192e-02 -2.70858566e-04 9.99943397e-01 -1.73290294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32140051299999 meters 0.032937093596317045 Centerline is valid? [True, True] Translation: X:94.09, Y:8.30, Z:-0.17 [[ 9.98290842e-01 -5.76019728e-02 9.86953480e-03 9.40948499e+01] [ 5.75964063e-02 9.98339589e-01 8.47545398e-04 8.30490978e+00] [-9.90196761e-03 -2.77647072e-04 9.99950936e-01 -1.74952701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38140051299999 meters 0.03648044376310497 Centerline is valid? [True, True] Translation: X:94.16, Y:8.31, Z:-0.18 [[ 9.98497655e-01 -5.41155905e-02 8.59856342e-03 9.41551425e+01] [ 5.41112403e-02 9.98534641e-01 7.37936041e-04 8.30680452e+00] [-8.62589729e-03 -2.71548476e-04 9.99962759e-01 -1.79144779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44140051299999 meters 0.03771368499267371 Centerline is valid? [True, True] Translation: X:94.22, Y:8.31, Z:-0.18 [[ 9.98670618e-01 -5.06715538e-02 9.45466504e-03 9.42164948e+01] [ 5.06661409e-02 9.98715317e-01 8.11311827e-04 8.30934953e+00] [-9.48362922e-03 -3.31201892e-04 9.99954975e-01 -1.78609135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501400513 meters 0.04584549654447707 Centerline is valid? [True, True] Translation: X:94.28, Y:8.32, Z:-0.18 [[ 9.98945532e-01 -4.54029546e-02 6.81144858e-03 9.42753001e+01] [ 4.54000247e-02 9.98968716e-01 5.84231755e-04 8.31949089e+00] [-6.83094989e-03 -2.74375768e-04 9.99976631e-01 -1.83872543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561400513 meters 0.04193060333796761 Centerline is valid? [True, True] Translation: X:94.34, Y:8.31, Z:-0.18 [[ 9.98932976e-01 -4.55696274e-02 7.50452454e-03 9.43384777e+01] [ 4.55660729e-02 9.98961119e-01 6.44035101e-04 8.31202981e+00] [-7.52607668e-03 -3.01396188e-04 9.99971633e-01 -1.83038590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62140051299998 meters 0.042185371450632704 Centerline is valid? [True, True] Translation: X:94.40, Y:8.31, Z:-0.18 [[ 9.98860184e-01 -4.63315227e-02 1.14770575e-02 9.44001734e+01] [ 4.63232692e-02 9.98926016e-01 9.84063381e-04 8.31295815e+00] [-1.15103244e-02 -4.51286907e-04 9.99933652e-01 -1.77745125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68140051299999 meters 0.04557210215548052 Centerline is valid? [True, True] Translation: X:94.46, Y:8.31, Z:-0.18 [[ 9.98933114e-01 -4.48627304e-02 1.09530406e-02 9.44609361e+01] [ 4.48551297e-02 9.98993061e-01 9.38736070e-04 8.31473384e+00] [-1.09841258e-02 -4.46434489e-04 9.99939573e-01 -1.79880830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74140051299999 meters 0.04732414891818009 Centerline is valid? [True, True] Translation: X:94.52, Y:8.32, Z:-0.18 [[ 9.99085529e-01 -4.17751441e-02 9.10734354e-03 9.45221970e+01] [ 4.17697630e-02 9.99126958e-01 7.80345821e-04 8.31537169e+00] [-9.13199150e-03 -3.99220635e-04 9.99958223e-01 -1.83532046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80140051299999 meters 0.05256048243714125 Centerline is valid? [True, True] Translation: X:94.58, Y:8.32, Z:-0.18 [[ 9.99259290e-01 -3.73528348e-02 9.25400784e-03 9.45815359e+01] [ 3.73470909e-02 9.99302040e-01 7.92784352e-04 8.32353951e+00] [-9.27716165e-03 -4.46586857e-04 9.99956866e-01 -1.83882332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86140051299999 meters 0.058632294459900446 Centerline is valid? [True, True] Translation: X:94.64, Y:8.33, Z:-0.19 [[ 9.99421579e-01 -3.26397264e-02 9.54751621e-03 9.46413038e+01] [ 3.26333981e-02 9.99467054e-01 8.17903759e-04 8.33359205e+00] [-9.56912406e-03 -5.05862769e-04 9.99954087e-01 -1.85287834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921400513 meters 0.05727845172273144 Centerline is valid? [True, True] Translation: X:94.70, Y:8.33, Z:-0.18 [[ 9.99397243e-01 -3.24414336e-02 1.23573613e-02 9.47038239e+01] [ 3.24308222e-02 9.99473422e-01 1.05818884e-03 8.33213919e+00] [-1.23851834e-02 -6.56791620e-04 9.99923085e-01 -1.82149007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98140051299998 meters 0.05306388019760415 Centerline is valid? [True, True] Translation: X:94.77, Y:8.32, Z:-0.18 [[ 9.99258347e-01 -3.57129308e-02 1.43994266e-02 9.47657716e+01] [ 3.56988708e-02 9.99361832e-01 1.23236996e-03 8.32470257e+00] [-1.44342489e-02 -7.17412695e-04 9.99895563e-01 -1.79058642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04140051299999 meters 0.0560469766225168 Centerline is valid? [True, True] Translation: X:94.83, Y:8.33, Z:-0.18 [[ 9.99262391e-01 -3.58828919e-02 1.36781897e-02 9.48275295e+01] [ 3.58702236e-02 9.99355771e-01 1.17045034e-03 8.32591266e+00] [-1.37113770e-02 -6.78947285e-04 9.99905764e-01 -1.81778966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10140051299999 meters 0.05260399250627669 Centerline is valid? [True, True] Translation: X:94.89, Y:8.32, Z:-0.18 [[ 9.99328315e-01 -3.38942999e-02 1.39318259e-02 9.48897094e+01] [ 3.38809735e-02 9.99425165e-01 1.19152883e-03 8.31862322e+00] [-1.39642035e-02 -7.18704675e-04 9.99902237e-01 -1.82193936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16140051299999 meters 0.05685517709969161 Centerline is valid? [True, True] Translation: X:94.95, Y:8.32, Z:-0.18 [[ 9.99451768e-01 -3.03542352e-02 1.32205923e-02 9.49493843e+01] [ 3.03419294e-02 9.99538938e-01 1.13043653e-03 8.32359803e+00] [-1.32488103e-02 -7.28678515e-04 9.99911965e-01 -1.84117422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22140051299999 meters 0.061842689314723406 Centerline is valid? [True, True] Translation: X:95.01, Y:8.33, Z:-0.19 [[ 9.99635794e-01 -2.48958174e-02 1.04152336e-02 9.50098996e+01] [ 2.48878838e-02 9.99689852e-01 8.90667098e-04 8.32765217e+00] [-1.04341772e-02 -6.31129590e-04 9.99945363e-01 -1.89110009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281400513 meters 0.06361164836933121 Centerline is valid? [True, True] Translation: X:95.07, Y:8.33, Z:-0.19 [[ 9.99706068e-01 -2.23077481e-02 9.49433995e-03 9.50708750e+01] [ 2.23010396e-02 9.99750971e-01 8.11878964e-04 8.33125591e+00] [-9.51008678e-03 -5.99906676e-04 9.99954598e-01 -1.91825717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341400513 meters 0.06916567991167064 Centerline is valid? [True, True] Translation: X:95.13, Y:8.33, Z:-0.19 [[ 9.99702916e-01 -2.06641943e-02 1.29256139e-02 9.51305733e+01] [ 2.06516267e-02 9.99786122e-01 1.10503397e-03 8.33414842e+00] [-1.29456840e-02 -8.37770734e-04 9.99915850e-01 -1.88080428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40140051299998 meters 0.06764267481840808 Centerline is valid? [True, True] Translation: X:95.19, Y:8.34, Z:-0.19 [[ 9.99729208e-01 -2.01565515e-02 1.16285692e-02 9.51926968e+01] [ 2.01463454e-02 9.99796548e-01 9.94164683e-04 8.33633081e+00] [-1.16462423e-02 -7.59622299e-04 9.99931892e-01 -1.90549230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46140051299999 meters 0.07200204552191802 Centerline is valid? [True, True] Translation: X:95.25, Y:8.34, Z:-0.19 [[ 9.99735345e-01 -2.05295507e-02 1.03815784e-02 9.52537693e+01] [ 2.05214409e-02 9.99789019e-01 8.87110164e-04 8.34119013e+00] [-1.03976001e-02 -6.73830439e-04 9.99945716e-01 -1.93479765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52140051299999 meters 0.06552343495670207 Centerline is valid? [True, True] Translation: X:95.32, Y:8.33, Z:-0.19 [[ 9.99682642e-01 -2.23300545e-02 1.16612072e-02 9.53152220e+01] [ 2.23199496e-02 9.99750383e-01 9.95986782e-04 8.33343389e+00] [-1.16805368e-02 -7.35393140e-04 9.99931510e-01 -1.91462419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58140051299999 meters 0.059445431538711804 Centerline is valid? [True, True] Translation: X:95.38, Y:8.32, Z:-0.19 [[ 9.99562955e-01 -2.62547319e-02 1.35863158e-02 9.53776100e+01] [ 2.62413762e-02 9.99654962e-01 1.16039293e-03 8.32103632e+00] [-1.36120938e-02 -8.03362162e-04 9.99907028e-01 -1.88690289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641400513 meters 0.05440094100626738 Centerline is valid? [True, True] Translation: X:95.44, Y:8.31, Z:-0.19 [[ 9.99570651e-01 -2.67080348e-02 1.20496577e-02 9.54403740e+01] [ 2.66975639e-02 9.99643027e-01 1.02902614e-03 8.31445270e+00] [-1.20728396e-02 -7.06887826e-04 9.99926871e-01 -1.91178173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701400513 meters 0.061004523033022645 Centerline is valid? [True, True] Translation: X:95.50, Y:8.32, Z:-0.19 [[ 9.99603878e-01 -2.54761576e-02 1.19604806e-02 9.55007591e+01] [ 2.54657603e-02 9.99675174e-01 1.02082122e-03 8.31966411e+00] [-1.19826021e-02 -7.15834117e-04 9.99927950e-01 -1.92495527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76140051299998 meters 0.06190377603829229 Centerline is valid? [True, True] Translation: X:95.56, Y:8.32, Z:-0.19 [[ 9.99646879e-01 -2.36278143e-02 1.21590931e-02 9.55624171e+01] [ 2.36169363e-02 9.99720543e-01 1.03746897e-03 8.32106018e+00] [-1.21802083e-02 -7.49942089e-04 9.99925537e-01 -1.93430669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82140051299999 meters 0.06309019542880473 Centerline is valid? [True, True] Translation: X:95.62, Y:8.33, Z:-0.20 [[ 9.99770473e-01 -1.86066211e-02 1.06205104e-02 9.56229322e+01] [ 1.85980423e-02 9.99826631e-01 9.05956401e-04 8.32835650e+00] [-1.06355259e-02 -7.08227758e-04 9.99943190e-01 -1.97291662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88140051299999 meters 0.07372446101795448 Centerline is valid? [True, True] Translation: X:95.68, Y:8.34, Z:-0.20 [[ 9.99821911e-01 -1.41464116e-02 1.24909800e-02 9.56812311e+01] [ 1.41342004e-02 9.99899540e-01 1.06534430e-03 8.34453689e+00] [-1.25047960e-02 -8.88604563e-04 9.99921417e-01 -1.95775618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94140051299999 meters 0.07156360837205562 Centerline is valid? [True, True] Translation: X:95.74, Y:8.34, Z:-0.20 [[ 9.99793540e-01 -1.52151079e-02 1.34676758e-02 9.57437246e+01] [ 1.52010072e-02 9.99883798e-01 1.14875791e-03 8.33887647e+00] [-1.34835894e-02 -9.43798499e-04 9.99908647e-01 -1.95123691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001400513 meters 0.06772624685586233 Centerline is valid? [True, True] Translation: X:95.80, Y:8.33, Z:-0.20 [[ 9.99670337e-01 -2.21737899e-02 1.29437339e-02 9.58043843e+01] [ 2.21613507e-02 9.99753798e-01 1.10367586e-03 8.32632456e+00] [-1.29650198e-02 -8.16461396e-04 9.99915617e-01 -1.97100311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061400513 meters 0.06650305172046372 Centerline is valid? [True, True] Translation: X:95.86, Y:8.32, Z:-0.19 [[ 9.99534984e-01 -2.68461894e-02 1.44602316e-02 9.58647539e+01] [ 2.68311484e-02 9.99639219e-01 1.23319590e-03 8.31874180e+00] [-1.44881213e-02 -8.44637827e-04 9.99894685e-01 -1.94908104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12140051299998 meters 0.06719758084603535 Centerline is valid? [True, True] Translation: X:95.93, Y:8.30, Z:-0.20 [[ 9.99467464e-01 -2.99779512e-02 1.28884221e-02 9.59264063e+01] [ 2.99662604e-02 9.99550306e-01 1.09928027e-03 8.30391326e+00] [-1.29155804e-02 -7.12477052e-04 9.99916337e-01 -1.98035096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18140051299999 meters 0.05875987550680131 Centerline is valid? [True, True] Translation: X:95.99, Y:8.28, Z:-0.20 [[ 9.99603928e-01 -2.57411141e-02 1.13745950e-02 9.59860349e+01] [ 2.57130586e-02 9.99665968e-01 2.60592522e-03 8.28481041e+00] [-1.14378749e-02 -2.31241746e-03 9.99931912e-01 -1.99038442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24140051299999 meters 0.07099082701771672 Centerline is valid? [True, True] Translation: X:96.05, Y:8.31, Z:-0.20 [[ 9.99747566e-01 -1.81776862e-02 1.32051217e-02 9.60476730e+01] [ 1.81851131e-02 9.99834539e-01 -4.42566410e-04 8.30640055e+00] [-1.31948919e-02 6.82591323e-04 9.99912711e-01 -1.99285797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30140051299999 meters 0.07326445833812513 Centerline is valid? [True, True] Translation: X:96.11, Y:8.31, Z:-0.20 [[ 9.99870686e-01 -1.13423525e-02 1.14000954e-02 9.61085431e+01] [ 1.13320113e-02 9.99935319e-01 9.71306681e-04 8.30577787e+00] [-1.14103749e-02 -8.41995068e-04 9.99934545e-01 -2.02002923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36140051299999 meters 0.08800357646050053 Centerline is valid? [True, True] Translation: X:96.17, Y:8.33, Z:-0.20 [[ 9.99896068e-01 -6.62456098e-03 1.28050150e-02 9.61669776e+01] [ 6.61112972e-03 9.99977551e-01 1.09095164e-03 8.32561922e+00] [-1.28119546e-02 -1.00618264e-03 9.99917417e-01 -2.00442377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421400513 meters 0.08068653136539904 Centerline is valid? [True, True] Translation: X:96.23, Y:8.32, Z:-0.20 [[ 9.99897951e-01 -4.85966036e-04 1.42776808e-02 9.62283576e+01] [ 4.68647729e-04 9.99999151e-01 1.21628430e-03 8.31988503e+00] [-1.42782598e-02 -1.20946898e-03 9.99897329e-01 -1.99216581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48140051299998 meters 0.08660929873386775 Centerline is valid? [True, True] Translation: X:96.29, Y:8.34, Z:-0.20 [[ 9.99912824e-01 5.23290283e-03 1.21227445e-02 9.62879448e+01] [-5.24580460e-03 9.99985707e-01 1.03270710e-03 8.33553191e+00] [-1.21171672e-02 -1.09621062e-03 9.99925984e-01 -2.01893747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54140051299999 meters 0.09327450814090607 Centerline is valid? [True, True] Translation: X:96.35, Y:8.35, Z:-0.20 [[ 9.99880983e-01 1.07100922e-02 1.11046681e-02 9.63471339e+01] [-1.07212521e-02 9.99942078e-01 9.45927545e-04 8.35317584e+00] [-1.10938939e-02 -1.06487091e-03 9.99937894e-01 -2.04387261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60140051299999 meters 0.08934686387086069 Centerline is valid? [True, True] Translation: X:96.41, Y:8.36, Z:-0.21 [[ 9.99924049e-01 7.35492448e-03 9.88943257e-03 9.64078241e+01] [-7.36361275e-03 9.99972533e-01 8.42416139e-04 8.35814792e+00] [-9.88296503e-03 -9.15174109e-04 9.99950744e-01 -2.08848581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66140051299999 meters 0.07702270801427062 Centerline is valid? [True, True] Translation: X:96.47, Y:8.35, Z:-0.21 [[ 9.99937650e-01 -6.18805200e-03 9.29538083e-03 9.64697473e+01] [ 6.18095821e-03 9.99980584e-01 7.91685673e-04 8.34927610e+00] [-9.30009934e-03 -7.34181951e-04 9.99956484e-01 -2.09711952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72140051299999 meters 0.06766877649023044 Centerline is valid? [True, True] Translation: X:96.53, Y:8.33, Z:-0.21 [[ 9.99709343e-01 -2.17643229e-02 1.03703240e-02 9.65317527e+01] [ 2.17563277e-02 9.99762913e-01 8.83165565e-04 8.33368024e+00] [-1.03870868e-02 -6.57288699e-04 9.99945837e-01 -2.09060532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781400513 meters 0.06257639457954906 Centerline is valid? [True, True] Translation: X:96.59, Y:8.33, Z:-0.21 [[ 9.99586758e-01 -2.60596743e-02 1.21328454e-02 9.65928734e+01] [ 2.60490462e-02 9.99660132e-01 1.03321166e-03 8.33165854e+00] [-1.21556470e-02 -7.16735646e-04 9.99925861e-01 -2.08140014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841400513 meters 0.06279735154583911 Centerline is valid? [True, True] Translation: X:96.65, Y:8.33, Z:-0.21 [[ 9.99640968e-01 -2.34354039e-02 1.29891251e-02 9.66538005e+01] [ 2.34230032e-02 9.99725032e-01 1.10603028e-03 8.32989240e+00] [-1.30114737e-02 -8.01388861e-04 9.99915026e-01 -2.06134862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90140051299998 meters 0.05906801993415524 Centerline is valid? [True, True] Translation: X:96.71, Y:8.33, Z:-0.21 [[ 9.99702418e-01 -2.08641269e-02 1.26398010e-02 9.67149585e+01] [ 2.08521800e-02 9.99781990e-01 1.07624154e-03 8.32576537e+00] [-1.26595002e-02 -8.12353866e-04 9.99919535e-01 -2.05783243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96140051299999 meters 0.07062809803748749 Centerline is valid? [True, True] Translation: X:96.77, Y:8.34, Z:-0.21 [[ 9.99821427e-01 -1.57762707e-02 1.04030239e-02 9.67733601e+01] [ 1.57679048e-02 9.99875287e-01 8.85710732e-04 8.33837481e+00] [-1.04156997e-02 -7.21518678e-04 9.99945495e-01 -2.11871080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02140051299999 meters 0.06828917554515379 Centerline is valid? [True, True] Translation: X:96.83, Y:8.34, Z:-0.21 [[ 9.99834138e-01 -1.39375430e-02 1.17234982e-02 9.68340161e+01] [ 1.39267952e-02 9.99902520e-01 9.97920455e-04 8.34238445e+00] [-1.17362639e-02 -8.34484181e-04 9.99930779e-01 -2.10776911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08140051299999 meters 0.0710049520808425 Centerline is valid? [True, True] Translation: X:96.89, Y:8.35, Z:-0.21 [[ 9.99872530e-01 -9.26416487e-03 1.30037886e-02 9.68943156e+01] [ 9.25055014e-03 9.99956600e-01 1.10674187e-03 8.34543777e+00] [-1.30134773e-02 -9.86308600e-04 9.99914835e-01 -2.08967367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141400513 meters 0.07600165003899538 Centerline is valid? [True, True] Translation: X:96.95, Y:8.36, Z:-0.21 [[ 9.99891083e-01 -8.42042190e-03 1.21210190e-02 9.69546132e+01] [ 8.40853167e-03 9.99964116e-01 1.03158804e-03 8.35616907e+00] [-1.21292705e-02 -9.29555707e-04 9.99926006e-01 -2.12222941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201400513 meters 0.07956316801729924 Centerline is valid? [True, True] Translation: X:97.01, Y:8.36, Z:-0.22 [[ 9.99881031e-01 -1.11147487e-02 1.06951780e-02 9.70139451e+01] [ 1.11056489e-02 9.99937916e-01 9.09848802e-04 8.36154027e+00] [-1.07046267e-02 -7.90963667e-04 9.99942391e-01 -2.15163112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26140051299998 meters 0.0714671779623752 Centerline is valid? [True, True] Translation: X:97.08, Y:8.35, Z:-0.21 [[ 9.99801362e-01 -1.63052137e-02 1.14619492e-02 9.70753035e+01] [ 1.62950998e-02 9.99866750e-01 9.75228399e-04 8.35039178e+00] [-1.14763232e-02 -7.88261075e-04 9.99933834e-01 -2.12357354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32140051299999 meters 0.06515299198643548 Centerline is valid? [True, True] Translation: X:97.14, Y:8.34, Z:-0.22 [[ 9.99781751e-01 -1.77650122e-02 1.09934362e-02 9.71383033e+01] [ 1.77557962e-02 9.99841916e-01 9.35363534e-04 8.34093908e+00] [-1.10083150e-02 -7.39962180e-04 9.99939133e-01 -2.15478489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38140051299999 meters 0.07174591357730196 Centerline is valid? [True, True] Translation: X:97.20, Y:8.35, Z:-0.22 [[ 9.99796438e-01 -1.70928403e-02 1.07199447e-02 9.71984139e+01] [ 1.70840427e-02 9.99853641e-01 9.11722953e-04 8.35158246e+00] [-1.07339596e-02 -7.28397368e-04 9.99942124e-01 -2.18521337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44140051299999 meters 0.07243226769474728 Centerline is valid? [True, True] Translation: X:97.26, Y:8.34, Z:-0.21 [[ 9.99740627e-01 -1.86996524e-02 1.30000739e-02 9.72601841e+01] [ 1.86868559e-02 9.99824775e-01 1.10512275e-03 8.34291288e+00] [-1.30184613e-02 -8.61905607e-04 9.99914885e-01 -2.14527335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501400513 meters 0.062069877446311546 Centerline is valid? [True, True] Translation: X:97.32, Y:8.33, Z:-0.22 [[ 9.99656691e-01 -2.26167763e-02 1.32280428e-02 9.73227895e+01] [ 2.26038705e-02 9.99743868e-01 1.12435169e-03 8.32790152e+00] [-1.32500839e-02 -8.24960727e-04 9.99911873e-01 -2.15044974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561400513 meters 0.06175396509471928 Centerline is valid? [True, True] Translation: X:97.38, Y:8.32, Z:-0.22 [[ 9.99643942e-01 -2.44460634e-02 1.06948085e-02 9.73842606e+01] [ 2.44377328e-02 9.99700941e-01 9.08944153e-04 8.32368015e+00] [-1.07138303e-02 -6.47263643e-04 9.99942396e-01 -2.20884974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62140051299998 meters 0.07534584152842053 Centerline is valid? [True, True] Translation: X:97.44, Y:8.34, Z:-0.22 [[ 9.99745836e-01 -1.96621518e-02 1.10301309e-02 9.74432144e+01] [ 1.96530022e-02 9.99806422e-01 9.37297258e-04 8.33743107e+00] [-1.10464250e-02 -7.20283842e-04 9.99938727e-01 -2.20625397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68140051299999 meters 0.06777759773848197 Centerline is valid? [True, True] Translation: X:97.50, Y:8.33, Z:-0.22 [[ 9.99823758e-01 -1.51310680e-02 1.11132461e-02 9.75049559e+01] [ 1.51215010e-02 9.99885218e-01 9.44391983e-04 8.32704053e+00] [-1.11262602e-02 -7.76176579e-04 9.99937800e-01 -2.20374823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74140051299999 meters 0.08198450670751983 Centerline is valid? [True, True] Translation: X:97.56, Y:8.35, Z:-0.23 [[ 9.99951834e-01 -5.89082225e-03 7.85037242e-03 9.75626650e+01] [ 5.88576509e-03 9.99982456e-01 6.67140849e-04 8.34551859e+00] [-7.85416470e-03 -6.20903267e-04 9.99968963e-01 -2.26471559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80140051299999 meters 0.08272487182688486 Centerline is valid? [True, True] Translation: X:97.62, Y:8.35, Z:-0.23 [[ 9.99962710e-01 -4.25695492e-03 7.51380034e-03 9.76230399e+01] [ 4.25227670e-03 9.99990755e-01 6.38483478e-04 8.35142741e+00] [-7.51644887e-03 -6.06508911e-04 9.99971567e-01 -2.26706924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86140051299999 meters 0.07295865615691298 Centerline is valid? [True, True] Translation: X:97.69, Y:8.34, Z:-0.23 [[ 9.99948150e-01 -4.52630934e-03 9.12198627e-03 9.76867316e+01] [ 4.51942677e-03 9.99989487e-01 7.74975598e-04 8.34147799e+00] [-9.12539815e-03 -7.33709267e-04 9.99958094e-01 -2.25877738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921400513 meters 0.07585714156141411 Centerline is valid? [True, True] Translation: X:97.75, Y:8.34, Z:-0.22 [[ 9.99919810e-01 -6.27044785e-03 1.10025228e-02 9.77467476e+01] [ 6.26054913e-03 9.99979966e-01 9.33889231e-04 8.34342709e+00] [-1.10081583e-02 -8.64932507e-04 9.99939034e-01 -2.23320501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98140051299998 meters 0.07162222862715235 Centerline is valid? [True, True] Translation: X:97.81, Y:8.34, Z:-0.23 [[ 9.99904730e-01 -8.72182192e-03 1.06986640e-02 9.78082296e+01] [ 8.71260188e-03 9.99961632e-01 9.08099247e-04 8.33999989e+00] [-1.07061738e-02 -8.14799532e-04 9.99942355e-01 -2.25183993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04140051299999 meters 0.06994922507357307 Centerline is valid? [True, True] Translation: X:97.87, Y:8.34, Z:-0.23 [[ 9.99894363e-01 -9.19537503e-03 1.12564883e-02 9.78705376e+01] [ 9.18519801e-03 9.99957359e-01 9.55468138e-04 8.33750260e+00] [-1.12647942e-02 -8.51974131e-04 9.99936187e-01 -2.25926288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10140051299999 meters 0.08132298533878403 Centerline is valid? [True, True] Translation: X:97.93, Y:8.35, Z:-0.23 [[ 9.99938117e-01 -6.23235206e-03 9.21522078e-03 9.79290629e+01] [ 6.22541085e-03 9.99980316e-01 7.81727072e-04 8.35245154e+00] [-9.21991139e-03 -7.24310160e-04 9.99957233e-01 -2.29932251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16140051299999 meters 0.07437289225170068 Centerline is valid? [True, True] Translation: X:97.99, Y:8.34, Z:-0.23 [[ 9.99953800e-01 -3.47461499e-03 8.96242940e-03 9.79901093e+01] [ 3.46793862e-03 9.99993698e-01 7.60361353e-04 8.34442766e+00] [-8.96501488e-03 -7.29245069e-04 9.99959548e-01 -2.30336611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22140051299999 meters 0.08546876735396139 Centerline is valid? [True, True] Translation: X:98.05, Y:8.36, Z:-0.23 [[ 9.99933783e-01 -2.09426922e-03 1.13156499e-02 9.80487110e+01] [ 2.08353909e-03 9.99997369e-01 9.59960851e-04 8.36114301e+00] [-1.13176305e-02 -9.36320686e-04 9.99935515e-01 -2.28443069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281400513 meters 0.0782618764345784 Centerline is valid? [True, True] Translation: X:98.11, Y:8.36, Z:-0.24 [[ 9.99969733e-01 -3.35710863e-03 7.01882336e-03 9.81107384e+01] [ 3.35301056e-03 9.99994201e-01 5.95555199e-04 8.35500718e+00] [-7.02078200e-03 -5.72002984e-04 9.99975190e-01 -2.36230153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34140051299998 meters 0.07437555632677313 Centerline is valid? [True, True] Translation: X:98.17, Y:8.36, Z:-0.24 [[ 9.99975574e-01 -4.67900217e-03 5.19221323e-03 9.81725178e+01] [ 4.67677710e-03 9.99988967e-01 4.40598420e-04 8.35538560e+00] [-5.19421751e-03 -4.16304834e-04 9.99986423e-01 -2.38394822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40140051299998 meters 0.07542142621632061 Centerline is valid? [True, True] Translation: X:98.23, Y:8.36, Z:-0.24 [[ 9.99969757e-01 -5.50306759e-03 5.49559750e-03 9.82332399e+01] [ 5.50058887e-03 9.99984763e-01 4.66050305e-04 8.36199019e+00] [-5.49807847e-03 -4.35807188e-04 9.99984790e-01 -2.38859135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46140051299999 meters 0.07624535494418577 Centerline is valid? [True, True] Translation: X:98.29, Y:8.37, Z:-0.24 [[ 9.99942090e-01 -6.99181793e-03 8.18109883e-03 9.82925861e+01] [ 6.98637760e-03 9.99975355e-01 6.93377911e-04 8.36951151e+00] [-8.18574518e-03 -6.36181512e-04 9.99966294e-01 -2.35832589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52140051299999 meters 0.07252501866266234 Centerline is valid? [True, True] Translation: X:98.35, Y:8.37, Z:-0.23 [[ 9.99937662e-01 -6.68173339e-03 8.94572800e-03 9.83549210e+01] [ 6.67521495e-03 9.99977433e-01 7.58325312e-04 8.37477178e+00] [-8.95059305e-03 -6.98563383e-04 9.99959699e-01 -2.34468004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58140051299999 meters 0.12346489996531318 Centerline is valid? [True, False] Translation: X:98.33, Y:8.38, Z:-0.23 [[ 9.99973909e-01 -4.87510572e-03 5.33050180e-03 9.83338029e+01] [ 4.91865325e-03 9.99954388e-01 -8.18714059e-03 8.38444707e+00] [-5.29034548e-03 8.21314587e-03 9.99952277e-01 -2.31505464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641400513 meters 0.0732228233658666 Centerline is valid? [False, True] Translation: X:98.37, Y:8.39, Z:-0.23 [[ 9.99955245e-01 -3.92968567e-03 8.60614574e-03 9.83686316e+01] [ 4.00836957e-03 9.99950153e-01 -9.14467365e-03 8.38854571e+00] [-8.56978105e-03 9.17876099e-03 9.99921151e-01 -2.27400945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701400513 meters 0.07357255309191175 Centerline is valid? [True, True] Translation: X:98.43, Y:8.39, Z:-0.23 [[ 9.99948041e-01 -7.41475472e-03 6.99554013e-03 9.84298675e+01] [ 7.41108422e-03 9.99972386e-01 5.50468666e-04 8.38523534e+00] [-6.99942855e-03 -4.98595527e-04 9.99975379e-01 -2.29485911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76140051299998 meters 0.07143919302736676 Centerline is valid? [True, True] Translation: X:98.49, Y:8.39, Z:-0.23 [[ 9.99912881e-01 -1.17639004e-02 5.98674211e-03 9.84893631e+01] [ 1.17612903e-02 9.99930723e-01 4.71013779e-04 8.38908697e+00] [-5.99186833e-03 -4.00560933e-04 9.99981968e-01 -2.32252233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82140051299999 meters 0.0685250111505887 Centerline is valid? [True, True] Translation: X:98.55, Y:8.39, Z:-0.23 [[ 9.99858348e-01 -1.52423833e-02 7.13811778e-03 9.85502091e+01] [ 1.52387607e-02 9.99883726e-01 5.61618901e-04 8.39190920e+00] [-7.14584821e-03 -4.52763279e-04 9.99974366e-01 -2.28165937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88140051299999 meters 0.0610509926410638 Centerline is valid? [True, True] Translation: X:98.61, Y:8.39, Z:-0.23 [[ 9.99864601e-01 -1.47066129e-02 7.38206585e-03 9.86121862e+01] [ 1.47027243e-02 9.99891740e-01 5.80748895e-04 8.38966715e+00] [-7.38980752e-03 -4.72133783e-04 9.99972584e-01 -2.29187258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94140051299999 meters 0.06786868053275179 Centerline is valid? [True, True] Translation: X:98.67, Y:8.40, Z:-0.23 [[ 9.99895858e-01 -1.27834256e-02 6.69747682e-03 9.86712888e+01] [ 1.27801836e-02 9.99918191e-01 5.26635868e-04 8.39902191e+00] [-6.70366112e-03 -4.40986040e-04 9.99977433e-01 -2.32966674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001400513 meters 0.07139255649405069 Centerline is valid? [True, True] Translation: X:98.73, Y:8.40, Z:-0.24 [[ 9.99922658e-01 -1.16890230e-02 4.24796164e-03 9.87322132e+01] [ 1.16877087e-02 9.99931641e-01 3.34068466e-04 8.40150329e+00] [-4.25157618e-03 -2.84393690e-04 9.99990922e-01 -2.36345539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061400513 meters 0.06757074363747012 Centerline is valid? [True, True] Translation: X:98.79, Y:8.41, Z:-0.23 [[ 9.99922315e-01 -1.15413387e-02 4.70763874e-03 9.87935248e+01] [ 1.15397232e-02 9.99933347e-01 3.70192856e-04 8.40778463e+00] [-4.71159748e-03 -3.15839250e-04 9.99988850e-01 -2.34396781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12140051299998 meters 0.06432135109300763 Centerline is valid? [True, True] Translation: X:98.86, Y:8.41, Z:-0.23 [[ 9.99935267e-01 -1.01392948e-02 5.16305966e-03 9.88553726e+01] [ 1.01373336e-02 9.99948534e-01 4.05872350e-04 8.40707263e+00] [-5.16690919e-03 -3.53506418e-04 9.99986589e-01 -2.34049822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18140051299999 meters 0.06457135493986163 Centerline is valid? [True, True] Translation: X:98.92, Y:8.41, Z:-0.24 [[ 9.99965283e-01 -7.68140867e-03 3.22940056e-03 9.89157549e+01] [ 7.68062899e-03 9.99970471e-01 2.53766604e-04 8.40936746e+00] [-3.23125448e-03 -2.28953966e-04 9.99994753e-01 -2.37235970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24140051299999 meters 0.07304688382509048 Centerline is valid? [True, True] Translation: X:98.98, Y:8.42, Z:-0.24 [[ 9.99960967e-01 -8.30871026e-03 3.00490039e-03 9.89755230e+01] [ 8.30803794e-03 9.99965460e-01 2.36155622e-04 8.41882361e+00] [-3.00675874e-03 -2.11181577e-04 9.99995457e-01 -2.38246094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30140051299999 meters 0.0657724175228017 Centerline is valid? [True, True] Translation: X:99.04, Y:8.41, Z:-0.24 [[ 9.99955666e-01 -9.10035587e-03 2.41859879e-03 9.90374972e+01] [ 9.09992248e-03 9.99958577e-01 1.90135586e-04 8.41268809e+00] [-2.42022891e-03 -1.68118095e-04 9.99997057e-01 -2.37812723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36140051299999 meters 0.07226925021327858 Centerline is valid? [True, True] Translation: X:99.10, Y:8.43, Z:-0.24 [[ 9.99976909e-01 -6.15222667e-03 2.88644508e-03 9.90960185e+01] [ 6.15159797e-03 9.99981053e-01 2.26638249e-04 8.42847561e+00] [-2.88778473e-03 -2.08876766e-04 9.99995809e-01 -2.38343226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421400513 meters 0.06844138407441565 Centerline is valid? [True, True] Translation: X:99.16, Y:8.43, Z:-0.24 [[ 9.99979199e-01 -4.83817322e-03 4.26544796e-03 9.91577869e+01] [ 4.83678754e-03 9.99988247e-01 3.35117485e-04 8.42613008e+00] [-4.26701919e-03 -3.14479449e-04 9.99990847e-01 -2.36470258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48140051299998 meters 0.06883190952765326 Centerline is valid? [True, True] Translation: X:99.22, Y:8.43, Z:-0.24 [[ 9.99970660e-01 -6.43556724e-03 4.15488669e-03 9.92175564e+01] [ 6.43426694e-03 9.99979247e-01 3.26247849e-04 8.43091333e+00] [-4.15690006e-03 -2.99504627e-04 9.99991315e-01 -2.38315745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54140051299999 meters 0.0639796771287022 Centerline is valid? [True, True] Translation: X:99.28, Y:8.43, Z:-0.24 [[ 9.99922890e-01 -1.15669302e-02 4.51878107e-03 9.92788624e+01] [ 1.15654443e-02 9.99933055e-01 3.54827993e-04 8.42592804e+00] [-4.52258283e-03 -3.02538922e-04 9.99989727e-01 -2.36957949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60140051299999 meters 0.06187599221360775 Centerline is valid? [True, True] Translation: X:99.34, Y:8.43, Z:-0.24 [[ 9.99876629e-01 -1.47633038e-02 5.36392389e-03 9.93398958e+01] [ 1.47612560e-02 9.99890958e-01 4.21173025e-04 8.42512442e+00] [-5.36955691e-03 -3.41942811e-04 9.99985525e-01 -2.35846189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66140051299999 meters 0.07297432547836216 Centerline is valid? [True, True] Translation: X:99.40, Y:8.45, Z:-0.23 [[ 9.99912618e-01 -1.14014573e-02 6.69049214e-03 9.93976141e+01] [ 1.13981964e-02 9.99934900e-01 5.25321839e-04 8.44799785e+00] [-6.69604603e-03 -4.49016392e-04 9.99977480e-01 -2.34472059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72140051299999 meters 0.07304766834439332 Centerline is valid? [True, True] Translation: X:99.46, Y:8.46, Z:-0.23 [[ 9.99973962e-01 -3.98516777e-03 6.01604360e-03 9.94581494e+01] [ 3.98239719e-03 9.99991959e-01 4.72440765e-04 8.45574049e+00] [-6.01787797e-03 -4.48470189e-04 9.99981792e-01 -2.34779684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781400513 meters 0.07803594542233376 Centerline is valid? [True, True] Translation: X:99.52, Y:8.47, Z:-0.24 [[ 9.99970579e-01 4.83546231e-03 5.95482601e-03 9.95171436e+01] [-4.83833213e-03 9.99988186e-01 4.67619731e-04 8.47382730e+00] [-5.95249450e-03 -4.96417399e-04 9.99982161e-01 -2.35777691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84140051299998 meters 0.080418708914616 Centerline is valid? [True, True] Translation: X:99.58, Y:8.49, Z:-0.24 [[ 9.99915524e-01 1.15450155e-02 5.97138391e-03 9.95758961e+01] [-1.15480200e-02 9.99933209e-01 4.68914486e-04 8.49300245e+00] [-5.96557145e-03 -5.37832534e-04 9.99982061e-01 -2.37332249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90140051299998 meters 0.08230154284554557 Centerline is valid? [True, True] Translation: X:99.64, Y:8.51, Z:-0.24 [[ 9.99940408e-01 1.02600728e-02 3.72984366e-03 9.96353410e+01] [-1.02612361e-02 9.99947309e-01 2.92872068e-04 8.50760474e+00] [-3.72664224e-03 -3.31127421e-04 9.99993001e-01 -2.41845850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96140051299999 meters 0.08033494067559832 Centerline is valid? [True, True] Translation: X:99.70, Y:8.52, Z:-0.24 [[ 9.99972662e-01 6.56071098e-03 3.41063014e-03 9.96951676e+01] [-6.56166241e-03 9.99978436e-01 2.67845546e-04 8.51775543e+00] [-3.40879934e-03 -2.90217627e-04 9.99994148e-01 -2.43569469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02140051299999 meters 0.125814655973221 Centerline is valid? [True, False] Translation: X:99.70, Y:8.53, Z:-0.24 [[ 9.99977543e-01 5.74373183e-03 3.45290572e-03 9.96952022e+01] [-5.73750557e-03 9.99981902e-01 -1.81040235e-03 8.52691232e+00] [-3.46324169e-03 1.79055062e-03 9.99992400e-01 -2.44212954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08140051299999 meters 0.07025512369212057 Centerline is valid? [False, True] Translation: X:99.72, Y:8.53, Z:-0.24 [[ 9.99997578e-01 6.22231887e-04 2.11124739e-03 9.97177765e+01] [-6.26480337e-04 9.99997779e-01 2.01222952e-03 8.53203209e+00] [-2.10999063e-03 -2.01354730e-03 9.99995747e-01 -2.42634133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141400513 meters 0.0708625554959831 Centerline is valid? [True, True] Translation: X:99.78, Y:8.54, Z:-0.24 [[ 9.99985698e-01 -4.96069590e-03 1.99870589e-03 9.97766484e+01] [ 4.96042439e-03 9.99987687e-01 1.40777435e-04 8.54293930e+00] [-1.99937963e-03 -1.30860992e-04 9.99997993e-01 -2.44248316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201400513 meters 0.05558727230359206 Centerline is valid? [True, True] Translation: X:99.84, Y:8.54, Z:-0.24 [[ 9.99913809e-01 -1.29727592e-02 2.02038278e-03 9.98375712e+01] [ 1.29724981e-02 9.99915843e-01 1.42299105e-04 8.53608567e+00] [-2.02205877e-03 -1.16077428e-04 9.99997949e-01 -2.44173753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26140051299998 meters 0.05626617388004577 Centerline is valid? [True, True] Translation: X:99.90, Y:8.54, Z:-0.24 [[ 9.99873644e-01 -1.56669286e-02 2.69143959e-03 9.98976176e+01] [ 1.56664749e-02 9.99877255e-01 1.89568278e-04 8.54152949e+00] [-2.69407919e-03 -1.47378954e-04 9.99996360e-01 -2.42795178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32140051299999 meters 0.05594327658895264 Centerline is valid? [True, True] Translation: X:99.96, Y:8.55, Z:-0.24 [[ 9.99849008e-01 -1.67863135e-02 4.49233789e-03 9.99583043e+01] [ 1.67850606e-02 9.99859071e-01 3.16456569e-04 8.54815343e+00] [-4.49701693e-03 -2.41004623e-04 9.99989859e-01 -2.40204402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38140051299999 meters 0.06093122753457973 Centerline is valid? [True, True] Translation: X:100.02, Y:8.56, Z:-0.24 [[ 9.99847327e-01 -1.71568587e-02 3.31147807e-03 1.00017865e+02] [ 1.71561794e-02 9.99852795e-01 2.33435048e-04 8.56159437e+00] [-3.31499562e-03 -1.76587096e-04 9.99994490e-01 -2.42871929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44140051299999 meters 0.05597066798908158 Centerline is valid? [True, True] Translation: X:100.08, Y:8.56, Z:-0.24 [[ 9.99863618e-01 -1.61303929e-02 3.54352545e-03 1.00079027e+02] [ 1.61296098e-02 9.99869878e-01 2.49463989e-04 8.55859597e+00] [-3.54708832e-03 -1.92274284e-04 9.99993691e-01 -2.39647654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501400513 meters 0.058164789130178814 Centerline is valid? [True, True] Translation: X:100.14, Y:8.57, Z:-0.23 [[ 9.99872881e-01 -1.41846402e-02 7.28139388e-03 1.00138901e+02] [ 1.41812821e-02 9.99899309e-01 5.12609713e-04 8.57056760e+00] [-7.28793189e-03 -4.09285049e-04 9.99973359e-01 -2.34514447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561400513 meters 0.05825130312202686 Centerline is valid? [True, True] Translation: X:100.20, Y:8.58, Z:-0.24 [[ 9.99886782e-01 -1.27683945e-02 7.96184179e-03 1.00199451e+02] [ 1.27643349e-02 9.99918375e-01 5.60489709e-04 8.57575768e+00] [-7.96834847e-03 -4.58798636e-04 9.99968147e-01 -2.35640514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62140051299998 meters 0.05682308899166484 Centerline is valid? [True, True] Translation: X:100.26, Y:8.57, Z:-0.24 [[ 9.99842178e-01 -1.71519449e-02 4.62921294e-03 1.00259601e+02] [ 1.71506201e-02 9.99852864e-01 3.25740901e-04 8.57332569e+00] [-4.63411891e-03 -2.46295620e-04 9.99989232e-01 -2.43082250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68140051299999 meters 0.05621607597130476 Centerline is valid? [True, True] Translation: X:100.32, Y:8.57, Z:-0.24 [[ 9.99812508e-01 -1.86496615e-02 5.20959920e-03 1.00318471e+02] [ 1.86390811e-02 9.99824130e-01 2.07216155e-03 8.56843456e+00] [-5.24732810e-03 -1.97467089e-03 9.99984283e-01 -2.41526246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74140051299999 meters 0.051605436597757376 Centerline is valid? [True, True] Translation: X:100.38, Y:8.57, Z:-0.24 [[ 9.99794077e-01 -2.00652594e-02 3.03122874e-03 1.00381442e+02] [ 2.00696390e-02 9.99797574e-01 -1.42137859e-03 8.57401315e+00] [-3.00209481e-03 1.48192156e-03 9.99994396e-01 -2.43650468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80140051299999 meters 0.04869763989165973 Centerline is valid? [True, True] Translation: X:100.44, Y:8.58, Z:-0.25 [[ 9.99815490e-01 -1.90165808e-02 2.71218117e-03 1.00441294e+02] [ 1.90161329e-02 9.99819159e-01 1.90822938e-04 8.57699750e+00] [-2.71531949e-03 -1.39212532e-04 9.99996304e-01 -2.45039104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86140051299999 meters 0.05963447957409178 Centerline is valid? [True, True] Translation: X:100.50, Y:8.59, Z:-0.25 [[ 9.99879541e-01 -1.49620742e-02 4.12783954e-03 1.00499433e+02] [ 1.49610023e-02 9.99888036e-01 2.90439188e-04 8.59050114e+00] [-4.13172294e-03 -2.28647585e-04 9.99991438e-01 -2.46307530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921400513 meters 0.055101323320819295 Centerline is valid? [True, True] Translation: X:100.56, Y:8.59, Z:-0.25 [[ 9.99896142e-01 -1.42124044e-02 2.39005320e-03 1.00560817e+02] [ 1.42120424e-02 9.99898990e-01 1.68379790e-04 8.58719105e+00] [-2.39220486e-03 -1.34394765e-04 9.99997130e-01 -2.48113652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98140051299998 meters 0.05859375441378154 Centerline is valid? [True, True] Translation: X:100.62, Y:8.59, Z:-0.25 [[ 9.99876411e-01 -1.56228891e-02 1.75719488e-03 1.00621801e+02] [ 1.56226957e-02 9.99877951e-01 1.23733570e-04 8.58916621e+00] [-1.75891349e-03 -9.62661573e-05 9.99998448e-01 -2.48601549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04140051299999 meters 0.050672034338895826 Centerline is valid? [True, True] Translation: X:100.68, Y:8.58, Z:-0.25 [[ 9.99840028e-01 -1.77902312e-02 1.85077035e-03 1.00682319e+02] [ 1.77900208e-02 9.99841737e-01 1.30103614e-04 8.58094260e+00] [-1.85279201e-03 -9.71575585e-05 9.99998279e-01 -2.49201481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10140051299999 meters 0.056622474077745136 Centerline is valid? [True, True] Translation: X:100.74, Y:8.58, Z:-0.25 [[ 9.99859135e-01 -1.67653526e-02 7.96054305e-04 1.00741574e+02] [ 1.67653134e-02 9.99859451e-01 5.58046392e-05 8.58389921e+00] [-7.96878004e-04 -4.24506783e-05 9.99999682e-01 -2.50428775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16140051299999 meters 0.05798038330173133 Centerline is valid? [True, True] Translation: X:100.80, Y:8.59, Z:-0.25 [[ 9.99909543e-01 -1.34341309e-02 6.55727579e-04 1.00800697e+02] [ 1.34341035e-02 9.99909757e-01 4.61913333e-05 8.59248390e+00] [-6.56288945e-04 -3.73780428e-05 9.99999784e-01 -2.51319179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22140051299999 meters 0.06153610298306377 Centerline is valid? [True, True] Translation: X:100.86, Y:8.60, Z:-0.25 [[ 9.99963441e-01 -8.38817481e-03 1.65971231e-03 1.00860236e+02] [ 8.38799241e-03 9.99964813e-01 1.16825649e-04 8.59910424e+00] [-1.66063386e-03 -1.02899724e-04 9.99998616e-01 -2.51022771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281400513 meters 0.05670202322962314 Centerline is valid? [True, True] Translation: X:100.92, Y:8.59, Z:-0.25 [[ 9.99930841e-01 -1.12096202e-02 3.55774000e-03 1.00921170e+02] [ 1.12087993e-02 9.99937148e-01 2.50596216e-04 8.59144860e+00] [-3.56032548e-03 -2.10700892e-04 9.99993640e-01 -2.47577744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34140051299998 meters 0.05703930871334307 Centerline is valid? [True, True] Translation: X:100.98, Y:8.59, Z:-0.25 [[ 9.99854786e-01 -1.67914440e-02 2.90771722e-03 1.00981132e+02] [ 1.67909191e-02 9.99859002e-01 2.04838506e-04 8.59013997e+00] [-2.91074678e-03 -1.55985516e-04 9.99995752e-01 -2.48481508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40140051299998 meters 0.05420948846660743 Centerline is valid? [True, True] Translation: X:101.04, Y:8.59, Z:-0.25 [[ 9.99783512e-01 -2.04411136e-02 3.88457845e-03 1.01042525e+02] [ 2.04402045e-02 9.99791040e-01 2.73598146e-04 8.58573738e+00] [-3.88935938e-03 -1.94137338e-04 9.99992418e-01 -2.48558892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46140051299999 meters 0.04748666506429692 Centerline is valid? [True, True] Translation: X:101.10, Y:8.57, Z:-0.25 [[ 9.99772214e-01 -2.08794132e-02 4.42375627e-03 1.01104446e+02] [ 2.08782388e-02 9.99781977e-01 3.11496976e-04 8.57360927e+00] [-4.42929567e-03 -2.19065781e-04 9.99990167e-01 -2.47403625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52140051299999 meters 0.05273258391694215 Centerline is valid? [True, True] Translation: X:101.16, Y:8.58, Z:-0.25 [[ 9.99797555e-01 -1.97857395e-02 3.65685669e-03 1.01164188e+02] [ 1.97849299e-02 9.99804226e-01 2.57453454e-04 8.57850102e+00] [-3.66123468e-03 -1.85050681e-04 9.99993281e-01 -2.48378629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58140051299999 meters 0.0598562651162711 Centerline is valid? [True, True] Translation: X:101.22, Y:8.58, Z:-0.25 [[ 9.99855365e-01 -1.67829927e-02 2.75318845e-03 1.01221647e+02] [ 1.67916307e-02 9.99854065e-01 -3.14491559e-03 8.58416268e+00] [-2.70000556e-03 3.19069125e-03 9.99991265e-01 -2.51915726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641400513 meters 0.05273824551608267 Centerline is valid? [True, True] Translation: X:101.28, Y:8.58, Z:-0.25 [[ 9.99864955e-01 -1.63220022e-02 1.91410852e-03 1.01284212e+02] [ 1.63152699e-02 9.99860835e-01 3.48162737e-03 8.57867447e+00] [-1.97066927e-03 -3.44992800e-03 9.99992107e-01 -2.52098970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701400513 meters 0.06321286673386237 Centerline is valid? [True, True] Translation: X:101.34, Y:8.59, Z:-0.25 [[ 9.99878948e-01 -1.52877354e-02 2.89379580e-03 1.01341874e+02] [ 1.52872094e-02 9.99883123e-01 2.03805394e-04 8.59414576e+00] [-2.89657330e-03 -1.59542660e-04 9.99995792e-01 -2.51435883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76140051299998 meters 0.06269281635017504 Centerline is valid? [True, True] Translation: X:101.40, Y:8.60, Z:-0.25 [[ 9.99937053e-01 -1.11869232e-02 8.61677280e-04 1.01401832e+02] [ 1.11868750e-02 9.99937423e-01 6.07303122e-05 8.59710366e+00] [-8.62302744e-04 -5.10870135e-05 9.99999627e-01 -2.54894380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82140051299999 meters 0.05624749476398701 Centerline is valid? [True, True] Translation: X:101.46, Y:8.59, Z:-0.26 [[ 9.99967967e-01 -7.78490580e-03 -1.86014696e-03 1.01463182e+02] [ 7.78467504e-03 9.99969690e-01 -1.31262875e-04 8.59031199e+00] [ 1.86111245e-03 1.16778031e-04 9.99998261e-01 -2.57639024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88140051299999 meters 0.07195063797894201 Centerline is valid? [True, True] Translation: X:101.52, Y:8.61, Z:-0.26 [[ 9.99988796e-01 -4.68769238e-03 -6.58896304e-04 1.01521341e+02] [ 4.68766277e-03 9.99989012e-01 -4.64834611e-05 8.60823938e+00] [ 6.59106964e-04 4.33942566e-05 9.99999782e-01 -2.58594671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94140051299999 meters 0.0681602237850719 Centerline is valid? [True, True] Translation: X:101.58, Y:8.60, Z:-0.26 [[ 9.99999631e-01 4.14757820e-04 7.52885009e-04 1.01582573e+02] [-4.14797913e-04 9.99999913e-01 5.30966788e-05 8.60382467e+00] [-7.52862921e-04 -5.34089543e-05 9.99999715e-01 -2.55819245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001400513 meters 0.07824782841943462 Centerline is valid? [True, True] Translation: X:101.64, Y:8.62, Z:-0.26 [[ 9.99986503e-01 5.18429932e-03 3.42304836e-04 1.01640937e+02] [-5.18430787e-03 9.99986561e-01 2.40926800e-05 8.61937102e+00] [-3.42175333e-04 -2.58669685e-05 9.99999941e-01 -2.57984784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061400513 meters 0.08291394533584745 Centerline is valid? [True, True] Translation: X:101.70, Y:8.62, Z:-0.26 [[ 9.99960124e-01 8.82221644e-03 1.38511727e-03 1.01700505e+02] [-8.82236020e-03 9.99961077e-01 9.77085773e-05 8.62494807e+00] [-1.38420135e-03 -1.09924685e-04 9.99999036e-01 -2.57363262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12140051299998 meters 0.08576000239084512 Centerline is valid? [True, True] Translation: X:101.76, Y:8.63, Z:-0.25 [[ 9.99891086e-01 1.46263416e-02 1.97143620e-03 1.01761158e+02] [-1.46266443e-02 9.99893015e-01 1.39191055e-04 8.63164060e+00] [-1.96918943e-03 -1.68011391e-04 9.99998047e-01 -2.54293053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18140051299999 meters 0.08052451493247895 Centerline is valid? [True, True] Translation: X:101.82, Y:8.64, Z:-0.26 [[ 9.99816593e-01 1.90376512e-02 2.08508382e-03 1.01821965e+02] [-1.90379992e-02 9.99818750e-01 1.47182791e-04 8.63532436e+00] [-2.08190388e-03 -1.86851621e-04 9.99997815e-01 -2.56291325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24140051299999 meters 0.0894045640831911 Centerline is valid? [True, True] Translation: X:101.88, Y:8.65, Z:-0.26 [[ 9.99789873e-01 2.03261248e-02 2.65682913e-03 1.01881006e+02] [-2.03266949e-02 9.99793374e-01 1.87754654e-04 8.65130430e+00] [-2.65246383e-03 -2.41719757e-04 9.99996453e-01 -2.56820304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30140051299999 meters 0.08318119333865893 Centerline is valid? [True, True] Translation: X:101.94, Y:8.65, Z:-0.25 [[ 9.99773860e-01 2.10355437e-02 3.12012415e-03 1.01943168e+02] [-2.10363327e-02 9.99778688e-01 2.20257980e-04 8.65168357e+00] [-3.11480038e-03 -2.85844140e-04 9.99995108e-01 -2.54072866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36140051299999 meters 0.07776593589830344 Centerline is valid? [True, True] Translation: X:102.00, Y:8.65, Z:-0.25 [[ 9.99839672e-01 1.73817717e-02 4.30164187e-03 1.02003348e+02] [-1.73832358e-02 9.99848854e-01 3.03216799e-04 8.65487369e+00] [-4.29572125e-03 -3.77944640e-04 9.99990702e-01 -2.53333362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421400513 meters 0.08671413029962032 Centerline is valid? [True, True] Translation: X:102.06, Y:8.67, Z:-0.25 [[ 9.99883475e-01 1.42056008e-02 5.58912021e-03 1.02062488e+02] [-1.42080231e-02 9.99898983e-01 3.93929004e-04 8.67003977e+00] [-5.58295962e-03 -4.73293450e-04 9.99984303e-01 -2.51430156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48140051299998 meters 0.07385385028177831 Centerline is valid? [True, True] Translation: X:102.12, Y:8.66, Z:-0.25 [[ 9.99939389e-01 9.74220366e-03 5.12906074e-03 1.02123672e+02] [-9.74418533e-03 9.99952459e-01 3.61511980e-04 8.65956537e+00] [-5.12529498e-03 -4.11468587e-04 9.99986781e-01 -2.51496489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54140051299999 meters 0.07242674620420558 Centerline is valid? [True, True] Translation: X:102.18, Y:8.66, Z:-0.25 [[ 9.99985658e-01 1.04276055e-03 5.25326382e-03 1.02183724e+02] [-1.04472001e-03 9.99999386e-01 3.70269436e-04 8.66180583e+00] [-5.25287449e-03 -3.75752315e-04 9.99986133e-01 -2.52562599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60140051299999 meters 0.062245746799078044 Centerline is valid? [True, True] Translation: X:102.25, Y:8.65, Z:-0.26 [[ 9.99986204e-01 -4.88431327e-03 1.93265298e-03 1.02245076e+02] [ 4.88405911e-03 9.99988064e-01 1.36207478e-04 8.65358617e+00] [-1.93329519e-03 -1.26766408e-04 9.99998123e-01 -2.58055526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66140051299999 meters 0.06590957644942218 Centerline is valid? [True, True] Translation: X:102.30, Y:8.66, Z:-0.26 [[ 9.99965038e-01 -8.06538615e-03 -2.20738155e-03 1.02304673e+02] [ 8.06506212e-03 9.99967465e-01 -1.55655688e-04 8.66142196e+00] [ 2.20856516e-03 1.37847576e-04 9.99997552e-01 -2.64965284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72140051299999 meters 0.062223390804145025 Centerline is valid? [True, True] Translation: X:102.36, Y:8.66, Z:-0.27 [[ 9.99956389e-01 -8.69952780e-03 -3.39677717e-03 1.02363388e+02] [ 8.69875856e-03 9.99962136e-01 -2.41168890e-04 8.65916476e+00] [ 3.39874661e-03 2.11610628e-04 9.99994202e-01 -2.65617169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781400513 meters 0.06248877632401743 Centerline is valid? [True, True] Translation: X:102.42, Y:8.67, Z:-0.26 [[ 9.99989711e-01 -4.53594593e-03 4.61464082e-05 1.02423498e+02] [ 4.53594578e-03 9.99989713e-01 3.26551109e-06 8.67185369e+00] [-4.61607457e-05 -3.05615989e-06 9.99999999e-01 -2.60962122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84140051299998 meters 0.06736191258367652 Centerline is valid? [True, True] Translation: X:102.48, Y:8.69, Z:-0.26 [[ 9.99999464e-01 -1.20608412e-05 1.03558213e-03 1.02483188e+02] [ 1.19850720e-05 9.99999997e-01 7.31719848e-05 8.68501091e+00] [-1.03558301e-03 -7.31595340e-05 9.99999461e-01 -2.60048349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90140051299998 meters 0.0746346218461085 Centerline is valid? [True, True] Translation: X:102.54, Y:8.70, Z:-0.26 [[ 9.99991598e-01 3.93217942e-03 1.15800525e-03 1.02542469e+02] [-3.93227671e-03 9.99992265e-01 8.17534347e-05 8.70240664e+00] [-1.15767483e-03 -8.63063449e-05 9.99999326e-01 -2.60402920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96140051299999 meters 0.07633111673260211 Centerline is valid? [True, True] Translation: X:102.60, Y:8.72, Z:-0.26 [[ 9.99992611e-01 3.37573402e-03 1.83900691e-03 1.02602997e+02] [-3.37598014e-03 9.99994293e-01 1.30743082e-04 8.71527508e+00] [-1.83855506e-03 -1.36950567e-04 9.99998300e-01 -2.59956807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02140051299999 meters 0.06602163135822521 Centerline is valid? [True, True] Translation: X:102.66, Y:8.71, Z:-0.26 [[ 9.99990466e-01 -4.14924615e-03 1.36045901e-03 1.02663753e+02] [ 4.14911955e-03 9.99991388e-01 9.58719249e-05 8.70789301e+00] [-1.36084509e-03 -9.02263039e-05 9.99999070e-01 -2.62266058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08140051299999 meters 0.06778630263804394 Centerline is valid? [True, True] Translation: X:102.72, Y:8.71, Z:-0.26 [[ 9.99960031e-01 -8.64909145e-03 2.26500218e-03 1.02723597e+02] [ 8.64875178e-03 9.99962586e-01 1.59719651e-04 8.70942330e+00] [-2.26629886e-03 -1.40123826e-04 9.99997422e-01 -2.61421012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141400513 meters 0.06554028623806246 Centerline is valid? [True, True] Translation: X:102.78, Y:8.71, Z:-0.26 [[ 9.99931753e-01 -1.15996422e-02 1.39196197e-03 1.02784785e+02] [ 1.15995168e-02 9.99932719e-01 9.81709288e-05 8.70577757e+00] [-1.39300706e-03 -8.20181427e-05 9.99999026e-01 -2.63369017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201400513 meters 0.05855585588361162 Centerline is valid? [True, True] Translation: X:102.85, Y:8.70, Z:-0.26 [[ 9.99963087e-01 -8.59217161e-03 -1.14517478e-05 1.02845770e+02] [ 8.59217161e-03 9.99963087e-01 -8.14766279e-07 8.70181172e+00] [ 1.14583257e-05 7.16340820e-07 1.00000000e+00 -2.64627636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26140051299998 meters 0.06644623195454015 Centerline is valid? [True, True] Translation: X:102.90, Y:8.71, Z:-0.26 [[ 9.99984589e-01 -5.53354584e-03 4.49909136e-04 1.02904363e+02] [ 5.53353220e-03 9.99984689e-01 3.15614605e-05 8.70937481e+00] [-4.50076894e-04 -2.90713874e-05 9.99999898e-01 -2.63801083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32140051299999 meters 0.06272480377096606 Centerline is valid? [True, True] Translation: X:102.96, Y:8.71, Z:-0.26 [[ 9.99988730e-01 -4.46976070e-03 1.60055114e-03 1.02964225e+02] [ 4.46958589e-03 9.99990005e-01 1.12776308e-04 8.70925276e+00] [-1.60103923e-03 -1.05621236e-04 9.99998713e-01 -2.63634043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38140051299999 meters 0.057988822172647364 Centerline is valid? [True, True] Translation: X:103.03, Y:8.71, Z:-0.26 [[ 9.99982411e-01 -5.30718687e-03 2.64778652e-03 1.03025767e+02] [ 5.30671037e-03 9.99985902e-01 1.86956726e-04 8.70557028e+00] [-2.64874141e-03 -1.72902401e-04 9.99996477e-01 -2.61613709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44140051299999 meters 0.057449574907801525 Centerline is valid? [True, True] Translation: X:103.09, Y:8.71, Z:-0.26 [[ 9.99950442e-01 -8.72862790e-03 4.78796047e-03 1.03085957e+02] [ 8.72711033e-03 9.99961861e-01 3.37756205e-04 8.70586922e+00] [-4.79072601e-03 -2.95954407e-04 9.99988481e-01 -2.59469315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501400513 meters 0.056141319377593014 Centerline is valid? [True, True] Translation: X:103.15, Y:8.70, Z:-0.26 [[ 9.99928697e-01 -1.14075821e-02 3.53098152e-03 1.03146764e+02] [ 1.14067732e-02 9.99934910e-01 2.49128397e-04 8.70468212e+00] [-3.53359364e-03 -2.08833528e-04 9.99993735e-01 -2.62747877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561400513 meters 0.05914804013580658 Centerline is valid? [True, True] Translation: X:103.21, Y:8.71, Z:-0.26 [[ 9.99911616e-01 -1.30757767e-02 2.40514501e-03 1.03206846e+02] [ 1.30754062e-02 9.99914499e-01 1.69696091e-04 8.71078049e+00] [-2.40715828e-03 -1.38232844e-04 9.99997093e-01 -2.63998388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62140051299998 meters 0.057794048138609784 Centerline is valid? [True, True] Translation: X:103.27, Y:8.71, Z:-0.26 [[ 9.99923678e-01 -1.18030201e-02 3.65059682e-03 1.03267177e+02] [ 1.18021586e-02 9.99930319e-01 2.57441105e-04 8.71217767e+00] [-3.65338102e-03 -2.14336534e-04 9.99993303e-01 -2.60807529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68140051299999 meters 0.06435247469143056 Centerline is valid? [True, True] Translation: X:103.33, Y:8.72, Z:-0.26 [[ 9.99930822e-01 -1.05427555e-02 5.21553152e-03 1.03326243e+02] [ 1.05409794e-02 9.99944375e-01 3.67902149e-04 8.72403102e+00] [-5.21912011e-03 -3.12899888e-04 9.99986331e-01 -2.61686925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74140051299999 meters 0.0568985026367685 Centerline is valid? [True, True] Translation: X:103.39, Y:8.71, Z:-0.26 [[ 9.99900857e-01 -1.30171033e-02 5.36947160e-03 1.03388279e+02] [ 1.30152583e-02 9.99915226e-01 3.78404755e-04 8.71445894e+00] [-5.37394214e-03 -3.08482179e-04 9.99985513e-01 -2.61666665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80140051299999 meters 0.053201409074107975 Centerline is valid? [True, True] Translation: X:103.45, Y:8.71, Z:-0.26 [[ 9.99913717e-01 -1.28367000e-02 2.78880044e-03 1.03449841e+02] [ 1.28362014e-02 9.99917593e-01 1.96597483e-04 8.71468106e+00] [-2.79109429e-03 -1.60782916e-04 9.99996092e-01 -2.62733799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86140051299999 meters 0.05697241597796872 Centerline is valid? [True, True] Translation: X:103.51, Y:8.72, Z:-0.26 [[ 9.99946130e-01 -1.00948944e-02 2.41475197e-03 1.03508639e+02] [ 1.00945132e-02 9.99949035e-01 1.70007931e-04 8.72274160e+00] [-2.41634511e-03 -1.45623027e-04 9.99997070e-01 -2.64116272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921400513 meters 0.06204738695060678 Centerline is valid? [True, True] Translation: X:103.57, Y:8.73, Z:-0.27 [[ 9.99987227e-01 -4.45418889e-03 2.38893096e-03 1.03568493e+02] [ 4.45379952e-03 9.99990068e-01 1.68285601e-04 8.72990068e+00] [-2.38965680e-03 -1.57643632e-04 9.99997132e-01 -2.66998778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98140051299998 meters 0.07308146734643729 Centerline is valid? [True, True] Translation: X:103.63, Y:8.74, Z:-0.27 [[ 9.99991223e-01 -3.05917230e-03 2.86262041e-03 1.03627450e+02] [ 3.05860690e-03 9.99995302e-01 2.01869092e-04 8.74170434e+00] [-2.86322452e-03 -1.93111690e-04 9.99995882e-01 -2.67588434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04140051299999 meters 0.06537705246411177 Centerline is valid? [True, True] Translation: X:103.69, Y:8.73, Z:-0.27 [[ 9.99991419e-01 -3.84548228e-03 1.54090557e-03 1.03690559e+02] [ 3.84531925e-03 9.99992601e-01 1.08754251e-04 8.73197873e+00] [-1.54131238e-03 -1.02828044e-04 9.99998807e-01 -2.68959464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10140051299999 meters 0.06688611734043035 Centerline is valid? [True, True] Translation: X:103.75, Y:8.74, Z:-0.27 [[ 9.99988608e-01 -4.72347040e-03 6.87702189e-04 1.03750222e+02] [ 4.72343818e-03 9.99988843e-01 4.84619940e-05 8.73873877e+00] [-6.87923425e-04 -4.52131231e-05 9.99999762e-01 -2.71932152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16140051299999 meters 0.058898099769818815 Centerline is valid? [True, True] Translation: X:103.81, Y:8.73, Z:-0.27 [[ 9.99985058e-01 -4.99632043e-03 2.21827027e-03 1.03811443e+02] [ 4.99598650e-03 9.99987508e-01 1.56050545e-04 8.72706030e+00] [-2.21902224e-03 -1.44965765e-04 9.99997527e-01 -2.67962533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22140051299999 meters 0.06350765327209548 Centerline is valid? [True, True] Translation: X:103.87, Y:8.73, Z:-0.27 [[ 9.99983215e-01 -4.95750775e-03 2.99872620e-03 1.03871881e+02] [ 4.95689720e-03 9.99987692e-01 2.11003188e-04 8.73229782e+00] [-2.99973534e-03 -1.96135269e-04 9.99995482e-01 -2.67169868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281400513 meters 0.06076948099282853 Centerline is valid? [True, True] Translation: X:103.93, Y:8.73, Z:-0.27 [[ 9.99990754e-01 -4.11284370e-03 1.25573301e-03 1.03933438e+02] [ 4.11273584e-03 9.99991539e-01 8.84632637e-05 8.73023614e+00] [-1.25608622e-03 -8.32979476e-05 9.99999208e-01 -2.71023963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34140051299998 meters 0.0653672247033717 Centerline is valid? [True, True] Translation: X:103.99, Y:8.73, Z:-0.27 [[ 9.99993478e-01 -3.43791985e-03 1.10658740e-03 1.03993676e+02] [ 3.43783585e-03 9.99994088e-01 7.78070858e-05 8.73366925e+00] [-1.10684835e-03 -7.40023126e-05 9.99999385e-01 -2.71711522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40140051299998 meters 0.06462897004104498 Centerline is valid? [True, True] Translation: X:104.05, Y:8.73, Z:-0.27 [[ 9.99988247e-01 -3.18602971e-03 3.65448880e-03 1.04054876e+02] [ 3.18511183e-03 9.99994895e-01 2.56956770e-04 8.73135994e+00] [-3.65528881e-03 -2.45313794e-04 9.99993289e-01 -2.66144608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46140051299999 meters 0.06808175063406423 Centerline is valid? [True, True] Translation: X:104.12, Y:8.74, Z:-0.26 [[ 9.99975066e-01 -2.41712051e-03 6.63505978e-03 1.04117065e+02] [ 2.41407778e-03 9.99996977e-01 4.66555147e-04 8.73572208e+00] [-6.63616744e-03 -4.50525963e-04 9.99977879e-01 -2.63089349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52140051299999 meters 0.0718570153762941 Centerline is valid? [True, True] Translation: X:104.18, Y:8.75, Z:-0.26 [[ 9.99977120e-01 -6.85985674e-04 6.72976797e-03 1.04176005e+02] [ 6.82818722e-04 9.99999655e-01 4.72874964e-04 8.74715598e+00] [-6.73009003e-03 -4.68268933e-04 9.99977243e-01 -2.64205812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58140051299999 meters 0.06605531796551364 Centerline is valid? [True, True] Translation: X:104.24, Y:8.74, Z:-0.27 [[ 9.99989072e-01 -1.83110575e-03 4.30147024e-03 1.04237988e+02] [ 1.82982220e-03 9.99998280e-01 3.02314881e-04 8.74094231e+00] [-4.30201641e-03 -2.94440652e-04 9.99990703e-01 -2.67818222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641400513 meters 0.06263063734419858 Centerline is valid? [True, True] Translation: X:104.30, Y:8.74, Z:-0.27 [[ 9.99991089e-01 -2.65191202e-03 3.28466958e-03 1.04299912e+02] [ 2.65116795e-03 9.99996459e-01 2.30863027e-04 8.74227527e+00] [-3.28527017e-03 -2.22152759e-04 9.99994579e-01 -2.69400723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701400513 meters 0.06672763318483368 Centerline is valid? [True, True] Translation: X:104.36, Y:8.74, Z:-0.27 [[ 9.99994217e-01 -2.84077413e-03 1.86968072e-03 1.04360602e+02] [ 2.84053330e-03 9.99995957e-01 1.31452155e-04 8.74471526e+00] [-1.87004658e-03 -1.26140504e-04 9.99998244e-01 -2.70202232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76140051299998 meters 0.0675877665832422 Centerline is valid? [True, True] Translation: X:104.42, Y:8.75, Z:-0.27 [[ 9.99996622e-01 1.83405727e-05 2.59917809e-03 1.04421199e+02] [-1.88147279e-05 9.99999983e-01 1.82400756e-04 8.74880172e+00] [-2.59917470e-03 -1.82449043e-04 9.99996605e-01 -2.68920212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82140051299999 meters 0.06538500766142215 Centerline is valid? [True, True] Translation: X:104.48, Y:8.75, Z:-0.27 [[ 9.99982200e-01 4.32533655e-03 4.10979117e-03 1.04481483e+02] [-4.32655805e-03 9.99990599e-01 2.88372666e-04 8.75488377e+00] [-4.10850523e-03 -3.06148783e-04 9.99991513e-01 -2.66612269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88140051299999 meters 0.07925229802747642 Centerline is valid? [True, True] Translation: X:104.54, Y:8.78, Z:-0.27 [[ 9.99963517e-01 8.24196662e-03 2.24361151e-03 1.04539615e+02] [-8.24234048e-03 9.99966019e-01 1.57437112e-04 8.78131752e+00] [-2.24223768e-03 -1.75923978e-04 9.99997471e-01 -2.71859775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94140051299999 meters 0.08185327443316472 Centerline is valid? [True, True] Translation: X:104.60, Y:8.79, Z:-0.28 [[ 9.99963632e-01 8.45627797e-03 1.10761771e-03 1.04600096e+02] [-8.45637019e-03 9.99964241e-01 7.86056897e-05 8.79185272e+00] [-1.10691339e-03 -8.79692563e-05 9.99999384e-01 -2.75026199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001400513 meters 0.06725538995293516 Centerline is valid? [True, True] Translation: X:104.66, Y:8.78, Z:-0.27 [[ 9.99990520e-01 4.08055404e-03 1.51940003e-03 1.04661293e+02] [-4.08072045e-03 9.99991668e-01 1.06440105e-04 8.78363627e+00] [-1.51895304e-03 -1.12639342e-04 9.99998840e-01 -2.72149390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061400513 meters 0.06538423800081289 Centerline is valid? [True, True] Translation: X:104.72, Y:8.79, Z:-0.27 [[ 9.99999817e-01 4.45466027e-04 4.08221806e-04 1.04721310e+02] [-4.45477731e-04 9.99999900e-01 2.85818772e-05 8.78870325e+00] [-4.08209033e-04 -2.87637257e-05 9.99999916e-01 -2.74591646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12140051299998 meters 0.06759605584203587 Centerline is valid? [True, True] Translation: X:104.78, Y:8.80, Z:-0.27 [[ 9.99984675e-01 -4.36326943e-03 3.40771781e-03 1.04779957e+02] [ 4.36248151e-03 9.99990456e-01 2.38616632e-04 8.79818468e+00] [-3.40872643e-03 -2.23746869e-04 9.99994165e-01 -2.71420209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18140051299999 meters 0.06638237098877388 Centerline is valid? [True, True] Translation: X:104.84, Y:8.80, Z:-0.27 [[ 9.99970069e-01 -7.00939154e-03 3.27552905e-03 1.04841187e+02] [ 7.00867747e-03 9.99975413e-01 2.29430103e-04 8.79639602e+00] [-3.27705667e-03 -2.06466110e-04 9.99994609e-01 -2.71542333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24140051299999 meters 0.061657526372046266 Centerline is valid? [True, True] Translation: X:104.90, Y:8.80, Z:-0.27 [[ 9.99962677e-01 -8.33920464e-03 2.25868903e-03 1.04902613e+02] [ 8.33886825e-03 9.99965219e-01 1.58308319e-04 8.79735330e+00] [-2.25993063e-03 -1.39467500e-04 9.99997437e-01 -2.72908395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30140051299999 meters 0.061727973513938356 Centerline is valid? [True, True] Translation: X:104.96, Y:8.80, Z:-0.27 [[ 9.99971338e-01 -6.77851504e-03 3.37259610e-03 1.04962801e+02] [ 6.77775718e-03 9.99977003e-01 2.36090164e-04 8.80070884e+00] [-3.37411888e-03 -2.13224760e-04 9.99994285e-01 -2.71691316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36140051299999 meters 0.06514367662644413 Centerline is valid? [True, True] Translation: X:105.02, Y:8.80, Z:-0.27 [[ 9.99981793e-01 -3.42675045e-03 4.96707223e-03 1.05023492e+02] [ 3.42506479e-03 9.99994074e-01 3.47834728e-04 8.80458124e+00] [-4.96823474e-03 -3.30815851e-04 9.99987604e-01 -2.70101964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421400513 meters 0.07202925354152999 Centerline is valid? [True, True] Translation: X:105.08, Y:8.81, Z:-0.27 [[ 9.99991706e-01 -1.10905454e-03 3.91903720e-03 1.05082656e+02] [ 1.10798762e-03 9.99999349e-01 2.74401467e-04 8.81348161e+00] [-3.91933898e-03 -2.70056946e-04 9.99992283e-01 -2.71658960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48140051299998 meters 0.07395488530486535 Centerline is valid? [True, True] Translation: X:105.14, Y:8.82, Z:-0.27 [[ 9.99994402e-01 1.25708528e-03 3.10096744e-03 1.05141734e+02] [-1.25776491e-03 9.99999185e-01 2.17227101e-04 8.82355669e+00] [-3.10069184e-03 -2.21126173e-04 9.99995168e-01 -2.72857205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54140051299999 meters 0.07034412737920806 Centerline is valid? [True, True] Translation: X:105.20, Y:8.82, Z:-0.27 [[ 9.99994190e-01 1.66127820e-03 2.97649629e-03 1.05204186e+02] [-1.66190789e-03 9.99998597e-01 2.09093430e-04 8.82169355e+00] [-2.97614475e-03 -2.14038878e-04 9.99995548e-01 -2.74459966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60140051299999 meters 0.05999611687116689 Centerline is valid? [True, True] Translation: X:105.27, Y:8.81, Z:-0.28 [[ 9.99996664e-01 -8.78408957e-04 2.42925354e-03 1.05266024e+02] [ 8.77999200e-04 9.99999600e-01 1.69737319e-04 8.81004638e+00] [-2.42940166e-03 -1.67603870e-04 9.99997035e-01 -2.76397714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66140051299999 meters 0.06370665892892168 Centerline is valid? [True, True] Translation: X:105.33, Y:8.81, Z:-0.28 [[ 9.99992426e-01 -3.61504959e-03 1.44213913e-03 1.05325474e+02] [ 3.61490812e-03 9.99993461e-01 1.00688972e-04 8.81169860e+00] [-1.44249370e-03 -9.54750085e-05 9.99998955e-01 -2.79108425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72140051299999 meters 0.05940020052757216 Centerline is valid? [True, True] Translation: X:105.39, Y:8.81, Z:-0.28 [[ 9.99989112e-01 -4.49619268e-03 1.24903998e-03 1.05386378e+02] [ 4.49608717e-03 9.99989889e-01 8.72677534e-05 8.81179947e+00] [-1.24941972e-03 -8.16510106e-05 9.99999216e-01 -2.79243469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781400513 meters 0.06312867815017069 Centerline is valid? [True, True] Translation: X:105.45, Y:8.82, Z:-0.28 [[ 9.99985957e-01 -4.93918372e-03 1.92118233e-03 1.05446444e+02] [ 4.93893445e-03 9.99987794e-01 1.34474002e-04 8.82110387e+00] [-1.92182308e-03 -1.24983520e-04 9.99998145e-01 -2.79364273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84140051299998 meters 0.06453134074363179 Centerline is valid? [True, True] Translation: X:105.51, Y:8.82, Z:-0.28 [[ 9.99970121e-01 -7.65104962e-03 1.10429720e-03 1.05507272e+02] [ 7.65096910e-03 9.99970728e-01 7.71237782e-05 8.82428467e+00] [-1.10485495e-03 -6.86725301e-05 9.99999387e-01 -2.80903107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90140051299998 meters 0.07029667308079633 Centerline is valid? [True, True] Translation: X:105.57, Y:8.84, Z:-0.28 [[ 9.99947483e-01 -1.01282248e-02 1.56545414e-03 1.05566431e+02] [ 1.01280662e-02 9.99948704e-01 1.09211226e-04 8.83543802e+00] [-1.56647995e-03 -9.33504674e-05 9.99998769e-01 -2.81258863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96140051299999 meters 0.0522591744107506 Centerline is valid? [True, True] Translation: X:105.63, Y:8.82, Z:-0.28 [[ 9.99887710e-01 -1.49059350e-02 1.54314237e-03 1.05627462e+02] [ 1.49057865e-02 9.99888897e-01 1.07650436e-04 8.81925752e+00] [-1.54457556e-03 -8.46365972e-05 9.99998804e-01 -2.80575450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02140051299999 meters 0.04603319047036269 Centerline is valid? [True, True] Translation: X:105.69, Y:8.81, Z:-0.28 [[ 9.99652181e-01 -2.63471953e-02 1.15863560e-03 1.05688776e+02] [ 2.63471192e-02 9.99652851e-01 8.09176558e-05 8.80569938e+00] [-1.16036533e-03 -5.03628009e-05 9.99999326e-01 -2.81830557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08140051299999 meters 0.04308069779842018 Centerline is valid? [True, True] Translation: X:105.75, Y:8.80, Z:-0.28 [[ 9.99445206e-01 -3.32696499e-02 1.55287119e-03 1.05749511e+02] [ 3.32695216e-02 9.99446410e-01 1.08364655e-04 8.79677726e+00] [-1.55561679e-03 -5.66412529e-05 9.99998788e-01 -2.81325608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141400513 meters 0.03903202817270086 Centerline is valid? [True, True] Translation: X:105.81, Y:8.79, Z:-0.28 [[ 9.99270405e-01 -3.81066302e-02 2.55769096e-03 1.05810505e+02] [ 3.81062975e-02 9.99273675e-01 1.78693720e-04 8.79209032e+00] [-2.56264266e-03 -8.10992138e-05 9.99996713e-01 -2.79589815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201400513 meters 0.040438229415131706 Centerline is valid? [True, True] Translation: X:105.87, Y:8.79, Z:-0.28 [[ 9.99261902e-01 -3.81918975e-02 4.12674317e-03 1.05868863e+02] [ 3.81910343e-02 9.99270415e-01 2.87798051e-04 8.79168100e+00] [-4.13472391e-03 -1.29981037e-04 9.99991444e-01 -2.76853141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26140051299998 meters 0.04180492514209907 Centerline is valid? [True, True] Translation: X:105.93, Y:8.80, Z:-0.28 [[ 9.99311948e-01 -3.68671297e-02 4.05520273e-03 1.05926765e+02] [ 3.68662806e-02 9.99320167e-01 2.83973323e-04 8.79719240e+00] [-4.06291515e-03 -1.34277693e-04 9.99991737e-01 -2.77520439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32140051299999 meters 0.04591814525889436 Centerline is valid? [True, True] Translation: X:105.99, Y:8.80, Z:-0.28 [[ 9.99322665e-01 -3.62952030e-02 6.07208884e-03 1.05985557e+02] [ 3.62932858e-02 9.99341091e-01 4.25660031e-04 8.79901357e+00] [-6.08353731e-03 -2.04995661e-04 9.99981474e-01 -2.75505695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38140051299999 meters 0.03995422377842406 Centerline is valid? [True, True] Translation: X:106.05, Y:8.79, Z:-0.27 [[ 9.99246020e-01 -3.81034166e-02 7.45123977e-03 1.06045672e+02] [ 3.81005689e-02 9.99273772e-01 5.23808193e-04 8.79114353e+00] [-7.46578736e-03 -2.39516778e-04 9.99972102e-01 -2.73324732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44140051299999 meters 0.04571532349107825 Centerline is valid? [True, True] Translation: X:106.10, Y:8.79, Z:-0.28 [[ 9.99194745e-01 -3.97125708e-02 5.72477693e-03 1.06103375e+02] [ 3.97109118e-02 9.99211129e-01 4.03217921e-04 8.79328402e+00] [-5.73627364e-03 -1.75557116e-04 9.99983532e-01 -2.77666270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501400513 meters 0.04065250352991017 Centerline is valid? [True, True] Translation: X:106.16, Y:8.79, Z:-0.28 [[ 9.99189944e-01 -3.99506755e-02 4.83722594e-03 1.06161772e+02] [ 3.99494942e-02 9.99201642e-01 3.40625110e-04 8.79465483e+00] [-4.84697231e-03 -1.47104455e-04 9.99988243e-01 -2.80259383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561400513 meters 0.042472756903724485 Centerline is valid? [True, True] Translation: X:106.22, Y:8.79, Z:-0.28 [[ 9.99298129e-01 -3.71937293e-02 4.45820706e-03 1.06222391e+02] [ 3.71926933e-02 9.99308063e-01 3.15102340e-04 8.78672623e+00] [-4.46684209e-03 -1.49068451e-04 9.99990013e-01 -2.78437217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62140051299998 meters 0.04155814396165772 Centerline is valid? [True, True] Translation: X:106.28, Y:8.80, Z:-0.28 [[ 9.99501821e-01 -3.11938937e-02 4.80115728e-03 1.06280939e+02] [ 3.11926222e-02 9.99513334e-01 3.39500328e-04 8.79898405e+00] [-4.80941106e-03 -1.89570511e-04 9.99988417e-01 -2.77975484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68140051299999 meters 0.04467804690142985 Centerline is valid? [True, True] Translation: X:106.34, Y:8.80, Z:-0.28 [[ 9.99746005e-01 -2.24366836e-02 2.12634162e-03 1.06341374e+02] [ 2.24364144e-02 9.99748261e-01 1.50376574e-04 8.80490859e+00] [-2.12918028e-03 -1.02630897e-04 9.99997728e-01 -2.81868087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74140051299999 meters 0.055712351221092846 Centerline is valid? [True, True] Translation: X:106.40, Y:8.82, Z:-0.28 [[ 9.99957604e-01 -9.14031369e-03 1.11564543e-03 1.06400525e+02] [ 9.14023132e-03 9.99958224e-01 7.89080161e-05 8.82039824e+00] [-1.11632007e-03 -6.87074134e-05 9.99999375e-01 -2.84101577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80140051299999 meters 0.07401781432456968 Centerline is valid? [True, True] Translation: X:106.46, Y:8.84, Z:-0.29 [[ 9.99996132e-01 -2.41505627e-03 1.37953016e-03 1.06458520e+02] [ 2.41492402e-03 9.99997079e-01 9.75210467e-05 8.84440064e+00] [-1.37976165e-03 -9.41892090e-05 9.99999044e-01 -2.85726608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86140051299999 meters 0.07281229932026896 Centerline is valid? [True, True] Translation: X:106.52, Y:8.85, Z:-0.28 [[ 9.99995685e-01 2.00406547e-03 2.14772526e-03 1.06518781e+02] [-2.00439639e-03 9.99997980e-01 1.51936888e-04 8.85106558e+00] [-2.14741643e-03 -1.56241125e-04 9.99997682e-01 -2.84282081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921400513 meters 0.07254443135238113 Centerline is valid? [True, True] Translation: X:106.58, Y:8.86, Z:-0.28 [[ 9.99989845e-01 2.52089112e-03 3.73573564e-03 1.06580396e+02] [-2.52189796e-03 9.99996785e-01 2.64830005e-04 8.86399727e+00] [-3.73505602e-03 -2.74248459e-04 9.99992987e-01 -2.83263721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98140051299998 meters 0.06763995050255785 Centerline is valid? [True, True] Translation: X:106.64, Y:8.86, Z:-0.29 [[ 9.99998262e-01 2.29564447e-05 1.86401923e-03 1.06640794e+02] [-2.32017769e-05 9.99999991e-01 1.31593133e-04 8.86187655e+00] [-1.86401619e-03 -1.31636153e-04 9.99998254e-01 -2.85783544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04140051299999 meters 0.06970410602046487 Centerline is valid? [True, True] Translation: X:106.70, Y:8.87, Z:-0.28 [[ 9.99985943e-01 -3.93460639e-03 3.55429935e-03 1.06699902e+02] [ 3.93373956e-03 9.99992231e-01 2.50839501e-04 8.87058954e+00] [-3.55525870e-03 -2.36854287e-04 9.99993652e-01 -2.83321817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10140051299999 meters 0.06317739269721032 Centerline is valid? [True, True] Translation: X:106.76, Y:8.88, Z:-0.28 [[ 9.99950140e-01 -9.04130157e-03 4.23928028e-03 1.06760643e+02] [ 9.04011362e-03 9.99959093e-01 2.99302320e-04 8.87597571e+00] [-4.24181294e-03 -2.60963821e-04 9.99990969e-01 -2.83587754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16140051299999 meters 0.060027769782360366 Centerline is valid? [True, True] Translation: X:106.82, Y:8.87, Z:-0.29 [[ 9.99912197e-01 -1.28870428e-02 3.08588126e-03 1.06822027e+02] [ 1.28864316e-02 9.99916943e-01 2.17855854e-04 8.87258340e+00] [-3.08843248e-03 -1.78070728e-04 9.99995215e-01 -2.85289888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22140051299999 meters 0.05702270295832375 Centerline is valid? [True, True] Translation: X:106.88, Y:8.87, Z:-0.29 [[ 9.99878182e-01 -1.54437535e-02 2.26102983e-03 1.06881089e+02] [ 1.54434322e-02 9.99880730e-01 1.59496316e-04 8.87397942e+00] [-2.26322338e-03 -1.24558825e-04 9.99997431e-01 -2.86992379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281400513 meters 0.058980308026371046 Centerline is valid? [True, True] Translation: X:106.94, Y:8.88, Z:-0.28 [[ 9.99919328e-01 -1.18794030e-02 4.49634314e-03 1.06941224e+02] [ 1.18780950e-02 9.99929403e-01 3.17503409e-04 8.87810680e+00] [-4.49979747e-03 -2.64069805e-04 9.99989841e-01 -2.83200007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34140051299998 meters 0.06711891110614822 Centerline is valid? [True, True] Translation: X:107.00, Y:8.89, Z:-0.28 [[ 9.99983756e-01 -3.57504380e-03 4.43933134e-03 1.07000451e+02] [ 3.57368724e-03 9.99993565e-01 3.13472935e-04 8.89285243e+00] [-4.44042346e-03 -2.97603061e-04 9.99990097e-01 -2.84117716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40140051299998 meters 0.07865307580809865 Centerline is valid? [True, True] Translation: X:107.06, Y:8.91, Z:-0.29 [[ 9.99978208e-01 5.88703948e-03 2.98784773e-03 1.07058395e+02] [-5.88769618e-03 9.99982645e-01 2.11041163e-04 8.91137976e+00] [-2.98655347e-03 -2.28628104e-04 9.99995514e-01 -2.87109487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46140051299999 meters 0.08819200044975682 Centerline is valid? [True, True] Translation: X:107.12, Y:8.93, Z:-0.29 [[ 9.99935913e-01 1.09876678e-02 2.72778273e-03 1.07116081e+02] [-1.09882341e-02 9.99939609e-01 1.92703175e-04 8.93468789e+00] [-2.72550064e-03 -2.22664340e-04 9.99996261e-01 -2.90707307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52140051299999 meters 0.07571359060900221 Centerline is valid? [True, True] Translation: X:107.18, Y:8.92, Z:-0.29 [[ 9.99973152e-01 7.17455314e-03 1.49011903e-03 1.07177799e+02] [-7.17471787e-03 9.99974256e-01 1.05237257e-04 8.92121259e+00] [-1.48932564e-03 -1.15925615e-04 9.99998884e-01 -2.93416079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58140051299999 meters 0.06641475121857833 Centerline is valid? [True, True] Translation: X:107.24, Y:8.91, Z:-0.29 [[ 9.99999225e-01 3.37742557e-04 1.19814956e-03 1.07239641e+02] [-3.37844151e-04 9.99999939e-01 8.45908397e-05 8.90911372e+00] [-1.19812092e-03 -8.49955619e-05 9.99999279e-01 -2.91588583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641400513 meters 0.05755872935374701 Centerline is valid? [True, True] Translation: X:107.30, Y:8.91, Z:-0.29 [[ 9.99973420e-01 -7.00176034e-03 2.03313926e-03 1.07300697e+02] [ 7.00148297e-03 9.99975479e-01 1.43509027e-04 8.90860557e+00] [-2.03409422e-03 -1.29270222e-04 9.99997923e-01 -2.91449163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701400513 meters 0.06012564623663353 Centerline is valid? [True, True] Translation: X:107.36, Y:8.91, Z:-0.29 [[ 9.99972856e-01 -6.83932440e-03 2.74066281e-03 1.07359674e+02] [ 6.83882002e-03 9.99976596e-01 1.93367451e-04 8.91193560e+00] [-2.74192117e-03 -1.74619303e-04 9.99996226e-01 -2.90434722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76140051299998 meters 0.060730082403871066 Centerline is valid? [True, True] Translation: X:107.42, Y:8.92, Z:-0.29 [[ 9.99984371e-01 -3.32602839e-03 4.49392167e-03 1.07419659e+02] [ 3.32463701e-03 9.99994423e-01 3.17050447e-04 8.91703046e+00] [-4.49495112e-03 -3.02104833e-04 9.99989852e-01 -2.88200184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82140051299999 meters 0.06716976481546529 Centerline is valid? [True, True] Translation: X:107.48, Y:8.93, Z:-0.29 [[ 9.99987727e-01 3.39510675e-03 3.60828134e-03 1.07479261e+02] [-3.39604731e-03 9.99994201e-01 2.54571929e-04 8.92685572e+00] [-3.60739611e-03 -2.66822699e-04 9.99993458e-01 -2.90115675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88140051299999 meters 0.07859286245745135 Centerline is valid? [True, True] Translation: X:107.54, Y:8.94, Z:-0.29 [[ 9.99974616e-01 6.76046407e-03 2.25014030e-03 1.07538122e+02] [-6.76083839e-03 9.99977133e-01 1.58789197e-04 8.94449115e+00] [-2.24901536e-03 -1.73998001e-04 9.99997456e-01 -2.93379894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94140051299999 meters 0.0732044460784136 Centerline is valid? [True, True] Translation: X:107.60, Y:8.94, Z:-0.29 [[ 9.99961404e-01 8.00279979e-03 3.62577108e-03 1.07599638e+02] [-8.00377980e-03 9.99967937e-01 2.55861294e-04 8.94288694e+00] [-3.62360721e-03 -2.84871292e-04 9.99993394e-01 -2.91726996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001400513 meters 0.07083904856357796 Centerline is valid? [True, True] Translation: X:107.66, Y:8.95, Z:-0.29 [[ 9.99951860e-01 8.75467854e-03 4.43086906e-03 1.07661583e+02] [-8.75615054e-03 9.99961615e-01 3.12923980e-04 8.94919797e+00] [-4.42795944e-03 -3.51706272e-04 9.99990135e-01 -2.88414860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061400513 meters 0.06966012552187104 Centerline is valid? [True, True] Translation: X:107.72, Y:8.95, Z:-0.29 [[ 9.99963905e-01 7.53696341e-03 3.92222718e-03 1.07723063e+02] [-7.53810391e-03 9.99971550e-01 2.76075351e-04 8.95499410e+00] [-3.92003482e-03 -3.05631542e-04 9.99992270e-01 -2.91064459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12140051299998 meters 0.06530426016527233 Centerline is valid? [True, True] Translation: X:107.78, Y:8.95, Z:-0.29 [[ 9.99981443e-01 4.08208120e-03 4.52224576e-03 1.07784171e+02] [-4.08356099e-03 9.99991612e-01 3.18038130e-04 8.95350246e+00] [-4.52090957e-03 -3.36499094e-04 9.99989724e-01 -2.90694201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18140051299999 meters 0.06043694855329167 Centerline is valid? [True, True] Translation: X:107.85, Y:8.94, Z:-0.29 [[ 9.99972266e-01 -4.29572995e-03 6.08396589e-03 1.07845860e+02] [ 4.29320626e-03 9.99990693e-01 4.27809064e-04 8.94447933e+00] [-6.08574702e-03 -4.01677479e-04 9.99981401e-01 -2.89286477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24140051299999 meters 0.06293123476120092 Centerline is valid? [True, True] Translation: X:107.91, Y:8.95, Z:-0.29 [[ 9.99949297e-01 -8.40214529e-03 5.55052134e-03 1.07905436e+02] [ 8.40010829e-03 9.99964642e-01 3.90203394e-04 8.94711238e+00] [-5.55360363e-03 -3.43558629e-04 9.99984520e-01 -2.90788725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30140051299999 meters 0.05678460165236213 Centerline is valid? [True, True] Translation: X:107.97, Y:8.95, Z:-0.29 [[ 9.99939387e-01 -9.19360398e-03 6.05797893e-03 1.07966495e+02] [ 9.19119118e-03 9.99957669e-01 4.26005320e-04 8.94928802e+00] [-6.06163902e-03 -3.70299456e-04 9.99981560e-01 -2.87903371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36140051299999 meters 0.06065340738917583 Centerline is valid? [True, True] Translation: X:108.03, Y:8.96, Z:-0.29 [[ 9.99934815e-01 -8.53414378e-03 7.58506646e-03 1.08027017e+02] [ 8.53034399e-03 9.99963474e-01 5.33168159e-04 8.95626413e+00] [-7.58933954e-03 -4.68430179e-04 9.99971091e-01 -2.86018097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421400513 meters 0.06065340738917583 Centerline is valid? [True, True] Translation: X:108.09, Y:8.96, Z:-0.29 [[ 9.99935206e-01 -8.48825718e-03 7.58508514e-03 1.08088644e+02] [ 8.48445808e-03 9.99963864e-01 5.32902313e-04 8.96051828e+00] [-7.58933446e-03 -4.68512447e-04 9.99971091e-01 -2.86464435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48140051299998 meters 0.055973107956495856 Centerline is valid? [True, True] Translation: X:108.15, Y:8.96, Z:-0.29 [[ 9.99939962e-01 -8.98389582e-03 6.27398278e-03 1.08151236e+02] [ 8.98130771e-03 9.99959570e-01 4.40568587e-04 8.96337027e+00] [-6.27768714e-03 -3.84193566e-04 9.99980221e-01 -2.89505040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54140051299999 meters 0.05262007771296222 Centerline is valid? [True, True] Translation: X:108.21, Y:8.97, Z:-0.29 [[ 9.99922791e-01 -1.18301400e-02 3.80271400e-03 1.08212027e+02] [ 1.18292107e-02 9.99929997e-01 2.66798607e-04 8.96676144e+00] [-3.80560406e-03 -2.21794903e-04 9.99992734e-01 -2.93443168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60140051299999 meters 0.05556822236725582 Centerline is valid? [True, True] Translation: X:108.27, Y:8.98, Z:-0.29 [[ 9.99838293e-01 -1.75696970e-02 3.83313701e-03 1.08271361e+02] [ 1.75687950e-02 9.99845621e-01 2.68879421e-04 8.97504663e+00] [-3.83726938e-03 -2.01492343e-04 9.99992617e-01 -2.94520135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66140051299999 meters 0.04415749264745683 Centerline is valid? [True, True] Translation: X:108.33, Y:8.97, Z:-0.29 [[ 9.99612703e-01 -2.73738003e-02 5.01179857e-03 1.08332394e+02] [ 2.73723810e-02 9.99625244e-01 3.51583251e-04 8.97036695e+00] [-5.01954454e-03 -2.14262224e-04 9.99987379e-01 -2.93071775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72140051299999 meters 0.040538634389699325 Centerline is valid? [True, True] Translation: X:108.39, Y:8.98, Z:-0.30 [[ 9.99490565e-01 -3.16032448e-02 4.45487501e-03 1.08392026e+02] [ 3.16021657e-02 9.99500478e-01 3.12441774e-04 8.97529630e+00] [-4.46252387e-03 -1.71498907e-04 9.99990028e-01 -2.95225873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781400513 meters 0.04291945283584166 Centerline is valid? [True, True] Translation: X:108.45, Y:8.99, Z:-0.30 [[ 9.99330502e-01 -3.64509241e-02 3.14300456e-03 1.08450878e+02] [ 3.64504108e-02 9.99335439e-01 2.20449761e-04 8.98555187e+00] [-3.14895144e-03 -1.05738363e-04 9.99995036e-01 -2.98320796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84140051299998 meters 0.03102807346815182 Centerline is valid? [True, True] Translation: X:108.51, Y:8.99, Z:-0.30 [[ 9.99254916e-01 -3.85682665e-02 1.44976512e-03 1.08509677e+02] [ 3.85681598e-02 9.99255967e-01 1.01459636e-04 8.99077800e+00] [-1.45259957e-03 -4.54692675e-05 9.99998944e-01 -3.00765368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90140051299998 meters 0.036259972596508754 Centerline is valid? [True, True] Translation: X:108.57, Y:9.00, Z:-0.30 [[ 9.99050448e-01 -4.34776370e-02 2.81027357e-03 1.08569129e+02] [ 4.34772540e-02 9.99054398e-01 1.97287535e-04 8.99760623e+00] [-2.81619377e-03 -7.49172224e-05 9.99996032e-01 -2.99449291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96140051299999 meters 0.028865824031102934 Centerline is valid? [True, True] Translation: X:108.63, Y:9.00, Z:-0.30 [[ 9.98769630e-01 -4.94432801e-02 3.81945284e-03 1.08627679e+02] [ 4.94426157e-02 9.98776930e-01 2.68216454e-04 9.00174184e+00] [-3.82804288e-03 -7.90427090e-05 9.99992670e-01 -2.98461687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02140051299999 meters 0.03341944474262806 Centerline is valid? [True, True] Translation: X:108.69, Y:9.01, Z:-0.30 [[ 9.98488292e-01 -5.48714598e-02 3.20227246e-03 1.08686186e+02] [ 5.48710210e-02 9.98493425e-01 2.24794229e-04 9.00792537e+00] [-3.20978278e-03 -4.87424468e-05 9.99994847e-01 -3.00384438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08140051299999 meters 0.027780746241491905 Centerline is valid? [True, True] Translation: X:108.75, Y:9.00, Z:-0.29 [[ 9.97999002e-01 -6.27928706e-02 7.41940200e-03 1.08746873e+02] [ 6.27907294e-02 9.98026579e-01 5.21411491e-04 9.00425479e+00] [-7.43750133e-03 -5.44984834e-05 9.99972340e-01 -2.93584187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141400513 meters 0.026792218062431032 Centerline is valid? [True, True] Translation: X:108.81, Y:9.01, Z:-0.29 [[ 9.97643127e-01 -6.82081015e-02 7.47304893e-03 1.08805165e+02] [ 6.82060801e-02 9.97671115e-01 5.25316753e-04 9.00629358e+00] [-7.49147592e-03 -1.43712745e-05 9.99971938e-01 -2.93433648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201400513 meters 0.03743345609262324 Centerline is valid? [True, True] Translation: X:108.86, Y:9.01, Z:-0.30 [[ 9.97350689e-01 -7.24757696e-02 6.23424806e-03 1.08863549e+02] [ 7.24744409e-02 9.97370173e-01 4.39070553e-04 9.00655895e+00] [-6.24967505e-03 1.39163240e-05 9.99980470e-01 -2.95227452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26140051299998 meters 0.02889441541741879 Centerline is valid? [True, True] Translation: X:108.92, Y:9.01, Z:-0.29 [[ 9.97124995e-01 -7.53910839e-02 7.61104404e-03 1.08920893e+02] [ 7.53891750e-02 9.97154042e-01 5.37806896e-04 9.01455572e+00] [-7.62992917e-03 3.75296324e-05 9.99970891e-01 -2.93156929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32140051299999 meters 0.012706395398772951 Centerline is valid? [True, True] Translation: X:108.98, Y:9.03, Z:-0.30 [[ 9.97063248e-01 -7.63108297e-02 6.44489541e-03 1.08978445e+02] [ 7.63094787e-02 9.97084077e-01 4.55633567e-04 9.02560441e+00] [-6.46087237e-03 3.75111244e-05 9.99979128e-01 -2.95776448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38140051299999 meters 0.03328834654137018 Centerline is valid? [True, True] Translation: X:109.04, Y:9.03, Z:-0.30 [[ 9.96876843e-01 -7.88108707e-02 5.04057655e-03 1.09036888e+02] [ 7.88100725e-02 9.96889585e-01 3.57080694e-04 9.03255108e+00] [-5.05304010e-03 4.12827280e-05 9.99987232e-01 -2.99056852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44140051299999 meters 0.03259770821186317 Centerline is valid? [True, True] Translation: X:109.10, Y:9.04, Z:-0.30 [[ 9.96448364e-01 -8.40780975e-02 4.64010410e-03 1.09095219e+02] [ 8.40774751e-02 9.96459166e-01 3.29395561e-04 9.04278876e+00] [-4.65136921e-03 6.19025683e-05 9.99989180e-01 -3.00497863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501400513 meters 0.03796579848173357 Centerline is valid? [True, True] Translation: X:109.15, Y:9.05, Z:-0.30 [[ 9.96204007e-01 -8.69564541e-02 4.01901166e-03 1.09153357e+02] [ 8.69560074e-02 9.96212111e-01 2.86077170e-04 9.04877335e+00] [-4.02866435e-03 6.44859849e-05 9.99991883e-01 -3.00645241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561400513 meters 0.03330883177346484 Centerline is valid? [True, True] Translation: X:109.21, Y:9.05, Z:-0.30 [[ 9.96067901e-01 -8.85674232e-02 2.13245232e-03 1.09211184e+02] [ 8.85673011e-02 9.96070183e-01 1.51833611e-04 9.05484164e+00] [-2.13751969e-03 3.76289608e-05 9.99997715e-01 -3.04746268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62140051299998 meters 0.03662965324773421 Centerline is valid? [True, True] Translation: X:109.27, Y:9.07, Z:-0.31 [[ 9.96175505e-01 -8.73528410e-02 1.96071577e-03 1.09268993e+02] [ 8.73527364e-02 9.96177434e-01 1.39112455e-04 9.06700612e+00] [-1.96537268e-03 3.26934680e-05 9.99998068e-01 -3.05739757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68140051299999 meters 0.01735062637852724 Centerline is valid? [True, True] Translation: X:109.33, Y:9.09, Z:-0.31 [[ 9.96843354e-01 -7.93683845e-02 1.99695223e-03 1.09327944e+02] [ 7.93682578e-02 9.96845354e-01 1.42759457e-04 9.08668963e+00] [-2.00198314e-03 1.61858037e-05 9.99997996e-01 -3.05537217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74140051299999 meters 0.031233206010066586 Centerline is valid? [True, True] Translation: X:109.39, Y:9.10, Z:-0.31 [[ 9.97379703e-01 -7.23444046e-02 1.26412838e-04 1.09385980e+02] [ 7.23444042e-02 9.97379711e-01 7.84468695e-06 9.10185135e+00] [-1.26649119e-04 1.32112994e-06 9.99999992e-01 -3.07202031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80140051299999 meters 0.026962590028819552 Centerline is valid? [True, True] Translation: X:109.44, Y:9.12, Z:-0.30 [[ 9.98023468e-01 -6.27856429e-02 2.66854966e-03 1.09443751e+02] [ 6.27853573e-02 9.98027035e-01 1.90770060e-04 9.12185744e+00] [-2.67526232e-03 -2.28471533e-05 9.99996421e-01 -3.03787456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86140051299999 meters 0.027914041140960605 Centerline is valid? [True, True] Translation: X:109.50, Y:9.13, Z:-0.30 [[ 9.98361885e-01 -5.70796149e-02 3.93233279e-03 1.09502510e+02] [ 5.70789435e-02 9.98369628e-01 2.82848562e-04 9.13316642e+00] [-3.94206651e-03 -5.79318229e-05 9.99992228e-01 -3.01679948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921400513 meters 0.028956586778443465 Centerline is valid? [True, True] Translation: X:109.56, Y:9.15, Z:-0.30 [[ 9.98614927e-01 -5.25133177e-02 3.25250666e-03 1.09561040e+02] [ 5.25128340e-02 9.98620222e-01 2.33997003e-04 9.14874761e+00] [-3.26030688e-03 -6.28745577e-05 9.99994683e-01 -3.02540366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98140051299998 meters 0.023640534541757775 Centerline is valid? [True, True] Translation: X:109.62, Y:9.16, Z:-0.30 [[ 9.98906008e-01 -4.67015568e-02 2.39820505e-03 1.09620337e+02] [ 4.67012769e-02 9.98908885e-01 1.72595346e-04 9.16406578e+00] [-2.40364880e-03 -6.04072905e-05 9.99997109e-01 -3.03483007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04140051299999 meters 0.03273817611318944 Centerline is valid? [True, True] Translation: X:109.68, Y:9.18, Z:-0.30 [[ 9.98913678e-01 -4.64176009e-02 4.10738060e-03 1.09676769e+02] [ 4.64167786e-02 9.98922117e-01 2.95356786e-04 9.17692078e+00] [-4.11666307e-03 -1.04384558e-04 9.99991521e-01 -3.01880978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10140051299999 meters 0.023431325965189424 Centerline is valid? [True, True] Translation: X:109.74, Y:9.18, Z:-0.30 [[ 9.98753582e-01 -4.97551507e-02 3.96323695e-03 1.09736945e+02] [ 4.97544079e-02 9.98761442e-01 2.85866853e-04 9.17509165e+00] [-3.97255160e-03 -8.83220355e-05 9.99992105e-01 -3.02295330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16140051299999 meters 0.01938206282347974 Centerline is valid? [True, True] Translation: X:109.80, Y:9.17, Z:-0.31 [[ 9.98515427e-01 -5.44560443e-02 1.21681011e-03 1.09796844e+02] [ 5.44559788e-02 9.98516169e-01 8.68816369e-05 9.17048771e+00] [-1.21973580e-03 -2.04900691e-05 9.99999256e-01 -3.05651785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22140051299999 meters 0.030366583789423012 Centerline is valid? [True, True] Translation: X:109.85, Y:9.18, Z:-0.30 [[ 9.98598859e-01 -5.27908408e-02 3.66676266e-03 1.09854966e+02] [ 5.27902250e-02 9.98605589e-01 2.64608143e-04 9.17814984e+00] [-3.67561857e-03 -7.06681639e-05 9.99993242e-01 -3.01884455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281400513 meters 0.02596085008458042 Centerline is valid? [True, True] Translation: X:109.91, Y:9.19, Z:-0.30 [[ 9.98825302e-01 -4.83073095e-02 3.79729691e-03 1.09914230e+02] [ 4.83066120e-02 9.98832516e-01 2.75230540e-04 9.18711126e+00] [-3.80615927e-03 -9.14726793e-05 9.99992752e-01 -3.01584388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34140051299998 meters 0.032444196773115774 Centerline is valid? [True, True] Translation: X:109.97, Y:9.20, Z:-0.30 [[ 9.99067808e-01 -4.30582717e-02 3.08239612e-03 1.09973571e+02] [ 4.30577869e-02 9.99072558e-01 2.23507415e-04 9.19997453e+00] [-3.08916122e-03 -9.05779085e-05 9.99995224e-01 -3.03571381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40140051299998 meters 0.06291678923947014 Centerline is valid? [True, True] Translation: X:110.03, Y:9.24, Z:-0.31 [[ 9.99197575e-01 -4.00287373e-02 1.38048466e-03 1.10033794e+02] [ 4.00315200e-02 9.99196313e-01 -2.05072994e-03 9.24329677e+00] [-1.29728706e-03 2.10434728e-03 9.99996944e-01 -3.06467461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46140051299999 meters 0.03161171872089282 Centerline is valid? [True, True] Translation: X:110.09, Y:9.21, Z:-0.31 [[ 9.99148288e-01 -4.12585789e-02 6.54137643e-04 1.10092538e+02] [ 4.12571435e-02 9.99146409e-01 2.07404241e-03 9.20848227e+00] [-7.39151320e-04 -2.04528807e-03 9.99997635e-01 -3.05568847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52140051299999 meters 0.0380814234878644 Centerline is valid? [True, True] Translation: X:110.15, Y:9.22, Z:-0.31 [[ 9.99184196e-01 -4.03795227e-02 6.60059487e-04 1.10148978e+02] [ 4.03794999e-02 9.99184414e-01 4.78357802e-05 9.22383299e+00] [-6.61452738e-04 -2.11438836e-05 9.99999781e-01 -3.08282050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58140051299999 meters 0.039921736170624035 Centerline is valid? [True, True] Translation: X:110.21, Y:9.24, Z:-0.31 [[ 9.99319420e-01 -3.68876069e-02 -3.33374348e-05 1.10208883e+02] [ 3.68876069e-02 9.99319421e-01 -2.44231837e-06 9.23538865e+00] [ 3.34048373e-05 1.21091799e-06 9.99999999e-01 -3.10416041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641400513 meters 0.04360600069785397 Centerline is valid? [True, True] Translation: X:110.27, Y:9.25, Z:-0.31 [[ 9.99478213e-01 -3.22453483e-02 1.88112341e-03 1.10269134e+02] [ 3.22451459e-02 9.99479981e-01 1.37846284e-04 9.24538767e+00] [-1.88459009e-03 -7.71172586e-05 9.99998221e-01 -3.07338033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701400513 meters 0.05514173174753939 Centerline is valid? [True, True] Translation: X:110.33, Y:9.26, Z:-0.31 [[ 9.99672013e-01 -2.54661591e-02 2.70938447e-03 1.10327375e+02] [ 2.54657145e-02 9.99675676e-01 1.98463540e-04 9.26382563e+00] [-2.71355986e-03 -1.29402035e-04 9.99996310e-01 -3.06260511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76140051299998 meters 0.05354866282388736 Centerline is valid? [True, True] Translation: X:110.39, Y:9.27, Z:-0.31 [[ 9.99721064e-01 -2.35628924e-02 1.60787149e-03 1.10386467e+02] [ 2.35627338e-02 9.99722353e-01 1.17488461e-04 9.27058032e+00] [-1.61019343e-03 -7.95698414e-05 9.99998700e-01 -3.07635422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82140051299999 meters 0.055407603499834056 Centerline is valid? [True, True] Translation: X:110.44, Y:9.28, Z:-0.30 [[ 9.99707754e-01 -2.38176910e-02 4.13824961e-03 1.10444056e+02] [ 2.38166407e-02 9.99716298e-01 3.02894466e-04 9.28343399e+00] [-4.14428982e-03 -2.04246742e-04 9.99991392e-01 -3.04411140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88140051299999 meters 0.04857657233307019 Centerline is valid? [True, True] Translation: X:110.50, Y:9.29, Z:-0.31 [[ 9.99699312e-01 -2.44894245e-02 1.24627058e-03 1.10504433e+02] [ 2.44893293e-02 9.99700087e-01 9.15679184e-05 9.28631113e+00] [-1.24813925e-03 -6.10200545e-05 9.99999219e-01 -3.09137863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94140051299999 meters 0.051076887723342256 Centerline is valid? [True, True] Translation: X:110.56, Y:9.29, Z:-0.31 [[ 9.99659763e-01 -2.60715162e-02 7.95924133e-04 1.10562537e+02] [ 2.60714782e-02 9.99660080e-01 5.81814140e-05 9.29287277e+00] [-7.97170460e-04 -3.74106999e-05 9.99999682e-01 -3.10509158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001400513 meters 0.05308261264292294 Centerline is valid? [True, True] Translation: X:110.62, Y:9.31, Z:-0.31 [[ 9.99687864e-01 -2.46395213e-02 4.13134601e-03 1.10620323e+02] [ 2.46384764e-02 9.99696381e-01 3.03636603e-04 9.30610588e+00] [-4.13757311e-03 -2.01751756e-04 9.99991420e-01 -3.06183889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061400513 meters 0.05849629738512086 Centerline is valid? [True, True] Translation: X:110.68, Y:9.31, Z:-0.31 [[ 9.99806839e-01 -1.95633461e-02 1.88661771e-03 1.10680691e+02] [ 1.95631189e-02 9.99808614e-01 1.38776560e-04 9.31211526e+00] [-1.88897157e-03 -1.01841627e-04 9.99998211e-01 -3.09806436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12140051299998 meters 0.06568241937825363 Centerline is valid? [True, True] Translation: X:110.74, Y:9.34, Z:-0.31 [[ 9.99939307e-01 -1.09953613e-02 6.95728385e-04 1.10737940e+02] [ 1.09953284e-02 9.99939548e-01 5.10587297e-05 9.34046365e+00] [-6.96247736e-04 -4.34058687e-05 9.99999757e-01 -3.12197436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18140051299999 meters 0.06601140325772734 Centerline is valid? [True, True] Translation: X:110.80, Y:9.35, Z:-0.31 [[ 9.99975645e-01 -6.72952761e-03 1.85001004e-03 1.10798011e+02] [ 6.72928734e-03 9.99977349e-01 1.36067406e-04 9.35119043e+00] [-1.85088381e-03 -1.23614842e-04 9.99998279e-01 -3.10179151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24140051299999 meters 0.06795756027824959 Centerline is valid? [True, True] Translation: X:110.86, Y:9.36, Z:-0.31 [[ 9.99984032e-01 -5.43429900e-03 1.55024677e-03 1.10858330e+02] [ 5.43412846e-03 9.99985228e-01 1.14197760e-04 9.36490733e+00] [-1.55084445e-03 -1.05771696e-04 9.99998792e-01 -3.11792561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30140051299999 meters 0.06461534566074933 Centerline is valid? [True, True] Translation: X:110.92, Y:9.37, Z:-0.31 [[ 9.99961252e-01 -8.78928985e-03 4.93511406e-04 1.10918194e+02] [ 8.78927301e-03 9.99961373e-01 3.62996915e-05 9.37298220e+00] [-4.93811391e-04 -3.19606785e-05 9.99999878e-01 -3.14967312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36140051299999 meters 0.06481805659135503 Centerline is valid? [True, True] Translation: X:110.98, Y:9.38, Z:-0.31 [[ 9.99909619e-01 -1.33317240e-02 1.73744671e-03 1.10977467e+02] [ 1.33315219e-02 9.99911123e-01 1.27849464e-04 9.37950931e+00] [-1.73899675e-03 -1.04675100e-04 9.99998482e-01 -3.14060245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421400513 meters 0.0593580193069504 Centerline is valid? [True, True] Translation: X:111.04, Y:9.38, Z:-0.31 [[ 9.99877226e-01 -1.55115091e-02 2.21951820e-03 1.11038421e+02] [ 1.55111847e-02 9.99879681e-01 1.63300676e-04 9.38135852e+00] [-2.22178419e-03 -1.28853270e-04 9.99997524e-01 -3.12790958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48140051299998 meters 0.05971586893146098 Centerline is valid? [True, True] Translation: X:111.10, Y:9.39, Z:-0.32 [[ 9.99900112e-01 -1.41279560e-02 4.07376715e-04 1.11098396e+02] [ 1.41279450e-02 9.99900195e-01 2.99574483e-05 9.39056111e+00] [-4.07759295e-04 -2.41990601e-05 9.99999917e-01 -3.15946556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54140051299999 meters 0.05385045575146751 Centerline is valid? [True, True] Translation: X:111.16, Y:9.39, Z:-0.31 [[ 9.99920408e-01 -1.25630423e-02 1.16128243e-03 1.11158523e+02] [ 1.25629517e-02 9.99921079e-01 8.52503750e-05 9.38749887e+00] [-1.16226179e-03 -7.06544546e-05 9.99999322e-01 -3.14417574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60140051299999 meters 0.061729180531828194 Centerline is valid? [True, True] Translation: X:111.22, Y:9.40, Z:-0.32 [[ 9.99931919e-01 -1.16686062e-02 -1.36962132e-05 1.11217204e+02] [ 1.16686061e-02 9.99931919e-01 -1.09458112e-06 9.39786970e+00] [ 1.37080530e-05 9.34690884e-07 1.00000000e+00 -3.16759115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66140051299999 meters 0.0628509719963201 Centerline is valid? [True, True] Translation: X:111.28, Y:9.40, Z:-0.32 [[ 9.99889220e-01 -1.48842900e-02 7.18279666e-05 1.11277055e+02] [ 1.48842896e-02 9.99889223e-01 5.26894149e-06 9.40066768e+00] [-7.18984341e-05 -4.19924954e-06 9.99999997e-01 -3.17857692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72140051299999 meters 0.06817743237861591 Centerline is valid? [True, True] Translation: X:111.34, Y:9.41, Z:-0.32 [[ 9.99879735e-01 -1.54900178e-02 7.57664068e-04 1.11335595e+02] [ 1.54899801e-02 9.99880022e-01 5.55317487e-05 9.40705914e+00] [-7.58433352e-04 -4.37888688e-05 9.99999711e-01 -3.19152036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781400513 meters 0.058134674053113726 Centerline is valid? [True, True] Translation: X:111.40, Y:9.40, Z:-0.32 [[ 9.99890384e-01 -1.47913997e-02 -6.59514736e-04 1.11395846e+02] [ 1.47913707e-02 9.99890601e-01 -4.87310104e-05 9.39996090e+00] [ 6.60163385e-04 3.89705417e-05 9.99999781e-01 -3.20072071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84140051299998 meters 0.07195291477594254 Centerline is valid? [True, True] Translation: X:111.45, Y:9.42, Z:-0.32 [[ 9.99920395e-01 -1.24204397e-02 -2.22180754e-03 1.11454000e+02] [ 1.24201064e-02 9.99922854e-01 -1.63734448e-04 9.41771321e+00] [ 2.22366979e-03 1.36126328e-04 9.99997518e-01 -3.23608393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90140051299998 meters 0.0644778717455039 Centerline is valid? [True, True] Translation: X:111.52, Y:9.41, Z:-0.32 [[ 9.99957440e-01 -9.22586770e-03 -4.53664928e-05 1.11515382e+02] [ 9.22586755e-03 9.99957441e-01 -3.35372415e-06 9.41331087e+00] [ 4.53955031e-05 2.93503616e-06 9.99999999e-01 -3.19401603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96140051299999 meters 0.06899729559319945 Centerline is valid? [True, True] Translation: X:111.58, Y:9.42, Z:-0.32 [[ 9.99993910e-01 -2.91679879e-03 1.91641169e-03 1.11575326e+02] [ 2.91653362e-03 9.99995737e-01 1.41148400e-04 9.42274909e+00] [-1.91681522e-03 -1.35558261e-04 9.99998154e-01 -3.18204349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02140051299999 meters 0.07136028649209682 Centerline is valid? [True, True] Translation: X:111.64, Y:9.43, Z:-0.32 [[ 9.99995427e-01 -1.39531396e-03 2.68316911e-03 1.11635718e+02] [ 1.39478858e-03 9.99999008e-01 1.97665659e-04 9.43073817e+00] [-2.68344225e-03 -1.93922301e-04 9.99996381e-01 -3.17784810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08140051299999 meters 0.07132056239611738 Centerline is valid? [True, True] Translation: X:111.70, Y:9.43, Z:-0.32 [[ 9.99998919e-01 -1.05316055e-03 1.02563169e-03 1.11698181e+02] [ 1.05308335e-03 9.99999443e-01 7.58090678e-05 9.43273702e+00] [-1.02571096e-03 -7.47289103e-05 9.99999471e-01 -3.21413705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141400513 meters 0.07800777457946494 Centerline is valid? [True, True] Translation: X:111.76, Y:9.44, Z:-0.32 [[ 9.99995335e-01 -2.50784550e-03 1.74381138e-03 1.11757004e+02] [ 2.50762562e-03 9.99996848e-01 1.28267368e-04 9.44308248e+00] [-1.74412755e-03 -1.23893944e-04 9.99998471e-01 -3.21404382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20140051299998 meters 0.07011669015008232 Centerline is valid? [True, True] Translation: X:111.82, Y:9.43, Z:-0.32 [[ 9.99990517e-01 -3.80533713e-03 2.11767027e-03 1.11819588e+02] [ 3.80501498e-03 9.99992749e-01 1.56130804e-04 9.43433477e+00] [-2.11824904e-03 -1.48071557e-04 9.99997746e-01 -3.19612783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26140051299998 meters 0.0725325495454961 Centerline is valid? [True, True] Translation: X:111.88, Y:9.44, Z:-0.32 [[ 9.99984261e-01 -4.94779908e-03 2.64531009e-03 1.11880653e+02] [ 4.94730135e-03 9.99987743e-01 1.94665384e-04 9.43705405e+00] [-2.64624083e-03 -1.81575174e-04 9.99996482e-01 -3.20004385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32140051299999 meters 0.06287681487005195 Centerline is valid? [True, True] Translation: X:111.94, Y:9.43, Z:-0.32 [[ 9.99966086e-01 -7.32644360e-03 3.76169232e-03 1.11941762e+02] [ 7.32545466e-03 9.99973130e-01 2.76608699e-04 9.42931661e+00] [-3.76361780e-03 -2.49043212e-04 9.99992887e-01 -3.18877902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38140051299999 meters 0.0647218801728352 Centerline is valid? [True, True] Translation: X:112.00, Y:9.43, Z:-0.32 [[ 9.99970313e-01 -7.57438535e-03 1.41502904e-03 1.12002975e+02] [ 7.57424540e-03 9.99971310e-01 1.04231957e-04 9.43482725e+00] [-1.41577793e-03 -9.35110859e-05 9.99998993e-01 -3.22544679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44140051299999 meters 0.06948184632434704 Centerline is valid? [True, True] Translation: X:112.06, Y:9.44, Z:-0.33 [[ 9.99977320e-01 -6.73047859e-03 -2.46005919e-04 1.12062329e+02] [ 6.73047435e-03 9.99977350e-01 -1.80774784e-05 9.44496215e+00] [ 2.46122017e-04 1.64213319e-05 9.99999970e-01 -3.26434084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501400513 meters 0.06692573645660115 Centerline is valid? [True, True] Translation: X:112.12, Y:9.44, Z:-0.33 [[ 9.99977379e-01 -6.72051609e-03 2.76881256e-04 1.12122228e+02] [ 6.72051076e-03 9.99977417e-01 2.01872203e-05 9.44357656e+00] [-2.77010672e-04 -1.83259802e-05 9.99999961e-01 -3.25136570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561400513 meters 0.071382423423396 Centerline is valid? [True, True] Translation: X:112.18, Y:9.45, Z:-0.33 [[ 9.99974224e-01 -7.12439441e-03 8.91358728e-04 1.12181246e+02] [ 7.12433889e-03 9.99974619e-01 6.54495939e-05 9.45253196e+00] [-8.91802393e-04 -5.90975653e-05 9.99999601e-01 -3.25002989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62140051299998 meters 0.0710650990585561 Centerline is valid? [True, True] Translation: X:112.24, Y:9.46, Z:-0.32 [[ 9.99975955e-01 -6.64384552e-03 1.98707481e-03 1.12241495e+02] [ 6.64356828e-03 9.99977921e-01 1.46087353e-04 9.45690052e+00] [-1.98800152e-03 -1.32882573e-04 9.99998015e-01 -3.23440147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68140051299999 meters 0.07282596477777964 Centerline is valid? [True, True] Translation: X:112.30, Y:9.47, Z:-0.32 [[ 9.99984113e-01 -4.84554546e-03 2.88005480e-03 1.12301463e+02] [ 4.84495550e-03 9.99988241e-01 2.11786093e-04 9.46688970e+00] [-2.88104715e-03 -1.97828991e-04 9.99995830e-01 -3.22711178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74140051299999 meters 0.06682726998114077 Centerline is valid? [True, True] Translation: X:112.36, Y:9.46, Z:-0.32 [[ 9.99993741e-01 -2.99059839e-03 1.89074926e-03 1.12363209e+02] [ 2.99034080e-03 9.99995519e-01 1.39046284e-04 9.46164051e+00] [-1.89115662e-03 -1.33391429e-04 9.99998203e-01 -3.24408013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80140051299999 meters 0.07907391466834715 Centerline is valid? [True, True] Translation: X:112.42, Y:9.48, Z:-0.33 [[ 9.99987087e-01 -4.74999929e-03 1.80620137e-03 1.12422444e+02] [ 4.74976723e-03 9.99988711e-01 1.32747673e-04 9.47785900e+00] [-1.80681153e-03 -1.24166923e-04 9.99998360e-01 -3.26833121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86140051299999 meters 0.0675029028982631 Centerline is valid? [True, True] Translation: X:112.48, Y:9.47, Z:-0.33 [[ 9.99962737e-01 -8.20522054e-03 2.68314449e-03 1.12484177e+02] [ 8.20472069e-03 9.99966321e-01 1.97246234e-04 9.47023768e+00] [-2.68467257e-03 -1.75224433e-04 9.99996381e-01 -3.25052205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921400513 meters 0.06398948501338675 Centerline is valid? [True, True] Translation: X:112.55, Y:9.47, Z:-0.33 [[ 9.99958242e-01 -9.13760425e-03 1.34176371e-04 1.12545975e+02] [ 9.13760299e-03 9.99958251e-01 1.00224922e-05 9.46528108e+00] [-1.34262350e-04 -8.79602331e-06 9.99999991e-01 -3.28029585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98140051299998 meters 0.06838977973116112 Centerline is valid? [True, True] Translation: X:112.61, Y:9.47, Z:-0.33 [[ 9.99959399e-01 -8.98326901e-03 -7.08068822e-04 1.12605097e+02] [ 8.98323436e-03 9.99959649e-01 -5.21060394e-05 9.47117717e+00] [ 7.08508333e-04 4.57431757e-05 9.99999748e-01 -3.30502967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04140051299999 meters 0.06762376510797136 Centerline is valid? [True, True] Translation: X:112.67, Y:9.47, Z:-0.33 [[ 9.99984757e-01 -5.45276777e-03 8.67816022e-04 1.12666338e+02] [ 5.45271448e-03 9.99985132e-01 6.37641857e-05 9.46887163e+00] [-8.68150811e-04 -5.90312608e-05 9.99999621e-01 -3.27863973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10140051299999 meters 0.08050862315739442 Centerline is valid? [True, True] Translation: X:112.72, Y:9.48, Z:-0.33 [[ 9.99999906e-01 -1.78312955e-04 -3.94705088e-04 1.12724901e+02] [ 1.78301511e-04 9.99999984e-01 -2.90287856e-05 9.48397435e+00] [ 3.94710258e-04 2.89584063e-05 9.99999922e-01 -3.32634811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16140051299999 meters 0.08105514771466739 Centerline is valid? [True, True] Translation: X:112.79, Y:9.49, Z:-0.33 [[ 9.99979063e-01 6.47068232e-03 6.69503058e-05 1.12785399e+02] [-6.47068267e-03 9.99979065e-01 4.90971964e-06 9.49111596e+00] [-6.69171349e-05 -5.34283103e-06 9.99999998e-01 -3.30993478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22140051299999 meters 0.0809878228405798 Centerline is valid? [True, True] Translation: X:112.85, Y:9.50, Z:-0.33 [[ 9.99909682e-01 1.32873915e-02 2.01796518e-03 1.12845453e+02] [-1.32877177e-02 9.99911703e-01 1.48314204e-04 9.49525606e+00] [-2.01581629e-03 -1.75114960e-04 9.99997953e-01 -3.26496913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281400513 meters 0.10500767117225496 Centerline is valid? [True, False] Translation: X:112.84, Y:9.50, Z:-0.33 [[ 9.99913048e-01 1.29801875e-02 2.32621070e-03 1.12844723e+02] [-1.29778324e-02 9.99915259e-01 -1.02467769e-03 9.50024285e+00] [-2.33931408e-03 9.94399415e-04 9.99996769e-01 -3.26950451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34140051299998 meters 0.08788703311772429 Centerline is valid? [False, True] Translation: X:112.83, Y:9.50, Z:-0.34 [[ 9.99951789e-01 7.58269419e-03 6.23883486e-03 1.12828226e+02] [-7.59944824e-03 9.99967570e-01 2.66613607e-03 9.50003390e+00] [-6.21841604e-03 -2.71341923e-03 9.99976984e-01 -3.35961731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40140051299998 meters 0.09212432174835786 Centerline is valid? [True, True] Translation: X:112.89, Y:9.52, Z:-0.34 [[ 9.99961626e-01 7.45960071e-03 4.59365025e-03 1.12887966e+02] [-7.46152448e-03 9.99972082e-01 4.01794423e-04 9.51653524e+00] [-4.59052477e-03 -4.36054638e-04 9.99989368e-01 -3.38216686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46140051299999 meters 0.09147644499686805 Centerline is valid? [True, True] Translation: X:112.95, Y:9.52, Z:-0.34 [[ 9.99977416e-01 6.09727938e-03 2.82664784e-03 1.12948567e+02] [-6.09800127e-03 9.99981377e-01 2.46841422e-04 9.52296674e+00] [-2.82509013e-03 -2.64072750e-04 9.99995975e-01 -3.40958833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52140051299999 meters 0.08216209158357028 Centerline is valid? [True, True] Translation: X:113.01, Y:9.52, Z:-0.34 [[ 9.99990455e-01 6.53237292e-04 4.32017326e-03 1.13009508e+02] [-6.54872736e-04 9.99999714e-01 3.77156027e-04 9.52035532e+00] [-4.31992565e-03 -3.79981590e-04 9.99990597e-01 -3.38809260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58140051299999 meters 0.07785251253872173 Centerline is valid? [True, True] Translation: X:113.07, Y:9.52, Z:-0.34 [[ 9.99984112e-01 -3.44580284e-03 4.46114621e-03 1.13069680e+02] [ 3.44409963e-03 9.99993993e-01 3.89411638e-04 9.52343986e+00] [-4.46246125e-03 -3.74040819e-04 9.99989973e-01 -3.39119661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641400513 meters 0.07728716087930225 Centerline is valid? [True, True] Translation: X:113.13, Y:9.53, Z:-0.34 [[ 9.99967360e-01 -6.13855028e-03 5.25338826e-03 1.13130227e+02] [ 6.13622551e-03 9.99981068e-01 4.58533035e-04 9.53058333e+00] [-5.25610353e-03 -4.26282094e-04 9.99986096e-01 -3.37281890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70140051299998 meters 0.07451484850452204 Centerline is valid? [True, True] Translation: X:113.19, Y:9.53, Z:-0.33 [[ 9.99906002e-01 -1.16019566e-02 7.30623467e-03 1.13189662e+02] [ 1.15976051e-02 9.99932542e-01 6.37671182e-04 9.53482334e+00] [-7.31314004e-03 -5.52876418e-04 9.99973106e-01 -3.33963922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76140051299998 meters 0.06993219354628448 Centerline is valid? [True, True] Translation: X:113.25, Y:9.54, Z:-0.33 [[ 9.99844495e-01 -1.55039476e-02 8.40321073e-03 1.13250248e+02] [ 1.54983274e-02 9.99879625e-01 7.33530800e-04 9.53552148e+00] [-8.41357181e-03 -6.03181022e-04 9.99964423e-01 -3.32979757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82140051299999 meters 0.06620343668068909 Centerline is valid? [True, True] Translation: X:113.31, Y:9.53, Z:-0.34 [[ 9.99806917e-01 -1.86828613e-02 6.08928660e-03 1.13311454e+02] [ 1.86799691e-02 9.99825373e-01 5.31502080e-04 9.53410492e+00] [-6.09815323e-03 -4.17651770e-04 9.99981319e-01 -3.38402950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88140051299999 meters 0.06512554688350977 Centerline is valid? [True, True] Translation: X:113.37, Y:9.54, Z:-0.34 [[ 9.99804293e-01 -1.92171515e-02 4.69856098e-03 1.13372964e+02] [ 1.92154351e-02 9.99815282e-01 4.10181408e-04 9.53772809e+00] [-4.70557559e-03 -3.19816239e-04 9.99988878e-01 -3.41027374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94140051299999 meters 0.07167116112837911 Centerline is valid? [True, True] Translation: X:113.43, Y:9.55, Z:-0.34 [[ 9.99822112e-01 -1.84738345e-02 3.80274549e-03 1.13432635e+02] [ 1.84727052e-02 9.99829310e-01 3.31872815e-04 9.54744983e+00] [-3.80822736e-03 -2.61566783e-04 9.99992714e-01 -3.42441336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001400513 meters 0.06673169254148238 Centerline is valid? [True, True] Translation: X:113.49, Y:9.55, Z:-0.34 [[ 9.99858927e-01 -1.59724117e-02 5.19684432e-03 1.13493808e+02] [ 1.59702697e-02 9.99872364e-01 4.53417082e-04 9.54503192e+00] [-5.20342318e-03 -3.70358112e-04 9.99986394e-01 -3.41004805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061400513 meters 0.07431690849038444 Centerline is valid? [True, True] Translation: X:113.55, Y:9.56, Z:-0.34 [[ 9.99910702e-01 -1.23597199e-02 5.08190679e-03 1.13553000e+02] [ 1.23576249e-02 9.99923543e-01 4.43435246e-04 9.55714498e+00] [-5.08699898e-03 -3.80595350e-04 9.99986989e-01 -3.42506692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12140051299998 meters 0.07347370020267138 Centerline is valid? [True, True] Translation: X:113.61, Y:9.56, Z:-0.34 [[ 9.99933038e-01 -1.04431324e-02 4.98599291e-03 1.13613718e+02] [ 1.04410928e-02 9.99945396e-01 4.34920464e-04 9.56279593e+00] [-4.99026258e-03 -3.82832126e-04 9.99987475e-01 -3.43614790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18140051299999 meters 0.0774042938983168 Centerline is valid? [True, True] Translation: X:113.67, Y:9.57, Z:-0.35 [[ 9.99986013e-01 -4.35979488e-03 2.99424337e-03 1.13673916e+02] [ 4.35903233e-03 9.99990465e-01 2.61150172e-04 9.57291352e+00] [-2.99535338e-03 -2.48094515e-04 9.99995483e-01 -3.45540589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24140051299999 meters 0.08318965224546278 Centerline is valid? [True, True] Translation: X:113.73, Y:9.59, Z:-0.35 [[ 9.99992081e-01 -1.07513738e-03 3.83178302e-03 1.13733156e+02] [ 1.07386468e-03 9.99999368e-01 3.34185268e-04 9.58977142e+00] [-3.83213989e-03 -3.30067805e-04 9.99992603e-01 -3.45322494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30140051299999 meters 0.08617032715600673 Centerline is valid? [True, True] Translation: X:113.79, Y:9.61, Z:-0.34 [[ 9.99957721e-01 5.25050263e-03 7.54910991e-03 1.13792107e+02] [-5.25562048e-03 9.99985972e-01 6.58261697e-04 9.60670065e+00] [-7.54554781e-03 -6.97909122e-04 9.99971288e-01 -3.40952364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36140051299999 meters 0.09238337360141297 Centerline is valid? [True, True] Translation: X:113.85, Y:9.63, Z:-0.35 [[ 9.99951582e-01 8.74536241e-03 4.51133149e-03 1.13851487e+02] [-8.74722522e-03 9.99961665e-01 3.93352871e-04 9.62710359e+00] [-4.50771854e-03 -4.32795458e-04 9.99989747e-01 -3.45864607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421400513 meters 0.09113270200302653 Centerline is valid? [True, True] Translation: X:113.91, Y:9.65, Z:-0.35 [[ 9.99941653e-01 1.03426380e-02 3.11769883e-03 1.13911052e+02] [-1.03435355e-02 9.99946467e-01 2.71883271e-04 9.64678269e+00] [-3.11471994e-03 -3.04115436e-04 9.99995103e-01 -3.49638217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48140051299998 meters 0.09639437495840042 Centerline is valid? [True, True] Translation: X:113.97, Y:9.66, Z:-0.35 [[ 9.99963573e-01 7.06491915e-03 4.78949002e-03 1.13969879e+02] [-7.06699920e-03 9.99974941e-01 4.17509574e-04 9.66222051e+00] [-4.78642033e-03 -4.51341687e-04 9.99988443e-01 -3.45760450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54140051299999 meters 0.07989955718384746 Centerline is valid? [True, True] Translation: X:114.03, Y:9.66, Z:-0.34 [[ 9.99978233e-01 -2.25037154e-04 6.59412568e-03 1.14031248e+02] [ 2.21251846e-04 9.99999810e-01 5.74766270e-04 9.65570589e+00] [-6.59425377e-03 -5.73294797e-04 9.99978093e-01 -3.43929827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60140051299999 meters 0.083493438719185 Centerline is valid? [True, True] Translation: X:114.09, Y:9.67, Z:-0.34 [[ 9.99909897e-01 -9.87060525e-03 9.09778539e-03 1.14090398e+02] [ 9.86379714e-03 9.99951037e-01 7.92893850e-04 9.66832723e+00] [-9.10516628e-03 -7.03083698e-04 9.99958300e-01 -3.42850981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66140051299999 meters 0.08272022850058948 Centerline is valid? [True, True] Translation: X:114.15, Y:9.68, Z:-0.34 [[ 9.99916740e-01 -1.03051364e-02 7.76642677e-03 1.14152288e+02] [ 1.03001880e-02 9.99946723e-01 6.76890460e-04 9.68099950e+00] [-7.77298845e-03 -5.96838446e-04 9.99969612e-01 -3.44905762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72140051299999 meters 0.0847093723039538 Centerline is valid? [True, True] Translation: X:114.21, Y:9.69, Z:-0.34 [[ 9.99953831e-01 -5.78625225e-03 7.67174776e-03 1.14212442e+02] [ 5.78129496e-03 9.99983065e-01 6.68194921e-04 9.69325580e+00] [-7.67548418e-03 -6.23811435e-04 9.99970348e-01 -3.43569233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781400513 meters 0.08526344198838415 Centerline is valid? [True, True] Translation: X:114.27, Y:9.70, Z:-0.34 [[ 9.99972737e-01 -2.29396553e-03 7.01872080e-03 1.14272222e+02] [ 2.28973094e-03 9.99997192e-01 6.11303323e-04 9.70202367e+00] [-7.02010340e-03 -5.95215675e-04 9.99975182e-01 -3.44355779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84140051299998 meters 0.07821945355568441 Centerline is valid? [True, True] Translation: X:114.33, Y:9.70, Z:-0.35 [[ 9.99982991e-01 -4.24102166e-03 4.00388800e-03 1.14332886e+02] [ 4.23965924e-03 9.99990952e-01 3.48699534e-04 9.70118093e+00] [-4.00533061e-03 -3.31718482e-04 9.99991924e-01 -3.52432453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90140051299998 meters 0.07343382225931737 Centerline is valid? [True, True] Translation: X:114.39, Y:9.70, Z:-0.35 [[ 9.99945180e-01 -8.46095050e-03 6.16838875e-03 1.14393937e+02] [ 8.45779654e-03 9.99964088e-01 5.37217136e-04 9.69800112e+00] [-6.17271260e-03 -4.85016709e-04 9.99980831e-01 -3.49878898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96140051299999 meters 0.0722963694154213 Centerline is valid? [True, True] Translation: X:114.45, Y:9.70, Z:-0.35 [[ 9.99852390e-01 -1.57720435e-02 6.81470683e-03 1.14453472e+02] [ 1.57683631e-02 9.99875496e-01 5.93455560e-04 9.69861863e+00] [-6.82321838e-03 -4.85911188e-04 9.99976604e-01 -3.48630881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02140051299999 meters 0.06947529923076923 Centerline is valid? [True, True] Translation: X:114.52, Y:9.69, Z:-0.35 [[ 9.99851014e-01 -1.61396963e-02 6.12042525e-03 1.14516594e+02] [ 1.61367335e-02 9.99869652e-01 5.33160890e-04 9.69459243e+00] [-6.12823252e-03 -4.34317785e-04 9.99981128e-01 -3.51132640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08140051299999 meters 0.07414616222216353 Centerline is valid? [True, True] Translation: X:114.58, Y:9.70, Z:-0.35 [[ 9.99888680e-01 -1.24465200e-02 8.22872045e-03 1.14577055e+02] [ 1.24410442e-02 9.99922351e-01 7.16304480e-04 9.70021697e+00] [-8.23699699e-03 -6.13850866e-04 9.99965887e-01 -3.48129475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141400513 meters 0.08650164098892411 Centerline is valid? [True, True] Translation: X:114.63, Y:9.72, Z:-0.35 [[ 9.99951376e-01 -5.05314810e-03 8.46823078e-03 1.14634821e+02] [ 5.04708715e-03 9.99986992e-01 7.36946714e-04 9.72173304e+00] [-8.47184452e-03 -6.94170982e-04 9.99963872e-01 -3.48320691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20140051299998 meters 0.08369464203842485 Centerline is valid? [True, True] Translation: X:114.70, Y:9.72, Z:-0.35 [[ 9.99965697e-01 -3.29963915e-03 7.59722057e-03 1.14696204e+02] [ 3.29471082e-03 9.99994354e-01 6.61126385e-04 9.72343676e+00] [-7.59935915e-03 -6.36073062e-04 9.99970922e-01 -3.50023152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26140051299998 meters 0.08164454390113154 Centerline is valid? [True, True] Translation: X:114.76, Y:9.73, Z:-0.35 [[ 9.99966649e-01 -3.02068591e-03 7.58792061e-03 1.14757742e+02] [ 3.01576219e-03 9.99995235e-01 6.60248096e-04 9.73055213e+00] [-7.58987885e-03 -6.37342712e-04 9.99970993e-01 -3.50500934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32140051299999 meters 0.08262310011309613 Centerline is valid? [True, True] Translation: X:114.82, Y:9.75, Z:-0.35 [[ 9.99966425e-01 -1.67016588e-03 8.02249228e-03 1.14817389e+02] [ 1.66462204e-03 9.99998371e-01 6.97664932e-04 9.74797322e+00] [-8.02364443e-03 -6.84287090e-04 9.99967576e-01 -3.50531272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38140051299999 meters 0.09307017182454035 Centerline is valid? [True, True] Translation: X:114.88, Y:9.77, Z:-0.35 [[ 9.99979440e-01 -9.16837176e-04 6.34664468e-03 1.14876131e+02] [ 9.13352848e-04 9.99999431e-01 5.51879840e-04 9.77309402e+00] [-6.34714705e-03 -5.46071767e-04 9.99979708e-01 -3.53474248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44140051299999 meters 0.08457199116720013 Centerline is valid? [True, True] Translation: X:114.94, Y:9.77, Z:-0.35 [[ 9.99969150e-01 -3.26769516e-03 7.14285465e-03 1.14937431e+02] [ 3.26334648e-03 9.99994483e-01 6.20385413e-04 9.77191076e+00] [-7.14484247e-03 -5.97056664e-04 9.99974297e-01 -3.52539555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501400513 meters 0.08620491723491418 Centerline is valid? [True, True] Translation: X:115.00, Y:9.78, Z:-0.35 [[ 9.99883792e-01 -1.29541232e-02 8.03695659e-03 1.14996683e+02] [ 1.29489286e-02 9.99915915e-01 6.98042229e-04 9.77573606e+00] [-8.04532333e-03 -5.93891134e-04 9.99967460e-01 -3.52473099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561400513 meters 0.06669177587706708 Centerline is valid? [True, True] Translation: X:115.06, Y:9.76, Z:-0.35 [[ 9.99801928e-01 -1.83839514e-02 7.62458272e-03 1.15058884e+02] [ 1.83794332e-02 9.99830865e-01 6.62232497e-04 9.75775099e+00] [-7.63546759e-03 -5.21965819e-04 9.99970713e-01 -3.53245285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62140051299998 meters 0.07261106137929534 Centerline is valid? [True, True] Translation: X:115.12, Y:9.77, Z:-0.36 [[ 9.99775518e-01 -2.04828293e-02 5.41912349e-03 1.15117591e+02] [ 2.04805769e-02 9.99790140e-01 4.70799086e-04 9.76786363e+00] [-5.42762953e-03 -3.59706625e-04 9.99985206e-01 -3.57800608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68140051299999 meters 0.06888046564317415 Centerline is valid? [True, True] Translation: X:115.18, Y:9.76, Z:-0.36 [[ 9.99809037e-01 -1.83569961e-02 6.70146787e-03 1.15178909e+02] [ 1.83535071e-02 9.99831391e-01 5.81754511e-04 9.76457418e+00] [-6.71101721e-03 -4.58647980e-04 9.99977376e-01 -3.56964815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74140051299999 meters 0.06971937526673085 Centerline is valid? [True, True] Translation: X:115.24, Y:9.77, Z:-0.36 [[ 9.99839256e-01 -1.70927374e-02 5.41294498e-03 1.15239949e+02] [ 1.70904429e-02 9.99853837e-01 4.69852016e-04 9.76753497e+00] [-5.42018486e-03 -3.77266863e-04 9.99985240e-01 -3.57761600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80140051299999 meters 0.07045654716746605 Centerline is valid? [True, True] Translation: X:115.30, Y:9.77, Z:-0.36 [[ 9.99807784e-01 -1.88729405e-02 5.31097733e-03 1.15301195e+02] [ 1.88707570e-02 9.99821825e-01 4.60940242e-04 9.76629823e+00] [-5.31873035e-03 -3.60629479e-04 9.99985790e-01 -3.59307753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86140051299999 meters 0.06299624560276465 Centerline is valid? [True, True] Translation: X:115.36, Y:9.75, Z:-0.35 [[ 9.99650933e-01 -2.44362108e-02 1.00441039e-02 1.15363604e+02] [ 2.44286825e-02 9.99701195e-01 8.71549213e-04 9.75298031e+00] [-1.00624000e-02 -6.25880759e-04 9.99949177e-01 -3.54553126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921400513 meters 0.0588214620490355 Centerline is valid? [True, True] Translation: X:115.43, Y:9.74, Z:-0.36 [[ 9.99606114e-01 -2.69307411e-02 7.89629498e-03 1.15425592e+02] [ 2.69261659e-02 9.99637190e-01 6.85171464e-04 9.74293725e+00] [-7.91188230e-03 -4.72284636e-04 9.99968589e-01 -3.58180796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98140051299998 meters 0.06296331704193395 Centerline is valid? [True, True] Translation: X:115.49, Y:9.74, Z:-0.36 [[ 9.99671060e-01 -2.47340141e-02 6.78231843e-03 1.15486722e+02] [ 2.47305890e-02 9.99693979e-01 5.88425252e-04 9.74051520e+00] [-6.79479702e-03 -4.20500966e-04 9.99976827e-01 -3.61640492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04140051299999 meters 0.06636731878351619 Centerline is valid? [True, True] Translation: X:115.55, Y:9.75, Z:-0.36 [[ 9.99740051e-01 -2.13513048e-02 7.99695800e-03 1.15545424e+02] [ 2.13464370e-02 9.99771898e-01 6.93581374e-04 9.74996894e+00] [-8.00994274e-03 -5.22694519e-04 9.99967783e-01 -3.59488668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10140051299999 meters 0.07232974309355057 Centerline is valid? [True, True] Translation: X:115.61, Y:9.76, Z:-0.36 [[ 9.99877098e-01 -1.25941489e-02 9.33679616e-03 1.15605661e+02] [ 1.25871323e-02 9.99920451e-01 8.09880030e-04 9.75962598e+00] [-9.34625317e-03 -6.92257006e-04 9.99956083e-01 -3.57059735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16140051299999 meters 0.0826843910091044 Centerline is valid? [True, True] Translation: X:115.67, Y:9.78, Z:-0.36 [[ 9.99971737e-01 -2.09000195e-03 7.22195253e-03 1.15665257e+02] [ 2.08553178e-03 9.99997629e-01 6.26445335e-04 9.77606832e+00] [-7.22324468e-03 -6.11366019e-04 9.99973725e-01 -3.62722772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22140051299999 meters 0.08368804023565918 Centerline is valid? [True, True] Translation: X:115.73, Y:9.78, Z:-0.36 [[ 9.99966955e-01 1.00888494e-03 8.06670912e-03 1.15726469e+02] [-1.01456181e-03 9.99999241e-01 6.99679560e-04 9.78063427e+00] [-8.06599710e-03 -7.07840614e-04 9.99967219e-01 -3.62928428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281400513 meters 0.089286844268759 Centerline is valid? [True, True] Translation: X:115.79, Y:9.80, Z:-0.36 [[ 9.99948829e-01 1.47126399e-03 1.00087302e-02 1.15786758e+02] [-1.48002144e-03 9.99998528e-01 8.67630673e-04 9.79554955e+00] [-1.00074389e-02 -8.82399411e-04 9.99949535e-01 -3.60971012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34140051299998 meters 0.07679877682489925 Centerline is valid? [True, True] Translation: X:115.85, Y:9.79, Z:-0.36 [[ 9.99961183e-01 -8.61015345e-05 8.81051513e-03 1.15848471e+02] [ 7.93848830e-05 9.99999706e-01 7.62691805e-04 9.78579805e+00] [-8.81057821e-03 -7.61962778e-04 9.99960896e-01 -3.63458788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40140051299998 meters 0.07424069875783217 Centerline is valid? [True, True] Translation: X:115.91, Y:9.79, Z:-0.36 [[ 9.99938213e-01 -4.93184591e-03 9.96230292e-03 1.15908942e+02] [ 4.92349811e-03 9.99987508e-01 8.62289845e-04 9.78581657e+00] [-9.96643115e-03 -8.13187187e-04 9.99950003e-01 -3.62327686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46140051299999 meters 0.07372064736399919 Centerline is valid? [True, True] Translation: X:115.97, Y:9.79, Z:-0.36 [[ 9.99918553e-01 -9.05642135e-03 8.99270039e-03 1.15968592e+02] [ 9.04978515e-03 9.99958747e-01 7.78372428e-04 9.78755354e+00] [-8.99937868e-03 -6.96927025e-04 9.99959262e-01 -3.64857901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52140051299999 meters 0.07198159535232343 Centerline is valid? [True, True] Translation: X:116.03, Y:9.79, Z:-0.36 [[ 9.99897611e-01 -1.11011570e-02 9.02944821e-03 1.16029873e+02] [ 1.10945492e-02 9.99938148e-01 7.81566558e-04 9.78523274e+00] [-9.03756601e-03 -6.81308877e-04 9.99958928e-01 -3.64803153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58140051299999 meters 0.07210406447757396 Centerline is valid? [True, True] Translation: X:116.09, Y:9.79, Z:-0.36 [[ 9.99871840e-01 -1.18168801e-02 1.08011711e-02 1.16092359e+02] [ 1.18074688e-02 9.99929853e-01 9.34683007e-04 9.78749197e+00] [-1.08114585e-02 -8.07028727e-04 9.99941229e-01 -3.61704478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641400513 meters 0.08587285916632552 Centerline is valid? [True, True] Translation: X:116.15, Y:9.80, Z:-0.37 [[ 9.99955085e-01 -7.14680704e-03 6.22499651e-03 1.16150845e+02] [ 7.14359242e-03 9.99974339e-01 5.38485884e-04 9.79969869e+00] [-6.22868522e-03 -4.93992860e-04 9.99980480e-01 -3.69081448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70140051299998 meters 0.08727199970966706 Centerline is valid? [True, True] Translation: X:116.21, Y:9.81, Z:-0.37 [[ 9.99977228e-01 -2.76845087e-03 6.15452440e-03 1.16211000e+02] [ 2.76522674e-03 9.99996035e-01 5.32309854e-04 9.81234017e+00] [-6.15597367e-03 -5.15279077e-04 9.99980919e-01 -3.71465381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76140051299998 meters 0.08249663462957654 Centerline is valid? [True, True] Translation: X:116.27, Y:9.82, Z:-0.37 [[ 9.99976272e-01 5.62848901e-04 6.86573611e-03 1.16271157e+02] [-5.66938998e-04 9.99999663e-01 5.93794100e-04 9.81748089e+00] [-6.86539958e-03 -5.97672464e-04 9.99976254e-01 -3.69644058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82140051299999 meters 0.08284015947430619 Centerline is valid? [True, True] Translation: X:116.33, Y:9.83, Z:-0.37 [[ 9.99979874e-01 -6.98355555e-04 6.30594044e-03 1.16331325e+02] [ 6.94929836e-04 9.99999610e-01 5.45427415e-04 9.82542569e+00] [-6.30631888e-03 -5.41034251e-04 9.99979969e-01 -3.71366426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88140051299999 meters 0.08471089428413901 Centerline is valid? [True, True] Translation: X:116.39, Y:9.83, Z:-0.37 [[ 9.99959735e-01 -6.91227986e-03 5.72258115e-03 1.16390887e+02] [ 6.90956031e-03 9.99976006e-01 4.94866195e-04 9.83260496e+00] [-5.72586450e-03 -4.55305749e-04 9.99983503e-01 -3.73751339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94140051299999 meters 0.06987691277144249 Centerline is valid? [True, True] Translation: X:116.45, Y:9.82, Z:-0.37 [[ 9.99913715e-01 -1.18506646e-02 5.66783421e-03 1.16452371e+02] [ 1.18480752e-02 9.99929689e-01 4.90207845e-04 9.82021809e+00] [-5.67324498e-03 -4.23012622e-04 9.99983818e-01 -3.73947694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001400513 meters 0.06803006131189464 Centerline is valid? [True, True] Translation: X:116.51, Y:9.83, Z:-0.37 [[ 9.99875494e-01 -1.44021455e-02 6.44781736e-03 1.16512414e+02] [ 1.43988474e-02 9.99896176e-01 5.57640249e-04 9.82513701e+00] [-6.45517914e-03 -4.64729682e-04 9.99979057e-01 -3.73924784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061400513 meters 0.07563961118442647 Centerline is valid? [True, True] Translation: X:116.57, Y:9.84, Z:-0.37 [[ 9.99845668e-01 -1.58652909e-02 7.54531190e-03 1.16572096e+02] [ 1.58608159e-02 9.99873996e-01 6.52554588e-04 9.83763029e+00] [-7.55471413e-03 -5.32779075e-04 9.99971321e-01 -3.72810389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12140051299998 meters 0.06798119105714444 Centerline is valid? [True, True] Translation: X:116.63, Y:9.83, Z:-0.38 [[ 9.99857181e-01 -1.59609087e-02 5.55581344e-03 1.16634372e+02] [ 1.59584840e-02 9.99872540e-01 4.80471797e-04 9.83351473e+00] [-5.56277406e-03 -3.91740817e-04 9.99984451e-01 -3.77032181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18140051299999 meters 0.07575713508744417 Centerline is valid? [True, True] Translation: X:116.69, Y:9.85, Z:-0.38 [[ 9.99876823e-01 -1.45505687e-02 5.88391068e-03 1.16693102e+02] [ 1.45478267e-02 9.99894045e-01 5.08556861e-04 9.84740869e+00] [-5.89068704e-03 -4.22896105e-04 9.99982560e-01 -3.77562338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24140051299999 meters 0.07232476980581282 Centerline is valid? [True, True] Translation: X:116.75, Y:9.85, Z:-0.38 [[ 9.99903845e-01 -1.21532326e-02 6.67827201e-03 1.16753991e+02] [ 1.21496502e-02 9.99926024e-01 5.76744353e-04 9.85195383e+00] [-6.68478728e-03 -4.95550228e-04 9.99977534e-01 -3.76756303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30140051299999 meters 0.07923558285316445 Centerline is valid? [True, True] Translation: X:116.81, Y:9.87, Z:-0.38 [[ 9.99946382e-01 -9.14130617e-03 4.86517081e-03 1.16812529e+02] [ 9.13936872e-03 9.99958147e-01 4.20312624e-04 9.86729963e+00] [-4.86880939e-03 -3.75825498e-04 9.99988077e-01 -3.80848396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36140051299999 meters 0.07856224965768924 Centerline is valid? [True, True] Translation: X:116.87, Y:9.87, Z:-0.38 [[ 9.99935927e-01 -1.02876555e-02 4.72293409e-03 1.16874270e+02] [ 1.02858437e-02 9.99947016e-01 4.07748750e-04 9.86941763e+00] [-4.72687863e-03 -3.59143262e-04 9.99988764e-01 -3.82057386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421400513 meters 0.07381620655462302 Centerline is valid? [True, True] Translation: X:116.94, Y:9.86, Z:-0.38 [[ 9.99815772e-01 -1.68697133e-02 9.15609004e-03 1.16935484e+02] [ 1.68631838e-02 9.99857494e-01 7.89869425e-04 9.86217210e+00] [-9.16811011e-03 -6.35323080e-04 9.99957770e-01 -3.75569031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48140051299998 meters 0.05919058535760949 Centerline is valid? [True, True] Translation: X:117.00, Y:9.84, Z:-0.38 [[ 9.99709581e-01 -2.22147330e-02 9.34124084e-03 1.16997763e+02] [ 2.22081695e-02 9.99753043e-01 8.05792427e-04 9.84382852e+00] [-9.35683442e-03 -5.98106550e-04 9.99956045e-01 -3.75751484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54140051299999 meters 0.06696140629483344 Centerline is valid? [True, True] Translation: X:117.06, Y:9.85, Z:-0.38 [[ 9.99648694e-01 -2.51191785e-02 8.45662506e-03 1.17056760e+02] [ 2.51139031e-02 9.99684330e-01 7.29460128e-04 9.85220460e+00] [-8.47227899e-03 -5.16825002e-04 9.99963976e-01 -3.77663520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60140051299999 meters 0.06377028001958336 Centerline is valid? [True, True] Translation: X:117.12, Y:9.84, Z:-0.38 [[ 9.99748651e-01 -2.12848467e-02 7.04202540e-03 1.17118783e+02] [ 2.12810932e-02 9.99773347e-01 6.07522600e-04 9.84320021e+00] [-7.05336033e-03 -4.57507901e-04 9.99975020e-01 -3.80355944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66140051299999 meters 0.0692940624831542 Centerline is valid? [True, True] Translation: X:117.18, Y:9.85, Z:-0.38 [[ 9.99869138e-01 -1.51988472e-02 5.54088477e-03 1.17178447e+02] [ 1.51964312e-02 9.99884413e-01 4.77881503e-04 9.85110437e+00] [-5.54750757e-03 -3.93617292e-04 9.99984535e-01 -3.83305221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72140051299999 meters 0.07113710325111748 Centerline is valid? [True, True] Translation: X:117.24, Y:9.85, Z:-0.38 [[ 9.99939034e-01 -9.27610553e-03 5.99014325e-03 1.17238934e+02] [ 9.27317563e-03 9.99956870e-01 5.16709850e-04 9.85431439e+00] [-5.99467795e-03 -4.61130698e-04 9.99981925e-01 -3.82737445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781400513 meters 0.07644067996796675 Centerline is valid? [True, True] Translation: X:117.30, Y:9.86, Z:-0.38 [[ 9.99943407e-01 -8.00947731e-03 7.00214807e-03 1.17298163e+02] [ 8.00544311e-03 9.99967774e-01 6.03976251e-04 9.86357022e+00] [-7.00675995e-03 -5.47886773e-04 9.99975302e-01 -3.81931868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84140051299998 meters 0.0743500106528396 Centerline is valid? [True, True] Translation: X:117.36, Y:9.86, Z:-0.38 [[ 9.99937890e-01 -8.27428412e-03 7.46679470e-03 1.17360794e+02] [ 8.26970388e-03 9.99965598e-01 6.44081235e-04 9.85934400e+00] [-7.47186714e-03 -5.82293050e-04 9.99971916e-01 -3.81408338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90140051299998 meters 0.08549083750668154 Centerline is valid? [True, True] Translation: X:117.42, Y:9.88, Z:-0.38 [[ 9.99924958e-01 -7.78408722e-03 9.45975466e-03 1.17420810e+02] [ 7.77671876e-03 9.99969428e-01 8.15461948e-04 9.87664892e+00] [-9.46581309e-03 -7.41834903e-04 9.99954923e-01 -3.78722174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96140051299999 meters 0.07342551601534744 Centerline is valid? [True, True] Translation: X:117.48, Y:9.87, Z:-0.38 [[ 9.99926446e-01 -6.80949697e-03 1.00366250e-02 1.17483887e+02] [ 6.80115755e-03 9.99976498e-01 8.64796064e-04 9.86885639e+00] [-1.00422779e-02 -7.96471786e-04 9.99949258e-01 -3.79287480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02140051299999 meters 0.07715101908297069 Centerline is valid? [True, True] Translation: X:117.54, Y:9.87, Z:-0.38 [[ 9.99962912e-01 -1.92689219e-03 8.39413409e-03 1.17544399e+02] [ 1.92089080e-03 9.99997894e-01 7.22953994e-04 9.87411440e+00] [-8.39550947e-03 -7.06802966e-04 9.99964507e-01 -3.81243138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08140051299999 meters 0.07902947957372038 Centerline is valid? [True, True] Translation: X:117.61, Y:9.88, Z:-0.38 [[ 9.99974565e-01 7.84766112e-04 7.08897144e-03 1.17605182e+02] [-7.89113995e-04 9.99999502e-01 6.10554425e-04 9.88219835e+00] [-7.08848877e-03 -6.16132902e-04 9.99974687e-01 -3.84313225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141400513 meters 0.0900576772244275 Centerline is valid? [True, True] Translation: X:117.66, Y:9.90, Z:-0.39 [[ 9.99973962e-01 -1.13681809e-03 7.12625395e-03 1.17663882e+02] [ 1.13247382e-03 9.99999170e-01 6.13619837e-04 9.89577852e+00] [-7.12694561e-03 -6.05533564e-04 9.99974420e-01 -3.86044953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20140051299998 meters 0.0769313618437253 Centerline is valid? [True, True] Translation: X:117.73, Y:9.89, Z:-0.39 [[ 9.99975606e-01 -4.99239097e-03 4.88508040e-03 1.17725888e+02] [ 4.99039489e-03 9.99987459e-01 4.20709874e-04 9.88632782e+00] [-4.88711948e-03 -3.96321131e-04 9.99987979e-01 -3.88514318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26140051299998 meters 0.07762290262709455 Centerline is valid? [True, True] Translation: X:117.79, Y:9.89, Z:-0.39 [[ 9.99950429e-01 -9.22741534e-03 3.74092825e-03 1.17785775e+02] [ 9.22627458e-03 9.99957385e-01 3.22083022e-04 9.89008230e+00] [-3.74374083e-03 -2.87552224e-04 9.99992951e-01 -3.89558890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32140051299999 meters 0.07567680738163614 Centerline is valid? [True, True] Translation: X:117.85, Y:9.89, Z:-0.39 [[ 9.99932040e-01 -1.11421894e-02 3.43021357e-03 1.17846287e+02] [ 1.11412414e-02 9.99937891e-01 2.95378078e-04 9.89170174e+00] [-3.43329168e-03 -2.57141167e-04 9.99994073e-01 -3.90422848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38140051299999 meters 0.07283915029740812 Centerline is valid? [True, True] Translation: X:117.91, Y:9.90, Z:-0.39 [[ 9.99914574e-01 -1.22703758e-02 4.50356633e-03 1.17907406e+02] [ 1.22687525e-02 9.99924661e-01 3.87887604e-04 9.89512414e+00] [-4.50798657e-03 -3.32601328e-04 9.99989784e-01 -3.90657188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44140051299999 meters 0.06317927976909138 Centerline is valid? [True, True] Translation: X:117.97, Y:9.89, Z:-0.39 [[ 9.99815058e-01 -1.84336567e-02 5.48185138e-03 1.17968770e+02] [ 1.84313450e-02 9.99830017e-01 4.71931278e-04 9.89245523e+00] [-5.48961898e-03 -3.70806104e-04 9.99984863e-01 -3.89340194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501400513 meters 0.05874065557302294 Centerline is valid? [True, True] Translation: X:118.03, Y:9.89, Z:-0.39 [[ 9.99716591e-01 -2.34502610e-02 4.10167088e-03 1.18029650e+02] [ 2.34490087e-02 9.99724972e-01 3.53121866e-04 9.89457647e+00] [-4.10882361e-03 -2.56841671e-04 9.99991526e-01 -3.91257352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561400513 meters 0.0564203183931217 Centerline is valid? [True, True] Translation: X:118.09, Y:9.90, Z:-0.39 [[ 9.99625983e-01 -2.70154211e-02 4.24988938e-03 1.18090616e+02] [ 2.70141093e-02 9.99634985e-01 3.65779551e-04 9.89601621e+00] [-4.25821980e-03 -2.50835767e-04 9.99990902e-01 -3.90299269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62140051299998 meters 0.05687794571077397 Centerline is valid? [True, True] Translation: X:118.15, Y:9.90, Z:-0.39 [[ 9.99620259e-01 -2.67376548e-02 6.66601715e-03 1.18150373e+02] [ 2.67344209e-02 9.99642407e-01 5.73779921e-04 9.90298771e+00] [-6.67897496e-03 -3.95349925e-04 9.99977617e-01 -3.88348316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68140051299999 meters 0.06341684318809045 Centerline is valid? [True, True] Translation: X:118.21, Y:9.91, Z:-0.39 [[ 9.99613030e-01 -2.66352354e-02 8.02208040e-03 1.18211756e+02] [ 2.66305486e-02 9.99645106e-01 6.90503701e-04 9.90743161e+00] [-8.03762513e-03 -4.76604095e-04 9.99967584e-01 -3.86772183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74140051299999 meters 0.06122138861595832 Centerline is valid? [True, True] Translation: X:118.27, Y:9.91, Z:-0.39 [[ 9.99624884e-01 -2.61359578e-02 8.18556445e-03 1.18271860e+02] [ 2.61310630e-02 9.99658277e-01 7.04381051e-04 9.91353363e+00] [-8.20117693e-03 -4.90219326e-04 9.99966250e-01 -3.86016342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80140051299999 meters 0.059324203768811826 Centerline is valid? [True, True] Translation: X:118.33, Y:9.91, Z:-0.39 [[ 9.99663373e-01 -2.50608001e-02 6.71538908e-03 1.18333520e+02] [ 2.50574818e-02 9.99685845e-01 5.77824298e-04 9.91465153e+00] [-6.72776014e-03 -4.09359048e-04 9.99977285e-01 -3.89681945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86140051299999 meters 0.06521411973470907 Centerline is valid? [True, True] Translation: X:118.39, Y:9.92, Z:-0.39 [[ 9.99704735e-01 -2.26106044e-02 8.89968446e-03 1.18393559e+02] [ 2.26046819e-02 9.99744188e-01 7.65512285e-04 9.92268465e+00] [-8.91471652e-03 -5.64111719e-04 9.99960104e-01 -3.85368715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921400513 meters 0.0648299956253139 Centerline is valid? [True, True] Translation: X:118.45, Y:9.93, Z:-0.38 [[ 9.99750368e-01 -1.99938135e-02 9.97237357e-03 1.18454068e+02] [ 1.99862487e-02 9.99799887e-01 8.57658939e-04 9.93207308e+00] [-9.98752585e-03 -6.58134502e-04 9.99949907e-01 -3.83738047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98140051299998 meters 0.0654132424526367 Centerline is valid? [True, True] Translation: X:118.51, Y:9.94, Z:-0.39 [[ 9.99835623e-01 -1.62449772e-02 8.05150483e-03 1.18514805e+02] [ 1.62399258e-02 9.99867884e-01 6.92366278e-04 9.93914781e+00] [-8.06168858e-03 -5.61496627e-04 9.99967346e-01 -3.88183934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04140051299999 meters 0.07573899238798884 Centerline is valid? [True, True] Translation: X:118.57, Y:9.96, Z:-0.39 [[ 9.99880600e-01 -1.34478625e-02 7.61189422e-03 1.18572621e+02] [ 1.34432682e-02 9.99909421e-01 6.54416377e-04 9.95860239e+00] [-7.62000524e-03 -5.52009504e-04 9.99970815e-01 -3.90370348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10140051299999 meters 0.07717251213548293 Centerline is valid? [True, True] Translation: X:118.63, Y:9.96, Z:-0.39 [[ 9.99865407e-01 -1.52172345e-02 6.13217664e-03 1.18632222e+02] [ 1.52142855e-02 9.99884117e-01 5.27264553e-04 9.96484034e+00] [-6.13948954e-03 -4.33896901e-04 9.99981059e-01 -3.94316216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16140051299999 meters 0.06678993253402307 Centerline is valid? [True, True] Translation: X:118.69, Y:9.95, Z:-0.40 [[ 9.99860756e-01 -1.58440305e-02 5.23779452e-03 1.18694585e+02] [ 1.58418872e-02 9.99874408e-01 4.50427848e-04 9.95427754e+00] [-5.24427329e-03 -3.67388579e-04 9.99986181e-01 -3.96009496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22140051299999 meters 0.06996030530025768 Centerline is valid? [True, True] Translation: X:118.76, Y:9.96, Z:-0.39 [[ 9.99877355e-01 -1.43063090e-02 6.37214432e-03 1.18755379e+02] [ 1.43031071e-02 9.99897555e-01 5.47768061e-04 9.96119199e+00] [-6.37932806e-03 -4.56559417e-04 9.99979548e-01 -3.94533142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281400513 meters 0.0770634160274672 Centerline is valid? [True, True] Translation: X:118.81, Y:9.97, Z:-0.39 [[ 9.99893449e-01 -1.20625247e-02 8.22102576e-03 1.18814490e+02] [ 1.20571207e-02 9.99927061e-01 7.06584940e-04 9.97412265e+00] [-8.22894932e-03 -6.07387752e-04 9.99965957e-01 -3.92584868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34140051299998 meters 0.07825172438136123 Centerline is valid? [True, True] Translation: X:118.88, Y:9.98, Z:-0.40 [[ 9.99934125e-01 -9.64955058e-03 6.21547136e-03 1.18875285e+02] [ 9.64641496e-03 9.99953330e-01 5.34268996e-04 9.97509751e+00] [-6.22033674e-03 -4.74276785e-04 9.99980541e-01 -3.97338548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40140051299998 meters 0.07889284750380611 Centerline is valid? [True, True] Translation: X:118.94, Y:9.97, Z:-0.40 [[ 9.99934573e-01 -9.87939299e-03 5.76610126e-03 1.18937497e+02] [ 9.87669768e-03 9.99951101e-01 4.95728383e-04 9.97336427e+00] [-5.77071680e-03 -4.38745910e-04 9.99983253e-01 -3.98385888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46140051299999 meters 0.0803445720897393 Centerline is valid? [True, True] Translation: X:119.00, Y:9.97, Z:-0.40 [[ 9.99962645e-01 -7.81049658e-03 3.70190711e-03 1.18998434e+02] [ 7.80937237e-03 9.99969456e-01 3.18042178e-04 9.97423391e+00] [-3.70427811e-03 -2.89120727e-04 9.99993097e-01 -4.01690826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52140051299999 meters 0.0815142802597107 Centerline is valid? [True, True] Translation: X:119.06, Y:9.98, Z:-0.41 [[ 9.99996365e-01 -1.34276920e-03 2.33818673e-03 1.19058535e+02] [ 1.34230313e-03 9.99999079e-01 2.00887440e-04 9.97852017e+00] [-2.33845432e-03 -1.97748154e-04 9.99997246e-01 -4.05031251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58140051299999 meters 0.08996863261745562 Centerline is valid? [True, True] Translation: X:119.12, Y:9.99, Z:-0.40 [[ 9.99988323e-01 2.91504527e-03 3.85430920e-03 1.19117315e+02] [-2.91634308e-03 9.99995693e-01 3.31139062e-04 9.99319409e+00] [-3.85332731e-03 -3.42375683e-04 9.99992517e-01 -4.03792507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641400513 meters 0.10001189678031719 Centerline is valid? [True, False] Translation: X:119.12, Y:9.99, Z:-0.40 [[ 9.99988262e-01 2.93828941e-03 3.85261948e-03 1.19117432e+02] [-2.93982897e-03 9.99995601e-01 3.94012462e-04 9.99288454e+00] [-3.85144481e-03 -4.05333880e-04 9.99992501e-01 -4.04045165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70140051299998 meters 0.08034040018377078 Centerline is valid? [False, True] Translation: X:119.12, Y:9.99, Z:-0.40 [[ 9.99988307e-01 3.04839564e-03 3.75419950e-03 1.19117476e+02] [-3.05132912e-03 9.99995044e-01 7.75906792e-04 9.99129583e+00] [-3.75181563e-03 -7.87353017e-04 9.99992652e-01 -4.03218172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76140051299998 meters 0.07808667922290728 Centerline is valid? [True, True] Translation: X:119.18, Y:10.00, Z:-0.40 [[ 9.99982954e-01 1.16482405e-03 5.72140069e-03 1.19178173e+02] [-1.16752837e-03 9.99999208e-01 4.69349785e-04 9.99510102e+00] [-5.72084945e-03 -4.76021682e-04 9.99983523e-01 -4.00487393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82140051299999 meters 0.07705953714355701 Centerline is valid? [True, True] Translation: X:119.24, Y:10.00, Z:-0.40 [[ 9.99988879e-01 1.61078427e-03 4.43255326e-03 1.19239522e+02] [-1.61241375e-03 9.99998634e-01 3.64066522e-04 1.00021320e+01] [-4.43196078e-03 -3.71209583e-04 9.99990110e-01 -4.01954723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88140051299999 meters 0.08165839591207424 Centerline is valid? [True, True] Translation: X:119.30, Y:10.02, Z:-0.41 [[ 9.99996930e-01 1.88108496e-03 1.61277066e-03 1.19299368e+02] [-1.88130179e-03 9.99998222e-01 1.32943152e-04 1.00162323e+01] [-1.61251772e-03 -1.35976853e-04 9.99998691e-01 -4.06941698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94140051299999 meters 0.08018822488827272 Centerline is valid? [True, True] Translation: X:119.36, Y:10.03, Z:-0.41 [[ 9.99998758e-01 -2.52724494e-04 1.55555367e-03 1.19359530e+02] [ 2.52527027e-04 9.99999960e-01 1.27138059e-04 1.00252848e+01] [-1.55558574e-03 -1.26745082e-04 9.99998782e-01 -4.07861258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001400513 meters 0.07691259161105385 Centerline is valid? [True, True] Translation: X:119.42, Y:10.03, Z:-0.41 [[ 9.99970686e-01 -6.99717934e-03 3.10917492e-03 1.19418761e+02] [ 6.99642308e-03 9.99975492e-01 2.54046517e-04 1.00317727e+01] [-3.11087633e-03 -2.32285967e-04 9.99995134e-01 -4.05685274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061400513 meters 0.06570347972327596 Centerline is valid? [True, True] Translation: X:119.48, Y:10.02, Z:-0.40 [[ 9.99914593e-01 -1.24998627e-02 3.81575141e-03 1.19480632e+02] [ 1.24987631e-02 9.99921839e-01 3.11895701e-04 1.00216435e+01] [-3.81935182e-03 -2.64176890e-04 9.99992671e-01 -4.04509499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12140051299998 meters 0.05869730658535226 Centerline is valid? [True, True] Translation: X:119.54, Y:10.02, Z:-0.40 [[ 9.99847363e-01 -1.65647910e-02 5.55511641e-03 1.19541967e+02] [ 1.65625230e-02 9.99862729e-01 4.54023471e-04 1.00157496e+01] [-5.56187466e-03 -3.61947427e-04 9.99984467e-01 -4.03317902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18140051299999 meters 0.06693055566940988 Centerline is valid? [True, True] Translation: X:119.60, Y:10.02, Z:-0.40 [[ 9.99837385e-01 -1.72532754e-02 5.24669778e-03 1.19601911e+02] [ 1.72512615e-02 9.99851094e-01 4.28852036e-04 1.00244276e+01] [-5.25331562e-03 -3.38270142e-04 9.99986144e-01 -4.03690375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24140051299999 meters 0.06710196823170989 Centerline is valid? [True, True] Translation: X:119.66, Y:10.03, Z:-0.41 [[ 9.99910302e-01 -1.29643604e-02 3.36348390e-03 1.19662806e+02] [ 1.29635088e-02 9.99915932e-01 2.74873320e-04 1.00250175e+01] [-3.36676469e-03 -2.31246112e-04 9.99994306e-01 -4.06029802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30140051299999 meters 0.08100662203522488 Centerline is valid? [True, True] Translation: X:119.72, Y:10.05, Z:-0.40 [[ 9.99965413e-01 -4.99085505e-03 6.65310899e-03 1.19720702e+02] [ 4.98734756e-03 9.99987415e-01 5.43682431e-04 1.00510403e+01] [-6.65573871e-03 -5.10482260e-04 9.99977720e-01 -4.01420532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36140051299999 meters 0.08508652205413199 Centerline is valid? [True, True] Translation: X:119.78, Y:10.06, Z:-0.40 [[ 9.99984326e-01 -1.91387798e-03 5.26173162e-03 1.19781158e+02] [ 1.91164167e-03 9.99998080e-01 4.30009652e-04 1.00612359e+01] [-5.26254451e-03 -4.19944367e-04 9.99986065e-01 -4.04927598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421400513 meters 0.08284845875761145 Centerline is valid? [True, True] Translation: X:119.84, Y:10.06, Z:-0.41 [[ 9.99995766e-01 -1.84514915e-03 2.25006698e-03 1.19843779e+02] [ 1.84473964e-03 9.99998282e-01 1.84062482e-04 1.00613304e+01] [-2.25040273e-03 -1.79910915e-04 9.99997452e-01 -4.10512240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48140051299998 meters 0.07447019130307715 Centerline is valid? [True, True] Translation: X:119.91, Y:10.06, Z:-0.41 [[ 9.99996729e-01 -1.75783011e-03 1.85801573e-03 1.19906353e+02] [ 1.75755074e-03 9.99998444e-01 1.51978798e-04 1.00568607e+01] [-1.85827999e-03 -1.48712744e-04 9.99998262e-01 -4.10650045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54140051299999 meters 0.07525039599704694 Centerline is valid? [True, True] Translation: X:119.97, Y:10.07, Z:-0.41 [[ 9.99991081e-01 1.75231741e-03 3.84295041e-03 1.19966381e+02] [-1.75353549e-03 9.99998413e-01 3.13617726e-04 1.00659145e+01] [-3.84239475e-03 -3.20353678e-04 9.99992567e-01 -4.08507642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60140051299999 meters 0.09508252898301822 Centerline is valid? [True, True] Translation: X:120.02, Y:10.10, Z:-0.41 [[ 9.99959221e-01 8.25848291e-03 3.65438470e-03 1.20022734e+02] [-8.25962800e-03 9.99965844e-01 2.98365514e-04 1.01019292e+01] [-3.65179584e-03 -3.28537205e-04 9.99993278e-01 -4.10263427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66140051299999 meters 0.08122607352548974 Centerline is valid? [True, True] Translation: X:120.08, Y:10.10, Z:-0.41 [[ 9.99950041e-01 9.57228499e-03 2.87875953e-03 1.20084410e+02] [-9.57300048e-03 9.99954150e-01 2.34865116e-04 1.00967133e+01] [-2.87637934e-03 -2.62411748e-04 9.99995829e-01 -4.10561485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72140051299999 meters 0.08401993324218414 Centerline is valid? [True, True] Translation: X:120.14, Y:10.11, Z:-0.41 [[ 9.99995427e-01 1.26895061e-03 2.74501612e-03 1.20142736e+02] [-1.26956988e-03 9.99999169e-01 2.23866309e-04 1.01095160e+01] [-2.74472977e-03 -2.27350275e-04 9.99996207e-01 -4.12265851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781400513 meters 0.0681975383319163 Centerline is valid? [True, True] Translation: X:120.21, Y:10.09, Z:-0.41 [[ 9.99948341e-01 -9.44010006e-03 3.76816772e-03 1.20205338e+02] [ 9.43900855e-03 9.99955404e-01 3.07345341e-04 1.00933264e+01] [-3.77090104e-03 -2.71761697e-04 9.99992853e-01 -4.10678635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84140051299998 meters 0.06143230546563596 Centerline is valid? [True, True] Translation: X:120.27, Y:10.09, Z:-0.41 [[ 9.99793530e-01 -2.00445258e-02 3.33381470e-03 1.20265849e+02] [ 2.00437303e-02 9.99799067e-01 2.71861766e-04 1.00871591e+01] [-3.33859417e-03 -2.04983552e-04 9.99994406e-01 -4.11256453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90140051299998 meters 0.053420203064750156 Centerline is valid? [True, True] Translation: X:120.33, Y:10.08, Z:-0.41 [[ 9.99594735e-01 -2.83054300e-02 3.02783336e-03 1.20327785e+02] [ 2.83048116e-02 9.99599308e-01 2.46907217e-04 1.00774182e+01] [-3.03360894e-03 -1.61104901e-04 9.99995386e-01 -4.11599421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96140051299999 meters 0.054953823852711615 Centerline is valid? [True, True] Translation: X:120.39, Y:10.07, Z:-0.41 [[ 9.99522997e-01 -3.06726603e-02 3.60091750e-03 1.20387081e+02] [ 3.06718013e-02 9.99529467e-01 2.93549848e-04 1.00736432e+01] [-3.60822710e-03 -1.82963198e-04 9.99993474e-01 -4.11525680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02140051299999 meters 0.054782200753136556 Centerline is valid? [True, True] Translation: X:120.45, Y:10.06, Z:-0.41 [[ 9.99537940e-01 -3.00298101e-02 4.70288364e-03 1.20446738e+02] [ 3.00283389e-02 9.99548974e-01 3.83132454e-04 1.00638712e+01] [-4.71226792e-03 -2.41735640e-04 9.99988868e-01 -4.08891765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08140051299999 meters 0.05571374747313065 Centerline is valid? [True, True] Translation: X:120.51, Y:10.07, Z:-0.41 [[ 9.99632694e-01 -2.69366505e-02 2.98241641e-03 1.20506361e+02] [ 2.69360429e-02 9.99637129e-01 2.43703427e-04 1.00680570e+01] [-2.98789874e-03 -1.63279416e-04 9.99995523e-01 -4.10600152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141400513 meters 0.0626109716237275 Centerline is valid? [True, True] Translation: X:120.57, Y:10.07, Z:-0.41 [[ 9.99804355e-01 -1.95877356e-02 2.75186075e-03 1.20567253e+02] [ 1.95871903e-02 9.99808127e-01 2.24981308e-04 1.00689263e+01] [-2.75573962e-03 -1.71036071e-04 9.99996188e-01 -4.11396729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20140051299998 meters 0.06554197617827333 Centerline is valid? [True, True] Translation: X:120.63, Y:10.08, Z:-0.41 [[ 9.99930528e-01 -1.11804356e-02 3.73312869e-03 1.20626623e+02] [ 1.11793738e-02 9.99937462e-01 3.05189509e-04 1.00837921e+01] [-3.73630738e-03 -2.63434266e-04 9.99992985e-01 -4.12097817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26140051299998 meters 0.07510091349810787 Centerline is valid? [True, True] Translation: X:120.69, Y:10.10, Z:-0.41 [[ 9.99987653e-01 -3.68255401e-03 3.33664399e-03 1.20685121e+02] [ 3.68166412e-03 9.99993185e-01 2.72807145e-04 1.00988068e+01] [-3.33762588e-03 -2.60519374e-04 9.99994396e-01 -4.12419944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32140051299999 meters 0.08037034489894151 Centerline is valid? [True, True] Translation: X:120.74, Y:10.11, Z:-0.41 [[ 9.99996557e-01 -1.69968985e-03 1.99933436e-03 1.20743731e+02] [ 1.69936656e-03 9.99998543e-01 1.63390184e-04 1.01126617e+01] [-1.99960915e-03 -1.59992019e-04 9.99997988e-01 -4.14404318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38140051299999 meters 0.08791977683243295 Centerline is valid? [True, True] Translation: X:120.80, Y:10.13, Z:-0.41 [[ 9.99975296e-01 -6.00118269e-03 3.65956415e-03 1.20802176e+02] [ 6.00012784e-03 9.99981954e-01 2.99155658e-04 1.01299392e+01] [-3.66129340e-03 -2.77190415e-04 9.99993259e-01 -4.14691375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44140051299999 meters 0.07020608116467979 Centerline is valid? [True, True] Translation: X:120.86, Y:10.11, Z:-0.41 [[ 9.99962961e-01 -7.82885278e-03 3.57577927e-03 1.20864442e+02] [ 7.82785683e-03 9.99969319e-01 2.92437848e-04 1.01120422e+01] [-3.57795901e-03 -2.64436328e-04 9.99993564e-01 -4.13396450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501400513 meters 0.08198982475399426 Centerline is valid? [True, True] Translation: X:120.92, Y:10.13, Z:-0.42 [[ 9.99972277e-01 -7.20661743e-03 1.87372272e-03 1.20924631e+02] [ 7.20634262e-03 9.99974022e-01 1.53376280e-04 1.01270817e+01] [-1.87477937e-03 -1.39869340e-04 9.99998233e-01 -4.16343261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561400513 meters 0.07947458724609865 Centerline is valid? [True, True] Translation: X:120.99, Y:10.13, Z:-0.41 [[ 9.99983992e-01 -5.02202610e-03 2.60656072e-03 1.20985179e+02] [ 5.02148784e-03 9.99987370e-01 2.13002663e-04 1.01323116e+01] [-2.60759750e-03 -1.99910441e-04 9.99996580e-01 -4.14718082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62140051299998 meters 0.08042139941019869 Centerline is valid? [True, True] Translation: X:121.04, Y:10.14, Z:-0.41 [[ 9.99964535e-01 -1.68171742e-03 8.25232948e-03 1.21044743e+02] [ 1.66728053e-03 9.99997068e-01 1.75600023e-03 1.01379461e+01] [-8.25525838e-03 -1.74217900e-03 9.99964407e-01 -4.06119238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68140051299999 meters 0.07225586924748548 Centerline is valid? [True, True] Translation: X:121.11, Y:10.14, Z:-0.41 [[ 9.99967631e-01 -2.40380014e-03 7.67845849e-03 1.21107172e+02] [ 2.40657334e-03 9.99997042e-01 -3.51947067e-04 1.01377505e+01] [-7.67758977e-03 3.70414448e-04 9.99970458e-01 -4.08936290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74140051299999 meters 0.07615145450519527 Centerline is valid? [True, True] Translation: X:121.17, Y:10.14, Z:-0.41 [[ 9.99976686e-01 -3.56434039e-03 5.82441359e-03 1.21168703e+02] [ 3.56162993e-03 9.99993544e-01 4.75667671e-04 1.01433314e+01] [-5.82607143e-03 -4.54912175e-04 9.99982925e-01 -4.12287949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80140051299999 meters 0.07427616102640693 Centerline is valid? [True, True] Translation: X:121.23, Y:10.15, Z:-0.41 [[ 9.99975088e-01 -5.88852581e-03 3.89204534e-03 1.21228253e+02] [ 5.88733415e-03 9.99982619e-01 3.17565486e-04 1.01491641e+01] [-3.89384768e-03 -2.94643803e-04 9.99992376e-01 -4.13303117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86140051299999 meters 0.07064056605887482 Centerline is valid? [True, True] Translation: X:121.29, Y:10.15, Z:-0.41 [[ 9.99978842e-01 -5.38340688e-03 3.65170785e-03 1.21290581e+02] [ 5.38235358e-03 9.99985471e-01 2.98205608e-04 1.01529139e+01] [-3.65326016e-03 -2.78544516e-04 9.99993288e-01 -4.12881766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921400513 meters 0.07187730767751722 Centerline is valid? [True, True] Translation: X:121.35, Y:10.16, Z:-0.41 [[ 9.99978196e-01 -4.56063490e-03 4.77581686e-03 1.21352120e+02] [ 4.55882558e-03 9.99989533e-01 3.89667458e-04 1.01621370e+01] [-4.77754400e-03 -3.67886845e-04 9.99988520e-01 -4.13907112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98140051299998 meters 0.06727853937361873 Centerline is valid? [True, True] Translation: X:121.41, Y:10.16, Z:-0.41 [[ 9.99967584e-01 -4.32885112e-03 6.78907592e-03 1.21414303e+02] [ 4.32519264e-03 9.99990493e-01 5.53467385e-04 1.01629205e+01] [-6.79140726e-03 -5.24085383e-04 9.99976801e-01 -4.11051114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04140051299999 meters 0.07250363636690117 Centerline is valid? [True, True] Translation: X:121.47, Y:10.18, Z:-0.41 [[ 9.99977074e-01 -4.02548391e-03 5.44483818e-03 1.21474700e+02] [ 4.02312749e-03 9.99991809e-01 4.43664912e-04 1.01768404e+01] [-5.44657955e-03 -4.21749463e-04 9.99985078e-01 -4.13066517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10140051299999 meters 0.07999196044708629 Centerline is valid? [True, True] Translation: X:121.53, Y:10.19, Z:-0.41 [[ 9.99974810e-01 -4.84159784e-03 5.19020760e-03 1.21534099e+02] [ 4.83946879e-03 9.99988200e-01 4.22685819e-04 1.01930126e+01] [-5.19219284e-03 -3.97557323e-04 9.99986441e-01 -4.14418051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16140051299999 meters 0.06876170190375623 Centerline is valid? [True, True] Translation: X:121.60, Y:10.19, Z:-0.42 [[ 9.99960407e-01 -8.01630201e-03 3.86319226e-03 1.21595678e+02] [ 8.01514613e-03 9.99967829e-01 3.14591018e-04 1.01862157e+01] [-3.86558983e-03 -2.83614511e-04 9.99992488e-01 -4.17255006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22140051299999 meters 0.0676824869115736 Centerline is valid? [True, True] Translation: X:121.66, Y:10.19, Z:-0.42 [[ 9.99943538e-01 -1.05842237e-02 9.45622602e-04 1.21656711e+02] [ 1.05841556e-02 9.99943983e-01 7.70084958e-05 1.01880060e+01] [-9.46384707e-04 -6.69955311e-05 9.99999550e-01 -4.21653010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281400513 meters 0.061825977519229816 Centerline is valid? [True, True] Translation: X:121.72, Y:10.19, Z:-0.42 [[ 9.99912405e-01 -1.31968629e-02 1.01206998e-03 1.21717256e+02] [ 1.31967862e-02 9.99912915e-01 8.23741141e-05 1.01863893e+01] [-1.01306893e-03 -6.90108273e-05 9.99999484e-01 -4.21347601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34140051299998 meters 0.0676826525748671 Centerline is valid? [True, True] Translation: X:121.78, Y:10.20, Z:-0.42 [[ 9.99825421e-01 -1.80864989e-02 4.69098413e-03 1.21775577e+02] [ 1.80849056e-02 9.99836382e-01 3.81853819e-04 1.01977994e+01] [-4.69712300e-03 -2.96951150e-04 9.99988924e-01 -4.18261667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40140051299998 meters 0.058352061042540364 Centerline is valid? [True, True] Translation: X:121.84, Y:10.19, Z:-0.42 [[ 9.99770032e-01 -2.10177930e-02 4.25849232e-03 1.21837379e+02] [ 2.10165060e-02 9.99779069e-01 3.46747521e-04 1.01882906e+01] [-4.26483935e-03 -2.57169151e-04 9.99990872e-01 -4.18055351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46140051299999 meters 0.055788569612737045 Centerline is valid? [True, True] Translation: X:121.90, Y:10.19, Z:-0.42 [[ 9.99731577e-01 -2.30466617e-02 2.37170700e-03 1.21897575e+02] [ 2.30462686e-02 9.99734381e-01 1.92948808e-04 1.01896129e+01] [-2.37552385e-03 -1.38238019e-04 9.99997169e-01 -4.21270047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52140051299999 meters 0.06323414929787527 Centerline is valid? [True, True] Translation: X:121.96, Y:10.20, Z:-0.42 [[ 9.99764009e-01 -2.12618247e-02 4.45650280e-03 1.21955260e+02] [ 2.12604176e-02 9.99773906e-01 3.62878564e-04 1.02044932e+01] [-4.46321068e-03 -2.68045818e-04 9.99990004e-01 -4.19701872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58140051299999 meters 0.06731585486362053 Centerline is valid? [True, True] Translation: X:122.01, Y:10.22, Z:-0.42 [[ 9.99850916e-01 -1.67574642e-02 4.16331171e-03 1.22014416e+02] [ 1.67561963e-02 9.99859548e-01 3.39217663e-04 1.02162342e+01] [-4.16841139e-03 -2.69405823e-04 9.99991276e-01 -4.20051650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641400513 meters 0.06949297395627826 Centerline is valid? [True, True] Translation: X:122.07, Y:10.23, Z:-0.42 [[ 9.99950471e-01 -9.24364851e-03 3.68913814e-03 1.22073953e+02] [ 9.24260199e-03 9.99957241e-01 3.00623400e-04 1.02292199e+01] [-3.69175926e-03 -2.66511275e-04 9.99993150e-01 -4.20971501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70140051299998 meters 0.07811464996047358 Centerline is valid? [True, True] Translation: X:122.13, Y:10.25, Z:-0.42 [[ 9.99968473e-01 -6.32183911e-03 4.80501637e-03 1.22132228e+02] [ 6.32002998e-03 9.99979952e-01 3.91598697e-04 1.02499822e+01] [-4.80739567e-03 -3.61218503e-04 9.99988379e-01 -4.21839749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76140051299998 meters 0.07086593370276338 Centerline is valid? [True, True] Translation: X:122.19, Y:10.25, Z:-0.42 [[ 9.99977532e-01 -5.48557706e-03 3.85273652e-03 1.22194578e+02] [ 5.48440689e-03 9.99984911e-01 3.14224319e-04 1.02499539e+01] [-3.85440209e-03 -2.93087284e-04 9.99992529e-01 -4.24023924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82140051299999 meters 0.07472658214292627 Centerline is valid? [True, True] Translation: X:122.25, Y:10.26, Z:-0.42 [[ 9.99949814e-01 -7.90373752e-03 6.15640407e-03 1.22253211e+02] [ 7.90079876e-03 9.99968662e-01 5.01525184e-04 1.02604819e+01] [-6.16017506e-03 -4.52859505e-04 9.99980923e-01 -4.20864148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88140051299999 meters 0.07525831679968532 Centerline is valid? [True, True] Translation: X:122.31, Y:10.26, Z:-0.42 [[ 9.99939989e-01 -9.31819136e-03 5.76110884e-03 1.22312346e+02] [ 9.31564035e-03 9.99956498e-01 4.69474692e-04 1.02646294e+01] [-5.76523288e-03 -4.15778100e-04 9.99983294e-01 -4.20765492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94140051299999 meters 0.06744812672506392 Centerline is valid? [True, True] Translation: X:122.37, Y:10.26, Z:-0.42 [[ 9.99939314e-01 -1.02623486e-02 4.00647829e-03 1.22374382e+02] [ 1.02611229e-02 9.99947300e-01 3.26350462e-04 1.02595936e+01] [-4.00961628e-03 -2.85219691e-04 9.99991921e-01 -4.23808637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001400513 meters 0.06713557608562219 Centerline is valid? [True, True] Translation: X:122.44, Y:10.27, Z:-0.43 [[ 9.99946805e-01 -9.66645060e-03 3.59823841e-03 1.22435538e+02] [ 9.66545841e-03 9.99953245e-01 2.93031455e-04 1.02652700e+01] [-3.60090275e-03 -2.58237243e-04 9.99993483e-01 -4.26379216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061400513 meters 0.07205568003961985 Centerline is valid? [True, True] Translation: X:122.50, Y:10.28, Z:-0.43 [[ 9.99954625e-01 -8.40887896e-03 4.47657126e-03 1.22495337e+02] [ 8.40733155e-03 9.99964591e-01 3.64375313e-04 1.02759549e+01] [-4.47947674e-03 -3.26722760e-04 9.99989914e-01 -4.25275513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12140051299998 meters 0.07726125482695896 Centerline is valid? [True, True] Translation: X:122.55, Y:10.29, Z:-0.42 [[ 9.99966306e-01 -6.56424524e-03 4.92924359e-03 1.22554763e+02] [ 6.56234724e-03 9.99978387e-01 4.01123940e-04 1.02877812e+01] [-4.93177013e-03 -3.68763016e-04 9.99987771e-01 -4.24266238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18140051299999 meters 0.08252478648731758 Centerline is valid? [True, True] Translation: X:122.61, Y:10.30, Z:-0.42 [[ 9.99973943e-01 -4.36867721e-03 5.74692345e-03 1.22614025e+02] [ 4.36606110e-03 9.99990359e-01 4.67686373e-04 1.02965977e+01] [-5.74891122e-03 -4.42582768e-04 9.99983377e-01 -4.23122175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24140051299999 meters 0.07610053550047938 Centerline is valid? [True, True] Translation: X:122.68, Y:10.29, Z:-0.42 [[ 9.99965754e-01 -4.78679811e-03 6.75105972e-03 1.22677007e+02] [ 4.78319786e-03 9.99988410e-01 5.49331341e-04 1.02932997e+01] [-6.75361101e-03 -5.17020874e-04 9.99977060e-01 -4.21689688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30140051299999 meters 0.07053533508174525 Centerline is valid? [True, True] Translation: X:122.74, Y:10.29, Z:-0.42 [[ 9.99965311e-01 -6.14171251e-03 5.62645641e-03 1.22739107e+02] [ 6.13923442e-03 9.99981050e-01 4.57601531e-04 1.02917771e+01] [-5.62916025e-03 -4.23043522e-04 9.99984067e-01 -4.23911036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36140051299999 meters 0.06817233918696099 Centerline is valid? [True, True] Translation: X:122.80, Y:10.29, Z:-0.42 [[ 9.99955337e-01 -7.54364787e-03 5.69362348e-03 1.22800956e+02] [ 7.54113385e-03 9.99971458e-01 4.62889152e-04 1.02946860e+01] [-5.69695285e-03 -4.19932102e-04 9.99983684e-01 -4.24222372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421400513 meters 0.07440293869470764 Centerline is valid? [True, True] Translation: X:122.86, Y:10.31, Z:-0.42 [[ 9.99949326e-01 -7.95143875e-03 6.17410295e-03 1.22861946e+02] [ 7.94849232e-03 9.99968284e-01 5.01615053e-04 1.03065233e+01] [-6.17789570e-03 -4.52514824e-04 9.99980814e-01 -4.23305316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48140051299998 meters 0.06956960830899445 Centerline is valid? [True, True] Translation: X:122.92, Y:10.31, Z:-0.42 [[ 9.99963481e-01 -6.96523063e-03 4.95206022e-03 1.22923585e+02] [ 6.96332424e-03 9.99975675e-01 4.02106813e-04 1.03087161e+01] [-4.95474053e-03 -3.67609328e-04 9.99987658e-01 -4.24770568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54140051299999 meters 0.06940334327244635 Centerline is valid? [True, True] Translation: X:122.99, Y:10.32, Z:-0.43 [[ 9.99966567e-01 -6.38441486e-03 5.10915271e-03 1.22985170e+02] [ 6.38237840e-03 9.99979546e-01 4.14795797e-04 1.03196899e+01] [-5.11169644e-03 -3.82173383e-04 9.99986862e-01 -4.26153781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60140051299999 meters 0.07587627071630322 Centerline is valid? [True, True] Translation: X:123.04, Y:10.33, Z:-0.43 [[ 9.99936229e-01 -9.95809954e-03 5.32674933e-03 1.23043746e+02] [ 9.95593849e-03 9.99950345e-01 4.32060712e-04 1.03339037e+01] [-5.33078734e-03 -3.79000370e-04 9.99985719e-01 -4.26914016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66140051299999 meters 0.07540380599490698 Centerline is valid? [True, True] Translation: X:123.10, Y:10.34, Z:-0.43 [[ 9.99916332e-01 -1.18335213e-02 5.22467520e-03 1.23104660e+02] [ 1.18314672e-02 9.99929916e-01 4.23900893e-04 1.03403809e+01] [-5.22932527e-03 -3.62049853e-04 9.99986261e-01 -4.27588504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72140051299999 meters 0.06547327315307955 Centerline is valid? [True, True] Translation: X:123.17, Y:10.33, Z:-0.43 [[ 9.99894876e-01 -1.37338730e-02 4.64953436e-03 1.23166121e+02] [ 1.37322668e-02 9.99905637e-01 3.77196869e-04 1.03348147e+01] [-4.65427599e-03 -3.13308570e-04 9.99989120e-01 -4.28151497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781400513 meters 0.07155778759511328 Centerline is valid? [True, True] Translation: X:123.22, Y:10.35, Z:-0.43 [[ 9.99918215e-01 -1.18179621e-02 4.88863799e-03 1.23224787e+02] [ 1.18161641e-02 9.99930108e-01 3.96500138e-04 1.03530971e+01] [-4.89298214e-03 -3.38702761e-04 9.99987972e-01 -4.27394141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84140051299998 meters 0.0747068959536793 Centerline is valid? [True, True] Translation: X:123.28, Y:10.37, Z:-0.43 [[ 9.99947219e-01 -9.06946992e-03 4.82736559e-03 1.23284788e+02] [ 9.06768488e-03 9.99958811e-01 3.91533936e-04 1.03659957e+01] [-4.83071776e-03 -3.47740240e-04 9.99988272e-01 -4.28851467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90140051299998 meters 0.06905090468160208 Centerline is valid? [True, True] Translation: X:123.35, Y:10.36, Z:-0.43 [[ 9.99964047e-01 -7.34122884e-03 4.24393722e-03 1.23346002e+02] [ 7.33983359e-03 9.99973004e-01 3.44244924e-04 1.03639117e+01] [-4.24634983e-03 -3.13082755e-04 9.99990935e-01 -4.29419376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96140051299999 meters 0.07529994558221535 Centerline is valid? [True, True] Translation: X:123.41, Y:10.38, Z:-0.43 [[ 9.99952724e-01 -8.63572925e-03 4.46916386e-03 1.23405580e+02] [ 8.63419509e-03 9.99962659e-01 3.62456434e-04 1.03757683e+01] [-4.47212705e-03 -3.23851666e-04 9.99989948e-01 -4.27734925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02140051299999 meters 0.06735003448977162 Centerline is valid? [True, True] Translation: X:123.47, Y:10.37, Z:-0.43 [[ 9.99944842e-01 -9.75458469e-03 3.89369038e-03 1.23468484e+02] [ 9.75342843e-03 9.99952384e-01 3.15836879e-04 1.03672234e+01] [-3.89658583e-03 -2.77842627e-04 9.99992370e-01 -4.29134062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08140051299999 meters 0.06990391652847906 Centerline is valid? [True, True] Translation: X:123.53, Y:10.37, Z:-0.43 [[ 9.99958937e-01 -8.09290232e-03 4.07779716e-03 1.23529996e+02] [ 8.09162119e-03 9.99967208e-01 3.30572270e-04 1.03688467e+01] [-4.08033872e-03 -2.97562706e-04 9.99991631e-01 -4.29839823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141400513 meters 0.06778578250425142 Centerline is valid? [True, True] Translation: X:123.59, Y:10.37, Z:-0.43 [[ 9.99979664e-01 -3.91302191e-03 5.03593333e-03 1.23590260e+02] [ 3.91101642e-03 9.99992269e-01 4.08021787e-04 1.03731169e+01] [-5.03749099e-03 -3.88317872e-04 9.99987236e-01 -4.28791857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20140051299998 meters 0.08424040088919238 Centerline is valid? [True, True] Translation: X:123.65, Y:10.40, Z:-0.43 [[ 9.99979408e-01 1.23971663e-03 6.29662414e-03 1.23647563e+02] [-1.24295346e-03 9.99999097e-01 5.10170917e-04 1.04019031e+01] [-6.29598599e-03 -5.17986822e-04 9.99980046e-01 -4.28175198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26140051299998 meters 0.07962136271270492 Centerline is valid? [True, True] Translation: X:123.71, Y:10.40, Z:-0.43 [[ 9.99975895e-01 4.23722591e-03 5.50043184e-03 1.23709022e+02] [-4.23974148e-03 9.99990913e-01 4.45760297e-04 1.04035936e+01] [-5.49849307e-03 -4.69069961e-04 9.99984773e-01 -4.29217300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32140051299999 meters 0.08448407258917914 Centerline is valid? [True, True] Translation: X:123.77, Y:10.42, Z:-0.43 [[ 9.99991899e-01 2.82816649e-04 4.01526684e-03 1.23767604e+02] [-2.84125015e-04 9.99999907e-01 3.25280957e-04 1.04164614e+01] [-4.01517447e-03 -3.26419159e-04 9.99991886e-01 -4.32633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38140051299999 meters 0.07266936374626642 Centerline is valid? [True, True] Translation: X:123.83, Y:10.41, Z:-0.43 [[ 9.99965295e-01 -6.06992970e-03 5.70655131e-03 1.23829627e+02] [ 6.06738943e-03 9.99981486e-01 4.62357741e-04 1.04060750e+01] [-5.70925214e-03 -4.27717826e-04 9.99983611e-01 -4.29746450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44140051299999 meters 0.07441492041264605 Centerline is valid? [True, True] Translation: X:123.89, Y:10.41, Z:-0.43 [[ 9.99884781e-01 -1.43428966e-02 4.97046311e-03 1.23889638e+02] [ 1.43410712e-02 9.99897080e-01 4.02685181e-04 1.04056573e+01] [-4.97572723e-03 -3.31357018e-04 9.99987566e-01 -4.31788568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501400513 meters 0.06430130985036757 Centerline is valid? [True, True] Translation: X:123.95, Y:10.40, Z:-0.43 [[ 9.99847791e-01 -1.68647036e-02 4.46955937e-03 1.23950869e+02] [ 1.68632528e-02 9.99857740e-01 3.62092212e-04 1.03957040e+01] [-4.47503011e-03 -2.86665789e-04 9.99989946e-01 -4.33768747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561400513 meters 0.0711976960238871 Centerline is valid? [True, True] Translation: X:124.01, Y:10.40, Z:-0.43 [[ 9.99860343e-01 -1.59927453e-02 4.85042243e-03 1.24011014e+02] [ 1.59910265e-02 9.99872058e-01 3.92937075e-04 1.04007566e+01] [-4.85608600e-03 -3.15318965e-04 9.99988159e-01 -4.32831021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62140051299998 meters 0.06710649291499506 Centerline is valid? [True, True] Translation: X:124.07, Y:10.40, Z:-0.43 [[ 9.99931375e-01 -1.02539018e-02 5.66594360e-03 1.24072209e+02] [ 1.02514652e-02 9.99947347e-01 4.58907065e-04 1.03984401e+01] [-5.67035086e-03 -4.00791348e-04 9.99983843e-01 -4.31375228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68140051299999 meters 0.07030357555356084 Centerline is valid? [True, True] Translation: X:124.13, Y:10.41, Z:-0.43 [[ 9.99969330e-01 -4.86662822e-03 6.13630703e-03 1.24132197e+02] [ 4.86366959e-03 9.99988049e-01 4.96982408e-04 1.04061906e+01] [-6.13865233e-03 -4.67122196e-04 9.99981049e-01 -4.31362241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74140051299999 meters 0.08167439274691049 Centerline is valid? [True, True] Translation: X:124.19, Y:10.43, Z:-0.43 [[ 9.99984308e-01 3.29927482e-04 5.59240315e-03 1.24190374e+02] [-3.32465584e-04 9.99999842e-01 4.52924506e-04 1.04256243e+01] [-5.59225284e-03 -4.54776680e-04 9.99984260e-01 -4.33507923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80140051299999 meters 0.08093517424481929 Centerline is valid? [True, True] Translation: X:124.25, Y:10.43, Z:-0.43 [[ 9.99973365e-01 5.14540256e-03 5.17624694e-03 1.24250540e+02] [-5.14764099e-03 9.99986663e-01 4.19214389e-04 1.04293080e+01] [-5.17402088e-03 -4.45848684e-04 9.99986515e-01 -4.34071915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86140051299999 meters 0.07584638288933572 Centerline is valid? [True, True] Translation: X:124.31, Y:10.43, Z:-0.44 [[ 9.99973559e-01 5.48898550e-03 4.76988794e-03 1.24313379e+02] [-5.49089229e-03 9.99984850e-01 3.86752120e-04 1.04288334e+01] [-4.76769280e-03 -4.12932835e-04 9.99988549e-01 -4.35070266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921400513 meters 0.08936027722047472 Centerline is valid? [True, True] Translation: X:124.37, Y:10.45, Z:-0.44 [[ 9.99970790e-01 4.84129224e-03 5.91447426e-03 1.24372263e+02] [-4.84420372e-03 9.99988153e-01 4.78037355e-04 1.04536519e+01] [-5.91208987e-03 -5.06674310e-04 9.99982395e-01 -4.35791329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98140051299998 meters 0.08494662935460588 Centerline is valid? [True, True] Translation: X:124.44, Y:10.46, Z:-0.44 [[ 9.99976126e-01 5.01158014e-03 4.75716335e-03 1.24435317e+02] [-5.01346734e-03 9.99987358e-01 3.84865309e-04 1.04550085e+01] [-4.75517443e-03 -4.08706004e-04 9.99988611e-01 -4.38455279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04140051299999 meters 0.07825661024018514 Centerline is valid? [True, True] Translation: X:124.50, Y:10.45, Z:-0.44 [[ 9.99976448e-01 5.31564147e-03 4.34137102e-03 1.24497521e+02] [-5.31721291e-03 9.99985802e-01 3.50505887e-04 1.04522858e+01] [-4.33944622e-03 -3.73581626e-04 9.99990515e-01 -4.39067639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101400513 meters 0.08302879375613077 Centerline is valid? [True, True] Translation: X:124.56, Y:10.47, Z:-0.44 [[ 9.99974283e-01 5.09805238e-03 5.04407541e-03 1.24558226e+02] [-5.10016576e-03 9.99986912e-01 4.06207039e-04 1.04674140e+01] [-5.04193853e-03 -4.31922214e-04 9.99987196e-01 -4.38655816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161400513 meters 0.08457994770647474 Centerline is valid? [True, True] Translation: X:124.62, Y:10.48, Z:-0.44 [[ 9.99969473e-01 5.69247658e-03 5.35248916e-03 1.24619605e+02] [-5.69485966e-03 9.99983692e-01 4.30091744e-04 1.04790763e+01] [-5.34995358e-03 -4.60560289e-04 9.99985583e-01 -4.39411945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221400513 meters 0.08370429384352777 Centerline is valid? [True, True] Translation: X:124.68, Y:10.49, Z:-0.44 [[ 9.99964522e-01 7.54681506e-03 3.74181054e-03 1.24679572e+02] [-7.54798950e-03 9.99971469e-01 2.99847220e-04 1.04879449e+01] [-3.73944089e-03 -3.28079729e-04 9.99992954e-01 -4.42207120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281400513 meters 0.08604895483553525 Centerline is valid? [True, True] Translation: X:124.74, Y:10.50, Z:-0.44 [[ 9.99955468e-01 8.71597605e-03 3.61861708e-03 1.24739296e+02] [-8.71708205e-03 9.99961963e-01 2.89980477e-04 1.05025346e+01] [-3.61595197e-03 -3.21511346e-04 9.99993411e-01 -4.42226738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341400513 meters 0.08736318402069916 Centerline is valid? [True, True] Translation: X:124.80, Y:10.51, Z:-0.44 [[ 9.99958041e-01 8.39846403e-03 3.65819895e-03 1.24800433e+02] [-8.39959422e-03 9.99964680e-01 2.93691165e-04 1.05139020e+01] [-3.65560318e-03 -3.24406229e-04 9.99993266e-01 -4.42474490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401400513 meters 0.08516000898661964 Centerline is valid? [True, True] Translation: X:124.86, Y:10.52, Z:-0.44 [[ 9.99992988e-01 1.72962080e-03 3.32159915e-03 1.24859456e+02] [-1.73051222e-03 9.99998467e-01 2.65516442e-04 1.05224516e+01] [-3.32113482e-03 -2.71262648e-04 9.99994448e-01 -4.44879510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461400513 meters 0.07986817099605321 Centerline is valid? [True, True] Translation: X:124.92, Y:10.52, Z:-0.45 [[ 9.99981054e-01 -5.77988057e-03 2.11774940e-03 1.24920925e+02] [ 5.77953471e-03 9.99983284e-01 1.69398043e-04 1.05183655e+01] [-2.11869310e-03 -1.57155228e-04 9.99997743e-01 -4.48033697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52140051299997 meters 0.0711144119127484 Centerline is valid? [True, True] Translation: X:124.98, Y:10.52, Z:-0.45 [[ 9.99918669e-01 -1.23751375e-02 3.08390298e-03 1.24982460e+02] [ 1.23744355e-02 9.99923403e-01 2.46620467e-04 1.05167602e+01] [-3.08671872e-03 -2.08438851e-04 9.99995214e-01 -4.46052033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58140051299998 meters 0.06591963476876002 Centerline is valid? [True, True] Translation: X:125.04, Y:10.52, Z:-0.45 [[ 9.99887304e-01 -1.46639906e-02 3.21654652e-03 1.25043898e+02] [ 1.46632388e-02 9.99892456e-01 2.57192054e-04 1.05150650e+01] [-3.21997206e-03 -2.09998080e-04 9.99994794e-01 -4.46239347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64140051299998 meters 0.06697141323542231 Centerline is valid? [True, True] Translation: X:125.10, Y:10.52, Z:-0.44 [[ 9.99883693e-01 -1.44611009e-02 4.84539069e-03 1.25104767e+02] [ 1.44593928e-02 9.99895382e-01 3.87363496e-04 1.05238728e+01] [-4.85048548e-03 -3.17257036e-04 9.99988186e-01 -4.44016850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70140051299998 meters 0.07159622695860933 Centerline is valid? [True, True] Translation: X:125.16, Y:10.54, Z:-0.44 [[ 9.99936786e-01 -9.86588993e-03 5.39339622e-03 1.25164494e+02] [ 9.86370815e-03 9.99951260e-01 4.30977671e-04 1.05367902e+01] [-5.39738533e-03 -3.77751541e-04 9.99985363e-01 -4.44457006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76140051299998 meters 0.07360443878669674 Centerline is valid? [True, True] Translation: X:125.22, Y:10.54, Z:-0.45 [[ 9.99982945e-01 -4.21871220e-03 4.03894182e-03 1.25224943e+02] [ 4.21744278e-03 9.99991054e-01 3.22761721e-04 1.05446883e+01] [-4.04026733e-03 -3.05722210e-04 9.99991791e-01 -4.47493063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821400513 meters 0.06995460419758757 Centerline is valid? [True, True] Translation: X:125.29, Y:10.54, Z:-0.45 [[ 9.99982777e-01 -4.25805063e-03 4.03904454e-03 1.25287742e+02] [ 4.25678087e-03 9.99990888e-01 3.22917513e-04 1.05449606e+01] [-4.04038273e-03 -3.05718624e-04 9.99991791e-01 -4.48214676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881400513 meters 0.06813211893797051 Centerline is valid? [True, True] Translation: X:125.35, Y:10.55, Z:-0.45 [[ 9.99953673e-01 -8.08805262e-03 5.21868833e-03 1.25347341e+02] [ 8.08598732e-03 9.99967221e-01 4.16727785e-04 1.05467516e+01] [-5.22188779e-03 -3.74510232e-04 9.99986296e-01 -4.47845668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941400513 meters 0.06735318796480122 Centerline is valid? [True, True] Translation: X:125.41, Y:10.55, Z:-0.45 [[ 9.99898762e-01 -1.34682884e-02 4.59025822e-03 1.25407054e+02] [ 1.34667468e-02 9.99909252e-01 3.66600215e-04 1.05489112e+01] [-4.59477915e-03 -3.04747256e-04 9.99989398e-01 -4.50356949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001400513 meters 0.06085281094498931 Centerline is valid? [True, True] Translation: X:125.47, Y:10.54, Z:-0.45 [[ 9.99862419e-01 -1.61420499e-02 3.81809403e-03 1.25468542e+02] [ 1.61410023e-02 9.99869679e-01 3.05023052e-04 1.05437215e+01] [-3.82252015e-03 -2.43353222e-04 9.99992665e-01 -4.51000602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061400513 meters 0.06666393486876794 Centerline is valid? [True, True] Translation: X:125.53, Y:10.55, Z:-0.45 [[ 9.99826920e-01 -1.83343168e-02 3.15951102e-03 1.25527930e+02] [ 1.83336105e-02 9.99831893e-01 2.52370538e-04 1.05491304e+01] [-3.16360693e-03 -1.94401613e-04 9.99994977e-01 -4.53435190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121400513 meters 0.05006647519587468 Centerline is valid? [True, True] Translation: X:125.59, Y:10.53, Z:-0.45 [[ 9.99720612e-01 -2.33827862e-02 3.45584595e-03 1.25590121e+02] [ 2.33819713e-02 9.99726566e-01 2.76033886e-04 1.05288406e+01] [-3.46135545e-03 -1.95152275e-04 9.99993990e-01 -4.52361698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181400513 meters 0.05821857308796408 Centerline is valid? [True, True] Translation: X:125.65, Y:10.54, Z:-0.46 [[ 9.99684674e-01 -2.50402195e-02 1.88135906e-03 1.25649408e+02] [ 2.50399809e-02 9.99686439e-01 1.50279408e-04 1.05418990e+01] [-1.88453217e-03 -1.03122826e-04 9.99998219e-01 -4.55558967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241400513 meters 0.05170581610710136 Centerline is valid? [True, True] Translation: X:125.71, Y:10.54, Z:-0.45 [[ 9.99657405e-01 -2.60755798e-02 2.26629193e-03 1.25708889e+02] [ 2.60752368e-02 9.99659967e-01 1.80772123e-04 1.05390128e+01] [-2.27023505e-03 -1.21616093e-04 9.99997416e-01 -4.54613843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30140051299998 meters 0.05137355098012616 Centerline is valid? [True, True] Translation: X:125.77, Y:10.54, Z:-0.45 [[ 9.99567391e-01 -2.90844567e-02 4.37330828e-03 1.25768625e+02] [ 2.90832052e-02 9.99576933e-01 3.49493092e-04 1.05408358e+01] [-4.38162290e-03 -2.22152076e-04 9.99990376e-01 -4.52563424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36140051299998 meters 0.04870460189386353 Centerline is valid? [True, True] Translation: X:125.83, Y:10.54, Z:-0.45 [[ 9.99448632e-01 -3.29958743e-02 3.70188944e-03 1.25829228e+02] [ 3.29950041e-02 9.99455473e-01 2.95924852e-04 1.05398163e+01] [-3.70963796e-03 -1.73617831e-04 9.99993104e-01 -4.53886685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42140051299998 meters 0.04194217330153885 Centerline is valid? [True, True] Translation: X:125.89, Y:10.54, Z:-0.45 [[ 9.99276151e-01 -3.76424079e-02 5.49762357e-03 1.25890527e+02] [ 3.76405587e-02 9.99291246e-01 4.39488441e-04 1.05367032e+01] [-5.51027051e-03 -2.32236695e-04 9.99984791e-01 -4.51680555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48140051299998 meters 0.038546327970861105 Centerline is valid? [True, True] Translation: X:125.95, Y:10.54, Z:-0.45 [[ 9.99114629e-01 -4.15866698e-02 6.36456813e-03 1.25951273e+02] [ 4.15842709e-02 9.99134871e-01 5.08832493e-04 1.05368785e+01] [-6.38022261e-03 -2.43716062e-04 9.99979616e-01 -4.50873043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54140051299999 meters 0.03528424804811055 Centerline is valid? [True, True] Translation: X:126.01, Y:10.54, Z:-0.45 [[ 9.98942130e-01 -4.55804896e-02 6.08603247e-03 1.26011091e+02] [ 4.55783702e-02 9.98960648e-01 4.86552064e-04 1.05376659e+01] [-6.10188422e-03 -2.08645914e-04 9.99981362e-01 -4.52164229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601400513 meters 0.03105918545934817 Centerline is valid? [True, True] Translation: X:126.07, Y:10.54, Z:-0.45 [[ 9.98814429e-01 -4.80799924e-02 7.61905998e-03 1.26071136e+02] [ 4.80767417e-02 9.98843459e-01 6.09337851e-04 1.05376748e+01] [-7.63954518e-03 -2.42315859e-04 9.99970789e-01 -4.50517763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661400513 meters 0.03150973743291576 Centerline is valid? [True, True] Translation: X:126.13, Y:10.54, Z:-0.46 [[ 9.98765502e-01 -4.93960569e-02 5.24424604e-03 1.26128664e+02] [ 4.93945351e-02 9.98779257e-01 4.19397603e-04 1.05447739e+01] [-5.25856075e-03 -1.59842763e-04 9.99986161e-01 -4.55398631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721400513 meters 0.030950485862872457 Centerline is valid? [True, True] Translation: X:126.19, Y:10.55, Z:-0.46 [[ 9.98727020e-01 -5.03701600e-02 2.68079611e-03 1.26186973e+02] [ 5.03697674e-02 9.98730615e-01 2.13805828e-04 1.05505717e+01] [-2.68816258e-03 -7.85025809e-05 9.99996384e-01 -4.60568383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781400513 meters 0.02871600945060521 Centerline is valid? [True, True] Translation: X:126.25, Y:10.56, Z:-0.46 [[ 9.98587364e-01 -5.30625894e-02 2.76368416e-03 1.26245460e+02] [ 5.30621795e-02 9.98591186e-01 2.21494841e-04 1.05551568e+01] [-2.77154373e-03 -7.45348442e-05 9.99996156e-01 -4.59768521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841400513 meters 0.028363256128102584 Centerline is valid? [True, True] Translation: X:126.30, Y:10.56, Z:-0.46 [[ 9.98469592e-01 -5.52447645e-02 2.54742916e-03 1.26303824e+02] [ 5.52444230e-02 9.98472840e-01 2.04257393e-04 1.05577633e+01] [-2.55482297e-03 -6.32135420e-05 9.99996734e-01 -4.60366775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901400513 meters 0.029058475354314165 Centerline is valid? [True, True] Translation: X:126.36, Y:10.56, Z:-0.46 [[ 9.98330903e-01 -5.76531671e-02 3.39412168e-03 1.26362626e+02] [ 5.76525739e-02 9.98336670e-01 2.72421229e-04 1.05581390e+01] [-3.40418208e-03 -7.62866810e-05 9.99994203e-01 -4.60625596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961400513 meters 0.02622816520151902 Centerline is valid? [True, True] Translation: X:126.42, Y:10.57, Z:-0.46 [[ 9.98305143e-01 -5.80850099e-02 3.60186247e-03 1.26420376e+02] [ 5.80843461e-02 9.98311637e-01 2.88725182e-04 1.05667403e+01] [-3.61255182e-03 -7.90240081e-05 9.99993472e-01 -4.59801636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02140051299997 meters 0.023126903187270523 Centerline is valid? [True, True] Translation: X:126.48, Y:10.57, Z:-0.46 [[ 9.98263887e-01 -5.87265808e-02 4.51666836e-03 1.26479667e+02] [ 5.87255375e-02 9.98274100e-01 3.63380418e-04 1.05700456e+01] [-4.53021313e-03 -9.75057715e-05 9.99989734e-01 -4.56606374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08140051299998 meters 0.022353538467314433 Centerline is valid? [True, True] Translation: X:126.54, Y:10.57, Z:-0.46 [[ 9.98073295e-01 -6.17763778e-02 5.77734936e-03 1.26537297e+02] [ 6.17747137e-02 9.98090010e-01 4.66223081e-04 1.05734456e+01] [-5.79511625e-03 -1.08430704e-04 9.99983202e-01 -4.55324694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14140051299998 meters 0.012061162014750377 Centerline is valid? [True, True] Translation: X:126.60, Y:10.56, Z:-0.46 [[ 9.97451318e-01 -7.11068824e-02 5.88891155e-03 1.26598616e+02] [ 7.11053133e-02 9.97468700e-01 4.75667276e-04 1.05611880e+01] [-5.90782817e-03 -5.57220504e-05 9.99982547e-01 -4.55551192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20140051299998 meters 0.007945770336988522 Centerline is valid? [True, True] Translation: X:126.66, Y:10.55, Z:-0.45 [[ 9.96761504e-01 -8.00706217e-02 7.42965415e-03 1.26657094e+02] [ 8.00683720e-02 9.96789193e-01 6.00227567e-04 1.05518822e+01] [-7.45385956e-03 -3.40341984e-06 9.99972220e-01 -4.54238237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26140051299998 meters 0.008597251315588078 Centerline is valid? [True, True] Translation: X:126.72, Y:10.55, Z:-0.45 [[ 9.96423429e-01 -8.41144887e-02 8.06862461e-03 1.26716222e+02] [ 8.41119631e-02 9.96456096e-01 6.52439631e-04 1.05482442e+01] [-8.09490981e-03 2.85617213e-05 9.99967235e-01 -4.53858034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321400513 meters 0.012564413045588484 Centerline is valid? [True, True] Translation: X:126.77, Y:10.55, Z:-0.46 [[ 9.96450932e-01 -8.39291979e-02 6.43658452e-03 1.26774231e+02] [ 8.39275816e-02 9.96471720e-01 5.21279184e-04 1.05506013e+01] [-6.45762499e-03 2.07778445e-05 9.99979149e-01 -4.56389361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381400513 meters 0.01281331834724414 Centerline is valid? [True, True] Translation: X:126.83, Y:10.56, Z:-0.46 [[ 9.96995732e-01 -7.72020313e-02 6.27345476e-03 1.26831763e+02] [ 7.72003541e-02 9.97015469e-01 5.09434670e-04 1.05621624e+01] [-6.29406083e-03 -2.35912632e-05 9.99980192e-01 -4.56593147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441400513 meters 0.013784985375731537 Centerline is valid? [True, True] Translation: X:126.89, Y:10.58, Z:-0.45 [[ 9.97501557e-01 -7.02383114e-02 7.56455413e-03 1.26889565e+02] [ 7.02356683e-02 9.97530237e-01 6.14828310e-04 1.05762586e+01] [-7.58905598e-03 -8.19906820e-05 9.99971199e-01 -4.54054128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501400513 meters 0.016921380886253713 Centerline is valid? [True, True] Translation: X:126.95, Y:10.59, Z:-0.45 [[ 9.97742963e-01 -6.66768209e-02 7.94865835e-03 1.26947410e+02] [ 6.66737786e-02 9.97774618e-01 6.47419892e-04 1.05853896e+01] [-7.97413744e-03 -1.15991554e-04 9.99968199e-01 -4.52784421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561400513 meters 0.030576894417917378 Centerline is valid? [True, True] Translation: X:127.01, Y:10.60, Z:-0.46 [[ 9.98177789e-01 -5.99613809e-02 6.76273770e-03 1.27006465e+02] [ 5.99590219e-02 9.98200687e-01 5.51205355e-04 1.05982217e+01] [-6.78362046e-03 -1.44713804e-04 9.99976981e-01 -4.55587948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621400513 meters 0.03669535262881382 Centerline is valid? [True, True] Translation: X:127.07, Y:10.61, Z:-0.46 [[ 9.98512199e-01 -5.43293304e-02 4.65962113e-03 1.27065716e+02] [ 5.43281491e-02 9.98523063e-01 3.79816288e-04 1.06081620e+01] [-4.67337433e-03 -1.26102606e-04 9.99989072e-01 -4.61055341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681400513 meters 0.03730118408466047 Centerline is valid? [True, True] Translation: X:127.12, Y:10.62, Z:-0.46 [[ 9.98657882e-01 -5.16539377e-02 3.78231591e-03 1.27124059e+02] [ 5.16531404e-02 9.98665038e-01 3.08243233e-04 1.06165531e+01] [-3.79318864e-03 -1.12461039e-04 9.99992800e-01 -4.62668119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741400513 meters 0.04217840745736172 Centerline is valid? [True, True] Translation: X:127.18, Y:10.62, Z:-0.46 [[ 9.98952084e-01 -4.57159628e-02 2.18746094e-03 1.27184028e+02] [ 4.57156816e-02 9.98954476e-01 1.78424114e-04 1.06216347e+01] [-2.19333072e-03 -7.82358725e-05 9.99997592e-01 -4.64824810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80140051299998 meters 0.04503423488881938 Centerline is valid? [True, True] Translation: X:127.24, Y:10.63, Z:-0.47 [[ 9.99170250e-01 -4.06650746e-02 2.27219074e-03 1.27242442e+02] [ 4.06647583e-02 9.99172829e-01 1.85270265e-04 1.06331356e+01] [-2.27784528e-03 -9.27184498e-05 9.99997401e-01 -4.65459139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86140051299998 meters 0.053319295168199166 Centerline is valid? [True, True] Translation: X:127.30, Y:10.65, Z:-0.47 [[ 9.99403713e-01 -3.45236698e-02 5.78465767e-04 1.27300387e+02] [ 3.45236483e-02 9.99403880e-01 4.72116493e-05 1.06488265e+01] [-5.79750852e-04 -2.72127490e-05 9.99999832e-01 -4.68634794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92140051299998 meters 0.052083840190386976 Centerline is valid? [True, True] Translation: X:127.36, Y:10.65, Z:-0.46 [[ 9.99619031e-01 -2.75092981e-02 2.24288696e-03 1.27360228e+02] [ 2.75089567e-02 9.99621540e-01 1.82938122e-04 1.06521122e+01] [-2.24707061e-03 -1.21168949e-04 9.99997468e-01 -4.63846889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98140051299998 meters 0.06103850509412126 Centerline is valid? [True, True] Translation: X:127.42, Y:10.66, Z:-0.46 [[ 9.99647907e-01 -2.61704024e-02 4.37865272e-03 1.27417990e+02] [ 2.61690884e-02 9.99657467e-01 3.57122266e-04 1.06632536e+01] [-4.38649892e-03 -2.42411175e-04 9.99990350e-01 -4.62922833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04140051299999 meters 0.05273685959577247 Centerline is valid? [True, True] Translation: X:127.48, Y:10.66, Z:-0.46 [[ 9.99639925e-01 -2.64830746e-02 4.32046849e-03 1.27477818e+02] [ 2.64817974e-02 9.99649234e-01 3.52563149e-04 1.06592107e+01] [-4.32828997e-03 -2.38022429e-04 9.99990605e-01 -4.60408201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101400513 meters 0.052022135978970124 Centerline is valid? [True, True] Translation: X:127.54, Y:10.66, Z:-0.47 [[ 9.99655794e-01 -2.61821264e-02 1.67040908e-03 1.27537779e+02] [ 2.61819352e-02 9.99657185e-01 1.36237866e-04 1.06607357e+01] [-1.67340344e-03 -9.24564297e-05 9.99998596e-01 -4.65218494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161400513 meters 0.05820907575888435 Centerline is valid? [True, True] Translation: X:127.60, Y:10.67, Z:-0.47 [[ 9.99674548e-01 -2.54197128e-02 2.15336857e-03 1.27596375e+02] [ 2.54193947e-02 9.99676860e-01 1.74955621e-04 1.06668020e+01] [-2.15712006e-03 -1.20161356e-04 9.99997666e-01 -4.67419285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221400513 meters 0.06353228965716069 Centerline is valid? [True, True] Translation: X:127.65, Y:10.68, Z:-0.47 [[ 9.99731725e-01 -2.30264426e-02 2.50218873e-03 1.27654519e+02] [ 2.30260022e-02 9.99734846e-01 2.04649839e-04 1.06817356e+01] [-2.50623762e-03 -1.46979533e-04 9.99996849e-01 -4.65944510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281400513 meters 0.07009026635186622 Centerline is valid? [True, True] Translation: X:127.71, Y:10.69, Z:-0.47 [[ 9.99834724e-01 -1.81315334e-02 1.33105359e-03 1.27714060e+02] [ 1.81314045e-02 9.99835607e-01 1.08896671e-04 1.06883549e+01] [-1.33280924e-03 -8.47448022e-05 9.99999108e-01 -4.69140729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341400513 meters 0.0632221581657655 Centerline is valid? [True, True] Translation: X:127.77, Y:10.69, Z:-0.46 [[ 9.99872967e-01 -1.49642411e-02 5.48838136e-03 1.27774785e+02] [ 1.49619991e-02 9.99887962e-01 4.49330554e-04 1.06909785e+01] [-5.49449034e-03 -3.67156317e-04 9.99984838e-01 -4.63495331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401400513 meters 0.07415338853023408 Centerline is valid? [True, True] Translation: X:127.83, Y:10.71, Z:-0.46 [[ 9.99925774e-01 -1.10466621e-02 5.13988908e-03 1.27833268e+02] [ 1.10446437e-02 9.99938917e-01 4.20910609e-04 1.07089198e+01] [-5.14422478e-03 -3.64111123e-04 9.99986702e-01 -4.64827572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461400513 meters 0.06954541534990699 Centerline is valid? [True, True] Translation: X:127.89, Y:10.71, Z:-0.47 [[ 9.99922362e-01 -1.20866211e-02 3.03052896e-03 1.27894932e+02] [ 1.20859242e-02 9.99926932e-01 2.48152488e-04 1.07138564e+01] [-3.03330685e-03 -2.11506479e-04 9.99995377e-01 -4.67458912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52140051299997 meters 0.07263254699234699 Centerline is valid? [True, True] Translation: X:127.95, Y:10.72, Z:-0.47 [[ 9.99867110e-01 -1.61020094e-02 2.54719719e-03 1.27954157e+02] [ 1.61015308e-02 9.99870340e-01 2.08274019e-04 1.07203514e+01] [-2.55022056e-03 -1.67232568e-04 9.99996734e-01 -4.69756734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58140051299998 meters 0.06267356055403561 Centerline is valid? [True, True] Translation: X:128.02, Y:10.72, Z:-0.47 [[ 9.99826305e-01 -1.84583030e-02 2.57897390e-03 1.28015326e+02] [ 1.84578201e-02 9.99829618e-01 2.10917311e-04 1.07152356e+01] [-2.58242766e-03 -1.63278439e-04 9.99996652e-01 -4.69084898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64140051299998 meters 0.06432006694149917 Centerline is valid? [True, True] Translation: X:128.07, Y:10.72, Z:-0.47 [[ 9.99794919e-01 -2.00758142e-02 2.66123860e-03 1.28074187e+02] [ 2.00753058e-02 9.99798447e-01 2.17610390e-04 1.07216630e+01] [-2.66507092e-03 -1.64140584e-04 9.99996435e-01 -4.69658636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70140051299998 meters 0.0653089446365555 Centerline is valid? [True, True] Translation: X:128.13, Y:10.72, Z:-0.47 [[ 9.99736888e-01 -2.23418009e-02 5.19597347e-03 1.28133430e+02] [ 2.23398918e-02 9.99750343e-01 4.25171771e-04 1.07207985e+01] [-5.20417536e-03 -3.08982418e-04 9.99986410e-01 -4.65228339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76140051299998 meters 0.06202528428849465 Centerline is valid? [True, True] Translation: X:128.19, Y:10.71, Z:-0.47 [[ 9.99721354e-01 -2.30556752e-02 5.06459070e-03 1.28194659e+02] [ 2.30538697e-02 9.99734138e-01 4.14580956e-04 1.07106433e+01] [-5.07280266e-03 -2.97707021e-04 9.99987089e-01 -4.66215287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821400513 meters 0.05582489200193862 Centerline is valid? [True, True] Translation: X:128.26, Y:10.71, Z:-0.47 [[ 9.99715132e-01 -2.35466655e-02 3.89981739e-03 1.28255266e+02] [ 2.35455987e-02 9.99722713e-01 3.19234094e-04 1.07064641e+01] [-3.90625292e-03 -2.27319619e-04 9.99992345e-01 -4.66701884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881400513 meters 0.06292661336069708 Centerline is valid? [True, True] Translation: X:128.31, Y:10.71, Z:-0.47 [[ 9.99724095e-01 -2.29044918e-02 5.20744378e-03 1.28313845e+02] [ 2.29025815e-02 9.99737611e-01 4.26191049e-04 1.07072937e+01] [-5.21583909e-03 -3.06809555e-04 9.99986350e-01 -4.66416226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941400513 meters 0.056579675285606854 Centerline is valid? [True, True] Translation: X:128.38, Y:10.70, Z:-0.47 [[ 9.99745070e-01 -2.22831530e-02 3.64084583e-03 1.28375215e+02] [ 2.22822144e-02 9.99751676e-01 2.98163472e-04 1.06989403e+01] [-3.64658574e-03 -2.16961353e-04 9.99993328e-01 -4.69002534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001400513 meters 0.05826331267062702 Centerline is valid? [True, True] Translation: X:128.43, Y:10.70, Z:-0.47 [[ 9.99742110e-01 -2.26433082e-02 1.73028187e-03 1.28434112e+02] [ 2.26430971e-02 9.99743602e-01 1.41494519e-04 1.06969772e+01] [-1.73304213e-03 -1.02279088e-04 9.99998493e-01 -4.73493687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061400513 meters 0.06121490430027873 Centerline is valid? [True, True] Translation: X:128.49, Y:10.69, Z:-0.48 [[ 9.99707572e-01 -2.41419706e-02 1.39122331e-03 1.28493768e+02] [ 2.41418355e-02 9.99708537e-01 1.13839344e-04 1.06908763e+01] [-1.39356612e-03 -8.02193703e-05 9.99999026e-01 -4.75649820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121400513 meters 0.061004862658799806 Centerline is valid? [True, True] Translation: X:128.55, Y:10.68, Z:-0.47 [[ 9.99726432e-01 -2.33360753e-02 1.57733158e-03 1.28553398e+02] [ 2.33359018e-02 9.99727673e-01 1.28320806e-04 1.06846031e+01] [-1.57989654e-03 -9.14772462e-05 9.99998748e-01 -4.74900845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181400513 meters 0.0738480498042234 Centerline is valid? [True, True] Translation: X:128.61, Y:10.70, Z:-0.47 [[ 9.99823791e-01 -1.85445797e-02 2.91296312e-03 1.28611833e+02] [ 1.85439614e-02 9.99828017e-01 2.39131910e-04 1.06995412e+01] [-2.91689674e-03 -1.85071897e-04 9.99995729e-01 -4.74612276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241400513 meters 0.07311345819014554 Centerline is valid? [True, True] Translation: X:128.67, Y:10.70, Z:-0.47 [[ 9.99956085e-01 -8.74437902e-03 3.37098792e-03 1.28672498e+02] [ 8.74349529e-03 9.99961737e-01 2.76805099e-04 1.06962954e+01] [-3.37327942e-03 -2.47318726e-04 9.99994280e-01 -4.71816446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30140051299998 meters 0.08138300231396507 Centerline is valid? [True, True] Translation: X:128.73, Y:10.71, Z:-0.47 [[ 9.99994683e-01 -2.22633545e-03 2.38278418e-03 1.28731619e+02] [ 2.22587532e-03 9.99997504e-01 1.95737598e-04 1.07088942e+01] [-2.38321401e-03 -1.90432777e-04 9.99997142e-01 -4.72110657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36140051299998 meters 0.08533500737837911 Centerline is valid? [True, True] Translation: X:128.79, Y:10.72, Z:-0.47 [[ 9.99979873e-01 4.11248144e-03 4.83123586e-03 1.28791596e+02] [-4.11444580e-03 9.99991457e-01 3.96726476e-04 1.07188247e+01] [-4.82956306e-03 -4.16596350e-04 9.99988251e-01 -4.68929439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42140051299998 meters 0.08937173752202035 Centerline is valid? [True, True] Translation: X:128.85, Y:10.73, Z:-0.47 [[ 9.99923041e-01 1.02552507e-02 6.98150103e-03 1.28851523e+02] [-1.02595012e-02 9.99947206e-01 5.73274312e-04 1.07285859e+01] [-6.97525337e-03 -6.44856912e-04 9.99975465e-01 -4.65890517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48140051299998 meters 0.09167746737426781 Centerline is valid? [True, True] Translation: X:128.91, Y:10.74, Z:-0.47 [[ 9.99861742e-01 1.63061368e-02 3.25676717e-03 1.28911367e+02] [-1.63070935e-02 9.99866995e-01 2.67414866e-04 1.07381422e+01] [-3.25197350e-03 -3.20486300e-04 9.99994661e-01 -4.73143853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54140051299999 meters 0.09846888097113843 Centerline is valid? [True, True] Translation: X:128.97, Y:10.75, Z:-0.48 [[ 9.99854880e-01 1.69927172e-02 1.21139098e-03 1.28971988e+02] [-1.69928506e-02 9.99855606e-01 9.99617605e-05 1.07502193e+01] [-1.20951744e-03 -1.20532240e-04 9.99999261e-01 -4.77150591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601400513 meters 0.09657078857040866 Centerline is valid? [True, True] Translation: X:129.03, Y:10.75, Z:-0.48 [[ 9.99874508e-01 1.57952526e-02 1.21542318e-03 1.29033122e+02] [-1.57953855e-02 9.99875240e-01 9.97772242e-05 1.07519826e+01] [-1.21369554e-03 -1.18962781e-04 9.99999256e-01 -4.76471218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661400513 meters 0.09056215117575002 Centerline is valid? [True, True] Translation: X:129.09, Y:10.75, Z:-0.47 [[ 9.99912792e-01 1.27915325e-02 3.28405619e-03 1.29093989e+02] [-1.27924856e-02 9.99918137e-01 2.69365798e-04 1.07475858e+01] [-3.28034174e-03 -3.11353549e-04 9.99994571e-01 -4.74038231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721400513 meters 0.08983095867048294 Centerline is valid? [True, True] Translation: X:129.15, Y:10.75, Z:-0.47 [[ 9.99944755e-01 9.35569957e-03 4.79146639e-03 1.29154447e+02] [-9.35768940e-03 9.99956139e-01 3.93034704e-04 1.07479325e+01] [-4.78757911e-03 -4.37850044e-04 9.99988444e-01 -4.73444379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781400513 meters 0.08617308118565793 Centerline is valid? [True, True] Translation: X:129.22, Y:10.75, Z:-0.47 [[ 9.99971272e-01 6.55410719e-03 3.80767992e-03 1.29215389e+02] [-6.55534351e-03 9.99978465e-01 3.12303027e-04 1.07451865e+01] [-3.80555106e-03 -3.37254705e-04 9.99992702e-01 -4.73943424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841400513 meters 0.08857471872437725 Centerline is valid? [True, True] Translation: X:129.28, Y:10.75, Z:-0.48 [[ 9.99977978e-01 6.60250897e-03 -6.70698466e-04 1.29275981e+02] [-6.60254654e-03 9.99978202e-01 -5.38254576e-05 1.07514705e+01] [ 6.70328463e-04 5.82525901e-05 9.99999774e-01 -4.79879309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901400513 meters 0.07935661558308796 Centerline is valid? [True, True] Translation: X:129.34, Y:10.75, Z:-0.48 [[ 9.99982586e-01 5.76312736e-03 1.27040687e-03 1.29337360e+02] [-5.76326421e-03 9.99983387e-01 1.04090213e-04 1.07477472e+01] [-1.26978588e-03 -1.11410090e-04 9.99999188e-01 -4.77034538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961400513 meters 0.09240777720829517 Centerline is valid? [True, True] Translation: X:129.40, Y:10.77, Z:-0.48 [[ 9.99993963e-01 2.81424130e-03 2.03823616e-03 1.29395689e+02] [-2.81458720e-03 9.99996025e-01 1.66856091e-04 1.07717098e+01] [-2.03775848e-03 -1.72591877e-04 9.99997909e-01 -4.78124191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02140051299997 meters 0.07659285747405853 Centerline is valid? [True, True] Translation: X:129.46, Y:10.76, Z:-0.48 [[ 9.99971889e-01 -6.83041463e-03 3.09310596e-03 1.29458025e+02] [ 6.82966375e-03 9.99976646e-01 2.53254860e-04 1.07596066e+01] [-3.09476356e-03 -2.32122867e-04 9.99995184e-01 -4.75713209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08140051299998 meters 0.06794178242508923 Centerline is valid? [True, True] Translation: X:129.52, Y:10.76, Z:-0.47 [[ 9.99883535e-01 -1.45010094e-02 4.75778703e-03 1.29518507e+02] [ 1.44993195e-02 9.99894803e-01 3.89482546e-04 1.07583661e+01] [-4.76293441e-03 -3.20452510e-04 9.99988606e-01 -4.73554536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14140051299998 meters 0.06411255093596208 Centerline is valid? [True, True] Translation: X:129.58, Y:10.76, Z:-0.47 [[ 9.99803315e-01 -1.90234610e-02 5.60712148e-03 1.29579246e+02] [ 1.90211848e-02 9.99818976e-01 4.58995622e-04 1.07614575e+01] [-5.61483814e-03 -3.52251250e-04 9.99984175e-01 -4.72866897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20140051299998 meters 0.05768007781820168 Centerline is valid? [True, True] Translation: X:129.64, Y:10.76, Z:-0.47 [[ 9.99753260e-01 -2.14446070e-02 5.79213419e-03 1.29640256e+02] [ 2.14422190e-02 9.99769977e-01 4.74060904e-04 1.07608658e+01] [-5.80096791e-03 -3.49747724e-04 9.99983113e-01 -4.73252637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26140051299998 meters 0.06182843044221569 Centerline is valid? [True, True] Translation: X:129.70, Y:10.77, Z:-0.47 [[ 9.99778857e-01 -2.01335174e-02 6.07270363e-03 1.29698609e+02] [ 2.01308684e-02 9.99797230e-01 4.97037948e-04 1.07718293e+01] [-6.08147939e-03 -3.74679234e-04 9.99981437e-01 -4.73916796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321400513 meters 0.06583560367363742 Centerline is valid? [True, True] Translation: X:129.76, Y:10.78, Z:-0.48 [[ 9.99845127e-01 -1.68150734e-02 5.19383655e-03 1.29758234e+02] [ 1.68130912e-02 9.99858560e-01 4.25085001e-04 1.07807982e+01] [-5.20024977e-03 -3.37694719e-04 9.99986422e-01 -4.76022782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381400513 meters 0.07348056458820149 Centerline is valid? [True, True] Translation: X:129.82, Y:10.80, Z:-0.48 [[ 9.99928775e-01 -1.15101326e-02 3.15633849e-03 1.29817850e+02] [ 1.15093741e-02 9.99933732e-01 2.58349145e-04 1.07971833e+01] [-3.15910296e-03 -2.22003263e-04 9.99994985e-01 -4.82206539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441400513 meters 0.07301461058956463 Centerline is valid? [True, True] Translation: X:129.88, Y:10.80, Z:-0.48 [[ 9.99935466e-01 -1.06394995e-02 3.98314409e-03 1.29878230e+02] [ 1.06382847e-02 9.99943359e-01 3.26059492e-04 1.08037296e+01] [-3.98638759e-03 -2.83664629e-04 9.99992014e-01 -4.81382724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501400513 meters 0.07095239316243782 Centerline is valid? [True, True] Translation: X:129.94, Y:10.80, Z:-0.49 [[ 9.99905717e-01 -1.35692947e-02 2.10505141e-03 1.29938863e+02] [ 1.35689620e-02 9.99907923e-01 1.72275526e-04 1.08029642e+01] [-2.10719524e-03 -1.43695921e-04 9.99997770e-01 -4.85022614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561400513 meters 0.06667773255916597 Centerline is valid? [True, True] Translation: X:130.00, Y:10.80, Z:-0.49 [[ 9.99860019e-01 -1.67293508e-02 -2.67635183e-04 1.30000083e+02] [ 1.67293455e-02 9.99860054e-01 -2.19136116e-05 1.07987038e+01] [ 2.67964329e-04 1.74331827e-05 9.99999964e-01 -4.88776639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621400513 meters 0.06777680765561346 Centerline is valid? [True, True] Translation: X:130.06, Y:10.80, Z:-0.49 [[ 9.99857199e-01 -1.68834242e-02 7.29404734e-04 1.30058075e+02] [ 1.68833860e-02 9.99857464e-01 5.84622182e-05 1.07973650e+01] [-7.30287810e-04 -4.61390480e-05 9.99999732e-01 -4.87651348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681400513 meters 0.07203300989236959 Centerline is valid? [True, True] Translation: X:130.12, Y:10.80, Z:-0.49 [[ 9.99903014e-01 -1.36696229e-02 2.66525803e-03 1.30118202e+02] [ 1.36690886e-02 9.99906550e-01 2.18604154e-04 1.08011275e+01] [-2.66799720e-03 -1.82151305e-04 9.99996424e-01 -4.86658395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741400513 meters 0.08157771097031127 Centerline is valid? [True, True] Translation: X:130.18, Y:10.82, Z:-0.49 [[ 9.99968634e-01 -7.72547431e-03 1.74600693e-03 1.30176760e+02] [ 7.72523605e-03 9.99970150e-01 1.43163961e-04 1.08181509e+01] [-1.74706082e-03 -1.29671155e-04 9.99998465e-01 -4.87937892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80140051299998 meters 0.08265583010708598 Centerline is valid? [True, True] Translation: X:130.24, Y:10.82, Z:-0.49 [[ 9.99984198e-01 -5.27414559e-03 1.94618891e-03 1.30236772e+02] [ 5.27384487e-03 9.99986080e-01 1.59617519e-04 1.08221157e+01] [-1.94700366e-03 -1.49351099e-04 9.99998093e-01 -4.87173480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86140051299998 meters 0.08901481526223975 Centerline is valid? [True, True] Translation: X:130.30, Y:10.83, Z:-0.48 [[ 9.99981680e-01 -3.42189606e-03 4.99297939e-03 1.30296485e+02] [ 3.41989342e-03 9.99994068e-01 4.09574480e-04 1.08304714e+01] [-4.99435130e-03 -3.92491519e-04 9.99987451e-01 -4.83284463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92140051299998 meters 0.07953714634053943 Centerline is valid? [True, True] Translation: X:130.36, Y:10.82, Z:-0.48 [[ 9.99985348e-01 -1.80431877e-03 5.10369966e-03 1.30358601e+02] [ 1.80220506e-03 9.99998288e-01 4.18720927e-04 1.08245433e+01] [-5.10444643e-03 -4.09516879e-04 9.99986888e-01 -4.82878406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98140051299998 meters 0.08494859322132993 Centerline is valid? [True, True] Translation: X:130.42, Y:10.84, Z:-0.49 [[ 9.99993305e-01 4.09628127e-04 3.63622137e-03 1.30417035e+02] [-4.10715263e-04 9.99999871e-01 2.98232252e-04 1.08376948e+01] [-3.63609873e-03 -2.99723707e-04 9.99993344e-01 -4.85499934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04140051299999 meters 0.08971052085499714 Centerline is valid? [True, True] Translation: X:130.48, Y:10.85, Z:-0.48 [[ 9.99983904e-01 2.09593180e-03 5.27246459e-03 1.30475915e+02] [-2.09824080e-03 9.99997705e-01 4.32441210e-04 1.08532895e+01] [-5.27154612e-03 -4.43497150e-04 9.99986007e-01 -4.84263811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101400513 meters 0.08423331473467947 Centerline is valid? [True, True] Translation: X:130.54, Y:10.85, Z:-0.48 [[ 9.99977890e-01 1.03583842e-03 6.56853338e-03 1.30537752e+02] [-1.03939743e-03 9.99999315e-01 5.38436459e-04 1.08546133e+01] [-6.56797115e-03 -5.45251871e-04 9.99978282e-01 -4.82419611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161400513 meters 0.08186870472468184 Centerline is valid? [True, True] Translation: X:130.60, Y:10.86, Z:-0.48 [[ 9.99971508e-01 -5.33164012e-04 7.52983049e-03 1.30598386e+02] [ 5.28534486e-04 9.99999670e-01 6.16801270e-04 1.08600817e+01] [-7.53015686e-03 -6.12803921e-04 9.99971460e-01 -4.80994047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221400513 meters 0.07533499884825336 Centerline is valid? [True, True] Translation: X:130.66, Y:10.86, Z:-0.48 [[ 9.99931728e-01 -7.97426877e-03 8.54106712e-03 1.30659004e+02] [ 7.96858283e-03 9.99968006e-01 6.99541932e-04 1.08581188e+01] [-8.54637219e-03 -6.31433972e-04 9.99963280e-01 -4.80343804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281400513 meters 0.07304173605195072 Centerline is valid? [True, True] Translation: X:130.72, Y:10.86, Z:-0.48 [[ 9.99893542e-01 -1.18343749e-02 8.53531422e-03 1.30719733e+02] [ 1.18288364e-02 9.99929792e-01 6.99083492e-04 1.08584386e+01] [-8.54298820e-03 -5.98046233e-04 9.99963329e-01 -4.80608317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341400513 meters 0.06299684746950673 Centerline is valid? [True, True] Translation: X:130.78, Y:10.85, Z:-0.48 [[ 9.99768706e-01 -2.04360837e-02 6.70081120e-03 1.30781667e+02] [ 2.04328625e-02 9.99791077e-01 5.48835309e-04 1.08461547e+01] [-6.71062729e-03 -4.11791613e-04 9.99977399e-01 -4.83265685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401400513 meters 0.052434742064366734 Centerline is valid? [True, True] Translation: X:130.84, Y:10.83, Z:-0.49 [[ 9.99533920e-01 -3.04836288e-02 1.64063567e-03 1.30843164e+02] [ 3.04834491e-02 9.99535263e-01 1.34408071e-04 1.08312839e+01] [-1.64397045e-03 -8.43331917e-05 9.99998645e-01 -4.91131516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461400513 meters 0.04838697755236191 Centerline is valid? [True, True] Translation: X:130.90, Y:10.82, Z:-0.49 [[ 9.99539304e-01 -3.01653503e-02 3.35125710e-03 1.30902942e+02] [ 3.01646015e-02 9.99544907e-01 2.73771231e-04 1.08228974e+01] [-3.35799037e-03 -1.72555771e-04 9.99994347e-01 -4.88099384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52140051299997 meters 0.06466447769919953 Centerline is valid? [True, True] Translation: X:130.96, Y:10.84, Z:-0.48 [[ 9.99648756e-01 -2.59138345e-02 5.55309366e-03 1.30960606e+02] [ 2.59117012e-02 9.99664132e-01 4.55781217e-04 1.08414463e+01] [-5.56303959e-03 -3.11731023e-04 9.99984478e-01 -4.84849662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58140051299998 meters 0.07011616028568743 Centerline is valid? [True, True] Translation: X:131.02, Y:10.85, Z:-0.50 [[ 9.99881795e-01 -1.53749705e-02 7.55099074e-05 1.31020484e+02] [ 1.53749701e-02 9.99881798e-01 6.17942274e-06 1.08500196e+01] [-7.55959904e-05 -5.01772974e-06 9.99999997e-01 -4.95122479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64140051299998 meters 0.08393098524902416 Centerline is valid? [True, True] Translation: X:131.08, Y:10.87, Z:-0.50 [[ 9.99979996e-01 -6.31305483e-03 -3.92269441e-04 1.31078475e+02] [ 6.31304270e-03 9.99980072e-01 -3.21672998e-05 1.08685168e+01] [ 3.92464698e-04 2.96902426e-05 9.99999923e-01 -4.95135152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70140051299998 meters 0.08907356937627572 Centerline is valid? [True, True] Translation: X:131.14, Y:10.88, Z:-0.49 [[ 9.99990762e-01 4.28672188e-03 3.15124237e-04 1.31137865e+02] [-4.28673023e-03 9.99990812e-01 2.58295013e-05 1.08822169e+01] [-3.15010618e-04 -2.71801153e-05 9.99999950e-01 -4.93929855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76140051299998 meters 0.09659360359903138 Centerline is valid? [True, True] Translation: X:131.20, Y:10.90, Z:-0.49 [[ 9.99967349e-01 7.99821443e-03 1.15302113e-03 1.31196259e+02] [-7.99832887e-03 9.99968008e-01 9.46789360e-05 1.08996810e+01] [-1.15222699e-03 -1.03898087e-04 9.99999331e-01 -4.94507598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821400513 meters 0.10328650425310203 Centerline is valid? [True, False] Translation: X:131.20, Y:10.91, Z:-0.50 [[ 9.99973313e-01 7.16722411e-03 1.41600090e-03 1.31195981e+02] [-7.16317009e-03 9.99970290e-01 -2.84763304e-03 1.09120659e+01] [-1.43636845e-03 2.83741399e-03 9.99994943e-01 -4.95917849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881400513 meters 0.09425114813875339 Centerline is valid? [False, True] Translation: X:131.17, Y:10.91, Z:-0.50 [[ 9.99972657e-01 4.01010501e-03 6.21328221e-03 1.31174283e+02] [-4.03574510e-03 9.99983371e-01 4.11963075e-03 1.09109719e+01] [-6.19665874e-03 -4.14459333e-03 9.99972211e-01 -5.01133731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941400513 meters 0.09777936879100575 Centerline is valid? [True, True] Translation: X:131.23, Y:10.93, Z:-0.50 [[ 9.99968082e-01 1.70954280e-03 7.80466301e-03 1.31232778e+02] [-1.71509194e-03 9.99998281e-01 7.04364946e-04 1.09303811e+01] [-7.80344545e-03 -7.17728178e-04 9.99969295e-01 -5.01529490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001400513 meters 0.08256582793420902 Centerline is valid? [True, True] Translation: X:131.29, Y:10.92, Z:-0.50 [[ 9.99932704e-01 -8.11787305e-03 8.28781109e-03 1.31293817e+02] [ 8.11195038e-03 9.99966818e-01 7.47989428e-04 1.09236130e+01] [-8.29360816e-03 -6.80708779e-04 9.99965376e-01 -5.01957715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061400513 meters 0.08223953779211404 Centerline is valid? [True, True] Translation: X:131.35, Y:10.93, Z:-0.50 [[ 9.99870890e-01 -1.33459254e-02 8.94929726e-03 1.31352554e+02] [ 1.33392283e-02 9.99910702e-01 8.07609210e-04 1.09319166e+01] [-8.95927640e-03 -6.88128219e-04 9.99959628e-01 -5.01676853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121400513 meters 0.08182219686878782 Centerline is valid? [True, True] Translation: X:131.41, Y:10.94, Z:-0.51 [[ 9.99831864e-01 -1.67141361e-02 7.54199383e-03 1.31411209e+02] [ 1.67094745e-02 9.99860155e-01 6.80685025e-04 1.09437760e+01] [-7.55231618e-03 -5.54547824e-04 9.99971327e-01 -5.05760680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181400513 meters 0.07303003982852847 Centerline is valid? [True, True] Translation: X:131.47, Y:10.94, Z:-0.50 [[ 9.99807125e-01 -1.79211212e-02 8.03406373e-03 1.31473286e+02] [ 1.79158683e-02 9.99839235e-01 7.25323755e-04 1.09368941e+01] [-8.04577075e-03 -5.81246630e-04 9.99967463e-01 -5.04142195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241400513 meters 0.06944428598684459 Centerline is valid? [True, True] Translation: X:131.53, Y:10.94, Z:-0.50 [[ 9.99744530e-01 -2.06410154e-02 9.20991590e-03 1.31534523e+02] [ 2.06342300e-02 9.99786746e-01 8.31178695e-04 1.09360496e+01] [-9.22510822e-03 -6.40926831e-04 9.99957242e-01 -5.02417330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30140051299998 meters 0.0689067449537327 Centerline is valid? [True, True] Translation: X:131.59, Y:10.94, Z:-0.50 [[ 9.99667590e-01 -2.39998761e-02 9.41891119e-03 1.31593655e+02] [ 2.39929279e-02 9.99711767e-01 8.50010699e-04 1.09418855e+01] [-9.43659650e-03 -6.23740889e-04 9.99955280e-01 -5.04181074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36140051299998 meters 0.06853472583679737 Centerline is valid? [True, True] Translation: X:131.65, Y:10.95, Z:-0.51 [[ 9.99677922e-01 -2.36989681e-02 9.07806363e-03 1.31654561e+02] [ 2.36924995e-02 9.99718957e-01 8.19442864e-04 1.09479442e+01] [-9.09493226e-03 -6.04096921e-04 9.99958458e-01 -5.05237797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42140051299998 meters 0.06737031282444461 Centerline is valid? [True, True] Translation: X:131.72, Y:10.95, Z:-0.51 [[ 9.99690510e-01 -2.39424137e-02 6.75603924e-03 1.31716351e+02] [ 2.39388372e-02 9.99713239e-01 6.09758247e-04 1.09497509e+01] [-6.76870095e-03 -4.47837810e-04 9.99976992e-01 -5.09725851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48140051299998 meters 0.06716555520222807 Centerline is valid? [True, True] Translation: X:131.78, Y:10.95, Z:-0.51 [[ 9.99606050e-01 -2.73602497e-02 6.25796358e-03 1.31775525e+02] [ 2.73572497e-02 9.99625561e-01 5.64495285e-04 1.09515761e+01] [-6.27106508e-03 -3.93072229e-04 9.99980259e-01 -5.10701055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54140051299999 meters 0.061650615055113635 Centerline is valid? [True, True] Translation: X:131.84, Y:10.95, Z:-0.51 [[ 9.99514569e-01 -3.03783586e-02 6.91239085e-03 1.31836639e+02] [ 3.03747693e-02 9.99538386e-01 6.23675444e-04 1.09459922e+01] [-6.92814623e-03 -4.13410416e-04 9.99975915e-01 -5.10318035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601400513 meters 0.06382836161972773 Centerline is valid? [True, True] Translation: X:131.90, Y:10.95, Z:-0.51 [[ 9.99573210e-01 -2.83785059e-02 6.93237671e-03 1.31896815e+02] [ 2.83748477e-02 9.99597157e-01 6.25499558e-04 1.09531089e+01] [-6.94733479e-03 -4.28527468e-04 9.99975775e-01 -5.12422616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661400513 meters 0.06501227877769535 Centerline is valid? [True, True] Translation: X:131.96, Y:10.96, Z:-0.51 [[ 9.99703765e-01 -2.34063000e-02 6.67285757e-03 1.31956889e+02] [ 2.34028005e-02 9.99725936e-01 6.02044559e-04 1.09602686e+01] [-6.68512042e-03 -4.45702658e-04 9.99977555e-01 -5.13723434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721400513 meters 0.07446154807015194 Centerline is valid? [True, True] Translation: X:132.01, Y:10.97, Z:-0.51 [[ 9.99819223e-01 -1.77859566e-02 6.72164672e-03 1.32014899e+02] [ 1.77822783e-02 9.99841699e-01 6.06609959e-04 1.09740011e+01] [-6.73137182e-03 -4.86974105e-04 9.99977225e-01 -5.14036638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781400513 meters 0.07509915836685938 Centerline is valid? [True, True] Translation: X:132.07, Y:10.98, Z:-0.52 [[ 9.99886536e-01 -1.40099191e-02 5.53503939e-03 1.32074749e+02] [ 1.40073680e-02 9.99901767e-01 4.99393462e-04 1.09840628e+01] [-5.54149213e-03 -4.21805465e-04 9.99984557e-01 -5.17081422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841400513 meters 0.07612571549570314 Centerline is valid? [True, True] Translation: X:132.14, Y:10.99, Z:-0.52 [[ 9.99885553e-01 -1.37745494e-02 6.25633437e-03 1.32135238e+02] [ 1.37712849e-02 9.99905012e-01 5.64568873e-04 1.09930567e+01] [-6.26351677e-03 -4.78346497e-04 9.99980270e-01 -5.17614991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901400513 meters 0.08565934040995726 Centerline is valid? [True, True] Translation: X:132.19, Y:11.01, Z:-0.52 [[ 9.99855646e-01 -1.45457055e-02 8.78119287e-03 1.32194203e+02] [ 1.45393068e-02 9.99893985e-01 7.92075736e-04 1.10106090e+01] [-8.79178323e-03 -6.64288940e-04 9.99961131e-01 -5.15992847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961400513 meters 0.07787313388065256 Centerline is valid? [True, True] Translation: X:132.26, Y:11.00, Z:-0.52 [[ 9.99839882e-01 -1.61208625e-02 7.76715455e-03 1.32256369e+02] [ 1.61159042e-02 9.99869885e-01 7.00535023e-04 1.10009255e+01] [-7.77743716e-03 -5.75248136e-04 9.99969590e-01 -5.16397697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02140051299997 meters 0.07160662536598765 Centerline is valid? [True, True] Translation: X:132.32, Y:11.00, Z:-0.52 [[ 9.99791234e-01 -1.94814523e-02 6.16134050e-03 1.32317637e+02] [ 1.94783964e-02 9.99810124e-01 5.55598447e-04 1.09972056e+01] [-6.17099447e-03 -4.35469424e-04 9.99980864e-01 -5.19165768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08140051299998 meters 0.07051177590896379 Centerline is valid? [True, True] Translation: X:132.38, Y:11.00, Z:-0.52 [[ 9.99779301e-01 -1.98060527e-02 7.00499334e-03 1.32377526e+02] [ 1.98021106e-02 9.99803719e-01 6.31683032e-04 1.10020642e+01] [-7.01612954e-03 -4.92829967e-04 9.99975265e-01 -5.19439638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14140051299998 meters 0.06970769204848266 Centerline is valid? [True, True] Translation: X:132.44, Y:11.01, Z:-0.52 [[ 9.99795565e-01 -1.91045780e-02 6.62142892e-03 1.32438933e+02] [ 1.91010396e-02 9.99817380e-01 5.97209525e-04 1.10058375e+01] [-6.63162916e-03 -4.70611259e-04 9.99977900e-01 -5.20792294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20140051299998 meters 0.07093764162757737 Centerline is valid? [True, True] Translation: X:132.50, Y:11.01, Z:-0.52 [[ 9.99787364e-01 -1.95139764e-02 6.66573534e-03 1.32498710e+02] [ 1.95104014e-02 9.99809473e-01 6.00938279e-04 1.10118881e+01] [-6.67619203e-03 -4.70759326e-04 9.99977603e-01 -5.21911723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26140051299998 meters 0.06962027887297265 Centerline is valid? [True, True] Translation: X:132.56, Y:11.01, Z:-0.52 [[ 9.99652421e-01 -2.44228599e-02 9.92774435e-03 1.32559315e+02] [ 2.44151704e-02 9.99701505e-01 8.95019312e-04 1.10050267e+01] [-9.94663990e-03 -6.52320652e-04 9.99950318e-01 -5.17601180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321400513 meters 0.06274027410654741 Centerline is valid? [True, True] Translation: X:132.62, Y:11.00, Z:-0.52 [[ 9.99544530e-01 -2.79969228e-02 1.12652106e-02 1.32620770e+02] [ 2.79872479e-02 9.99607764e-01 1.01559577e-03 1.09971000e+01] [-1.12892255e-02 -6.99850961e-04 9.99936030e-01 -5.15636266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381400513 meters 0.06264070237276051 Centerline is valid? [True, True] Translation: X:132.68, Y:11.00, Z:-0.52 [[ 9.99573029e-01 -2.72579338e-02 1.05244410e-02 1.32681581e+02] [ 2.72494484e-02 9.99628215e-01 9.48834021e-04 1.09998985e+01] [-1.05463914e-02 -6.61643684e-04 9.99944166e-01 -5.18078172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441400513 meters 0.07151095512499406 Centerline is valid? [True, True] Translation: X:132.74, Y:11.01, Z:-0.52 [[ 9.99792708e-01 -1.85315589e-02 8.43346290e-03 1.32741485e+02] [ 1.85258024e-02 9.99828094e-01 7.60202184e-04 1.10135887e+01] [-8.44610087e-03 -6.03807932e-04 9.99964149e-01 -5.21176043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501400513 meters 0.07830486191882936 Centerline is valid? [True, True] Translation: X:132.80, Y:11.02, Z:-0.52 [[ 9.99903020e-01 -1.18930512e-02 7.24611942e-03 1.32801690e+02] [ 1.18886278e-02 9.99929114e-01 6.53222695e-04 1.10236948e+01] [-7.25337458e-03 -5.67012929e-04 9.99973533e-01 -5.21955214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561400513 meters 0.08623803168097191 Centerline is valid? [True, True] Translation: X:132.86, Y:11.04, Z:-0.52 [[ 9.99905737e-01 -1.10255914e-02 8.18244818e-03 1.32861235e+02] [ 1.10199216e-02 9.99939007e-01 7.37683396e-04 1.10371363e+01] [-8.19008251e-03 -6.47443922e-04 9.99966251e-01 -5.22269519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621400513 meters 0.08108364999001663 Centerline is valid? [True, True] Translation: X:132.92, Y:11.03, Z:-0.52 [[ 9.99903747e-01 -1.02565921e-02 9.34334353e-03 1.32924154e+02] [ 1.02491677e-02 9.99947121e-01 8.42152422e-04 1.10345586e+01] [-9.35148708e-03 -7.46309868e-04 9.99955995e-01 -5.22997990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681400513 meters 0.08170723102106564 Centerline is valid? [True, True] Translation: X:132.98, Y:11.04, Z:-0.52 [[ 9.99927704e-01 -8.82521445e-03 8.16720760e-03 1.32983865e+02] [ 8.81949765e-03 9.99960837e-01 7.35722852e-04 1.10433721e+01] [-8.17338066e-03 -6.63638994e-04 9.99966377e-01 -5.23803486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741400513 meters 0.08134295888242969 Centerline is valid? [True, True] Translation: X:133.05, Y:11.05, Z:-0.52 [[ 9.99934515e-01 -7.87232050e-03 8.30614539e-03 1.33045871e+02] [ 7.86637474e-03 9.99968780e-01 7.48255255e-04 1.10487144e+01] [-8.31177658e-03 -6.82867003e-04 9.99965223e-01 -5.22680523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80140051299998 meters 0.08970811401809638 Centerline is valid? [True, True] Translation: X:133.10, Y:11.06, Z:-0.52 [[ 9.99939313e-01 -6.72643539e-03 8.72501399e-03 1.33104890e+02] [ 6.71983620e-03 9.99977113e-01 7.85448248e-04 1.10640355e+01] [-8.73009757e-03 -7.26769916e-04 9.99961628e-01 -5.22226844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86140051299998 meters 0.09468591464828639 Centerline is valid? [True, True] Translation: X:133.16, Y:11.08, Z:-0.53 [[ 9.99954011e-01 -4.77670275e-03 8.31617023e-03 1.33162980e+02] [ 4.77064033e-03 9.99988340e-01 7.48676094e-04 1.10837563e+01] [-8.31964947e-03 -7.08968206e-04 9.99965140e-01 -5.27096684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92140051299998 meters 0.08539135669341916 Centerline is valid? [True, True] Translation: X:133.22, Y:11.08, Z:-0.53 [[ 9.99951151e-01 -2.86240782e-03 9.46054120e-03 1.33223630e+02] [ 2.85447821e-03 9.99995563e-01 8.51573894e-04 1.10827145e+01] [-9.46293678e-03 -8.24527386e-04 9.99954885e-01 -5.26495051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98140051299998 meters 0.08281828992584263 Centerline is valid? [True, True] Translation: X:133.29, Y:11.09, Z:-0.52 [[ 9.99938989e-01 -2.85639325e-03 1.06704419e-02 1.33285625e+02] [ 2.84630509e-03 9.99995488e-01 9.60496891e-04 1.10928690e+01] [-1.06731373e-02 -9.30066958e-04 9.99942608e-01 -5.23374626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04140051299999 meters 0.09031094857393587 Centerline is valid? [True, True] Translation: X:133.34, Y:11.11, Z:-0.52 [[ 9.99908946e-01 -7.50165378e-03 1.12171364e-02 1.33343345e+02] [ 7.49080181e-03 9.99971434e-01 1.00914763e-03 1.11126060e+01] [-1.12243863e-02 -9.25030400e-04 9.99936577e-01 -5.23989411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101400513 meters 0.07509275680540288 Centerline is valid? [True, True] Translation: X:133.41, Y:11.10, Z:-0.53 [[ 9.99818075e-01 -1.70220680e-02 8.60616872e-03 1.33405089e+02] [ 1.70160297e-02 9.99854917e-01 7.74374234e-04 1.10993131e+01] [-8.61810156e-03 -6.27790534e-04 9.99962666e-01 -5.29228707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161400513 meters 0.06934195228630548 Centerline is valid? [True, True] Translation: X:133.47, Y:11.10, Z:-0.53 [[ 9.99749051e-01 -2.13914283e-02 6.65139281e-03 1.33466024e+02] [ 2.13879176e-02 9.99771073e-01 5.98498189e-04 1.10993353e+01] [-6.66267286e-03 -4.56088556e-04 9.99977700e-01 -5.33168875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221400513 meters 0.0703174107073866 Centerline is valid? [True, True] Translation: X:133.53, Y:11.10, Z:-0.53 [[ 9.99746514e-01 -2.15150587e-02 6.63397244e-03 1.33526379e+02] [ 2.15115700e-02 9.99768421e-01 5.96813502e-04 1.11047960e+01] [-6.64527663e-03 -4.53955056e-04 9.99977817e-01 -5.34397690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281400513 meters 0.07147078783076806 Centerline is valid? [True, True] Translation: X:133.59, Y:11.11, Z:-0.53 [[ 9.99782991e-01 -1.89996233e-02 8.54316266e-03 1.33586521e+02] [ 1.89937462e-02 9.99819307e-01 7.68547288e-04 1.11118889e+01] [-8.55622109e-03 -6.06113843e-04 9.99963211e-01 -5.31977247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341400513 meters 0.0800414922344436 Centerline is valid? [True, True] Translation: X:133.65, Y:11.13, Z:-0.53 [[ 9.99814970e-01 -1.76592610e-02 7.62736841e-03 1.33645641e+02] [ 1.76545367e-02 9.99843911e-01 6.86283740e-04 1.11271636e+01] [-7.63829713e-03 -5.51499101e-04 9.99970676e-01 -5.34398019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401400513 meters 0.07454524460173795 Centerline is valid? [True, True] Translation: X:133.71, Y:11.12, Z:-0.53 [[ 9.99815667e-01 -1.72018523e-02 8.52809890e-03 1.33707113e+02] [ 1.71959306e-02 9.99851845e-01 7.67218941e-04 1.11233509e+01] [-8.54003300e-03 -6.20428921e-04 9.99963341e-01 -5.32638487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461400513 meters 0.08064913149524464 Centerline is valid? [True, True] Translation: X:133.77, Y:11.14, Z:-0.54 [[ 9.99821937e-01 -1.71655917e-02 7.83818523e-03 1.33767644e+02] [ 1.71605870e-02 9.99852498e-01 7.05316093e-04 1.11381834e+01] [-7.84913625e-03 -5.70682643e-04 9.99969032e-01 -5.35687246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52140051299997 meters 0.07580508173014708 Centerline is valid? [True, True] Translation: X:133.83, Y:11.14, Z:-0.54 [[ 9.99818724e-01 -1.80637880e-02 6.01824690e-03 1.33829415e+02] [ 1.80608570e-02 9.99836743e-01 5.41010064e-04 1.11351748e+01] [-6.02703707e-03 -4.32217295e-04 9.99981744e-01 -5.39545779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58140051299998 meters 0.07249617062532344 Centerline is valid? [True, True] Translation: X:133.89, Y:11.13, Z:-0.54 [[ 9.99767269e-01 -2.03925332e-02 7.03928812e-03 1.33890711e+02] [ 2.03885828e-02 9.99791931e-01 6.32506845e-04 1.11337080e+01] [-7.05072188e-03 -4.88838533e-04 9.99975024e-01 -5.39352280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64140051299998 meters 0.06812913957016409 Centerline is valid? [True, True] Translation: X:133.95, Y:11.13, Z:-0.54 [[ 9.99692076e-01 -2.29313771e-02 9.48179634e-03 1.33951591e+02] [ 2.29243235e-02 9.99736840e-01 8.51938358e-04 1.11281065e+01] [-9.49883723e-03 -6.34312260e-04 9.99954684e-01 -5.35770004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70140051299998 meters 0.07039824895650214 Centerline is valid? [True, True] Translation: X:134.01, Y:11.13, Z:-0.54 [[ 9.99669478e-01 -2.33538846e-02 1.07485002e-02 1.34012062e+02] [ 2.33448446e-02 9.99727006e-01 9.65758242e-04 1.11338671e+01] [-1.07681201e-02 -7.14516971e-04 9.99941767e-01 -5.35729361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76140051299998 meters 0.0707507955778254 Centerline is valid? [True, True] Translation: X:134.07, Y:11.14, Z:-0.54 [[ 9.99670160e-01 -2.28228627e-02 1.17765663e-02 1.34073594e+02] [ 2.28119773e-02 9.99739213e-01 1.05784331e-03 1.11376450e+01] [-1.17976381e-02 -7.88847631e-04 9.99930094e-01 -5.35394244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821400513 meters 0.06868836320044881 Centerline is valid? [True, True] Translation: X:134.14, Y:11.14, Z:-0.54 [[ 9.99651698e-01 -2.34147703e-02 1.21750175e-02 1.34135782e+02] [ 2.34031846e-02 9.99725510e-01 1.09321879e-03 1.11368610e+01] [-1.21972730e-02 -8.07903839e-04 9.99925284e-01 -5.35370119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881400513 meters 0.06434930562115351 Centerline is valid? [True, True] Translation: X:134.20, Y:11.13, Z:-0.54 [[ 9.99590729e-01 -2.64342092e-02 1.09365175e-02 1.34196655e+02] [ 2.64250447e-02 9.99650316e-01 9.81660445e-04 1.11302930e+01] [-1.09586426e-02 -6.92260716e-04 9.99939713e-01 -5.37956971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941400513 meters 0.06222868761758595 Centerline is valid? [True, True] Translation: X:134.26, Y:11.13, Z:-0.54 [[ 9.99526283e-01 -2.90385983e-02 1.01965566e-02 1.34257861e+02] [ 2.90307669e-02 9.99578099e-01 9.15248413e-04 1.11294781e+01] [-1.02188322e-02 -6.18800986e-04 9.99947595e-01 -5.39681003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001400513 meters 0.059375323930509954 Centerline is valid? [True, True] Translation: X:134.32, Y:11.13, Z:-0.54 [[ 9.99530655e-01 -2.94302756e-02 8.50467564e-03 1.34318525e+02] [ 2.94248422e-02 9.99566704e-01 7.63327576e-04 1.11292252e+01] [-8.52345554e-03 -5.12720574e-04 9.99963543e-01 -5.42640838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061400513 meters 0.0622050961095567 Centerline is valid? [True, True] Translation: X:134.38, Y:11.14, Z:-0.54 [[ 9.99600520e-01 -2.72226034e-02 7.59802801e-03 1.34378600e+02] [ 2.72182032e-02 9.99629283e-01 6.81952440e-04 1.11382112e+01] [-7.61377582e-03 -4.74875344e-04 9.99970902e-01 -5.44752445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121400513 meters 0.07182636875339514 Centerline is valid? [True, True] Translation: X:134.44, Y:11.16, Z:-0.54 [[ 9.99628331e-01 -2.56964426e-02 9.10452213e-03 1.34436184e+02] [ 2.56900614e-02 9.99669622e-01 8.17160767e-04 1.11553531e+01] [-9.12251232e-03 -5.82961322e-04 9.99958219e-01 -5.43964188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181400513 meters 0.06559473830608435 Centerline is valid? [True, True] Translation: X:134.50, Y:11.16, Z:-0.54 [[ 9.99697479e-01 -2.21752248e-02 1.06399808e-02 1.34496555e+02] [ 2.21663108e-02 9.99753841e-01 9.54991879e-04 1.11555293e+01] [-1.06585388e-02 -7.18853853e-04 9.99942938e-01 -5.41804183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241400513 meters 0.06814971438846595 Centerline is valid? [True, True] Translation: X:134.56, Y:11.17, Z:-0.54 [[ 9.99730053e-01 -2.11332937e-02 9.65430860e-03 1.34557453e+02] [ 2.11259051e-02 9.99776448e-01 8.66670193e-04 1.11664175e+01] [-9.67046595e-03 -6.62480231e-04 9.99953021e-01 -5.43395801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30140051299998 meters 0.07128692324337496 Centerline is valid? [True, True] Translation: X:134.62, Y:11.18, Z:-0.54 [[ 9.99646638e-01 -2.40245968e-02 1.13761666e-02 1.34616691e+02] [ 2.40145274e-02 9.99711088e-01 1.02093011e-03 1.11773610e+01] [-1.13974073e-02 -7.47376092e-04 9.99934768e-01 -5.41821068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36140051299998 meters 0.0638745722758863 Centerline is valid? [True, True] Translation: X:134.68, Y:11.17, Z:-0.54 [[ 9.99546940e-01 -2.79213671e-02 1.12388615e-02 1.34678212e+02] [ 2.79117845e-02 9.99609881e-01 1.00861028e-03 1.11741323e+01] [-1.12626387e-02 -6.94456637e-04 9.99936333e-01 -5.42742714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42140051299998 meters 0.06401829268001875 Centerline is valid? [True, True] Translation: X:134.74, Y:11.18, Z:-0.54 [[ 9.99449107e-01 -3.15288032e-02 1.03641902e-02 1.34737348e+02] [ 3.15208483e-02 9.99502662e-01 9.30029876e-04 1.11786986e+01] [-1.03883584e-02 -6.02829463e-04 9.99945858e-01 -5.44932359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48140051299998 meters 0.05527582620069394 Centerline is valid? [True, True] Translation: X:134.80, Y:11.17, Z:-0.54 [[ 9.99306359e-01 -3.52042202e-02 1.21434630e-02 1.34799326e+02] [ 3.51935680e-02 9.99379920e-01 1.08984510e-03 1.11707190e+01] [-1.21743002e-02 -6.61717349e-04 9.99925672e-01 -5.42947063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54140051299999 meters 0.05482481544121529 Centerline is valid? [True, True] Translation: X:134.86, Y:11.17, Z:-0.54 [[ 9.99303187e-01 -3.53567424e-02 1.19599648e-02 1.34859019e+02] [ 3.53464218e-02 9.99374544e-01 1.07327443e-03 1.11725250e+01] [-1.19904318e-02 -6.49784597e-04 9.99927901e-01 -5.42812456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601400513 meters 0.05426763047001364 Centerline is valid? [True, True] Translation: X:134.92, Y:11.17, Z:-0.55 [[ 9.99345544e-01 -3.47493773e-02 1.00481565e-02 1.34918885e+02] [ 3.47420602e-02 9.99395905e-01 9.01895953e-04 1.11742471e+01] [-1.00734268e-02 -5.52212042e-04 9.99949109e-01 -5.46959994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661400513 meters 0.0540214819629004 Centerline is valid? [True, True] Translation: X:134.98, Y:11.17, Z:-0.55 [[ 9.99408147e-01 -3.31709097e-02 9.11297818e-03 1.34979015e+02] [ 3.31648241e-02 9.99449561e-01 8.18139651e-04 1.11722192e+01] [-9.13510048e-03 -5.15425114e-04 9.99958141e-01 -5.49431588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721400513 meters 0.06005171802425709 Centerline is valid? [True, True] Translation: X:135.04, Y:11.18, Z:-0.55 [[ 9.99495224e-01 -3.08845099e-02 7.44611350e-03 1.35038081e+02] [ 3.08803825e-02 9.99522864e-01 6.68664931e-04 1.11813227e+01] [-7.46321208e-03 -4.38388572e-04 9.99972054e-01 -5.51603308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781400513 meters 0.0628186732279185 Centerline is valid? [True, True] Translation: X:135.10, Y:11.19, Z:-0.55 [[ 9.99643181e-01 -2.47751736e-02 9.98505134e-03 1.35097437e+02] [ 2.47674461e-02 9.99692837e-01 8.96841426e-04 1.11934820e+01] [-1.00042037e-02 -6.49217195e-04 9.99949746e-01 -5.48149869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841400513 meters 0.06803434000729847 Centerline is valid? [True, True] Translation: X:135.16, Y:11.21, Z:-0.55 [[ 9.99755342e-01 -1.96404435e-02 1.01739385e-02 1.35156640e+02] [ 1.96321561e-02 9.99806853e-01 9.13813290e-04 1.12070681e+01] [-1.01899212e-02 -7.13853369e-04 9.99947827e-01 -5.48857242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901400513 meters 0.07956621787222197 Centerline is valid? [True, True] Translation: X:135.21, Y:11.23, Z:-0.55 [[ 9.99803382e-01 -1.76403649e-02 9.05622263e-03 1.35214727e+02] [ 1.76337171e-02 9.99844183e-01 8.13388778e-04 1.12302458e+01] [-9.06916000e-03 -6.53533982e-04 9.99958661e-01 -5.52864288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961400513 meters 0.07407163307692853 Centerline is valid? [True, True] Translation: X:135.28, Y:11.23, Z:-0.55 [[ 9.99673332e-01 -2.33726471e-02 1.03415728e-02 1.35275391e+02] [ 2.33642827e-02 9.99726586e-01 9.28905937e-04 1.12309119e+01] [-1.03604563e-02 -6.86979062e-04 9.99946093e-01 -5.50862797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02140051299997 meters 0.06291208678744095 Centerline is valid? [True, True] Translation: X:135.34, Y:11.22, Z:-0.55 [[ 9.99600048e-01 -2.62180411e-02 1.05999568e-02 1.35336733e+02] [ 2.62094126e-02 9.99656021e-01 9.52130450e-04 1.12246706e+01] [-1.06212736e-02 -6.73931002e-04 9.99943366e-01 -5.49653392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08140051299998 meters 0.07346984666052751 Centerline is valid? [True, True] Translation: X:135.39, Y:11.25, Z:-0.55 [[ 9.99662086e-01 -2.45741114e-02 8.47504767e-03 1.35394038e+02] [ 2.45685369e-02 9.99697858e-01 7.61255665e-04 1.12522887e+01] [-8.49119418e-03 -5.52778905e-04 9.99963796e-01 -5.54898496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14140051299998 meters 0.07022191895245672 Centerline is valid? [True, True] Translation: X:135.45, Y:11.26, Z:-0.56 [[ 9.99704326e-01 -2.28560274e-02 8.29830486e-03 1.35454394e+02] [ 2.28506240e-02 9.99738613e-01 7.45390195e-04 1.12571308e+01] [-8.31317245e-03 -5.55548358e-04 9.99965291e-01 -5.55563531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20140051299998 meters 0.06413371286026898 Centerline is valid? [True, True] Translation: X:135.52, Y:11.25, Z:-0.56 [[ 9.99643643e-01 -2.54998259e-02 7.89590313e-03 1.35515664e+02] [ 2.54950161e-02 9.99674698e-01 7.09219603e-04 1.12546632e+01] [-7.91141955e-03 -5.07660691e-04 9.99968575e-01 -5.56897776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26140051299998 meters 0.06588665668438919 Centerline is valid? [True, True] Translation: X:135.57, Y:11.26, Z:-0.55 [[ 9.99559166e-01 -2.79157838e-02 1.01085110e-02 1.35574818e+02] [ 2.79080242e-02 9.99610083e-01 9.07907349e-04 1.12625248e+01] [-1.01299144e-02 -6.25398545e-04 9.99948496e-01 -5.54449129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321400513 meters 0.06367527489294245 Centerline is valid? [True, True] Translation: X:135.64, Y:11.27, Z:-0.56 [[ 9.99606585e-01 -2.66451840e-02 8.75841151e-03 1.35635820e+02] [ 2.66393086e-02 9.99644801e-01 7.86832581e-04 1.12667039e+01] [-8.77626583e-03 -5.53205002e-04 9.99961335e-01 -5.56400124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381400513 meters 0.06751463077044308 Centerline is valid? [True, True] Translation: X:135.70, Y:11.28, Z:-0.56 [[ 9.99706935e-01 -2.23302228e-02 9.34904042e-03 1.35695586e+02] [ 2.23233432e-02 9.99750451e-01 8.39582145e-04 1.12761084e+01] [-9.36545542e-03 -6.30634255e-04 9.99955944e-01 -5.56654958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441400513 meters 0.07142021719522466 Centerline is valid? [True, True] Translation: X:135.76, Y:11.28, Z:-0.56 [[ 9.99769549e-01 -1.88321096e-02 1.03053251e-02 1.35756592e+02] [ 1.88235636e-02 9.99822393e-01 9.25649413e-04 1.12840955e+01] [-1.03209267e-02 -7.31453155e-04 9.99946470e-01 -5.55454674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501400513 meters 0.07653810727300366 Centerline is valid? [True, True] Translation: X:135.82, Y:11.29, Z:-0.56 [[ 9.99876072e-01 -1.34951978e-02 8.10684387e-03 1.35816202e+02] [ 1.34897361e-02 9.99908744e-01 7.28016158e-04 1.12939841e+01] [-8.11592879e-03 -6.18566751e-04 9.99966874e-01 -5.58797127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561400513 meters 0.08986568872603864 Centerline is valid? [True, True] Translation: X:135.87, Y:11.32, Z:-0.56 [[ 9.99931100e-01 -6.69511335e-03 9.64209654e-03 1.35873268e+02] [ 6.68707238e-03 9.99977266e-01 8.65941988e-04 1.13199329e+01] [-9.64767492e-03 -8.01404927e-04 9.99953139e-01 -5.59243970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621400513 meters 0.08424392277441975 Centerline is valid? [True, True] Translation: X:135.93, Y:11.32, Z:-0.56 [[ 9.99943666e-01 -4.05268657e-03 9.81023400e-03 1.35934621e+02] [ 4.04424034e-03 9.99991434e-01 8.80645429e-04 1.13185446e+01] [-9.81371895e-03 -8.40920875e-04 9.99951491e-01 -5.60281147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681400513 meters 0.09543474320589727 Centerline is valid? [True, True] Translation: X:135.99, Y:11.34, Z:-0.57 [[ 9.99963989e-01 -4.82906520e-03 6.97866092e-03 1.35994192e+02] [ 4.82481035e-03 9.99988164e-01 6.26401266e-04 1.13362227e+01] [-6.98160325e-03 -5.92707993e-04 9.99975453e-01 -5.65896315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74140051299997 meters 0.08881101264842794 Centerline is valid? [True, True] Translation: X:136.06, Y:11.33, Z:-0.57 [[ 9.99940395e-01 -9.21497280e-03 5.85577657e-03 1.36055008e+02] [ 9.21205301e-03 9.99957430e-01 5.25394264e-04 1.13344653e+01] [-5.86036878e-03 -4.71419224e-04 9.99982717e-01 -5.68351449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80140051299998 meters 0.07527460703106464 Centerline is valid? [True, True] Translation: X:136.12, Y:11.32, Z:-0.57 [[ 9.99882145e-01 -1.38316849e-02 6.66184731e-03 1.36116716e+02] [ 1.38280077e-02 9.99904210e-01 5.97718284e-04 1.13232735e+01] [-6.66947662e-03 -5.05527764e-04 9.99977631e-01 -5.66795584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86140051299998 meters 0.0723516256383981 Centerline is valid? [True, True] Translation: X:136.18, Y:11.32, Z:-0.56 [[ 9.99798154e-01 -1.78952762e-02 9.13293486e-03 1.36177347e+02] [ 1.78885335e-02 9.99839652e-01 8.19450940e-04 1.13247184e+01] [-9.14613471e-03 -6.55910727e-04 9.99957958e-01 -5.64207502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92140051299998 meters 0.07813701763719137 Centerline is valid? [True, True] Translation: X:136.24, Y:11.34, Z:-0.57 [[ 9.99767570e-01 -1.95848419e-02 9.01335161e-03 1.36236060e+02] [ 1.95783441e-02 9.99807999e-01 8.08592531e-04 1.13352458e+01] [-9.02745720e-03 -6.31938090e-04 9.99959052e-01 -5.65277182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98140051299998 meters 0.07010350081040324 Centerline is valid? [True, True] Translation: X:136.30, Y:11.33, Z:-0.57 [[ 9.99763042e-01 -2.00100407e-02 8.57078063e-03 1.36297780e+02] [ 2.00041792e-02 9.99799601e-01 7.69081374e-04 1.13314507e+01] [-8.58445240e-03 -5.97447702e-04 9.99962974e-01 -5.66272961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04140051299999 meters 0.07125361391904446 Centerline is valid? [True, True] Translation: X:136.36, Y:11.34, Z:-0.57 [[ 9.99745355e-01 -2.13637395e-02 7.26742086e-03 1.36357882e+02] [ 2.13595617e-02 9.99771646e-01 6.52003225e-04 1.13406141e+01] [-7.27969054e-03 -4.96608272e-04 9.99973379e-01 -5.69836434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101400513 meters 0.06494069488076705 Centerline is valid? [True, True] Translation: X:136.42, Y:11.34, Z:-0.57 [[ 9.99727540e-01 -2.23148619e-02 6.84788415e-03 1.36419263e+02] [ 2.23111761e-02 9.99750886e-01 6.14172835e-04 1.13383594e+01] [-6.85988343e-03 -4.61221148e-04 9.99976364e-01 -5.70777321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161400513 meters 0.06451023557800148 Centerline is valid? [True, True] Translation: X:136.48, Y:11.34, Z:-0.57 [[ 9.99687657e-01 -2.34798894e-02 8.56050947e-03 1.36480060e+02] [ 2.34741730e-02 9.99724149e-01 7.67643449e-04 1.13438066e+01] [-8.57617223e-03 -5.66452800e-04 9.99963064e-01 -5.70866750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221400513 meters 0.06162217588526431 Centerline is valid? [True, True] Translation: X:136.54, Y:11.35, Z:-0.57 [[ 9.99723259e-01 -2.23259289e-02 7.41336887e-03 1.36541482e+02] [ 2.23216104e-02 9.99750621e-01 6.64760450e-04 1.13450944e+01] [-7.42636153e-03 -4.99098151e-04 9.99972300e-01 -5.72912053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281400513 meters 0.0713746293505951 Centerline is valid? [True, True] Translation: X:136.60, Y:11.36, Z:-0.58 [[ 9.99789943e-01 -1.94933965e-02 6.33071465e-03 1.36599522e+02] [ 1.94901926e-02 9.99809887e-01 5.67394351e-04 1.13627973e+01] [-6.34057154e-03 -4.43888318e-04 9.99979800e-01 -5.76149718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341400513 meters 0.07448830369932408 Centerline is valid? [True, True] Translation: X:136.66, Y:11.37, Z:-0.57 [[ 9.99868517e-01 -1.43131016e-02 7.62130505e-03 1.36658842e+02] [ 1.43083075e-02 9.99897398e-01 6.83198909e-04 1.13745749e+01] [-7.63030178e-03 -5.74061104e-04 9.99970724e-01 -5.74864493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401400513 meters 0.08910711029270495 Centerline is valid? [True, True] Translation: X:136.72, Y:11.40, Z:-0.58 [[ 9.99932144e-01 -9.65551897e-03 6.51759073e-03 1.36716097e+02] [ 9.65191483e-03 9.99953249e-01 5.84214596e-04 1.14008070e+01] [-6.52292692e-03 -5.21267723e-04 9.99978590e-01 -5.76810845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461400513 meters 0.08531257608253502 Centerline is valid? [True, True] Translation: X:136.78, Y:11.40, Z:-0.58 [[ 9.99891569e-01 -1.21315846e-02 8.34716585e-03 1.36776778e+02] [ 1.21257576e-02 9.99926200e-01 7.48339951e-04 1.14039382e+01] [-8.35562838e-03 -6.47043098e-04 9.99964882e-01 -5.75791926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52140051299997 meters 0.07024601082610753 Centerline is valid? [True, True] Translation: X:136.84, Y:11.39, Z:-0.58 [[ 9.99799505e-01 -1.78918743e-02 8.99059647e-03 1.36839085e+02] [ 1.78853457e-02 9.99839720e-01 8.06047255e-04 1.13889531e+01] [-9.00357715e-03 -6.45085721e-04 9.99959259e-01 -5.75429363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58140051299998 meters 0.06366401551539001 Centerline is valid? [True, True] Translation: X:136.90, Y:11.38, Z:-0.58 [[ 9.99605091e-01 -2.71079455e-02 7.40408797e-03 1.36900324e+02] [ 2.71037700e-02 9.99632405e-01 6.63734160e-04 1.13831795e+01] [-7.41935874e-03 -4.62793349e-04 9.99972369e-01 -5.77437067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64140051299998 meters 0.05565438338802302 Centerline is valid? [True, True] Translation: X:136.96, Y:11.38, Z:-0.58 [[ 9.99422501e-01 -3.29858366e-02 8.16079363e-03 1.36961474e+02] [ 3.29809589e-02 9.99455712e-01 7.31588965e-04 1.13752487e+01] [-8.18048389e-03 -4.62015674e-04 9.99966433e-01 -5.76767364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70140051299998 meters 0.05482805908749549 Centerline is valid? [True, True] Translation: X:137.02, Y:11.38, Z:-0.58 [[ 9.99298451e-01 -3.64115068e-02 8.76407411e-03 1.37020843e+02] [ 3.64060127e-02 9.99336773e-01 7.85662949e-04 1.13758366e+01] [-8.78686871e-03 -4.66046774e-04 9.99961286e-01 -5.75775861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76140051299998 meters 0.05440093409271388 Centerline is valid? [True, True] Translation: X:137.08, Y:11.38, Z:-0.57 [[ 9.99327556e-01 -3.52998248e-02 9.91760987e-03 1.37079937e+02] [ 3.52927334e-02 9.99376622e-01 8.89188792e-04 1.13808931e+01] [-9.94281566e-03 -5.38571301e-04 9.99950424e-01 -5.72409841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821400513 meters 0.05585395673315604 Centerline is valid? [True, True] Translation: X:137.14, Y:11.39, Z:-0.57 [[ 9.99411977e-01 -3.28607542e-02 9.79133809e-03 1.37139490e+02] [ 3.28537219e-02 9.99459785e-01 8.78241828e-04 1.13887061e+01] [-9.81490835e-03 -5.56043503e-04 9.99951678e-01 -5.73603232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881400513 meters 0.060372154874188275 Centerline is valid? [True, True] Translation: X:137.20, Y:11.40, Z:-0.58 [[ 9.99329082e-01 -3.52714674e-02 9.86455801e-03 1.37197541e+02] [ 3.52644457e-02 9.99377624e-01 8.84903360e-04 1.14011210e+01] [-9.88963039e-03 -5.36441493e-04 9.99950953e-01 -5.75541195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941400513 meters 0.04823774590261238 Centerline is valid? [True, True] Translation: X:137.26, Y:11.39, Z:-0.57 [[ 9.99054380e-01 -4.23982244e-02 9.62995988e-03 1.37259701e+02] [ 4.23918603e-02 9.99100687e-01 8.64111277e-04 1.13885652e+01] [-9.65793631e-03 -4.55062242e-04 9.99953257e-01 -5.74460357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001400513 meters 0.04332226457633296 Centerline is valid? [True, True] Translation: X:137.32, Y:11.39, Z:-0.57 [[ 9.98670724e-01 -5.03638192e-02 1.09667619e-02 1.37319251e+02] [ 5.03560445e-02 9.98730845e-01 9.84086654e-04 1.13865857e+01] [-1.10024058e-02 -4.30535780e-04 9.99939379e-01 -5.72504959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061400513 meters 0.039466551525832325 Centerline is valid? [True, True] Translation: X:137.38, Y:11.39, Z:-0.57 [[ 9.98464622e-01 -5.33682605e-02 1.48400837e-02 1.37379713e+02] [ 5.33543512e-02 9.98574754e-01 1.33190176e-03 1.13860881e+01] [-1.48900142e-02 -5.38073754e-04 9.99888993e-01 -5.69055884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121400513 meters 0.04213697189737604 Centerline is valid? [True, True] Translation: X:137.44, Y:11.39, Z:-0.57 [[ 9.98486141e-01 -5.30615626e-02 1.44877979e-02 1.37437534e+02] [ 5.30482695e-02 9.98591102e-01 1.30056825e-03 1.13913560e+01] [-1.45363962e-02 -5.30046765e-04 9.99894201e-01 -5.69274393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181400513 meters 0.03331048824329944 Centerline is valid? [True, True] Translation: X:137.50, Y:11.39, Z:-0.57 [[ 9.98381137e-01 -5.52367128e-02 1.35650293e-02 1.37496782e+02] [ 5.52252503e-02 9.98473178e-01 1.21842673e-03 1.13866869e+01] [-1.36116198e-02 -4.67322126e-04 9.99907248e-01 -5.71456930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24140051299997 meters 0.030721440667624497 Centerline is valid? [True, True] Translation: X:137.56, Y:11.39, Z:-0.57 [[ 9.98112876e-01 -6.01458778e-02 1.23757508e-02 1.37556235e+02] [ 6.01367077e-02 9.98189531e-01 1.11211435e-03 1.13891760e+01] [-1.24202339e-02 -3.65778746e-04 9.99922799e-01 -5.74229955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30140051299998 meters 0.02586323060147197 Centerline is valid? [True, True] Translation: X:137.62, Y:11.39, Z:-0.58 [[ 9.97893081e-01 -6.40408615e-02 1.04003002e-02 1.37616731e+02] [ 6.40345955e-02 9.97947242e-01 9.34708044e-04 1.13901101e+01] [-1.04388104e-02 -2.66759674e-04 9.99945479e-01 -5.77795259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36140051299998 meters 0.023963964835342414 Centerline is valid? [True, True] Translation: X:137.67, Y:11.40, Z:-0.58 [[ 9.97709894e-01 -6.69909222e-02 9.33721955e-03 1.37673861e+02] [ 6.69859992e-02 9.97753562e-01 8.39343252e-04 1.13967451e+01] [-9.37247245e-03 -2.11958086e-04 9.99956055e-01 -5.79524711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42140051299998 meters 0.02157330698002314 Centerline is valid? [True, True] Translation: X:137.73, Y:11.41, Z:-0.58 [[ 9.97401976e-01 -7.16167343e-02 7.76804650e-03 1.37731946e+02] [ 7.16134638e-02 9.97432215e-01 6.98722116e-04 1.14063675e+01] [-7.79814003e-03 -1.40610102e-04 9.99969584e-01 -5.82019926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48140051299998 meters 0.01134928069965987 Centerline is valid? [True, True] Translation: X:137.79, Y:11.40, Z:-0.58 [[ 9.96641488e-01 -8.15923473e-02 6.95942912e-03 1.37793046e+02] [ 8.15899630e-02 9.96665784e-01 6.26296868e-04 1.14010191e+01] [-6.98732591e-03 -5.63738783e-05 9.99975587e-01 -5.82335553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54140051299999 meters 0.006856116881036778 Centerline is valid? [True, True] Translation: X:137.85, Y:11.40, Z:-0.58 [[ 9.96055011e-01 -8.83119298e-02 8.68435276e-03 1.37852989e+02] [ 8.83084750e-02 9.96092869e-01 7.81224125e-04 1.13984447e+01] [-8.71941326e-03 -1.12402560e-05 9.99961985e-01 -5.78697604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601400513 meters 0.006836487704205078 Centerline is valid? [True, True] Translation: X:137.91, Y:11.40, Z:-0.58 [[ 9.95761722e-01 -9.14277135e-02 9.97832743e-03 1.37910135e+02] [ 9.14232892e-02 9.95811716e-01 8.99589192e-04 1.14027360e+01] [-1.00187827e-02 1.64750313e-05 9.99949811e-01 -5.78401264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661400513 meters 0.0068338498833512345 Centerline is valid? [True, True] Translation: X:137.97, Y:11.41, Z:-0.58 [[ 9.95784317e-01 -9.13091943e-02 8.73068673e-03 1.37967939e+02] [ 9.13058000e-02 9.95822590e-01 7.87416750e-04 1.14084272e+01] [-8.76611346e-03 1.30650853e-05 9.99961577e-01 -5.80625322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721400513 meters 0.008203247580869115 Centerline is valid? [True, True] Translation: X:138.02, Y:11.42, Z:-0.58 [[ 9.96273624e-01 -8.57763218e-02 9.01607750e-03 1.38024095e+02] [ 8.57724562e-02 9.96314419e-01 8.15257720e-04 1.14245144e+01] [-9.05277782e-03 -3.88886499e-05 9.99959022e-01 -5.80872045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781400513 meters 0.012057757533848015 Centerline is valid? [True, True] Translation: X:138.08, Y:11.44, Z:-0.58 [[ 9.96619273e-01 -8.11518911e-02 1.28216417e-02 1.38082167e+02] [ 8.11436759e-02 9.96701739e-01 1.16051642e-03 1.14392255e+01] [-1.28735307e-02 -1.16197892e-04 9.99917126e-01 -5.76044630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841400513 meters 0.01403623253505488 Centerline is valid? [True, True] Translation: X:138.14, Y:11.45, Z:-0.58 [[ 9.96752964e-01 -7.93615195e-02 1.36117160e-02 1.38140737e+02] [ 7.93520619e-02 9.96845889e-01 1.23434316e-03 1.14471769e+01] [-1.36667425e-02 -1.50217473e-04 9.99906594e-01 -5.75486191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901400513 meters 0.012647982869182154 Centerline is valid? [True, True] Translation: X:138.20, Y:11.45, Z:-0.58 [[ 9.96723112e-01 -8.02466247e-02 1.01743096e-02 1.38199243e+02] [ 8.02413751e-02 9.96775034e-01 9.23787194e-04 1.14521523e+01] [-1.02156286e-02 -1.04359450e-04 9.99947814e-01 -5.81638303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961400513 meters 0.01215124759502327 Centerline is valid? [True, True] Translation: X:138.26, Y:11.46, Z:-0.58 [[ 9.96698456e-01 -8.07304105e-02 8.64808012e-03 1.38256682e+02] [ 8.07266268e-02 9.96735970e-01 7.86270253e-04 1.14595000e+01] [-8.68332844e-03 -8.55440102e-05 9.99962296e-01 -5.84846757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02140051299997 meters 0.015387664160669794 Centerline is valid? [True, True] Translation: X:138.31, Y:11.48, Z:-0.59 [[ 9.96895615e-01 -7.82276096e-02 8.92042263e-03 1.38313575e+02] [ 7.82234646e-02 9.96935519e-01 8.13158020e-04 1.14755184e+01] [-8.95669757e-03 -1.12847301e-04 9.99959882e-01 -5.85471068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08140051299998 meters 0.02050829830436852 Centerline is valid? [True, True] Translation: X:138.37, Y:11.49, Z:-0.59 [[ 9.97188291e-01 -7.46746493e-02 6.26175135e-03 1.38370808e+02] [ 7.46725354e-02 9.97207945e-01 5.71036304e-04 1.14888196e+01] [-6.28691013e-03 -1.01849867e-04 9.99980232e-01 -5.91258112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14140051299998 meters 0.022260311131592922 Centerline is valid? [True, True] Translation: X:138.43, Y:11.50, Z:-0.59 [[ 9.97431107e-01 -7.10991586e-02 8.72333674e-03 1.38429021e+02] [ 7.10949136e-02 9.97469237e-01 7.96157257e-04 1.15027991e+01] [-8.75786616e-03 -1.73927142e-04 9.99961634e-01 -5.87026848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20140051299998 meters 0.02137562720519162 Centerline is valid? [True, True] Translation: X:138.49, Y:11.51, Z:-0.59 [[ 9.97473430e-01 -7.04495854e-02 9.14401133e-03 1.38487541e+02] [ 7.04448937e-02 9.97515323e-01 8.34554558e-04 1.15135829e+01] [-9.18008544e-03 -1.88297091e-04 9.99957844e-01 -5.86741061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26140051299998 meters 0.02737033810510244 Centerline is valid? [True, True] Translation: X:138.54, Y:11.53, Z:-0.59 [[ 9.97743621e-01 -6.66361079e-02 8.20340723e-03 1.38544030e+02] [ 6.66321899e-02 9.97777324e-01 7.50303721e-04 1.15320986e+01] [-8.23517103e-03 -2.01999763e-04 9.99966070e-01 -5.89249404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321400513 meters 0.03527569231211639 Centerline is valid? [True, True] Translation: X:138.60, Y:11.56, Z:-0.59 [[ 9.98178172e-01 -5.97592033e-02 8.31713419e-03 1.38602110e+02] [ 5.97549326e-02 9.98212787e-01 7.61263210e-04 1.15580605e+01] [-8.34776218e-03 -2.62886527e-04 9.99965122e-01 -5.89796778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381400513 meters 0.03733359741298291 Centerline is valid? [True, True] Translation: X:138.66, Y:11.57, Z:-0.59 [[ 9.98337979e-01 -5.70844568e-02 7.91482433e-03 1.38660194e+02] [ 5.70805063e-02 9.98369316e-01 7.24317073e-04 1.15705615e+01] [-7.94326500e-03 -2.71331063e-04 9.99968415e-01 -5.91193629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441400513 meters 0.037820259868474704 Centerline is valid? [True, True] Translation: X:138.72, Y:11.58, Z:-0.59 [[ 9.98386880e-01 -5.61805795e-02 8.20854978e-03 1.38717937e+02] [ 5.61762979e-02 9.98420582e-01 7.51416059e-04 1.15792777e+01] [-8.23780004e-03 -2.89077996e-04 9.99966027e-01 -5.90790429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501400513 meters 0.04665318004603769 Centerline is valid? [True, True] Translation: X:138.77, Y:11.61, Z:-0.59 [[ 9.98591708e-01 -5.24723347e-02 7.82657554e-03 1.38774804e+02] [ 5.24683243e-02 9.98622331e-01 7.17003971e-04 1.16059933e+01] [-7.85341598e-03 -3.05346916e-04 9.99969115e-01 -5.92008684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561400513 meters 0.04462550085033458 Centerline is valid? [True, True] Translation: X:138.83, Y:11.61, Z:-0.59 [[ 9.98700869e-01 -5.05110972e-02 6.72328744e-03 1.38834269e+02] [ 5.05080926e-02 9.98723462e-01 6.16045362e-04 1.16134344e+01] [-6.74582203e-03 -2.75664614e-04 9.99977209e-01 -5.94061668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621400513 meters 0.04568083106168451 Centerline is valid? [True, True] Translation: X:138.89, Y:11.63, Z:-0.59 [[ 9.98774502e-01 -4.89135192e-02 7.54730434e-03 1.38893018e+02] [ 4.89096859e-02 9.98802966e-01 6.91752129e-04 1.16255957e+01] [-7.57210599e-03 -3.21768104e-04 9.99971279e-01 -5.93648864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681400513 meters 0.04241592878312672 Centerline is valid? [True, True] Translation: X:138.95, Y:11.63, Z:-0.60 [[ 9.98666244e-01 -5.11314344e-02 7.16309216e-03 1.38952458e+02] [ 5.11280373e-02 9.98691891e-01 6.56685461e-04 1.16300541e+01] [-7.18729933e-03 -2.89574759e-04 9.99974129e-01 -5.95225770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74140051299997 meters 0.04263884468117734 Centerline is valid? [True, True] Translation: X:139.01, Y:11.64, Z:-0.60 [[ 9.98534097e-01 -5.38801377e-02 5.15639575e-03 1.39011084e+02] [ 5.38784138e-02 9.98547391e-01 4.72763873e-04 1.16375915e+01] [-5.17437811e-03 -1.94252423e-04 9.99986594e-01 -5.99227410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80140051299998 meters 0.039338716348023835 Centerline is valid? [True, True] Translation: X:139.07, Y:11.64, Z:-0.59 [[ 9.98439605e-01 -5.51314785e-02 8.88119591e-03 1.39069842e+02] [ 5.51264107e-02 9.98479051e-01 8.14607986e-04 1.16418073e+01] [-8.91259860e-03 -3.23748423e-04 9.99960230e-01 -5.93714258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86140051299998 meters 0.046745396906766254 Centerline is valid? [True, True] Translation: X:139.13, Y:11.66, Z:-0.59 [[ 9.98611753e-01 -5.18424255e-02 9.32357180e-03 1.39127729e+02] [ 5.18366923e-02 9.98655208e-01 8.55693807e-04 1.16553230e+01] [-9.35539478e-03 -3.71202771e-04 9.99956168e-01 -5.94563159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92140051299998 meters 0.04739708268381259 Centerline is valid? [True, True] Translation: X:139.19, Y:11.66, Z:-0.60 [[ 9.98878306e-01 -4.67816981e-02 7.32131721e-03 1.39188118e+02] [ 4.67780257e-02 9.98905083e-01 6.72142144e-04 1.16616394e+01] [-7.34474492e-03 -3.28911443e-04 9.99972973e-01 -5.98967484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98140051299998 meters 0.056757544122676515 Centerline is valid? [True, True] Translation: X:139.25, Y:11.68, Z:-0.60 [[ 9.99210733e-01 -3.93448766e-02 5.46728342e-03 1.39246714e+02] [ 3.93427176e-02 9.99225650e-01 5.01923527e-04 1.16763320e+01] [-5.48279794e-03 -2.86429588e-04 9.99984928e-01 -6.01984763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04140051299999 meters 0.05696397002695426 Centerline is valid? [True, True] Translation: X:139.31, Y:11.68, Z:-0.60 [[ 9.99293166e-01 -3.72729930e-02 4.88791450e-03 1.39307169e+02] [ 3.72712430e-02 9.99305085e-01 4.48660213e-04 1.16774622e+01] [-4.90124073e-03 -2.66164436e-04 9.99987953e-01 -6.03511538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101400513 meters 0.05808837812063273 Centerline is valid? [True, True] Translation: X:139.37, Y:11.68, Z:-0.60 [[ 9.99294535e-01 -3.70134663e-02 6.35895469e-03 1.39366084e+02] [ 3.70105035e-02 9.99314707e-01 5.83018130e-04 1.16799687e+01] [-6.37617646e-03 -3.47258717e-04 9.99979612e-01 -6.02291008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161400513 meters 0.06410181642788017 Centerline is valid? [True, True] Translation: X:139.42, Y:11.68, Z:-0.60 [[ 9.99314203e-01 -3.61243906e-02 8.13336805e-03 1.39424218e+02] [ 3.61194964e-02 9.99347198e-01 7.47875005e-04 1.16836772e+01] [-8.15507510e-03 -4.53588957e-04 9.99966644e-01 -5.98447284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221400513 meters 0.05755577469620624 Centerline is valid? [True, True] Translation: X:139.48, Y:11.68, Z:-0.60 [[ 9.99357200e-01 -3.45469942e-02 9.57563518e-03 1.39484503e+02] [ 3.45401318e-02 9.99402923e-01 8.81158830e-04 1.16753504e+01] [-9.60035918e-03 -5.49848720e-04 9.99953764e-01 -5.97021744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281400513 meters 0.06577871261511568 Centerline is valid? [True, True] Translation: X:139.54, Y:11.68, Z:-0.60 [[ 9.99524964e-01 -2.93668172e-02 9.35069547e-03 1.39543690e+02] [ 2.93600423e-02 9.99568530e-01 8.61010100e-04 1.16836203e+01] [-9.37194605e-03 -5.86064275e-04 9.99955911e-01 -5.98847370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341400513 meters 0.06713153526902688 Centerline is valid? [True, True] Translation: X:139.60, Y:11.69, Z:-0.60 [[ 9.99677136e-01 -2.37065776e-02 9.14451621e-03 1.39604093e+02] [ 2.36998616e-02 9.99718764e-01 8.42118665e-04 1.16898009e+01] [-9.16190819e-03 -6.25123007e-04 9.99957833e-01 -5.98507771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401400513 meters 0.08297845767637388 Centerline is valid? [True, True] Translation: X:139.66, Y:11.71, Z:-0.60 [[ 9.99832396e-01 -1.50282843e-02 1.04561206e-02 1.39662224e+02] [ 1.50190314e-02 9.99886744e-01 9.62888713e-04 1.17098574e+01] [-1.04694069e-02 -8.05686526e-04 9.99944870e-01 -5.98239524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461400513 meters 0.08833226329871828 Centerline is valid? [True, True] Translation: X:139.72, Y:11.72, Z:-0.60 [[ 9.99830868e-01 -1.53511447e-02 1.01280517e-02 1.39722334e+02] [ 1.53424788e-02 9.99881862e-01 9.32786497e-04 1.17205844e+01] [-1.01411745e-02 -7.77239315e-04 9.99948275e-01 -5.99582095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52140051299997 meters 0.07708064801224973 Centerline is valid? [True, True] Translation: X:139.78, Y:11.71, Z:-0.61 [[ 9.99803226e-01 -1.82922328e-02 7.67484144e-03 1.39783857e+02] [ 1.82873450e-02 9.99832523e-01 7.06559628e-04 1.17086478e+01] [-7.68648064e-03 -5.66068122e-04 9.99970298e-01 -6.05100270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58140051299998 meters 0.08167827059974957 Centerline is valid? [True, True] Translation: X:139.84, Y:11.72, Z:-0.61 [[ 9.99823000e-01 -1.73050985e-02 7.38254709e-03 1.39843638e+02] [ 1.73005488e-02 9.99850103e-01 6.79701632e-04 1.17181202e+01] [-7.39320278e-03 -5.51859208e-04 9.99972518e-01 -6.05336701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64140051299998 meters 0.07737217691923794 Centerline is valid? [True, True] Translation: X:139.90, Y:11.72, Z:-0.61 [[ 9.99887188e-01 -1.34710209e-02 6.64408485e-03 1.39904252e+02] [ 1.34672522e-02 9.99909125e-01 6.11636692e-04 1.17227190e+01] [-6.65172045e-03 -5.22090125e-04 9.99977741e-01 -6.07313547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70140051299998 meters 0.08909513872397291 Centerline is valid? [True, True] Translation: X:139.96, Y:11.74, Z:-0.61 [[ 9.99942502e-01 -9.47721704e-03 5.01747344e-03 1.39962847e+02] [ 9.47501778e-03 9.99955004e-01 4.61910155e-04 1.17401501e+01] [-5.02162530e-03 -4.14342946e-04 9.99987306e-01 -6.11052129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76140051299998 meters 0.081243988108603 Centerline is valid? [True, True] Translation: X:140.02, Y:11.74, Z:-0.61 [[ 9.99932525e-01 -1.07736597e-02 4.34444119e-03 1.40024326e+02] [ 1.07720232e-02 9.99941900e-01 3.99904097e-04 1.17376376e+01] [-4.34849721e-03 -3.53078692e-04 9.99990483e-01 -6.10437684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821400513 meters 0.08169231900291504 Centerline is valid? [True, True] Translation: X:140.08, Y:11.75, Z:-0.61 [[ 9.99916258e-01 -1.21069191e-02 4.57150769e-03 1.40084499e+02] [ 1.21051212e-02 9.99926642e-01 4.20746664e-04 1.17454946e+01] [-4.57626628e-03 -3.65372775e-04 9.99989462e-01 -6.11016418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881400513 meters 0.07835947913740356 Centerline is valid? [True, True] Translation: X:140.15, Y:11.75, Z:-0.61 [[ 9.99865406e-01 -1.52040038e-02 6.16508858e-03 1.40145554e+02] [ 1.52007933e-02 9.99884300e-01 5.67274651e-04 1.17470066e+01] [-6.17300013e-03 -4.73484062e-04 9.99980835e-01 -6.09412644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941400513 meters 0.07831041991564103 Centerline is valid? [True, True] Translation: X:140.20, Y:11.76, Z:-0.61 [[ 9.99759989e-01 -2.00955919e-02 8.72531641e-03 1.40204815e+02] [ 2.00893477e-02 9.99797866e-01 8.02713729e-04 1.17554232e+01] [-8.73968374e-03 -6.27235155e-04 9.99961612e-01 -6.06980304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001400513 meters 0.06858352998081745 Centerline is valid? [True, True] Translation: X:140.27, Y:11.75, Z:-0.60 [[ 9.99637592e-01 -2.50088847e-02 9.96190717e-03 1.40266015e+02] [ 2.50009862e-02 9.99687006e-01 9.16635213e-04 1.17499807e+01] [-9.98171318e-03 -6.67245514e-04 9.99949959e-01 -6.04445513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061400513 meters 0.060873681349792465 Centerline is valid? [True, True] Translation: X:140.33, Y:11.74, Z:-0.60 [[ 9.99513910e-01 -2.87021154e-02 1.21709702e-02 1.40327307e+02] [ 2.86905984e-02 9.99587713e-01 1.11984749e-03 1.17447716e+01] [-1.21980942e-02 -7.70110722e-04 9.99925304e-01 -6.01155882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121400513 meters 0.06363266797166599 Centerline is valid? [True, True] Translation: X:140.39, Y:11.76, Z:-0.60 [[ 9.99491521e-01 -2.96635838e-02 1.16949436e-02 1.40387345e+02] [ 2.96530157e-02 9.99559673e-01 1.07605537e-03 1.17554911e+01] [-1.17217137e-02 -7.28717871e-04 9.99931033e-01 -6.02450008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181400513 meters 0.07062491396504085 Centerline is valid? [True, True] Translation: X:140.45, Y:11.77, Z:-0.61 [[ 9.99658157e-01 -2.43534574e-02 9.51198886e-03 1.40445600e+02] [ 2.43462289e-02 9.99703204e-01 8.75004879e-04 1.17727068e+01] [-9.53047514e-03 -6.43124707e-04 9.99954377e-01 -6.07321588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24140051299997 meters 0.07652786572769625 Centerline is valid? [True, True] Translation: X:140.50, Y:11.79, Z:-0.61 [[ 9.99768717e-01 -1.94070741e-02 9.26698779e-03 1.40504739e+02] [ 1.94000028e-02 9.99811439e-01 8.52355109e-04 1.17893757e+01] [-9.28178212e-03 -6.72378385e-04 9.99956697e-01 -6.09125613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30140051299998 meters 0.07310345924823161 Centerline is valid? [True, True] Translation: X:140.57, Y:11.79, Z:-0.61 [[ 9.99850947e-01 -1.47981311e-02 8.89374942e-03 1.40565606e+02] [ 1.47914367e-02 9.99890266e-01 8.18018924e-04 1.17943469e+01] [-8.90487862e-03 -6.86345664e-04 9.99960115e-01 -6.10288081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36140051299998 meters 0.07759787486647282 Centerline is valid? [True, True] Translation: X:140.63, Y:11.81, Z:-0.61 [[ 9.99863380e-01 -1.46519200e-02 7.65126287e-03 1.40625675e+02] [ 1.46469607e-02 9.99892480e-01 7.03808019e-04 1.18096643e+01] [-7.66075235e-03 -5.91644119e-04 9.99970481e-01 -6.13531717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42140051299998 meters 0.07791237278835879 Centerline is valid? [True, True] Translation: X:140.69, Y:11.82, Z:-0.61 [[ 9.99824768e-01 -1.63975761e-02 9.03065521e-03 1.40685867e+02] [ 1.63907421e-02 9.99865318e-01 8.30248205e-04 1.18191713e+01] [-9.04305300e-03 -6.82083579e-04 9.99958878e-01 -6.12206799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48140051299998 meters 0.07559543138288677 Centerline is valid? [True, True] Translation: X:140.75, Y:11.83, Z:-0.61 [[ 9.99798051e-01 -1.68393473e-02 1.09678576e-02 1.40746938e+02] [ 1.68292946e-02 9.99857869e-01 1.00822199e-03 1.18307212e+01] [-1.09832765e-02 -8.23437078e-04 9.99939343e-01 -6.10080602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54140051299999 meters 0.07779219393300975 Centerline is valid? [True, True] Translation: X:140.81, Y:11.85, Z:-0.61 [[ 9.99832840e-01 -1.59593159e-02 8.92146622e-03 1.40808175e+02] [ 1.59526325e-02 9.99872413e-01 8.19801202e-04 1.18451702e+01] [-8.93341142e-03 -6.77343292e-04 9.99959867e-01 -6.14157448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601400513 meters 0.0844594143987514 Centerline is valid? [True, True] Translation: X:140.87, Y:11.86, Z:-0.62 [[ 9.99862013e-01 -1.54893673e-02 6.00295069e-03 1.40867542e+02] [ 1.54863331e-02 9.99879927e-01 5.51604576e-04 1.18638342e+01] [-6.01077391e-03 -4.58564768e-04 9.99981830e-01 -6.19851242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661400513 meters 0.07596422597641525 Centerline is valid? [True, True] Translation: X:140.93, Y:11.87, Z:-0.62 [[ 9.99842164e-01 -1.71905573e-02 4.48678792e-03 1.40928022e+02] [ 1.71888817e-02 9.99852175e-01 4.11760474e-04 1.18657006e+01] [-4.49320306e-03 -3.34572617e-04 9.99989850e-01 -6.20813446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721400513 meters 0.07808718005945905 Centerline is valid? [True, True] Translation: X:140.99, Y:11.88, Z:-0.62 [[ 9.99823076e-01 -1.75417418e-02 6.78999288e-03 1.40987151e+02] [ 1.75379119e-02 9.99846005e-01 6.23184021e-04 1.18782504e+01] [-6.79987899e-03 -5.03991468e-04 9.99976754e-01 -6.17065049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781400513 meters 0.08227502645036754 Centerline is valid? [True, True] Translation: X:141.05, Y:11.90, Z:-0.62 [[ 9.99850698e-01 -1.56912493e-02 7.23642530e-03 1.41045199e+02] [ 1.56868509e-02 9.99876733e-01 6.64177955e-04 1.18985449e+01] [-7.24595507e-03 -5.50562068e-04 9.99973596e-01 -6.19100786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841400513 meters 0.07905891003809898 Centerline is valid? [True, True] Translation: X:141.11, Y:11.90, Z:-0.62 [[ 9.99858810e-01 -1.54835103e-02 6.52854561e-03 1.41107286e+02] [ 1.54799269e-02 9.99879999e-01 5.99058829e-04 1.19039573e+01] [-6.53703771e-03 -4.97912838e-04 9.99978509e-01 -6.19549792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901400513 meters 0.06817067230570242 Centerline is valid? [True, True] Translation: X:141.17, Y:11.90, Z:-0.62 [[ 9.99808332e-01 -1.82574223e-02 7.06871833e-03 1.41168621e+02] [ 1.82532940e-02 9.99833185e-01 6.48112748e-04 1.19041525e+01] [-7.07937203e-03 -5.18961131e-04 9.99974806e-01 -6.17339142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961400513 meters 0.08186798920999616 Centerline is valid? [True, True] Translation: X:141.23, Y:11.93, Z:-0.62 [[ 9.99756190e-01 -2.02414793e-02 8.82283893e-03 1.41226479e+02] [ 2.02351261e-02 9.99794922e-01 8.08773669e-04 1.19324593e+01] [-8.83740034e-03 -6.30045224e-04 9.99960751e-01 -6.17226609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02140051299997 meters 0.07623759861766183 Centerline is valid? [True, True] Translation: X:141.29, Y:11.94, Z:-0.61 [[ 9.99714658e-01 -2.09431440e-02 1.14885908e-02 1.41287847e+02] [ 2.09324174e-02 9.99780338e-01 1.05314223e-03 1.19385010e+01] [-1.15081234e-02 -8.12357748e-04 9.99933449e-01 -6.13260692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08140051299998 meters 0.07463721894181381 Centerline is valid? [True, True] Translation: X:141.35, Y:11.95, Z:-0.61 [[ 9.99714439e-01 -2.03314643e-02 1.25567634e-02 1.41349603e+02] [ 2.03186063e-02 9.99792894e-01 1.15073391e-03 1.19470898e+01] [-1.25775589e-02 -8.95269372e-04 9.99920499e-01 -6.11984077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14140051299998 meters 0.07536033930235532 Centerline is valid? [True, True] Translation: X:141.41, Y:11.96, Z:-0.61 [[ 9.99715672e-01 -2.04980420e-02 1.21821793e-02 1.41410242e+02] [ 2.04859586e-02 9.99789518e-01 1.11587003e-03 1.19615575e+01] [-1.22024884e-02 -8.65989133e-04 9.99925172e-01 -6.13907688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20140051299998 meters 0.07468265114403953 Centerline is valid? [True, True] Translation: X:141.47, Y:11.98, Z:-0.62 [[ 9.99668581e-01 -2.35636343e-02 1.03674074e-02 1.41468930e+02] [ 2.35550519e-02 9.99722091e-01 9.49177997e-04 1.19751489e+01] [-1.03868923e-02 -7.04658602e-04 9.99945806e-01 -6.16897694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26140051299998 meters 0.06672620398726892 Centerline is valid? [True, True] Translation: X:141.53, Y:11.98, Z:-0.62 [[ 9.99555464e-01 -2.81811086e-02 9.73135514e-03 1.41529676e+02] [ 2.81737634e-02 9.99602644e-01 8.91095236e-04 1.19771228e+01] [-9.75260038e-03 -6.16530215e-04 9.99952252e-01 -6.18339406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321400513 meters 0.0642843304190091 Centerline is valid? [True, True] Translation: X:141.59, Y:11.99, Z:-0.62 [[ 9.99221401e-01 -3.77256087e-02 1.15486278e-02 1.41588969e+02] [ 3.77159006e-02 9.99287943e-01 1.05733894e-03 1.19868313e+01] [-1.15802933e-02 -6.20948797e-04 9.99932753e-01 -6.16233919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381400513 meters 0.04585293764129399 Centerline is valid? [True, True] Translation: X:141.65, Y:11.98, Z:-0.62 [[ 9.98829181e-01 -4.70818167e-02 1.11162055e-02 1.41650869e+02] [ 4.70734003e-02 9.98890915e-01 1.01771180e-03 1.19776236e+01] [-1.11517924e-02 -4.93242655e-04 9.99937695e-01 -6.18397241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441400513 meters 0.03869337052294522 Centerline is valid? [True, True] Translation: X:141.71, Y:11.98, Z:-0.62 [[ 9.98316341e-01 -5.70312036e-02 1.05794821e-02 1.41710376e+02] [ 5.70241390e-02 9.98372330e-01 9.68467734e-04 1.19782962e+01] [-1.06174950e-02 -3.63551308e-04 9.99943567e-01 -6.21694841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501400513 meters 0.022668633732809054 Centerline is valid? [True, True] Translation: X:141.77, Y:11.96, Z:-0.63 [[ 9.97443137e-01 -7.09474148e-02 8.58209917e-03 1.41772219e+02] [ 7.09432793e-02 9.97480042e-01 7.85728990e-04 1.19617733e+01] [-8.61621808e-03 -1.74877731e-04 9.99962864e-01 -6.25290765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561400513 meters 0.01589376160866873 Centerline is valid? [True, True] Translation: X:141.83, Y:11.96, Z:-0.63 [[ 9.96931763e-01 -7.79315771e-02 7.33003477e-03 1.41833120e+02] [ 7.79287496e-02 9.96958705e-01 6.70994916e-04 1.19577180e+01] [-7.36003367e-03 -9.77157001e-05 9.99972910e-01 -6.28247015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621400513 meters 0.013397043222128428 Centerline is valid? [True, True] Translation: X:141.89, Y:11.96, Z:-0.62 [[ 9.96615073e-01 -8.11843434e-02 1.29421517e-02 1.41891163e+02] [ 8.11757935e-02 9.96699095e-01 1.18545123e-03 1.19578994e+01] [-1.29956710e-02 -1.30849125e-04 9.99915544e-01 -6.19024660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681400513 meters 0.018094276915966066 Centerline is valid? [True, True] Translation: X:141.95, Y:11.97, Z:-0.62 [[ 9.97025014e-01 -7.62189900e-02 1.14798545e-02 1.41949541e+02] [ 7.62119240e-02 9.97091087e-01 1.05235904e-03 1.19710997e+01] [-1.15266704e-02 -1.74326484e-04 9.99933551e-01 -6.22613584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74140051299997 meters 0.020889376991000394 Centerline is valid? [True, True] Translation: X:142.01, Y:11.98, Z:-0.63 [[ 9.97263495e-01 -7.31832809e-02 1.04751398e-02 1.42007243e+02] [ 7.31772283e-02 9.97318490e-01 9.60436577e-04 1.19802242e+01] [-1.05173385e-02 -1.91266639e-04 9.99944673e-01 -6.25234593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80140051299998 meters 0.024666138271452934 Centerline is valid? [True, True] Translation: X:142.06, Y:12.00, Z:-0.63 [[ 9.97437605e-01 -7.08355191e-02 1.00276738e-02 1.42063765e+02] [ 7.08298488e-02 9.97487988e-01 9.19923467e-04 1.19950036e+01] [-1.00676474e-02 -2.07307638e-04 9.99949298e-01 -6.26173645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86140051299998 meters 0.01994377456132836 Centerline is valid? [True, True] Translation: X:142.12, Y:12.00, Z:-0.63 [[ 9.97139328e-01 -7.49542205e-02 9.74807424e-03 1.42123477e+02] [ 7.49490492e-02 9.97186963e-01 8.95245934e-04 1.19975938e+01] [-9.78775501e-03 -1.62076033e-04 9.99952086e-01 -6.27241761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92140051299998 meters 0.010240700009498593 Centerline is valid? [True, True] Translation: X:142.18, Y:11.99, Z:-0.63 [[ 9.96284742e-01 -8.55814965e-02 9.61877504e-03 1.42183120e+02] [ 8.55769544e-02 9.96331172e-01 8.83567124e-04 1.19893207e+01] [-9.65910241e-03 -5.71389705e-05 9.99953348e-01 -6.30399397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98140051299998 meters 0.006845890433089953 Centerline is valid? [True, True] Translation: X:142.24, Y:11.99, Z:-0.62 [[ 9.95676572e-01 -9.19473227e-02 1.31853603e-02 1.42243067e+02] [ 9.19393347e-02 9.95763873e-01 1.21199214e-03 1.19853747e+01] [-1.32409448e-02 5.50107145e-06 9.99912335e-01 -6.24446913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04140051299999 meters 0.00690536801437419 Centerline is valid? [True, True] Translation: X:142.30, Y:11.99, Z:-0.62 [[ 9.95681832e-01 -9.18213348e-02 1.36576504e-02 1.42300445e+02] [ 9.18127198e-02 9.95775498e-01 1.25778026e-03 1.19909427e+01] [-1.37154447e-02 1.59707767e-06 9.99905939e-01 -6.22338427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101400513 meters 0.013145133720169278 Centerline is valid? [True, True] Translation: X:142.36, Y:12.01, Z:-0.63 [[ 9.96556035e-01 -8.20706819e-02 1.18520804e-02 1.42357125e+02] [ 8.20634813e-02 9.96626505e-01 1.09342143e-03 1.20124157e+01] [-1.19018353e-02 -1.17032749e-04 9.99929164e-01 -6.25674851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161400513 meters 0.02861182254452334 Centerline is valid? [True, True] Translation: X:142.41, Y:12.03, Z:-0.63 [[ 9.97205515e-01 -7.41427196e-02 9.16610975e-03 1.42414272e+02] [ 7.41824732e-02 9.97236357e-01 -4.07543443e-03 1.20335362e+01] [-8.83861410e-03 4.74401038e-03 9.99949685e-01 -6.31522590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221400513 meters 0.028382096898203164 Centerline is valid? [True, True] Translation: X:142.47, Y:12.04, Z:-0.63 [[ 9.97636575e-01 -6.82552796e-02 7.90452558e-03 1.42473870e+02] [ 6.82115483e-02 9.97654733e-01 5.67614971e-03 1.20426214e+01] [-8.27341454e-03 -5.12355463e-03 9.99952649e-01 -6.32317505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281400513 meters 0.0295087682883616 Centerline is valid? [True, True] Translation: X:142.53, Y:12.06, Z:-0.63 [[ 9.97769026e-01 -6.58978674e-02 1.06977134e-02 1.42531834e+02] [ 6.58910617e-02 9.97826334e-01 9.87781296e-04 1.20569845e+01] [-1.07395528e-02 -2.80693890e-04 9.99942290e-01 -6.28919319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341400513 meters 0.029720790419963707 Centerline is valid? [True, True] Translation: X:142.59, Y:12.06, Z:-0.63 [[ 9.97855944e-01 -6.45764142e-02 1.06489853e-02 1.42590626e+02] [ 6.45695753e-02 9.97912721e-01 9.85143647e-04 1.20644400e+01] [-1.06903750e-02 -2.95430985e-04 9.99942813e-01 -6.31077079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401400513 meters 0.032795375557762796 Centerline is valid? [True, True] Translation: X:142.65, Y:12.07, Z:-0.63 [[ 9.97911954e-01 -6.36702954e-02 1.08547685e-02 1.42648632e+02] [ 6.36631316e-02 9.97970940e-01 1.00457713e-03 1.20725546e+01] [-1.08967052e-02 -3.11430969e-04 9.99940581e-01 -6.33510732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461400513 meters 0.02944142022892287 Centerline is valid? [True, True] Translation: X:142.71, Y:12.07, Z:-0.63 [[ 9.97986418e-01 -6.23586428e-02 1.15978477e-02 1.42708723e+02] [ 6.23503710e-02 9.98053745e-01 1.07378559e-03 1.20742090e+01] [-1.16422352e-02 -3.48493330e-04 9.99932166e-01 -6.31925354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52140051299997 meters 0.042703292044028285 Centerline is valid? [True, True] Translation: X:142.77, Y:12.10, Z:-0.63 [[ 9.98407444e-01 -5.54084666e-02 1.06055182e-02 1.42766771e+02] [ 5.54011553e-02 9.98463694e-01 9.82163566e-04 1.20974059e+01] [-1.06436451e-02 -3.93041453e-04 9.99943278e-01 -6.33170176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58140051299998 meters 0.043852425409511155 Centerline is valid? [True, True] Translation: X:142.83, Y:12.11, Z:-0.63 [[ 9.98693810e-01 -4.98223154e-02 1.13318282e-02 1.42826194e+02] [ 4.98136079e-02 9.98757980e-01 1.04954877e-03 1.21067180e+01] [-1.13700448e-02 -4.83698609e-04 9.99935242e-01 -6.32943207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64140051299998 meters 0.05041351217736771 Centerline is valid? [True, True] Translation: X:142.89, Y:12.12, Z:-0.64 [[ 9.99039381e-01 -4.26102847e-02 1.02312421e-02 1.42885754e+02] [ 4.26028077e-02 9.99091639e-01 9.47738032e-04 1.21248576e+01] [-1.02623318e-02 -5.10947979e-04 9.99947210e-01 -6.36154842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70140051299998 meters 0.057576259409717605 Centerline is valid? [True, True] Translation: X:142.94, Y:12.14, Z:-0.64 [[ 9.99113741e-01 -4.12240694e-02 8.50346857e-03 1.42944900e+02] [ 4.12188553e-02 9.99149831e-01 7.87600456e-04 1.21399170e+01] [-8.52870728e-03 -4.36399198e-04 9.99963535e-01 -6.39371301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76140051299998 meters 0.05345072436577921 Centerline is valid? [True, True] Translation: X:143.01, Y:12.15, Z:-0.63 [[ 9.99080418e-01 -4.10793167e-02 1.22804328e-02 1.43007028e+02] [ 4.10684335e-02 9.99155689e-01 1.13719967e-03 1.21493897e+01] [-1.23167797e-02 -6.31815780e-04 9.99923946e-01 -6.33237163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821400513 meters 0.05407425025428119 Centerline is valid? [True, True] Translation: X:143.07, Y:12.16, Z:-0.64 [[ 9.99129132e-01 -3.99681123e-02 1.19803113e-02 1.43069050e+02] [ 3.99576815e-02 9.99200758e-01 1.10885902e-03 1.21564372e+01] [-1.20150551e-02 -6.29187883e-04 9.99927619e-01 -6.35537438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881400513 meters 0.06340799495223666 Centerline is valid? [True, True] Translation: X:143.13, Y:12.17, Z:-0.64 [[ 9.99389571e-01 -3.41623783e-02 7.30877875e-03 1.43127626e+02] [ 3.41583438e-02 9.99416205e-01 6.76162401e-04 1.21744183e+01] [-7.32761123e-03 -4.26093874e-04 9.99973062e-01 -6.43518917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941400513 meters 0.06394446674379882 Centerline is valid? [True, True] Translation: X:143.19, Y:12.18, Z:-0.64 [[ 9.99544141e-01 -2.93111841e-02 7.23636622e-03 1.43187453e+02] [ 2.93071029e-02 9.99570230e-01 6.69410243e-04 1.21826682e+01] [-7.25287746e-03 -4.57028157e-04 9.99973593e-01 -6.42494965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001400513 meters 0.07366023371947723 Centerline is valid? [True, True] Translation: X:143.25, Y:12.20, Z:-0.64 [[ 9.99662657e-01 -2.47403917e-02 7.90472844e-03 1.43245605e+02] [ 2.47353799e-02 9.99693766e-01 7.31175162e-04 1.21997690e+01] [-7.92039730e-03 -5.35402045e-04 9.99968490e-01 -6.42578633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061400513 meters 0.08122513803928098 Centerline is valid? [True, True] Translation: X:143.30, Y:12.22, Z:-0.65 [[ 9.99783922e-01 -1.92200926e-02 7.91822871e-03 1.43303972e+02] [ 1.92148899e-02 9.99815109e-01 7.32610991e-04 1.22187761e+01] [-7.93084555e-03 -5.80304797e-04 9.99968382e-01 -6.46202143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121400513 meters 0.08160168961130555 Centerline is valid? [True, True] Translation: X:143.37, Y:12.23, Z:-0.65 [[ 9.99777922e-01 -1.95928827e-02 7.76052724e-03 1.43365821e+02] [ 1.95878953e-02 9.99807881e-01 7.18161574e-04 1.22268379e+01] [-7.77310715e-03 -5.65989691e-04 9.99969629e-01 -6.46379549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181400513 meters 0.07576335492822459 Centerline is valid? [True, True] Translation: X:143.43, Y:12.23, Z:-0.65 [[ 9.99705294e-01 -2.28850744e-02 8.09927870e-03 1.43426987e+02] [ 2.28797536e-02 9.99737944e-01 7.49007791e-04 1.22265804e+01] [-8.11429734e-03 -5.63477553e-04 9.99966920e-01 -6.45795510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24140051299997 meters 0.06559429444518027 Centerline is valid? [True, True] Translation: X:143.49, Y:12.22, Z:-0.65 [[ 9.99676997e-01 -2.41008734e-02 8.06527884e-03 1.43489670e+02] [ 2.40956362e-02 9.99709380e-01 7.45914088e-04 1.22197181e+01] [-8.08091208e-03 -5.51335132e-04 9.99967197e-01 -6.46229608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30140051299998 meters 0.08345443444070613 Centerline is valid? [True, True] Translation: X:143.55, Y:12.25, Z:-0.64 [[ 9.99687166e-01 -2.30064143e-02 9.81195642e-03 1.43547720e+02] [ 2.29986167e-02 9.99735086e-01 9.06812192e-04 1.22517793e+01] [-9.83021959e-03 -6.80867086e-04 9.99951450e-01 -6.44550123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36140051299998 meters 0.07124439614047527 Centerline is valid? [True, True] Translation: X:143.61, Y:12.25, Z:-0.64 [[ 9.99704420e-01 -2.21747696e-02 9.96758055e-03 1.43610417e+02] [ 2.21666838e-02 9.99753865e-01 9.20971636e-04 1.22452254e+01] [-9.98554951e-03 -6.99751209e-04 9.99949898e-01 -6.44078311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42140051299998 meters 0.08182290289849395 Centerline is valid? [True, True] Translation: X:143.67, Y:12.26, Z:-0.65 [[ 9.99779869e-01 -1.94433359e-02 7.88477834e-03 1.43668814e+02] [ 1.94381946e-02 9.99810795e-01 7.28168379e-04 1.22635811e+01] [-7.89744453e-03 -5.74742231e-04 9.99968650e-01 -6.49917441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48140051299998 meters 0.07638642171519765 Centerline is valid? [True, True] Translation: X:143.73, Y:12.26, Z:-0.65 [[ 9.99823263e-01 -1.61339236e-02 9.65082036e-03 1.43730303e+02] [ 1.61260661e-02 9.99869569e-01 8.91441877e-04 1.22628333e+01] [-9.66394405e-03 -7.35654559e-04 9.99953032e-01 -6.47654144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54140051299999 meters 0.08468720002094045 Centerline is valid? [True, True] Translation: X:143.79, Y:12.28, Z:-0.65 [[ 9.99855733e-01 -1.36509501e-02 1.01076765e-02 1.43788304e+02] [ 1.36422077e-02 9.99906505e-01 9.33374541e-04 1.22798430e+01] [-1.01194729e-02 -7.95348864e-04 9.99948481e-01 -6.46845357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601400513 meters 0.08881212067054456 Centerline is valid? [True, True] Translation: X:143.85, Y:12.29, Z:-0.65 [[ 9.99880527e-01 -1.06284174e-02 1.12235315e-02 1.43847330e+02] [ 1.06174473e-02 9.99943096e-01 1.03655209e-03 1.22927874e+01] [-1.12339097e-02 -9.17262992e-04 9.99936477e-01 -6.46166756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661400513 meters 0.08742245367271556 Centerline is valid? [True, True] Translation: X:143.91, Y:12.30, Z:-0.65 [[ 9.99894909e-01 -8.56923620e-03 1.16935718e-02 1.43907841e+02] [ 8.55719158e-03 9.99962804e-01 1.07966657e-03 1.22952473e+01] [-1.17023888e-02 -9.79488973e-04 9.99931045e-01 -6.46459487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721400513 meters 0.09123451927930182 Centerline is valid? [True, True] Translation: X:143.97, Y:12.31, Z:-0.65 [[ 9.99924044e-01 -8.06841227e-03 9.31706571e-03 1.43968035e+02] [ 8.06074302e-03 9.99967142e-01 8.60399170e-04 1.23055196e+01] [-9.32370162e-03 -7.85231345e-04 9.99956225e-01 -6.53021471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781400513 meters 0.09168506551308399 Centerline is valid? [True, True] Translation: X:144.03, Y:12.31, Z:-0.65 [[ 9.99929088e-01 -5.84303964e-03 1.03768347e-02 1.44028269e+02] [ 5.83341832e-03 9.99982527e-01 9.57217609e-04 1.23101434e+01] [-1.03822465e-02 -8.96617313e-04 9.99945701e-01 -6.51308949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841400513 meters 0.0986916489198148 Centerline is valid? [True, True] Translation: X:144.09, Y:12.32, Z:-0.66 [[ 9.99973429e-01 -4.84437004e-04 7.27364457e-03 1.44088207e+02] [ 4.79569318e-04 9.99999660e-01 6.70951627e-04 1.23221574e+01] [-7.27396713e-03 -6.67445583e-04 9.99973322e-01 -6.56202861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901400513 meters 0.09751232482564429 Centerline is valid? [True, True] Translation: X:144.15, Y:12.33, Z:-0.66 [[ 9.99973383e-01 3.65078709e-04 7.28699330e-03 1.44150192e+02] [-3.69987958e-04 9.99999706e-01 6.72363640e-04 1.23267259e+01] [-7.28674569e-03 -6.75041844e-04 9.99973223e-01 -6.56489096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961400513 meters 0.08497351201611208 Centerline is valid? [True, True] Translation: X:144.21, Y:12.32, Z:-0.66 [[ 9.99985895e-01 -1.81276125e-03 4.99230034e-03 1.44211824e+02] [ 1.81048573e-03 9.99998255e-01 4.60287340e-04 1.23159302e+01] [-4.99312602e-03 -4.51242360e-04 9.99987432e-01 -6.58724417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02140051299997 meters 0.09249395550430471 Centerline is valid? [True, True] Translation: X:144.27, Y:12.33, Z:-0.66 [[ 9.99976432e-01 -5.81256505e-03 3.65379514e-03 1.44270595e+02] [ 5.81137293e-03 9.99983057e-01 3.36799851e-04 1.23283765e+01] [-3.65569091e-03 -3.15558347e-04 9.99993268e-01 -6.63821703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08140051299998 meters 0.090792005353383 Centerline is valid? [True, True] Translation: X:144.33, Y:12.33, Z:-0.66 [[ 9.99957441e-01 -7.86944054e-03 4.81550293e-03 1.44331395e+02] [ 7.86739279e-03 9.99968953e-01 4.44035861e-04 1.23305938e+01] [-4.81884773e-03 -4.06131510e-04 9.99988307e-01 -6.63019490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14140051299998 meters 0.08412503463200065 Centerline is valid? [True, True] Translation: X:144.39, Y:12.33, Z:-0.66 [[ 9.99926787e-01 -1.05886807e-02 5.85673281e-03 1.44392116e+02] [ 1.05856981e-02 9.99943824e-01 5.40033498e-04 1.23278759e+01] [-5.86212204e-03 -4.77996355e-04 9.99982703e-01 -6.61948741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20140051299998 meters 0.08456841618788354 Centerline is valid? [True, True] Translation: X:144.45, Y:12.33, Z:-0.66 [[ 9.99904752e-01 -1.21975720e-02 6.45807856e-03 1.44451860e+02] [ 1.21939791e-02 9.99925473e-01 5.95420518e-04 1.23325123e+01] [-6.46485995e-03 -5.16614130e-04 9.99978969e-01 -6.63023068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26140051299998 meters 0.08270160202862306 Centerline is valid? [True, True] Translation: X:144.51, Y:12.34, Z:-0.66 [[ 9.99873781e-01 -1.27607237e-02 9.46503911e-03 1.44513570e+02] [ 1.27530304e-02 9.99918296e-01 8.72730816e-04 1.23356305e+01] [-9.47540246e-03 -7.51912729e-04 9.99954825e-01 -6.56803293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321400513 meters 0.08111008776442648 Centerline is valid? [True, True] Translation: X:144.57, Y:12.34, Z:-0.66 [[ 9.99890617e-01 -1.16267125e-02 9.14181266e-03 1.44574892e+02] [ 1.16194915e-02 9.99932136e-01 8.42600168e-04 1.23413490e+01] [-9.15098893e-03 -7.36284788e-04 9.99957858e-01 -6.57983616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381400513 meters 0.08722611559267911 Centerline is valid? [True, True] Translation: X:144.63, Y:12.35, Z:-0.66 [[ 9.99884035e-01 -1.05937737e-02 1.09401882e-02 1.44633812e+02] [ 1.05833743e-02 9.99943486e-01 1.00803448e-03 1.23535570e+01] [-1.09502488e-02 -8.92133475e-04 9.99939646e-01 -6.56748236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441400513 meters 0.08952281714005195 Centerline is valid? [True, True] Translation: X:144.69, Y:12.36, Z:-0.66 [[ 9.99913284e-01 -9.79204499e-03 8.80571299e-03 1.44693971e+02] [ 9.78527602e-03 9.99951794e-01 8.11458597e-04 1.23647983e+01] [-8.81323434e-03 -7.25221898e-04 9.99960900e-01 -6.60748846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501400513 meters 0.08422456650599139 Centerline is valid? [True, True] Translation: X:144.75, Y:12.37, Z:-0.66 [[ 9.99949879e-01 -7.24011057e-03 6.91522262e-03 1.44754974e+02] [ 7.23587758e-03 9.99973618e-01 6.36950262e-04 1.23669698e+01] [-6.91965177e-03 -5.86880633e-04 9.99975887e-01 -6.62739120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561400513 meters 0.096481876732236 Centerline is valid? [True, True] Translation: X:144.81, Y:12.40, Z:-0.66 [[ 9.99964557e-01 -7.48450222e-04 8.38599617e-03 1.44812327e+02] [ 7.41998700e-04 9.99999426e-01 7.72405812e-04 1.23964521e+01] [-8.38656947e-03 -7.66156037e-04 9.99964539e-01 -6.61026589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621400513 meters 0.11353467419583547 Centerline is valid? [True, False] Translation: X:144.81, Y:12.41, Z:-0.66 [[ 9.99959463e-01 2.84335268e-03 8.54327624e-03 1.44811948e+02] [-2.86804550e-03 9.99991741e-01 2.87946183e-03 1.24062454e+01] [-8.53501836e-03 -2.90384761e-03 9.99959360e-01 -6.61462139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681400513 meters 0.0922087632630754 Centerline is valid? [False, True] Translation: X:144.81, Y:12.41, Z:-0.66 [[ 9.99959928e-01 2.35673014e-03 8.63639955e-03 1.44811430e+02] [-2.37048197e-03 9.99995938e-01 1.58242036e-03 1.24121253e+01] [-8.63263513e-03 -1.60282938e-03 9.99961454e-01 -6.61024674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74140051299997 meters 0.08935331398936172 Centerline is valid? [True, True] Translation: X:144.87, Y:12.42, Z:-0.67 [[ 9.99970948e-01 -4.64456398e-03 6.04414962e-03 1.44871334e+02] [ 4.64124023e-03 9.99989070e-01 5.63822473e-04 1.24231345e+01] [-6.04670227e-03 -5.35753743e-04 9.99981575e-01 -6.66042717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80140051299998 meters 0.08212030824651825 Centerline is valid? [True, True] Translation: X:144.93, Y:12.42, Z:-0.67 [[ 9.99953788e-01 -8.49751468e-03 4.49609944e-03 1.44932197e+02] [ 8.49571405e-03 9.99963823e-01 4.19435116e-04 1.24226028e+01] [-4.49950094e-03 -3.81218158e-04 9.99989805e-01 -6.68639288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86140051299998 meters 0.0905706436407525 Centerline is valid? [True, True] Translation: X:144.99, Y:12.44, Z:-0.67 [[ 9.99950095e-01 -7.40582552e-03 6.70535210e-03 1.44991537e+02] [ 7.40179726e-03 9.99972411e-01 6.25370289e-04 1.24379736e+01] [-6.70979849e-03 -5.75707422e-04 9.99977323e-01 -6.66103700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92140051299998 meters 0.09381377931400925 Centerline is valid? [True, True] Translation: X:145.05, Y:12.45, Z:-0.67 [[ 9.99968161e-01 -4.52577637e-03 6.57217260e-03 1.45051189e+02] [ 4.52184543e-03 9.99989589e-01 6.12854390e-04 1.24506323e+01] [-6.57487781e-03 -5.83116529e-04 9.99978215e-01 -6.66688065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98140051299998 meters 0.09753303092085124 Centerline is valid? [True, True] Translation: X:145.11, Y:12.46, Z:-0.67 [[ 9.99975802e-01 -4.79175957e-04 6.94015184e-03 1.45110325e+02] [ 4.74696748e-04 9.99999678e-01 6.47037930e-04 1.24637584e+01] [-6.94045965e-03 -6.43727806e-04 9.99975708e-01 -6.66454054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04140051299999 meters 0.09052914013265775 Centerline is valid? [True, True] Translation: X:145.17, Y:12.46, Z:-0.67 [[ 9.99981088e-01 2.73612092e-04 6.14403631e-03 1.45173428e+02] [-2.77138771e-04 9.99999797e-01 5.73156306e-04 1.24585605e+01] [-6.14387824e-03 -5.74848217e-04 9.99980961e-01 -6.68802080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101400513 meters 0.0978701076040923 Centerline is valid? [True, True] Translation: X:145.23, Y:12.47, Z:-0.67 [[ 9.99970258e-01 -2.43966967e-03 7.31645240e-03 1.45232334e+02] [ 2.43474570e-03 9.99996804e-01 6.81832001e-04 1.24696631e+01] [-7.31809246e-03 -6.63998021e-04 9.99973002e-01 -6.68817860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161400513 meters 0.09168068549101276 Centerline is valid? [True, True] Translation: X:145.29, Y:12.46, Z:-0.67 [[ 9.99962117e-01 -4.35101603e-03 7.53874426e-03 1.45293502e+02] [ 4.34584099e-03 9.99990310e-01 7.02703701e-04 1.24633523e+01] [-7.54172869e-03 -6.69914897e-04 9.99971336e-01 -6.68880232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221400513 meters 0.09570268878291696 Centerline is valid? [True, True] Translation: X:145.35, Y:12.47, Z:-0.67 [[ 9.99968295e-01 -3.76877326e-03 7.01465904e-03 1.45353717e+02] [ 3.76427799e-03 9.99992701e-01 6.53931733e-04 1.24711130e+01] [-7.01707237e-03 -6.27505874e-04 9.99975183e-01 -6.69395815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281400513 meters 0.09356918549589681 Centerline is valid? [True, True] Translation: X:145.41, Y:12.47, Z:-0.67 [[ 9.99983501e-01 -2.42384545e-03 5.20802466e-03 1.45414789e+02] [ 2.42134969e-03 9.99996951e-01 4.85466829e-04 1.24724663e+01] [-5.20918547e-03 -4.72848370e-04 9.99986320e-01 -6.72720877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341400513 meters 0.09124563662454666 Centerline is valid? [True, True] Translation: X:145.48, Y:12.47, Z:-0.68 [[ 9.99985927e-01 -3.27326076e-03 4.17520098e-03 1.45476769e+02] [ 3.27166352e-03 9.99994572e-01 3.89326990e-04 1.24737479e+01] [-4.17645268e-03 -3.75661658e-04 9.99991208e-01 -6.75852156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401400513 meters 0.07777162991956349 Centerline is valid? [True, True] Translation: X:145.54, Y:12.46, Z:-0.67 [[ 9.99935157e-01 -9.33150421e-03 6.52717773e-03 1.45539129e+02] [ 9.32773418e-03 9.99956311e-01 6.07794218e-04 1.24631067e+01] [-6.53256420e-03 -5.46871028e-04 9.99978513e-01 -6.73701155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461400513 meters 0.08086975681126352 Centerline is valid? [True, True] Translation: X:145.60, Y:12.47, Z:-0.67 [[ 9.99867501e-01 -1.48219836e-02 6.72971064e-03 1.45598204e+02] [ 1.48181003e-02 9.99890010e-01 6.26541211e-04 1.24701296e+01] [-6.73825702e-03 -5.26736668e-04 9.99977159e-01 -6.74798813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52140051299997 meters 0.07572906908621628 Centerline is valid? [True, True] Translation: X:145.66, Y:12.47, Z:-0.68 [[ 9.99824709e-01 -1.79654111e-02 5.27207721e-03 1.45659298e+02] [ 1.79630707e-02 9.99838530e-01 4.90950033e-04 1.24672561e+01] [-5.28004605e-03 -3.96161279e-04 9.99985982e-01 -6.77484223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58140051299998 meters 0.07759712753070287 Centerline is valid? [True, True] Translation: X:145.72, Y:12.47, Z:-0.68 [[ 9.99827771e-01 -1.77465771e-02 5.43020110e-03 1.45721001e+02] [ 1.77440894e-02 9.99842433e-01 5.05964121e-04 1.24716118e+01] [-5.43832461e-03 -4.09523006e-04 9.99985128e-01 -6.78583842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64140051299998 meters 0.07934462131683517 Centerline is valid? [True, True] Translation: X:145.78, Y:12.48, Z:-0.68 [[ 9.99904756e-01 -1.25974146e-02 5.63773933e-03 1.45781606e+02] [ 1.25946548e-02 9.99920546e-01 5.24751008e-04 1.24775301e+01] [-5.64390189e-03 -4.53695647e-04 9.99983970e-01 -6.78781375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70140051299998 meters 0.08956824528616694 Centerline is valid? [True, True] Translation: X:145.84, Y:12.50, Z:-0.68 [[ 9.99961762e-01 -7.01660675e-03 5.21941012e-03 1.45839752e+02] [ 7.01416590e-03 9.99975282e-01 4.85806821e-04 1.24978725e+01] [-5.22268982e-03 -4.49178436e-04 9.99986261e-01 -6.79492763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76140051299998 meters 0.1001752674427986 Centerline is valid? [True, False] Translation: X:145.82, Y:12.50, Z:-0.68 [[ 9.99998133e-01 1.31314135e-03 1.41791153e-03 1.45818802e+02] [-1.31003719e-03 9.99996748e-01 -2.18796580e-03 1.25023483e+01] [-1.42078002e-03 2.18610420e-03 9.99996601e-01 -6.76422083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821400513 meters 0.10409381530926018 Centerline is valid? [False, False] Translation: X:145.82, Y:12.51, Z:-0.68 [[ 9.99998419e-01 9.06298038e-04 1.53008851e-03 1.45818576e+02] [-9.00939682e-04 9.99993472e-01 -3.49905517e-03 1.25081230e+01] [-1.53324971e-03 3.49767112e-03 9.99992708e-01 -6.76842368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881400513 meters 0.09540761069220112 Centerline is valid? [False, True] Translation: X:145.86, Y:12.52, Z:-0.68 [[ 9.99991770e-01 -2.38809574e-04 4.04993394e-03 1.45857105e+02] [ 2.63143072e-04 9.99981912e-01 -6.00890088e-03 1.25179487e+01] [-4.04842570e-03 6.00991714e-03 9.99973745e-01 -6.75339472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941400513 meters 0.09162665270473998 Centerline is valid? [True, True] Translation: X:145.92, Y:12.52, Z:-0.67 [[ 9.99981058e-01 -3.78738463e-03 4.85178410e-03 1.45918295e+02] [ 3.78523066e-03 9.99992733e-01 4.53060920e-04 1.25189522e+01] [-4.85346476e-03 -4.34687216e-04 9.99988127e-01 -6.73363988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001400513 meters 0.09553272426527495 Centerline is valid? [True, True] Translation: X:145.98, Y:12.53, Z:-0.67 [[ 9.99949069e-01 -7.21819166e-03 7.05381666e-03 1.45977542e+02] [ 7.21372440e-03 9.99973764e-01 6.58549189e-04 1.25318214e+01] [-7.05838513e-03 -6.07631359e-04 9.99974905e-01 -6.72749494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061400513 meters 0.09047168077116911 Centerline is valid? [True, True] Translation: X:146.04, Y:12.53, Z:-0.67 [[ 9.99874422e-01 -1.28223556e-02 9.31273340e-03 1.46038205e+02] [ 1.28148101e-02 9.99917509e-01 8.69462322e-04 1.25309972e+01] [-9.32311374e-03 -7.50012228e-04 9.99956258e-01 -6.69808721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121400513 meters 0.07335215854402602 Centerline is valid? [True, True] Translation: X:146.10, Y:12.51, Z:-0.67 [[ 9.99813340e-01 -1.82811588e-02 6.25169810e-03 1.46101099e+02] [ 1.82778643e-02 9.99832775e-01 5.83711137e-04 1.25089915e+01] [-6.26132358e-03 -4.69334492e-04 9.99980288e-01 -6.74631112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181400513 meters 0.08334922582334421 Centerline is valid? [True, True] Translation: X:146.16, Y:12.52, Z:-0.67 [[ 9.99765621e-01 -1.96998734e-02 8.97877376e-03 1.46160038e+02] [ 1.96931344e-02 9.99805720e-01 8.38343922e-04 1.25221460e+01] [-8.99354463e-03 -6.61327233e-04 9.99959339e-01 -6.72087201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24140051299997 meters 0.08314641368317899 Centerline is valid? [True, True] Translation: X:146.22, Y:12.52, Z:-0.67 [[ 9.99842579e-01 -1.56811327e-02 8.30174470e-03 1.46220734e+02] [ 1.56752341e-02 9.99876836e-01 7.75127987e-04 1.25228865e+01] [-8.31287711e-03 -6.44874175e-04 9.99965240e-01 -6.73637881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30140051299998 meters 0.08014169543891636 Centerline is valid? [True, True] Translation: X:146.28, Y:12.52, Z:-0.68 [[ 9.99920870e-01 -1.15569557e-02 4.96892719e-03 1.46281937e+02] [ 1.15547917e-02 9.99933134e-01 4.63982874e-04 1.25206279e+01] [-4.97395716e-03 -4.06531240e-04 9.99987547e-01 -6.78420572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36140051299998 meters 0.0832234231430208 Centerline is valid? [True, True] Translation: X:146.34, Y:12.53, Z:-0.68 [[ 9.99927441e-01 -1.06550865e-02 5.61977282e-03 1.46342518e+02] [ 1.06523039e-02 9.99943125e-01 5.24840385e-04 1.25256110e+01] [-5.62504542e-03 -4.64938775e-04 9.99984071e-01 -6.78018962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42140051299998 meters 0.08327479691104667 Centerline is valid? [True, True] Translation: X:146.40, Y:12.53, Z:-0.68 [[ 9.99883284e-01 -1.33252089e-02 7.47374099e-03 1.46402161e+02] [ 1.33203647e-02 9.99911037e-01 6.97558513e-04 1.25268733e+01] [-7.48237122e-03 -5.97924141e-04 9.99971828e-01 -6.76098106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48140051299998 meters 0.07570228914642776 Centerline is valid? [True, True] Translation: X:146.46, Y:12.52, Z:-0.67 [[ 9.99778484e-01 -1.85616354e-02 9.92217614e-03 1.46463496e+02] [ 1.85533517e-02 9.99827443e-01 9.26271778e-04 1.25184903e+01] [-9.93765711e-03 -7.41976969e-04 9.99950345e-01 -6.73091498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54140051299999 meters 0.07364945537064471 Centerline is valid? [True, True] Translation: X:146.52, Y:12.52, Z:-0.68 [[ 9.99755239e-01 -2.04437907e-02 8.45660149e-03 1.46524717e+02] [ 2.04378400e-02 9.99790814e-01 7.89505122e-04 1.25188349e+01] [-8.47097296e-03 -6.16477213e-04 9.99963931e-01 -6.75073380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601400513 meters 0.07462102873444057 Centerline is valid? [True, True] Translation: X:146.59, Y:12.52, Z:-0.68 [[ 9.99780184e-01 -2.00586855e-02 6.10183025e-03 1.46586825e+02] [ 2.00555793e-02 9.99798704e-01 5.69837034e-04 1.25224006e+01] [-6.11203216e-03 -4.47336035e-04 9.99981221e-01 -6.78852060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661400513 meters 0.07364495061501687 Centerline is valid? [True, True] Translation: X:146.65, Y:12.52, Z:-0.68 [[ 9.99781301e-01 -1.95768112e-02 7.35515206e-03 1.46649210e+02] [ 1.95722882e-02 9.99808209e-01 6.86425561e-04 1.25244518e+01] [-7.36717943e-03 -5.42318284e-04 9.99972715e-01 -6.77709163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721400513 meters 0.0792989383979607 Centerline is valid? [True, True] Translation: X:146.71, Y:12.53, Z:-0.68 [[ 9.99750711e-01 -2.11181743e-02 7.24841690e-03 1.46707981e+02] [ 2.11138263e-02 9.99776850e-01 6.75858201e-04 1.25335338e+01] [-7.26107231e-03 -5.22647901e-04 9.99973501e-01 -6.78257176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781400513 meters 0.07217102753607198 Centerline is valid? [True, True] Translation: X:146.77, Y:12.53, Z:-0.68 [[ 9.99715618e-01 -2.31802269e-02 5.60005066e-03 1.46769346e+02] [ 2.31776628e-02 9.99731225e-01 5.22341036e-04 1.25293989e+01] [-5.61065350e-03 -3.92396406e-04 9.99984183e-01 -6.80938461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841400513 meters 0.07221332697933404 Centerline is valid? [True, True] Translation: X:146.83, Y:12.53, Z:-0.69 [[ 9.99635962e-01 -2.67942106e-02 3.16432429e-03 1.46828808e+02] [ 2.67934105e-02 9.99640949e-01 2.94964985e-04 1.25289204e+01] [-3.17109149e-03 -2.10074567e-04 9.99994950e-01 -6.87435945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901400513 meters 0.06590828235442274 Centerline is valid? [True, True] Translation: X:146.89, Y:12.52, Z:-0.69 [[ 9.99572115e-01 -2.90423999e-02 3.48224547e-03 1.46890896e+02] [ 2.90414437e-02 9.99578156e-01 3.24856923e-04 1.25218926e+01] [-3.49021113e-03 -2.23588486e-04 9.99993884e-01 -6.87026412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961400513 meters 0.06345484218045742 Centerline is valid? [True, True] Translation: X:146.95, Y:12.52, Z:-0.68 [[ 9.99491317e-01 -3.12312231e-02 6.45897105e-03 1.46952527e+02] [ 3.12279803e-02 9.99512106e-01 6.02325763e-04 1.25195897e+01] [-6.47463113e-03 -4.00318749e-04 9.99978959e-01 -6.83024539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02140051299997 meters 0.07025594856371815 Centerline is valid? [True, True] Translation: X:147.01, Y:12.53, Z:-0.69 [[ 9.99519549e-01 -3.06159108e-02 4.83092316e-03 1.47012501e+02] [ 3.06140870e-02 9.99531177e-01 4.51045356e-04 1.25292298e+01] [-4.84246748e-03 -3.02934349e-04 9.99988229e-01 -6.87623774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08140051299998 meters 0.07252428492048586 Centerline is valid? [True, True] Translation: X:147.07, Y:12.54, Z:-0.69 [[ 9.99588134e-01 -2.81868220e-02 5.39132760e-03 1.47072219e+02] [ 2.81845210e-02 9.99602611e-01 5.02302970e-04 1.25376522e+01] [-5.40334347e-03 -3.50144102e-04 9.99985341e-01 -6.86875429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14140051299998 meters 0.07316755275847056 Centerline is valid? [True, True] Translation: X:147.13, Y:12.54, Z:-0.68 [[ 9.99582084e-01 -2.76693643e-02 8.37037066e-03 1.47134320e+02] [ 2.76637990e-02 9.99616980e-01 7.79958439e-04 1.25436452e+01] [-8.38874559e-03 -5.48076231e-04 9.99964664e-01 -6.81984564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20140051299998 meters 0.06993512874474869 Centerline is valid? [True, True] Translation: X:147.20, Y:12.54, Z:-0.69 [[ 9.99519167e-01 -3.02607806e-02 6.76161713e-03 1.47195558e+02] [ 3.02572108e-02 9.99541947e-01 6.29645816e-04 1.25398464e+01] [-6.77757352e-03 -4.24755387e-04 9.99976942e-01 -6.85373535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26140051299998 meters 0.06805329174342806 Centerline is valid? [True, True] Translation: X:147.26, Y:12.54, Z:-0.69 [[ 9.99423029e-01 -3.32161217e-02 7.09219142e-03 1.47256526e+02] [ 3.32122687e-02 9.99448102e-01 6.60382172e-04 1.25401376e+01] [-7.11021259e-03 -4.24453383e-04 9.99974632e-01 -6.86158261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321400513 meters 0.05959888457755879 Centerline is valid? [True, True] Translation: X:147.32, Y:12.53, Z:-0.68 [[ 9.99212843e-01 -3.77715272e-02 1.21245781e-02 1.47318898e+02] [ 3.77606011e-02 9.99286177e-01 1.12889886e-03 1.25275512e+01] [-1.21585636e-02 -6.70178884e-04 9.99925857e-01 -6.77655095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381400513 meters 0.05935300339022602 Centerline is valid? [True, True] Translation: X:147.38, Y:12.53, Z:-0.68 [[ 9.99224736e-01 -3.78184148e-02 1.09405387e-02 1.47380913e+02] [ 3.78095221e-02 9.99284445e-01 1.01858862e-03 1.25268701e+01] [-1.09712316e-02 -6.04142401e-04 9.99939632e-01 -6.80601408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441400513 meters 0.06343555737950193 Centerline is valid? [True, True] Translation: X:147.44, Y:12.54, Z:-0.69 [[ 9.99272970e-01 -3.71190930e-02 8.70081959e-03 1.47440779e+02] [ 3.71134439e-02 9.99310731e-01 8.09883496e-04 1.25375469e+01] [-8.72488453e-03 -4.86377306e-04 9.99961819e-01 -6.85015619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501400513 meters 0.06438013291517153 Centerline is valid? [True, True] Translation: X:147.50, Y:12.53, Z:-0.69 [[ 9.99426102e-01 -3.33932288e-02 5.68843458e-03 1.47502836e+02] [ 3.33907571e-02 9.99442233e-01 5.28958767e-04 1.25310635e+01] [-5.70292540e-03 -3.38714062e-04 9.99983681e-01 -6.90374855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561400513 meters 0.06615894178703646 Centerline is valid? [True, True] Translation: X:147.56, Y:12.53, Z:-0.69 [[ 9.99579406e-01 -2.77190395e-02 8.52446492e-03 1.47563787e+02] [ 2.77132859e-02 9.99615599e-01 7.92349675e-04 1.25254604e+01] [-8.54315128e-03 -5.55775484e-04 9.99963352e-01 -6.85781997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621400513 meters 0.0736103369079985 Centerline is valid? [True, True] Translation: X:147.62, Y:12.53, Z:-0.69 [[ 9.99655146e-01 -2.54400534e-02 6.51097884e-03 1.47623700e+02] [ 2.54366487e-02 9.99676253e-01 6.05207446e-04 1.25279331e+01] [-6.52426744e-03 -4.39381256e-04 9.99978620e-01 -6.90254967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681400513 meters 0.06801629852255901 Centerline is valid? [True, True] Translation: X:147.69, Y:12.51, Z:-0.69 [[ 9.99692002e-01 -2.42494278e-02 5.27879184e-03 1.47686675e+02] [ 2.42471721e-02 9.99705874e-01 4.90899622e-04 1.25094258e+01] [-5.28914324e-03 -3.62752652e-04 9.99985947e-01 -6.92854943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74140051299997 meters 0.07109674524256725 Centerline is valid? [True, True] Translation: X:147.75, Y:12.51, Z:-0.69 [[ 9.99736238e-01 -2.16412726e-02 7.68833537e-03 1.47748175e+02] [ 2.16364136e-02 9.99765650e-01 7.14613975e-04 1.25064548e+01] [-7.70199876e-03 -5.48077483e-04 9.99970189e-01 -6.89903471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80140051299998 meters 0.08291317854626684 Centerline is valid? [True, True] Translation: X:147.81, Y:12.52, Z:-0.69 [[ 9.99847498e-01 -1.62169007e-02 6.48022853e-03 1.47806556e+02] [ 1.62133362e-02 9.99868374e-01 6.02209683e-04 1.25150459e+01] [-6.48914154e-03 -4.97051721e-04 9.99978822e-01 -6.93688249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86140051299998 meters 0.08222234639158714 Centerline is valid? [True, True] Translation: X:147.87, Y:12.51, Z:-0.70 [[ 9.99898593e-01 -1.32533343e-02 5.21075515e-03 1.47867767e+02] [ 1.32509880e-02 9.99912084e-01 4.84550069e-04 1.25141064e+01] [-5.21671895e-03 -4.15453278e-04 9.99986307e-01 -6.97097069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92140051299998 meters 0.0871092005010559 Centerline is valid? [True, True] Translation: X:147.93, Y:12.51, Z:-0.69 [[ 9.99937987e-01 -8.69972759e-03 6.95249578e-03 1.47928673e+02] [ 8.69544309e-03 9.99961985e-01 6.46244603e-04 1.25132607e+01] [-6.95785363e-03 -5.85749496e-04 9.99975622e-01 -6.94211211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98140051299998 meters 0.08922362285558041 Centerline is valid? [True, True] Translation: X:147.99, Y:12.52, Z:-0.69 [[ 9.99945492e-01 -6.73410002e-03 7.97909274e-03 1.47989191e+02] [ 6.72839485e-03 9.99977089e-01 7.41643631e-04 1.25168934e+01] [-7.98390423e-03 -6.87916718e-04 9.99967892e-01 -6.94511182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04140051299999 meters 0.08681207204594633 Centerline is valid? [True, True] Translation: X:148.05, Y:12.52, Z:-0.69 [[ 9.99926788e-01 -7.36190981e-03 9.60314776e-03 1.48050845e+02] [ 7.35367428e-03 9.99972563e-01 8.92615444e-04 1.25182383e+01] [-9.60945563e-03 -8.21931673e-04 9.99953490e-01 -6.93518929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101400513 meters 0.0851437917801746 Centerline is valid? [True, True] Translation: X:148.11, Y:12.52, Z:-0.70 [[ 9.99919826e-01 -9.37393319e-03 8.51304526e-03 1.48111700e+02] [ 9.36753566e-03 9.99955811e-01 7.91061025e-04 1.25177501e+01] [-8.52008443e-03 -7.11251347e-04 9.99963450e-01 -6.96013219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161400513 meters 0.08782996067134889 Centerline is valid? [True, True] Translation: X:148.17, Y:12.53, Z:-0.70 [[ 9.99963546e-01 -6.51475193e-03 5.51947834e-03 1.48171607e+02] [ 6.51201873e-03 9.99978665e-01 5.13019476e-04 1.25284124e+01] [-5.52270278e-03 -4.77057828e-04 9.99984636e-01 -7.00390175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221400513 meters 0.08754732324543267 Centerline is valid? [True, True] Translation: X:148.23, Y:12.54, Z:-0.70 [[ 9.99969056e-01 -3.83836920e-03 6.86685938e-03 1.48231623e+02] [ 3.83407823e-03 9.99992446e-01 6.37936061e-04 1.25375029e+01] [-6.86925615e-03 -6.11588245e-04 9.99976219e-01 -6.98634955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281400513 meters 0.08776769628800399 Centerline is valid? [True, True] Translation: X:148.29, Y:12.55, Z:-0.70 [[ 9.99965508e-01 -4.93027772e-03 6.68397420e-03 1.48292565e+02] [ 4.92623521e-03 9.99987673e-01 6.21136049e-04 1.25483612e+01] [-6.68695419e-03 -5.88187796e-04 9.99977469e-01 -7.00024988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341400513 meters 0.08614139015303446 Centerline is valid? [True, True] Translation: X:148.35, Y:12.55, Z:-0.70 [[ 9.99933461e-01 -9.97957575e-03 5.78634845e-03 1.48352308e+02] [ 9.97663300e-03 9.99950088e-01 5.37209543e-04 1.25535642e+01] [-5.79142076e-03 -4.79445523e-04 9.99983115e-01 -7.02579257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401400513 meters 0.07343803956938659 Centerline is valid? [True, True] Translation: X:148.41, Y:12.55, Z:-0.71 [[ 9.99811961e-01 -1.87962477e-02 4.76895335e-03 1.48413492e+02] [ 1.87943483e-02 9.99823273e-01 4.42796893e-04 1.25467543e+01] [-4.77643347e-03 -3.53084260e-04 9.99988530e-01 -7.05904206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461400513 meters 0.08106350174379916 Centerline is valid? [True, True] Translation: X:148.47, Y:12.56, Z:-0.70 [[ 9.99700233e-01 -2.35371306e-02 6.74143463e-03 1.48472403e+02] [ 2.35334429e-02 9.99722854e-01 6.25822327e-04 1.25588708e+01] [-6.75429634e-03 -4.66985559e-04 9.99977080e-01 -7.04708207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52140051299997 meters 0.06324969310281466 Centerline is valid? [True, True] Translation: X:148.54, Y:12.54, Z:-0.70 [[ 9.99600366e-01 -2.72058133e-02 7.67800725e-03 1.48535164e+02] [ 2.72011361e-02 9.99629726e-01 7.12949270e-04 1.25422568e+01] [-7.69456066e-03 -5.03813831e-04 9.99970270e-01 -7.02471447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58140051299998 meters 0.06451232842363402 Centerline is valid? [True, True] Translation: X:148.60, Y:12.54, Z:-0.70 [[ 9.99616589e-01 -2.66051361e-02 7.67088225e-03 1.48596231e+02] [ 2.66004507e-02 9.99645892e-01 7.12209251e-04 1.25434119e+01] [-7.68711435e-03 -5.07887257e-04 9.99970325e-01 -7.03971199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64140051299998 meters 0.06505698287616346 Centerline is valid? [True, True] Translation: X:148.66, Y:12.55, Z:-0.70 [[ 9.99586037e-01 -2.70452706e-02 9.81370289e-03 1.48656468e+02] [ 2.70376243e-02 9.99634001e-01 9.11005434e-04 1.25480570e+01] [-9.83474948e-03 -6.45289099e-04 9.99951429e-01 -7.01325132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70140051299998 meters 0.06019248051720595 Centerline is valid? [True, True] Translation: X:148.72, Y:12.54, Z:-0.70 [[ 9.99548010e-01 -2.88890414e-02 8.31863805e-03 1.48718463e+02] [ 2.88836116e-02 9.99582483e-01 7.72143028e-04 1.25399069e+01] [-8.33747135e-03 -5.31521716e-04 9.99965101e-01 -7.03660560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76140051299998 meters 0.06876959584827844 Centerline is valid? [True, True] Translation: X:148.78, Y:12.55, Z:-0.71 [[ 9.99624726e-01 -2.65068009e-02 6.91353191e-03 1.48777277e+02] [ 2.65029949e-02 9.99648528e-01 6.41556690e-04 1.25503325e+01] [-6.92810762e-03 -4.58086629e-04 9.99975895e-01 -7.07621903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821400513 meters 0.0726959859182918 Centerline is valid? [True, True] Translation: X:148.84, Y:12.55, Z:-0.71 [[ 9.99805334e-01 -1.81599899e-02 7.71418373e-03 1.48838203e+02] [ 1.81550034e-02 9.99834928e-01 7.15953593e-04 1.25505474e+01] [-7.72591204e-03 -5.75763189e-04 9.99969989e-01 -7.05645429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881400513 meters 0.08492859109500392 Centerline is valid? [True, True] Translation: X:148.90, Y:12.57, Z:-0.70 [[ 9.99902498e-01 -9.94121696e-03 9.80644158e-03 1.48896353e+02] [ 9.93276453e-03 9.99950255e-01 9.10254495e-04 1.25658188e+01] [-9.81500280e-03 -8.12760669e-04 9.99951501e-01 -7.02842593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941400513 meters 0.08364444398758356 Centerline is valid? [True, True] Translation: X:148.96, Y:12.57, Z:-0.70 [[ 9.99927467e-01 -5.19963720e-03 1.08639234e-02 1.48956639e+02] [ 5.18898808e-03 9.99986029e-01 1.00818493e-03 1.25668494e+01] [-1.08690138e-02 -9.51739031e-04 9.99940478e-01 -7.03094716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001400513 meters 0.09219875256435282 Centerline is valid? [True, True] Translation: X:149.02, Y:12.58, Z:-0.71 [[ 9.99952825e-01 -2.61700901e-03 9.35412790e-03 1.49015916e+02] [ 2.60900167e-03 9.99996220e-01 8.68121856e-04 1.25779695e+01] [-9.35636442e-03 -8.43675967e-04 9.99955872e-01 -7.06660751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061400513 meters 0.09044665080605994 Centerline is valid? [True, True] Translation: X:149.08, Y:12.58, Z:-0.71 [[ 9.99951140e-01 -5.11462749e-03 8.45915512e-03 1.49076489e+02] [ 5.10817016e-03 9.99986645e-01 7.84784074e-04 1.25789982e+01] [-8.46305603e-03 -7.41534926e-04 9.99963913e-01 -7.09158892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121400513 meters 0.08908328064726712 Centerline is valid? [True, True] Translation: X:149.14, Y:12.58, Z:-0.71 [[ 9.99937890e-01 -7.91804709e-03 7.84349237e-03 1.49137047e+02] [ 7.91258110e-03 9.99968430e-01 7.27669249e-04 1.25811533e+01] [-7.84900648e-03 -6.65561784e-04 9.99968975e-01 -7.10942796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181400513 meters 0.08035504598406269 Centerline is valid? [True, True] Translation: X:149.20, Y:12.58, Z:-0.71 [[ 9.99946512e-01 -7.05197005e-03 7.56595057e-03 1.49199878e+02] [ 7.04685784e-03 9.99974924e-01 7.02133455e-04 1.25751110e+01] [-7.57071227e-03 -6.48779721e-04 9.99971131e-01 -7.11590841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24140051299997 meters 0.08001348342911128 Centerline is valid? [True, True] Translation: X:149.26, Y:12.58, Z:-0.71 [[ 9.99960886e-01 -4.95025540e-03 7.32954673e-03 1.49260495e+02] [ 4.94540548e-03 9.99987540e-01 6.79670878e-04 1.25760278e+01] [-7.33281995e-03 -6.43396713e-04 9.99972908e-01 -7.10862097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30140051299998 meters 0.08854938754201555 Centerline is valid? [True, True] Translation: X:149.32, Y:12.59, Z:-0.71 [[ 9.99953530e-01 -6.07640761e-03 7.48432563e-03 1.49319751e+02] [ 6.07138148e-03 9.99981328e-01 6.94091439e-04 1.25928207e+01] [-7.48840347e-03 -6.48618989e-04 9.99971751e-01 -7.13194319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36140051299998 meters 0.0794755149416169 Centerline is valid? [True, True] Translation: X:149.38, Y:12.59, Z:-0.71 [[ 9.99941476e-01 -7.37916328e-03 7.91158345e-03 1.49381676e+02] [ 7.37358929e-03 9.99972546e-01 7.33473027e-04 1.25865009e+01] [-7.91677866e-03 -6.75093334e-04 9.99968434e-01 -7.12486199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42140051299998 meters 0.08506414788329311 Centerline is valid? [True, True] Translation: X:149.44, Y:12.60, Z:-0.71 [[ 9.99907629e-01 -1.18389219e-02 6.67636893e-03 1.49440136e+02] [ 1.18350525e-02 9.99929772e-01 6.18784211e-04 1.25955744e+01] [-6.68322580e-03 -5.39711877e-04 9.99977521e-01 -7.14387558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48140051299998 meters 0.07796203955825926 Centerline is valid? [True, True] Translation: X:149.50, Y:12.59, Z:-0.72 [[ 9.99883803e-01 -1.39050904e-02 6.24732574e-03 1.49501694e+02] [ 1.39017415e-02 9.99903198e-01 5.79164667e-04 1.25904002e+01] [-6.25477432e-03 -4.92248662e-04 9.99980318e-01 -7.16998937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54140051299999 meters 0.079199645240654 Centerline is valid? [True, True] Translation: X:149.56, Y:12.59, Z:-0.71 [[ 9.99849529e-01 -1.59447499e-02 6.83263253e-03 1.49561279e+02] [ 1.59407920e-02 9.99872737e-01 6.33335846e-04 1.25938894e+01] [-6.84186137e-03 -5.24322973e-04 9.99976457e-01 -7.14645916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601400513 meters 0.07650077201312239 Centerline is valid? [True, True] Translation: X:149.62, Y:12.60, Z:-0.71 [[ 9.99817308e-01 -1.71201696e-02 8.50000773e-03 1.49621819e+02] [ 1.71140852e-02 9.99853233e-01 7.88036425e-04 1.26004070e+01] [-8.51225153e-03 -6.42422601e-04 9.99963564e-01 -7.12987514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661400513 meters 0.08233684774614358 Centerline is valid? [True, True] Translation: X:149.68, Y:12.61, Z:-0.71 [[ 9.99770800e-01 -1.93363668e-02 9.18983909e-03 1.49679988e+02] [ 1.93293494e-02 9.99812808e-01 8.51821490e-04 1.26137484e+01] [-9.20458996e-03 -6.73992642e-04 9.99957410e-01 -7.13422113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721400513 meters 0.07180548241056939 Centerline is valid? [True, True] Translation: X:149.74, Y:12.61, Z:-0.72 [[ 9.99679308e-01 -2.40664599e-02 7.87957144e-03 1.49741001e+02] [ 2.40614463e-02 9.99710215e-01 7.30472290e-04 1.26081420e+01] [-7.89486794e-03 -5.40644148e-04 9.99968689e-01 -7.16463529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781400513 meters 0.07154701606554752 Centerline is valid? [True, True] Translation: X:149.80, Y:12.61, Z:-0.72 [[ 9.99482048e-01 -3.12121743e-02 7.83806043e-03 1.49801340e+02] [ 3.12074322e-02 9.99512665e-01 7.26614864e-04 1.26085702e+01] [-7.85691990e-03 -4.81632774e-04 9.99969018e-01 -7.16188172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841400513 meters 0.059832024449122626 Centerline is valid? [True, True] Translation: X:149.86, Y:12.60, Z:-0.72 [[ 9.99361262e-01 -3.50145092e-02 7.14503549e-03 1.49862367e+02] [ 3.50106666e-02 9.99386719e-01 6.62200376e-04 1.25966921e+01] [-7.16384020e-03 -4.11624948e-04 9.99974255e-01 -7.16741287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901400513 meters 0.0558417304450278 Centerline is valid? [True, True] Translation: X:149.92, Y:12.59, Z:-0.72 [[ 9.99283043e-01 -3.71923529e-02 7.08013478e-03 1.49923252e+02] [ 3.71886335e-02 9.99308048e-01 6.56306692e-04 1.25942538e+01] [-7.09964526e-03 -3.92535611e-04 9.99974720e-01 -7.18705669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961400513 meters 0.05871219643147812 Centerline is valid? [True, True] Translation: X:149.98, Y:12.60, Z:-0.72 [[ 9.99350433e-01 -3.52083978e-02 7.68637473e-03 1.49983529e+02] [ 3.52039534e-02 9.99379895e-01 7.12794193e-04 1.25967165e+01] [-7.70670471e-03 -4.41740407e-04 9.99970205e-01 -7.16091480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02140051299997 meters 0.06275410577205574 Centerline is valid? [True, True] Translation: X:150.04, Y:12.61, Z:-0.72 [[ 9.99480700e-01 -3.16139065e-02 6.23630959e-03 1.50043028e+02] [ 3.16109106e-02 9.99500083e-01 5.78409166e-04 1.26082735e+01] [-6.25147772e-03 -3.80973374e-04 9.99980387e-01 -7.19557562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08140051299998 meters 0.07642267140880078 Centerline is valid? [True, True] Translation: X:150.10, Y:12.63, Z:-0.72 [[ 9.99643563e-01 -2.58079881e-02 6.83337502e-03 1.50100768e+02] [ 2.58042556e-02 9.99666814e-01 6.33841230e-04 1.26271616e+01] [-6.84745640e-03 -4.57285150e-04 9.99976451e-01 -7.20595115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14140051299998 meters 0.06510853128744128 Centerline is valid? [True, True] Translation: X:150.16, Y:12.62, Z:-0.72 [[ 9.99697931e-01 -2.34412661e-02 7.38603055e-03 1.50161811e+02] [ 2.34368417e-02 9.99725085e-01 6.85028330e-04 1.26172466e+01] [-7.40005795e-03 -5.11716176e-04 9.99972488e-01 -7.18988991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20140051299998 meters 0.06401776294385039 Centerline is valid? [True, True] Translation: X:150.22, Y:12.63, Z:-0.72 [[ 9.99732458e-01 -2.21130356e-02 6.78428610e-03 1.50221767e+02] [ 2.21092706e-02 9.99755362e-01 6.29460405e-04 1.26278011e+01] [-6.79654569e-03 -4.79296380e-04 9.99976788e-01 -7.20121820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26140051299998 meters 0.0700370598283001 Centerline is valid? [True, True] Translation: X:150.28, Y:12.64, Z:-0.72 [[ 9.99754562e-01 -2.11800478e-02 6.49786000e-03 1.50280302e+02] [ 2.11765753e-02 9.99775569e-01 6.02750153e-04 1.26440779e+01] [-6.50916796e-03 -4.64999793e-04 9.99978707e-01 -7.22218445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321400513 meters 0.07430074493171095 Centerline is valid? [True, True] Translation: X:150.34, Y:12.65, Z:-0.72 [[ 9.99753103e-01 -2.12871124e-02 6.37110231e-03 1.50340208e+02] [ 2.12837758e-02 9.99773300e-01 5.91055080e-04 1.26543112e+01] [-6.38223984e-03 -4.55308037e-04 9.99979530e-01 -7.23603656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381400513 meters 0.06292049840106764 Centerline is valid? [True, True] Translation: X:150.40, Y:12.65, Z:-0.72 [[ 9.99720224e-01 -2.30589597e-02 5.26857204e-03 1.50402156e+02] [ 2.30567027e-02 9.99734039e-01 4.88739075e-04 1.26452172e+01] [-5.27844062e-03 -3.67126438e-04 9.99986002e-01 -7.24825410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441400513 meters 0.06920464869946878 Centerline is valid? [True, True] Translation: X:150.46, Y:12.66, Z:-0.73 [[ 9.99674684e-01 -2.48226322e-02 5.86193164e-03 1.50460888e+02] [ 2.48198696e-02 9.99691792e-01 5.43554130e-04 1.26567594e+01] [-5.87361739e-03 -3.97884925e-04 9.99982671e-01 -7.25957093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501400513 meters 0.06680402946519653 Centerline is valid? [True, True] Translation: X:150.52, Y:12.66, Z:-0.73 [[ 9.99613052e-01 -2.69533746e-02 6.87476015e-03 1.50521482e+02] [ 2.69496244e-02 9.99636590e-01 6.37572664e-04 1.26567610e+01] [-6.88944652e-03 -4.52053752e-04 9.99976165e-01 -7.26695593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561400513 meters 0.0624612341061375 Centerline is valid? [True, True] Translation: X:150.58, Y:12.65, Z:-0.73 [[ 9.99608688e-01 -2.73392886e-02 5.91890955e-03 1.50581175e+02] [ 2.73365156e-02 9.99626137e-01 5.48908927e-04 1.26544453e+01] [-5.93170347e-03 -3.86891769e-04 9.99982332e-01 -7.27585526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621400513 meters 0.06751571964690813 Centerline is valid? [True, True] Translation: X:150.64, Y:12.66, Z:-0.73 [[ 9.99622497e-01 -2.65751462e-02 6.97315650e-03 1.50639252e+02] [ 2.65712777e-02 9.99646712e-01 6.46833043e-04 1.26642904e+01] [-6.98788265e-03 -4.61303183e-04 9.99975478e-01 -7.26546304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681400513 meters 0.057271632246154454 Centerline is valid? [True, True] Translation: X:150.70, Y:12.66, Z:-0.73 [[ 9.99624918e-01 -2.62851746e-02 7.68843441e-03 1.50700122e+02] [ 2.62804597e-02 9.99654354e-01 7.13638780e-04 1.26605606e+01] [-7.70453506e-03 -5.11315516e-04 9.99970189e-01 -7.26656831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74140051299997 meters 0.06351154831049119 Centerline is valid? [True, True] Translation: X:150.76, Y:12.67, Z:-0.73 [[ 9.99572911e-01 -2.84138745e-02 6.82982087e-03 1.50758961e+02] [ 2.84102035e-02 9.99596148e-01 6.33942461e-04 1.26744429e+01] [-6.84507539e-03 -4.39635111e-04 9.99976476e-01 -7.28261601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80140051299998 meters 0.05300429503429836 Centerline is valid? [True, True] Translation: X:150.82, Y:12.67, Z:-0.73 [[ 9.99347757e-01 -3.54973569e-02 6.63312012e-03 1.50820775e+02] [ 3.54940497e-02 9.99369698e-01 6.15683594e-04 1.26672414e+01] [-6.65079439e-03 -3.79845723e-04 9.99977811e-01 -7.26483023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86140051299998 meters 0.060854734698926966 Centerline is valid? [True, True] Translation: X:150.88, Y:12.68, Z:-0.73 [[ 9.99207413e-01 -3.92452900e-02 6.65982675e-03 1.50878617e+02] [ 3.92420395e-02 9.99229543e-01 6.18090731e-04 1.26824489e+01] [-6.67895279e-03 -3.56255655e-04 9.99977632e-01 -7.27969148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92140051299998 meters 0.0535815571145863 Centerline is valid? [True, True] Translation: X:150.94, Y:12.68, Z:-0.73 [[ 9.99166076e-01 -4.01144172e-02 7.61479972e-03 1.50938526e+02] [ 4.01101967e-02 9.99195013e-01 7.06214864e-04 1.26775157e+01] [-7.63699930e-03 -4.00194820e-04 9.99970758e-01 -7.26678449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98140051299998 meters 0.04919078725095858 Centerline is valid? [True, True] Translation: X:151.00, Y:12.68, Z:-0.73 [[ 9.99121449e-01 -4.10266014e-02 8.55271214e-03 1.50998356e+02] [ 4.10212965e-02 9.99157956e-01 7.94831458e-04 1.26763245e+01] [-8.57811962e-03 -4.43289817e-04 9.99963109e-01 -7.26181305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04140051299999 meters 0.05442303275032365 Centerline is valid? [True, True] Translation: X:151.06, Y:12.68, Z:-0.73 [[ 9.99115606e-01 -4.13053500e-02 7.86605621e-03 1.51055248e+02] [ 4.13008599e-02 9.99146487e-01 7.32467995e-04 1.26839399e+01] [-7.88959727e-03 -4.06945319e-04 9.99968794e-01 -7.27917118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101400513 meters 0.054081383720776026 Centerline is valid? [True, True] Translation: X:151.11, Y:12.69, Z:-0.73 [[ 9.99061806e-01 -4.24604184e-02 8.52176444e-03 1.51113494e+02] [ 4.24551853e-02 9.99098057e-01 7.94127746e-04 1.26873534e+01] [-8.54779728e-03 -4.31589612e-04 9.99963374e-01 -7.27830564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161400513 meters 0.051065670649210845 Centerline is valid? [True, True] Translation: X:151.17, Y:12.68, Z:-0.73 [[ 9.99095873e-01 -4.17975021e-02 7.77204341e-03 1.51172765e+02] [ 4.17931284e-02 9.99126023e-01 7.24371900e-04 1.26813954e+01] [-7.79552775e-03 -3.98898968e-04 9.99969535e-01 -7.29551682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221400513 meters 0.051269220087954 Centerline is valid? [True, True] Translation: X:151.23, Y:12.68, Z:-0.73 [[ 9.99112363e-01 -4.16636137e-02 6.21531304e-03 1.51232179e+02] [ 4.16608146e-02 9.99131644e-01 5.79201883e-04 1.26797569e+01] [-6.23404757e-03 -3.19752758e-04 9.99980517e-01 -7.32511229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281400513 meters 0.05034169113492228 Centerline is valid? [True, True] Translation: X:151.29, Y:12.68, Z:-0.73 [[ 9.99250461e-01 -3.82059998e-02 6.23039751e-03 1.51293543e+02] [ 3.82031078e-02 9.99269825e-01 5.82584223e-04 1.26765678e+01] [-6.24810644e-03 -3.44127006e-04 9.99980421e-01 -7.32497402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341400513 meters 0.06029808080056887 Centerline is valid? [True, True] Translation: X:151.35, Y:12.69, Z:-0.73 [[ 9.99431890e-01 -3.27638891e-02 7.90087655e-03 1.51352052e+02] [ 3.27590689e-02 9.99463005e-01 7.38770731e-04 1.26914717e+01] [-7.92083882e-03 -4.79525669e-04 9.99968515e-01 -7.31591923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401400513 meters 0.06305712413821617 Centerline is valid? [True, True] Translation: X:151.41, Y:12.70, Z:-0.73 [[ 9.99643151e-01 -2.54358177e-02 8.16021876e-03 1.51411528e+02] [ 2.54304318e-02 9.99676303e-01 7.63115871e-04 1.27013963e+01] [-8.17698780e-03 -5.55325667e-04 9.99966414e-01 -7.33034257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461400513 meters 0.07813716381371105 Centerline is valid? [True, True] Translation: X:151.47, Y:12.73, Z:-0.74 [[ 9.99845849e-01 -1.65346490e-02 5.90631998e-03 1.51468777e+02] [ 1.65316726e-02 9.99863190e-01 5.52419888e-04 1.27283042e+01] [-5.91464600e-03 -4.54693384e-04 9.99982405e-01 -7.38043063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52140051299997 meters 0.07648700632934233 Centerline is valid? [True, True] Translation: X:151.53, Y:12.73, Z:-0.74 [[ 9.99875149e-01 -1.47269153e-02 5.72743674e-03 1.51529463e+02] [ 1.47240867e-02 9.99891451e-01 5.35724128e-04 1.27323553e+01] [-5.73470460e-03 -4.51325967e-04 9.99983455e-01 -7.37717851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58140051299998 meters 0.0754749050120232 Centerline is valid? [True, True] Translation: X:151.59, Y:12.74, Z:-0.74 [[ 9.99812550e-01 -1.79078148e-02 7.36038589e-03 1.51589517e+02] [ 1.79032297e-02 9.99839487e-01 6.88368400e-04 1.27393977e+01] [-7.37153163e-03 -5.56464686e-04 9.99972675e-01 -7.36462396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64140051299998 meters 0.06804945348566147 Centerline is valid? [True, True] Translation: X:151.65, Y:12.74, Z:-0.74 [[ 9.99594144e-01 -2.67576839e-02 9.77614528e-03 1.51650764e+02] [ 2.67500156e-02 9.99641736e-01 9.14331475e-04 1.27375874e+01] [-9.79710823e-03 -6.52448350e-04 9.99951794e-01 -7.35212371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70140051299998 meters 0.05887153235599274 Centerline is valid? [True, True] Translation: X:151.71, Y:12.73, Z:-0.74 [[ 9.99341127e-01 -3.49270453e-02 9.86980964e-03 1.51712050e+02] [ 3.49196269e-02 9.99389698e-01 9.23003031e-04 1.27281050e+01] [-9.89602384e-03 -5.77744819e-04 9.99950866e-01 -7.35820184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76140051299998 meters 0.05273905744535332 Centerline is valid? [True, True] Translation: X:151.77, Y:12.72, Z:-0.74 [[ 9.99265734e-01 -3.75476451e-02 7.62671688e-03 1.51772933e+02] [ 3.75432923e-02 9.99294748e-01 7.13147492e-04 1.27198029e+01] [-7.64811513e-03 -4.26291791e-04 9.99970662e-01 -7.38825759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821400513 meters 0.05500570323268602 Centerline is valid? [True, True] Translation: X:151.83, Y:12.72, Z:-0.74 [[ 9.99270187e-01 -3.71753035e-02 8.78007624e-03 1.51830742e+02] [ 3.71695205e-02 9.99308637e-01 8.20970098e-04 1.27216698e+01] [-8.80452583e-03 -4.94019719e-04 9.99961117e-01 -7.37287362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881400513 meters 0.05578022027899426 Centerline is valid? [True, True] Translation: X:151.89, Y:12.73, Z:-0.73 [[ 9.99461040e-01 -3.07738194e-02 1.14281168e-02 1.51890863e+02] [ 3.07635945e-02 9.99526116e-01 1.06947530e-03 1.27257135e+01] [-1.14556130e-02 -7.17328945e-04 9.99934125e-01 -7.34628596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941400513 meters 0.06660165379129133 Centerline is valid? [True, True] Translation: X:151.95, Y:12.74, Z:-0.74 [[ 9.99679397e-01 -2.27552291e-02 1.11041566e-02 1.51949163e+02] [ 2.27450830e-02 9.99740757e-01 1.03917146e-03 1.27408704e+01] [-1.11249245e-02 -7.86273332e-04 9.99937807e-01 -7.36004838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001400513 meters 0.07907341715252121 Centerline is valid? [True, True] Translation: X:152.01, Y:12.76, Z:-0.74 [[ 9.99829912e-01 -1.49501194e-02 1.08000860e-02 1.52007190e+02] [ 1.49400686e-02 9.99887880e-01 1.01071516e-03 1.27609229e+01] [-1.08139854e-02 -8.49189220e-04 9.99941167e-01 -7.37549128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061400513 meters 0.09367946306684462 Centerline is valid? [True, True] Translation: X:152.06, Y:12.79, Z:-0.74 [[ 9.99930468e-01 -7.25368525e-03 9.29749300e-03 1.52064551e+02] [ 7.24590593e-03 9.99973370e-01 8.70124998e-04 1.27894032e+01] [-9.30355702e-03 -8.02695737e-04 9.99956399e-01 -7.43533959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121400513 meters 0.0881578815963181 Centerline is valid? [True, True] Translation: X:152.13, Y:12.79, Z:-0.74 [[ 9.99930304e-01 -6.40999398e-03 9.91457060e-03 1.52126691e+02] [ 6.40110756e-03 9.99979082e-01 9.27772994e-04 1.27926153e+01] [-9.92031023e-03 -8.64244099e-04 9.99950419e-01 -7.43046174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181400513 meters 0.09680765281281348 Centerline is valid? [True, True] Translation: X:152.18, Y:12.82, Z:-0.74 [[ 9.99941942e-01 -5.10732074e-03 9.48826908e-03 1.52184540e+02] [ 5.09912767e-03 9.99986606e-01 8.87485670e-04 1.28164880e+01] [-9.49267466e-03 -8.39052249e-04 9.99954592e-01 -7.44401906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24140051299997 meters 0.0839401221588061 Centerline is valid? [True, True] Translation: X:152.25, Y:12.81, Z:-0.75 [[ 9.99946100e-01 -6.24080923e-03 8.29751225e-03 1.52246311e+02] [ 6.23458554e-03 9.99980264e-01 7.75722035e-04 1.28132382e+01] [-8.30218963e-03 -7.23948674e-04 9.99965274e-01 -7.46488708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30140051299998 meters 0.09227213935070308 Centerline is valid? [True, True] Translation: X:152.30, Y:12.84, Z:-0.75 [[ 9.99884747e-01 -1.20274848e-02 9.26457621e-03 1.52303507e+02] [ 1.20199754e-02 9.99927383e-01 8.65810330e-04 1.28427892e+01] [-9.27431696e-03 -7.54350565e-04 9.99956708e-01 -7.46308793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36140051299998 meters 0.07354359838034522 Centerline is valid? [True, True] Translation: X:152.37, Y:12.83, Z:-0.74 [[ 9.99776938e-01 -1.80385992e-02 1.09855656e-02 1.52365974e+02] [ 1.80284000e-02 9.99836948e-01 1.02675690e-03 1.28322709e+01] [-1.10022957e-02 -8.28475701e-04 9.99939130e-01 -7.43683295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42140051299998 meters 0.07820714519669746 Centerline is valid? [True, True] Translation: X:152.42, Y:12.85, Z:-0.74 [[ 9.99622709e-01 -2.47217894e-02 1.19696504e-02 1.52423788e+02] [ 2.47101589e-02 9.99694032e-01 1.11861098e-03 1.28509578e+01] [-1.19936422e-02 -8.22416972e-04 9.99927735e-01 -7.43152072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48140051299998 meters 0.06516986647345989 Centerline is valid? [True, True] Translation: X:152.49, Y:12.85, Z:-0.74 [[ 9.99395780e-01 -3.15551944e-02 1.45720337e-02 1.52485317e+02] [ 3.15386763e-02 9.99501604e-01 1.36202530e-03 1.28492208e+01] [-1.46077500e-02 -9.01619683e-04 9.99892895e-01 -7.39456983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54140051299999 meters 0.06788792988173066 Centerline is valid? [True, True] Translation: X:152.55, Y:12.86, Z:-0.74 [[ 9.99329037e-01 -3.31851679e-02 1.54990387e-02 1.52545017e+02] [ 3.31666793e-02 9.99448785e-01 1.44848297e-03 1.28620410e+01] [-1.55385636e-02 -9.33459444e-04 9.99878834e-01 -7.37021717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601400513 meters 0.05382756385295373 Centerline is valid? [True, True] Translation: X:152.61, Y:12.85, Z:-0.74 [[ 9.99280990e-01 -3.52143911e-02 1.40516981e-02 1.52607088e+02] [ 3.51993981e-02 9.99379447e-01 1.31295693e-03 1.28543734e+01] [-1.40892133e-02 -8.17401588e-04 9.99900408e-01 -7.41180838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661400513 meters 0.0525100590481243 Centerline is valid? [True, True] Translation: X:152.67, Y:12.86, Z:-0.74 [[ 9.99250623e-01 -3.64117692e-02 1.31291498e-02 1.52668538e+02] [ 3.63987858e-02 9.99336592e-01 1.22658241e-03 1.28606232e+01] [-1.31651018e-02 -7.47778123e-04 9.99913057e-01 -7.43093270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721400513 meters 0.059815316887076725 Centerline is valid? [True, True] Translation: X:152.73, Y:12.88, Z:-0.75 [[ 9.99273156e-01 -3.61358575e-02 1.21391631e-02 1.52728341e+02] [ 3.61247429e-02 9.99346645e-01 1.13369240e-03 1.28815736e+01] [-1.21721989e-02 -6.94344237e-04 9.99925675e-01 -7.45051959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781400513 meters 0.06732476686174892 Centerline is valid? [True, True] Translation: X:152.79, Y:12.90, Z:-0.75 [[ 9.99336117e-01 -3.48163142e-02 1.07307817e-02 1.52787278e+02] [ 3.48075573e-02 9.99393531e-01 1.00180258e-03 1.29007875e+01] [-1.07591529e-02 -6.27625200e-04 9.99941922e-01 -7.49105485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841400513 meters 0.05551826372159412 Centerline is valid? [True, True] Translation: X:152.85, Y:12.89, Z:-0.75 [[ 9.99223482e-01 -3.78416469e-02 1.09746548e-02 1.52849200e+02] [ 3.78326707e-02 9.99283563e-01 1.02443419e-03 1.28940081e+01] [-1.10055584e-02 -6.08438203e-04 9.99939252e-01 -7.49518255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901400513 meters 0.04930084596110226 Centerline is valid? [True, True] Translation: X:152.91, Y:12.89, Z:-0.75 [[ 9.98956636e-01 -4.44952168e-02 1.02866473e-02 1.52910247e+02] [ 4.44876827e-02 9.99009471e-01 9.60195408e-04 1.28855367e+01] [-1.03191821e-02 -5.01564475e-04 9.99946630e-01 -7.50666114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961400513 meters 0.04852904590456837 Centerline is valid? [True, True] Translation: X:152.97, Y:12.89, Z:-0.75 [[ 9.98833238e-01 -4.69170701e-02 1.14434196e-02 1.52969004e+02] [ 4.69079045e-02 9.98898647e-01 1.06818835e-03 1.28916228e+01] [-1.14809326e-02 -5.30155193e-04 9.99933951e-01 -7.48423727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02140051299997 meters 0.04990151493489878 Centerline is valid? [True, True] Translation: X:153.03, Y:12.90, Z:-0.75 [[ 9.99008621e-01 -4.30339574e-02 1.13953436e-02 1.53029129e+02] [ 4.30246134e-02 9.99073446e-01 1.06397761e-03 1.29013838e+01] [-1.14305724e-02 -5.72642555e-04 9.99934505e-01 -7.50207934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08140051299998 meters 0.05870607198504916 Centerline is valid? [True, True] Translation: X:153.09, Y:12.92, Z:-0.75 [[ 9.99438182e-01 -3.20440832e-02 9.82333056e-03 1.53088488e+02] [ 3.20366102e-02 9.99486275e-01 9.17197781e-04 1.29191048e+01] [-9.84767484e-03 -6.01976270e-04 9.99951329e-01 -7.53474044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14140051299998 meters 0.06588319253770465 Centerline is valid? [True, True] Translation: X:153.15, Y:12.94, Z:-0.75 [[ 9.99513906e-01 -2.97059297e-02 9.46089381e-03 1.53146720e+02] [ 2.96988931e-02 9.99558500e-01 8.83412041e-04 1.29356938e+01] [-9.48295940e-03 -6.02004546e-04 9.99954855e-01 -7.54992667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20140051299998 meters 0.06800134965746459 Centerline is valid? [True, True] Translation: X:153.21, Y:12.94, Z:-0.75 [[ 9.99586691e-01 -2.71092973e-02 9.56734208e-03 1.53206846e+02] [ 2.71019827e-02 9.99632275e-01 8.93389064e-04 1.29419181e+01] [-9.58804308e-03 -6.33725878e-04 9.99953833e-01 -7.54722261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26140051299998 meters 0.0678705734604457 Centerline is valid? [True, True] Translation: X:153.27, Y:12.95, Z:-0.75 [[ 9.99580537e-01 -2.68945966e-02 1.07438379e-02 1.53267506e+02] [ 2.68853603e-02 9.99638020e-01 1.00322140e-03 1.29492779e+01] [-1.07669301e-02 -7.13948638e-04 9.99941780e-01 -7.54237981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321400513 meters 0.06672416397669843 Centerline is valid? [True, True] Translation: X:153.33, Y:12.95, Z:-0.75 [[ 9.99574770e-01 -2.65451625e-02 1.20678467e-02 1.53329544e+02] [ 2.65334877e-02 9.99647290e-01 1.12654361e-03 1.29546529e+01] [-1.20934945e-02 -8.05862513e-04 9.99926546e-01 -7.53634501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381400513 meters 0.07014816249778505 Centerline is valid? [True, True] Translation: X:153.39, Y:12.96, Z:-0.76 [[ 9.99620254e-01 -2.52246413e-02 1.10935172e-02 1.53389123e+02] [ 2.52146997e-02 9.99681523e-01 1.03513568e-03 1.29597691e+01] [-1.11160951e-02 -7.55022883e-04 9.99937929e-01 -7.55024849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441400513 meters 0.07136539206296312 Centerline is valid? [True, True] Translation: X:153.45, Y:12.96, Z:-0.76 [[ 9.99647263e-01 -2.46030781e-02 1.00018908e-02 1.53451492e+02] [ 2.45949710e-02 9.99697063e-01 9.32766172e-04 1.29642475e+01] [-1.00218098e-02 -6.86440937e-04 9.99949545e-01 -7.59066431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501400513 meters 0.07081654906011409 Centerline is valid? [True, True] Translation: X:153.51, Y:12.97, Z:-0.76 [[ 9.99628815e-01 -2.49294961e-02 1.09887224e-02 1.53513613e+02] [ 2.49197359e-02 9.99688930e-01 1.02425301e-03 1.29654734e+01] [-1.10108382e-02 -7.50036765e-04 9.99939098e-01 -7.57801371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561400513 meters 0.07205444950356961 Centerline is valid? [True, True] Translation: X:153.57, Y:12.97, Z:-0.76 [[ 9.99616419e-01 -2.54653905e-02 1.08870515e-02 1.53574409e+02] [ 2.54558472e-02 9.99675433e-01 1.01427019e-03 1.29698133e+01] [-1.09093467e-02 -7.36742021e-04 9.99940220e-01 -7.58060243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621400513 meters 0.07231539187618384 Centerline is valid? [True, True] Translation: X:153.64, Y:12.97, Z:-0.76 [[ 9.99651296e-01 -2.44703624e-02 9.92407286e-03 1.53635075e+02] [ 2.44623862e-02 9.99700324e-01 9.24337665e-04 1.29743987e+01] [-9.94371773e-03 -6.81248842e-04 9.99950328e-01 -7.62394344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681400513 meters 0.08010551376272042 Centerline is valid? [True, True] Translation: X:153.70, Y:12.98, Z:-0.76 [[ 9.99676890e-01 -2.35319581e-02 9.61052406e-03 1.53695213e+02] [ 2.35244342e-02 9.99722861e-01 8.95185666e-04 1.29835941e+01] [-9.62892609e-03 -6.68814281e-04 9.99953417e-01 -7.63576511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74140051299997 meters 0.0637024733316681 Centerline is valid? [True, True] Translation: X:153.76, Y:12.96, Z:-0.76 [[ 9.99678298e-01 -2.39877394e-02 8.23950087e-03 1.53758687e+02] [ 2.39822304e-02 9.99712091e-01 7.66777735e-04 1.29647761e+01] [-8.25552191e-03 -5.68929453e-04 9.99965761e-01 -7.64076499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80140051299998 meters 0.06991431844084592 Centerline is valid? [True, True] Translation: X:153.82, Y:12.97, Z:-0.76 [[ 9.99685149e-01 -2.31962181e-02 9.56757405e-03 1.53818100e+02] [ 2.31887567e-02 9.99730708e-01 8.90072428e-04 1.29741581e+01] [-9.58564390e-03 -6.67932041e-04 9.99953834e-01 -7.64314726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86140051299998 meters 0.08043817985587051 Centerline is valid? [True, True] Translation: X:153.88, Y:12.99, Z:-0.76 [[ 9.99686259e-01 -2.15367369e-02 1.27887633e-02 1.53877786e+02] [ 2.15232726e-02 9.99767640e-01 1.18954522e-03 1.29866916e+01] [-1.28114107e-02 -9.13915967e-04 9.99917513e-01 -7.60018473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92140051299998 meters 0.07707962920105436 Centerline is valid? [True, True] Translation: X:153.94, Y:12.98, Z:-0.76 [[ 9.99750081e-01 -1.87541415e-02 1.21679305e-02 1.53938965e+02] [ 1.87417493e-02 9.99823718e-01 1.13167070e-03 1.29815428e+01] [-1.21870091e-02 -9.03339569e-04 9.99925328e-01 -7.61228703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98140051299998 meters 0.07475637766380211 Centerline is valid? [True, True] Translation: X:154.00, Y:12.98, Z:-0.76 [[ 9.99759658e-01 -1.82548522e-02 1.21402761e-02 1.54001559e+02] [ 1.82424800e-02 9.99832955e-01 1.12906772e-03 1.29786599e+01] [-1.21588591e-02 -9.07327613e-04 9.99925667e-01 -7.61742341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04140051299999 meters 0.0843613865852943 Centerline is valid? [True, True] Translation: X:154.06, Y:12.99, Z:-0.76 [[ 9.99749961e-01 -1.88185264e-02 1.20780474e-02 1.54061935e+02] [ 1.88063282e-02 9.99822515e-01 1.12274055e-03 1.29937731e+01] [-1.20970320e-02 -8.95316097e-04 9.99926427e-01 -7.62622093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101400513 meters 0.08693500155660264 Centerline is valid? [True, True] Translation: X:154.12, Y:13.00, Z:-0.76 [[ 9.99730676e-01 -1.97716231e-02 1.21514612e-02 1.54122034e+02] [ 1.97593528e-02 9.99804127e-01 1.12901822e-03 1.29982519e+01] [-1.21714036e-02 -8.88609144e-04 9.99925531e-01 -7.62044858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161400513 meters 0.08908033176106178 Centerline is valid? [True, True] Translation: X:154.18, Y:13.00, Z:-0.76 [[ 9.99703346e-01 -2.06013279e-02 1.29925044e-02 1.54181741e+02] [ 2.05873805e-02 9.99787330e-01 1.20634512e-03 1.30044978e+01] [-1.30145936e-02 -9.38505622e-04 9.99914866e-01 -7.61067906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221400513 meters 0.07095880265531013 Centerline is valid? [True, True] Translation: X:154.24, Y:12.99, Z:-0.77 [[ 9.99679275e-01 -2.29356893e-02 1.07378816e-02 1.54243800e+02] [ 2.29262978e-02 9.99736661e-01 9.96905429e-04 1.29927079e+01] [-1.07579186e-02 -7.50405825e-04 9.99941850e-01 -7.66844021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281400513 meters 0.07074835574575886 Centerline is valid? [True, True] Translation: X:154.30, Y:13.00, Z:-0.77 [[ 9.99634472e-01 -2.43593919e-02 1.17278677e-02 1.54304633e+02] [ 2.43482866e-02 9.99702944e-01 1.08878450e-03 1.29995634e+01] [-1.17509060e-02 -8.02833033e-04 9.99930633e-01 -7.65874972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341400513 meters 0.062301139490089225 Centerline is valid? [True, True] Translation: X:154.37, Y:12.99, Z:-0.77 [[ 9.99452328e-01 -3.14337542e-02 1.03422703e-02 1.54366056e+02] [ 3.14254974e-02 9.99505636e-01 9.59934657e-04 1.29926441e+01] [-1.03673318e-02 -6.34397941e-04 9.99946057e-01 -7.67324342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401400513 meters 0.05963570896961705 Centerline is valid? [True, True] Translation: X:154.43, Y:13.00, Z:-0.77 [[ 9.99322120e-01 -3.57174775e-02 8.91974042e-03 1.54427128e+02] [ 3.57115068e-02 9.99361798e-01 8.27810082e-04 1.29952690e+01] [-8.94361511e-03 -5.08711555e-04 9.99959876e-01 -7.70474014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461400513 meters 0.05885514142173758 Centerline is valid? [True, True] Translation: X:154.49, Y:13.00, Z:-0.77 [[ 9.99371275e-01 -3.41472169e-02 9.54050898e-03 1.54486056e+02] [ 3.41403159e-02 9.99416657e-01 8.85312315e-04 1.30037178e+01] [-9.56517454e-03 -5.59039707e-04 9.99954096e-01 -7.70581662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52140051299997 meters 0.06129255721655878 Centerline is valid? [True, True] Translation: X:154.55, Y:13.02, Z:-0.77 [[ 9.99539026e-01 -2.91240395e-02 8.57470096e-03 1.54545317e+02] [ 2.91182781e-02 9.99575656e-01 7.96013985e-04 1.30154609e+01] [-8.59424548e-03 -5.45966516e-04 9.99962920e-01 -7.72864129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58140051299998 meters 0.0695372277442068 Centerline is valid? [True, True] Translation: X:154.60, Y:13.03, Z:-0.78 [[ 9.99650875e-01 -2.53976136e-02 7.28627652e-03 1.54603163e+02] [ 2.53933538e-02 9.99677308e-01 6.76562481e-04 1.30325119e+01] [-7.30110837e-03 -4.91303278e-04 9.99973226e-01 -7.75776231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64140051299998 meters 0.06788484225303666 Centerline is valid? [True, True] Translation: X:154.66, Y:13.04, Z:-0.78 [[ 9.99637792e-01 -2.58006214e-02 7.65590497e-03 1.54662835e+02] [ 2.57959307e-02 9.99666977e-01 7.10824349e-04 1.30396159e+01] [-7.67169509e-03 -5.13075688e-04 9.99970440e-01 -7.77150519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70140051299998 meters 0.06475926765868553 Centerline is valid? [True, True] Translation: X:154.72, Y:13.04, Z:-0.78 [[ 9.99551873e-01 -2.88266540e-02 8.06698517e-03 1.54723435e+02] [ 2.88215442e-02 9.99584292e-01 7.48984097e-04 1.30439434e+01] [-8.08522237e-03 -5.16145487e-04 9.99967181e-01 -7.77176317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76140051299998 meters 0.061721551757770166 Centerline is valid? [True, True] Translation: X:154.78, Y:13.05, Z:-0.78 [[ 9.99365038e-01 -3.50176369e-02 6.57920039e-03 1.54782471e+02] [ 3.50143721e-02 9.99386622e-01 6.10796173e-04 1.30472527e+01] [-6.59655350e-03 -3.80041770e-04 9.99978170e-01 -7.79192864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821400513 meters 0.057800615288556345 Centerline is valid? [True, True] Translation: X:154.84, Y:13.05, Z:-0.78 [[ 9.99299622e-01 -3.63397689e-02 8.92679445e-03 1.54841886e+02] [ 3.63338131e-02 9.99339366e-01 8.28511104e-04 1.30472454e+01] [-8.95100500e-03 -5.03586352e-04 9.99959812e-01 -7.75681198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881400513 meters 0.05922970729578587 Centerline is valid? [True, True] Translation: X:154.90, Y:13.06, Z:-0.78 [[ 9.99328040e-01 -3.52845534e-02 9.92315544e-03 1.54900956e+02] [ 3.52771228e-02 9.99377142e-01 9.22906157e-04 1.30561642e+01] [-9.94953906e-03 -5.72225628e-04 9.99950338e-01 -7.75531661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941400513 meters 0.0627967047167054 Centerline is valid? [True, True] Translation: X:154.96, Y:13.07, Z:-0.78 [[ 9.99450392e-01 -3.17659558e-02 9.47825698e-03 1.54960127e+02] [ 3.17590167e-02 9.99495166e-01 8.81759361e-04 1.30690906e+01] [-9.50148196e-03 -5.80254618e-04 9.99954692e-01 -7.77030927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001400513 meters 0.06680185341719673 Centerline is valid? [True, True] Translation: X:155.02, Y:13.08, Z:-0.77 [[ 9.99553147e-01 -2.75939051e-02 1.14926949e-02 1.55019644e+02] [ 2.75834264e-02 9.99618933e-01 1.06931605e-03 1.30773907e+01] [-1.15178220e-02 -7.51830318e-04 9.99933385e-01 -7.73685545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061400513 meters 0.06742592735747904 Centerline is valid? [True, True] Translation: X:155.08, Y:13.08, Z:-0.77 [[ 9.99589980e-01 -2.60281553e-02 1.19334246e-02 1.55080014e+02] [ 2.60167445e-02 9.99660890e-01 1.11047556e-03 1.30831197e+01] [-1.19582815e-02 -7.99551389e-04 9.99928178e-01 -7.73563141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121400513 meters 0.07628770242860661 Centerline is valid? [True, True] Translation: X:155.14, Y:13.10, Z:-0.78 [[ 9.99696056e-01 -2.26599643e-02 9.71195686e-03 1.55139176e+02] [ 2.26522494e-02 9.99742996e-01 9.03659744e-04 1.30992755e+01] [-9.72993775e-03 -6.83387413e-04 9.99952430e-01 -7.78814217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181400513 meters 0.07709780709287639 Centerline is valid? [True, True] Translation: X:155.20, Y:13.11, Z:-0.78 [[ 9.99785001e-01 -1.90115906e-02 8.27714846e-03 1.55198980e+02] [ 1.90058633e-02 9.99819076e-01 7.70059670e-04 1.31057850e+01] [-8.29029098e-03 -6.12579756e-04 9.99965447e-01 -7.83147265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24140051299997 meters 0.07715692318395599 Centerline is valid? [True, True] Translation: X:155.26, Y:13.11, Z:-0.78 [[ 9.99825465e-01 -1.60903875e-02 9.49413747e-03 1.55258880e+02] [ 1.60827200e-02 9.99870274e-01 8.83399010e-04 1.31141074e+01] [-9.50712007e-03 -7.30553271e-04 9.99954539e-01 -7.82731987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30140051299998 meters 0.0813662138644493 Centerline is valid? [True, True] Translation: X:155.32, Y:13.12, Z:-0.78 [[ 9.99869719e-01 -1.23701546e-02 1.03693903e-02 1.55318692e+02] [ 1.23608097e-02 9.99923137e-01 9.64809301e-04 1.31248464e+01] [-1.03805281e-02 -8.36509545e-04 9.99945771e-01 -7.81161061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36140051299998 meters 0.08756919841741664 Centerline is valid? [True, True] Translation: X:155.38, Y:13.14, Z:-0.79 [[ 9.99900344e-01 -1.19683593e-02 7.48734615e-03 1.55379077e+02] [ 1.19634747e-02 9.99928192e-01 6.96822400e-04 1.31379732e+01] [-7.49514833e-03 -6.07178281e-04 9.99971727e-01 -7.88780187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42140051299998 meters 0.07446030354010048 Centerline is valid? [True, True] Translation: X:155.44, Y:13.13, Z:-0.79 [[ 9.99858752e-01 -1.51582130e-02 7.25978373e-03 1.55440513e+02] [ 1.51537070e-02 9.99884948e-01 6.75287358e-04 1.31275183e+01] [-7.26918463e-03 -5.65179340e-04 9.99973419e-01 -7.90130059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48140051299998 meters 0.07714168266100106 Centerline is valid? [True, True] Translation: X:155.50, Y:13.13, Z:-0.79 [[ 9.99780965e-01 -1.92636131e-02 8.18137160e-03 1.55500391e+02] [ 1.92580278e-02 9.99814257e-01 7.60920805e-04 1.31315531e+01] [-8.19451006e-03 -6.03197055e-04 9.99966243e-01 -7.88317493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54140051299999 meters 0.07366319729603901 Centerline is valid? [True, True] Translation: X:155.56, Y:13.14, Z:-0.79 [[ 9.99772045e-01 -1.94443813e-02 8.81898070e-03 1.55562035e+02] [ 1.94378971e-02 9.99810730e-01 8.20373461e-04 1.31360591e+01] [-8.83326318e-03 -6.48764013e-04 9.99960776e-01 -7.88744068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601400513 meters 0.06329417418322746 Centerline is valid? [True, True] Translation: X:155.62, Y:13.13, Z:-0.79 [[ 9.99785026e-01 -1.86151490e-02 9.13115515e-03 1.55621867e+02] [ 1.86000991e-02 9.99825506e-01 1.73035827e-03 1.31281775e+01] [-9.16177269e-03 -1.56014590e-03 9.99956813e-01 -7.88605007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661400513 meters 0.08842319734965694 Centerline is valid? [True, True] Translation: X:155.68, Y:13.17, Z:-0.79 [[ 9.99846368e-01 -1.61356663e-02 6.84694147e-03 1.55680554e+02] [ 1.61372894e-02 9.99869769e-01 -1.81874056e-04 1.31703567e+01] [-6.84311513e-03 2.92337190e-04 9.99976543e-01 -7.93950359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721400513 meters 0.09322445303426276 Centerline is valid? [True, True] Translation: X:155.74, Y:13.19, Z:-0.80 [[ 9.99950181e-01 -8.62659005e-03 5.02160180e-03 1.55739855e+02] [ 8.62435423e-03 9.99962701e-01 4.66723617e-04 1.31878862e+01] [-5.02544073e-03 -4.23392293e-04 9.99987283e-01 -7.97138016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781400513 meters 0.08275963282442772 Centerline is valid? [True, True] Translation: X:155.80, Y:13.18, Z:-0.79 [[ 9.99955521e-01 -4.58436390e-03 8.24254723e-03 1.55801186e+02] [ 4.57820354e-03 9.99989227e-01 7.66098367e-04 1.31831803e+01] [-8.24597051e-03 -7.28328233e-04 9.99965736e-01 -7.92367096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841400513 meters 0.09015450321591321 Centerline is valid? [True, True] Translation: X:155.86, Y:13.20, Z:-0.79 [[ 9.99946266e-01 -2.87014643e-03 9.96125375e-03 1.55860109e+02] [ 2.86106470e-03 9.99995479e-01 9.25836603e-04 1.32005395e+01] [-9.96386600e-03 -8.97287063e-04 9.99949957e-01 -7.89131689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901400513 meters 0.08638231029639547 Centerline is valid? [True, True] Translation: X:155.92, Y:13.21, Z:-0.79 [[ 9.99951521e-01 -6.42237165e-03 7.46378126e-03 1.55920516e+02] [ 6.41737139e-03 9.99979168e-01 6.93692192e-04 1.32053681e+01] [-7.46808092e-03 -6.45760706e-04 9.99971905e-01 -7.94385032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961400513 meters 0.08391051216797926 Centerline is valid? [True, True] Translation: X:155.98, Y:13.21, Z:-0.79 [[ 9.99927953e-01 -8.47271101e-03 8.50306206e-03 1.55981090e+02] [ 8.46629588e-03 9.99963848e-01 7.90162365e-04 1.32067876e+01] [-8.50944948e-03 -7.18115997e-04 9.99963536e-01 -7.92971787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02140051299997 meters 0.0904774875512361 Centerline is valid? [True, True] Translation: X:156.04, Y:13.22, Z:-0.79 [[ 9.99916764e-01 -1.00310479e-02 8.11436901e-03 1.56039985e+02] [ 1.00252569e-02 9.99949462e-01 7.54031237e-04 1.32186120e+01] [-8.12152265e-03 -6.72619840e-04 9.99966794e-01 -7.93767177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08140051299998 meters 0.08363933352598525 Centerline is valid? [True, True] Translation: X:156.10, Y:13.22, Z:-0.80 [[ 9.99917195e-01 -1.07361198e-02 7.09497404e-03 1.56102232e+02] [ 1.07317089e-02 9.99942196e-01 6.59465312e-04 1.32164588e+01] [-7.10164402e-03 -5.83269508e-04 9.99974613e-01 -7.96062072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14140051299998 meters 0.0825139764260132 Centerline is valid? [True, True] Translation: X:156.16, Y:13.22, Z:-0.79 [[ 9.99870051e-01 -1.31859936e-02 9.27422495e-03 1.56162360e+02] [ 1.31785664e-02 9.99912788e-01 8.61501570e-04 1.32219900e+01] [-9.28477588e-03 -7.39168629e-04 9.99956622e-01 -7.93563057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20140051299998 meters 0.0813011455200103 Centerline is valid? [True, True] Translation: X:156.22, Y:13.23, Z:-0.79 [[ 9.99861064e-01 -1.47103974e-02 7.83948175e-03 1.56221485e+02] [ 1.46878467e-02 9.99887845e-01 2.92641363e-03 1.32263164e+01] [-7.88165122e-03 -2.81086194e-03 9.99964989e-01 -7.94447119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26140051299998 meters 0.08661205618416241 Centerline is valid? [True, True] Translation: X:156.28, Y:13.25, Z:-0.80 [[ 9.99818881e-01 -1.76347027e-02 7.15698454e-03 1.56281190e+02] [ 1.76457966e-02 9.99843191e-01 -1.48990965e-03 1.32491446e+01] [-7.12958814e-03 1.61593049e-03 9.99973279e-01 -7.97952627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321400513 meters 0.07427474474520096 Centerline is valid? [True, True] Translation: X:156.34, Y:13.24, Z:-0.79 [[ 9.99728846e-01 -2.12384865e-02 9.54787314e-03 1.56343496e+02] [ 2.12309860e-02 9.99774204e-01 8.86258581e-04 1.32406632e+01] [-9.56454006e-03 -6.83307507e-04 9.99954025e-01 -7.93347534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381400513 meters 0.0684623653979144 Centerline is valid? [True, True] Translation: X:156.40, Y:13.24, Z:-0.79 [[ 9.99604233e-01 -2.59672777e-02 1.08202555e-02 1.56404214e+02] [ 2.59579217e-02 9.99662532e-01 1.00424139e-03 1.32382001e+01] [-1.08426814e-02 -7.22972601e-04 9.99940955e-01 -7.92165387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441400513 meters 0.059597856610671386 Centerline is valid? [True, True] Translation: X:156.47, Y:13.23, Z:-0.79 [[ 9.99351055e-01 -3.46905017e-02 9.69735513e-03 1.56465890e+02] [ 3.46833962e-02 9.99397945e-01 8.99984661e-04 1.32265169e+01] [-9.72273771e-03 -5.63063410e-04 9.99952575e-01 -7.94209986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501400513 meters 0.058478776925813845 Centerline is valid? [True, True] Translation: X:156.53, Y:13.23, Z:-0.79 [[ 9.99250662e-01 -3.76334884e-02 9.04628250e-03 1.56525337e+02] [ 3.76274256e-02 9.99291485e-01 8.39517968e-04 1.32316337e+01] [-9.07146707e-03 -4.98500564e-04 9.99958729e-01 -7.94437545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561400513 meters 0.05632819617436154 Centerline is valid? [True, True] Translation: X:156.59, Y:13.23, Z:-0.80 [[ 9.99181692e-01 -3.95843921e-02 8.30798276e-03 1.56585442e+02] [ 3.95793455e-02 9.99216133e-01 7.71040405e-04 1.32310883e+01] [-8.33199158e-03 -4.41584936e-04 9.99965191e-01 -7.96340640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621400513 meters 0.046671045252754 Centerline is valid? [True, True] Translation: X:156.65, Y:13.22, Z:-0.80 [[ 9.99057854e-01 -4.24491124e-02 9.02641914e-03 1.56647553e+02] [ 4.24432695e-02 9.99098527e-01 8.37974354e-04 1.32165447e+01] [-9.05385333e-03 -4.54074120e-04 9.99958910e-01 -7.96050034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681400513 meters 0.048466442238917135 Centerline is valid? [True, True] Translation: X:156.71, Y:13.22, Z:-0.80 [[ 9.98917136e-01 -4.54396603e-02 9.98959573e-03 1.56707070e+02] [ 4.54326520e-02 9.98966973e-01 9.27499564e-04 1.32158944e+01] [-1.00214215e-02 -4.72641382e-04 9.99949673e-01 -7.95358194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74140051299997 meters 0.04509236176998129 Centerline is valid? [True, True] Translation: X:156.77, Y:13.21, Z:-0.80 [[ 9.98716052e-01 -4.97128288e-02 9.74074943e-03 1.56768810e+02] [ 4.97063653e-02 9.98763465e-01 9.04668112e-04 1.32087535e+01] [-9.77367826e-03 -4.19329315e-04 9.99952149e-01 -7.97574581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80140051299998 meters 0.04154792699202026 Centerline is valid? [True, True] Translation: X:156.83, Y:13.19, Z:-0.80 [[ 9.98515817e-01 -5.36367768e-02 9.44768052e-03 1.56830978e+02] [ 5.36308717e-02 9.98560444e-01 8.77457408e-04 1.31940048e+01] [-9.48114404e-03 -3.69467759e-04 9.99954985e-01 -7.99541472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86140051299998 meters 0.03816743424035305 Centerline is valid? [True, True] Translation: X:156.89, Y:13.18, Z:-0.80 [[ 9.98513354e-01 -5.36200792e-02 9.79634239e-03 1.56890833e+02] [ 5.36137322e-02 9.98561335e-01 9.09556325e-04 1.31844880e+01] [-9.83101922e-03 -3.82985659e-04 9.99951601e-01 -7.97863336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92140051299998 meters 0.03861324533409245 Centerline is valid? [True, True] Translation: X:156.95, Y:13.18, Z:-0.80 [[ 9.98525188e-01 -5.36580088e-02 8.26237408e-03 1.56949763e+02] [ 5.36534864e-02 9.98559319e-01 7.68195491e-04 1.31847334e+01] [-8.29169047e-03 -3.23757371e-04 9.99965571e-01 -8.00436241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98140051299998 meters 0.03748437696744166 Centerline is valid? [True, True] Translation: X:157.01, Y:13.19, Z:-0.80 [[ 9.98471119e-01 -5.46146210e-02 8.52451890e-03 1.57008715e+02] [ 5.46098294e-02 9.98507454e-01 7.94033610e-04 1.31850048e+01] [-8.55516151e-03 -3.27297105e-04 9.99963350e-01 -8.00308596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04140051299999 meters 0.03636724549974187 Centerline is valid? [True, True] Translation: X:157.07, Y:13.18, Z:-0.80 [[ 9.98218462e-01 -5.87243879e-02 1.05521566e-02 1.57068395e+02] [ 5.87172491e-02 9.98274168e-01 9.85324063e-04 1.31816780e+01] [-1.05918079e-02 -3.63975064e-04 9.99943839e-01 -7.98627876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101400513 meters 0.029948818092851395 Centerline is valid? [True, True] Translation: X:157.13, Y:13.18, Z:-0.80 [[ 9.97979892e-01 -6.28218742e-02 9.46292635e-03 1.57128914e+02] [ 6.28163158e-02 9.98024714e-01 8.83757788e-04 1.31769130e+01] [-9.49975368e-03 -2.87546332e-04 9.99954835e-01 -8.01161045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161400513 meters 0.03232636459306818 Centerline is valid? [True, True] Translation: X:157.19, Y:13.17, Z:-0.80 [[ 9.97621675e-01 -6.83460253e-02 8.93385483e-03 1.57188128e+02] [ 6.83412918e-02 9.97661652e-01 8.34411101e-04 1.31747956e+01] [-8.96999305e-03 -2.21875421e-04 9.99959744e-01 -8.00899377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221400513 meters 0.026937730412965776 Centerline is valid? [True, True] Translation: X:157.25, Y:13.18, Z:-0.81 [[ 9.97688473e-01 -6.76715330e-02 6.18663587e-03 1.57246661e+02] [ 6.76692547e-02 9.97707642e-01 5.77073316e-04 1.31833675e+01] [-6.21150532e-03 -1.57094357e-04 9.99980696e-01 -8.05186411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281400513 meters 0.02731521367531855 Centerline is valid? [True, True] Translation: X:157.30, Y:13.20, Z:-0.80 [[ 9.97721846e-01 -6.71160456e-02 6.82308219e-03 1.57304359e+02] [ 6.71132526e-02 9.97745160e-01 6.37752197e-04 1.31963341e+01] [-6.85050064e-03 -1.78380060e-04 9.99976519e-01 -8.04039594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341400513 meters 0.026909084999581043 Centerline is valid? [True, True] Translation: X:157.36, Y:13.21, Z:-0.80 [[ 9.97591808e-01 -6.89453935e-02 7.55754801e-03 1.57361557e+02] [ 6.89420056e-02 9.97620418e-01 7.08204484e-04 1.32068763e+01] [-7.58839164e-03 -1.85466475e-04 9.99971191e-01 -8.03114421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401400513 meters 0.02273176605100859 Centerline is valid? [True, True] Translation: X:157.42, Y:13.21, Z:-0.80 [[ 9.97277364e-01 -7.32744525e-02 8.28942400e-03 1.57420616e+02] [ 7.32705174e-02 9.97311800e-01 7.77822504e-04 1.32134348e+01] [-8.32413489e-03 -1.68334390e-04 9.99965340e-01 -8.03382948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461400513 meters 0.01654083410997343 Centerline is valid? [True, True] Translation: X:157.48, Y:13.22, Z:-0.80 [[ 9.96761564e-01 -7.98811115e-02 9.24083813e-03 1.57480639e+02] [ 7.98765024e-02 9.96804390e-01 8.67371426e-04 1.32178798e+01] [-9.28059461e-03 -1.26436670e-04 9.99956926e-01 -8.02480711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52140051299997 meters 0.014532043244485647 Centerline is valid? [True, True] Translation: X:157.54, Y:13.23, Z:-0.80 [[ 9.96583190e-01 -8.21185797e-02 8.85909251e-03 1.57539233e+02] [ 8.21144352e-02 9.96622561e-01 8.31169565e-04 1.32259524e+01] [-8.89742593e-03 -1.00870239e-04 9.99960412e-01 -8.03493839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58140051299998 meters 0.014693661178715968 Centerline is valid? [True, True] Translation: X:157.60, Y:13.24, Z:-0.80 [[ 9.96702367e-01 -8.07515074e-02 7.97404735e-03 1.57597611e+02] [ 8.07480973e-02 9.96734259e-01 7.49201291e-04 1.32376975e+01] [-8.00850531e-03 -1.02841550e-04 9.99967926e-01 -8.04282705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64140051299998 meters 0.0166781671450932 Centerline is valid? [True, True] Translation: X:157.66, Y:13.25, Z:-0.81 [[ 9.96859627e-01 -7.89178121e-02 6.54700868e-03 1.57655341e+02] [ 7.89154689e-02 9.96881121e-01 6.15883592e-04 1.32493712e+01] [-6.57519353e-03 -9.72892282e-05 9.99978378e-01 -8.07024468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70140051299998 meters 0.01985568576334536 Centerline is valid? [True, True] Translation: X:157.71, Y:13.26, Z:-0.81 [[ 9.97013086e-01 -7.68968936e-02 7.19545627e-03 1.57712624e+02] [ 7.68939965e-02 9.97039043e-01 6.78822278e-04 1.32606960e+01] [-7.22635016e-03 -1.23507304e-04 9.99973882e-01 -8.08124287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76140051299998 meters 0.022143068745452587 Centerline is valid? [True, True] Translation: X:157.77, Y:13.27, Z:-0.81 [[ 9.97351513e-01 -7.22887875e-02 8.01820443e-03 1.57771889e+02] [ 7.22850354e-02 9.97383728e-01 7.57143544e-04 1.32680118e+01] [-8.05195961e-03 -1.75542068e-04 9.99967567e-01 -8.05574456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821400513 meters 0.02929685709645759 Centerline is valid? [True, True] Translation: X:157.83, Y:13.28, Z:-0.80 [[ 9.97670728e-01 -6.75263101e-02 9.66000505e-03 1.57830538e+02] [ 6.75206378e-02 9.97717460e-01 9.12497069e-04 1.32819239e+01] [-9.69957326e-03 -2.58121913e-04 9.99952925e-01 -8.04047223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881400513 meters 0.03446498517446756 Centerline is valid? [True, True] Translation: X:157.89, Y:13.29, Z:-0.81 [[ 9.98007052e-01 -6.23950524e-02 9.42241209e-03 1.57890019e+02] [ 6.23894262e-02 9.98051485e-01 8.90164432e-04 1.32930245e+01] [-9.45959423e-03 -3.00531498e-04 9.99955212e-01 -8.05450446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941400513 meters 0.03911831988491205 Centerline is valid? [True, True] Translation: X:157.95, Y:13.30, Z:-0.81 [[ 9.98369739e-01 -5.65203774e-02 7.95682090e-03 1.57949299e+02] [ 5.65161783e-02 9.98401400e-01 7.51772846e-04 1.33042611e+01] [-7.98659161e-03 -3.00858151e-04 9.99968061e-01 -8.08908071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001400513 meters 0.04277689656339551 Centerline is valid? [True, True] Translation: X:158.01, Y:13.31, Z:-0.81 [[ 9.98634188e-01 -5.17780494e-02 6.98509861e-03 1.58008753e+02] [ 5.17746967e-02 9.98658573e-01 6.60082557e-04 1.33148479e+01] [-7.00990640e-03 -2.97529646e-04 9.99975386e-01 -8.10680442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061400513 meters 0.04442664840677416 Centerline is valid? [True, True] Translation: X:158.07, Y:13.32, Z:-0.81 [[ 9.98635602e-01 -5.15513750e-02 8.33001722e-03 1.58066042e+02] [ 5.15466006e-02 9.98670280e-01 7.86973663e-04 1.33193179e+01] [-8.35951020e-03 -3.56515847e-04 9.99964995e-01 -8.10083707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121400513 meters 0.045128779157634046 Centerline is valid? [True, True] Translation: X:158.12, Y:13.33, Z:-0.81 [[ 9.98612536e-01 -5.17896930e-02 9.53051078e-03 1.58123427e+02] [ 5.17834509e-02 9.98657931e-01 9.00733226e-04 1.33269741e+01] [-9.56436887e-03 -4.05960754e-04 9.99954178e-01 -8.09411264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181400513 meters 0.04422060337904974 Centerline is valid? [True, True] Translation: X:158.18, Y:13.34, Z:-0.81 [[ 9.98810928e-01 -4.82118127e-02 7.23541682e-03 1.58183144e+02] [ 4.82081095e-02 9.98837078e-01 6.85455388e-04 1.33353258e+01] [-7.26004964e-03 -3.35834565e-04 9.99973589e-01 -8.12254935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24140051299997 meters 0.05593884884709913 Centerline is valid? [True, True] Translation: X:158.24, Y:13.36, Z:-0.81 [[ 9.98997789e-01 -4.40624279e-02 7.86887155e-03 1.58240380e+02] [ 4.40579193e-02 9.99028700e-01 7.45487000e-04 1.33619908e+01] [-7.89407648e-03 -3.98053758e-04 9.99968762e-01 -8.13501590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30140051299998 meters 0.05213804183668699 Centerline is valid? [True, True] Translation: X:158.30, Y:13.37, Z:-0.81 [[ 9.99019459e-01 -4.33368906e-02 9.05730658e-03 1.58299046e+02] [ 4.33308902e-02 9.99060408e-01 8.57780091e-04 1.33700709e+01] [-9.08596993e-03 -4.64477846e-04 9.99958614e-01 -8.10832338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36140051299998 meters 0.05059844164345909 Centerline is valid? [True, True] Translation: X:158.36, Y:13.38, Z:-0.81 [[ 9.98936548e-01 -4.51832481e-02 9.17860122e-03 1.58358642e+02] [ 4.51771459e-02 9.98978612e-01 8.71185140e-04 1.33783429e+01] [-9.20858928e-03 -4.55595670e-04 9.99957496e-01 -8.09870160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42140051299998 meters 0.04672768056728507 Centerline is valid? [True, True] Translation: X:158.42, Y:13.39, Z:-0.81 [[ 9.98813142e-01 -4.72592670e-02 1.17842794e-02 1.58417590e+02] [ 4.72493502e-02 9.98882499e-01 1.11867649e-03 1.33915099e+01] [-1.18239783e-02 -5.60549238e-04 9.99929937e-01 -8.08333953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48140051299998 meters 0.04470861117550283 Centerline is valid? [True, True] Translation: X:158.48, Y:13.39, Z:-0.81 [[ 9.98854688e-01 -4.67623721e-02 1.01288331e-02 1.58476631e+02] [ 4.66744620e-02 9.98871843e-01 8.74845588e-03 1.33934346e+01] [-1.05265047e-02 -8.26567833e-03 9.99910432e-01 -8.09451890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54140051299999 meters 0.04498690813139953 Centerline is valid? [True, True] Translation: X:158.53, Y:13.42, Z:-0.82 [[ 9.98825620e-01 -4.77103494e-02 8.43228436e-03 1.58533077e+02] [ 4.77695112e-02 9.98834139e-01 -6.95967648e-03 1.34181791e+01] [-8.09040489e-03 7.35430928e-03 9.99940228e-01 -8.15716511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601400513 meters 0.04488094529072459 Centerline is valid? [True, True] Translation: X:158.59, Y:13.42, Z:-0.81 [[ 9.98697502e-01 -5.02761263e-02 8.69548432e-03 1.58592638e+02] [ 5.02708242e-02 9.98735280e-01 8.27383292e-04 1.34173754e+01] [-8.72608460e-03 -3.89176463e-04 9.99961851e-01 -8.13580854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661400513 meters 0.04339087368348633 Centerline is valid? [True, True] Translation: X:158.65, Y:13.42, Z:-0.81 [[ 9.98643560e-01 -5.09964729e-02 1.05071263e-02 1.58650851e+02] [ 5.09887701e-02 9.98698726e-01 9.99864156e-04 1.34228783e+01] [-1.05444432e-02 -4.62762451e-04 9.99944299e-01 -8.12089803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721400513 meters 0.049128701123897056 Centerline is valid? [True, True] Translation: X:158.71, Y:13.43, Z:-0.82 [[ 9.98851743e-01 -4.73486577e-02 7.30069725e-03 1.58709853e+02] [ 4.73448320e-02 9.98878362e-01 6.96054439e-04 1.34326090e+01] [-7.32546575e-03 -3.49604905e-04 9.99973107e-01 -8.18188017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781400513 meters 0.04877556621381143 Centerline is valid? [True, True] Translation: X:158.77, Y:13.44, Z:-0.82 [[ 9.98986666e-01 -4.44873557e-02 6.82033636e-03 1.58769885e+02] [ 4.44839497e-02 9.99009887e-01 6.50356210e-04 1.34366669e+01] [-6.84251608e-03 -3.46301682e-04 9.99976530e-01 -8.20097461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841400513 meters 0.061630739953558285 Centerline is valid? [True, True] Translation: X:158.83, Y:13.46, Z:-0.82 [[ 9.99043610e-01 -4.27193327e-02 9.32326383e-03 1.58826760e+02] [ 4.27128907e-02 9.99086992e-01 8.89078448e-04 1.34556728e+01] [-9.35273246e-03 -4.90004594e-04 9.99956142e-01 -8.17828495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901400513 meters 0.05273762880920451 Centerline is valid? [True, True] Translation: X:158.89, Y:13.44, Z:-0.82 [[ 9.99008923e-01 -4.34009578e-02 9.87569968e-03 1.58886631e+02] [ 4.33937596e-02 9.99057603e-01 9.42093273e-04 1.34446975e+01] [-9.90728060e-03 -5.12615847e-04 9.99950790e-01 -8.16403066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961400513 meters 0.05026534563941494 Centerline is valid? [True, True] Translation: X:158.95, Y:13.44, Z:-0.81 [[ 9.98900573e-01 -4.50599217e-02 1.29324774e-02 1.58947243e+02] [ 4.50476831e-02 9.98984073e-01 1.23624393e-03 1.34392737e+01] [-1.29750440e-02 -6.52306628e-04 9.99915608e-01 -8.13149863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02140051299997 meters 0.049335144996244924 Centerline is valid? [True, True] Translation: X:159.01, Y:13.44, Z:-0.82 [[ 9.98975630e-01 -4.37764582e-02 1.14591814e-02 1.59006863e+02] [ 4.37667625e-02 9.99041175e-01 1.09563645e-03 1.34381886e+01] [-1.14961572e-02 -5.92982843e-04 9.99933741e-01 -8.16577816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08140051299998 meters 0.052875078264239025 Centerline is valid? [True, True] Translation: X:159.07, Y:13.45, Z:-0.82 [[ 9.99186854e-01 -3.93455240e-02 8.80685199e-03 1.59066574e+02] [ 3.93396231e-02 9.99225542e-01 8.42331352e-04 1.34451487e+01] [-8.83317342e-03 -4.95188176e-04 9.99960864e-01 -8.21897405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14140051299998 meters 0.0779768050289605 Centerline is valid? [True, True] Translation: X:159.12, Y:13.48, Z:-0.83 [[ 9.99642355e-01 -2.61687825e-02 5.50967533e-03 1.59123144e+02] [ 2.61662730e-02 9.99657466e-01 5.27067975e-04 1.34786004e+01] [-5.52158080e-03 -3.82711803e-04 9.99984683e-01 -8.26855438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20140051299998 meters 0.08619779310742504 Centerline is valid? [True, True] Translation: X:159.18, Y:13.50, Z:-0.83 [[ 9.99856233e-01 -1.54313983e-02 7.02743849e-03 1.59182263e+02] [ 1.54270524e-02 9.99880770e-01 6.72214079e-04 1.34988880e+01] [-7.03697381e-03 -5.63704775e-04 9.99975081e-01 -8.26408826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26140051299998 meters 0.07655835858129063 Centerline is valid? [True, True] Translation: X:159.24, Y:13.49, Z:-0.82 [[ 9.99886051e-01 -1.24706215e-02 8.50697600e-03 1.59243614e+02] [ 1.24641459e-02 9.99921988e-01 8.13809212e-04 1.34944491e+01] [-8.51646106e-03 -7.07684289e-04 9.99963484e-01 -8.23727959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321400513 meters 0.07630189186280709 Centerline is valid? [True, True] Translation: X:159.30, Y:13.50, Z:-0.83 [[ 9.99826922e-01 -1.70887696e-02 7.35521966e-03 1.59302006e+02] [ 1.70840537e-02 9.99853809e-01 7.03515482e-04 1.35045933e+01] [-7.36616661e-03 -5.77736752e-04 9.99972703e-01 -8.26629239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381400513 meters 0.07159952867954669 Centerline is valid? [True, True] Translation: X:159.36, Y:13.51, Z:-0.83 [[ 9.99687726e-01 -2.32877785e-02 9.06255054e-03 1.59362746e+02] [ 2.32808705e-02 9.99728588e-01 8.67014047e-04 1.35073876e+01] [-9.08028169e-03 -6.55759235e-04 9.99958558e-01 -8.25137499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441400513 meters 0.07630814570982102 Centerline is valid? [True, True] Translation: X:159.42, Y:13.52, Z:-0.82 [[ 9.99529893e-01 -2.88830717e-02 1.02839855e-02 1.59421219e+02] [ 2.88744725e-02 9.99582561e-01 9.83704773e-04 1.35215494e+01] [-1.03081050e-02 -6.86297671e-04 9.99946635e-01 -8.24159147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501400513 meters 0.060567467136843495 Centerline is valid? [True, True] Translation: X:159.48, Y:13.51, Z:-0.83 [[ 9.99443605e-01 -3.19834399e-02 9.46253993e-03 1.59482775e+02] [ 3.19762967e-02 9.99488218e-01 9.05264881e-04 1.35148738e+01] [-9.48665065e-03 -6.02184212e-04 9.99954819e-01 -8.25309012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561400513 meters 0.06391217616980469 Centerline is valid? [True, True] Translation: X:159.54, Y:13.53, Z:-0.83 [[ 9.99446831e-01 -3.18661502e-02 9.51736237e-03 1.59542105e+02] [ 3.18589184e-02 9.99491961e-01 9.10533310e-04 1.35272106e+01] [-9.54154237e-03 -6.06816760e-04 9.99954294e-01 -8.25064103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621400513 meters 0.06269356764774549 Centerline is valid? [True, True] Translation: X:159.60, Y:13.54, Z:-0.83 [[ 9.99387537e-01 -3.33018549e-02 1.07488480e-02 1.59602237e+02] [ 3.32927148e-02 9.99445115e-01 1.02820023e-03 1.35358964e+01] [-1.07771246e-02 -6.69712164e-04 9.99941701e-01 -8.25536159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681400513 meters 0.057673051841168145 Centerline is valid? [True, True] Translation: X:159.66, Y:13.54, Z:-0.83 [[ 9.99307278e-01 -3.58774854e-02 9.88791226e-03 1.59663710e+02] [ 3.58698768e-02 9.99356021e-01 9.45810440e-04 1.35351881e+01] [-9.91547796e-03 -5.90477061e-04 9.99950666e-01 -8.26944649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74140051299997 meters 0.0543792245458107 Centerline is valid? [True, True] Translation: X:159.72, Y:13.54, Z:-0.83 [[ 9.99226966e-01 -3.77705842e-02 1.09020119e-02 1.59723448e+02] [ 3.77614490e-02 9.99286238e-01 1.04263814e-03 1.35398266e+01] [-1.09336115e-02 -6.30156379e-04 9.99940028e-01 -8.26688555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80140051299998 meters 0.06757303774061912 Centerline is valid? [True, True] Translation: X:159.78, Y:13.56, Z:-0.83 [[ 9.99241713e-01 -3.73672049e-02 1.09403349e-02 1.59781590e+02] [ 3.73579769e-02 9.99301399e-01 1.04670540e-03 1.35605253e+01] [-1.09718044e-02 -6.37202925e-04 9.99939605e-01 -8.26825545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86140051299998 meters 0.05723015117510867 Centerline is valid? [True, True] Translation: X:159.84, Y:13.56, Z:-0.83 [[ 9.99350117e-01 -3.51158132e-02 8.13777039e-03 1.59842236e+02] [ 3.51106337e-02 9.99383128e-01 7.78521478e-04 1.35551617e+01] [-8.16008884e-03 -4.92293255e-04 9.99966585e-01 -8.31993482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92140051299998 meters 0.06425549646117773 Centerline is valid? [True, True] Translation: X:159.90, Y:13.57, Z:-0.83 [[ 9.99407376e-01 -3.33624709e-02 8.47595169e-03 1.59899913e+02] [ 3.33567878e-02 9.99443178e-01 8.11025567e-04 1.35701608e+01] [-8.49828991e-03 -5.27814412e-04 9.99963750e-01 -8.32912032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98140051299998 meters 0.0640065991714886 Centerline is valid? [True, True] Translation: X:159.96, Y:13.57, Z:-0.83 [[ 9.99432147e-01 -3.24276468e-02 9.15595972e-03 1.59959999e+02] [ 3.24209755e-02 9.99473918e-01 8.76155713e-04 1.35747392e+01] [-9.17955460e-03 -5.78813039e-04 9.99957699e-01 -8.31496326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04140051299999 meters 0.057167208526161715 Centerline is valid? [True, True] Translation: X:160.02, Y:13.57, Z:-0.83 [[ 9.99388729e-01 -3.39305368e-02 8.41942063e-03 1.60021092e+02] [ 3.39249485e-02 9.99424058e-01 8.05716288e-04 1.35740124e+01] [-8.44190992e-03 -5.19595366e-04 9.99964231e-01 -8.33941056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101400513 meters 0.0618701225608083 Centerline is valid? [True, True] Translation: X:160.08, Y:13.59, Z:-0.84 [[ 9.99344692e-01 -3.57123235e-02 5.90059234e-03 1.60079712e+02] [ 3.57096107e-02 9.99362049e-01 5.64501308e-04 1.35864399e+01] [-5.91698771e-03 -3.53423529e-04 9.99982432e-01 -8.39271753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161400513 meters 0.06261732867593131 Centerline is valid? [True, True] Translation: X:160.14, Y:13.59, Z:-0.84 [[ 9.99272484e-01 -3.74983144e-02 6.95552931e-03 1.60138499e+02] [ 3.74945876e-02 9.99296609e-01 6.65477918e-04 1.35922930e+01] [-6.97559115e-03 -4.04199069e-04 9.99975589e-01 -8.37658258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221400513 meters 0.054490045319538334 Centerline is valid? [True, True] Translation: X:160.20, Y:13.59, Z:-0.83 [[ 9.99312913e-01 -3.60884566e-02 8.44545510e-03 1.60198610e+02] [ 3.60829099e-02 9.99348473e-01 8.08270527e-04 1.35894172e+01] [-8.46912189e-03 -5.02978580e-04 9.99964010e-01 -8.34155323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281400513 meters 0.0643406928125399 Centerline is valid? [True, True] Translation: X:160.26, Y:13.61, Z:-0.83 [[ 9.99421120e-01 -3.18454310e-02 1.19705213e-02 1.60256226e+02] [ 3.18339792e-02 9.99492513e-01 1.14604140e-03 1.36066741e+01] [-1.20009426e-02 -7.64308650e-04 9.99927694e-01 -8.31657557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341400513 meters 0.06963416935471191 Centerline is valid? [True, True] Translation: X:160.32, Y:13.62, Z:-0.83 [[ 9.99544227e-01 -2.76792144e-02 1.20498716e-02 1.60315473e+02] [ 2.76673092e-02 9.99616521e-01 1.15360730e-03 1.36190563e+01] [-1.20771817e-02 -8.19693996e-04 9.99926732e-01 -8.30715649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401400513 meters 0.07543938538888874 Centerline is valid? [True, True] Translation: X:160.38, Y:13.63, Z:-0.83 [[ 9.99703215e-01 -2.19356049e-02 1.05976858e-02 1.60375463e+02] [ 2.19260750e-02 9.99759080e-01 1.01461192e-03 1.36317526e+01] [-1.06173887e-02 -7.81945149e-04 9.99943328e-01 -8.33063943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461400513 meters 0.07827913824291885 Centerline is valid? [True, True] Translation: X:160.44, Y:13.64, Z:-0.83 [[ 9.99740252e-01 -1.99711242e-02 1.09810437e-02 1.60435884e+02] [ 1.99607748e-02 9.99800211e-01 1.05128006e-03 1.36386934e+01] [-1.09998450e-02 -8.31816849e-04 9.99939154e-01 -8.34090766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52140051299997 meters 0.08004678483457384 Centerline is valid? [True, True] Translation: X:160.50, Y:13.65, Z:-0.84 [[ 9.99795044e-01 -1.72698834e-02 1.05651154e-02 1.60495825e+02] [ 1.72601538e-02 9.99850521e-01 1.01141229e-03 1.36453415e+01] [-1.05810031e-02 -8.28849474e-04 9.99943676e-01 -8.35044766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58140051299998 meters 0.08831999489067198 Centerline is valid? [True, True] Translation: X:160.55, Y:13.66, Z:-0.84 [[ 9.99880740e-01 -1.24612659e-02 9.12260082e-03 1.60553733e+02] [ 1.24538125e-02 9.99922067e-01 8.73381281e-04 1.36609661e+01] [-9.13277331e-03 -7.59665961e-04 9.99958007e-01 -8.38084124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64140051299998 meters 0.07801417557326662 Centerline is valid? [True, True] Translation: X:160.61, Y:13.66, Z:-0.84 [[ 9.99897349e-01 -1.11992377e-02 8.93691253e-03 1.60614978e+02] [ 1.11920373e-02 9.99937001e-01 8.55301804e-04 1.36579812e+01] [-8.94592825e-03 -7.55191748e-04 9.99959699e-01 -8.41402279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70140051299998 meters 0.08381649876831847 Centerline is valid? [True, True] Translation: X:160.67, Y:13.67, Z:-0.84 [[ 9.99890206e-01 -1.27101384e-02 7.61760478e-03 1.60673835e+02] [ 1.27049515e-02 9.99919023e-01 7.28920102e-04 1.36737137e+01] [-7.62625261e-03 -6.32058771e-04 9.99970720e-01 -8.43853270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76140051299998 meters 0.0771145507269738 Centerline is valid? [True, True] Translation: X:160.74, Y:13.67, Z:-0.84 [[ 9.99882486e-01 -1.33597737e-02 7.51868108e-03 1.60735421e+02] [ 1.33547381e-02 9.99910563e-01 7.19556947e-04 1.36728112e+01] [-7.52762175e-03 -6.19062373e-04 9.99971475e-01 -8.43159749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821400513 meters 0.08409396769996647 Centerline is valid? [True, True] Translation: X:160.80, Y:13.69, Z:-0.84 [[ 9.99855372e-01 -1.37870733e-02 9.95750338e-03 1.60795545e+02] [ 1.37782647e-02 9.99904621e-01 9.52682332e-04 1.36911064e+01] [-9.96968835e-03 -8.15347430e-04 9.99949969e-01 -8.39127075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881400513 meters 0.07626089122719709 Centerline is valid? [True, True] Translation: X:160.86, Y:13.70, Z:-0.84 [[ 9.99855083e-01 -1.37188638e-02 1.00800005e-02 1.60857604e+02] [ 1.37098384e-02 9.99905551e-01 9.63933925e-04 1.36962371e+01] [-1.00922726e-02 -8.25599055e-04 9.99948731e-01 -8.40233964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941400513 meters 0.08650762064174539 Centerline is valid? [True, True] Translation: X:160.92, Y:13.72, Z:-0.84 [[ 9.99857788e-01 -1.45887687e-02 8.45995091e-03 1.60915776e+02] [ 1.45824459e-02 9.99893344e-01 8.08586504e-04 1.37208684e+01] [-8.47084489e-03 -6.85104737e-04 9.99963887e-01 -8.44851077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001400513 meters 0.08834343895566249 Centerline is valid? [True, True] Translation: X:160.97, Y:13.74, Z:-0.84 [[ 9.99785142e-01 -1.73860126e-02 1.12869604e-02 1.60974464e+02] [ 1.73749369e-02 9.99848463e-01 1.07860208e-03 1.37358582e+01] [-1.13040026e-02 -8.82260105e-04 9.99935719e-01 -8.38956548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061400513 meters 0.07810191555186657 Centerline is valid? [True, True] Translation: X:161.04, Y:13.73, Z:-0.84 [[ 9.99718399e-01 -2.00113966e-02 1.27541078e-02 1.61036049e+02] [ 1.99974665e-02 9.99799288e-01 1.21881278e-03 1.37326318e+01] [-1.27759380e-02 -9.63419721e-04 9.99917920e-01 -8.37192938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121400513 meters 0.07066795411661984 Centerline is valid? [True, True] Translation: X:161.10, Y:13.74, Z:-0.84 [[ 9.99703508e-01 -2.08387695e-02 1.25953044e-02 1.61097598e+02] [ 2.08252497e-02 9.99782406e-01 1.20361588e-03 1.37359406e+01] [-1.26176456e-02 -9.40958654e-04 9.99919952e-01 -8.40535261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181400513 meters 0.08051716201421118 Centerline is valid? [True, True] Translation: X:161.16, Y:13.75, Z:-0.84 [[ 9.99758151e-01 -1.91792720e-02 1.07608398e-02 1.61155783e+02] [ 1.91693103e-02 9.99815723e-01 1.02812989e-03 1.37539475e+01] [-1.07785756e-02 -8.21603359e-04 9.99941572e-01 -8.43216235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24140051299997 meters 0.08296546827456504 Centerline is valid? [True, True] Translation: X:161.22, Y:13.77, Z:-0.84 [[ 9.99803013e-01 -1.67547578e-02 1.06401987e-02 1.61215722e+02] [ 1.67448875e-02 9.99859278e-01 1.01606505e-03 1.37658937e+01] [-1.06557253e-02 -8.37695972e-04 9.99942875e-01 -8.44447953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30140051299998 meters 0.07570286977135204 Centerline is valid? [True, True] Translation: X:161.28, Y:13.76, Z:-0.85 [[ 9.99799877e-01 -1.68707899e-02 1.07508865e-02 1.61278200e+02] [ 1.68607194e-02 9.99857321e-01 1.02666691e-03 1.37638386e+01] [-1.07666733e-02 -8.45193768e-04 9.99941680e-01 -8.45484302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36140051299998 meters 0.08028523933142458 Centerline is valid? [True, True] Translation: X:161.34, Y:13.77, Z:-0.85 [[ 9.99778787e-01 -1.86022272e-02 9.81501541e-03 1.61337485e+02] [ 1.85939216e-02 9.99826679e-01 9.36789046e-04 1.37740138e+01] [-9.83074063e-03 -7.54082188e-04 9.99951393e-01 -8.48685741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42140051299998 meters 0.07975965373536445 Centerline is valid? [True, True] Translation: X:161.40, Y:13.78, Z:-0.85 [[ 9.99755234e-01 -2.02530868e-02 8.90419831e-03 1.61398141e+02] [ 2.02463161e-02 9.99794661e-01 8.49890389e-04 1.37790639e+01] [-8.91958284e-03 -6.69405151e-04 9.99959996e-01 -8.51226800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48140051299998 meters 0.07663145607896979 Centerline is valid? [True, True] Translation: X:161.46, Y:13.78, Z:-0.86 [[ 9.99748697e-01 -2.18185920e-02 5.14693173e-03 1.61459634e+02] [ 2.18163501e-02 9.99761874e-01 4.91341524e-04 1.37802698e+01] [-5.15642649e-03 -3.78930784e-04 9.99986634e-01 -8.56632189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54140051299999 meters 0.08099819770299749 Centerline is valid? [True, True] Translation: X:161.52, Y:13.79, Z:-0.86 [[ 9.99714480e-01 -2.28617677e-02 6.94972077e-03 1.61518579e+02] [ 2.28577077e-02 9.99738509e-01 6.63079227e-04 1.37919735e+01] [-6.96306264e-03 -5.04035219e-04 9.99975631e-01 -8.55414944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601400513 meters 0.07344135938799827 Centerline is valid? [True, True] Translation: X:161.58, Y:13.79, Z:-0.85 [[ 9.99722000e-01 -2.14771064e-02 9.72919639e-03 1.61580663e+02] [ 2.14690835e-02 9.99769082e-01 9.28322530e-04 1.37864634e+01] [-9.74688742e-03 -7.19187526e-04 9.99952239e-01 -8.50273045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661400513 meters 0.07734239338796524 Centerline is valid? [True, True] Translation: X:161.64, Y:13.80, Z:-0.85 [[ 9.99727919e-01 -2.18872637e-02 8.06452315e-03 1.61640546e+02] [ 2.18817655e-02 9.99760269e-01 7.69390334e-04 1.37986456e+01] [-8.07942969e-03 -5.92714993e-04 9.99967185e-01 -8.54227908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721400513 meters 0.07244106633983254 Centerline is valid? [True, True] Translation: X:161.70, Y:13.80, Z:-0.85 [[ 9.99546101e-01 -2.78102396e-02 1.15837297e-02 1.61701857e+02] [ 2.77992979e-02 9.99612915e-01 1.10455577e-03 1.37960935e+01] [-1.16099638e-02 -7.82034863e-04 9.99932296e-01 -8.49960755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781400513 meters 0.062206335472550126 Centerline is valid? [True, True] Translation: X:161.76, Y:13.79, Z:-0.85 [[ 9.99440194e-01 -3.25294103e-02 7.81895831e-03 1.61763829e+02] [ 3.25245693e-02 9.99470658e-01 7.45535678e-04 1.37908131e+01] [-7.83907124e-03 -4.90810072e-04 9.99969154e-01 -8.54646155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841400513 meters 0.06753134041733533 Centerline is valid? [True, True] Translation: X:161.82, Y:13.80, Z:-0.86 [[ 9.99425640e-01 -3.28974588e-02 8.13313887e-03 1.61823164e+02] [ 3.28922338e-02 9.99458603e-01 7.75398952e-04 1.38044558e+01] [-8.15424427e-03 -5.07436489e-04 9.99966625e-01 -8.55829677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901400513 meters 0.06678813831068289 Centerline is valid? [True, True] Translation: X:161.88, Y:13.81, Z:-0.85 [[ 9.99443718e-01 -3.16619123e-02 1.04774725e-02 1.61883739e+02] [ 3.16531751e-02 9.99498414e-01 9.98724759e-04 1.38084005e+01] [-1.05038387e-02 -6.66523915e-04 9.99944611e-01 -8.52442148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961400513 meters 0.0656974210370334 Centerline is valid? [True, True] Translation: X:161.95, Y:13.81, Z:-0.86 [[ 9.99495420e-01 -3.05037786e-02 8.85578672e-03 1.61945175e+02] [ 3.04974909e-02 9.99534487e-01 8.44214646e-04 1.38117063e+01] [-8.87741597e-03 -5.73709397e-04 9.99960430e-01 -8.55017034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02140051299997 meters 0.06733357673440378 Centerline is valid? [True, True] Translation: X:162.01, Y:13.82, Z:-0.86 [[ 9.99512435e-01 -3.02599349e-02 7.69602155e-03 1.62006148e+02] [ 3.02551802e-02 9.99541938e-01 7.33513905e-04 1.38198836e+01] [-7.71469238e-03 -5.00311750e-04 9.99970116e-01 -8.58209927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08140051299998 meters 0.06866897330115175 Centerline is valid? [True, True] Translation: X:162.07, Y:13.83, Z:-0.85 [[ 9.99489627e-01 -2.97337174e-02 1.16786994e-02 1.62066709e+02] [ 2.97227369e-02 9.99557563e-01 1.11269911e-03 1.38270193e+01] [-1.17066170e-02 -7.65008307e-04 9.99931183e-01 -8.54555230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14140051299998 meters 0.07003154982793648 Centerline is valid? [True, True] Translation: X:162.13, Y:13.84, Z:-0.86 [[ 9.99536726e-01 -2.83134879e-02 1.11660004e-02 1.62126719e+02] [ 2.83033650e-02 9.99598814e-01 1.06360148e-03 1.38364133e+01] [-1.11916350e-02 -7.47073362e-04 9.99937093e-01 -8.55785593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20140051299998 meters 0.07282614313321586 Centerline is valid? [True, True] Translation: X:162.19, Y:13.85, Z:-0.86 [[ 9.99649053e-01 -2.51564027e-02 8.30222935e-03 1.62187149e+02] [ 2.51506985e-02 9.99683358e-01 7.90777418e-04 1.38457944e+01] [-8.31949364e-03 -5.81693029e-04 9.99965223e-01 -8.61304703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26140051299998 meters 0.07523530991954026 Centerline is valid? [True, True] Translation: X:162.25, Y:13.85, Z:-0.86 [[ 9.99701460e-01 -2.28724924e-02 8.59300548e-03 1.62247043e+02] [ 2.28662993e-02 9.99738197e-01 8.18276385e-04 1.38527400e+01] [-8.60947182e-03 -6.21541862e-04 9.99962745e-01 -8.61427694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321400513 meters 0.07988594252806243 Centerline is valid? [True, True] Translation: X:162.31, Y:13.87, Z:-0.86 [[ 9.99757622e-01 -2.00284447e-02 9.14100982e-03 1.62305937e+02] [ 2.00213185e-02 9.99799174e-01 8.70439195e-04 1.38662676e+01] [-9.15660761e-03 -6.87213151e-04 9.99957841e-01 -8.61786325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381400513 meters 0.08302989067779477 Centerline is valid? [True, True] Translation: X:162.37, Y:13.88, Z:-0.86 [[ 9.99827794e-01 -1.55736700e-02 1.00917836e-02 1.62365836e+02] [ 1.55647590e-02 9.99878400e-01 9.60938436e-04 1.38753142e+01] [-1.01055218e-02 -8.03696776e-04 9.99948615e-01 -8.59636677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441400513 meters 0.08291342327334032 Centerline is valid? [True, True] Translation: X:162.43, Y:13.89, Z:-0.86 [[ 9.99900071e-01 -1.01170802e-02 9.87388069e-03 1.62425326e+02] [ 1.01082862e-02 9.99948468e-01 9.40139830e-04 1.38857180e+01] [-9.88288334e-03 -8.40237870e-04 9.99950810e-01 -8.60544951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501400513 meters 0.08180514170286954 Centerline is valid? [True, True] Translation: X:162.49, Y:13.89, Z:-0.86 [[ 9.99926904e-01 -9.06535747e-03 8.00036062e-03 1.62485849e+02] [ 9.05954932e-03 9.99958671e-01 7.61929050e-04 1.38916540e+01] [-8.00693714e-03 -6.89393695e-04 9.99967706e-01 -8.63811153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561400513 meters 0.08248163133587284 Centerline is valid? [True, True] Translation: X:162.54, Y:13.90, Z:-0.86 [[ 9.99896280e-01 -1.09153043e-02 9.39599537e-03 1.62544565e+02] [ 1.09073782e-02 9.99940113e-01 8.94393962e-04 1.39032142e+01] [-9.40519525e-03 -7.91815520e-04 9.99955457e-01 -8.61914162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621400513 meters 0.08781179654096637 Centerline is valid? [True, True] Translation: X:162.60, Y:13.92, Z:-0.86 [[ 9.99885715e-01 -1.19740346e-02 9.22930401e-03 1.62603967e+02] [ 1.19664310e-02 9.99928014e-01 8.78634964e-04 1.39167411e+01] [-9.23916043e-03 -7.68092719e-04 9.99957023e-01 -8.62444008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681400513 meters 0.08491598788499638 Centerline is valid? [True, True] Translation: X:162.67, Y:13.92, Z:-0.86 [[ 9.99873785e-01 -1.22166656e-02 1.01571404e-02 1.62665892e+02] [ 1.22074695e-02 9.99925019e-01 9.66896449e-04 1.39192607e+01] [-1.01681911e-02 -8.42781430e-04 9.99947947e-01 -8.61393012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74140051299997 meters 0.0808851573161653 Centerline is valid? [True, True] Translation: X:162.73, Y:13.92, Z:-0.86 [[ 9.99864036e-01 -1.16729966e-02 1.16469119e-02 1.62727292e+02] [ 1.16608752e-02 9.99931396e-01 1.10810813e-03 1.39247188e+01] [-1.16590478e-02 -9.72144285e-04 9.99931558e-01 -8.60451134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80140051299998 meters 0.09302959213057095 Centerline is valid? [True, True] Translation: X:162.79, Y:13.95, Z:-0.86 [[ 9.99893615e-01 -1.03079309e-02 1.03201025e-02 1.62785158e+02] [ 1.02983456e-02 9.99946489e-01 9.81507319e-04 1.39472139e+01] [-1.03296676e-02 -8.75122919e-04 9.99946265e-01 -8.63839124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86140051299998 meters 0.08494419277604494 Centerline is valid? [True, True] Translation: X:162.85, Y:13.94, Z:-0.86 [[ 9.99858671e-01 -1.35836071e-02 9.90578789e-03 1.62846099e+02] [ 1.35749358e-02 9.99907412e-01 9.42101358e-04 1.39446414e+01] [-9.91766787e-03 -8.07497777e-04 9.99950493e-01 -8.64673570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92140051299998 meters 0.080058917146177 Centerline is valid? [True, True] Translation: X:162.91, Y:13.94, Z:-0.87 [[ 9.99775077e-01 -1.89390557e-02 9.54503169e-03 1.62907632e+02] [ 1.89312467e-02 9.99820376e-01 9.07817632e-04 1.39434348e+01] [-9.56051038e-03 -7.26914093e-04 9.99954033e-01 -8.66324088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98140051299998 meters 0.07035603905873511 Centerline is valid? [True, True] Translation: X:162.97, Y:13.93, Z:-0.87 [[ 9.99578850e-01 -2.75979803e-02 8.97074215e-03 1.62969349e+02] [ 2.75914300e-02 9.99618920e-01 8.53154197e-04 1.39340191e+01] [-8.99086891e-03 -6.05279287e-04 9.99959398e-01 -8.68052699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04140051299999 meters 0.06292554994462143 Centerline is valid? [True, True] Translation: X:163.03, Y:13.93, Z:-0.87 [[ 9.99563125e-01 -2.87986129e-02 6.64822177e-03 1.63032197e+02] [ 2.87950410e-02 9.99585137e-01 6.32384184e-04 1.39275413e+01] [-6.66367546e-03 -4.40672092e-04 9.99977700e-01 -8.71662990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101400513 meters 0.06620801357726994 Centerline is valid? [True, True] Translation: X:163.09, Y:13.93, Z:-0.87 [[ 9.99626057e-01 -2.66408663e-02 6.16531571e-03 1.63092308e+02] [ 2.66377558e-02 9.99644980e-01 5.86085822e-04 1.39346384e+01] [-6.17874073e-03 -4.21636485e-04 9.99980823e-01 -8.72744051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161400513 meters 0.07306215170312998 Centerline is valid? [True, True] Translation: X:163.15, Y:13.95, Z:-0.88 [[ 9.99761516e-01 -2.14948435e-02 3.85773037e-03 1.63150498e+02] [ 2.14935876e-02 9.99768919e-01 3.66721951e-04 1.39487351e+01] [-3.86472155e-03 -2.83718028e-04 9.99992492e-01 -8.77386596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221400513 meters 0.0791236375089885 Centerline is valid? [True, True] Translation: X:163.21, Y:13.96, Z:-0.88 [[ 9.99806696e-01 -1.92689185e-02 3.90888430e-03 1.63209128e+02] [ 1.92676127e-02 9.99814293e-01 3.71439178e-04 1.39622083e+01] [-3.91531562e-03 -2.96052509e-04 9.99992291e-01 -8.79995800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281400513 meters 0.0806734873937996 Centerline is valid? [True, True] Translation: X:163.27, Y:13.97, Z:-0.88 [[ 9.99821966e-01 -1.75158882e-02 7.01646090e-03 1.63269566e+02] [ 1.75116362e-02 9.99846437e-01 6.66985992e-04 1.39681438e+01] [-7.02706628e-03 -5.43997534e-04 9.99975162e-01 -8.75491798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341400513 meters 0.07593869690650935 Centerline is valid? [True, True] Translation: X:163.33, Y:13.97, Z:-0.88 [[ 9.99856553e-01 -1.56389607e-02 6.50359552e-03 1.63331136e+02] [ 1.56352687e-02 9.99877571e-01 6.18146255e-04 1.39666009e+01] [-6.51246646e-03 -5.16372121e-04 9.99978660e-01 -8.75725528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401400513 meters 0.08288768925947575 Centerline is valid? [True, True] Translation: X:163.39, Y:13.98, Z:-0.88 [[ 9.99881846e-01 -1.38186449e-02 6.73350046e-03 1.63389442e+02] [ 1.38146469e-02 9.99904368e-01 6.39909470e-04 1.39819714e+01] [-6.74169921e-03 -5.46812931e-04 9.99977125e-01 -8.77733981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461400513 meters 0.08946159053978657 Centerline is valid? [True, True] Translation: X:163.45, Y:13.99, Z:-0.87 [[ 9.99914982e-01 -1.01186067e-02 8.22452032e-03 1.63448281e+02] [ 1.01125179e-02 9.99948562e-01 7.81568320e-04 1.39926914e+01] [-8.23200565e-03 -6.98331264e-04 9.99965873e-01 -8.74875640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52140051299997 meters 0.086664020551762 Centerline is valid? [True, True] Translation: X:163.51, Y:14.00, Z:-0.87 [[ 9.99913818e-01 -9.81906026e-03 8.71454465e-03 1.63510221e+02] [ 9.81221043e-03 9.99951516e-01 8.28431692e-04 1.39975610e+01] [-8.72225655e-03 -7.42851350e-04 9.99961684e-01 -8.74189208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58140051299998 meters 0.08545475131602528 Centerline is valid? [True, True] Translation: X:163.57, Y:14.00, Z:-0.88 [[ 9.99916368e-01 -1.01387955e-02 8.02879472e-03 1.63572206e+02] [ 1.01329941e-02 9.99948369e-01 7.62924541e-04 1.40026189e+01] [-8.03611532e-03 -6.81505007e-04 9.99967478e-01 -8.75514414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64140051299998 meters 0.0834357858621588 Centerline is valid? [True, True] Translation: X:163.63, Y:14.01, Z:-0.87 [[ 9.99834921e-01 -1.51356623e-02 1.00520254e-02 1.63631796e+02] [ 1.51268260e-02 9.99885127e-01 9.54516747e-04 1.40076717e+01] [-1.00653180e-02 -8.02303937e-04 9.99949022e-01 -8.72360178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70140051299998 meters 0.08051542191389385 Centerline is valid? [True, True] Translation: X:163.69, Y:14.01, Z:-0.87 [[ 9.99745156e-01 -1.97768126e-02 1.08857855e-02 1.63692951e+02] [ 1.97667236e-02 9.99804085e-01 1.03362345e-03 1.40074736e+01] [-1.09040945e-02 -8.18183728e-04 9.99940214e-01 -8.71703176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76140051299998 meters 0.07884811879187276 Centerline is valid? [True, True] Translation: X:163.75, Y:14.01, Z:-0.87 [[ 9.99720658e-01 -2.10323601e-02 1.07816955e-02 1.63754572e+02] [ 2.10225356e-02 9.99778478e-01 1.02376453e-03 1.40086324e+01] [-1.08008393e-02 -7.96819979e-04 9.99941352e-01 -8.72335969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821400513 meters 0.07900171934988526 Centerline is valid? [True, True] Translation: X:163.81, Y:14.02, Z:-0.87 [[ 9.99816309e-01 -1.61031835e-02 1.03940017e-02 1.63814709e+02] [ 1.60937907e-02 9.99870000e-01 9.86696569e-04 1.40190831e+01] [-1.04085394e-02 -8.19236435e-04 9.99945494e-01 -8.74020377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881400513 meters 0.08848578944208128 Centerline is valid? [True, True] Translation: X:163.87, Y:14.03, Z:-0.88 [[ 9.99924844e-01 -8.11385810e-03 9.19089031e-03 1.63872606e+02] [ 8.08297576e-03 9.99961578e-01 3.39228077e-03 1.40309122e+01] [-9.21806167e-03 -3.31773607e-03 9.99952009e-01 -8.77707758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941400513 meters 0.0951706399559953 Centerline is valid? [True, True] Translation: X:163.93, Y:14.06, Z:-0.88 [[ 9.99976206e-01 7.56801350e-04 6.85674234e-03 1.63931803e+02] [-7.44171135e-04 9.99998022e-01 -1.84437800e-03 1.40568036e+01] [-6.85812461e-03 1.83923152e-03 9.99974791e-01 -8.82815244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001400513 meters 0.09529842860632701 Centerline is valid? [True, True] Translation: X:163.99, Y:14.06, Z:-0.88 [[ 9.99967840e-01 3.13776594e-03 7.38061400e-03 1.63992472e+02] [-3.14302114e-03 9.99994815e-01 7.00535756e-04 1.40639312e+01] [-7.37837761e-03 -7.23710652e-04 9.99972518e-01 -8.82920298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061400513 meters 0.09710510997361411 Centerline is valid? [True, True] Translation: X:164.05, Y:14.08, Z:-0.88 [[ 9.99961709e-01 -3.14907293e-04 8.74532755e-03 1.64050975e+02] [ 3.07662101e-04 9.99999608e-01 8.29797269e-04 1.40774367e+01] [-8.74558544e-03 -8.27074890e-04 9.99961415e-01 -8.80117084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121400513 meters 0.09492762514184076 Centerline is valid? [True, True] Translation: X:164.11, Y:14.09, Z:-0.88 [[ 9.99957624e-01 -2.88758853e-03 8.74144276e-03 1.64110931e+02] [ 2.88044611e-03 9.99995507e-01 8.29555355e-04 1.40877520e+01] [-8.74379890e-03 -8.04340946e-04 9.99961449e-01 -8.82511544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181400513 meters 0.08935317533546396 Centerline is valid? [True, True] Translation: X:164.17, Y:14.09, Z:-0.88 [[ 9.99950173e-01 -6.38007822e-03 7.67764417e-03 1.64171834e+02] [ 6.37467074e-03 9.99979416e-01 7.28581048e-04 1.40890092e+01] [-7.68213454e-03 -6.79602291e-04 9.99970261e-01 -8.83983386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24140051299997 meters 0.08356964829907705 Centerline is valid? [True, True] Translation: X:164.23, Y:14.09, Z:-0.88 [[ 9.99915383e-01 -1.08850061e-02 7.12346241e-03 1.64232653e+02] [ 1.08804651e-02 9.99940578e-01 6.75907314e-04 1.40946839e+01] [-7.13039637e-03 -5.98343536e-04 9.99974399e-01 -8.83509604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30140051299998 meters 0.07771814877537668 Centerline is valid? [True, True] Translation: X:164.29, Y:14.10, Z:-0.88 [[ 9.99870567e-01 -1.39027111e-02 8.09715822e-03 1.64293750e+02] [ 1.38969420e-02 9.99903138e-01 7.68310080e-04 1.40977828e+01] [-8.10705550e-03 -6.55684897e-04 9.99966922e-01 -8.83098552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36140051299998 meters 0.08453127583514954 Centerline is valid? [True, True] Translation: X:164.35, Y:14.11, Z:-0.88 [[ 9.99849689e-01 -1.53800448e-02 8.00339417e-03 1.64352406e+02] [ 1.53744566e-02 9.99881518e-01 7.59286536e-04 1.41114690e+01] [-8.01412377e-03 -6.36124571e-04 9.99967684e-01 -8.83881540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42140051299998 meters 0.08401295078815586 Centerline is valid? [True, True] Translation: X:164.41, Y:14.12, Z:-0.88 [[ 9.99836885e-01 -1.61686101e-02 8.04859472e-03 1.64413621e+02] [ 1.61629829e-02 9.99869079e-01 7.63705321e-04 1.41199880e+01] [-8.05988904e-03 -6.33491450e-04 9.99967318e-01 -8.84727977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48140051299998 meters 0.08147684813010761 Centerline is valid? [True, True] Translation: X:164.47, Y:14.12, Z:-0.88 [[ 9.99882603e-01 -1.30799755e-02 7.98094172e-03 1.64474711e+02] [ 1.30743474e-02 9.99914241e-01 7.56961975e-04 1.41233881e+01] [-7.99015832e-03 -6.52527505e-04 9.99967865e-01 -8.84056001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54140051299999 meters 0.08706146610328622 Centerline is valid? [True, True] Translation: X:164.53, Y:14.14, Z:-0.88 [[ 9.99938039e-01 -8.19680405e-03 7.53203109e-03 1.64534226e+02] [ 8.19165533e-03 9.99966193e-01 7.14173212e-04 1.41384936e+01] [-7.53763039e-03 -6.52429158e-04 9.99971379e-01 -8.84520726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601400513 meters 0.10084597160220572 Centerline is valid? [True, False] Translation: X:164.56, Y:14.14, Z:-0.88 [[ 9.99995214e-01 -2.08167334e-03 2.28872423e-03 1.64555364e+02] [ 2.08776096e-03 9.99994281e-01 -2.66066684e-03 1.41444818e+01] [-2.28317250e-03 2.66543242e-03 9.99993841e-01 -8.78901059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661400513 meters 0.09559068598000169 Centerline is valid? [False, True] Translation: X:164.55, Y:14.15, Z:-0.88 [[ 9.99995104e-01 1.76860456e-03 2.58129440e-03 1.64554806e+02] [-1.76819278e-03 9.99998424e-01 -1.61797680e-04 1.41521227e+01] [-2.58157649e-03 1.57232662e-04 9.99996655e-01 -8.80252731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721400513 meters 0.10867605881705734 Centerline is valid? [True, False] Translation: X:164.55, Y:14.17, Z:-0.88 [[ 9.99994967e-01 4.35227491e-04 3.14277832e-03 1.64553840e+02] [-4.20327583e-04 9.99988677e-01 -4.74010389e-03 1.41704560e+01] [-3.14480576e-03 4.73875904e-03 9.99983827e-01 -8.82126980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781400513 meters 0.10777965931556696 Centerline is valid? [False, False] Translation: X:164.58, Y:14.17, Z:-0.88 [[ 9.99996992e-01 -4.56297725e-04 2.41010431e-03 1.64575113e+02] [ 4.46183516e-04 9.99991099e-01 4.19545734e-03 1.41730044e+01] [-2.41199724e-03 -4.19436937e-03 9.99988295e-01 -8.79399286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841400513 meters 0.10234471369672415 Centerline is valid? [False, False] Translation: X:164.57, Y:14.18, Z:-0.88 [[ 9.99996976e-01 -7.09957711e-04 2.35456481e-03 1.64574888e+02] [ 7.01966732e-04 9.99993998e-01 3.39291609e-03 1.41765841e+01] [-2.35695950e-03 -3.39125301e-03 9.99991472e-01 -8.78530577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901400513 meters 0.09096001941095178 Centerline is valid? [False, True] Translation: X:164.58, Y:14.18, Z:-0.88 [[ 9.99997167e-01 -1.59185630e-03 1.76957419e-03 1.64576540e+02] [ 1.58854723e-03 9.99996990e-01 1.86981511e-03 1.41821686e+01] [-1.77254534e-03 -1.86699876e-03 9.99996686e-01 -8.78650650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96140051299997 meters 0.08425630843971514 Centerline is valid? [True, True] Translation: X:164.64, Y:14.19, Z:-0.88 [[ 9.99961985e-01 -8.41404539e-03 2.28736089e-03 1.64636792e+02] [ 8.41361654e-03 9.99964585e-01 1.97042022e-04 1.41864998e+01] [-2.28893781e-03 -1.77789554e-04 9.99997365e-01 -8.76877009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02140051299997 meters 0.07695802275304725 Centerline is valid? [True, True] Translation: X:164.70, Y:14.19, Z:-0.88 [[ 9.99957371e-01 -9.00567132e-03 2.03814571e-03 1.64698498e+02] [ 9.00533194e-03 9.99959436e-01 1.75630503e-04 1.41881419e+01] [-2.03964470e-03 -1.57268838e-04 9.99997908e-01 -8.76668246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08140051299998 meters 0.07866657965541186 Centerline is valid? [True, True] Translation: X:164.76, Y:14.20, Z:-0.88 [[ 9.99986138e-01 -5.17126694e-03 9.90940993e-04 1.64758003e+02] [ 5.17118492e-03 9.99986626e-01 8.53132396e-05 1.41990163e+01] [-9.91368918e-04 -8.01877178e-05 9.99999505e-01 -8.78138389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14140051299998 meters 0.08809243646251992 Centerline is valid? [True, True] Translation: X:164.82, Y:14.23, Z:-0.88 [[ 9.99993984e-01 3.27279665e-03 1.14958342e-03 1.64816335e+02] [-3.27291260e-03 9.99994639e-01 9.90019472e-05 1.42284067e+01] [-1.14925324e-03 -1.02763838e-04 9.99999334e-01 -8.78605008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20140051299998 meters 0.09661140474533188 Centerline is valid? [True, True] Translation: X:164.87, Y:14.25, Z:-0.88 [[ 9.99962288e-01 8.61475518e-03 1.09933607e-03 1.64873884e+02] [-8.61486437e-03 9.99962887e-01 9.46233959e-05 1.42540888e+01] [-1.09848012e-03 -1.04090459e-04 9.99999391e-01 -8.80207987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26140051299998 meters 0.10002635328341916 Centerline is valid? [True, False] Translation: X:164.87, Y:14.26, Z:-0.88 [[ 9.99967882e-01 7.92653585e-03 1.18500662e-03 1.64873733e+02] [-7.92374035e-03 9.99965856e-01 -2.34542866e-03 1.42645427e+01] [-1.20355728e-03 2.33596365e-03 9.99996547e-01 -8.80675341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321400513 meters 0.10202574357081984 Centerline is valid? [False, False] Translation: X:164.89, Y:14.27, Z:-0.87 [[ 9.99975384e-01 6.49852095e-03 -2.64594232e-03 1.64891998e+02] [-6.48811335e-03 9.99971256e-01 3.92318496e-03 1.42691447e+01] [ 2.67136116e-03 -3.90592121e-03 9.99988804e-01 -8.72363511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381400513 meters 0.08658456783738724 Centerline is valid? [False, True] Translation: X:164.85, Y:14.27, Z:-0.87 [[ 9.99992130e-01 1.88015305e-03 -3.49357423e-03 1.64846975e+02] [-1.88227401e-03 9.99998046e-01 -6.03913204e-04 1.42723793e+01] [ 3.49243196e-03 6.10484315e-04 9.99993715e-01 -8.70145637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441400513 meters 0.07807765538860115 Centerline is valid? [True, True] Translation: X:164.91, Y:14.27, Z:-0.87 [[ 9.99961859e-01 -7.82460232e-03 -3.88019710e-03 1.64907362e+02] [ 7.82338394e-03 9.99969343e-01 -3.29078277e-04 1.42719023e+01] [ 3.88265305e-03 2.98709454e-04 9.99992418e-01 -8.69931209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501400513 meters 0.07257073396932379 Centerline is valid? [True, True] Translation: X:164.97, Y:14.27, Z:-0.87 [[ 9.99932114e-01 -1.01946925e-02 -5.64222806e-03 1.64967799e+02] [ 1.01921537e-02 9.99947944e-01 -4.78542159e-04 1.42692460e+01] [ 5.64681294e-03 4.21003217e-04 9.99983968e-01 -8.72070131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561400513 meters 0.08182794586028819 Centerline is valid? [True, True] Translation: X:165.03, Y:14.29, Z:-0.87 [[ 9.99948565e-01 -8.70261537e-03 -5.20882772e-03 1.65026054e+02] [ 8.70043116e-03 9.99962053e-01 -4.41841980e-04 1.42858894e+01] [ 5.21247524e-03 3.96500207e-04 9.99986336e-01 -8.73074872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621400513 meters 0.08249807135551901 Centerline is valid? [True, True] Translation: X:165.09, Y:14.29, Z:-0.87 [[ 9.99965867e-01 -7.01256426e-03 -4.36906165e-03 1.65086521e+02] [ 7.01101151e-03 9.99975354e-01 -3.70612248e-04 1.42907474e+01] [ 4.37155291e-03 3.39968056e-04 9.99990387e-01 -8.71423462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681400513 meters 0.08224143717461666 Centerline is valid? [True, True] Translation: X:165.15, Y:14.29, Z:-0.87 [[ 9.99965753e-01 -6.85997382e-03 -4.62954129e-03 1.65145638e+02] [ 6.85822562e-03 9.99976405e-01 -3.93387410e-04 1.42903159e+01] [ 4.63213068e-03 3.61623499e-04 9.99989206e-01 -8.71697355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74140051299997 meters 0.08504972370666217 Centerline is valid? [True, True] Translation: X:165.20, Y:14.29, Z:-0.87 [[ 9.99966356e-01 -6.81549936e-03 -4.56470041e-03 1.65202994e+02] [ 6.81379796e-03 9.99976710e-01 -3.88177957e-04 1.42939679e+01] [ 4.56723973e-03 3.57061951e-04 9.99989506e-01 -8.73035622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80140051299998 meters 0.07931401582106078 Centerline is valid? [True, True] Translation: X:165.26, Y:14.29, Z:-0.87 [[ 9.99968788e-01 -4.74687199e-03 -6.31587659e-03 1.65263929e+02] [ 4.74357341e-03 9.99988605e-01 -5.37146122e-04 1.42872143e+01] [ 6.31835439e-03 5.07169532e-04 9.99979910e-01 -8.74946711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86140051299998 meters 0.09062448320521133 Centerline is valid? [True, True] Translation: X:165.32, Y:14.30, Z:-0.88 [[ 9.99972785e-01 -2.44223644e-03 -6.96170917e-03 1.65322000e+02] [ 2.43817271e-03 9.99996852e-01 -5.92152426e-04 1.43038604e+01] [ 6.96313343e-03 5.75162461e-04 9.99975592e-01 -8.76158868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92140051299998 meters 0.09007942159430526 Centerline is valid? [True, True] Translation: X:165.38, Y:14.31, Z:-0.87 [[ 9.99980317e-01 3.13522790e-03 -5.43463438e-03 1.65382440e+02] [-3.13778608e-03 9.99994970e-01 -4.62256037e-04 1.43079100e+01] [ 5.43315777e-03 4.79299658e-04 9.99985125e-01 -8.72240529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98140051299998 meters 0.09008059343131267 Centerline is valid? [True, True] Translation: X:165.44, Y:14.32, Z:-0.87 [[ 9.99959293e-01 6.11390011e-03 -6.63567833e-03 1.65442164e+02] [-6.11777945e-03 9.99981127e-01 -5.64478342e-04 1.43175599e+01] [ 6.63210193e-03 6.05050980e-04 9.99977824e-01 -8.74818967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04140051299999 meters 0.08900939062325848 Centerline is valid? [True, True] Translation: X:165.50, Y:14.32, Z:-0.87 [[ 9.99979021e-01 4.72917817e-03 -4.42626150e-03 1.65501281e+02] [-4.73089121e-03 9.99988738e-01 -3.76625662e-04 1.43244812e+01] [ 4.42443052e-03 3.97557922e-04 9.99990133e-01 -8.72045296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101400513 meters 0.08158760233590785 Centerline is valid? [True, True] Translation: X:165.56, Y:14.32, Z:-0.87 [[ 9.99991088e-01 8.57962340e-04 -4.13364775e-03 1.65562071e+02] [-8.59423658e-04 9.99999569e-01 -3.51754598e-04 1.43215694e+01] [ 4.13334417e-03 3.55304018e-04 9.99991395e-01 -8.71631240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161400513 meters 0.08092683076994192 Centerline is valid? [True, True] Translation: X:165.62, Y:14.33, Z:-0.87 [[ 9.99981824e-01 -2.94103249e-03 -5.26330845e-03 1.65622115e+02] [ 2.93871545e-03 9.99995582e-01 -4.47905073e-04 1.43277610e+01] [ 5.26460250e-03 4.32429566e-04 9.99986048e-01 -8.74161768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221400513 meters 0.08502334258138132 Centerline is valid? [True, True] Translation: X:165.68, Y:14.34, Z:-0.87 [[ 9.99982681e-01 -2.12029441e-03 -5.49019962e-03 1.65679268e+02] [ 2.11775970e-03 9.99997648e-01 -4.67451344e-04 1.43419109e+01] [ 5.49117785e-03 4.55816325e-04 9.99984819e-01 -8.73987472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281400513 meters 0.08437104528366361 Centerline is valid? [True, True] Translation: X:165.74, Y:14.35, Z:-0.87 [[ 9.99985367e-01 -2.57921720e-04 -5.40362704e-03 1.65738975e+02] [ 2.55438916e-04 9.99999862e-01 -4.60154954e-04 1.43492525e+01] [ 5.40374498e-03 4.58767924e-04 9.99985294e-01 -8.73252698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341400513 meters 0.08692332285001794 Centerline is valid? [True, True] Translation: X:165.80, Y:14.36, Z:-0.87 [[ 9.99984475e-01 -3.22632652e-03 -4.54317637e-03 1.65798031e+02] [ 3.22460153e-03 9.99994726e-01 -3.86963569e-04 1.43568306e+01] [ 4.54440088e-03 3.72307628e-04 9.99989605e-01 -8.71753416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401400513 meters 0.0856993016634217 Centerline is valid? [True, True] Translation: X:165.86, Y:14.36, Z:-0.87 [[ 9.99962749e-01 -7.64878036e-03 -3.99948087e-03 1.65857563e+02] [ 7.64747845e-03 9.99970700e-01 -3.40710979e-04 1.43566124e+01] [ 4.00196971e-03 3.10112344e-04 9.99991944e-01 -8.71957141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46140051299997 meters 0.08416861281647131 Centerline is valid? [True, True] Translation: X:165.92, Y:14.36, Z:-0.87 [[ 9.99962615e-01 -8.03793814e-03 -3.18755940e-03 1.65916176e+02] [ 8.03711171e-03 9.99967665e-01 -2.71990322e-04 1.43590432e+01] [ 3.18964257e-03 2.46361383e-04 9.99994883e-01 -8.69937551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52140051299997 meters 0.0796244375834514 Centerline is valid? [True, True] Translation: X:165.98, Y:14.36, Z:-0.87 [[ 9.99974215e-01 -5.85012844e-03 -4.16482113e-03 1.65977137e+02] [ 5.84869835e-03 9.99982833e-01 -3.55471633e-04 1.43603228e+01] [ 4.16682919e-03 3.31103685e-04 9.99991264e-01 -8.69907628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58140051299998 meters 0.08608862637536989 Centerline is valid? [True, True] Translation: X:166.04, Y:14.38, Z:-0.87 [[ 9.99978268e-01 3.00673448e-04 -6.58585376e-03 1.66036071e+02] [-3.04382154e-04 9.99999796e-01 -5.62137107e-04 1.43764172e+01] [ 6.58568340e-03 5.64129507e-04 9.99978155e-01 -8.73635685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64140051299998 meters 0.0861001958818825 Centerline is valid? [True, True] Translation: X:166.10, Y:14.38, Z:-0.87 [[ 9.99979998e-01 2.41784679e-03 -5.84443586e-03 1.66096224e+02] [-2.42080342e-03 9.99996945e-01 -4.98865846e-04 1.43812600e+01] [ 5.84321183e-03 5.13004098e-04 9.99982797e-01 -8.71626640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70140051299998 meters 0.09555352788006374 Centerline is valid? [True, True] Translation: X:166.15, Y:14.40, Z:-0.87 [[ 9.99984643e-01 7.57344578e-04 -5.49000962e-03 1.66153836e+02] [-7.59929281e-04 9.99999601e-01 -4.68730515e-04 1.43994050e+01] [ 5.48965245e-03 4.72895336e-04 9.99984820e-01 -8.72068503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76140051299998 meters 0.0843274889867462 Centerline is valid? [True, True] Translation: X:166.21, Y:14.39, Z:-0.87 [[ 9.99984931e-01 -1.88579802e-03 -5.15574397e-03 1.66214884e+02] [ 1.88355291e-03 9.99998129e-01 -4.40279217e-04 1.43895293e+01] [ 5.15656460e-03 4.30561466e-04 9.99986612e-01 -8.71152976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821400513 meters 0.09061393373652432 Centerline is valid? [True, True] Translation: X:166.27, Y:14.40, Z:-0.87 [[ 9.99981732e-01 -2.42392600e-03 -5.53712436e-03 1.66271592e+02] [ 2.42134297e-03 9.99996957e-01 -4.73148684e-04 1.44029830e+01] [ 5.53825439e-03 4.59732764e-04 9.99984558e-01 -8.72451360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881400513 meters 0.08420635033645595 Centerline is valid? [True, True] Translation: X:166.33, Y:14.40, Z:-0.87 [[ 9.99975589e-01 -1.44581952e-03 -6.83602542e-03 1.66331624e+02] [ 1.44185856e-03 9.99998790e-01 -5.84318159e-04 1.44008180e+01] [ 6.83686197e-03 5.74447313e-04 9.99976463e-01 -8.74391564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941400513 meters 0.08324969351967274 Centerline is valid? [True, True] Translation: X:166.39, Y:14.40, Z:-0.87 [[ 9.99980841e-01 -1.68176678e-03 -5.95727765e-03 1.66390601e+02] [ 1.67875739e-03 9.99998461e-01 -5.10126597e-04 1.44029064e+01] [ 5.95812640e-03 5.00116000e-04 9.99982125e-01 -8.72817604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001400513 meters 0.08348505675974252 Centerline is valid? [True, True] Translation: X:166.45, Y:14.41, Z:-0.87 [[ 9.99975928e-01 -4.74932876e-03 -5.05840870e-03 1.66449705e+02] [ 4.74719727e-03 9.99988638e-01 -4.33299428e-04 1.44056439e+01] [ 5.06040911e-03 4.09275734e-04 9.99987112e-01 -8.71612919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061400513 meters 0.07889312701559727 Centerline is valid? [True, True] Translation: X:166.51, Y:14.40, Z:-0.87 [[ 9.99976052e-01 -5.68227365e-03 -3.95065126e-03 1.66509202e+02] [ 5.68098006e-03 9.99983806e-01 -3.38581727e-04 1.44020228e+01] [ 3.95251120e-03 3.16130048e-04 9.99992139e-01 -8.70185749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121400513 meters 0.07967263334119212 Centerline is valid? [True, True] Translation: X:166.57, Y:14.40, Z:-0.87 [[ 9.99974917e-01 -3.13060522e-03 -6.35330023e-03 1.66569361e+02] [ 3.12720791e-03 9.99994962e-01 -5.44594642e-04 1.44032423e+01] [ 6.35497313e-03 5.24712892e-04 9.99979669e-01 -8.74231119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181400513 meters 0.09239538711520762 Centerline is valid? [True, True] Translation: X:166.63, Y:14.42, Z:-0.87 [[ 9.99990924e-01 -5.87124666e-04 -4.21986944e-03 1.66627506e+02] [ 5.85603223e-04 9.99999763e-01 -3.61769306e-04 1.44208905e+01] [ 4.22008084e-03 3.59294853e-04 9.99991031e-01 -8.71671779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24140051299997 meters 0.08466844415034136 Centerline is valid? [True, True] Translation: X:166.69, Y:14.41, Z:-0.87 [[ 9.99991591e-01 2.26556543e-04 -4.09465698e-03 1.66688226e+02] [-2.27996180e-04 9.99999912e-01 -3.51125770e-04 1.44146016e+01] [ 4.09457707e-03 3.52056383e-04 9.99991555e-01 -8.70623133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30140051299998 meters 0.0858425210432769 Centerline is valid? [True, True] Translation: X:166.75, Y:14.42, Z:-0.87 [[ 9.99984965e-01 7.54854659e-05 -5.48310581e-03 1.66746230e+02] [-7.80667310e-05 9.99999886e-01 -4.70554468e-04 1.44198668e+01] [ 5.48306966e-03 4.70975441e-04 9.99984857e-01 -8.72415967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36140051299998 meters 0.08569998293908741 Centerline is valid? [True, True] Translation: X:166.80, Y:14.42, Z:-0.87 [[ 9.99984175e-01 3.43527472e-04 -5.61539088e-03 1.66804649e+02] [-3.46243921e-04 9.99999824e-01 -4.82785560e-04 1.44247063e+01] [ 5.61522404e-03 4.84722215e-04 9.99984117e-01 -8.72607917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42140051299998 meters 0.08655075854219933 Centerline is valid? [True, True] Translation: X:166.86, Y:14.43, Z:-0.87 [[ 9.99975716e-01 1.72863415e-03 -6.75118583e-03 1.66864739e+02] [-1.73259300e-03 9.99998331e-01 -5.80588228e-04 1.44302411e+01] [ 6.75017093e-03 5.92271186e-04 9.99977042e-01 -8.74273568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48140051299998 meters 0.09456413166560702 Centerline is valid? [True, True] Translation: X:166.92, Y:14.45, Z:-0.87 [[ 9.99986700e-01 1.19423765e-03 -5.01735691e-03 1.66921220e+02] [-1.19641885e-03 9.99999191e-01 -4.31752142e-04 1.44454497e+01] [ 5.01683724e-03 4.37749260e-04 9.99987320e-01 -8.72631486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54140051299999 meters 0.08882100833003134 Centerline is valid? [True, True] Translation: X:166.98, Y:14.44, Z:-0.87 [[ 9.99988205e-01 6.00577100e-04 -4.81963169e-03 1.66980879e+02] [-6.02584023e-04 9.99999732e-01 -4.14964579e-04 1.44379910e+01] [ 4.81938118e-03 4.17863918e-04 9.99988299e-01 -8.71707228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601400513 meters 0.09865496905024394 Centerline is valid? [True, True] Translation: X:167.04, Y:14.46, Z:-0.87 [[ 9.99978723e-01 8.43155734e-04 -6.46853741e-03 1.67036985e+02] [-8.46778283e-04 9.99999486e-01 -5.57307706e-04 1.44605647e+01] [ 6.46806419e-03 5.62773265e-04 9.99978923e-01 -8.74306942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661400513 meters 0.08942762708616456 Centerline is valid? [True, True] Translation: X:167.10, Y:14.45, Z:-0.87 [[ 9.99966277e-01 2.91484400e-03 -7.67785386e-03 1.67097689e+02] [-2.92000918e-03 9.99995518e-01 -6.61613789e-04 1.44543731e+01] [ 7.67589094e-03 6.84010881e-04 9.99970306e-01 -8.73598491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721400513 meters 0.09080089270824805 Centerline is valid? [True, True] Translation: X:167.16, Y:14.46, Z:-0.87 [[ 9.99966283e-01 4.41939519e-03 -6.92107306e-03 1.67157423e+02] [-4.42362875e-03 9.99990038e-01 -5.96501961e-04 1.44596031e+01] [ 6.91836793e-03 6.27098107e-04 9.99975871e-01 -8.72574160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781400513 meters 0.09059146009143344 Centerline is valid? [True, True] Translation: X:167.22, Y:14.47, Z:-0.87 [[ 9.99973288e-01 2.15658562e-03 -6.98374301e-03 1.67216191e+02] [-2.16084212e-03 9.99997484e-01 -6.01999276e-04 1.44664957e+01] [ 6.98242718e-03 6.17073961e-04 9.99975432e-01 -8.73475586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841400513 meters 0.08250557334729987 Centerline is valid? [True, True] Translation: X:167.28, Y:14.46, Z:-0.87 [[ 9.99978075e-01 -2.90727705e-03 -5.94950419e-03 1.67278021e+02] [ 2.90427714e-03 9.99995651e-01 -5.12805006e-04 1.44591430e+01] [ 5.95096918e-03 4.95514754e-04 9.99982170e-01 -8.71376507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901400513 meters 0.08503059699493785 Centerline is valid? [True, True] Translation: X:167.34, Y:14.47, Z:-0.87 [[ 9.99974078e-01 -5.26757900e-03 -4.90866596e-03 1.67336927e+02] [ 5.26556488e-03 9.99986047e-01 -4.23151313e-04 1.44698346e+01] [ 4.91082645e-03 3.97293445e-04 9.99987863e-01 -8.69281952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96140051299997 meters 0.07796204022835512 Centerline is valid? [True, True] Translation: X:167.40, Y:14.47, Z:-0.87 [[ 9.99976807e-01 -4.97134094e-03 -4.65531556e-03 1.67396004e+02] [ 4.96952287e-03 9.99987571e-01 -4.02023640e-04 1.44674579e+01] [ 4.65725629e-03 3.78879619e-04 9.99989083e-01 -8.68853666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02140051299997 meters 0.08224079629730675 Centerline is valid? [True, True] Translation: X:167.45, Y:14.48, Z:-0.87 [[ 9.99978767e-01 -4.97323859e-03 -4.21105054e-03 1.67453257e+02] [ 4.97174979e-03 9.99987575e-01 -3.63941489e-04 1.44761135e+01] [ 4.21280818e-03 3.42997472e-04 9.99991067e-01 -8.67903144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08140051299998 meters 0.07956911332611673 Centerline is valid? [True, True] Translation: X:167.51, Y:14.48, Z:-0.87 [[ 9.99971814e-01 -6.46700022e-03 -3.81422625e-03 1.67513176e+02] [ 6.46578920e-03 9.99979042e-01 -3.29746847e-04 1.44756895e+01] [ 3.81627878e-03 3.05075570e-04 9.99992671e-01 -8.67802508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14140051299998 meters 0.07291944034757204 Centerline is valid? [True, True] Translation: X:167.57, Y:14.47, Z:-0.87 [[ 9.99934653e-01 -1.01004791e-02 -5.35447475e-03 1.67574268e+02] [ 1.00981435e-02 9.99948905e-01 -4.63038437e-04 1.44692316e+01] [ 5.35887808e-03 4.08937924e-04 9.99985557e-01 -8.70111831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20140051299998 meters 0.07780270962262888 Centerline is valid? [True, True] Translation: X:167.63, Y:14.48, Z:-0.87 [[ 9.99934820e-01 -1.01496920e-02 -5.22864013e-03 1.67630825e+02] [ 1.01474634e-02 9.99948411e-01 -4.52565980e-04 1.44803574e+01] [ 5.23296379e-03 3.99479047e-04 9.99986228e-01 -8.69853736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26140051299998 meters 0.07745920388700446 Centerline is valid? [True, True] Translation: X:167.69, Y:14.48, Z:-0.87 [[ 9.99914059e-01 -1.20531390e-02 -5.15716904e-03 1.67690812e+02] [ 1.20509957e-02 9.99927284e-01 -4.46466031e-04 1.44795931e+01] [ 5.16217535e-03 3.84278640e-04 9.99986602e-01 -8.69274273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321400513 meters 0.08704342048507889 Centerline is valid? [True, True] Translation: X:167.75, Y:14.49, Z:-0.87 [[ 9.99885279e-01 -1.44199377e-02 -4.63615092e-03 1.67749496e+02] [ 1.44182307e-02 9.99895971e-01 -4.01422229e-04 1.44935568e+01] [ 4.64145711e-03 3.34531084e-04 9.99989172e-01 -8.69720849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381400513 meters 0.07845169460242804 Centerline is valid? [True, True] Translation: X:167.81, Y:14.49, Z:-0.87 [[ 9.99874059e-01 -1.55483153e-02 -3.18049214e-03 1.67809465e+02] [ 1.55475163e-02 9.99879092e-01 -2.75792292e-04 1.44888698e+01] [ 3.18439569e-03 2.26308805e-04 9.99994904e-01 -8.65979039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441400513 meters 0.07034937758590204 Centerline is valid? [True, True] Translation: X:167.87, Y:14.48, Z:-0.86 [[ 9.99878631e-01 -1.53517364e-02 -2.65455850e-03 1.67868499e+02] [ 1.53511785e-02 9.99882137e-01 -2.30436564e-04 1.44829428e+01] [ 2.65778323e-03 1.89657995e-04 9.99996450e-01 -8.63939591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501400513 meters 0.07020607922738385 Centerline is valid? [True, True] Translation: X:167.93, Y:14.49, Z:-0.86 [[ 9.99891704e-01 -1.42826201e-02 -3.54778733e-03 1.67928155e+02] [ 1.42816163e-02 9.99897965e-01 -3.08098256e-04 1.44876874e+01] [ 3.55182579e-03 2.57396753e-04 9.99993659e-01 -8.64427319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561400513 meters 0.08300167731366473 Centerline is valid? [True, True] Translation: X:167.99, Y:14.51, Z:-0.87 [[ 9.99937686e-01 -1.04243365e-02 -3.99478380e-03 1.67985304e+02] [ 1.04230329e-02 9.99945619e-01 -3.47007994e-04 1.45101162e+01] [ 3.99818389e-03 3.05348607e-04 9.99991961e-01 -8.65931304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621400513 meters 0.08552187850620126 Centerline is valid? [True, True] Translation: X:168.04, Y:14.52, Z:-0.87 [[ 9.99976136e-01 -5.34092332e-03 -4.38207940e-03 1.68044701e+02] [ 5.33930595e-03 9.99985673e-01 -3.80702291e-04 1.45221715e+01] [ 4.38404993e-03 3.57295943e-04 9.99990326e-01 -8.67436024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681400513 meters 0.07850831696648439 Centerline is valid? [True, True] Translation: X:168.10, Y:14.52, Z:-0.87 [[ 9.99967640e-01 -4.22489723e-03 -6.84616374e-03 1.68104607e+02] [ 4.22092192e-03 9.99990915e-01 -5.95007614e-04 1.45186704e+01] [ 6.84861538e-03 5.66091237e-04 9.99976388e-01 -8.72086209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74140051299997 meters 0.08459466995423862 Centerline is valid? [True, True] Translation: X:168.16, Y:14.53, Z:-0.87 [[ 9.99970318e-01 -3.26840153e-03 -6.97714273e-03 1.68162816e+02] [ 3.26424780e-03 9.99994488e-01 -6.06637975e-04 1.45275536e+01] [ 6.97908701e-03 5.83844846e-04 9.99975475e-01 -8.72562355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80140051299998 meters 0.09318387007080993 Centerline is valid? [True, True] Translation: X:168.22, Y:14.54, Z:-0.87 [[ 9.99988634e-01 -7.00906143e-04 -4.71601269e-03 1.68221454e+02] [ 6.98979824e-04 9.99999672e-01 -4.10099360e-04 1.45381017e+01] [ 4.71629858e-03 4.06798302e-04 9.99988795e-01 -8.68787987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86140051299998 meters 0.08537611695552091 Centerline is valid? [True, True] Translation: X:168.28, Y:14.53, Z:-0.87 [[ 9.99975190e-01 2.78901434e-03 -6.46844359e-03 1.68282161e+02] [-2.79271119e-03 9.99995942e-01 -5.62558589e-04 1.45335024e+01] [ 6.46684836e-03 5.80609127e-04 9.99978921e-01 -8.71953268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92140051299998 meters 0.09074083524501746 Centerline is valid? [True, True] Translation: X:168.34, Y:14.55, Z:-0.87 [[ 9.99935543e-01 7.61651227e-03 -8.42008118e-03 1.68341250e+02] [-7.62294694e-03 9.99970677e-01 -7.32375581e-04 1.45450424e+01] [ 8.41425613e-03 7.96514206e-04 9.99964282e-01 -8.74813694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98140051299998 meters 0.10465252626717952 Centerline is valid? [True, False] Translation: X:168.36, Y:14.54, Z:-0.87 [[ 9.99943046e-01 7.09675326e-03 -7.97131304e-03 1.68360764e+02] [-7.01830286e-03 9.99927086e-01 9.82682211e-03 1.45387302e+01] [ 8.04047035e-03 -9.77031734e-03 9.99919943e-01 -8.71835158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04140051299999 meters 0.09251792755064134 Centerline is valid? [False, True] Translation: X:168.32, Y:14.54, Z:-0.87 [[ 9.99953404e-01 1.20401682e-03 -9.57809733e-03 1.68319484e+02] [-1.16269346e-03 9.99989998e-01 4.31875873e-03 1.45387721e+01] [ 9.58320139e-03 -4.30742111e-03 9.99944803e-01 -8.72931439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101400513 meters 0.09474277664110502 Centerline is valid? [True, True] Translation: X:168.38, Y:14.55, Z:-0.87 [[ 9.99962759e-01 -1.79537653e-03 -8.44143262e-03 1.68378447e+02] [ 1.78882623e-03 9.99998093e-01 -7.83456811e-04 1.45509943e+01] [ 8.44282313e-03 7.68327378e-04 9.99964064e-01 -8.72441612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161400513 meters 0.09095131593893907 Centerline is valid? [True, True] Translation: X:168.44, Y:14.55, Z:-0.87 [[ 9.99945121e-01 -4.54233519e-03 -9.44047795e-03 1.68439225e+02] [ 4.53426335e-03 9.99989336e-01 -8.76252501e-04 1.45492413e+01] [ 9.44435751e-03 8.33398800e-04 9.99955054e-01 -8.73097735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221400513 meters 0.10033529737982434 Centerline is valid? [True, False] Translation: X:168.44, Y:14.55, Z:-0.87 [[ 9.99945521e-01 -4.55632692e-03 -9.39124261e-03 1.68438899e+02] [ 4.54791958e-03 9.99989238e-01 -9.16393412e-04 1.45494503e+01] [ 9.39531693e-03 8.73632872e-04 9.99955481e-01 -8.72728357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281400513 meters 0.08696815160286978 Centerline is valid? [False, True] Translation: X:168.44, Y:14.55, Z:-0.87 [[ 9.99946506e-01 -4.45602054e-03 -9.33425019e-03 1.68438443e+02] [ 4.45008218e-03 9.99989883e-01 -6.56863393e-04 1.45483296e+01] [ 9.33708275e-03 6.15290075e-04 9.99956219e-01 -8.72053929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341400513 meters 0.08794521944374935 Centerline is valid? [True, True] Translation: X:168.50, Y:14.55, Z:-0.87 [[ 9.99919066e-01 -8.41861474e-03 -9.53873921e-03 1.68498055e+02] [ 8.41071747e-03 9.99964253e-01 -8.67728352e-04 1.45540107e+01] [ 9.54570330e-03 7.87430483e-04 9.99954129e-01 -8.72006605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401400513 meters 0.07868187507529324 Centerline is valid? [True, True] Translation: X:168.56, Y:14.55, Z:-0.87 [[ 9.99891678e-01 -1.17418197e-02 -8.87477693e-03 1.68559338e+02] [ 1.17351128e-02 9.99930815e-01 -8.07425523e-04 1.45458710e+01] [ 8.88364358e-03 7.03191553e-04 9.99960292e-01 -8.70008663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46140051299997 meters 0.07692987900775566 Centerline is valid? [True, True] Translation: X:168.62, Y:14.54, Z:-0.87 [[ 9.99866534e-01 -1.39093584e-02 -8.56992071e-03 1.68620170e+02] [ 1.39031822e-02 9.99903042e-01 -7.79842983e-04 1.45428923e+01] [ 8.57993691e-03 6.60589732e-04 9.99962973e-01 -8.67854623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52140051299997 meters 0.07300489526281222 Centerline is valid? [True, True] Translation: X:168.68, Y:14.54, Z:-0.87 [[ 9.99866111e-01 -1.31001712e-02 -9.80541432e-03 1.68680195e+02] [ 1.30920461e-02 9.99913897e-01 -8.92366332e-04 1.45441139e+01] [ 9.81626020e-03 7.63873917e-04 9.99951528e-01 -8.69901357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58140051299998 meters 0.07995549133483307 Centerline is valid? [True, True] Translation: X:168.74, Y:14.55, Z:-0.87 [[ 9.99873292e-01 -1.19201861e-02 -1.05503161e-02 1.68738177e+02] [ 1.19107109e-02 9.99928604e-01 -9.60467749e-04 1.45545368e+01] [ 1.05610118e-02 8.34684284e-04 9.99943883e-01 -8.71642187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64140051299998 meters 0.08713033910789489 Centerline is valid? [True, True] Translation: X:168.80, Y:14.56, Z:-0.87 [[ 9.99856871e-01 -1.27153515e-02 -1.11604880e-02 1.68795600e+02] [ 1.27047922e-02 9.99918774e-01 -1.01652530e-03 1.45647111e+01] [ 1.11725070e-02 8.74588129e-04 9.99937203e-01 -8.72030223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70140051299998 meters 0.07782199304027089 Centerline is valid? [True, True] Translation: X:168.86, Y:14.56, Z:-0.87 [[ 9.99847703e-01 -1.37655842e-02 -1.07275396e-02 1.68856396e+02] [ 1.37558835e-02 9.99904906e-01 -9.77542755e-04 1.45568239e+01] [ 1.07399759e-02 8.29827093e-04 9.99941980e-01 -8.70391661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76140051299998 meters 0.0746996969633247 Centerline is valid? [True, True] Translation: X:168.92, Y:14.55, Z:-0.87 [[ 9.99830255e-01 -1.53447970e-02 -1.01979280e-02 1.68916336e+02] [ 1.53361098e-02 9.99881963e-01 -9.29511255e-04 1.45549300e+01] [ 1.02109874e-02 7.72956931e-04 9.99947568e-01 -8.69277040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821400513 meters 0.07881848431200654 Centerline is valid? [True, True] Translation: X:168.98, Y:14.56, Z:-0.88 [[ 9.99738426e-01 -1.83211015e-02 -1.36900376e-02 1.68975228e+02] [ 1.83057190e-02 9.99831657e-01 -1.24810846e-03 1.45604626e+01] [ 1.37105998e-02 9.97176002e-04 9.99905508e-01 -8.75818526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881400513 meters 0.07539156297988002 Centerline is valid? [True, True] Translation: X:169.04, Y:14.56, Z:-0.88 [[ 9.99694198e-01 -2.03631824e-02 -1.40303416e-02 1.69035381e+02] [ 2.03472232e-02 9.99792155e-01 -1.27930749e-03 1.45591853e+01] [ 1.40534763e-02 9.93437782e-04 9.99900752e-01 -8.75914008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941400513 meters 0.06486018307700234 Centerline is valid? [True, True] Translation: X:169.10, Y:14.55, Z:-0.87 [[ 9.99637857e-01 -2.49107923e-02 -1.01787725e-02 1.69097021e+02] [ 2.49026268e-02 9.99689451e-01 -9.28186183e-04 1.45462361e+01] [ 1.01987333e-02 6.74371874e-04 9.99947764e-01 -8.69395195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001400513 meters 0.06133829822029183 Centerline is valid? [True, True] Translation: X:169.16, Y:14.54, Z:-0.87 [[ 9.99572724e-01 -2.79442407e-02 -8.57258580e-03 1.69157731e+02] [ 2.79385597e-02 9.99609337e-01 -7.81753146e-04 1.45446121e+01] [ 8.59108230e-03 5.41913422e-04 9.99962949e-01 -8.67803420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061400513 meters 0.05715890752581099 Centerline is valid? [True, True] Translation: X:169.22, Y:14.54, Z:-0.87 [[ 9.99421312e-01 -3.24109352e-02 -1.03233915e-02 1.69218990e+02] [ 3.24029336e-02 9.99474444e-01 -9.41458892e-04 1.45356115e+01] [ 1.03484796e-02 6.06405911e-04 9.99946269e-01 -8.69244736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121400513 meters 0.056926750240195056 Centerline is valid? [True, True] Translation: X:169.28, Y:14.54, Z:-0.87 [[ 9.99379836e-01 -3.36137824e-02 -1.04907706e-02 1.69277465e+02] [ 3.36055826e-02 9.99434715e-01 -9.56968764e-04 1.45380370e+01] [ 1.05170077e-02 6.03826828e-04 9.99944512e-01 -8.69208386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181400513 meters 0.053747522665530255 Centerline is valid? [True, True] Translation: X:169.34, Y:14.53, Z:-0.87 [[ 9.99404897e-01 -3.31729006e-02 -9.45568067e-03 1.69336738e+02] [ 3.31662120e-02 9.99449477e-01 -8.63343027e-04 1.45324962e+01] [ 9.47911469e-03 5.49220140e-04 9.99954921e-01 -8.68241627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24140051299997 meters 0.059958599371987484 Centerline is valid? [True, True] Translation: X:169.40, Y:14.54, Z:-0.87 [[ 9.99521217e-01 -2.95147993e-02 -9.28514826e-03 1.69395529e+02] [ 2.95081821e-02 9.99564178e-01 -8.48884506e-04 1.45411454e+01] [ 9.30615624e-03 5.74490229e-04 9.99956532e-01 -8.67033979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30140051299998 meters 0.06308981818781412 Centerline is valid? [True, True] Translation: X:169.46, Y:14.55, Z:-0.87 [[ 9.99606253e-01 -2.64348065e-02 -9.40954578e-03 1.69455429e+02] [ 2.64278742e-02 9.99650353e-01 -8.60338852e-04 1.45489809e+01] [ 9.42899864e-03 6.11325804e-04 9.99955359e-01 -8.66434523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36140051299998 meters 0.07462699184634713 Centerline is valid? [True, True] Translation: X:169.51, Y:14.57, Z:-0.87 [[ 9.99848937e-01 -1.43346052e-02 -9.82963742e-03 1.69514871e+02] [ 1.43264579e-02 9.99896967e-01 -8.98771590e-04 1.45658507e+01] [ 9.84150818e-03 7.57811933e-04 9.99951284e-01 -8.66259812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42140051299998 meters 0.08509539827081256 Centerline is valid? [True, True] Translation: X:169.57, Y:14.58, Z:-0.86 [[ 9.99935413e-01 -7.86513749e-03 -8.20424690e-03 1.69573032e+02] [ 7.85924532e-03 9.99968834e-01 -7.50178787e-04 1.45829955e+01] [ 8.20989147e-03 6.85651146e-04 9.99966063e-01 -8.64000718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48140051299998 meters 0.0863377559770781 Centerline is valid? [True, True] Translation: X:169.63, Y:14.59, Z:-0.87 [[ 9.99949345e-01 -2.89589217e-03 -9.63959712e-03 1.69632633e+02] [ 2.88752859e-03 9.99995443e-01 -8.81432082e-04 1.45895342e+01] [ 9.64210572e-03 8.53552821e-04 9.99953150e-01 -8.66702529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54140051299999 meters 0.09558297991335175 Centerline is valid? [True, True] Translation: X:169.69, Y:14.61, Z:-0.87 [[ 9.99934933e-01 -1.72362084e-03 -1.12765098e-02 1.69690502e+02] [ 1.71210060e-03 9.99998003e-01 -1.03118759e-03 1.46067831e+01] [ 1.12782647e-02 1.01181397e-03 9.99935886e-01 -8.69930529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601400513 meters 0.08857785669748777 Centerline is valid? [True, True] Translation: X:169.75, Y:14.61, Z:-0.86 [[ 9.99958986e-01 -3.97662626e-03 -8.13715595e-03 1.69751501e+02] [ 3.97070148e-03 9.99991840e-01 -7.44141327e-04 1.46054058e+01] [ 8.14004872e-03 7.11800590e-04 9.99966616e-01 -8.63925206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661400513 meters 0.08235339766980265 Centerline is valid? [True, True] Translation: X:169.81, Y:14.60, Z:-0.87 [[ 9.99933050e-01 -7.80047463e-03 -8.54684820e-03 1.69812507e+02] [ 7.79407664e-03 9.99969320e-01 -7.81632050e-04 1.46030507e+01] [ 8.55268309e-03 7.14964930e-04 9.99963170e-01 -8.65171605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721400513 meters 0.08273296239716617 Centerline is valid? [True, True] Translation: X:169.87, Y:14.61, Z:-0.87 [[ 9.99880618e-01 -1.17127487e-02 -1.00777450e-02 1.69871179e+02] [ 1.17040494e-02 9.99931080e-01 -9.21762333e-04 1.46084332e+01] [ 1.00878468e-02 8.03701866e-04 9.99948793e-01 -8.68456104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781400513 meters 0.08187190916491564 Centerline is valid? [True, True] Translation: X:169.93, Y:14.61, Z:-0.86 [[ 9.99861075e-01 -1.42703679e-02 -8.61318232e-03 1.69931827e+02] [ 1.42641066e-02 9.99897952e-01 -7.87940302e-04 1.46097169e+01] [ 8.62354756e-03 6.64971487e-04 9.99962595e-01 -8.64460198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841400513 meters 0.07617095094378612 Centerline is valid? [True, True] Translation: X:169.99, Y:14.61, Z:-0.86 [[ 9.99861436e-01 -1.44276594e-02 -8.30364508e-03 1.69990761e+02] [ 1.44218425e-02 9.99895711e-01 -7.59982010e-04 1.46068211e+01] [ 8.31374386e-03 6.40122843e-04 9.99965235e-01 -8.64096917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901400513 meters 0.07840504380006848 Centerline is valid? [True, True] Translation: X:170.05, Y:14.61, Z:-0.86 [[ 9.99877020e-01 -1.45548936e-02 -5.83951808e-03 1.70048514e+02] [ 1.45520143e-02 9.99893971e-01 -5.35259682e-04 1.46129484e+01] [ 5.84668956e-03 4.50217105e-04 9.99982807e-01 -8.59971781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96140051299997 meters 0.07900334742515 Centerline is valid? [True, True] Translation: X:170.11, Y:14.62, Z:-0.86 [[ 9.99867284e-01 -1.52786146e-02 -5.65501163e-03 1.70107514e+02] [ 1.52759240e-02 9.99883182e-01 -5.18669046e-04 1.46167734e+01] [ 5.66227557e-03 4.32214681e-04 9.99983876e-01 -8.58652020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02140051299997 meters 0.07587005564233068 Centerline is valid? [True, True] Translation: X:170.17, Y:14.61, Z:-0.87 [[ 9.99774755e-01 -1.87802434e-02 -9.88648937e-03 1.70168151e+02] [ 1.87721842e-02 9.99823375e-01 -9.07346690e-04 1.46111418e+01] [ 9.90178337e-03 7.21551314e-04 9.99950716e-01 -8.66082780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08140051299998 meters 0.06737264348170738 Centerline is valid? [True, True] Translation: X:170.23, Y:14.60, Z:-0.87 [[ 9.99720667e-01 -2.09223443e-02 -1.09929280e-02 1.70229718e+02] [ 2.09125064e-02 9.99780800e-01 -1.00912792e-03 1.46020584e+01] [ 1.10116317e-02 7.78956362e-04 9.99939067e-01 -8.67289330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14140051299998 meters 0.07192599678471627 Centerline is valid? [True, True] Translation: X:170.29, Y:14.61, Z:-0.87 [[ 9.99698748e-01 -2.17617006e-02 -1.13508534e-02 1.70287412e+02] [ 2.17512605e-02 9.99762870e-01 -1.04241969e-03 1.46071371e+01] [ 1.13708466e-02 7.95210294e-04 9.99935034e-01 -8.67305218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20140051299998 meters 0.06840918406050615 Centerline is valid? [True, True] Translation: X:170.35, Y:14.60, Z:-0.87 [[ 9.99687990e-01 -2.17117116e-02 -1.23500399e-02 1.70346442e+02] [ 2.16993316e-02 9.99763897e-01 -1.13555964e-03 1.46048304e+01] [ 1.23717790e-02 8.67217723e-04 9.99923091e-01 -8.68632244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26140051299998 meters 0.06761983600788338 Centerline is valid? [True, True] Translation: X:170.41, Y:14.61, Z:-0.86 [[ 9.99711937e-01 -2.20135597e-02 -9.56277712e-03 1.70405663e+02] [ 2.20061383e-02 9.99757448e-01 -8.80610807e-04 1.46051984e+01] [ 9.57984303e-03 6.69917339e-04 9.99953888e-01 -8.63051738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321400513 meters 0.07179364174588466 Centerline is valid? [True, True] Translation: X:170.46, Y:14.61, Z:-0.86 [[ 9.99685026e-01 -2.39653686e-02 -7.45043343e-03 1.70464689e+02] [ 2.39609115e-02 9.99712660e-01 -6.86940368e-04 1.46072636e+01] [ 7.46475540e-03 5.08204824e-04 9.99972009e-01 -8.59078060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381400513 meters 0.07143721483190278 Centerline is valid? [True, True] Translation: X:170.52, Y:14.61, Z:-0.86 [[ 9.99652685e-01 -2.52565935e-02 -7.52424495e-03 1.70523810e+02] [ 2.52520816e-02 9.99680874e-01 -6.94055474e-04 1.46101224e+01] [ 7.53937324e-03 5.03811570e-04 9.99971452e-01 -8.59435336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441400513 meters 0.06560195209507019 Centerline is valid? [True, True] Translation: X:170.58, Y:14.60, Z:-0.86 [[ 9.99680210e-01 -2.42282922e-02 -7.24341962e-03 1.70583745e+02] [ 2.42240773e-02 9.99706330e-01 -6.69079636e-04 1.46044869e+01] [ 7.25750311e-03 4.93400514e-04 9.99973542e-01 -8.58291195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501400513 meters 0.06418125812179559 Centerline is valid? [True, True] Translation: X:170.64, Y:14.61, Z:-0.85 [[ 9.99684123e-01 -2.46975534e-02 -4.65681449e-03 1.70643077e+02] [ 2.46958165e-02 9.99694919e-01 -4.30141797e-04 1.46062049e+01] [ 4.66601724e-03 3.15002089e-04 9.99989064e-01 -8.53833641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561400513 meters 0.06444343791820514 Centerline is valid? [True, True] Translation: X:170.70, Y:14.61, Z:-0.86 [[ 9.99654439e-01 -2.55992633e-02 -5.97329548e-03 1.70701882e+02] [ 2.55964171e-02 9.99672205e-01 -5.52451545e-04 1.46094561e+01] [ 5.98547982e-03 3.99365676e-04 9.99982007e-01 -8.55797832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621400513 meters 0.06214847209820426 Centerline is valid? [True, True] Translation: X:170.76, Y:14.61, Z:-0.86 [[ 9.99601806e-01 -2.74688419e-02 -6.45689409e-03 1.70761879e+02] [ 2.74655530e-02 9.99622572e-01 -5.97503957e-04 1.46069088e+01] [ 6.47086981e-03 4.19923868e-04 9.99978976e-01 -8.57616913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681400513 meters 0.06407974499330522 Centerline is valid? [True, True] Translation: X:170.82, Y:14.61, Z:-0.86 [[ 9.99555666e-01 -2.89194544e-02 -7.22048306e-03 1.70822153e+02] [ 2.89153780e-02 9.99581640e-01 -6.68342401e-04 1.46060892e+01] [ 7.23679039e-03 4.59262437e-04 9.99973709e-01 -8.58893100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74140051299997 meters 0.06418520906947836 Centerline is valid? [True, True] Translation: X:170.88, Y:14.61, Z:-0.86 [[ 9.99513538e-01 -2.96538719e-02 -9.66100383e-03 1.70880823e+02] [ 2.96466021e-02 9.99560042e-01 -8.94870519e-04 1.46056134e+01] [ 9.68328978e-03 6.08019262e-04 9.99952931e-01 -8.62687047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80140051299998 meters 0.057604566150474275 Centerline is valid? [True, True] Translation: X:170.94, Y:14.60, Z:-0.86 [[ 9.99545484e-01 -2.90039880e-02 -8.22156245e-03 1.70940981e+02] [ 2.89986915e-02 9.99579159e-01 -7.62735143e-04 1.45964939e+01] [ 8.24022484e-03 5.23973915e-04 9.99965911e-01 -8.59392369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86140051299998 meters 0.07089384382596947 Centerline is valid? [True, True] Translation: X:171.00, Y:14.61, Z:-0.86 [[ 9.99711277e-01 -2.23430989e-02 -8.84019034e-03 1.71000066e+02] [ 2.23367054e-02 9.99750167e-01 -8.21318642e-04 1.46059778e+01] [ 8.85633257e-03 6.23620781e-04 9.99960587e-01 -8.60749208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92140051299998 meters 0.0766577950216909 Centerline is valid? [True, True] Translation: X:171.06, Y:14.62, Z:-0.86 [[ 9.99816750e-01 -1.66297531e-02 -9.48245157e-03 1.71059661e+02] [ 1.66221404e-02 9.99861454e-01 -8.81078062e-04 1.46153906e+01] [ 9.49578993e-03 7.23297963e-04 9.99954652e-01 -8.62164825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98140051299998 meters 0.08422856537065684 Centerline is valid? [True, True] Translation: X:171.12, Y:14.63, Z:-0.86 [[ 9.99942908e-01 -7.35656118e-03 -7.75000298e-03 1.71118745e+02] [ 7.35119913e-03 9.99972720e-01 -7.20137432e-04 1.46286781e+01] [ 7.75508930e-03 6.63124502e-04 9.99969709e-01 -8.58704792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04140051299999 meters 0.10200409941948192 Centerline is valid? [True, False] Translation: X:171.14, Y:14.63, Z:-0.86 [[ 9.99993942e-01 -1.41365295e-03 -3.18091399e-03 1.71138731e+02] [ 1.39420846e-03 9.99980381e-01 -6.10680077e-03 1.46311809e+01] [ 3.18948448e-03 6.10232892e-03 9.99976294e-01 -8.62561271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101400513 meters 0.09087040161493193 Centerline is valid? [False, True] Translation: X:171.10, Y:14.62, Z:-0.86 [[ 9.99985977e-01 1.36561545e-04 -5.29400599e-03 1.71099310e+02] [-1.44944358e-04 9.99998736e-01 -1.58310222e-03 1.46235866e+01] [ 5.29378311e-03 1.58384736e-03 9.99984734e-01 -8.63396892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161400513 meters 0.0806308905786987 Centerline is valid? [True, True] Translation: X:171.16, Y:14.62, Z:-0.86 [[ 9.99969047e-01 -6.68571722e-03 -4.14795882e-03 1.71160513e+02] [ 6.68421964e-03 9.99977590e-01 -3.74799308e-04 1.46161987e+01] [ 4.15037167e-03 3.47061839e-04 9.99991327e-01 -8.60978677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221400513 meters 0.0822740219894423 Centerline is valid? [True, True] Translation: X:171.22, Y:14.62, Z:-0.86 [[ 9.99944058e-01 -9.97585299e-03 -3.51600959e-03 1.71219305e+02] [ 9.97479715e-03 9.99950200e-01 -3.17704015e-04 1.46214921e+01] [ 3.51900386e-03 2.82614760e-04 9.99993768e-01 -8.59367714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281400513 meters 0.07250620387588332 Centerline is valid? [True, True] Translation: X:171.28, Y:14.61, Z:-0.86 [[ 9.99869144e-01 -1.58645908e-02 -3.16376259e-03 1.71281293e+02] [ 1.58637651e-02 9.99874122e-01 -2.85930192e-04 1.46120811e+01] [ 3.16790051e-03 2.35703590e-04 9.99994954e-01 -8.57329802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341400513 meters 0.07760667471646492 Centerline is valid? [True, True] Translation: X:171.34, Y:14.62, Z:-0.86 [[ 9.99773105e-01 -2.11256884e-02 -2.72828000e-03 1.71340199e+02] [ 2.11250938e-02 9.99776810e-01 -2.46554246e-04 1.46221186e+01] [ 2.73287970e-03 1.88863133e-04 9.99996248e-01 -8.57841303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401400513 meters 0.06386044873201102 Centerline is valid? [True, True] Translation: X:171.40, Y:14.61, Z:-0.86 [[ 9.99746081e-01 -2.23759031e-02 -2.66331911e-03 1.71401473e+02] [ 2.23753409e-02 9.99749612e-01 -2.40716289e-04 1.46075841e+01] [ 2.66803849e-03 1.81062494e-04 9.99996424e-01 -8.58332949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46140051299997 meters 0.07138135682464238 Centerline is valid? [True, True] Translation: X:171.46, Y:14.62, Z:-0.86 [[ 9.99773704e-01 -2.06772110e-02 -4.99936028e-03 1.71459884e+02] [ 2.06752079e-02 9.99786143e-01 -4.52031660e-04 1.46183952e+01] [ 5.00763788e-03 3.48566554e-04 9.99987401e-01 -8.60971289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52140051299997 meters 0.0688613384049443 Centerline is valid? [True, True] Translation: X:171.52, Y:14.62, Z:-0.86 [[ 9.99839712e-01 -1.68126684e-02 -6.15501757e-03 1.71519920e+02] [ 1.68095586e-02 9.99858554e-01 -5.56644442e-04 1.46226241e+01] [ 6.16350565e-03 4.53092090e-04 9.99980903e-01 -8.62088499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58140051299998 meters 0.07918516188639951 Centerline is valid? [True, True] Translation: X:171.58, Y:14.65, Z:-0.86 [[ 9.99908891e-01 -1.30154819e-02 -3.57855153e-03 1.71577147e+02] [ 1.30144065e-02 9.99915257e-01 -3.23653897e-04 1.46455819e+01] [ 3.58246078e-03 2.77051686e-04 9.99993545e-01 -8.58930313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64140051299998 meters 0.06940853220555539 Centerline is valid? [True, True] Translation: X:171.64, Y:14.64, Z:-0.86 [[ 9.99885486e-01 -1.45274718e-02 -4.23875497e-03 1.71637697e+02] [ 1.45259764e-02 9.99894419e-01 -3.83373018e-04 1.46409264e+01] [ 4.24387688e-03 3.21757062e-04 9.99990943e-01 -8.59744785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70140051299998 meters 0.07699612024181683 Centerline is valid? [True, True] Translation: X:171.70, Y:14.66, Z:-0.86 [[ 9.99802324e-01 -1.87075739e-02 -6.73343372e-03 1.71696046e+02] [ 1.87038940e-02 9.99824881e-01 -6.09078742e-04 1.46568728e+01] [ 6.74364895e-03 4.83016911e-04 9.99977145e-01 -8.63878333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76140051299998 meters 0.07495402119374052 Centerline is valid? [True, True] Translation: X:171.76, Y:14.66, Z:-0.86 [[ 9.99607452e-01 -2.72894231e-02 -6.34258599e-03 1.71755432e+02] [ 2.72863295e-02 9.99627494e-01 -5.73790229e-04 1.46566722e+01] [ 6.35588174e-03 4.00499098e-04 9.99979721e-01 -8.63845601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821400513 meters 0.05450514429709386 Centerline is valid? [True, True] Translation: X:171.82, Y:14.64, Z:-0.86 [[ 9.99471036e-01 -3.19121983e-02 -6.26583563e-03 1.71817669e+02] [ 3.19092688e-02 9.99490609e-01 -5.66970637e-04 1.46359255e+01] [ 6.28073714e-03 3.66732496e-04 9.99980209e-01 -8.60522679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881400513 meters 0.053522380166595704 Centerline is valid? [True, True] Translation: X:171.88, Y:14.64, Z:-0.86 [[ 9.99406421e-01 -3.37946390e-02 -6.68783468e-03 1.71877710e+02] [ 3.37913428e-02 9.99428726e-01 -6.05276291e-04 1.46364336e+01] [ 6.70446919e-03 3.78926097e-04 9.99977453e-01 -8.61582609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941400513 meters 0.0610788701833645 Centerline is valid? [True, True] Translation: X:171.94, Y:14.65, Z:-0.86 [[ 9.99493190e-01 -3.11050414e-02 -6.77045816e-03 1.71936376e+02] [ 3.11016011e-02 9.99516040e-01 -6.12851468e-04 1.46491785e+01] [ 6.78624430e-03 4.01968779e-04 9.99976892e-01 -8.61692813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001400513 meters 0.058026353420213464 Centerline is valid? [True, True] Translation: X:172.00, Y:14.65, Z:-0.86 [[ 9.99591030e-01 -2.74271711e-02 -8.09457795e-03 1.71997331e+02] [ 2.74221327e-02 9.99623674e-01 -7.32792613e-04 1.46481263e+01] [ 8.11163018e-03 5.10522332e-04 9.99966970e-01 -8.61647114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061400513 meters 0.06899538522438786 Centerline is valid? [True, True] Translation: X:172.06, Y:14.66, Z:-0.86 [[ 9.99741048e-01 -2.21262062e-02 -5.31672662e-03 1.72055665e+02] [ 2.21239579e-02 9.99755119e-01 -4.81326778e-04 1.46645426e+01] [ 5.32607459e-03 3.63575102e-04 9.99985750e-01 -8.56813423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121400513 meters 0.06926684654121834 Centerline is valid? [True, True] Translation: X:172.12, Y:14.67, Z:-0.85 [[ 9.99788182e-01 -2.02909993e-02 -3.44489614e-03 1.72115664e+02] [ 2.02900445e-02 9.99794087e-01 -3.11873098e-04 1.46684984e+01] [ 3.45051501e-03 2.41909942e-04 9.99994018e-01 -8.54745470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181400513 meters 0.0709979030225336 Centerline is valid? [True, True] Translation: X:172.18, Y:14.67, Z:-0.85 [[ 9.99736359e-01 -2.27267529e-02 -3.27224633e-03 1.72175153e+02] [ 2.27259043e-02 9.99741689e-01 -2.96278862e-04 1.46717014e+01] [ 3.27813453e-03 2.21835993e-04 9.99994602e-01 -8.54894406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24140051299997 meters 0.06738204665709774 Centerline is valid? [True, True] Translation: X:172.24, Y:14.67, Z:-0.86 [[ 9.99653695e-01 -2.60343311e-02 -3.83459760e-03 1.72236159e+02] [ 2.60331898e-02 9.99661019e-01 -3.47248918e-04 1.46688983e+01] [ 3.84233813e-03 2.47301857e-04 9.99992588e-01 -8.56330005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30140051299998 meters 0.06314586797046189 Centerline is valid? [True, True] Translation: X:172.30, Y:14.67, Z:-0.86 [[ 9.99608940e-01 -2.72010758e-02 -6.48609263e-03 1.72295278e+02] [ 2.71978338e-02 9.99629898e-01 -5.87540730e-04 1.46658047e+01] [ 6.49967385e-03 4.10903297e-04 9.99978792e-01 -8.59539914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36140051299998 meters 0.06623241154207272 Centerline is valid? [True, True] Translation: X:172.35, Y:14.67, Z:-0.86 [[ 9.99647501e-01 -2.57947756e-02 -6.28509005e-03 1.72353652e+02] [ 2.57917022e-02 9.99667176e-01 -5.69578141e-04 1.46731279e+01] [ 6.29769036e-03 4.07274195e-04 9.99980086e-01 -8.59944676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42140051299998 meters 0.06835843821569428 Centerline is valid? [True, True] Translation: X:172.41, Y:14.68, Z:-0.86 [[ 9.99661506e-01 -2.54923869e-02 -5.19736008e-03 1.72411655e+02] [ 2.54902801e-02 9.99674959e-01 -4.71208153e-04 1.46766560e+01] [ 5.20768294e-03 3.38566488e-04 9.99986383e-01 -8.58477819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48140051299998 meters 0.06863126173362702 Centerline is valid? [True, True] Translation: X:172.47, Y:14.68, Z:-0.86 [[ 9.99641720e-01 -2.63363634e-02 -4.77779903e-03 1.72471109e+02] [ 2.63345907e-02 9.99653091e-01 -4.33570056e-04 1.46770889e+01] [ 4.78756022e-03 3.07593335e-04 9.99988492e-01 -8.57560031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54140051299999 meters 0.05927198427760225 Centerline is valid? [True, True] Translation: X:172.53, Y:14.66, Z:-0.86 [[ 9.99589640e-01 -2.79727887e-02 -6.17053394e-03 1.72533390e+02] [ 2.79698591e-02 9.99608610e-01 -5.60567248e-04 1.46589017e+01] [ 6.18379948e-03 3.87748248e-04 9.99980805e-01 -8.59598493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601400513 meters 0.0573902176234061 Centerline is valid? [True, True] Translation: X:172.59, Y:14.65, Z:-0.86 [[ 9.99582132e-01 -2.84063596e-02 -5.35163612e-03 1.72592491e+02] [ 2.84041601e-02 9.99596402e-01 -4.86576815e-04 1.46549799e+01] [ 5.36329808e-03 3.34364761e-04 9.99985562e-01 -8.58724424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661400513 meters 0.06657660701517802 Centerline is valid? [True, True] Translation: X:172.65, Y:14.66, Z:-0.86 [[ 9.99668123e-01 -2.53903150e-02 -4.35614726e-03 1.72651708e+02] [ 2.53888272e-02 9.99677573e-01 -3.96496803e-04 1.46630210e+01] [ 4.36480990e-03 2.85767745e-04 9.99990433e-01 -8.56259698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721400513 meters 0.07745433401931616 Centerline is valid? [True, True] Translation: X:172.71, Y:14.67, Z:-0.86 [[ 9.99852873e-01 -1.61116854e-02 -5.88610415e-03 1.72711102e+02] [ 1.61088087e-02 9.99870101e-01 -5.35819202e-04 1.46708924e+01] [ 5.89397250e-03 4.40922243e-04 9.99982533e-01 -8.59419704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781400513 meters 0.0769783586684698 Centerline is valid? [True, True] Translation: X:172.77, Y:14.67, Z:-0.86 [[ 9.99929068e-01 -1.04221069e-02 -5.76522166e-03 1.72771643e+02] [ 1.04192529e-02 9.99945580e-01 -5.24846920e-04 1.46730557e+01] [ 5.77037793e-03 4.64740389e-04 9.99983243e-01 -8.59113730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841400513 meters 0.085279195382415 Centerline is valid? [True, True] Translation: X:172.83, Y:14.69, Z:-0.86 [[ 9.99970673e-01 -4.82029752e-03 -5.95124173e-03 1.72830308e+02] [ 4.81715759e-03 9.99988251e-01 -5.41830584e-04 1.46857965e+01] [ 5.95378360e-03 5.13146625e-04 9.99982144e-01 -8.58401646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901400513 meters 0.0931955979200033 Centerline is valid? [True, True] Translation: X:172.89, Y:14.70, Z:-0.86 [[ 9.99980672e-01 -4.00994775e-03 -4.75144833e-03 1.72887522e+02] [ 4.00793671e-03 9.99991875e-01 -4.32693587e-04 1.47014141e+01] [ 4.75314480e-03 4.13641720e-04 9.99988618e-01 -8.55862765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96140051299997 meters 0.0968492178793597 Centerline is valid? [True, True] Translation: X:172.95, Y:14.72, Z:-0.86 [[ 9.99971718e-01 -5.25849390e-03 -5.37685478e-03 1.72945232e+02] [ 5.25593530e-03 9.99986067e-01 -4.89873365e-04 1.47156177e+01] [ 5.37935587e-03 4.61599110e-04 9.99985425e-01 -8.57637225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02140051299997 meters 0.08670938710032802 Centerline is valid? [True, True] Translation: X:173.01, Y:14.72, Z:-0.86 [[ 9.99950381e-01 -8.38086987e-03 -5.38478909e-03 1.73005978e+02] [ 8.37834807e-03 9.99964781e-01 -4.90707945e-04 1.47154886e+01] [ 5.38871200e-03 4.45567959e-04 9.99985382e-01 -8.58137499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08140051299998 meters 0.08856105520635739 Centerline is valid? [True, True] Translation: X:173.06, Y:14.73, Z:-0.86 [[ 9.99927422e-01 -1.02662720e-02 -6.30517272e-03 1.73064469e+02] [ 1.02628513e-02 9.99947170e-01 -5.74644870e-04 1.47254587e+01] [ 6.31073908e-03 5.09894114e-04 9.99979957e-01 -8.59495760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14140051299998 meters 0.07208918574365125 Centerline is valid? [True, True] Translation: X:173.13, Y:14.72, Z:-0.86 [[ 9.99795818e-01 -1.86367341e-02 -7.80988267e-03 1.73125748e+02] [ 1.86317391e-02 9.99826161e-01 -7.11850533e-04 1.47180210e+01] [ 7.82179157e-03 5.66193489e-04 9.99969249e-01 -8.60917319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20140051299998 meters 0.06660470269103598 Centerline is valid? [True, True] Translation: X:173.19, Y:14.72, Z:-0.86 [[ 9.99647423e-01 -2.58702868e-02 -5.97985754e-03 1.73185563e+02] [ 2.58674872e-02 9.99665232e-01 -5.45067897e-04 1.47246727e+01] [ 5.99195674e-03 3.90191831e-04 9.99981972e-01 -8.59564479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26140051299998 meters 0.05843667470950244 Centerline is valid? [True, True] Translation: X:173.25, Y:14.72, Z:-0.86 [[ 9.99602555e-01 -2.75013691e-02 -6.19737208e-03 1.73246084e+02] [ 2.74983929e-02 9.99621688e-01 -5.64943138e-04 1.47232876e+01] [ 6.21056425e-03 3.94300831e-04 9.99980637e-01 -8.59606307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321400513 meters 0.05720239360033364 Centerline is valid? [True, True] Translation: X:173.30, Y:14.74, Z:-0.86 [[ 9.99559616e-01 -2.92080610e-02 -5.24050872e-03 1.73304996e+02] [ 2.92059560e-02 9.99573301e-01 -4.77772863e-04 1.47360770e+01] [ 5.25222742e-03 3.24508392e-04 9.99986154e-01 -8.57674375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381400513 meters 0.06248344392582991 Centerline is valid? [True, True] Translation: X:173.36, Y:14.75, Z:-0.86 [[ 9.99538314e-01 -2.97176130e-02 -6.32637116e-03 1.73361869e+02] [ 2.97145540e-02 9.99558259e-01 -5.77002216e-04 1.47487016e+01] [ 6.34072367e-03 3.88750524e-04 9.99979822e-01 -8.58721237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441400513 meters 0.05613969546472346 Centerline is valid? [True, True] Translation: X:173.42, Y:14.75, Z:-0.86 [[ 9.99545090e-01 -2.94654306e-02 -6.43439569e-03 1.73421263e+02] [ 2.94622562e-02 9.99565721e-01 -5.87592382e-04 1.47496930e+01] [ 6.44891503e-03 3.97753266e-04 9.99979126e-01 -8.59049084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501400513 meters 0.06383106981148101 Centerline is valid? [True, True] Translation: X:173.48, Y:14.76, Z:-0.86 [[ 9.99557250e-01 -2.91642847e-02 -5.89476541e-03 1.73478039e+02] [ 2.91616115e-02 9.99574564e-01 -5.38948062e-04 1.47634616e+01] [ 5.90797560e-03 3.66808584e-04 9.99982480e-01 -8.57198852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561400513 meters 0.05709385573903304 Centerline is valid? [True, True] Translation: X:173.54, Y:14.76, Z:-0.86 [[ 9.99533363e-01 -3.00198496e-02 -5.64488277e-03 1.73537723e+02] [ 3.00174097e-02 9.99549243e-01 -5.16486382e-04 1.47622457e+01] [ 5.65784314e-03 3.46800612e-04 9.99983934e-01 -8.55643536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621400513 meters 0.06559892584901314 Centerline is valid? [True, True] Translation: X:173.60, Y:14.78, Z:-0.86 [[ 9.99615364e-01 -2.67793810e-02 -7.21031849e-03 1.73595048e+02] [ 2.67753131e-02 9.99641259e-01 -6.60141375e-04 1.47841254e+01] [ 7.22541003e-03 4.66828926e-04 9.99973787e-01 -8.58115154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681400513 meters 0.062237858350047984 Centerline is valid? [True, True] Translation: X:173.65, Y:14.79, Z:-0.85 [[ 9.99745903e-01 -2.22517314e-02 -3.60404357e-03 1.73654702e+02] [ 2.22506856e-02 9.99752368e-01 -3.30010060e-04 1.47897318e+01] [ 3.61049439e-03 2.49733765e-04 9.99993451e-01 -8.51076339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74140051299997 meters 0.0739098504111104 Centerline is valid? [True, True] Translation: X:173.71, Y:14.82, Z:-0.85 [[ 9.99800594e-01 -1.98252521e-02 -2.39417487e-03 1.73712305e+02] [ 1.98247836e-02 9.99803446e-01 -2.19248465e-04 1.48163659e+01] [ 2.39805094e-03 1.71740747e-04 9.99997110e-01 -8.50592544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80140051299998 meters 0.06983903525602538 Centerline is valid? [True, True] Translation: X:173.77, Y:14.82, Z:-0.86 [[ 9.99836527e-01 -1.73481699e-02 -5.09511489e-03 1.73773047e+02] [ 1.73460162e-02 9.99849438e-01 -4.66588034e-04 1.48205407e+01] [ 5.10244221e-03 3.78131814e-04 9.99986911e-01 -8.55080579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86140051299998 meters 0.075594326512215 Centerline is valid? [True, True] Translation: X:173.83, Y:14.84, Z:-0.86 [[ 9.99801703e-01 -1.85969134e-02 -7.12110828e-03 1.73830767e+02] [ 1.85927371e-02 9.99826927e-01 -6.52217552e-04 1.48397846e+01] [ 7.13200505e-03 5.19687325e-04 9.99974432e-01 -8.57126416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92140051299998 meters 0.06749102017844093 Centerline is valid? [True, True] Translation: X:173.89, Y:14.84, Z:-0.85 [[ 9.99719697e-01 -2.30529603e-02 -5.39329759e-03 1.73891596e+02] [ 2.30506290e-02 9.99734177e-01 -4.94024195e-04 1.48372249e+01] [ 5.40325265e-03 3.69566816e-04 9.99985334e-01 -8.54169730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98140051299998 meters 0.06526151038864676 Centerline is valid? [True, True] Translation: X:173.95, Y:14.84, Z:-0.85 [[ 9.99550143e-01 -2.97505243e-02 -3.79706682e-03 1.73951698e+02] [ 2.97494169e-02 9.99557328e-01 -3.47816127e-04 1.48381170e+01] [ 3.80573367e-03 2.34699136e-04 9.99992731e-01 -8.52483556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04140051299999 meters 0.054196940810820736 Centerline is valid? [True, True] Translation: X:174.01, Y:14.83, Z:-0.86 [[ 9.99215563e-01 -3.91419915e-02 -6.01353150e-03 1.74013099e+02] [ 3.91393830e-02 9.99233609e-01 -5.50885914e-04 1.48290257e+01] [ 6.03048555e-03 3.15087866e-04 9.99981767e-01 -8.56264308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101400513 meters 0.05780411530206479 Centerline is valid? [True, True] Translation: X:174.07, Y:14.83, Z:-0.85 [[ 9.99288651e-01 -3.73322906e-02 -5.33787489e-03 1.74071022e+02] [ 3.73302091e-02 9.99302865e-01 -4.89099811e-04 1.48346798e+01] [ 5.35241288e-03 2.89487905e-04 9.99985634e-01 -8.54560520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161400513 meters 0.058800893517546596 Centerline is valid? [True, True] Translation: X:174.13, Y:14.84, Z:-0.85 [[ 9.99452233e-01 -3.26888361e-02 -5.16474473e-03 1.74130869e+02] [ 3.26868247e-02 9.99465531e-01 -4.73385793e-04 1.48404690e+01] [ 5.17745876e-03 3.04307382e-04 9.99986551e-01 -8.54149316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221400513 meters 0.06543314214298594 Centerline is valid? [True, True] Translation: X:174.19, Y:14.85, Z:-0.85 [[ 9.99593633e-01 -2.80501127e-02 -5.07553254e-03 1.74189149e+02] [ 2.80481103e-02 9.99606466e-01 -4.65273434e-04 1.48514249e+01] [ 5.08658612e-03 3.22725266e-04 9.99987011e-01 -8.54469217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281400513 meters 0.059667730914586825 Centerline is valid? [True, True] Translation: X:174.25, Y:14.85, Z:-0.85 [[ 9.99624952e-01 -2.71076222e-02 -3.88993408e-03 1.74248900e+02] [ 2.71064386e-02 9.99632489e-01 -3.56668998e-04 1.48472805e+01] [ 3.89817294e-03 2.51092970e-04 9.99992371e-01 -8.52428986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341400513 meters 0.06558973137462241 Centerline is valid? [True, True] Translation: X:174.31, Y:14.86, Z:-0.85 [[ 9.99660717e-01 -2.57943031e-02 -3.62009083e-03 1.74306643e+02] [ 2.57932691e-02 9.99667243e-01 -3.32053836e-04 1.48557733e+01] [ 3.62745132e-03 2.38567199e-04 9.99993392e-01 -8.51742263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401400513 meters 0.06433671288498162 Centerline is valid? [True, True] Translation: X:174.37, Y:14.86, Z:-0.85 [[ 9.99752288e-01 -2.20856659e-02 -2.75424144e-03 1.74367022e+02] [ 2.20850530e-02 9.99756064e-01 -2.52744459e-04 1.48586564e+01] [ 2.75915161e-03 1.91854283e-04 9.99996175e-01 -8.49968388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46140051299997 meters 0.07161810921863605 Centerline is valid? [True, True] Translation: X:174.43, Y:14.87, Z:-0.85 [[ 9.99790752e-01 -1.98701710e-02 -4.86084091e-03 1.74425180e+02] [ 1.98682358e-02 9.99802508e-01 -4.46086259e-04 1.48727792e+01] [ 4.86874474e-03 3.49416583e-04 9.99988087e-01 -8.54369738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52140051299997 meters 0.07452558722085029 Centerline is valid? [True, True] Translation: X:174.48, Y:14.88, Z:-0.86 [[ 9.99816647e-01 -1.78543571e-02 -6.92052823e-03 1.74484702e+02] [ 1.78503855e-02 9.99840467e-01 -6.35226344e-04 1.48821994e+01] [ 6.93076574e-03 5.11575776e-04 9.99975851e-01 -8.57469350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58140051299998 meters 0.07701717895702227 Centerline is valid? [True, True] Translation: X:174.54, Y:14.88, Z:-0.85 [[ 9.99827132e-01 -1.75407616e-02 -6.16672185e-03 1.74543496e+02] [ 1.75375990e-02 9.99846044e-01 -5.66546647e-04 1.48840172e+01] [ 6.17571011e-03 4.58299213e-04 9.99980825e-01 -8.54327602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64140051299998 meters 0.07235861149458488 Centerline is valid? [True, True] Translation: X:174.60, Y:14.88, Z:-0.85 [[ 9.99836291e-01 -1.72347579e-02 -5.50945872e-03 1.74602661e+02] [ 1.72322244e-02 9.99851386e-01 -5.06987624e-04 1.48849983e+01] [ 5.51737775e-03 4.11964396e-04 9.99984694e-01 -8.53765213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70140051299998 meters 0.07222254046954613 Centerline is valid? [True, True] Translation: X:174.66, Y:14.89, Z:-0.85 [[ 9.99847606e-01 -1.69115910e-02 -4.33171437e-03 1.74661471e+02] [ 1.69100193e-02 9.99856936e-01 -3.99199779e-04 1.48883732e+01] [ 4.33784576e-03 3.25889569e-04 9.99990538e-01 -8.53083250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76140051299998 meters 0.07860584762078784 Centerline is valid? [True, True] Translation: X:174.72, Y:14.90, Z:-0.85 [[ 9.99879124e-01 -1.47355506e-02 -4.95984816e-03 1.74720460e+02] [ 1.47334605e-02 9.99891352e-01 -4.57684315e-04 1.48983816e+01] [ 4.96605351e-03 3.84553265e-04 9.99987595e-01 -8.52449987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821400513 meters 0.08006013652291251 Centerline is valid? [True, True] Translation: X:174.78, Y:14.90, Z:-0.85 [[ 9.99935894e-01 -1.00023036e-02 -5.30683601e-03 1.74781231e+02] [ 9.99984430e-03 9.99949880e-01 -4.89749853e-04 1.49018621e+01] [ 5.31146866e-03 4.36650924e-04 9.99985799e-01 -8.50580998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881400513 meters 0.08348575457867623 Centerline is valid? [True, True] Translation: X:174.84, Y:14.91, Z:-0.85 [[ 9.99974614e-01 -7.02503492e-03 -1.19144069e-03 1.74840846e+02] [ 7.02490889e-03 9.99975319e-01 -1.09934196e-04 1.49117552e+01] [ 1.19218357e-03 1.01561643e-04 9.99999284e-01 -8.46109561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941400513 meters 0.0920068791042624 Centerline is valid? [True, True] Translation: X:174.90, Y:14.93, Z:-0.85 [[ 9.99971062e-01 -7.48097484e-03 -1.38205198e-03 1.74897506e+02] [ 7.48080577e-03 9.99972010e-01 -1.27463947e-04 1.49293683e+01] [ 1.38296685e-03 1.17121396e-04 9.99999037e-01 -8.46410366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001400513 meters 0.0832484263098299 Centerline is valid? [True, True] Translation: X:174.96, Y:14.93, Z:-0.85 [[ 9.99947763e-01 -9.40355947e-03 -4.00559431e-03 1.74958960e+02] [ 9.40215255e-03 9.99955730e-01 -3.69927132e-04 1.49251869e+01] [ 4.00889561e-03 3.32246599e-04 9.99991909e-01 -8.50187245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061400513 meters 0.08072552017108241 Centerline is valid? [True, True] Translation: X:175.02, Y:14.93, Z:-0.85 [[ 9.99886064e-01 -1.36041631e-02 -6.54106786e-03 1.75019681e+02] [ 1.36005005e-02 9.99907326e-01 -6.04102156e-04 1.49251767e+01] [ 6.54867998e-03 5.15071531e-04 9.99978425e-01 -8.54218734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121400513 meters 0.06766994219664171 Centerline is valid? [True, True] Translation: X:175.08, Y:14.91, Z:-0.85 [[ 9.99841595e-01 -1.66610210e-02 -6.26066152e-03 1.75080748e+02] [ 1.66577248e-02 9.99861083e-01 -5.78266623e-04 1.49131204e+01] [ 6.26942632e-03 4.73886645e-04 9.99980235e-01 -8.53312259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181400513 meters 0.07791445133914315 Centerline is valid? [True, True] Translation: X:175.14, Y:14.93, Z:-0.86 [[ 9.99857241e-01 -1.51958307e-02 -7.38807765e-03 1.75138577e+02] [ 1.51911999e-02 9.99884374e-01 -6.82514705e-04 1.49331947e+01] [ 7.39759478e-03 5.70183506e-04 9.99972475e-01 -8.55842372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24140051299997 meters 0.0781163751572744 Centerline is valid? [True, True] Translation: X:175.20, Y:14.94, Z:-0.86 [[ 9.99896223e-01 -1.27106629e-02 -6.78102179e-03 1.75199141e+02] [ 1.27067048e-02 9.99919070e-01 -6.26479161e-04 1.49355665e+01] [ 6.78843597e-03 5.40249705e-04 9.99976812e-01 -8.55039827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30140051299998 meters 0.07822762149056227 Centerline is valid? [True, True] Translation: X:175.26, Y:14.94, Z:-0.85 [[ 9.99901252e-01 -1.34087086e-02 -4.20619369e-03 1.75256129e+02] [ 1.34071915e-02 9.99910044e-01 -3.88692497e-04 1.49433370e+01] [ 4.21102718e-03 3.32260870e-04 9.99991078e-01 -8.51064359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36140051299998 meters 0.07782390787585111 Centerline is valid? [True, True] Translation: X:175.31, Y:14.95, Z:-0.85 [[ 9.99852875e-01 -1.66728214e-02 -4.03061552e-03 1.75314623e+02] [ 1.66714536e-02 9.99860952e-01 -3.72730980e-04 1.49484799e+01] [ 4.03626955e-03 3.05479922e-04 9.99991808e-01 -8.52989120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42140051299998 meters 0.07389110171507686 Centerline is valid? [True, True] Translation: X:175.37, Y:14.95, Z:-0.86 [[ 9.99796875e-01 -1.87323218e-02 -7.43694622e-03 1.75374526e+02] [ 1.87277196e-02 9.99824384e-01 -6.87996473e-04 1.49482627e+01] [ 7.44852795e-03 5.48579680e-04 9.99972109e-01 -8.57711997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48140051299998 meters 0.07235314254093947 Centerline is valid? [True, True] Translation: X:175.44, Y:14.95, Z:-0.85 [[ 9.99757472e-01 -2.10749950e-02 -6.39071718e-03 1.75435446e+02] [ 2.10716438e-02 9.99777793e-01 -5.91274686e-04 1.49474124e+01] [ 6.40175824e-03 4.56468370e-04 9.99979404e-01 -8.52875643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54140051299999 meters 0.06808510220503859 Centerline is valid? [True, True] Translation: X:175.49, Y:14.95, Z:-0.85 [[ 9.99766901e-01 -2.12697648e-02 -3.70689812e-03 1.75493164e+02] [ 2.12686382e-02 9.99773738e-01 -3.43081484e-04 1.49483504e+01] [ 3.71335665e-03 2.64160837e-04 9.99993071e-01 -8.49109582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601400513 meters 0.0740352839812564 Centerline is valid? [True, True] Translation: X:175.55, Y:14.96, Z:-0.85 [[ 9.99781115e-01 -2.07078219e-02 -2.98449588e-03 1.75549496e+02] [ 2.07070878e-02 9.99785547e-01 -2.76668476e-04 1.49629204e+01] [ 2.98958505e-03 2.14807700e-04 9.99995508e-01 -8.47958005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661400513 meters 0.07565653460131179 Centerline is valid? [True, True] Translation: X:175.61, Y:14.97, Z:-0.85 [[ 9.99771610e-01 -2.09768468e-02 -4.08655005e-03 1.75607808e+02] [ 2.09754701e-02 9.99779919e-01 -3.79448279e-04 1.49670014e+01] [ 4.09361031e-03 2.93644308e-04 9.99991578e-01 -8.49057131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721400513 meters 0.06755078587028772 Centerline is valid? [True, True] Translation: X:175.67, Y:14.97, Z:-0.85 [[ 9.99800305e-01 -1.97791201e-02 -2.85233344e-03 1.75666703e+02] [ 1.97784435e-02 9.99804352e-01 -2.65228762e-04 1.49710677e+01] [ 2.85702138e-03 2.08761081e-04 9.99995897e-01 -8.47221676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781400513 meters 0.07903091098979974 Centerline is valid? [True, True] Translation: X:175.72, Y:14.99, Z:-0.84 [[ 9.99867908e-01 -1.62297960e-02 -8.72156061e-04 1.75724498e+02] [ 1.62297314e-02 9.99868286e-01 -8.11146137e-05 1.49947485e+01] [ 8.73357660e-04 6.69490404e-05 9.99999616e-01 -8.44158921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841400513 meters 0.08094182273033672 Centerline is valid? [True, True] Translation: X:175.78, Y:15.01, Z:-0.84 [[ 9.99936883e-01 -1.12352212e-02 1.55698304e-05 1.75784388e+02] [ 1.12352212e-02 9.99936883e-01 1.44577134e-06 1.50054116e+01] [-1.55850913e-05 -1.27074960e-06 1.00000000e+00 -8.42107662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901400513 meters 0.06927549655638988 Centerline is valid? [True, True] Translation: X:175.84, Y:15.00, Z:-0.85 [[ 9.99928245e-01 -1.18062440e-02 -2.02905793e-03 1.75843974e+02] [ 1.18058855e-02 9.99930290e-01 -1.88588069e-04 1.50009817e+01] [ 2.03114300e-03 1.64619712e-04 9.99997924e-01 -8.46013341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96140051299997 meters 0.07430363278518817 Centerline is valid? [True, True] Translation: X:175.90, Y:15.02, Z:-0.85 [[ 9.99865397e-01 -1.61277645e-02 -3.01396402e-03 1.75902273e+02] [ 1.61269906e-02 9.99869912e-01 -2.80896168e-04 1.50202922e+01] [ 3.01810217e-03 2.32252189e-04 9.99995419e-01 -8.48232887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02140051299997 meters 0.07371210699388486 Centerline is valid? [True, True] Translation: X:175.96, Y:15.03, Z:-0.85 [[ 9.99779823e-01 -2.08315316e-02 -2.52064584e-03 1.75961000e+02] [ 2.08310051e-02 9.99782983e-01 -2.34947687e-04 1.50310753e+01] [ 2.52499314e-03 1.82388370e-04 9.99996796e-01 -8.47316867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08140051299998 meters 0.06115468296577439 Centerline is valid? [True, True] Translation: X:176.02, Y:15.02, Z:-0.85 [[ 9.99528013e-01 -3.01499756e-02 -5.89322554e-03 1.76023266e+02] [ 3.01472582e-02 9.99545317e-01 -5.49399901e-04 1.50206617e+01] [ 5.90711039e-03 3.71475999e-04 9.99982484e-01 -8.51601809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14140051299998 meters 0.05429102798569378 Centerline is valid? [True, True] Translation: X:176.08, Y:15.02, Z:-0.85 [[ 9.99355148e-01 -3.51812383e-02 -7.18113662e-03 1.76084052e+02] [ 3.51773329e-02 9.99380862e-01 -6.69469794e-04 1.50213040e+01] [ 7.20024328e-03 4.16424852e-04 9.99973991e-01 -8.53926177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20140051299998 meters 0.05251828634681459 Centerline is valid? [True, True] Translation: X:176.14, Y:15.02, Z:-0.85 [[ 9.99343109e-01 -3.58315659e-02 -5.42664709e-03 1.76143055e+02] [ 3.58293431e-02 9.99357795e-01 -5.06299887e-04 1.50240128e+01] [ 5.44130358e-03 3.11534103e-04 9.99985147e-01 -8.51005623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26140051299998 meters 0.06311818443892955 Centerline is valid? [True, True] Translation: X:176.20, Y:15.04, Z:-0.85 [[ 9.99455390e-01 -3.24382498e-02 -6.05675952e-03 1.76201056e+02] [ 3.24354153e-02 9.99473673e-01 -5.65666250e-04 1.50408075e+01] [ 6.07192091e-03 3.68904672e-04 9.99981498e-01 -8.50447363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321400513 meters 0.06927172358008529 Centerline is valid? [True, True] Translation: X:176.26, Y:15.06, Z:-0.85 [[ 9.99679551e-01 -2.47862305e-02 -5.14189031e-03 1.76259711e+02] [ 2.47840868e-02 9.99692712e-01 -4.80231697e-04 1.50575296e+01] [ 5.15221340e-03 3.52640752e-04 9.99986665e-01 -8.49293171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381400513 meters 0.06460968996245424 Centerline is valid? [True, True] Translation: X:176.32, Y:15.05, Z:-0.85 [[ 9.99745222e-01 -2.19893489e-02 -5.09503496e-03 1.76320578e+02] [ 2.19872078e-02 9.99758139e-01 -4.75873025e-04 1.50549876e+01] [ 5.10426681e-03 3.63726191e-04 9.99986907e-01 -8.49498711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441400513 meters 0.06479380418195042 Centerline is valid? [True, True] Translation: X:176.38, Y:15.06, Z:-0.85 [[ 9.99730071e-01 -2.28208058e-02 -4.35853242e-03 1.76379604e+02] [ 2.28192459e-02 9.99739524e-01 -4.07290010e-04 1.50577368e+01] [ 4.36669181e-03 3.07721648e-04 9.99990419e-01 -8.47726576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501400513 meters 0.07210124885577734 Centerline is valid? [True, True] Translation: X:176.44, Y:15.07, Z:-0.85 [[ 9.99707161e-01 -2.37790680e-02 -4.48874614e-03 1.76436480e+02] [ 2.37774205e-02 9.99717189e-01 -4.20053383e-04 1.50712580e+01] [ 4.49746515e-03 3.13199571e-04 9.99989837e-01 -8.47685858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561400513 meters 0.07312088801318309 Centerline is valid? [True, True] Translation: X:176.50, Y:15.08, Z:-0.85 [[ 9.99731181e-01 -2.26732417e-02 -4.84664047e-03 1.76495452e+02] [ 2.26713069e-02 9.99742870e-01 -4.53777780e-04 1.50798981e+01] [ 4.85568287e-03 3.43776123e-04 9.99988152e-01 -8.50672080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621400513 meters 0.07353105929192938 Centerline is valid? [True, True] Translation: X:176.56, Y:15.09, Z:-0.85 [[ 9.99769313e-01 -2.10095495e-02 -4.46324582e-03 1.76555158e+02] [ 2.10078919e-02 9.99779223e-01 -4.17965072e-04 1.50863101e+01] [ 4.47104169e-03 3.24105267e-04 9.99989952e-01 -8.46882243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681400513 meters 0.06534458077883804 Centerline is valid? [True, True] Translation: X:176.62, Y:15.08, Z:-0.85 [[ 9.99736403e-01 -2.16869217e-02 -7.53674500e-03 1.76615146e+02] [ 2.16822084e-02 9.99764664e-01 -7.06541307e-04 1.50818973e+01] [ 7.55029404e-03 5.42941789e-04 9.99971349e-01 -8.51815165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74140051299997 meters 0.06850159840347365 Centerline is valid? [True, True] Translation: X:176.67, Y:15.09, Z:-0.86 [[ 9.99642905e-01 -2.54910289e-02 -8.01690266e-03 1.76673954e+02] [ 2.54858127e-02 9.99674901e-01 -7.52153709e-04 1.50908719e+01] [ 8.03346955e-03 5.47567839e-04 9.99967581e-01 -8.55300963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80140051299998 meters 0.06144164589245931 Centerline is valid? [True, True] Translation: X:176.74, Y:15.08, Z:-0.85 [[ 9.99456648e-01 -3.26059125e-02 -4.82310874e-03 1.76735450e+02] [ 3.26041069e-02 9.99468242e-01 -4.52544272e-04 1.50842096e+01] [ 4.83529963e-03 2.95045229e-04 9.99988266e-01 -8.48152828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86140051299998 meters 0.06078593610502836 Centerline is valid? [True, True] Translation: X:176.80, Y:15.09, Z:-0.85 [[ 9.99542032e-01 -3.01908860e-02 -2.05820751e-03 1.76795162e+02] [ 3.01905521e-02 9.99544143e-01 -1.93105704e-04 1.50862179e+01] [ 2.06309930e-03 1.30878847e-04 9.99997863e-01 -8.45746577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92140051299998 meters 0.06957942080256078 Centerline is valid? [True, True] Translation: X:176.85, Y:15.10, Z:-0.85 [[ 9.99618654e-01 -2.74933250e-02 -2.58153772e-03 1.76853193e+02] [ 2.74927907e-02 9.99621972e-01 -2.42251844e-04 1.51024318e+01] [ 2.58722214e-03 1.71185786e-04 9.99996638e-01 -8.46859640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98140051299998 meters 0.07458839199544853 Centerline is valid? [True, True] Translation: X:176.91, Y:15.11, Z:-0.85 [[ 9.99770526e-01 -2.04702091e-02 -6.31386652e-03 1.76913193e+02] [ 2.04668733e-02 9.99790356e-01 -5.92495398e-04 1.51105585e+01] [ 6.32467136e-03 4.63134330e-04 9.99979892e-01 -8.51009587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04140051299999 meters 0.07392969381803992 Centerline is valid? [True, True] Translation: X:176.97, Y:15.12, Z:-0.85 [[ 9.99832831e-01 -1.75470592e-02 -5.13922826e-03 1.76973678e+02] [ 1.75448107e-02 9.99845962e-01 -4.82278585e-04 1.51154680e+01] [ 5.14689919e-03 3.92031176e-04 9.99986678e-01 -8.48337493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101400513 meters 0.08000690682222508 Centerline is valid? [True, True] Translation: X:177.03, Y:15.13, Z:-0.85 [[ 9.99910770e-01 -1.27388427e-02 -4.02177977e-03 1.77033629e+02] [ 1.27374271e-02 9.99918804e-01 -3.77417010e-04 1.51282771e+01] [ 4.02626107e-03 3.26156206e-04 9.99991841e-01 -8.47147439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161400513 meters 0.0797871056893449 Centerline is valid? [True, True] Translation: X:177.09, Y:15.14, Z:-0.85 [[ 9.99932391e-01 -1.04727414e-02 -5.05324636e-03 1.77093787e+02] [ 1.04704777e-02 9.99945071e-01 -4.74228355e-04 1.51369404e+01] [ 5.05793526e-03 4.21286389e-04 9.99987120e-01 -8.49041019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221400513 meters 0.08655204850355615 Centerline is valid? [True, True] Translation: X:177.15, Y:15.15, Z:-0.85 [[ 9.99958918e-01 -7.99456386e-03 -4.27201954e-03 1.77152197e+02] [ 7.99292344e-03 9.99967976e-01 -4.00928098e-04 1.51518019e+01] [ 4.27508798e-03 3.66765701e-04 9.99990795e-01 -8.46980156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281400513 meters 0.0876491366014772 Centerline is valid? [True, True] Translation: X:177.21, Y:15.16, Z:-0.85 [[ 9.99954132e-01 -7.63000186e-03 -5.78933149e-03 1.77210549e+02] [ 7.62698045e-03 9.99970766e-01 -5.43791154e-04 1.51633903e+01] [ 5.79331137e-03 4.99611094e-04 9.99983094e-01 -8.48343054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341400513 meters 0.08484364543685949 Centerline is valid? [True, True] Translation: X:177.27, Y:15.17, Z:-0.85 [[ 9.99932151e-01 -9.08846316e-03 -7.28651554e-03 1.77269958e+02] [ 9.08371059e-03 9.99958508e-01 -6.85072149e-04 1.51709162e+01] [ 7.29243945e-03 6.18837069e-04 9.99973218e-01 -8.51046811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401400513 meters 0.09123268884428647 Centerline is valid? [True, True] Translation: X:177.33, Y:15.19, Z:-0.84 [[ 9.99931105e-01 -1.13973151e-02 -2.80835880e-03 1.77328394e+02] [ 1.13966182e-02 9.99935022e-01 -2.64049116e-04 1.51879784e+01] [ 2.81118577e-03 2.32025131e-04 9.99996022e-01 -8.43417480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46140051299997 meters 0.08052520277558713 Centerline is valid? [True, True] Translation: X:177.39, Y:15.19, Z:-0.84 [[ 9.99901502e-01 -1.39369182e-02 -1.65800108e-03 1.77389321e+02] [ 1.39366787e-02 9.99902868e-01 -1.55910806e-04 1.51858203e+01] [ 1.66001295e-03 1.32788421e-04 9.99998613e-01 -8.41703073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52140051299997 meters 0.07028944112209316 Centerline is valid? [True, True] Translation: X:177.45, Y:15.18, Z:-0.84 [[ 9.99840937e-01 -1.75316079e-02 -3.27783264e-03 1.77450330e+02] [ 1.75306911e-02 9.99846278e-01 -3.08242822e-04 1.51830632e+01] [ 3.28273276e-03 2.50731121e-04 9.99994580e-01 -8.44678057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58140051299998 meters 0.08285686354340616 Centerline is valid? [True, True] Translation: X:177.51, Y:15.21, Z:-0.84 [[ 9.99880589e-01 -1.53637919e-02 -1.66185958e-03 1.77506755e+02] [ 1.53635533e-02 9.99881961e-01 -1.56250630e-04 1.52148588e+01] [ 1.66406401e-03 1.30699904e-04 9.99998607e-01 -8.41722025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64140051299998 meters 0.07651025123039848 Centerline is valid? [True, True] Translation: X:177.57, Y:15.22, Z:-0.84 [[ 9.99929007e-01 -1.16106945e-02 -2.67833500e-03 1.77567102e+02] [ 1.16100611e-02 9.99932569e-01 -2.51896508e-04 1.52210431e+01] [ 2.68107909e-03 2.20782992e-04 9.99996382e-01 -8.44267849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70140051299998 meters 0.08294603205940078 Centerline is valid? [True, True] Translation: X:177.63, Y:15.24, Z:-0.85 [[ 9.99956424e-01 -8.18880897e-03 -4.48251871e-03 1.77625786e+02] [ 8.18700085e-03 9.99966397e-01 -4.21571788e-04 1.52437920e+01] [ 4.48582026e-03 3.84855034e-04 9.99989865e-01 -8.46372113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76140051299998 meters 0.0780264273644046 Centerline is valid? [True, True] Translation: X:177.68, Y:15.25, Z:-0.85 [[ 9.99931615e-01 -9.76961049e-03 -6.42813525e-03 1.77684774e+02] [ 9.76592404e-03 9.99952129e-01 -6.04625802e-04 1.52531768e+01] [ 6.43373449e-03 5.41807773e-04 9.99979157e-01 -8.49479124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821400513 meters 0.07650093561432242 Centerline is valid? [True, True] Translation: X:177.74, Y:15.26, Z:-0.85 [[ 9.99763727e-01 -2.10272020e-02 -5.50876253e-03 1.77743640e+02] [ 2.10246639e-02 9.99778823e-01 -5.18246831e-04 1.52631573e+01] [ 5.51844140e-03 4.02304503e-04 9.99984692e-01 -8.48447076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881400513 meters 0.06323364817260257 Centerline is valid? [True, True] Translation: X:177.81, Y:15.26, Z:-0.85 [[ 9.99551248e-01 -2.92907712e-02 -6.27319073e-03 1.77805303e+02] [ 2.92876414e-02 9.99570851e-01 -5.90219169e-04 1.52554628e+01] [ 6.28778657e-03 4.06227347e-04 9.99980149e-01 -8.50033362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941400513 meters 0.05982165750586961 Centerline is valid? [True, True] Translation: X:177.86, Y:15.25, Z:-0.85 [[ 9.99364657e-01 -3.53223085e-02 -4.75578717e-03 1.77864793e+02] [ 3.53205776e-02 9.99375934e-01 -4.47480959e-04 1.52540544e+01] [ 4.76862531e-03 2.79219505e-04 9.99988591e-01 -8.47835373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001400513 meters 0.05803956473071536 Centerline is valid? [True, True] Translation: X:177.92, Y:15.26, Z:-0.85 [[ 9.99377048e-01 -3.48836268e-02 -5.35244095e-03 1.77924197e+02] [ 3.48814258e-02 9.99391331e-01 -5.04041882e-04 1.52551947e+01] [ 5.36676590e-03 3.17027116e-04 9.99985549e-01 -8.48257765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061400513 meters 0.057552479741635486 Centerline is valid? [True, True] Translation: X:177.98, Y:15.26, Z:-0.85 [[ 9.99392607e-01 -3.42113962e-02 -6.63307734e-03 1.77982813e+02] [ 3.42079957e-02 9.99414540e-01 -6.25480158e-04 1.52553502e+01] [ 6.65059249e-03 3.98195965e-04 9.99977805e-01 -8.50425490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121400513 meters 0.058513709982289754 Centerline is valid? [True, True] Translation: X:178.04, Y:15.26, Z:-0.85 [[ 9.99281115e-01 -3.76003597e-02 -4.84423260e-03 1.78041783e+02] [ 3.75985849e-02 9.99292819e-01 -4.56954913e-04 1.52595955e+01] [ 4.85798852e-03 2.74490124e-04 9.99988162e-01 -8.49020326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181400513 meters 0.05262271117017012 Centerline is valid? [True, True] Translation: X:178.10, Y:15.25, Z:-0.85 [[ 9.98856698e-01 -4.74089172e-02 -6.13931947e-03 1.78103932e+02] [ 4.74062508e-02 9.98875524e-01 -5.79186985e-04 1.52475914e+01] [ 6.15987458e-03 2.87482680e-04 9.99980986e-01 -8.52114655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24140051299997 meters 0.040455746121427064 Centerline is valid? [True, True] Translation: X:178.17, Y:15.24, Z:-0.85 [[ 9.98527751e-01 -5.38774823e-02 -6.28859867e-03 1.78165291e+02] [ 5.38748121e-02 9.98547521e-01 -5.93359350e-04 1.52364672e+01] [ 6.31143332e-03 2.53688706e-04 9.99980051e-01 -8.50955987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30140051299998 meters 0.03077717210261776 Centerline is valid? [True, True] Translation: X:178.23, Y:15.22, Z:-0.85 [[ 9.98003813e-01 -6.29941090e-02 -4.48679250e-03 1.78226844e+02] [ 6.29928415e-02 9.98013889e-01 -4.23406749e-04 1.52231747e+01] [ 4.50455336e-03 1.39925741e-04 9.99989845e-01 -8.47784419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36140051299998 meters 0.026308622127716553 Centerline is valid? [True, True] Translation: X:178.29, Y:15.22, Z:-0.85 [[ 9.97686690e-01 -6.78246025e-02 -4.59258200e-03 1.78287670e+02] [ 6.78233255e-02 9.97697253e-01 -4.33416924e-04 1.52153220e+01] [ 4.61140278e-03 1.20930112e-04 9.99989360e-01 -8.47956412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42140051299998 meters 0.02354930630840576 Centerline is valid? [True, True] Translation: X:178.35, Y:15.21, Z:-0.84 [[ 9.97449733e-01 -7.13249238e-02 -2.60471960e-03 1.78347318e+02] [ 7.13245251e-02 9.97453133e-01 -2.45760715e-04 1.52125726e+01] [ 2.61561459e-03 5.93535712e-05 9.99996578e-01 -8.44932508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48140051299998 meters 0.02525381111792864 Centerline is valid? [True, True] Translation: X:178.41, Y:15.22, Z:-0.85 [[ 9.97563086e-01 -6.95505274e-02 -5.53301322e-03 1.78406069e+02] [ 6.95486930e-02 9.97578421e-01 -5.23483483e-04 1.52164800e+01] [ 5.55602315e-03 1.37393960e-04 9.99984556e-01 -8.49377209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54140051299999 meters 0.036587712205436745 Centerline is valid? [True, True] Translation: X:178.46, Y:15.23, Z:-0.85 [[ 9.98049628e-01 -6.20141327e-02 -7.15460486e-03 1.78464189e+02] [ 6.20108664e-02 9.98075244e-01 -6.77670204e-04 1.52285846e+01] [ 7.18285912e-03 2.32685249e-04 9.99974176e-01 -8.50760562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601400513 meters 0.03758047113958453 Centerline is valid? [True, True] Translation: X:178.52, Y:15.24, Z:-0.85 [[ 9.98291596e-01 -5.79550781e-02 -7.42288589e-03 1.78524043e+02] [ 5.79514492e-02 9.98319155e-01 -7.03207237e-04 1.52365093e+01] [ 7.45116360e-03 2.71838880e-04 9.99972203e-01 -8.51391259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661400513 meters 0.04602237916640152 Centerline is valid? [True, True] Translation: X:178.58, Y:15.25, Z:-0.85 [[ 9.98691549e-01 -5.06810100e-02 -6.82824160e-03 1.78582965e+02] [ 5.06777690e-02 9.98714847e-01 -6.46946127e-04 1.52468376e+01] [ 6.85225414e-03 3.00059580e-04 9.99976478e-01 -8.50888819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721400513 meters 0.04954625379193978 Centerline is valid? [True, True] Translation: X:178.64, Y:15.25, Z:-0.85 [[ 9.98950538e-01 -4.54977219e-02 -5.27070068e-03 1.78643926e+02] [ 4.54957187e-02 9.98964409e-01 -4.99399702e-04 1.52461494e+01] [ 5.28796394e-03 2.59081286e-04 9.99985985e-01 -8.47861597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781400513 meters 0.05534038236751484 Centerline is valid? [True, True] Translation: X:178.70, Y:15.26, Z:-0.85 [[ 9.99211461e-01 -3.92972182e-02 -5.67323943e-03 1.78702436e+02] [ 3.92947975e-02 9.99227517e-01 -5.37572124e-04 1.52603167e+01] [ 5.68998203e-03 3.14219433e-04 9.99983763e-01 -8.49112787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841400513 meters 0.060263469625846756 Centerline is valid? [True, True] Translation: X:178.76, Y:15.27, Z:-0.85 [[ 9.99387479e-01 -3.48014011e-02 -3.67814954e-03 1.78762591e+02] [ 3.48003532e-02 9.99394223e-01 -3.48551659e-04 1.52696621e+01] [ 3.68805149e-03 2.20337261e-04 9.99993175e-01 -8.46374016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901400513 meters 0.06586912545137742 Centerline is valid? [True, True] Translation: X:178.82, Y:15.28, Z:-0.84 [[ 9.99496310e-01 -3.15766456e-02 -3.16875294e-03 1.78821565e+02] [ 3.15758517e-02 9.99501313e-01 -3.00277165e-04 1.52799244e+01] [ 3.17665447e-03 2.00069845e-04 9.99994934e-01 -8.44111886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96140051299997 meters 0.07688592307056225 Centerline is valid? [True, True] Translation: X:178.88, Y:15.30, Z:-0.85 [[ 9.99562813e-01 -2.93067180e-02 -3.91139966e-03 1.78878714e+02] [ 2.93054909e-02 9.99570433e-01 -3.70669176e-04 1.52990726e+01] [ 3.92058255e-03 2.55881637e-04 9.99992282e-01 -8.46484272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02140051299997 meters 0.06291825049049715 Centerline is valid? [True, True] Translation: X:178.94, Y:15.28, Z:-0.85 [[ 9.99519041e-01 -3.05465128e-02 -5.34759848e-03 1.78940026e+02] [ 3.05442361e-02 9.99533287e-01 -5.06916494e-04 1.52840488e+01] [ 5.36058722e-03 3.43334377e-04 9.99985573e-01 -8.48652850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08140051299998 meters 0.0629108969994367 Centerline is valid? [True, True] Translation: X:179.00, Y:15.29, Z:-0.85 [[ 9.99526403e-01 -3.04689881e-02 -4.31393569e-03 1.78998983e+02] [ 3.04675047e-02 9.99535674e-01 -4.09190874e-04 1.52857344e+01] [ 4.32440025e-03 2.77562226e-04 9.99990611e-01 -8.46332849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14140051299998 meters 0.0688767210376946 Centerline is valid? [True, True] Translation: X:179.06, Y:15.31, Z:-0.85 [[ 9.99623016e-01 -2.70623611e-02 -4.63190082e-03 1.79056468e+02] [ 2.70606119e-02 9.99633698e-01 -4.39904976e-04 1.53077477e+01] [ 4.64210901e-03 3.14397069e-04 9.99989176e-01 -8.47208071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20140051299998 meters 0.08010162232197826 Centerline is valid? [True, True] Translation: X:179.11, Y:15.33, Z:-0.85 [[ 9.99663680e-01 -2.56400231e-02 -3.88784949e-03 1.79112858e+02] [ 2.56387799e-02 9.99671204e-01 -3.69283595e-04 1.53295204e+01] [ 3.89603962e-03 2.69479681e-04 9.99992374e-01 -8.45524413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26140051299998 meters 0.06913007615642175 Centerline is valid? [True, True] Translation: X:179.17, Y:15.32, Z:-0.85 [[ 9.99622091e-01 -2.71337820e-02 -4.40839276e-03 1.79173801e+02] [ 2.71321972e-02 9.99631766e-01 -4.18920554e-04 1.53233013e+01] [ 4.41813634e-03 2.99152858e-04 9.99990195e-01 -8.45760515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321400513 meters 0.06761954752796091 Centerline is valid? [True, True] Translation: X:179.23, Y:15.33, Z:-0.85 [[ 9.99565339e-01 -2.91176118e-02 -4.61491518e-03 1.79233949e+02] [ 2.91158956e-02 9.99575946e-01 -4.38656495e-04 1.53272507e+01] [ 4.62573084e-03 3.04098440e-04 9.99989255e-01 -8.46244899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381400513 meters 0.07159341402250284 Centerline is valid? [True, True] Translation: X:179.29, Y:15.34, Z:-0.85 [[ 9.99473720e-01 -3.20708717e-02 -4.87260357e-03 1.79292283e+02] [ 3.20689931e-02 9.99485550e-01 -4.63210370e-04 1.53433839e+01] [ 4.88495242e-03 3.06707102e-04 9.99988022e-01 -8.47288099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441400513 meters 0.06005855822764892 Centerline is valid? [True, True] Translation: X:179.35, Y:15.34, Z:-0.85 [[ 9.99521792e-01 -3.04908798e-02 -5.14712453e-03 1.79352592e+02] [ 3.04887619e-02 9.99534990e-01 -4.89455670e-04 1.53354697e+01] [ 5.15965500e-03 3.32292154e-04 9.99986634e-01 -8.46464092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501400513 meters 0.06115112193518133 Centerline is valid? [True, True] Translation: X:179.41, Y:15.34, Z:-0.85 [[ 9.99571419e-01 -2.89160660e-02 -4.56495337e-03 1.79411375e+02] [ 2.89143828e-02 9.99581797e-01 -4.34288065e-04 1.53442015e+01] [ 4.57560220e-03 3.02109128e-04 9.99989486e-01 -8.45878513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561400513 meters 0.070772499240454 Centerline is valid? [True, True] Translation: X:179.47, Y:15.36, Z:-0.85 [[ 9.99643478e-01 -2.57151199e-02 -7.18681737e-03 1.79469923e+02] [ 2.57108641e-02 9.99669187e-01 -6.83938266e-04 1.53592489e+01] [ 7.20202744e-03 4.98915142e-04 9.99973941e-01 -8.49940756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621400513 meters 0.07243176787259932 Centerline is valid? [True, True] Translation: X:179.53, Y:15.37, Z:-0.85 [[ 9.99655617e-01 -2.42121049e-02 -1.01202983e-02 1.79529333e+02] [ 2.42035878e-02 9.99706586e-01 -9.63233245e-04 1.53677846e+01] [ 1.01406507e-02 7.17953997e-04 9.99948325e-01 -8.54199190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681400513 meters 0.07303395237996606 Centerline is valid? [True, True] Translation: X:179.59, Y:15.38, Z:-0.85 [[ 9.99675366e-01 -2.45471452e-02 -6.82643170e-03 1.79588085e+02] [ 2.45432757e-02 9.99698557e-01 -6.50054000e-04 1.53763970e+01] [ 6.84033089e-03 4.82299976e-04 9.99976488e-01 -8.48617319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74140051299997 meters 0.07077638520169104 Centerline is valid? [True, True] Translation: X:179.65, Y:15.38, Z:-0.85 [[ 9.99612618e-01 -2.72480558e-02 -5.67069825e-03 1.79648220e+02] [ 2.72454277e-02 9.99628628e-01 -5.40211538e-04 1.53806743e+01] [ 5.68331203e-03 3.85501671e-04 9.99983776e-01 -8.46219190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80140051299998 meters 0.0627431746395324 Centerline is valid? [True, True] Translation: X:179.71, Y:15.38, Z:-0.85 [[ 9.99410324e-01 -3.38312684e-02 -5.86929255e-03 1.79709405e+02] [ 3.38285659e-02 9.99427494e-01 -5.59151495e-04 1.53758468e+01] [ 5.88484915e-03 3.60272027e-04 9.99982619e-01 -8.47050041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86140051299998 meters 0.059079417916942975 Centerline is valid? [True, True] Translation: X:179.77, Y:15.37, Z:-0.85 [[ 9.99242412e-01 -3.84847327e-02 -5.79021147e-03 1.79770047e+02] [ 3.84821799e-02 9.99259134e-01 -5.51686255e-04 1.53710879e+01] [ 5.80715320e-03 3.28448345e-04 9.99983084e-01 -8.45143922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92140051299998 meters 0.05607244302385976 Centerline is valid? [True, True] Translation: X:179.83, Y:15.37, Z:-0.84 [[ 9.99132596e-01 -4.14804452e-02 -3.66454981e-03 1.79829566e+02] [ 4.14794427e-02 9.99139297e-01 -3.49201243e-04 1.53728247e+01] [ 3.67588074e-03 1.96894861e-04 9.99993225e-01 -8.42838339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98140051299998 meters 0.0562293337799885 Centerline is valid? [True, True] Translation: X:179.89, Y:15.38, Z:-0.84 [[ 9.99174820e-01 -4.03900959e-02 -4.28018516e-03 1.79889558e+02] [ 4.03887179e-02 9.99183960e-01 -4.07943465e-04 1.53753861e+01] [ 4.29316923e-03 2.34735647e-04 9.99990757e-01 -8.44383134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04140051299999 meters 0.05846595739770507 Centerline is valid? [True, True] Translation: X:179.95, Y:15.38, Z:-0.84 [[ 9.99269929e-01 -3.80446280e-02 -3.49513167e-03 1.79949391e+02] [ 3.80436946e-02 9.99276021e-01 -3.33182348e-04 1.53797957e+01] [ 3.50527707e-03 1.99971379e-04 9.99993837e-01 -8.42750621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101400513 meters 0.059114964922831366 Centerline is valid? [True, True] Translation: X:180.01, Y:15.38, Z:-0.84 [[ 9.99297197e-01 -3.73812844e-02 -2.78412072e-03 1.80008236e+02] [ 3.73806897e-02 9.99301063e-01 -2.65381968e-04 1.53813997e+01] [ 2.79209511e-03 1.61123105e-04 9.99996089e-01 -8.41026781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161400513 meters 0.06360166227368311 Centerline is valid? [True, True] Translation: X:180.07, Y:15.39, Z:-0.84 [[ 9.99355293e-01 -3.58330098e-02 -2.23446067e-03 1.80066162e+02] [ 3.58326221e-02 9.99357783e-01 -2.13345220e-04 1.53864795e+01] [ 2.24067046e-03 1.33141090e-04 9.99997481e-01 -8.41319740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221400513 meters 0.05619533388371211 Centerline is valid? [True, True] Translation: X:180.13, Y:15.38, Z:-0.84 [[ 9.99302541e-01 -3.71191418e-02 -4.07445173e-03 1.80126624e+02] [ 3.71178614e-02 9.99310819e-01 -3.89428070e-04 1.53791693e+01] [ 4.08609893e-03 2.37921525e-04 9.99991624e-01 -8.43715187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281400513 meters 0.055673453243174985 Centerline is valid? [True, True] Translation: X:180.19, Y:15.38, Z:-0.85 [[ 9.99188885e-01 -3.94716821e-02 -7.97239112e-03 1.80186483e+02] [ 3.94668465e-02 9.99220589e-01 -7.63010503e-04 1.53758739e+01] [ 7.99629466e-03 4.47746477e-04 9.99967929e-01 -8.49093643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341400513 meters 0.060760392635018284 Centerline is valid? [True, True] Translation: X:180.25, Y:15.38, Z:-0.85 [[ 9.99256770e-01 -3.76561976e-02 -8.24120958e-03 1.80245389e+02] [ 3.76509679e-02 9.99290640e-01 -7.88870111e-04 1.53838005e+01] [ 8.26506944e-03 4.77994283e-04 9.99965729e-01 -8.50172929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401400513 meters 0.06332565672096326 Centerline is valid? [True, True] Translation: X:180.31, Y:15.39, Z:-0.85 [[ 9.99442973e-01 -3.26314835e-02 -6.99497423e-03 1.80305628e+02] [ 3.26275927e-02 9.99467354e-01 -6.69654626e-04 1.53886204e+01] [ 7.01310021e-03 4.41052440e-04 9.99975311e-01 -8.47225315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46140051299997 meters 0.061876177799302774 Centerline is valid? [True, True] Translation: X:180.37, Y:15.39, Z:-0.84 [[ 9.99594653e-01 -2.80875014e-02 -4.64989345e-03 1.80365927e+02] [ 2.80857331e-02 9.99605419e-01 -4.45174906e-04 1.53925665e+01] [ 4.66056254e-03 3.14398789e-04 9.99989090e-01 -8.43901814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52140051299997 meters 0.06981717856874499 Centerline is valid? [True, True] Translation: X:180.42, Y:15.40, Z:-0.84 [[ 9.99593751e-01 -2.82578268e-02 -3.71867735e-03 1.80423067e+02] [ 2.82566968e-02 9.99600636e-01 -3.56054963e-04 1.54042520e+01] [ 3.72725359e-03 2.50832777e-04 9.99993022e-01 -8.42120954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58140051299998 meters 0.07367639732032401 Centerline is valid? [True, True] Translation: X:180.48, Y:15.41, Z:-0.84 [[ 9.99446702e-01 -3.28831898e-02 -4.99849940e-03 1.80482238e+02] [ 3.28812045e-02 9.99459152e-01 -4.78857807e-04 1.54118139e+01] [ 5.01154235e-03 3.14236175e-04 9.99987393e-01 -8.44975601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64140051299998 meters 0.06400762088988436 Centerline is valid? [True, True] Translation: X:180.54, Y:15.40, Z:-0.84 [[ 9.99341465e-01 -3.58931128e-02 -5.32176565e-03 1.80544561e+02] [ 3.58909047e-02 9.99355584e-01 -5.09881379e-04 1.54000394e+01] [ 5.33663745e-03 3.18542621e-04 9.99985709e-01 -8.44082494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70140051299998 meters 0.059952715335855986 Centerline is valid? [True, True] Translation: X:180.60, Y:15.40, Z:-0.84 [[ 9.99293449e-01 -3.71371258e-02 -5.78246634e-03 1.80604450e+02] [ 3.71345371e-02 9.99310121e-01 -5.54438162e-04 1.53969547e+01] [ 5.79906738e-03 3.39317212e-04 9.99983128e-01 -8.43845695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76140051299998 meters 0.06608759291144113 Centerline is valid? [True, True] Translation: X:180.66, Y:15.40, Z:-0.85 [[ 9.99271011e-01 -3.71858504e-02 -8.64053966e-03 1.80661592e+02] [ 3.71800635e-02 9.99308238e-01 -8.29463495e-04 1.54025667e+01] [ 8.66540677e-03 5.07603012e-04 9.99962326e-01 -8.48981314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821400513 meters 0.05540796072383805 Centerline is valid? [True, True] Translation: X:180.72, Y:15.39, Z:-0.84 [[ 9.99384903e-01 -3.43938407e-02 -6.84681068e-03 1.80723278e+02] [ 3.43901405e-02 9.99408268e-01 -6.57450756e-04 1.53894444e+01] [ 6.86537145e-03 4.21583579e-04 9.99976344e-01 -8.44092996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881400513 meters 0.07151421286283458 Centerline is valid? [True, True] Translation: X:180.78, Y:15.41, Z:-0.84 [[ 9.99668990e-01 -2.51906004e-02 -5.22913720e-03 1.80780466e+02] [ 2.51883168e-02 9.99682598e-01 -5.02109393e-04 1.54121963e+01] [ 5.24012590e-03 3.70230026e-04 9.99986202e-01 -8.41621998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941400513 meters 0.07968147233776285 Centerline is valid? [True, True] Translation: X:180.84, Y:15.43, Z:-0.84 [[ 9.99845115e-01 -1.69289604e-02 -4.81201560e-03 1.80839404e+02] [ 1.69269316e-02 9.99856622e-01 -4.62025240e-04 1.54299666e+01] [ 4.81914727e-03 3.80501020e-04 9.99988315e-01 -8.41633086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001400513 meters 0.0810411698899465 Centerline is valid? [True, True] Translation: X:180.90, Y:15.44, Z:-0.84 [[ 9.99898383e-01 -1.38527569e-02 -3.36515379e-03 1.80898917e+02] [ 1.38517473e-02 9.99904008e-01 -3.23125202e-04 1.54384701e+01] [ 3.36930693e-03 2.76479108e-04 9.99994286e-01 -8.38938467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061400513 meters 0.08798525987656827 Centerline is valid? [True, True] Translation: X:180.96, Y:15.46, Z:-0.84 [[ 9.99907142e-01 -1.28022495e-02 -4.67016325e-03 1.80955913e+02] [ 1.28002932e-02 9.99917972e-01 -4.48544260e-04 1.54567896e+01] [ 4.67552255e-03 3.88723150e-04 9.99988994e-01 -8.41566685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121400513 meters 0.08653751750755699 Centerline is valid? [True, True] Translation: X:181.02, Y:15.47, Z:-0.84 [[ 9.99883253e-01 -1.48266749e-02 -3.69469226e-03 1.81015885e+02] [ 1.48254637e-02 9.99890034e-01 -3.54985875e-04 1.54678734e+01] [ 3.69954923e-03 3.00168906e-04 9.99993112e-01 -8.40954107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181400513 meters 0.0758040175066399 Centerline is valid? [True, True] Translation: X:181.08, Y:15.46, Z:-0.84 [[ 9.99806246e-01 -1.94438494e-02 -3.06702620e-03 1.81076701e+02] [ 1.94430364e-02 9.99810923e-01 -2.94685264e-04 1.54640689e+01] [ 3.07217611e-03 2.34995866e-04 9.99995253e-01 -8.37956627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24140051299997 meters 0.06785928806274204 Centerline is valid? [True, True] Translation: X:181.14, Y:15.47, Z:-0.84 [[ 9.99561766e-01 -2.93019925e-02 -4.20336192e-03 1.81137271e+02] [ 2.93005520e-02 9.99570565e-01 -4.03880179e-04 1.54681831e+01] [ 4.21339134e-03 2.80542361e-04 9.99991084e-01 -8.41179548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30140051299998 meters 0.06208294173445959 Centerline is valid? [True, True] Translation: X:181.20, Y:15.47, Z:-0.84 [[ 9.99348938e-01 -3.57234901e-02 -5.05288529e-03 1.81198165e+02] [ 3.57214903e-02 9.99361666e-01 -4.85503704e-04 1.54725478e+01] [ 5.06700374e-03 3.04691019e-04 9.99987116e-01 -8.41431423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36140051299998 meters 0.05858476222136607 Centerline is valid? [True, True] Translation: X:181.26, Y:15.48, Z:-0.84 [[ 9.99274165e-01 -3.78209066e-02 -4.55206146e-03 1.81258062e+02] [ 3.78193053e-02 9.99284498e-01 -4.37377829e-04 1.54797681e+01] [ 4.56534648e-03 2.64904563e-04 9.99989544e-01 -8.39808895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42140051299998 meters 0.059500681935815945 Centerline is valid? [True, True] Translation: X:181.32, Y:15.49, Z:-0.84 [[ 9.99198157e-01 -3.98729140e-02 -3.63221182e-03 1.81316457e+02] [ 3.98719078e-02 9.99204738e-01 -3.49035659e-04 1.54878072e+01] [ 3.64324033e-03 2.03932573e-04 9.99993343e-01 -8.38811264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48140051299998 meters 0.052060668501554636 Centerline is valid? [True, True] Translation: X:181.38, Y:15.48, Z:-0.84 [[ 9.99124769e-01 -4.15878432e-02 -4.48857510e-03 1.81376693e+02] [ 4.15863234e-02 9.99134822e-01 -4.31446107e-04 1.54846670e+01] [ 4.50263460e-03 2.44405156e-04 9.99989833e-01 -8.40315969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54140051299999 meters 0.05066689328827125 Centerline is valid? [True, True] Translation: X:181.44, Y:15.49, Z:-0.84 [[ 9.99100350e-01 -4.21017083e-02 -5.09291013e-03 1.81435709e+02] [ 4.20997562e-02 9.99113292e-01 -4.89947377e-04 1.54873144e+01] [ 5.10902182e-03 2.75096321e-04 9.99986911e-01 -8.38811912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601400513 meters 0.058564887992332615 Centerline is valid? [True, True] Translation: X:181.49, Y:15.50, Z:-0.84 [[ 9.99231983e-01 -3.89524732e-02 -4.26013088e-03 1.81494138e+02] [ 3.89510770e-02 9.99241035e-01 -4.10259081e-04 1.55030915e+01] [ 4.27287820e-03 2.44007309e-04 9.99990841e-01 -8.37243884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661400513 meters 0.06805365113948808 Centerline is valid? [True, True] Translation: X:181.55, Y:15.52, Z:-0.84 [[ 9.99507515e-01 -3.08256245e-02 -5.87438398e-03 1.81552332e+02] [ 3.08228298e-02 9.99524704e-01 -5.65707540e-04 1.55224246e+01] [ 5.88903019e-03 3.84363799e-04 9.99982586e-01 -8.42527619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721400513 meters 0.07012459019159636 Centerline is valid? [True, True] Translation: X:181.61, Y:15.53, Z:-0.84 [[ 9.99605168e-01 -2.73645533e-02 -6.37884629e-03 1.81611781e+02] [ 2.73611876e-02 9.99625424e-01 -6.14317945e-04 1.55302854e+01] [ 6.39326747e-03 4.39542582e-04 9.99979466e-01 -8.42860775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781400513 meters 0.06308930521063358 Centerline is valid? [True, True] Translation: X:181.67, Y:15.53, Z:-0.84 [[ 9.99599891e-01 -2.76899625e-02 -5.77265607e-03 1.81671617e+02] [ 2.76872089e-02 9.99616481e-01 -5.56407200e-04 1.55269402e+01] [ 5.78584904e-03 3.96355842e-04 9.99983183e-01 -8.38994687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841400513 meters 0.06647600591244544 Centerline is valid? [True, True] Translation: X:181.73, Y:15.54, Z:-0.84 [[ 9.99542752e-01 -2.97026941e-02 -5.66007629e-03 1.81729930e+02] [ 2.97000757e-02 9.99558706e-01 -5.46113288e-04 1.55353462e+01] [ 5.67379957e-03 3.77758884e-04 9.99983833e-01 -8.39829650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901400513 meters 0.0642548459011949 Centerline is valid? [True, True] Translation: X:181.79, Y:15.53, Z:-0.84 [[ 9.99534636e-01 -3.00222997e-02 -5.40118120e-03 1.81789436e+02] [ 3.00199176e-02 9.99549165e-01 -5.21572152e-04 1.55330691e+01] [ 5.41440495e-03 3.59186417e-04 9.99985277e-01 -8.37604778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96140051299997 meters 0.07105839855025399 Centerline is valid? [True, True] Translation: X:181.85, Y:15.55, Z:-0.84 [[ 9.99634984e-01 -2.63030704e-02 -6.16817007e-03 1.81848318e+02] [ 2.62998896e-02 9.99653920e-01 -5.96227004e-04 1.55451664e+01] [ 6.18171799e-03 4.33787180e-04 9.99980799e-01 -8.38199182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02140051299997 meters 0.0772084699249282 Centerline is valid? [True, True] Translation: X:181.91, Y:15.56, Z:-0.84 [[ 9.99703830e-01 -2.38944056e-02 -4.61618254e-03 1.81906176e+02] [ 2.38925984e-02 9.99714432e-01 -4.46245974e-04 1.55603684e+01] [ 4.62552709e-03 3.35821213e-04 9.99989246e-01 -8.35785876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08140051299998 meters 0.07559262533236137 Centerline is valid? [True, True] Translation: X:181.97, Y:15.57, Z:-0.84 [[ 9.99775594e-01 -2.05610526e-02 -5.09954835e-03 1.81966552e+02] [ 2.05588038e-02 9.99788524e-01 -4.93015976e-04 1.55667525e+01] [ 5.10860684e-03 3.88064727e-04 9.99986876e-01 -8.36042309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14140051299998 meters 0.07583522284583784 Centerline is valid? [True, True] Translation: X:182.02, Y:15.58, Z:-0.84 [[ 9.99753415e-01 -2.09257747e-02 -7.43106830e-03 1.82024249e+02] [ 2.09210037e-02 9.99780873e-01 -7.19196816e-04 1.55763617e+01] [ 7.44448970e-03 5.63554065e-04 9.99972131e-01 -8.40296254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20140051299998 meters 0.080965700659283 Centerline is valid? [True, True] Translation: X:182.08, Y:15.59, Z:-0.84 [[ 9.99635800e-01 -2.61878133e-02 -6.51660882e-03 1.82082811e+02] [ 2.61842522e-02 9.99656934e-01 -6.31189443e-04 1.55936933e+01] [ 6.53090266e-03 4.60327035e-04 9.99978567e-01 -8.39527657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26140051299998 meters 0.06870844019689487 Centerline is valid? [True, True] Translation: X:182.14, Y:15.59, Z:-0.84 [[ 9.99542167e-01 -2.97022028e-02 -5.76510178e-03 1.82143799e+02] [ 2.96994738e-02 9.99558717e-01 -5.58425562e-04 1.55883980e+01] [ 5.77914421e-03 3.86949407e-04 9.99983226e-01 -8.36680763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321400513 meters 0.06294210210751329 Centerline is valid? [True, True] Translation: X:182.20, Y:15.59, Z:-0.84 [[ 9.99360233e-01 -3.50164250e-02 -7.27834820e-03 1.82203975e+02] [ 3.50122153e-02 9.99386636e-01 -7.05046415e-04 1.55931598e+01] [ 7.29857213e-03 4.49764256e-04 9.99973264e-01 -8.38979038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381400513 meters 0.04853972520113195 Centerline is valid? [True, True] Translation: X:182.27, Y:15.59, Z:-0.84 [[ 9.98977892e-01 -4.47344196e-02 -6.48091144e-03 1.82265612e+02] [ 4.47312853e-02 9.98998858e-01 -6.27840987e-04 1.55888310e+01] [ 6.50250923e-03 3.37299767e-04 9.99978802e-01 -8.38315424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441400513 meters 0.0437253023705916 Centerline is valid? [True, True] Translation: X:182.33, Y:15.59, Z:-0.84 [[ 9.98616117e-01 -5.22567257e-02 -5.92322390e-03 1.82325328e+02] [ 5.22542392e-02 9.98633649e-01 -5.73881410e-04 1.55900052e+01] [ 5.94511986e-03 2.63573667e-04 9.99982293e-01 -8.36159692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501400513 meters 0.04295345037714241 Centerline is valid? [True, True] Translation: X:182.38, Y:15.58, Z:-0.84 [[ 9.98126546e-01 -6.09082985e-02 -5.79459327e-03 1.82384484e+02] [ 6.09140288e-02 9.98142682e-01 8.17445438e-04 1.55841237e+01] [ 5.73404165e-03 -1.16888601e-03 9.99982877e-01 -8.36322193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561400513 meters 0.03197630003697752 Centerline is valid? [True, True] Translation: X:182.45, Y:15.59, Z:-0.84 [[ 9.97815840e-01 -6.57799892e-02 -6.04503455e-03 1.82446869e+02] [ 6.57693740e-02 9.97832968e-01 -1.93856970e-03 1.55887274e+01] [ 6.15945385e-03 1.53675742e-03 9.99979850e-01 -8.35711713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621400513 meters 0.031422544639272014 Centerline is valid? [True, True] Translation: X:182.51, Y:15.59, Z:-0.83 [[ 9.97766687e-01 -6.65091297e-02 -6.17856634e-03 1.82505812e+02] [ 6.65066900e-02 9.97785799e-01 -5.99706622e-04 1.55927643e+01] [ 6.20477172e-03 1.87451293e-04 9.99980733e-01 -8.34717934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681400513 meters 0.02862113389065611 Centerline is valid? [True, True] Translation: X:182.56, Y:15.60, Z:-0.84 [[ 9.97703318e-01 -6.73354848e-02 -7.34991797e-03 1.82564968e+02] [ 6.73320474e-02 9.97730367e-01 -7.14396821e-04 1.55980242e+01] [ 7.38134061e-03 2.17871053e-04 9.99972734e-01 -8.35615521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74140051299997 meters 0.03108573930930511 Centerline is valid? [True, True] Translation: X:182.62, Y:15.61, Z:-0.83 [[ 9.97666569e-01 -6.79852117e-02 -6.27911237e-03 1.82622198e+02] [ 6.79827131e-02 9.97686312e-01 -6.10750409e-04 1.56069486e+01] [ 6.30610646e-03 1.82454170e-04 9.99980100e-01 -8.34901380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80140051299998 meters 0.027159104242731776 Centerline is valid? [True, True] Translation: X:182.68, Y:15.61, Z:-0.83 [[ 9.97614180e-01 -6.86773879e-02 -7.02597547e-03 1.82680780e+02] [ 6.86742704e-02 9.97638901e-01 -6.84283220e-04 1.56102878e+01] [ 7.05638123e-03 2.00146904e-04 9.99975083e-01 -8.34632123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86140051299998 meters 0.030119166876669587 Centerline is valid? [True, True] Translation: X:182.74, Y:15.62, Z:-0.83 [[ 9.97736705e-01 -6.69650701e-02 -6.09487099e-03 1.82737054e+02] [ 6.69626881e-02 9.97755303e-01 -5.94280729e-04 1.56243091e+01] [ 6.12098590e-03 1.84806751e-04 9.99981250e-01 -8.32474560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92140051299998 meters 0.03263529688194121 Centerline is valid? [True, True] Translation: X:182.79, Y:15.64, Z:-0.83 [[ 9.97747382e-01 -6.67878075e-02 -6.28889396e-03 1.82793416e+02] [ 6.67852653e-02 9.97767183e-01 -6.13623366e-04 1.56388767e+01] [ 6.31583457e-03 1.92235656e-04 9.99980036e-01 -8.31979459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98140051299998 meters 0.036250318021044926 Centerline is valid? [True, True] Translation: X:182.85, Y:15.65, Z:-0.83 [[ 9.97564915e-01 -6.95123823e-02 -5.68052046e-03 1.82852487e+02] [ 6.95103509e-02 9.97581076e-01 -5.54491721e-04 1.56468411e+01] [ 5.70532375e-03 1.58286516e-04 9.99983712e-01 -8.30986824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04140051299999 meters 0.020591665859936374 Centerline is valid? [True, True] Translation: X:182.91, Y:15.66, Z:-0.83 [[ 9.97004958e-01 -7.72012084e-02 -4.59205756e-03 1.82912626e+02] [ 7.71999621e-02 9.97015529e-01 -4.48308830e-04 1.56556338e+01] [ 4.61296268e-03 9.24594566e-05 9.99989356e-01 -8.28805877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101400513 meters 0.012773681114714159 Centerline is valid? [True, True] Translation: X:182.97, Y:15.66, Z:-0.83 [[ 9.96208160e-01 -8.68130202e-02 -5.72728905e-03 1.82971539e+02] [ 8.68112398e-02 9.96224621e-01 -5.59215764e-04 1.56609021e+01] [ 5.75421357e-03 5.99022447e-05 9.99983443e-01 -8.30299394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161400513 meters 0.021930624461811668 Centerline is valid? [True, True] Translation: X:183.03, Y:15.66, Z:-0.83 [[ 9.95482961e-01 -9.47648027e-02 -5.77126614e-03 1.83030257e+02] [ 9.47631254e-02 9.95499690e-01 -5.64022157e-04 1.56646565e+01] [ 5.79874310e-03 1.45712302e-05 9.99983187e-01 -8.31110415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221400513 meters 0.02128990101596821 Centerline is valid? [True, True] Translation: X:183.09, Y:15.66, Z:-0.83 [[ 9.94394107e-01 -1.05521545e-01 -6.75002641e-03 1.83089763e+02] [ 1.05519490e-01 9.94417015e-01 -6.60880158e-04 1.56630986e+01] [ 6.78207821e-03 -5.50840075e-05 9.99977000e-01 -8.32961420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281400513 meters 0.02415948413490639 Centerline is valid? [True, True] Translation: X:183.15, Y:15.67, Z:-0.83 [[ 9.93759658e-01 -1.11192698e-01 -8.82761195e-03 1.83149592e+02] [ 1.11189399e-01 9.93798857e-01 -8.65112624e-04 1.56652186e+01] [ 8.86906488e-03 -1.21822845e-04 9.99960662e-01 -8.34309115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341400513 meters 0.02906952061092956 Centerline is valid? [True, True] Translation: X:183.21, Y:15.67, Z:-0.84 [[ 9.93422416e-01 -1.14140788e-01 -9.15330108e-03 1.83207779e+02] [ 1.14137362e-01 9.93464573e-01 -8.97483693e-04 1.56704784e+01] [ 9.19591984e-03 -1.53153223e-04 9.99957705e-01 -8.35445126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401400513 meters 0.025904315540246303 Centerline is valid? [True, True] Translation: X:183.27, Y:15.68, Z:-0.83 [[ 9.93410704e-01 -1.14394485e-01 -7.00535341e-03 1.83265064e+02] [ 1.14392482e-01 9.93435397e-01 -6.87262902e-04 1.56754250e+01] [ 7.03798513e-03 -1.18625437e-04 9.99975226e-01 -8.34013652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46140051299997 meters 0.026983842624042347 Centerline is valid? [True, True] Translation: X:183.32, Y:15.69, Z:-0.83 [[ 9.93839133e-01 -1.10535016e-01 -8.11095998e-03 1.83322665e+02] [ 1.10532199e-01 9.93872225e-01 -7.96195707e-04 1.56914687e+01] [ 8.14926535e-03 -1.05231788e-04 9.99966789e-01 -8.34309073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52140051299997 meters 0.014473143739100117 Centerline is valid? [True, True] Translation: X:183.38, Y:15.70, Z:-0.83 [[ 9.94013694e-01 -1.08900756e-01 -8.79781888e-03 1.83379992e+02] [ 1.08897367e-01 9.94052622e-01 -8.64762861e-04 1.57044411e+01] [ 8.83966825e-03 -9.84731830e-05 9.99960925e-01 -8.34723170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58140051299998 meters 0.012299691930189517 Centerline is valid? [True, True] Translation: X:183.44, Y:15.73, Z:-0.83 [[ 9.94214070e-01 -1.07273825e-01 -5.54161058e-03 1.83437290e+02] [ 1.07272451e-01 9.94229513e-01 -5.45457854e-04 1.57266100e+01] [ 5.56814614e-03 -5.21602779e-05 9.99984496e-01 -8.29238784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64140051299998 meters 0.018169320989430086 Centerline is valid? [True, True] Translation: X:183.49, Y:15.75, Z:-0.83 [[ 9.94119806e-01 -1.07987388e-01 -8.03337259e-03 1.83494709e+02] [ 1.07984511e-01 9.94152261e-01 -7.92348333e-04 1.57457392e+01] [ 8.07195915e-03 -7.97906365e-05 9.99967418e-01 -8.33183946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70140051299998 meters 0.024937980824487314 Centerline is valid? [True, True] Translation: X:183.55, Y:15.75, Z:-0.83 [[ 9.93571619e-01 -1.12882294e-01 -8.54551503e-03 1.83553216e+02] [ 1.12879206e-01 9.93608359e-01 -8.44371696e-04 1.57526061e+01] [ 8.58620979e-03 -1.25667201e-04 9.99963130e-01 -8.32766361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76140051299998 meters 0.03812902445123974 Centerline is valid? [True, True] Translation: X:183.61, Y:15.75, Z:-0.84 [[ 9.92268668e-01 -1.23657697e-01 -1.05671063e-02 1.83613915e+02] [ 1.23653577e-01 9.92324897e-01 -1.04484248e-03 1.57498408e+01] [ 1.06152055e-02 -2.69896040e-04 9.99943621e-01 -8.36224617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821400513 meters 0.03955914004926226 Centerline is valid? [True, True] Translation: X:183.67, Y:15.75, Z:-0.84 [[ 9.91420190e-01 -1.30122309e-01 -1.24173595e-02 1.83674098e+02] [ 1.30117125e-01 9.91497870e-01 -1.22788227e-03 1.57513808e+01] [ 1.24715604e-02 -3.98363847e-04 9.99922148e-01 -8.39470197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881400513 meters 0.04884829066925461 Centerline is valid? [True, True] Translation: X:183.73, Y:15.75, Z:-0.84 [[ 9.90623653e-01 -1.36275397e-01 -9.68469150e-03 1.83734085e+02] [ 1.36272537e-01 9.90670923e-01 -9.57754958e-04 1.57502185e+01] [ 9.72486071e-03 -3.70982760e-04 9.99952644e-01 -8.35543806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941400513 meters 0.046672064497953934 Centerline is valid? [True, True] Translation: X:183.79, Y:15.75, Z:-0.83 [[ 9.90436633e-01 -1.37692612e-01 -8.71893318e-03 1.83792549e+02] [ 1.37690345e-01 9.90474949e-01 -8.62628495e-04 1.57521933e+01] [ 8.75466247e-03 -3.46134057e-04 9.99961617e-01 -8.32869545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001400513 meters 0.04399174441761243 Centerline is valid? [True, True] Translation: X:183.85, Y:15.76, Z:-0.84 [[ 9.90513541e-01 -1.37056325e-01 -9.92416519e-03 1.83851256e+02] [ 1.37053342e-01 9.90563181e-01 -9.83267020e-04 1.57586789e+01] [ 9.96527560e-03 -3.86200706e-04 9.99950271e-01 -8.35728721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061400513 meters 0.046973473619225416 Centerline is valid? [True, True] Translation: X:183.91, Y:15.77, Z:-0.84 [[ 9.90450729e-01 -1.37363147e-01 -1.17779218e-02 1.83909661e+02] [ 1.37358942e-01 9.90520648e-01 -1.16907774e-03 1.57679275e+01] [ 1.18268629e-02 -4.59888974e-04 9.99929954e-01 -8.38480322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121400513 meters 0.0453228223561344 Centerline is valid? [True, True] Translation: X:183.97, Y:15.77, Z:-0.83 [[ 9.90665462e-01 -1.35911088e-01 -1.04937369e-02 1.83968195e+02] [ 1.35907659e-01 9.90720960e-01 -1.04245290e-03 1.57731977e+01] [ 1.05380460e-02 -3.93457136e-04 9.99944396e-01 -8.34860938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181400513 meters 0.041348433820047235 Centerline is valid? [True, True] Translation: X:184.03, Y:15.78, Z:-0.83 [[ 9.90975597e-01 -1.33751602e-01 -8.82470558e-03 1.84027828e+02] [ 1.33749091e-01 9.91014839e-01 -8.76849387e-04 1.57825611e+01] [ 8.86269420e-03 -3.11360002e-04 9.99960677e-01 -8.32617130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24140051299997 meters 0.04235923722632393 Centerline is valid? [True, True] Translation: X:184.09, Y:15.79, Z:-0.83 [[ 9.91101782e-01 -1.32808046e-01 -8.90400978e-03 1.84086561e+02] [ 1.32805446e-01 9.91141730e-01 -8.85296389e-04 1.57913814e+01] [ 8.94271014e-03 -3.05082161e-04 9.99959967e-01 -8.33022939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30140051299998 meters 0.0469528139108247 Centerline is valid? [True, True] Translation: X:184.15, Y:15.79, Z:-0.83 [[ 9.90705372e-01 -1.35724519e-01 -9.03997496e-03 1.84145077e+02] [ 1.35721955e-01 9.90746558e-01 -8.99391700e-04 1.57916232e+01] [ 9.07839358e-03 -3.35890885e-04 9.99958734e-01 -8.32078595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36140051299998 meters 0.04643429069266087 Centerline is valid? [True, True] Translation: X:184.20, Y:15.80, Z:-0.83 [[ 9.90489515e-01 -1.37345011e-01 -8.17738612e-03 1.84203026e+02] [ 1.37342964e-01 9.90523219e-01 -8.14023697e-04 1.57990286e+01] [ 8.21169291e-03 -3.16824510e-04 9.99966233e-01 -8.29588919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42140051299998 meters 0.04479037226920386 Centerline is valid? [True, True] Translation: X:184.26, Y:15.81, Z:-0.83 [[ 9.90567189e-01 -1.36843060e-01 -7.11478357e-03 1.84260419e+02] [ 1.36841492e-01 9.90592703e-01 -7.09103950e-04 1.58128804e+01] [ 7.14488865e-03 -2.71182492e-04 9.99974438e-01 -8.28549789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48140051299998 meters 0.04072613008123965 Centerline is valid? [True, True] Translation: X:184.32, Y:15.83, Z:-0.83 [[ 9.90807354e-01 -1.35109616e-01 -6.79553917e-03 1.84318414e+02] [ 1.35108137e-01 9.90830627e-01 -6.78378575e-04 1.58271567e+01] [ 6.82488381e-03 -2.45990154e-04 9.99976680e-01 -8.27808327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54140051299999 meters 0.03808039502907304 Centerline is valid? [True, True] Translation: X:184.38, Y:15.84, Z:-0.83 [[ 9.91006022e-01 -1.33655357e-01 -6.58102625e-03 1.84376180e+02] [ 1.33653934e-01 9.91027847e-01 -6.57607346e-04 1.58382071e+01] [ 6.60987302e-03 -2.27887208e-04 9.99978129e-01 -8.26963586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601400513 meters 0.037947935009874374 Centerline is valid? [True, True] Translation: X:184.43, Y:15.86, Z:-0.83 [[ 9.91564135e-01 -1.29406590e-01 -7.38240215e-03 1.84434041e+02] [ 1.29404679e-01 9.91591592e-01 -7.37906784e-04 1.58637861e+01] [ 7.41581790e-03 -2.23635479e-04 9.99972477e-01 -8.28856652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661400513 meters 0.03768764478502292 Centerline is valid? [True, True] Translation: X:184.49, Y:15.89, Z:-0.83 [[ 9.91478175e-01 -1.30003305e-01 -8.37671644e-03 1.84490691e+02] [ 1.30000858e-01 9.91513527e-01 -8.38286429e-04 1.58872471e+01] [ 8.41460767e-03 -2.57837629e-04 9.99964563e-01 -8.29938391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721400513 meters 0.04210021776042038 Centerline is valid? [True, True] Translation: X:184.55, Y:15.89, Z:-0.83 [[ 9.91154609e-01 -1.32332482e-01 -1.00326734e-02 1.84548939e+02] [ 1.32329080e-01 9.91205329e-01 -1.00503877e-03 1.58926516e+01] [ 1.00774386e-02 -3.31465637e-04 9.99949166e-01 -8.32814936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781400513 meters 0.05014587840804071 Centerline is valid? [True, True] Translation: X:184.61, Y:15.90, Z:-0.84 [[ 9.90047082e-01 -1.40174839e-01 -1.25614615e-02 1.84607576e+02] [ 1.40170131e-01 9.90126633e-01 -1.25878485e-03 1.58979482e+01] [ 1.26138876e-02 -5.14485441e-04 9.99920309e-01 -8.39280021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841400513 meters 0.04494855177989216 Centerline is valid? [True, True] Translation: X:184.67, Y:15.91, Z:-0.83 [[ 9.89539410e-01 -1.43896110e-01 -1.02793433e-02 1.84665943e+02] [ 1.43893156e-01 9.89592693e-01 -1.03023957e-03 1.59143567e+01] [ 1.03206105e-02 -4.59664504e-04 9.99946635e-01 -8.33769941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901400513 meters 0.04991145999461593 Centerline is valid? [True, True] Translation: X:184.72, Y:15.93, Z:-0.83 [[ 9.89521608e-01 -1.43976933e-01 -1.08457548e-02 1.84722893e+02] [ 1.43973644e-01 9.89580925e-01 -1.08752618e-03 1.59311032e+01] [ 1.08893308e-02 -4.85372191e-04 9.99940592e-01 -8.33254870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96140051299997 meters 0.04992724274395268 Centerline is valid? [True, True] Translation: X:184.78, Y:15.95, Z:-0.83 [[ 9.89769246e-01 -1.42333783e-01 -9.89616290e-03 1.84779612e+02] [ 1.42330959e-01 9.89818626e-01 -9.92731051e-04 1.59522940e+01] [ 9.93670553e-03 -4.25955689e-04 9.99950539e-01 -8.31498710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02140051299997 meters 0.04551818663218375 Centerline is valid? [True, True] Translation: X:184.84, Y:15.97, Z:-0.83 [[ 9.89740736e-01 -1.42650715e-01 -8.00311883e-03 1.84836827e+02] [ 1.42648870e-01 9.89773031e-01 -8.03869466e-04 1.59676748e+01] [ 8.03594374e-03 -3.46013499e-04 9.99967651e-01 -8.28923814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08140051299998 meters 0.04692116644726916 Centerline is valid? [True, True] Translation: X:184.90, Y:15.98, Z:-0.83 [[ 9.89380194e-01 -1.45131029e-01 -7.98844580e-03 1.84895567e+02] [ 1.45129266e-01 9.89412377e-01 -8.03045448e-04 1.59847749e+01] [ 8.02041396e-03 -3.64840013e-04 9.99967769e-01 -8.28879870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14140051299998 meters 0.05216953325644155 Centerline is valid? [True, True] Translation: X:184.96, Y:15.99, Z:-0.83 [[ 9.88544866e-01 -1.50487424e-01 -1.15144349e-02 1.84955660e+02] [ 1.50484123e-01 9.88611748e-01 -1.15754434e-03 1.59907966e+01] [ 1.15575015e-02 -5.88455120e-04 9.99933037e-01 -8.34528711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20140051299998 meters 0.06254790937331416 Centerline is valid? [True, True] Translation: X:185.02, Y:15.99, Z:-0.83 [[ 9.87067916e-01 -1.59858733e-01 -1.19211742e-02 1.85016067e+02] [ 1.59855873e-01 9.87139637e-01 -1.19850638e-03 1.59941975e+01] [ 1.19594553e-02 -7.22662518e-04 9.99928222e-01 -8.33707914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26140051299998 meters 0.06595120100093266 Centerline is valid? [True, True] Translation: X:185.08, Y:16.01, Z:-0.83 [[ 9.86507131e-01 -1.63371697e-01 -1.06475394e-02 1.85075033e+02] [ 1.63369618e-01 9.86564353e-01 -1.07060783e-03 1.60063738e+01] [ 1.06793898e-02 -6.83322180e-04 9.99942740e-01 -8.29750441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321400513 meters 0.06035437712432287 Centerline is valid? [True, True] Translation: X:185.13, Y:16.02, Z:-0.83 [[ 9.86532911e-01 -1.63186753e-01 -1.10859740e-02 1.85132972e+02] [ 1.63184471e-01 9.86594944e-01 -1.11612982e-03 1.60212440e+01] [ 1.11195035e-02 -7.07960003e-04 9.99937926e-01 -8.31246362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381400513 meters 0.06325108769085189 Centerline is valid? [True, True] Translation: X:185.19, Y:16.03, Z:-0.83 [[ 9.86423337e-01 -1.63802063e-01 -1.17424094e-02 1.85190609e+02] [ 1.63799534e-01 9.86492936e-01 -1.18331714e-03 1.60308629e+01] [ 1.17776338e-02 -7.56149557e-04 9.99930355e-01 -8.31552405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441400513 meters 0.06570545091531788 Centerline is valid? [True, True] Translation: X:185.25, Y:16.03, Z:-0.83 [[ 9.86553673e-01 -1.63097948e-01 -1.05313972e-02 1.85249083e+02] [ 1.63095868e-01 9.86609654e-01 -1.06181216e-03 1.60333538e+01] [ 1.05635576e-02 -6.70092689e-04 9.99943980e-01 -8.29547098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501400513 meters 0.05555333100455372 Centerline is valid? [True, True] Translation: X:185.31, Y:16.05, Z:-0.82 [[ 9.87162529e-01 -1.59491855e-01 -8.51411259e-03 1.85307594e+02] [ 1.59490359e-01 9.87199113e-01 -8.58697931e-04 1.60532752e+01] [ 8.54207972e-03 -5.10244456e-04 9.99963386e-01 -8.24436674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561400513 meters 0.056331911208424 Centerline is valid? [True, True] Translation: X:185.37, Y:16.06, Z:-0.83 [[ 9.87767113e-01 -1.55654862e-01 -9.36449164e-03 1.85365803e+02] [ 1.55652879e-01 9.87811363e-01 -9.44716103e-04 1.60643957e+01] [ 9.39740090e-03 -5.24450582e-04 9.99955706e-01 -8.26588779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621400513 meters 0.055789238192857235 Centerline is valid? [True, True] Translation: X:185.42, Y:16.09, Z:-0.82 [[ 9.88714834e-01 -1.49580793e-01 -8.28032033e-03 1.85423868e+02] [ 1.49579029e-01 9.88749420e-01 -8.35441492e-04 1.60887109e+01] [ 8.31212793e-03 -4.12548880e-04 9.99965369e-01 -8.24811715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681400513 meters 0.0507147158841878 Centerline is valid? [True, True] Translation: X:185.48, Y:16.11, Z:-0.82 [[ 9.88820071e-01 -1.48928797e-01 -7.42164636e-03 1.85481331e+02] [ 1.48927356e-01 9.88847855e-01 -7.49540433e-04 1.61051784e+01] [ 7.45050724e-03 -3.64125547e-04 9.99972178e-01 -8.22498063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74140051299997 meters 0.05331748634221227 Centerline is valid? [True, True] Translation: X:185.54, Y:16.12, Z:-0.83 [[ 9.87850072e-01 -1.55108469e-01 -9.67462797e-03 1.85539776e+02] [ 1.55106308e-01 9.87897301e-01 -9.77812858e-04 1.61244558e+01] [ 9.70920591e-03 -5.34663328e-04 9.99952722e-01 -8.25325525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80140051299998 meters 0.062660541580147 Centerline is valid? [True, True] Translation: X:185.60, Y:16.13, Z:-0.83 [[ 9.86639817e-01 -1.62586705e-01 -1.03650507e-02 1.85599509e+02] [ 1.62584634e-01 9.86694045e-01 -1.04771306e-03 1.61266484e+01] [ 1.03974780e-02 -6.51482562e-04 9.99945733e-01 -8.26975082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86140051299998 meters 0.07266729297222353 Centerline is valid? [True, True] Translation: X:185.66, Y:16.14, Z:-0.83 [[ 9.85294421e-01 -1.70436729e-01 -1.20923639e-02 1.85658745e+02] [ 1.70434498e-01 9.85368250e-01 -1.22239254e-03 1.61392103e+01] [ 1.21237720e-02 -8.56539411e-04 9.99926138e-01 -8.30436765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92140051299998 meters 0.07629315702341496 Centerline is valid? [True, True] Translation: X:185.72, Y:16.15, Z:-0.83 [[ 9.84301026e-01 -1.76235838e-01 -9.61355257e-03 1.85718789e+02] [ 1.76234702e-01 9.84347695e-01 -9.71871711e-04 1.61486863e+01] [ 9.63435695e-03 -7.37627252e-04 9.99953316e-01 -8.25406611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98140051299998 meters 0.07496202100812636 Centerline is valid? [True, True] Translation: X:185.78, Y:16.16, Z:-0.82 [[ 9.83752996e-01 -1.79301508e-01 -9.00066878e-03 1.85777619e+02] [ 1.79300639e-01 9.83793908e-01 -9.09971524e-04 1.61628490e+01] [ 9.01796238e-03 -7.18638448e-04 9.99959079e-01 -8.23609077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04140051299999 meters 0.07810891632166582 Centerline is valid? [True, True] Translation: X:185.84, Y:16.17, Z:-0.82 [[ 9.84374165e-01 -1.75802547e-01 -1.00482784e-02 1.85836053e+02] [ 1.75801280e-01 9.84425151e-01 -1.01613004e-03 1.61681727e+01] [ 1.00704162e-02 -7.66248040e-04 9.99948998e-01 -8.24699406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101400513 meters 0.07506473959713236 Centerline is valid? [True, True] Translation: X:185.89, Y:16.18, Z:-0.82 [[ 9.85592016e-01 -1.68808474e-01 -1.05866309e-02 1.85894854e+02] [ 1.68806663e-01 9.85648601e-01 -1.07080157e-03 1.61802079e+01] [ 1.06154584e-02 -7.31720368e-04 9.99943387e-01 -8.24621698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161400513 meters 0.05869459417710494 Centerline is valid? [True, True] Translation: X:185.95, Y:16.21, Z:-0.82 [[ 9.87227335e-01 -1.58986777e-01 -1.02661758e-02 1.85952166e+02] [ 1.58984543e-01 9.87280526e-01 -1.03852552e-03 1.62130605e+01] [ 1.03007073e-02 -6.06902499e-04 9.99946762e-01 -8.23659824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221400513 meters 0.05231580321354369 Centerline is valid? [True, True] Translation: X:186.01, Y:16.23, Z:-0.82 [[ 9.87915180e-01 -1.54776248e-01 -8.24073531e-03 1.86011168e+02] [ 1.54774661e-01 9.87949447e-01 -8.33761013e-04 1.62256699e+01] [ 8.27047629e-03 -4.51771854e-04 9.99965697e-01 -8.19743838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281400513 meters 0.048883114619958576 Centerline is valid? [True, True] Translation: X:186.07, Y:16.24, Z:-0.82 [[ 9.88527140e-01 -1.50679180e-01 -1.04822884e-02 1.86071158e+02] [ 1.50676382e-01 9.88582573e-01 -1.06070954e-03 1.62377813e+01] [ 1.05224345e-02 -5.30893123e-04 9.99944497e-01 -8.21746662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341400513 meters 0.04786788087961312 Centerline is valid? [True, True] Translation: X:186.13, Y:16.25, Z:-0.82 [[ 9.88864071e-01 -1.48322449e-01 -1.21778190e-02 1.86129998e+02] [ 1.48318491e-01 9.88938879e-01 -1.23253772e-03 1.62470140e+01] [ 1.22259317e-02 -5.87383468e-04 9.99925088e-01 -8.24155925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401400513 meters 0.05049371708598166 Centerline is valid? [True, True] Translation: X:186.19, Y:16.26, Z:-0.82 [[ 9.89225719e-01 -1.46110550e-01 -9.17522364e-03 1.86188374e+02] [ 1.46108206e-01 9.89268179e-01 -9.28838989e-04 1.62570476e+01] [ 9.21246996e-03 -4.21744049e-04 9.99957475e-01 -8.19538384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46140051299997 meters 0.04829844518345646 Centerline is valid? [True, True] Translation: X:186.25, Y:16.27, Z:-0.82 [[ 9.89125240e-01 -1.46786171e-01 -9.22386292e-03 1.86246175e+02] [ 1.46783821e-01 9.89168153e-01 -9.34865286e-04 1.62678489e+01] [ 9.26117674e-03 -4.29214996e-04 9.99957022e-01 -8.17832898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52140051299997 meters 0.04869704732802432 Centerline is valid? [True, True] Translation: X:186.31, Y:16.28, Z:-0.81 [[ 9.88551112e-01 -1.50698420e-01 -7.52892801e-03 1.86306098e+02] [ 1.50696964e-01 9.88579709e-01 -7.63513396e-04 1.62761446e+01] [ 7.55800572e-03 -3.79814578e-04 9.99971366e-01 -8.14940414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58140051299998 meters 0.059878689310297 Centerline is valid? [True, True] Translation: X:186.37, Y:16.27, Z:-0.81 [[ 9.87088248e-01 -1.60060341e-01 -6.12193734e-03 1.86367071e+02] [ 1.60059558e-01 9.87107164e-01 -6.20855738e-04 1.62749494e+01] [ 6.14238259e-03 -3.67035180e-04 9.99981068e-01 -8.14597293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64140051299998 meters 0.06398388493843538 Centerline is valid? [True, True] Translation: X:186.43, Y:16.28, Z:-0.81 [[ 9.86120588e-01 -1.65931298e-01 -5.74369809e-03 1.86427798e+02] [ 1.65930707e-01 9.86137243e-01 -5.82518738e-04 1.62779240e+01] [ 5.76073269e-03 -3.78622166e-04 9.99983335e-01 -8.13573315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70140051299998 meters 0.05690867018202865 Centerline is valid? [True, True] Translation: X:186.49, Y:16.30, Z:-0.81 [[ 9.85705588e-01 -1.68383691e-01 -5.60598979e-03 1.86486479e+02] [ 1.68383168e-01 9.85721454e-01 -5.68588526e-04 1.62973470e+01] [ 5.62168545e-03 -3.83493433e-04 9.99984125e-01 -8.11288274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76140051299998 meters 0.07074011305242646 Centerline is valid? [True, True] Translation: X:186.55, Y:16.30, Z:-0.81 [[ 9.86118087e-01 -1.65907804e-01 -6.76165739e-03 1.86545957e+02] [ 1.65906984e-01 9.86141168e-01 -6.85911607e-04 1.62953717e+01] [ 6.78174680e-03 -4.45416340e-04 9.99976904e-01 -8.13809276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821400513 meters 0.06161439507415929 Centerline is valid? [True, True] Translation: X:186.60, Y:16.32, Z:-0.82 [[ 9.86644460e-01 -1.62685612e-01 -8.13023532e-03 1.86604101e+02] [ 1.62684317e-01 9.86677826e-01 -8.24825545e-04 1.63185322e+01] [ 8.15611016e-03 -5.08852224e-04 9.99966609e-01 -8.15186077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881400513 meters 0.062072671772255714 Centerline is valid? [True, True] Translation: X:186.66, Y:16.33, Z:-0.82 [[ 9.86558789e-01 -1.63086238e-01 -1.02291341e-02 1.86662254e+02] [ 1.63084197e-01 9.86611608e-01 -1.03895127e-03 1.63313190e+01] [ 1.02616211e-02 -6.43223623e-04 9.99947141e-01 -8.17367877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941400513 meters 0.07568089501220092 Centerline is valid? [True, True] Translation: X:186.72, Y:16.33, Z:-0.83 [[ 9.86347718e-01 -1.64032209e-01 -1.45469626e-02 1.86721038e+02] [ 1.64028165e-01 9.86454547e-01 -1.47885606e-03 1.63296786e+01] [ 1.45924975e-02 -9.27445283e-04 9.99893094e-01 -8.25150386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001400513 meters 0.06458928410594926 Centerline is valid? [True, True] Translation: X:186.78, Y:16.35, Z:-0.82 [[ 9.86555494e-01 -1.62835411e-01 -1.38883361e-02 1.86779097e+02] [ 1.62831601e-01 9.86652865e-01 -1.41230691e-03 1.63493569e+01] [ 1.39329401e-02 -8.68140849e-04 9.99902555e-01 -8.21240432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061400513 meters 0.05482654222154069 Centerline is valid? [True, True] Translation: X:186.84, Y:16.37, Z:-0.82 [[ 9.87620433e-01 -1.56545434e-01 -9.97029152e-03 1.86837953e+02] [ 1.56543150e-01 9.87670600e-01 -1.01389641e-03 1.63708713e+01] [ 1.00060847e-02 -5.59436026e-04 9.99949781e-01 -8.15617784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121400513 meters 0.04812382496996445 Centerline is valid? [True, True] Translation: X:186.90, Y:16.39, Z:-0.81 [[ 9.88768448e-01 -1.49144959e-01 -9.63002159e-03 1.86896772e+02] [ 1.49142478e-01 9.88815232e-01 -9.79292801e-04 1.63875158e+01] [ 9.66836861e-03 -4.67951464e-04 9.99953151e-01 -8.14321071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181400513 meters 0.03692318836158725 Centerline is valid? [True, True] Translation: X:186.95, Y:16.41, Z:-0.81 [[ 9.90710950e-01 -1.35779099e-01 -7.47326858e-03 1.86954330e+02] [ 1.35777224e-01 9.90739102e-01 -7.59989744e-04 1.64133427e+01] [ 7.50725012e-03 -2.61769501e-04 9.99971786e-01 -8.09535952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24140051299997 meters 0.026307815563483116 Centerline is valid? [True, True] Translation: X:187.01, Y:16.44, Z:-0.81 [[ 9.92198649e-01 -1.24463863e-01 -7.11245980e-03 1.87011976e+02] [ 1.24461874e-01 9.92224127e-01 -7.23315781e-04 1.64433323e+01] [ 7.14718090e-03 -1.67557134e-04 9.99974445e-01 -8.08691453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30140051299998 meters 0.021251379873236585 Centerline is valid? [True, True] Translation: X:187.07, Y:16.46, Z:-0.81 [[ 9.92486396e-01 -1.22257207e-01 -4.89177995e-03 1.87069331e+02] [ 1.22256239e-01 9.92498446e-01 -4.97572684e-04 1.64597821e+01] [ 4.91591584e-03 -1.04216497e-04 9.99987911e-01 -8.05276084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36140051299998 meters 0.02488002573250052 Centerline is valid? [True, True] Translation: X:187.13, Y:16.47, Z:-0.80 [[ 9.92281454e-01 -1.23925972e-01 -4.45759065e-03 1.87128087e+02] [ 1.23925184e-01 9.92291461e-01 -4.53563191e-04 1.64669170e+01] [ 4.47943740e-03 -1.02345401e-04 9.99989962e-01 -8.04811945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42140051299998 meters 0.024646401975633097 Centerline is valid? [True, True] Translation: X:187.19, Y:16.48, Z:-0.81 [[ 9.92367547e-01 -1.23109251e-01 -7.12494751e-03 1.87187274e+02] [ 1.23107216e-01 9.92393111e-01 -7.25121954e-04 1.64755248e+01] [ 7.16001804e-03 -1.57544956e-04 9.99974354e-01 -8.09544699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48140051299998 meters 0.013918703178342842 Centerline is valid? [True, True] Translation: X:187.25, Y:16.50, Z:-0.81 [[ 9.93611275e-01 -1.12740066e-01 -5.12939157e-03 1.87245058e+02] [ 1.12738873e-01 9.93624514e-01 -5.22085613e-04 1.65004185e+01] [ 5.15554917e-03 -5.95316752e-05 9.99986708e-01 -8.05280538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54140051299999 meters 0.007077808223964187 Centerline is valid? [True, True] Translation: X:187.30, Y:16.53, Z:-0.81 [[ 9.94869793e-01 -1.00991781e-01 -5.89537901e-03 1.87303946e+02] [ 1.00989998e-01 9.94887260e-01 -5.99989189e-04 1.65258873e+01] [ 5.92583145e-03 1.53680296e-06 9.99982442e-01 -8.05826037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601400513 meters 0.009055534811564667 Centerline is valid? [True, True] Translation: X:187.36, Y:16.54, Z:-0.81 [[ 9.95373143e-01 -9.57800269e-02 -7.64807588e-03 1.87363919e+02] [ 9.57768751e-02 9.95402524e-01 -7.78155008e-04 1.65397830e+01] [ 7.68744574e-03 4.20457884e-05 9.99970450e-01 -8.08702804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661400513 meters 0.013257358844394914 Centerline is valid? [True, True] Translation: X:187.42, Y:16.55, Z:-0.81 [[ 9.95892826e-01 -9.03484088e-02 -5.88591665e-03 1.87423414e+02] [ 9.03464477e-02 9.95910217e-01 -5.98770703e-04 1.65523558e+01] [ 5.91594251e-03 6.45397858e-05 9.99982499e-01 -8.07150794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721400513 meters 0.018277064750496452 Centerline is valid? [True, True] Translation: X:187.48, Y:16.56, Z:-0.81 [[ 9.96247644e-01 -8.63259512e-02 -6.20178720e-03 1.87483444e+02] [ 8.63236979e-02 9.96266943e-01 -6.30599226e-04 1.65623266e+01] [ 6.23307265e-03 9.28717885e-05 9.99980570e-01 -8.06866023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781400513 meters 0.02236737829486412 Centerline is valid? [True, True] Translation: X:187.54, Y:16.57, Z:-0.81 [[ 9.96499912e-01 -8.30964417e-02 -9.10529768e-03 1.87544427e+02] [ 8.30914545e-02 9.96541496e-01 -9.25306424e-04 1.65724085e+01] [ 9.15069665e-03 1.65495343e-04 9.99958118e-01 -8.12354476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841400513 meters 0.02636486698473172 Centerline is valid? [True, True] Translation: X:187.61, Y:16.58, Z:-0.81 [[ 9.96879062e-01 -7.85069667e-02 -8.29403591e-03 1.87605551e+02] [ 7.85026715e-02 9.96913547e-01 -8.42670560e-04 1.65775441e+01] [ 8.33459226e-03 1.88936662e-04 9.99965249e-01 -8.12192090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901400513 meters 0.030719268117340714 Centerline is valid? [True, True] Translation: X:187.66, Y:16.59, Z:-0.81 [[ 9.97199425e-01 -7.43709795e-02 -7.89080366e-03 1.87664519e+02] [ 7.43669646e-02 9.97230621e-01 -8.01416751e-04 1.65917087e+01] [ 7.92855318e-03 2.12357207e-04 9.99968546e-01 -8.10539582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96140051299997 meters 0.03455766703037517 Centerline is valid? [True, True] Translation: X:187.73, Y:16.60, Z:-0.81 [[ 9.97318820e-01 -7.29469355e-02 -5.82366029e-03 1.87725154e+02] [ 7.29447252e-02 9.97335810e-01 -5.91337144e-04 1.65967115e+01] [ 5.85128118e-03 1.64946363e-04 9.99982868e-01 -8.08347847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02140051299997 meters 0.030526222936198017 Centerline is valid? [True, True] Translation: X:187.79, Y:16.60, Z:-0.81 [[ 9.97328985e-01 -7.26508122e-02 -7.53359363e-03 1.87787759e+02] [ 7.26471069e-02 9.97357415e-01 -7.64696818e-04 1.65963942e+01] [ 7.56924131e-03 2.15360520e-04 9.99971330e-01 -8.10910307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08140051299998 meters 0.03439058414134611 Centerline is valid? [True, True] Translation: X:187.85, Y:16.61, Z:-0.81 [[ 9.97406309e-01 -7.16459671e-02 -6.89276242e-03 1.87847607e+02] [ 7.16428426e-02 9.97430105e-01 -6.99463490e-04 1.66059565e+01] [ 6.92516248e-03 2.03832206e-04 9.99976000e-01 -8.09146622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14140051299998 meters 0.0374003839781637 Centerline is valid? [True, True] Translation: X:187.91, Y:16.61, Z:-0.81 [[ 9.97415478e-01 -7.16115100e-02 -5.84431465e-03 1.87907921e+02] [ 7.16092636e-02 9.97432585e-01 -5.93004606e-04 1.66125399e+01] [ 5.87177583e-03 1.72964905e-04 9.99982746e-01 -8.08137421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20140051299998 meters 0.0337390014602876 Centerline is valid? [True, True] Translation: X:187.97, Y:16.61, Z:-0.81 [[ 9.97465521e-01 -7.08611638e-02 -6.42108964e-03 1.87970033e+02] [ 7.08584373e-02 9.97486169e-01 -6.51407587e-04 1.66102025e+01] [ 6.45110761e-03 1.94768230e-04 9.99979172e-01 -8.08273983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26140051299998 meters 0.034029689857752767 Centerline is valid? [True, True] Translation: X:188.03, Y:16.61, Z:-0.81 [[ 9.97696135e-01 -6.75485979e-02 -6.29351709e-03 1.88031061e+02] [ 6.75459135e-02 9.97715963e-01 -6.38351941e-04 1.66102460e+01] [ 6.32226224e-03 2.11779903e-04 9.99979992e-01 -8.07354996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321400513 meters 0.03914155976400725 Centerline is valid? [True, True] Translation: X:188.09, Y:16.62, Z:-0.81 [[ 9.97809922e-01 -6.58568581e-02 -6.18334468e-03 1.88090613e+02] [ 6.58542349e-02 9.97829057e-01 -6.27099670e-04 1.66210700e+01] [ 6.21121980e-03 2.18526840e-04 9.99980686e-01 -8.07694267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381400513 meters 0.04392370574858531 Centerline is valid? [True, True] Translation: X:188.15, Y:16.63, Z:-0.81 [[ 9.98307229e-01 -5.77010884e-02 -7.29803270e-03 1.88149739e+02] [ 5.76972167e-02 9.98333854e-01 -7.40128075e-04 1.66324236e+01] [ 7.32857930e-03 3.17799033e-04 9.99973095e-01 -8.08753706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441400513 meters 0.056916698785764185 Centerline is valid? [True, True] Translation: X:188.21, Y:16.65, Z:-0.81 [[ 9.98738458e-01 -4.95591382e-02 -8.08607168e-03 1.88207457e+02] [ 4.95541190e-02 9.98771103e-01 -8.20014696e-04 1.66524698e+01] [ 8.11677395e-03 4.18282054e-04 9.99966971e-01 -8.10636615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501400513 meters 0.06032636274349463 Centerline is valid? [True, True] Translation: X:188.27, Y:16.66, Z:-0.81 [[ 9.98825132e-01 -4.79347243e-02 -7.11467445e-03 1.88266262e+02] [ 4.79307975e-02 9.98850398e-01 -7.21524316e-04 1.66607394e+01] [ 7.14108148e-03 3.79664600e-04 9.99974430e-01 -8.09084395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561400513 meters 0.053979722680780114 Centerline is valid? [True, True] Translation: X:188.33, Y:16.65, Z:-0.81 [[ 9.98836535e-01 -4.78234454e-02 -6.20433468e-03 1.88328794e+02] [ 4.78204573e-02 9.98855749e-01 -6.29157301e-04 1.66497099e+01] [ 6.22732384e-03 3.31731176e-04 9.99980555e-01 -8.06894482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621400513 meters 0.05820143989230462 Centerline is valid? [True, True] Translation: X:188.39, Y:16.65, Z:-0.81 [[ 9.98799580e-01 -4.85683610e-02 -6.36493512e-03 1.88389169e+02] [ 4.85652329e-02 9.98819805e-01 -6.45187510e-04 1.66530162e+01] [ 6.38875896e-03 3.35298458e-04 9.99979535e-01 -8.07372012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681400513 meters 0.05834716208997741 Centerline is valid? [True, True] Translation: X:188.45, Y:16.65, Z:-0.81 [[ 9.98725469e-01 -4.98769529e-02 -7.72832077e-03 1.88450661e+02] [ 4.98723822e-02 9.98755291e-01 -7.83132668e-04 1.66513593e+01] [ 7.75776153e-03 3.96704774e-04 9.99969829e-01 -8.09425282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74140051299997 meters 0.050324525242269505 Centerline is valid? [True, True] Translation: X:188.51, Y:16.64, Z:-0.81 [[ 9.98558496e-01 -5.28691446e-02 -9.26194413e-03 1.88512550e+02] [ 5.28627070e-02 9.98601348e-01 -9.38675356e-04 1.66396009e+01] [ 9.29861686e-03 4.47710813e-04 9.99956667e-01 -8.10550605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80140051299998 meters 0.051619317677134784 Centerline is valid? [True, True] Translation: X:188.57, Y:16.64, Z:-0.80 [[ 9.98574861e-01 -5.32755292e-02 -3.15669705e-03 1.88571758e+02] [ 5.32747834e-02 9.98579839e-01 -3.19956952e-04 1.66380222e+01] [ 3.16925990e-03 1.51328618e-04 9.99994966e-01 -8.00554990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86140051299998 meters 0.05086519595172163 Centerline is valid? [True, True] Translation: X:188.63, Y:16.64, Z:-0.80 [[ 9.98582291e-01 -5.30219127e-02 -4.69944638e-03 1.88633089e+02] [ 5.30202562e-02 9.98593323e-01 -4.76455312e-04 1.66369159e+01] [ 4.71809835e-03 2.26613986e-04 9.99988844e-01 -8.01759053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92140051299998 meters 0.05428655287458452 Centerline is valid? [True, True] Translation: X:188.69, Y:16.64, Z:-0.81 [[ 9.98616579e-01 -5.22102351e-02 -6.24651033e-03 1.88692765e+02] [ 5.22072930e-02 9.98636069e-01 -6.33243593e-04 1.66385577e+01] [ 6.27105232e-03 3.06254155e-04 9.99980290e-01 -8.05457796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98140051299998 meters 0.05243719994367047 Centerline is valid? [True, True] Translation: X:188.75, Y:16.64, Z:-0.80 [[ 9.98706879e-01 -5.06470346e-02 -4.40991307e-03 1.88753728e+02] [ 5.06455529e-02 9.98716590e-01 -4.47083800e-04 1.66388249e+01] [ 4.42689681e-03 2.23163181e-04 9.99990176e-01 -8.02703819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04140051299999 meters 0.05656593484789924 Centerline is valid? [True, True] Translation: X:188.81, Y:16.64, Z:-0.80 [[ 9.98923330e-01 -4.60988172e-02 -5.20376801e-03 1.88814314e+02] [ 4.60966925e-02 9.98936843e-01 -5.27564162e-04 1.66449413e+01] [ 5.22255567e-03 2.87119656e-04 9.99986321e-01 -8.03051767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101400513 meters 0.06410585571876756 Centerline is valid? [True, True] Translation: X:188.87, Y:16.66, Z:-0.80 [[ 9.99039576e-01 -4.33441922e-02 -6.41924666e-03 1.88872957e+02] [ 4.33409023e-02 9.99060130e-01 -6.50797821e-04 1.66561517e+01] [ 6.44142171e-03 3.71956836e-04 9.99979185e-01 -8.04790895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161400513 meters 0.06442936367575282 Centerline is valid? [True, True] Translation: X:188.93, Y:16.66, Z:-0.80 [[ 9.99184805e-01 -3.98407586e-02 -6.51448774e-03 1.88932880e+02] [ 3.98372961e-02 9.99205962e-01 -6.60463653e-04 1.66617806e+01] [ 6.53562836e-03 4.00405669e-04 9.99978562e-01 -8.04887502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221400513 meters 0.06578229168547084 Centerline is valid? [True, True] Translation: X:188.99, Y:16.67, Z:-0.80 [[ 9.99291482e-01 -3.71531512e-02 -6.01481237e-03 1.88993207e+02] [ 3.71501508e-02 9.99309509e-01 -6.09834678e-04 1.66671396e+01] [ 6.03331648e-03 3.85951412e-04 9.99981725e-01 -8.03409084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281400513 meters 0.06831621168690923 Centerline is valid? [True, True] Translation: X:189.05, Y:16.68, Z:-0.81 [[ 9.99411326e-01 -3.34596114e-02 -7.57992170e-03 1.89053139e+02] [ 3.34547402e-02 9.99439938e-01 -7.68555439e-04 1.66757022e+01] [ 7.60139204e-03 5.14518699e-04 9.99970977e-01 -8.05600161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341400513 meters 0.07173188851405592 Centerline is valid? [True, True] Translation: X:189.11, Y:16.68, Z:-0.81 [[ 9.99392527e-01 -3.32319286e-02 -1.04984083e-02 1.89111152e+02] [ 3.32225670e-02 9.99447411e-01 -1.06491102e-03 1.66796887e+01] [ 1.05279960e-02 7.15480041e-04 9.99944323e-01 -8.09841954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401400513 meters 0.0707620833087735 Centerline is valid? [True, True] Translation: X:189.17, Y:16.68, Z:-0.81 [[ 9.99325453e-01 -3.52138156e-02 -1.04224213e-02 1.89170974e+02] [ 3.52046926e-02 9.99379563e-01 -1.05755885e-03 1.66806011e+01] [ 1.04531955e-02 6.89927342e-04 9.99945126e-01 -8.10641417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46140051299997 meters 0.06543703268601728 Centerline is valid? [True, True] Translation: X:189.23, Y:16.67, Z:-0.80 [[ 9.99246427e-01 -3.81718516e-02 -7.03474642e-03 1.89232711e+02] [ 3.81677681e-02 9.99271090e-01 -7.13865892e-04 1.66744875e+01] [ 7.05686831e-03 4.44827372e-04 9.99975001e-01 -8.04809602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52140051299997 meters 0.05939616017821538 Centerline is valid? [True, True] Translation: X:189.29, Y:16.67, Z:-0.80 [[ 9.99036406e-01 -4.33833140e-02 -6.64435865e-03 1.89294895e+02] [ 4.33797860e-02 9.99058427e-01 -6.74242439e-04 1.66654249e+01] [ 6.66735337e-03 3.85361887e-04 9.99977699e-01 -8.03641742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58140051299998 meters 0.0596579424832135 Centerline is valid? [True, True] Translation: X:189.36, Y:16.66, Z:-0.80 [[ 9.98891825e-01 -4.66934561e-02 -5.90281899e-03 1.89355409e+02] [ 4.66907291e-02 9.98909214e-01 -5.99026436e-04 1.66610115e+01] [ 5.92435089e-03 3.22755688e-04 9.99982399e-01 -8.03110892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64140051299998 meters 0.06331781026290764 Centerline is valid? [True, True] Translation: X:189.41, Y:16.66, Z:-0.80 [[ 9.98852570e-01 -4.76209995e-02 -5.07780616e-03 1.89413747e+02] [ 4.76189924e-02 9.98865439e-01 -5.15514296e-04 1.66586397e+01] [ 5.09659439e-03 2.73122767e-04 9.99986975e-01 -8.01089789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70140051299998 meters 0.06425338840766286 Centerline is valid? [True, True] Translation: X:189.47, Y:16.65, Z:-0.80 [[ 9.98903262e-01 -4.63291044e-02 -6.77397249e-03 1.89474787e+02] [ 4.63254998e-02 9.98926161e-01 -6.88153294e-04 1.66505469e+01] [ 6.79857986e-03 3.73590909e-04 9.99976820e-01 -8.04943221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76140051299998 meters 0.06172756014071708 Centerline is valid? [True, True] Translation: X:189.54, Y:16.65, Z:-0.81 [[ 9.98991183e-01 -4.41405929e-02 -8.25982089e-03 1.89535922e+02] [ 4.41351582e-02 9.99025217e-01 -8.39182834e-04 1.66472106e+01] [ 8.28881138e-03 4.73787750e-04 9.99965535e-01 -8.06549477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821400513 meters 0.06577563744758375 Centerline is valid? [True, True] Translation: X:189.60, Y:16.65, Z:-0.81 [[ 9.99246681e-01 -3.77611992e-02 -8.95339174e-03 1.89595781e+02] [ 3.77545576e-02 9.99286628e-01 -9.09720324e-04 1.66510423e+01] [ 8.98135678e-03 5.71003670e-04 9.99959504e-01 -8.07397243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881400513 meters 0.07399600776664957 Centerline is valid? [True, True] Translation: X:189.65, Y:16.66, Z:-0.81 [[ 9.99372849e-01 -3.43929640e-02 -8.42806870e-03 1.89654073e+02] [ 3.43869593e-02 9.99408227e-01 -8.56386793e-04 1.66624025e+01] [ 8.45253487e-03 5.66034054e-04 9.99964116e-01 -8.06846893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941400513 meters 0.0706513131760277 Centerline is valid? [True, True] Translation: X:189.71, Y:16.66, Z:-0.80 [[ 9.99413409e-01 -3.36915726e-02 -6.14131000e-03 1.89713196e+02] [ 3.36883680e-02 9.99432191e-01 -6.24537894e-04 1.66606852e+01] [ 6.15886457e-03 4.17280834e-04 9.99980947e-01 -8.03654274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001400513 meters 0.07447619244026944 Centerline is valid? [True, True] Translation: X:189.77, Y:16.67, Z:-0.80 [[ 9.99383871e-01 -3.44117374e-02 -6.90733296e-03 1.89771103e+02] [ 3.44076951e-02 9.99407633e-01 -7.03236677e-04 1.66652336e+01] [ 6.92744088e-03 4.65137985e-04 9.99975897e-01 -8.04915212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061400513 meters 0.07003617339825485 Centerline is valid? [True, True] Translation: X:189.83, Y:16.66, Z:-0.81 [[ 9.99335242e-01 -3.55016732e-02 -8.28892149e-03 1.89831252e+02] [ 3.54958810e-02 9.99369465e-01 -8.44907459e-04 1.66606824e+01] [ 8.31369067e-03 5.50123229e-04 9.99965289e-01 -8.06853126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121400513 meters 0.07179456304988797 Centerline is valid? [True, True] Translation: X:189.89, Y:16.66, Z:-0.81 [[ 9.99285663e-01 -3.69886774e-02 -7.74606981e-03 1.89890296e+02] [ 3.69836593e-02 9.99315558e-01 -7.90120210e-04 1.66635396e+01] [ 7.76999358e-03 5.03077792e-04 9.99969687e-01 -8.05570925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181400513 meters 0.06763060304809278 Centerline is valid? [True, True] Translation: X:189.95, Y:16.66, Z:-0.80 [[ 9.99234486e-01 -3.84596427e-02 -7.16221714e-03 1.89951128e+02] [ 3.84553888e-02 9.99260051e-01 -7.30761232e-04 1.66599207e+01] [ 7.18502228e-03 4.54775980e-04 9.99974084e-01 -8.04698489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24140051299997 meters 0.06850065710254886 Centerline is valid? [True, True] Translation: X:190.01, Y:16.67, Z:-0.80 [[ 9.99236098e-01 -3.85240171e-02 -6.56666809e-03 1.90007751e+02] [ 3.85204401e-02 9.99257588e-01 -6.70371426e-04 1.66651375e+01] [ 6.58761832e-03 4.16908383e-04 9.99978214e-01 -8.03638672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30140051299998 meters 0.06793839311016193 Centerline is valid? [True, True] Translation: X:190.07, Y:16.66, Z:-0.80 [[ 9.99230250e-01 -3.87387171e-02 -6.18211899e-03 1.90065933e+02] [ 3.87355458e-02 9.99249297e-01 -6.31928786e-04 1.66632353e+01] [ 6.20195817e-03 3.91974606e-04 9.99980691e-01 -8.01939346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36140051299998 meters 0.06722521116188375 Centerline is valid? [True, True] Translation: X:190.13, Y:16.66, Z:-0.80 [[ 9.99230109e-01 -3.86815227e-02 -6.55196540e-03 1.90125151e+02] [ 3.86779517e-02 9.99251503e-01 -6.70910819e-04 1.66637825e+01] [ 6.57301312e-03 4.16977689e-04 9.99978311e-01 -8.01521493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42140051299998 meters 0.06770466563794822 Centerline is valid? [True, True] Translation: X:190.19, Y:16.67, Z:-0.80 [[ 9.99285359e-01 -3.70108233e-02 -7.67914589e-03 1.90185425e+02] [ 3.70058637e-02 9.99314739e-01 -7.86977073e-04 1.66654800e+01] [ 7.70301033e-03 5.02241241e-04 9.99970205e-01 -8.02601861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48140051299998 meters 0.06941258840639815 Centerline is valid? [True, True] Translation: X:190.25, Y:16.67, Z:-0.80 [[ 9.99366194e-01 -3.47435684e-02 -7.75213662e-03 1.90245545e+02] [ 3.47384455e-02 9.99396122e-01 -7.94549008e-04 1.66694949e+01] [ 7.77506075e-03 5.24748242e-04 9.99969636e-01 -8.02094504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54140051299999 meters 0.07063635600595501 Centerline is valid? [True, True] Translation: X:190.31, Y:16.67, Z:-0.80 [[ 9.99500633e-01 -3.07866855e-02 -7.11796691e-03 1.90305983e+02] [ 3.07822665e-02 9.99525847e-01 -7.29578955e-04 1.66737106e+01] [ 7.13705323e-03 5.10107473e-04 9.99974401e-01 -8.01125365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601400513 meters 0.07460965666077034 Centerline is valid? [True, True] Translation: X:190.37, Y:16.68, Z:-0.80 [[ 9.99580209e-01 -2.82247924e-02 -6.53963653e-03 1.90365876e+02] [ 2.82210077e-02 9.99601483e-01 -6.70303154e-04 1.66819080e+01] [ 6.55594954e-03 4.85466634e-04 9.99978392e-01 -7.99648682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661400513 meters 0.07399478385153781 Centerline is valid? [True, True] Translation: X:190.43, Y:16.69, Z:-0.80 [[ 9.99609044e-01 -2.73298486e-02 -5.90245298e-03 1.90425602e+02] [ 2.73267496e-02 9.99626372e-01 -6.05063991e-04 1.66854939e+01] [ 5.91678397e-03 4.43532583e-04 9.99982397e-01 -7.98178298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721400513 meters 0.07895437350181606 Centerline is valid? [True, True] Translation: X:190.48, Y:16.70, Z:-0.80 [[ 9.99639774e-01 -2.64455133e-02 -4.57783270e-03 1.90483556e+02] [ 2.64436395e-02 9.99650196e-01 -4.69385460e-04 1.66958721e+01] [ 4.58864449e-03 3.48161817e-04 9.99989412e-01 -7.96076662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781400513 meters 0.07694116243316529 Centerline is valid? [True, True] Translation: X:190.54, Y:16.70, Z:-0.80 [[ 9.99672594e-01 -2.52519049e-02 -4.12878969e-03 1.90543269e+02] [ 2.52503700e-02 9.99681069e-01 -4.23465067e-04 1.66990539e+01] [ 4.13816619e-03 3.19072954e-04 9.99991387e-01 -7.95349780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841400513 meters 0.08536991719188838 Centerline is valid? [True, True] Translation: X:190.60, Y:16.72, Z:-0.80 [[ 9.99709128e-01 -2.32915943e-02 -6.25793221e-03 1.90601075e+02] [ 2.32880289e-02 9.99728591e-01 -6.42014396e-04 1.67165555e+01] [ 6.27118728e-03 4.96092746e-04 9.99980213e-01 -7.98764358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901400513 meters 0.07877477755029841 Centerline is valid? [True, True] Translation: X:190.66, Y:16.71, Z:-0.80 [[ 9.99717424e-01 -2.25329645e-02 -7.57219259e-03 1.90661475e+02] [ 2.25277212e-02 9.99745917e-01 -7.77029910e-04 1.67145165e+01] [ 7.58777741e-03 6.06226096e-04 9.99971029e-01 -7.99766522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96140051299997 meters 0.08168670805887376 Centerline is valid? [True, True] Translation: X:190.72, Y:16.73, Z:-0.80 [[ 9.99734266e-01 -2.02020107e-02 -1.11030082e-02 1.90720537e+02] [ 2.01905932e-02 9.99795500e-01 -1.13946276e-03 1.67268167e+01] [ 1.11237571e-02 9.14983640e-04 9.99937710e-01 -8.04488407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02140051299997 meters 0.08173748547027153 Centerline is valid? [True, True] Translation: X:190.78, Y:16.74, Z:-0.80 [[ 9.99753043e-01 -2.07465144e-02 -7.96458996e-03 1.90778945e+02] [ 2.07406548e-02 9.99784555e-01 -8.17608641e-04 1.67357257e+01] [ 7.97983656e-03 6.52215916e-04 9.99967948e-01 -7.99118428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08140051299998 meters 0.07670014202623406 Centerline is valid? [True, True] Translation: X:190.84, Y:16.74, Z:-0.80 [[ 9.99664294e-01 -2.48004815e-02 -7.49908265e-03 1.90838981e+02] [ 2.47953987e-02 9.99692250e-01 -7.70013769e-04 1.67376303e+01] [ 7.51587152e-03 5.83812526e-04 9.99971585e-01 -7.97728945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14140051299998 meters 0.07194500691928661 Centerline is valid? [True, True] Translation: X:190.90, Y:16.74, Z:-0.80 [[ 9.99506582e-01 -3.05332548e-02 -7.36977643e-03 1.90900073e+02] [ 3.05285008e-02 9.99533610e-01 -7.56736922e-04 1.67367999e+01] [ 7.38944488e-03 5.31375309e-04 9.99972556e-01 -7.99379440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20140051299998 meters 0.07099090451768252 Centerline is valid? [True, True] Translation: X:190.96, Y:16.74, Z:-0.80 [[ 9.99409485e-01 -3.36616005e-02 -6.89768515e-03 1.90959547e+02] [ 3.36575099e-02 9.99433175e-01 -7.08289011e-04 1.67361610e+01] [ 6.91761751e-03 4.75711849e-04 9.99975960e-01 -7.97284174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26140051299998 meters 0.07154504045118631 Centerline is valid? [True, True] Translation: X:191.02, Y:16.73, Z:-0.79 [[ 9.99238260e-01 -3.86072820e-02 -5.69010413e-03 1.91019840e+02] [ 3.86045779e-02 9.99254395e-01 -5.84340777e-04 1.67317938e+01] [ 5.70842136e-03 3.64231593e-04 9.99983640e-01 -7.94498259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321400513 meters 0.06335698434063673 Centerline is valid? [True, True] Translation: X:191.08, Y:16.71, Z:-0.79 [[ 9.99124647e-01 -4.16911920e-02 -3.43278183e-03 1.91082610e+02] [ 4.16902259e-02 9.99130522e-01 -3.52539866e-04 1.67148027e+01] [ 3.44449491e-03 2.09117819e-04 9.99994046e-01 -7.91907886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381400513 meters 0.061336671836202575 Centerline is valid? [True, True] Translation: X:191.14, Y:16.71, Z:-0.79 [[ 9.99155868e-01 -4.09108902e-02 -3.72163504e-03 1.91141993e+02] [ 4.09097489e-02 9.99162773e-01 -3.82318410e-04 1.67100965e+01] [ 3.73416017e-03 2.29744528e-04 9.99993002e-01 -7.90887204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441400513 meters 0.06652982991202262 Centerline is valid? [True, True] Translation: X:191.20, Y:16.71, Z:-0.80 [[ 9.99346161e-01 -3.56052690e-02 -6.28606975e-03 1.91202786e+02] [ 3.56019028e-02 9.99365842e-01 -6.46634214e-04 1.67083538e+01] [ 6.30510697e-03 4.22415376e-04 9.99980033e-01 -7.95233476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501400513 meters 0.06910627331060971 Centerline is valid? [True, True] Translation: X:191.26, Y:16.71, Z:-0.80 [[ 9.99394587e-01 -3.40494282e-02 -7.14819487e-03 1.91262519e+02] [ 3.40450349e-02 9.99420029e-01 -7.35427611e-04 1.67075481e+01] [ 7.16909001e-03 4.91621829e-04 9.99974181e-01 -7.97228218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561400513 meters 0.06780340635955187 Centerline is valid? [True, True] Translation: X:191.32, Y:16.69, Z:-0.80 [[ 9.99403368e-01 -3.39614733e-02 -6.28698907e-03 1.91323096e+02] [ 3.39580693e-02 9.99423049e-01 -6.47416850e-04 1.66949930e+01] [ 6.30534902e-03 4.33536570e-04 9.99980027e-01 -7.95084047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621400513 meters 0.07012756299564511 Centerline is valid? [True, True] Translation: X:191.38, Y:16.70, Z:-0.79 [[ 9.99470379e-01 -3.18530240e-02 -6.65937738e-03 1.91383900e+02] [ 3.18491544e-02 9.99492451e-01 -6.86343422e-04 1.66950501e+01] [ 6.67785953e-03 4.73884381e-04 9.99977591e-01 -7.94702247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681400513 meters 0.07687094060210647 Centerline is valid? [True, True] Translation: X:191.44, Y:16.70, Z:-0.80 [[ 9.99667588e-01 -2.42409508e-02 -8.78009991e-03 1.91443560e+02] [ 2.42339315e-02 9.99705906e-01 -9.04974973e-04 1.67011984e+01] [ 8.79945518e-03 6.91897809e-04 9.99961045e-01 -7.98964611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74140051299997 meters 0.09587609462777713 Centerline is valid? [True, True] Translation: X:191.50, Y:16.73, Z:-0.80 [[ 9.99781366e-01 -1.92075625e-02 -8.26376790e-03 1.91501168e+02] [ 1.92011733e-02 9.99815278e-01 -8.51817418e-04 1.67257913e+01] [ 8.27860274e-03 6.92957142e-04 9.99965492e-01 -7.98226859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80140051299998 meters 0.09070929089797011 Centerline is valid? [True, True] Translation: X:191.56, Y:16.72, Z:-0.80 [[ 9.99817184e-01 -1.61617038e-02 -1.02175315e-02 1.91561787e+02] [ 1.61517770e-02 9.99868997e-01 -1.05332175e-03 1.67234765e+01] [ 1.02332164e-02 8.88097899e-04 9.99947245e-01 -8.01565904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86140051299998 meters 0.08908249214778904 Centerline is valid? [True, True] Translation: X:191.62, Y:16.72, Z:-0.80 [[ 9.99724553e-01 -2.11567725e-02 -1.01591743e-02 1.91622346e+02] [ 2.11472141e-02 9.99775824e-01 -1.04737306e-03 1.67204229e+01] [ 1.01790559e-02 8.32246329e-04 9.99947846e-01 -8.01953362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92140051299998 meters 0.07615922019702534 Centerline is valid? [True, True] Translation: X:191.68, Y:16.71, Z:-0.80 [[ 9.99613702e-01 -2.59447532e-02 -9.96578995e-03 1.91684118e+02] [ 2.59357914e-02 9.99663083e-01 -1.02747056e-03 1.67059919e+01] [ 9.98908977e-03 7.68603002e-04 9.99949812e-01 -7.99942458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98140051299998 meters 0.07762951698464987 Centerline is valid? [True, True] Translation: X:191.74, Y:16.70, Z:-0.80 [[ 9.99491163e-01 -3.06320757e-02 -8.89328749e-03 1.91744141e+02] [ 3.06251228e-02 9.99530520e-01 -9.16984225e-04 1.67046369e+01] [ 8.91720140e-03 6.44159609e-04 9.99960033e-01 -7.99243939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04140051299999 meters 0.07569657298014136 Centerline is valid? [True, True] Translation: X:191.80, Y:16.71, Z:-0.80 [[ 9.99497758e-01 -3.07954574e-02 -7.47474375e-03 1.91802039e+02] [ 3.07905440e-02 9.99525561e-01 -7.71550830e-04 1.67052067e+01] [ 7.49495770e-03 5.41011898e-04 9.99971766e-01 -7.95731992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101400513 meters 0.07623248209497524 Centerline is valid? [True, True] Translation: X:191.86, Y:16.71, Z:-0.80 [[ 9.99547056e-01 -2.88831503e-02 -8.45255456e-03 1.91861380e+02] [ 2.88767934e-02 9.99582597e-01 -8.73172066e-04 1.67116256e+01] [ 8.47424640e-03 6.28693896e-04 9.99963895e-01 -7.97999516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161400513 meters 0.0799765974973462 Centerline is valid? [True, True] Translation: X:191.92, Y:16.72, Z:-0.80 [[ 9.99544895e-01 -2.90492543e-02 -8.13285859e-03 1.91918412e+02] [ 2.90433709e-02 9.99577799e-01 -8.40610599e-04 1.67213027e+01] [ 8.15384400e-03 6.04022404e-04 9.99966574e-01 -7.97433559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221400513 meters 0.07468754496656073 Centerline is valid? [True, True] Translation: X:191.98, Y:16.72, Z:-0.80 [[ 9.99483609e-01 -3.11954915e-02 -7.70436289e-03 1.91978970e+02] [ 3.11902727e-02 9.99513148e-01 -7.96635208e-04 1.67178989e+01] [ 7.72546343e-03 5.55922653e-04 9.99970004e-01 -7.95293363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281400513 meters 0.06674268635157403 Centerline is valid? [True, True] Translation: X:192.04, Y:16.71, Z:-0.80 [[ 9.99379900e-01 -3.41725635e-02 -8.48830770e-03 1.92040913e+02] [ 3.41663350e-02 9.99415775e-01 -8.77746838e-04 1.67088440e+01] [ 8.51334347e-03 5.87188183e-04 9.99963588e-01 -7.96196884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341400513 meters 0.07897951631882456 Centerline is valid? [True, True] Translation: X:192.10, Y:16.72, Z:-0.79 [[ 9.99325675e-01 -3.59989254e-02 -7.23004244e-03 1.92098961e+02] [ 3.59944535e-02 9.99351710e-01 -7.47732002e-04 1.67225106e+01] [ 7.25227283e-03 4.86986361e-04 9.99973583e-01 -7.94662502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401400513 meters 0.07329880257070663 Centerline is valid? [True, True] Translation: X:192.16, Y:16.72, Z:-0.79 [[ 9.99433181e-01 -3.28666828e-02 -7.28686071e-03 1.92160211e+02] [ 3.28620570e-02 9.99459613e-01 -7.53679118e-04 1.67168805e+01] [ 7.30769391e-03 5.13790686e-04 9.99973166e-01 -7.92879110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46140051299997 meters 0.08404545972107048 Centerline is valid? [True, True] Translation: X:192.22, Y:16.73, Z:-0.80 [[ 9.99710101e-01 -2.27181420e-02 -7.97494843e-03 1.92218033e+02] [ 2.27122805e-02 9.99741703e-01 -8.24792482e-04 1.67314738e+01] [ 7.99162628e-03 6.43424109e-04 9.99967859e-01 -7.96353035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52140051299997 meters 0.09142697191251548 Centerline is valid? [True, True] Translation: X:192.28, Y:16.74, Z:-0.80 [[ 9.99842143e-01 -1.58863055e-02 -7.95707027e-03 1.92277577e+02] [ 1.58802556e-02 9.99873562e-01 -8.22930582e-04 1.67432810e+01] [ 7.96913752e-03 6.96440367e-04 9.99968003e-01 -7.95847118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58140051299998 meters 0.09076332635192656 Centerline is valid? [True, True] Translation: X:192.34, Y:16.75, Z:-0.80 [[ 9.99913170e-01 -9.37430960e-03 -9.26146755e-03 1.92337659e+02] [ 9.36583600e-03 9.99955681e-01 -9.57879671e-04 1.67454451e+01] [ 9.27003655e-03 8.71055112e-04 9.99956653e-01 -7.95900286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64140051299998 meters 0.0926482269148031 Centerline is valid? [True, True] Translation: X:192.40, Y:16.75, Z:-0.79 [[ 9.99941544e-01 -6.89989939e-03 -8.32469772e-03 1.92397867e+02] [ 6.89296825e-03 9.99975873e-01 -8.61003642e-04 1.67516481e+01] [ 8.33043770e-03 8.03571434e-04 9.99964978e-01 -7.94022429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70140051299998 meters 0.09513086172217713 Centerline is valid? [True, True] Translation: X:192.46, Y:16.76, Z:-0.80 [[ 9.99925454e-01 -7.72729620e-03 -9.45390010e-03 1.92455471e+02] [ 7.71839103e-03 9.99969734e-01 -9.78080636e-04 1.67628922e+01] [ 9.46117189e-03 9.05038825e-04 9.99954833e-01 -7.96281856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76140051299998 meters 0.08997153823619973 Centerline is valid? [True, True] Translation: X:192.52, Y:16.77, Z:-0.80 [[ 9.99864285e-01 -1.21387015e-02 -1.11384240e-02 1.92515939e+02] [ 1.21266091e-02 9.99925806e-01 -1.15254453e-03 1.67652489e+01] [ 1.11515879e-02 1.01731680e-03 9.99937302e-01 -7.97115845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821400513 meters 0.09504814141477015 Centerline is valid? [True, True] Translation: X:192.57, Y:16.78, Z:-0.80 [[ 9.99828808e-01 -1.50949929e-02 -1.07003143e-02 1.92573929e+02] [ 1.50839994e-02 9.99885617e-01 -1.10736807e-03 1.67796467e+01] [ 1.07158061e-02 9.45774967e-04 9.99942137e-01 -7.96504445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881400513 meters 0.08659098692773634 Centerline is valid? [True, True] Translation: X:192.63, Y:16.78, Z:-0.79 [[ 9.99746908e-01 -2.04566258e-02 -9.36200467e-03 1.92634693e+02] [ 2.04484432e-02 9.99790439e-01 -9.68917665e-04 1.67783511e+01] [ 9.37986355e-03 7.77234019e-04 9.99955706e-01 -7.94496894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941400513 meters 0.07521240840986672 Centerline is valid? [True, True] Translation: X:192.70, Y:16.77, Z:-0.79 [[ 9.99657317e-01 -2.46915053e-02 -8.69360313e-03 1.92696243e+02] [ 2.46846083e-02 9.99694884e-01 -8.99765754e-04 1.67728163e+01] [ 8.71316714e-03 6.84859232e-04 9.99961805e-01 -7.92883473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001400513 meters 0.07539554886847107 Centerline is valid? [True, True] Translation: X:192.75, Y:16.78, Z:-0.79 [[ 9.99490803e-01 -3.07073036e-02 -8.67157957e-03 1.92754870e+02] [ 3.07006655e-02 9.99528220e-01 -8.97609492e-04 1.67827535e+01] [ 8.69505166e-03 6.30929168e-04 9.99961998e-01 -7.93768688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061400513 meters 0.058778744921721596 Centerline is valid? [True, True] Translation: X:192.82, Y:16.77, Z:-0.79 [[ 9.99008570e-01 -4.40014463e-02 -6.76383786e-03 1.92817023e+02] [ 4.39977105e-02 9.99031386e-01 -7.00197488e-04 1.67676207e+01] [ 6.78809602e-03 4.01909911e-04 9.99976880e-01 -7.90641031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121400513 meters 0.05123715071578009 Centerline is valid? [True, True] Translation: X:192.88, Y:16.76, Z:-0.79 [[ 9.98630209e-01 -5.20131261e-02 -5.68691236e-03 1.92878483e+02] [ 5.20106146e-02 9.98646359e-01 -5.88744173e-04 1.67603254e+01] [ 5.70983674e-03 2.92157909e-04 9.99983656e-01 -7.88302560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181400513 meters 0.04386317555606995 Centerline is valid? [True, True] Translation: X:192.94, Y:16.75, Z:-0.79 [[ 9.98296788e-01 -5.80266620e-02 -6.03571616e-03 1.92939964e+02] [ 5.80239421e-02 9.98314996e-01 -6.24917472e-04 1.67496162e+01] [ 6.06180783e-03 2.73637060e-04 9.99981590e-01 -7.88342420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24140051299997 meters 0.04619388351906035 Centerline is valid? [True, True] Translation: X:193.00, Y:16.75, Z:-0.79 [[ 9.98234127e-01 -5.91922643e-02 -4.99043922e-03 1.92998093e+02] [ 5.91904177e-02 9.98246576e-01 -5.17044556e-04 1.67542429e+01] [ 5.01229391e-03 2.20745338e-04 9.99987414e-01 -7.87186549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30140051299998 meters 0.047591589963058886 Centerline is valid? [True, True] Translation: X:193.06, Y:16.76, Z:-0.79 [[ 9.98235821e-01 -5.91633246e-02 -4.99462794e-03 1.93055641e+02] [ 5.91614711e-02 9.98248292e-01 -5.18157906e-04 1.67559489e+01] [ 5.01653475e-03 2.21754246e-04 9.99987393e-01 -7.86262276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36140051299998 meters 0.045690638779362004 Centerline is valid? [True, True] Translation: X:193.12, Y:16.76, Z:-0.79 [[ 9.98162687e-01 -6.03271187e-02 -5.64707701e-03 1.93115138e+02] [ 6.03247640e-02 9.98178631e-01 -5.86531778e-04 1.67567829e+01] [ 5.67217537e-03 2.44795548e-04 9.99983883e-01 -7.87472599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42140051299998 meters 0.03971572744719658 Centerline is valid? [True, True] Translation: X:193.18, Y:16.75, Z:-0.78 [[ 9.97896014e-01 -6.46643561e-02 -4.69746352e-03 1.93176969e+02] [ 6.46627729e-02 9.97907053e-01 -4.88288943e-04 1.67499064e+01] [ 4.71920687e-03 1.83510573e-04 9.99988848e-01 -7.84402948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48140051299998 meters 0.035740398747145075 Centerline is valid? [True, True] Translation: X:193.24, Y:16.75, Z:-0.79 [[ 9.97666366e-01 -6.79664862e-02 -6.50993267e-03 1.93237139e+02] [ 6.79635154e-02 9.97687578e-01 -6.76742814e-04 1.67497349e+01] [ 6.54087479e-03 2.32725635e-04 9.99978581e-01 -7.87543331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54140051299999 meters 0.03469715205128657 Centerline is valid? [True, True] Translation: X:193.30, Y:16.75, Z:-0.79 [[ 9.97488818e-01 -7.06151633e-02 -5.43661227e-03 1.93296339e+02] [ 7.06131302e-02 9.97503617e-01 -5.65251576e-04 1.67525698e+01] [ 5.46295574e-03 1.79935916e-04 9.99985062e-01 -7.86060891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601400513 meters 0.03577976577688036 Centerline is valid? [True, True] Translation: X:193.35, Y:16.76, Z:-0.79 [[ 9.97433752e-01 -7.11389527e-02 -8.07212153e-03 1.93353857e+02] [ 7.11344845e-02 9.97466380e-01 -8.39665830e-04 1.67629650e+01] [ 8.11140279e-03 2.63304836e-04 9.99967067e-01 -7.90042154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661400513 meters 0.03508841379011567 Centerline is valid? [True, True] Translation: X:193.41, Y:16.77, Z:-0.79 [[ 9.97437097e-01 -7.09050948e-02 -9.57626120e-03 1.93412402e+02] [ 7.08987831e-02 9.97483016e-01 -9.97403962e-04 1.67715642e+01] [ 9.62287893e-03 3.15902447e-04 9.99953649e-01 -7.91820652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721400513 meters 0.033955527935528695 Centerline is valid? [True, True] Translation: X:193.47, Y:16.78, Z:-0.79 [[ 9.97263916e-01 -7.35483599e-02 -7.43778859e-03 1.93471230e+02] [ 7.35446222e-02 9.97291626e-01 -7.75166564e-04 1.67754970e+01] [ 7.47465650e-03 2.26036292e-04 9.99972039e-01 -7.88686435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781400513 meters 0.032566858202814165 Centerline is valid? [True, True] Translation: X:193.53, Y:16.78, Z:-0.79 [[ 9.97133381e-01 -7.51077320e-02 -9.15689167e-03 1.93530157e+02] [ 7.51021227e-02 9.97175390e-01 -9.55390982e-04 1.67785480e+01] [ 9.20278428e-03 2.64950239e-04 9.99957618e-01 -7.92185787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841400513 meters 0.03341221297608671 Centerline is valid? [True, True] Translation: X:193.59, Y:16.79, Z:-0.79 [[ 9.97451090e-01 -7.08493703e-02 -8.46697415e-03 1.93589719e+02] [ 7.08444167e-02 9.97486986e-01 -8.83926806e-04 1.67855986e+01] [ 8.50832219e-03 2.81835911e-04 9.99963764e-01 -7.88744193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901400513 meters 0.04715644430481416 Centerline is valid? [True, True] Translation: X:193.65, Y:16.81, Z:-0.79 [[ 9.98091527e-01 -6.14412448e-02 -6.18687643e-03 1.93646685e+02] [ 6.14384192e-02 9.98110667e-01 -6.45922410e-04 1.68141603e+01] [ 6.21487363e-03 2.64577778e-04 9.99980652e-01 -7.85561600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96140051299997 meters 0.061913915273348066 Centerline is valid? [True, True] Translation: X:193.70, Y:16.84, Z:-0.78 [[ 9.98977189e-01 -4.49873822e-02 -4.55105142e-03 1.93704148e+02] [ 4.49856827e-02 9.98987519e-01 -4.75151106e-04 1.68445314e+01] [ 4.56781937e-03 2.69932961e-04 9.99989531e-01 -7.83699575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02140051299997 meters 0.06948613700247973 Centerline is valid? [True, True] Translation: X:193.76, Y:16.86, Z:-0.78 [[ 9.99240200e-01 -3.86564568e-02 -4.97007021e-03 1.93761376e+02] [ 3.86543520e-02 9.99252507e-01 -5.18881098e-04 1.68649997e+01] [ 4.98641322e-03 3.26372009e-04 9.99987515e-01 -7.84972516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08140051299998 meters 0.0671631256918207 Centerline is valid? [True, True] Translation: X:193.82, Y:16.87, Z:-0.79 [[ 9.99282653e-01 -3.74551789e-02 -5.59359626e-03 1.93819771e+02] [ 3.74524940e-02 9.99298239e-01 -5.83995073e-04 1.68744378e+01] [ 5.61154453e-03 3.74082016e-04 9.99984185e-01 -7.85717724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14140051299998 meters 0.0694612331055488 Centerline is valid? [True, True] Translation: X:193.88, Y:16.89, Z:-0.79 [[ 9.99160731e-01 -4.03205139e-02 -7.21733969e-03 1.93877890e+02] [ 4.03161171e-02 9.99186691e-01 -7.53714099e-04 1.68858290e+01] [ 7.24185990e-03 4.62106418e-04 9.99973671e-01 -7.88348866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20140051299998 meters 0.05868395846809091 Centerline is valid? [True, True] Translation: X:193.94, Y:16.88, Z:-0.79 [[ 9.98964044e-01 -4.48567027e-02 -7.66254348e-03 1.93938643e+02] [ 4.48518786e-02 9.98993328e-01 -8.00344651e-04 1.68789099e+01] [ 7.69073063e-03 4.55836060e-04 9.99970322e-01 -7.87368105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26140051299998 meters 0.05390994861587758 Centerline is valid? [True, True] Translation: X:194.00, Y:16.88, Z:-0.79 [[ 9.98839557e-01 -4.77316633e-02 -6.42085169e-03 1.93999484e+02] [ 4.77283348e-02 9.98860128e-01 -6.70712867e-04 1.68818106e+01] [ 6.44554698e-03 3.63477984e-04 9.99979161e-01 -7.85918321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321400513 meters 0.053203295785474135 Centerline is valid? [True, True] Translation: X:194.06, Y:16.89, Z:-0.79 [[ 9.98812384e-01 -4.81192198e-02 -7.63950107e-03 1.94057033e+02] [ 4.81145123e-02 9.98841507e-01 -7.98900627e-04 1.68863770e+01] [ 7.66909324e-03 4.30380971e-04 9.99970499e-01 -7.87421053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381400513 meters 0.05568689375968785 Centerline is valid? [True, True] Translation: X:194.11, Y:16.90, Z:-0.79 [[ 9.98775280e-01 -4.88833361e-02 -7.63939118e-03 1.94114457e+02] [ 4.88786445e-02 9.98804405e-01 -7.99751933e-04 1.68961972e+01] [ 7.66935210e-03 4.25369375e-04 9.99970500e-01 -7.87227044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441400513 meters 0.054710504952472226 Centerline is valid? [True, True] Translation: X:194.17, Y:16.90, Z:-0.79 [[ 9.98684818e-01 -5.04191320e-02 -9.30295281e-03 1.94173872e+02] [ 5.04122297e-02 9.98728019e-01 -9.75097237e-04 1.68975611e+01] [ 9.34028319e-03 5.04832213e-04 9.99956251e-01 -7.88144854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501400513 meters 0.05063116323215264 Centerline is valid? [True, True] Translation: X:194.23, Y:16.90, Z:-0.79 [[ 9.98587566e-01 -5.21076335e-02 -1.03763272e-02 1.94233732e+02] [ 5.20991301e-02 9.98641325e-01 -1.08831235e-03 1.68993352e+01] [ 1.04189386e-02 5.46177560e-04 9.99945572e-01 -7.90312273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561400513 meters 0.05258625119517515 Centerline is valid? [True, True] Translation: X:194.29, Y:16.90, Z:-0.79 [[ 9.98516409e-01 -5.38163147e-02 -8.29374006e-03 1.94292990e+02] [ 5.38109394e-02 9.98550763e-01 -8.70064561e-04 1.69026448e+01] [ 8.32854413e-03 4.22479797e-04 9.99965228e-01 -7.87304019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621400513 meters 0.05164610952428262 Centerline is valid? [True, True] Translation: X:194.35, Y:16.90, Z:-0.78 [[ 9.98603080e-01 -5.24722224e-02 -6.20924805e-03 1.94352529e+02] [ 5.24691824e-02 9.98622331e-01 -6.51592253e-04 1.69033707e+01] [ 6.23488425e-03 3.24887862e-04 9.99980510e-01 -7.84006499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681400513 meters 0.05884315533063342 Centerline is valid? [True, True] Translation: X:194.41, Y:16.91, Z:-0.78 [[ 9.98923962e-01 -4.58279105e-02 -7.12179897e-03 1.94412713e+02] [ 4.58237417e-02 9.98949261e-01 -7.47524905e-04 1.69123157e+01] [ 7.14857332e-03 4.20373063e-04 9.99974360e-01 -7.84065960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74140051299997 meters 0.06850454390088832 Centerline is valid? [True, True] Translation: X:194.47, Y:16.93, Z:-0.79 [[ 9.99133992e-01 -4.06652878e-02 -8.80914573e-03 1.94471001e+02] [ 4.06587086e-02 9.99172665e-01 -9.24739903e-04 1.69278153e+01] [ 8.83946242e-03 5.65770581e-04 9.99960771e-01 -7.87014343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80140051299998 meters 0.06837557388006331 Centerline is valid? [True, True] Translation: X:194.53, Y:16.93, Z:-0.78 [[ 9.99387654e-01 -3.44916071e-02 -5.88601663e-03 1.94531532e+02] [ 3.44885630e-02 9.99404902e-01 -6.17932577e-04 1.69322967e+01] [ 5.90382736e-03 4.14553933e-04 9.99982486e-01 -7.82401952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86140051299998 meters 0.06753443121999858 Centerline is valid? [True, True] Translation: X:194.59, Y:16.94, Z:-0.78 [[ 9.99424157e-01 -3.32032891e-02 -6.99255440e-03 1.94590632e+02] [ 3.31989604e-02 9.99448493e-01 -7.34252753e-04 1.69370240e+01] [ 7.01307756e-03 5.01684403e-04 9.99975282e-01 -7.83661152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92140051299998 meters 0.07236115097088597 Centerline is valid? [True, True] Translation: X:194.65, Y:16.95, Z:-0.79 [[ 9.99310076e-01 -3.62822614e-02 -7.93535827e-03 1.94649075e+02] [ 3.62767816e-02 9.99341433e-01 -8.33441220e-04 1.69470940e+01] [ 7.96037144e-03 5.44996949e-04 9.99968167e-01 -7.85438340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98140051299998 meters 0.06956504730949771 Centerline is valid? [True, True] Translation: X:194.71, Y:16.95, Z:-0.78 [[ 9.99232214e-01 -3.85479766e-02 -7.00254036e-03 1.94709477e+02] [ 3.85437645e-02 9.99256642e-01 -7.35528510e-04 1.69511337e+01] [ 7.02568810e-03 4.65059515e-04 9.99975211e-01 -7.82617093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04140051299999 meters 0.0656667742152444 Centerline is valid? [True, True] Translation: X:194.77, Y:16.96, Z:-0.78 [[ 9.99172659e-01 -3.99962652e-02 -7.36865739e-03 1.94768797e+02] [ 3.99916394e-02 9.99199715e-01 -7.74101809e-04 1.69558907e+01] [ 7.39372154e-03 4.78776674e-04 9.99972551e-01 -7.83195216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101400513 meters 0.06777555492271754 Centerline is valid? [True, True] Translation: X:194.83, Y:16.97, Z:-0.78 [[ 9.99118712e-01 -4.12536341e-02 -7.74193262e-03 1.94826710e+02] [ 4.12485636e-02 9.99148585e-01 -8.13549087e-04 1.69661221e+01] [ 7.76890288e-03 4.93488516e-04 9.99969700e-01 -7.83798623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161400513 meters 0.06026905075804716 Centerline is valid? [True, True] Translation: X:194.89, Y:16.96, Z:-0.78 [[ 9.98896937e-01 -4.64615622e-02 -6.79943090e-03 1.94887279e+02] [ 4.64577704e-02 9.98919999e-01 -7.14627475e-04 1.69637559e+01] [ 6.82529022e-03 3.97952796e-04 9.99976628e-01 -7.81345775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221400513 meters 0.05436566380630418 Centerline is valid? [True, True] Translation: X:194.95, Y:16.96, Z:-0.78 [[ 9.98676440e-01 -5.09065900e-02 -7.34079613e-03 1.94948216e+02] [ 5.09022897e-02 9.98703340e-01 -7.71579472e-04 1.69610215e+01] [ 7.37055609e-03 3.96894910e-04 9.99972758e-01 -7.81547285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281400513 meters 0.05402706647312941 Centerline is valid? [True, True] Translation: X:195.01, Y:16.97, Z:-0.78 [[ 9.98613966e-01 -5.23557400e-02 -5.38732914e-03 1.95007681e+02] [ 5.23534446e-02 9.98628457e-01 -5.66322818e-04 1.69665480e+01] [ 5.40959044e-03 2.83492638e-04 9.99985328e-01 -7.78867105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341400513 meters 0.059551263095153226 Centerline is valid? [True, True] Translation: X:195.07, Y:16.98, Z:-0.78 [[ 9.98840540e-01 -4.79099773e-02 -4.71266326e-03 1.95065674e+02] [ 4.79081712e-02 9.98851621e-01 -4.95443049e-04 1.69789933e+01] [ 4.73098801e-03 2.69093524e-04 9.99988773e-01 -7.77948087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401400513 meters 0.05827455434958806 Centerline is valid? [True, True] Translation: X:195.13, Y:16.98, Z:-0.78 [[ 9.99067691e-01 -4.26675386e-02 -6.57501837e-03 1.95125330e+02] [ 4.26639099e-02 9.99089242e-01 -6.91223122e-04 1.69844436e+01] [ 6.59852291e-03 4.10062697e-04 9.99978145e-01 -7.79746855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46140051299997 meters 0.07230627944180101 Centerline is valid? [True, True] Translation: X:195.18, Y:17.01, Z:-0.79 [[ 9.99353347e-01 -3.43714339e-02 -1.05589542e-02 1.95182386e+02] [ 3.43616135e-02 9.99408849e-01 -1.11011824e-03 1.70118244e+01] [ 1.05908686e-02 7.46577679e-04 9.99943636e-01 -7.86235624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52140051299997 meters 0.07593074289730294 Centerline is valid? [True, True] Translation: X:195.24, Y:17.02, Z:-0.78 [[ 9.99456191e-01 -3.18236541e-02 -8.63583385e-03 1.95241881e+02] [ 3.18169905e-02 9.99493299e-01 -9.07946760e-04 1.70221920e+01] [ 8.66035225e-03 6.32686766e-04 9.99962298e-01 -7.83125127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58140051299998 meters 0.07829735666945686 Centerline is valid? [True, True] Translation: X:195.30, Y:17.04, Z:-0.78 [[ 9.99374712e-01 -3.48479525e-02 -5.98382835e-03 1.95299254e+02] [ 3.48448066e-02 9.99392537e-01 -6.29210566e-04 1.70379843e+01] [ 6.00212010e-03 4.20311786e-04 9.99981899e-01 -7.79451993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64140051299998 meters 0.06890134835080036 Centerline is valid? [True, True] Translation: X:195.36, Y:17.03, Z:-0.78 [[ 9.99192779e-01 -3.94571547e-02 -7.54482063e-03 1.95360309e+02] [ 3.94522829e-02 9.99221141e-01 -7.93516929e-04 1.70305324e+01] [ 7.57025420e-03 4.95215987e-04 9.99971223e-01 -7.81597586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70140051299998 meters 0.06529213531826032 Centerline is valid? [True, True] Translation: X:195.42, Y:17.03, Z:-0.78 [[ 9.98972831e-01 -4.45726293e-02 -8.15865700e-03 1.95421042e+02] [ 4.45671020e-02 9.99006025e-01 -8.58125926e-04 1.70300695e+01] [ 8.18879642e-03 4.93636787e-04 9.99966349e-01 -7.83216571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76140051299998 meters 0.06234989916631024 Centerline is valid? [True, True] Translation: X:195.48, Y:17.03, Z:-0.78 [[ 9.98884727e-01 -4.61608073e-02 -9.92379949e-03 1.95480858e+02] [ 4.61527059e-02 9.98933851e-01 -1.04394503e-03 1.70310356e+01] [ 9.96140858e-03 5.84770547e-04 9.99950213e-01 -7.84961701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821400513 meters 0.0696459087123035 Centerline is valid? [True, True] Translation: X:195.54, Y:17.05, Z:-0.78 [[ 9.99042745e-01 -4.26113440e-02 -9.89274875e-03 1.95539194e+02] [ 4.26031184e-02 9.99091533e-01 -1.04082181e-03 1.70454778e+01] [ 9.92811233e-03 6.18363529e-04 9.99950524e-01 -7.84567103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881400513 meters 0.07141722604793857 Centerline is valid? [True, True] Translation: X:195.60, Y:17.05, Z:-0.78 [[ 9.99322448e-01 -3.61730673e-02 -6.79366560e-03 1.95599895e+02] [ 3.61690398e-02 9.99345431e-01 -7.14803818e-04 1.70492302e+01] [ 6.81507532e-03 4.68599140e-04 9.99976667e-01 -7.77336542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941400513 meters 0.06545535371320281 Centerline is valid? [True, True] Translation: X:195.66, Y:17.05, Z:-0.78 [[ 9.99377860e-01 -3.45522037e-02 -7.07374730e-03 1.95660168e+02] [ 3.45477964e-02 9.99402770e-01 -7.44333568e-04 1.70473666e+01] [ 7.09524101e-03 4.99488106e-04 9.99974704e-01 -7.76904156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001400513 meters 0.07549505159015875 Centerline is valid? [True, True] Translation: X:195.72, Y:17.07, Z:-0.78 [[ 9.99470244e-01 -3.15804231e-02 -7.86819095e-03 1.95717395e+02] [ 3.15748774e-02 9.99501046e-01 -8.28080039e-04 1.70664743e+01] [ 7.89041621e-03 5.79204194e-04 9.99968702e-01 -7.78299818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061400513 meters 0.08916581517038154 Centerline is valid? [True, True] Translation: X:195.77, Y:17.10, Z:-0.78 [[ 9.99657051e-01 -2.55901302e-02 -5.56100089e-03 1.95773866e+02] [ 2.55872676e-02 9.99672421e-01 -5.85312227e-04 1.70957770e+01] [ 5.57415744e-03 4.42820677e-04 9.99984366e-01 -7.75732902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121400513 meters 0.08639141263932966 Centerline is valid? [True, True] Translation: X:195.83, Y:17.10, Z:-0.77 [[ 9.99749831e-01 -2.17957708e-02 -5.02186201e-03 1.95833147e+02] [ 2.17933887e-02 9.99762356e-01 -5.28583674e-04 1.71045532e+01] [ 5.03218949e-03 4.19008048e-04 9.99987251e-01 -7.73953404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18140051299997 meters 0.08592485604159493 Centerline is valid? [True, True] Translation: X:195.89, Y:17.12, Z:-0.77 [[ 9.99736754e-01 -2.23081115e-02 -5.36382869e-03 1.95890808e+02] [ 2.23053991e-02 9.99751044e-01 -5.64965352e-04 1.71174083e+01] [ 5.37509664e-03 4.45174287e-04 9.99985455e-01 -7.73558976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24140051299997 meters 0.07580822486988432 Centerline is valid? [True, True] Translation: X:195.95, Y:17.12, Z:-0.77 [[ 9.99672937e-01 -2.49167422e-02 -5.75983866e-03 1.95951940e+02] [ 2.49136546e-02 9.99689422e-01 -6.07198305e-04 1.71168656e+01] [ 5.77317918e-03 4.63501082e-04 9.99983228e-01 -7.74766781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30140051299998 meters 0.06993454296470995 Centerline is valid? [True, True] Translation: X:196.01, Y:17.12, Z:-0.77 [[ 9.99536087e-01 -3.02418170e-02 -3.61167820e-03 1.96012077e+02] [ 3.02406375e-02 9.99542575e-01 -3.80744666e-04 1.71196045e+01] [ 3.62154054e-03 2.71348582e-04 9.99993405e-01 -7.72564309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36140051299998 meters 0.06935347245810812 Centerline is valid? [True, True] Translation: X:196.07, Y:17.13, Z:-0.77 [[ 9.99445518e-01 -3.32185373e-02 -2.27705756e-03 1.96070833e+02] [ 3.32180762e-02 9.99448099e-01 -2.40036843e-04 1.71272088e+01] [ 2.28377452e-03 1.64264275e-04 9.99997379e-01 -7.70830600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42140051299998 meters 0.06739232298192559 Centerline is valid? [True, True] Translation: X:196.13, Y:17.13, Z:-0.77 [[ 9.99363751e-01 -3.54693825e-02 -3.74383058e-03 1.96131269e+02] [ 3.54681514e-02 9.99370729e-01 -3.94729040e-04 1.71307983e+01] [ 3.75547549e-03 2.61691144e-04 9.99992914e-01 -7.73253800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48140051299998 meters 0.07396896713057619 Centerline is valid? [True, True] Translation: X:196.19, Y:17.14, Z:-0.78 [[ 9.99261931e-01 -3.75565732e-02 -8.06824440e-03 1.96189397e+02] [ 3.75509222e-02 9.99294353e-01 -8.50807915e-04 1.71398982e+01] [ 8.09450450e-03 5.47209943e-04 9.99967089e-01 -7.80415926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54140051299999 meters 0.07047238556448439 Centerline is valid? [True, True] Translation: X:196.25, Y:17.14, Z:-0.78 [[ 9.99243768e-01 -3.78526608e-02 -8.89197378e-03 1.96247693e+02] [ 3.78457984e-02 9.99283150e-01 -9.38811421e-04 1.71387304e+01] [ 8.92113608e-03 6.01577615e-04 9.99960025e-01 -7.81148549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601400513 meters 0.06801294408656479 Centerline is valid? [True, True] Translation: X:196.31, Y:17.14, Z:-0.78 [[ 9.99350697e-01 -3.51542004e-02 -7.89722152e-03 1.96308055e+02] [ 3.51486997e-02 9.99381745e-01 -8.34293184e-04 1.71400857e+01] [ 7.92166793e-03 5.56174408e-04 9.99968468e-01 -7.78536914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661400513 meters 0.07673684724191729 Centerline is valid? [True, True] Translation: X:196.37, Y:17.16, Z:-0.78 [[ 9.99447640e-01 -3.22114193e-02 -8.17559291e-03 1.96366377e+02] [ 3.22054255e-02 9.99480898e-01 -8.63766640e-04 1.71559168e+01] [ 8.19917209e-03 5.99991082e-04 9.99966206e-01 -7.79633500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721400513 meters 0.07531783493783 Centerline is valid? [True, True] Translation: X:196.43, Y:17.16, Z:-0.78 [[ 9.99400153e-01 -3.35081481e-02 -8.74860972e-03 1.96426774e+02] [ 3.35013332e-02 9.99438245e-01 -9.24408913e-04 1.71564936e+01] [ 8.77467038e-03 6.30764320e-04 9.99961303e-01 -7.80573919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781400513 meters 0.06897126780333748 Centerline is valid? [True, True] Translation: X:196.49, Y:17.15, Z:-0.78 [[ 9.99232443e-01 -3.86275908e-02 -6.51422119e-03 1.96488324e+02] [ 3.86239205e-02 9.99253581e-01 -6.88350240e-04 1.71490090e+01] [ 6.53594816e-03 4.36217130e-04 9.99978545e-01 -7.76573326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841400513 meters 0.06185799992116197 Centerline is valid? [True, True] Translation: X:196.55, Y:17.14, Z:-0.78 [[ 9.98890307e-01 -4.67272593e-02 -5.89214554e-03 1.96550828e+02] [ 4.67243967e-02 9.98907625e-01 -6.22629153e-04 1.71360043e+01] [ 5.91480286e-03 3.46631280e-04 9.99982447e-01 -7.75625779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901400513 meters 0.05756312693387493 Centerline is valid? [True, True] Translation: X:196.61, Y:17.13, Z:-0.78 [[ 9.98787274e-01 -4.88176344e-02 -6.38911487e-03 1.96611455e+02] [ 4.88143106e-02 9.98807643e-01 -6.75228348e-04 1.71299469e+01] [ 6.41445981e-03 3.62529243e-04 9.99979361e-01 -7.75888904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96140051299997 meters 0.05833905301939785 Centerline is valid? [True, True] Translation: X:196.67, Y:17.13, Z:-0.78 [[ 9.98716799e-01 -5.02732282e-02 -6.11213275e-03 1.96670257e+02] [ 5.02702125e-02 9.98735445e-01 -6.46129144e-04 1.71297790e+01] [ 6.13688662e-03 3.38041818e-04 9.99981112e-01 -7.75483412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02140051299997 meters 0.05267126307937768 Centerline is valid? [True, True] Translation: X:196.73, Y:17.13, Z:-0.77 [[ 9.98642552e-01 -5.19145323e-02 -4.23488579e-03 1.96731098e+02] [ 5.19130989e-02 9.98651506e-01 -4.47767789e-04 1.71268120e+01] [ 4.25242072e-03 2.27313922e-04 9.99990933e-01 -7.72117957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08140051299998 meters 0.05841017212318851 Centerline is valid? [True, True] Translation: X:196.79, Y:17.14, Z:-0.77 [[ 9.98486241e-01 -5.49378218e-02 -2.65749062e-03 1.96790008e+02] [ 5.49372680e-02 9.98489768e-01 -2.81000923e-04 1.71383322e+01] [ 2.66891477e-03 1.34580281e-04 9.99996429e-01 -7.69685721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14140051299998 meters 0.04323738718429273 Centerline is valid? [True, True] Translation: X:196.85, Y:17.13, Z:-0.77 [[ 9.98047915e-01 -6.22123399e-02 -5.47569536e-03 1.96851668e+02] [ 6.22100973e-02 9.98062908e-01 -5.79099795e-04 1.71303275e+01] [ 5.50111559e-03 2.37325802e-04 9.99984841e-01 -7.73863418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20140051299998 meters 0.03529351015780498 Centerline is valid? [True, True] Translation: X:196.91, Y:17.13, Z:-0.77 [[ 9.97566318e-01 -6.95182279e-02 -5.35332877e-03 1.96911996e+02] [ 6.95161892e-02 9.97580663e-01 -5.66197917e-04 1.71283830e+01] [ 5.37973834e-03 1.92676955e-04 9.99985511e-01 -7.73013917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26140051299998 meters 0.029464655454401224 Centerline is valid? [True, True] Translation: X:196.97, Y:17.13, Z:-0.77 [[ 9.96882530e-01 -7.87608528e-02 -4.68506278e-03 1.96971030e+02] [ 7.87593928e-02 9.96893531e-01 -4.95603512e-04 1.71290820e+01] [ 4.70954293e-03 1.25065783e-04 9.99988902e-01 -7.72831588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321400513 meters 0.027911597888574172 Centerline is valid? [True, True] Translation: X:197.03, Y:17.11, Z:-0.78 [[ 9.95546021e-01 -9.39325919e-02 -8.04910180e-03 1.97033374e+02] [ 9.39287741e-02 9.95578555e-01 -8.51866938e-04 1.71138157e+01] [ 8.09353121e-03 9.20304756e-05 9.99967243e-01 -7.77672991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381400513 meters 0.025472985350726524 Centerline is valid? [True, True] Translation: X:197.09, Y:17.11, Z:-0.78 [[ 9.94752467e-01 -1.01925890e-01 -8.86801460e-03 1.97092625e+02] [ 1.01921570e-01 9.94791994e-01 -9.38988655e-04 1.71109934e+01] [ 8.91753719e-03 3.02193135e-05 9.99960238e-01 -7.77853648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441400513 meters 0.01747584566616801 Centerline is valid? [True, True] Translation: X:197.15, Y:17.11, Z:-0.78 [[ 9.94420951e-01 -1.05193006e-01 -7.83603884e-03 1.97151016e+02] [ 1.05189726e-01 9.94451825e-01 -8.30668187e-04 1.71141074e+01] [ 7.87994361e-03 1.76306809e-06 9.99968953e-01 -7.75526496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501400513 meters 0.015215859168172096 Centerline is valid? [True, True] Translation: X:197.21, Y:17.13, Z:-0.77 [[ 9.94805759e-01 -1.01656886e-01 -5.23255414e-03 1.97206383e+02] [ 1.01655371e-01 9.94819520e-01 -5.55323332e-04 1.71279144e+01] [ 5.26189944e-03 2.05216160e-05 9.99986156e-01 -7.71790691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561400513 meters 0.013181119776300187 Centerline is valid? [True, True] Translation: X:197.26, Y:17.15, Z:-0.77 [[ 9.95451884e-01 -9.51517105e-02 -4.65820613e-03 1.97262531e+02] [ 9.51504366e-02 9.95462782e-01 -4.94827891e-04 1.71457609e+01] [ 4.68415455e-03 4.93470089e-05 9.99989028e-01 -7.70874170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621400513 meters 0.01992303897395693 Centerline is valid? [True, True] Translation: X:197.32, Y:17.17, Z:-0.77 [[ 9.96208243e-01 -8.68063807e-02 -5.81289620e-03 1.97321217e+02] [ 8.68042536e-02 9.96225195e-01 -6.17715821e-04 1.71668161e+01] [ 5.84457533e-03 1.10789477e-04 9.99982914e-01 -7.71959525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68140051299997 meters 0.027454148842597 Centerline is valid? [True, True] Translation: X:197.38, Y:17.19, Z:-0.77 [[ 9.96717946e-01 -8.06918218e-02 -6.49356958e-03 1.97379734e+02] [ 8.06890373e-02 9.96739085e-01 -6.90090008e-04 1.71870505e+01] [ 6.52807922e-03 1.63865217e-04 9.99978678e-01 -7.72191055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74140051299997 meters 0.03751099000215088 Centerline is valid? [True, True] Translation: X:197.44, Y:17.22, Z:-0.77 [[ 9.97391820e-01 -7.18384015e-02 -6.98580907e-03 1.97436558e+02] [ 7.18349612e-02 9.97416256e-01 -7.42469657e-04 1.72165805e+01] [ 7.02109736e-03 2.38707840e-04 9.99975323e-01 -7.73943475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80140051299998 meters 0.0390059800181268 Centerline is valid? [True, True] Translation: X:197.50, Y:17.23, Z:-0.77 [[ 9.97694610e-01 -6.75499326e-02 -6.51706708e-03 1.97495314e+02] [ 6.75468467e-02 9.97715863e-01 -6.92712119e-04 1.72336636e+01] [ 6.54897387e-03 2.50907816e-04 9.99978524e-01 -7.74675653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86140051299998 meters 0.04129091989126137 Centerline is valid? [True, True] Translation: X:197.55, Y:17.25, Z:-0.77 [[ 9.97850949e-01 -6.52603467e-02 -5.87960555e-03 1.97554019e+02] [ 6.52577946e-02 9.97868243e-01 -6.25055061e-04 1.72479877e+01] [ 5.90786297e-03 2.40021694e-04 9.99982520e-01 -7.73546997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92140051299998 meters 0.04574124281283905 Centerline is valid? [True, True] Translation: X:197.61, Y:17.26, Z:-0.77 [[ 9.97896915e-01 -6.45996895e-02 -5.35051832e-03 1.97610539e+02] [ 6.45975655e-02 9.97911234e-01 -5.69009177e-04 1.72648688e+01] [ 5.37610015e-03 2.22182044e-04 9.99985524e-01 -7.72564084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98140051299998 meters 0.04415537573774909 Centerline is valid? [True, True] Translation: X:197.67, Y:17.28, Z:-0.77 [[ 9.97847026e-01 -6.53518650e-02 -5.51789662e-03 1.97668607e+02] [ 6.53496144e-02 9.97862256e-01 -5.87390796e-04 1.72758129e+01] [ 5.54448785e-03 2.25533743e-04 9.99984604e-01 -7.72735772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04140051299999 meters 0.045590384617489696 Centerline is valid? [True, True] Translation: X:197.73, Y:17.29, Z:-0.77 [[ 9.97716373e-01 -6.71547482e-02 -7.23036837e-03 1.97726069e+02] [ 6.71012847e-02 9.97718732e-01 -7.39931819e-03 1.72888608e+01] [ 7.71077331e-03 6.89725390e-03 9.99946484e-01 -7.73712289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101400513 meters 0.036142171626095475 Centerline is valid? [True, True] Translation: X:197.79, Y:17.28, Z:-0.77 [[ 9.97595922e-01 -6.88891288e-02 -7.52756468e-03 1.97788325e+02] [ 6.89309767e-02 9.97606552e-01 5.44864132e-03 1.72792813e+01] [ 7.13419569e-03 -5.95442475e-03 9.99956823e-01 -7.72085862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161400513 meters 0.039572160123499775 Centerline is valid? [True, True] Translation: X:197.85, Y:17.29, Z:-0.77 [[ 9.97811852e-01 -6.56823373e-02 -7.57225247e-03 1.97847454e+02] [ 6.56780979e-02 9.97840536e-01 -8.07435524e-04 1.72930412e+01] [ 7.60893471e-03 3.08337596e-04 9.99971004e-01 -7.74424238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221400513 meters 0.042006240280692594 Centerline is valid? [True, True] Translation: X:197.91, Y:17.30, Z:-0.77 [[ 9.97916409e-01 -6.43035693e-02 -5.28125515e-03 1.97906222e+02] [ 6.43014860e-02 9.97930359e-01 -5.63501325e-04 1.72998497e+01] [ 5.30655999e-03 2.22734665e-04 9.99985895e-01 -7.70872644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281400513 meters 0.0422825636469923 Centerline is valid? [True, True] Translation: X:197.96, Y:17.30, Z:-0.77 [[ 9.97983324e-01 -6.33027662e-02 -4.69516301e-03 1.97964983e+02] [ 6.33011051e-02 9.97994348e-01 -5.01695388e-04 1.73019549e+01] [ 4.71750485e-03 2.03474624e-04 9.99988852e-01 -7.70666986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341400513 meters 0.04721033790327132 Centerline is valid? [True, True] Translation: X:198.02, Y:17.30, Z:-0.77 [[ 9.98128950e-01 -6.09779494e-02 -4.50423146e-03 1.98024890e+02] [ 6.09763945e-02 9.98139092e-01 -4.81863228e-04 1.73025403e+01] [ 4.52523253e-03 2.06309844e-04 9.99989740e-01 -7.69437217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401400513 meters 0.05531218607243031 Centerline is valid? [True, True] Translation: X:198.08, Y:17.32, Z:-0.77 [[ 9.98441152e-01 -5.55739943e-02 -5.17654774e-03 1.98083161e+02] [ 5.55718675e-02 9.98454536e-01 -5.53901716e-04 1.73199540e+01] [ 5.19933011e-03 2.65367842e-04 9.99986448e-01 -7.69953708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46140051299997 meters 0.06084756690910213 Centerline is valid? [True, True] Translation: X:198.14, Y:17.33, Z:-0.77 [[ 9.98746293e-01 -4.96787247e-02 -6.15355143e-03 1.98142645e+02] [ 4.96756073e-02 9.98765188e-01 -6.58505269e-04 1.73298718e+01] [ 6.17866665e-03 3.51998292e-04 9.99980850e-01 -7.70734420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52140051299997 meters 0.061580487592170934 Centerline is valid? [True, True] Translation: X:198.20, Y:17.34, Z:-0.77 [[ 9.99030949e-01 -4.35075901e-02 -6.65226487e-03 1.98202246e+02] [ 4.35038104e-02 9.99053007e-01 -7.11899935e-04 1.73385968e+01] [ 6.67693827e-03 4.21811198e-04 9.99977620e-01 -7.71804136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58140051299998 meters 0.06258308519584199 Centerline is valid? [True, True] Translation: X:198.26, Y:17.34, Z:-0.77 [[ 9.99063042e-01 -4.29261944e-02 -5.51173922e-03 1.98260245e+02] [ 4.29235901e-02 9.99078184e-01 -5.89976415e-04 1.73445068e+01] [ 5.53198385e-03 3.52839996e-04 9.99984636e-01 -7.69286225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64140051299998 meters 0.06482749875736935 Centerline is valid? [True, True] Translation: X:198.32, Y:17.35, Z:-0.77 [[ 9.99043294e-01 -4.33930760e-02 -5.43494579e-03 1.98317484e+02] [ 4.33905489e-02 9.99058017e-01 -5.82071814e-04 1.73514326e+01] [ 5.45508405e-03 3.45689661e-04 9.99985061e-01 -7.68886921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70140051299998 meters 0.06328905948417432 Centerline is valid? [True, True] Translation: X:198.38, Y:17.36, Z:-0.77 [[ 9.99095143e-01 -4.20283316e-02 -6.52035611e-03 1.98376558e+02] [ 4.20246632e-02 9.99116329e-01 -6.98661741e-04 1.73560805e+01] [ 6.54395785e-03 4.24013783e-04 9.99978498e-01 -7.71325010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76140051299998 meters 0.07108262283883779 Centerline is valid? [True, True] Translation: X:198.43, Y:17.37, Z:-0.77 [[ 9.99287059e-01 -3.73978761e-02 -5.17424666e-03 1.98433628e+02] [ 3.73955037e-02 9.99300390e-01 -5.54528864e-04 1.73748670e+01] [ 5.19136490e-03 3.60639958e-04 9.99986460e-01 -7.69044861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821400513 meters 0.06948085940950124 Centerline is valid? [True, True] Translation: X:198.49, Y:17.38, Z:-0.77 [[ 9.99395032e-01 -3.40895112e-02 -6.89024025e-03 1.98493848e+02] [ 3.40852257e-02 9.99418657e-01 -7.38476427e-04 1.73819191e+01] [ 6.91140896e-03 5.03174278e-04 9.99975989e-01 -7.70998157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881400513 meters 0.08029380724929454 Centerline is valid? [True, True] Translation: X:198.55, Y:17.40, Z:-0.77 [[ 9.99456817e-01 -3.25914557e-02 -4.88544972e-03 1.98551238e+02] [ 3.25892832e-02 9.99468691e-01 -5.23656260e-04 1.74024873e+01] [ 4.89992076e-03 3.64158514e-04 9.99987929e-01 -7.67817612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941400513 meters 0.07690448131877875 Centerline is valid? [True, True] Translation: X:198.61, Y:17.41, Z:-0.76 [[ 9.99467623e-01 -3.24907706e-02 -2.96996527e-03 1.98609711e+02] [ 3.24899673e-02 9.99472011e-01 -3.18331474e-04 1.74094571e+01] [ 2.97873999e-03 2.21667927e-04 9.99995539e-01 -7.64832714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001400513 meters 0.07083201582998425 Centerline is valid? [True, True] Translation: X:198.67, Y:17.42, Z:-0.77 [[ 9.99395920e-01 -3.42864575e-02 -5.67741297e-03 1.98669854e+02] [ 3.42835449e-02 9.99411961e-01 -6.09566004e-04 1.74150725e+01] [ 5.69497429e-03 4.14555935e-04 9.99983698e-01 -7.69325734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061400513 meters 0.07786604898580228 Centerline is valid? [True, True] Translation: X:198.73, Y:17.43, Z:-0.77 [[ 9.99344430e-01 -3.57741664e-02 -5.56042117e-03 1.98727290e+02] [ 3.57713950e-02 9.99359820e-01 -5.97094632e-04 1.74318611e+01] [ 5.57822207e-03 3.97799173e-04 9.99984362e-01 -7.69730282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121400513 meters 0.0649364183223225 Centerline is valid? [True, True] Translation: X:198.79, Y:17.42, Z:-0.77 [[ 9.99229582e-01 -3.89139570e-02 -5.09372384e-03 1.98788524e+02] [ 3.89116715e-02 9.99242504e-01 -5.47053263e-04 1.74239308e+01] [ 5.11115337e-03 3.48426495e-04 9.99986877e-01 -7.67814254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18140051299997 meters 0.0700896511371951 Centerline is valid? [True, True] Translation: X:198.85, Y:17.44, Z:-0.77 [[ 9.99131505e-01 -4.11333866e-02 -6.65438963e-03 1.98846572e+02] [ 4.11295345e-02 9.99153567e-01 -7.14751799e-04 1.74393302e+01] [ 6.67815730e-03 4.40439093e-04 9.99977604e-01 -7.70670460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24140051299997 meters 0.06455531465166724 Centerline is valid? [True, True] Translation: X:198.91, Y:17.44, Z:-0.77 [[ 9.99113459e-01 -4.15753086e-02 -6.61736764e-03 1.98905696e+02] [ 4.15715048e-02 9.99135278e-01 -7.11394681e-04 1.74401239e+01] [ 6.64122191e-03 4.35670070e-04 9.99977852e-01 -7.70504098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30140051299998 meters 0.07516836705102095 Centerline is valid? [True, True] Translation: X:198.96, Y:17.46, Z:-0.77 [[ 9.99225347e-01 -3.88167955e-02 -6.47785549e-03 1.98963234e+02] [ 3.88130889e-02 9.99246245e-01 -6.96973819e-04 1.74607097e+01] [ 6.50002707e-03 4.45008326e-04 9.99978776e-01 -7.70684299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36140051299998 meters 0.07391544110820043 Centerline is valid? [True, True] Translation: X:199.02, Y:17.46, Z:-0.77 [[ 9.99240502e-01 -3.82832622e-02 -7.26713999e-03 1.99021767e+02] [ 3.82785784e-02 9.99266800e-01 -7.82567109e-04 1.74637327e+01] [ 7.29177094e-03 5.03796962e-04 9.99973288e-01 -7.70455578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42140051299998 meters 0.0694932429011168 Centerline is valid? [True, True] Translation: X:199.08, Y:17.47, Z:-0.77 [[ 9.99250478e-01 -3.78207945e-02 -8.25045376e-03 1.99080429e+02] [ 3.78147301e-02 9.99284371e-01 -8.89858809e-04 1.74659927e+01] [ 8.27820467e-03 5.77203158e-04 9.99965568e-01 -7.71631139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48140051299998 meters 0.06984905444986249 Centerline is valid? [True, True] Translation: X:199.14, Y:17.48, Z:-0.77 [[ 9.99316087e-01 -3.62649390e-02 -7.22588449e-03 1.99140435e+02] [ 3.62602433e-02 9.99342077e-01 -7.79830077e-04 1.74752885e+01] [ 7.24941091e-03 5.17284411e-04 9.99973589e-01 -7.71498544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54140051299999 meters 0.0695332817663786 Centerline is valid? [True, True] Translation: X:199.20, Y:17.48, Z:-0.77 [[ 9.99354757e-01 -3.50764905e-02 -7.72716531e-03 1.99199348e+02] [ 3.50710842e-02 9.99384472e-01 -8.34085454e-04 1.74831129e+01] [ 7.75166582e-03 5.62547202e-04 9.99969797e-01 -7.72433895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601400513 meters 0.07645345636618836 Centerline is valid? [True, True] Translation: X:199.26, Y:17.50, Z:-0.77 [[ 9.99366221e-01 -3.47676676e-02 -7.63971031e-03 1.99255759e+02] [ 3.47623702e-02 9.99395266e-01 -8.25143486e-04 1.75028005e+01] [ 7.66377863e-03 5.59046090e-04 9.99970477e-01 -7.73275219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661400513 meters 0.06725896851246903 Centerline is valid? [True, True] Translation: X:199.32, Y:17.50, Z:-0.77 [[ 9.99255856e-01 -3.79190015e-02 -7.06276276e-03 1.99317241e+02] [ 3.79145503e-02 9.99280694e-01 -7.63111898e-04 1.74991254e+01] [ 7.08661891e-03 4.94762559e-04 9.99974767e-01 -7.71304104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721400513 meters 0.0646934385893002 Centerline is valid? [True, True] Translation: X:199.38, Y:17.50, Z:-0.77 [[ 9.99107895e-01 -4.17862952e-02 -6.10892831e-03 1.99377461e+02] [ 4.17830369e-02 9.99126490e-01 -6.60082877e-04 1.75039913e+01] [ 6.13117452e-03 4.04244437e-04 9.99981122e-01 -7.70272895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781400513 meters 0.0655365056194128 Centerline is valid? [True, True] Translation: X:199.44, Y:17.51, Z:-0.77 [[ 9.99026463e-01 -4.37004741e-02 -6.03283368e-03 1.99436411e+02] [ 4.36973307e-02 9.99044603e-01 -6.51949126e-04 1.75116962e+01] [ 6.05556042e-03 3.87695701e-04 9.99981590e-01 -7.70899092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841400513 meters 0.06224094707198811 Centerline is valid? [True, True] Translation: X:199.50, Y:17.51, Z:-0.77 [[ 9.98843039e-01 -4.77810213e-02 -5.43675877e-03 1.99496600e+02] [ 4.77785279e-02 9.98857781e-01 -5.87642623e-04 1.75095973e+01] [ 5.45862697e-03 3.27202412e-04 9.99985048e-01 -7.68601829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901400513 meters 0.06101333833091756 Centerline is valid? [True, True] Translation: X:199.55, Y:17.52, Z:-0.77 [[ 9.98830456e-01 -4.79469588e-02 -6.22965536e-03 1.99554207e+02] [ 4.79436846e-02 9.98849813e-01 -6.73958124e-04 1.75161554e+01] [ 6.25480434e-03 3.74497269e-04 9.99980368e-01 -7.69600575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96140051299997 meters 0.06880578295560374 Centerline is valid? [True, True] Translation: X:199.61, Y:17.53, Z:-0.77 [[ 9.98995066e-01 -4.43275138e-02 -6.62798152e-03 1.99612320e+02] [ 4.43237236e-02 9.99016963e-01 -7.17721651e-04 1.75320542e+01] [ 6.65328079e-03 4.23223567e-04 9.99977777e-01 -7.69893543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02140051299997 meters 0.07463514179858807 Centerline is valid? [True, True] Translation: X:199.67, Y:17.54, Z:-0.77 [[ 9.99205797e-01 -3.93292689e-02 -6.40185227e-03 1.99671347e+02] [ 3.93256306e-02 9.99226208e-01 -6.93260164e-04 1.75445940e+01] [ 6.42416399e-03 4.40952697e-04 9.99979268e-01 -7.69484047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08140051299998 meters 0.06592810733674563 Centerline is valid? [True, True] Translation: X:199.73, Y:17.54, Z:-0.77 [[ 9.99252022e-01 -3.83874153e-02 -4.66937741e-03 1.99732253e+02] [ 3.83854694e-02 9.99262878e-01 -5.05694074e-04 1.75383028e+01] [ 4.68534780e-03 3.26079582e-04 9.99988971e-01 -7.66644245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14140051299998 meters 0.06809322721771921 Centerline is valid? [True, True] Translation: X:199.79, Y:17.54, Z:-0.77 [[ 9.99197083e-01 -3.97459681e-02 -5.04461704e-03 1.99791060e+02] [ 3.97437133e-02 9.99209757e-01 -5.46458663e-04 1.75441111e+01] [ 5.06235010e-03 3.45528088e-04 9.99987127e-01 -7.66699715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20140051299998 meters 0.07496052765071491 Centerline is valid? [True, True] Translation: X:199.85, Y:17.56, Z:-0.77 [[ 9.99243149e-01 -3.85673531e-02 -5.06840001e-03 1.99848233e+02] [ 3.85650611e-02 9.99255940e-01 -5.49209221e-04 1.75563374e+01] [ 5.08581037e-03 3.53330396e-04 9.99987005e-01 -7.66640915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26140051299998 meters 0.07979734448897378 Centerline is valid? [True, True] Translation: X:199.91, Y:17.57, Z:-0.77 [[ 9.99405855e-01 -3.37648501e-02 -6.91901965e-03 1.99908304e+02] [ 3.37604625e-02 9.99429672e-01 -7.49996156e-04 1.75665413e+01] [ 6.94039705e-03 5.15961246e-04 9.99975782e-01 -7.69484766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321400513 meters 0.08333223121561943 Centerline is valid? [True, True] Translation: X:199.97, Y:17.58, Z:-0.77 [[ 9.99490632e-01 -3.03357302e-02 -9.91058547e-03 1.99967779e+02] [ 3.03265596e-02 9.99539467e-01 -1.07434370e-03 1.75769547e+01] [ 9.93861232e-03 7.73242506e-04 9.99950312e-01 -7.74136483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381400513 meters 0.0763513211118052 Centerline is valid? [True, True] Translation: X:200.03, Y:17.57, Z:-0.77 [[ 9.99640108e-01 -2.58742769e-02 -7.08348893e-03 2.00029037e+02] [ 2.58694806e-02 9.99665034e-01 -7.67916710e-04 1.75746641e+01] [ 7.10098549e-03 5.84394164e-04 9.99974617e-01 -7.67804014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441400513 meters 0.07755464817929576 Centerline is valid? [True, True] Translation: X:200.09, Y:17.58, Z:-0.77 [[ 9.99717963e-01 -2.30474135e-02 -5.72804286e-03 2.00088480e+02] [ 2.30442308e-02 9.99734254e-01 -6.21012815e-04 1.75831221e+01] [ 5.74083339e-03 4.88839325e-04 9.99983402e-01 -7.65781212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501400513 meters 0.09551543397794615 Centerline is valid? [True, True] Translation: X:200.15, Y:17.61, Z:-0.77 [[ 9.99802945e-01 -1.86672473e-02 -6.75314335e-03 2.00145368e+02] [ 1.86627239e-02 9.99825568e-01 -7.32235930e-04 1.76139016e+01] [ 6.76563422e-03 6.06059590e-04 9.99976929e-01 -7.68163424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561400513 meters 0.0963519998584347 Centerline is valid? [True, True] Translation: X:200.21, Y:17.63, Z:-0.77 [[ 9.99847439e-01 -1.63702704e-02 -6.09207529e-03 2.00205068e+02] [ 1.63665466e-02 9.99865841e-01 -6.60602451e-04 1.76278427e+01] [ 6.10207223e-03 5.60795434e-04 9.99981225e-01 -7.67506704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621400513 meters 0.09112229192780641 Centerline is valid? [True, True] Translation: X:200.26, Y:17.63, Z:-0.77 [[ 9.99870364e-01 -1.41762595e-02 -7.63466639e-03 2.00264754e+02] [ 1.41703472e-02 9.99899253e-01 -8.27939025e-04 1.76339036e+01] [ 7.64563430e-03 7.19645821e-04 9.99970513e-01 -7.68589103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68140051299997 meters 0.09569117578258375 Centerline is valid? [True, True] Translation: X:200.32, Y:17.65, Z:-0.77 [[ 9.99872487e-01 -1.44468374e-02 -6.80430790e-03 2.00321158e+02] [ 1.44421459e-02 9.99895434e-01 -7.38123510e-04 1.76516013e+01] [ 6.81425995e-03 6.39760582e-04 9.99976578e-01 -7.67667189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74140051299997 meters 0.09774682487880136 Centerline is valid? [True, True] Translation: X:200.38, Y:17.67, Z:-0.76 [[ 9.99902836e-01 -1.29354132e-02 -5.19550356e-03 2.00379619e+02] [ 1.29326569e-02 9.99916211e-01 -5.63768410e-04 1.76674449e+01] [ 5.20236081e-03 4.96521967e-04 9.99986344e-01 -7.64926209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80140051299998 meters 0.1013222466974612 Centerline is valid? [True, False] Translation: X:200.38, Y:17.67, Z:-0.77 [[ 9.99947142e-01 -8.81964155e-03 -5.28468182e-03 2.00379847e+02] [ 8.83621862e-03 9.99956087e-01 3.12171939e-03 1.76703509e+01] [ 5.25691731e-03 -3.16825098e-03 9.99981163e-01 -7.65219833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86140051299998 meters 0.09360466885170375 Centerline is valid? [False, True] Translation: X:200.38, Y:17.67, Z:-0.77 [[ 9.99944564e-01 -9.06520861e-03 -5.35633348e-03 2.00380193e+02] [ 9.07859009e-03 9.99955715e-01 2.47924313e-03 1.76732218e+01] [ 5.33362142e-03 -2.52773365e-03 9.99982581e-01 -7.65580993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92140051299998 meters 0.09255967784511614 Centerline is valid? [True, True] Translation: X:200.44, Y:17.68, Z:-0.77 [[ 9.99899208e-01 -1.35693183e-02 -4.17697368e-03 2.00439213e+02] [ 1.35676427e-02 9.99907863e-01 -4.29248237e-04 1.76826767e+01] [ 4.18241343e-03 3.72533286e-04 9.99991184e-01 -7.65501817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98140051299998 meters 0.09658968319720426 Centerline is valid? [True, True] Translation: X:200.50, Y:17.69, Z:-0.77 [[ 9.99803120e-01 -1.89688524e-02 -5.82274732e-03 2.00497978e+02] [ 1.89656866e-02 9.99819956e-01 -5.98430175e-04 1.76948580e+01] [ 5.83305050e-03 4.87879955e-04 9.99982869e-01 -7.68079938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04140051299999 meters 0.08786304116163525 Centerline is valid? [True, True] Translation: X:200.56, Y:17.69, Z:-0.76 [[ 9.99794920e-01 -1.98885890e-02 -3.81608856e-03 2.00557948e+02] [ 1.98872356e-02 9.99802152e-01 -3.92291016e-04 1.76942239e+01] [ 3.82313568e-03 3.16319113e-04 9.99992642e-01 -7.63690809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101400513 meters 0.09000081874915042 Centerline is valid? [True, True] Translation: X:200.62, Y:17.70, Z:-0.76 [[ 9.99825326e-01 -1.85158810e-02 -2.54546344e-03 2.00617537e+02] [ 1.85152743e-02 9.99828543e-01 -2.61704230e-04 1.77021811e+01] [ 2.54987268e-03 2.14528563e-04 9.99996726e-01 -7.60752172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161400513 meters 0.08380240852133315 Centerline is valid? [True, True] Translation: X:200.68, Y:17.70, Z:-0.76 [[ 9.99797617e-01 -1.98911813e-02 -3.01096657e-03 2.00677993e+02] [ 1.98903385e-02 9.99802120e-01 -3.09596091e-04 1.77001524e+01] [ 3.01652899e-03 2.49644290e-04 9.99995419e-01 -7.60551932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221400513 meters 0.07730642789721956 Centerline is valid? [True, True] Translation: X:200.74, Y:17.70, Z:-0.76 [[ 9.99804199e-01 -1.95544840e-02 -3.03088956e-03 2.00737290e+02] [ 1.95536267e-02 9.99808761e-01 -3.12229375e-04 1.76969949e+01] [ 3.03641542e-03 2.52903357e-04 9.99995358e-01 -7.61882990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281400513 meters 0.08599623854603607 Centerline is valid? [True, True] Translation: X:200.80, Y:17.71, Z:-0.76 [[ 9.99834073e-01 -1.79766068e-02 -2.94415217e-03 2.00795780e+02] [ 1.79757912e-02 9.99838376e-01 -3.03252737e-04 1.77110759e+01] [ 2.94912778e-03 2.50278954e-04 9.99995620e-01 -7.61567862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341400513 meters 0.09154179649686252 Centerline is valid? [True, True] Translation: X:200.86, Y:17.72, Z:-0.76 [[ 9.99892035e-01 -1.46225386e-02 -1.44916423e-03 2.00855346e+02] [ 1.46223374e-02 9.99893077e-01 -1.49283515e-04 1.77214167e+01] [ 1.45119219e-03 1.28077229e-04 9.99998939e-01 -7.58935548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401400513 meters 0.08955418112384976 Centerline is valid? [True, True] Translation: X:200.92, Y:17.72, Z:-0.76 [[ 9.99922100e-01 -1.22743406e-02 -2.26580605e-03 2.00916573e+02] [ 1.22738430e-02 9.99924646e-01 -2.33399955e-04 1.77189197e+01] [ 2.26850014e-03 2.05571626e-04 9.99997406e-01 -7.60488892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46140051299997 meters 0.09244163547592919 Centerline is valid? [True, True] Translation: X:200.97, Y:17.73, Z:-0.76 [[ 9.99931375e-01 -1.13270337e-02 -2.99046202e-03 2.00974376e+02] [ 1.13261622e-02 9.99935809e-01 -3.08206026e-04 1.77255536e+01] [ 2.99376112e-03 2.74314418e-04 9.99995481e-01 -7.63758958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52140051299997 meters 0.08734092707244899 Centerline is valid? [True, True] Translation: X:201.03, Y:17.72, Z:-0.76 [[ 9.99936089e-01 -1.08244005e-02 -3.26353811e-03 2.01033243e+02] [ 1.08233592e-02 9.99941369e-01 -3.36543173e-04 1.77226805e+01] [ 3.26698964e-03 3.01199219e-04 9.99994618e-01 -7.63456586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58140051299998 meters 0.0922012844697977 Centerline is valid? [True, True] Translation: X:201.09, Y:17.73, Z:-0.77 [[ 9.99950858e-01 -8.37238092e-03 -5.30892278e-03 2.01091695e+02] [ 8.36959195e-03 9.99964825e-01 -5.47336700e-04 1.77328467e+01] [ 5.31331855e-03 5.02876285e-04 9.99985758e-01 -7.65055972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64140051299998 meters 0.09880398179618723 Centerline is valid? [True, True] Translation: X:201.15, Y:17.75, Z:-0.77 [[ 9.99950581e-01 -7.53080537e-03 -6.49013186e-03 2.01148594e+02] [ 7.52661755e-03 9.99971451e-01 -6.69443060e-04 1.77482211e+01] [ 6.49498801e-03 6.20561236e-04 9.99978715e-01 -7.68175424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70140051299998 meters 0.09213257052848575 Centerline is valid? [True, True] Translation: X:201.21, Y:17.75, Z:-0.77 [[ 9.99951617e-01 -8.35799329e-03 -5.18733998e-03 2.01208214e+02] [ 8.35532472e-03 9.99964950e-01 -5.35898270e-04 1.77475498e+01] [ 5.19163720e-03 4.92530431e-04 9.99986402e-01 -7.65805479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76140051299998 meters 0.09480352422661757 Centerline is valid? [True, True] Translation: X:201.27, Y:17.76, Z:-0.76 [[ 9.99932611e-01 -1.09467314e-02 -3.86560708e-03 2.01266129e+02] [ 1.09452684e-02 9.99940019e-01 -3.99426136e-04 1.77590026e+01] [ 3.86974762e-03 3.57089113e-04 9.99992449e-01 -7.64370793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821400513 meters 0.08772679204181226 Centerline is valid? [True, True] Translation: X:201.33, Y:17.76, Z:-0.77 [[ 9.99872070e-01 -1.53290630e-02 -4.56767604e-03 2.01326767e+02] [ 1.53270657e-02 9.99882422e-01 -4.71966410e-04 1.77595967e+01] [ 4.57437379e-03 4.01896961e-04 9.99989457e-01 -7.65301195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881400513 meters 0.09014721047177769 Centerline is valid? [True, True] Translation: X:201.38, Y:17.77, Z:-0.77 [[ 9.99848692e-01 -1.63013162e-02 -6.07131903e-03 2.01384103e+02] [ 1.62978033e-02 9.99866985e-01 -6.27627624e-04 1.77722885e+01] [ 6.08074261e-03 5.28583495e-04 9.99981372e-01 -7.66989591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941400513 meters 0.08960328570688252 Centerline is valid? [True, True] Translation: X:201.44, Y:17.78, Z:-0.76 [[ 9.99872767e-01 -1.53477585e-02 -4.34701631e-03 2.01443094e+02] [ 1.53459483e-02 9.99882143e-01 -4.49470940e-04 1.77806512e+01] [ 4.35340235e-03 3.82704665e-04 9.99990451e-01 -7.63611249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001400513 meters 0.1042304340652683 Centerline is valid? [True, False] Translation: X:201.44, Y:17.79, Z:-0.77 [[ 9.99994262e-01 -2.27513594e-03 -2.50986961e-03 2.01444764e+02] [ 2.25659520e-03 9.99970329e-01 -7.36539436e-03 1.77898165e+01] [ 2.52655241e-03 7.35968834e-03 9.99969725e-01 -7.65941690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061400513 meters 0.08617494518740206 Centerline is valid? [False, True] Translation: X:201.44, Y:17.79, Z:-0.76 [[ 9.99998602e-01 -3.48573114e-04 -1.63553283e-03 2.01438152e+02] [ 3.39706050e-04 9.99985261e-01 -5.41866364e-03 1.77913332e+01] [ 1.63739753e-03 5.41810046e-03 9.99983981e-01 -7.60465213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121400513 meters 0.08800390061367541 Centerline is valid? [True, True] Translation: X:201.50, Y:17.80, Z:-0.76 [[ 9.99984792e-01 -4.46153453e-03 -3.24199461e-03 2.01496818e+02] [ 4.46061785e-03 9.99990009e-01 -2.89927959e-04 1.77988613e+01] [ 3.24325574e-03 2.75462251e-04 9.99994703e-01 -7.63276045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18140051299997 meters 0.0906522868989334 Centerline is valid? [True, True] Translation: X:201.56, Y:17.81, Z:-0.76 [[ 9.99961076e-01 -8.40449476e-03 -2.68546715e-03 2.01555203e+02] [ 8.40387973e-03 9.99964658e-01 -2.40222677e-04 1.78111196e+01] [ 2.68739119e-03 2.17644984e-04 9.99996365e-01 -7.63529919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24140051299997 meters 0.0800287968457291 Centerline is valid? [True, True] Translation: X:201.62, Y:17.81, Z:-0.76 [[ 9.99901440e-01 -1.37641786e-02 -2.76723319e-03 2.01616851e+02] [ 1.37635461e-02 9.99905247e-01 -2.47478901e-04 1.78070165e+01] [ 2.77037734e-03 2.09367568e-04 9.99996141e-01 -7.64577538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30140051299998 meters 0.0754260796583389 Centerline is valid? [True, True] Translation: X:201.68, Y:17.81, Z:-0.77 [[ 9.99834618e-01 -1.79928755e-02 -2.64443485e-03 2.01677332e+02] [ 1.79923126e-02 9.99838097e-01 -2.36501089e-04 1.78066600e+01] [ 2.64826205e-03 1.88882477e-04 9.99996476e-01 -7.65324400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36140051299998 meters 0.07026549758821948 Centerline is valid? [True, True] Translation: X:201.74, Y:17.80, Z:-0.77 [[ 9.99770670e-01 -2.11689775e-02 -3.23755435e-03 2.01738418e+02] [ 2.11681503e-02 9.99775888e-01 -2.89559750e-04 1.78004983e+01] [ 3.24295846e-03 2.20960308e-04 9.99994717e-01 -7.66208151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42140051299998 meters 0.07391301414940625 Centerline is valid? [True, True] Translation: X:201.80, Y:17.80, Z:-0.76 [[ 9.99766804e-01 -2.15089311e-02 -1.92465473e-03 2.01796086e+02] [ 2.15086388e-02 9.99768648e-01 -1.72447839e-04 1.78047124e+01] [ 1.92791862e-03 1.31010921e-04 9.99998133e-01 -7.63836238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48140051299998 meters 0.06890192182687728 Centerline is valid? [True, True] Translation: X:201.86, Y:17.79, Z:-0.76 [[ 9.99766466e-01 -2.15748441e-02 -1.24082770e-03 2.01855160e+02] [ 2.15747217e-02 9.99767232e-01 -1.11950305e-04 1.77929574e+01] [ 1.24295419e-03 8.51536482e-05 9.99999224e-01 -7.61653601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54140051299999 meters 0.07482414170352424 Centerline is valid? [True, True] Translation: X:201.91, Y:17.80, Z:-0.76 [[ 9.99772100e-01 -2.13336337e-02 -7.90494291e-04 2.01912444e+02] [ 2.13335841e-02 9.99772411e-01 -7.11458466e-05 1.77967166e+01] [ 7.91832182e-04 5.42655560e-05 9.99999685e-01 -7.61565274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601400513 meters 0.06469057714149731 Centerline is valid? [True, True] Translation: X:201.97, Y:17.78, Z:-0.76 [[ 9.99772515e-01 -2.11322243e-02 2.88906999e-03 2.01973131e+02] [ 2.11315633e-02 9.99776670e-01 2.59143134e-04 1.77773671e+01] [-2.89390104e-03 -1.98033618e-04 9.99995793e-01 -7.55510839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661400513 meters 0.0715463425692957 Centerline is valid? [True, True] Translation: X:202.03, Y:17.78, Z:-0.76 [[ 9.99784570e-01 -2.07041038e-02 1.46776537e-03 2.02031965e+02] [ 2.07039323e-02 9.99785642e-01 1.31935162e-04 1.77842675e+01] [-1.47018234e-03 -1.01518224e-04 9.99998914e-01 -7.58093052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721400513 meters 0.0676913323496118 Centerline is valid? [True, True] Translation: X:202.09, Y:17.78, Z:-0.76 [[ 9.99799458e-01 -1.98507108e-02 -2.64433519e-03 2.02092400e+02] [ 1.98501506e-02 9.99802938e-01 -2.37918308e-04 1.77760700e+01] [ 2.64853694e-03 1.85380144e-04 9.99996475e-01 -7.63013257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781400513 meters 0.07383964586484212 Centerline is valid? [True, True] Translation: X:202.15, Y:17.79, Z:-0.76 [[ 9.99789683e-01 -2.04189010e-02 -1.91244093e-03 2.02149587e+02] [ 2.04186086e-02 9.99791504e-01 -1.72326782e-04 1.77855855e+01] [ 1.91556092e-03 1.33241156e-04 9.99998156e-01 -7.61392149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841400513 meters 0.06383460584396933 Centerline is valid? [True, True] Translation: X:202.21, Y:17.77, Z:-0.76 [[ 9.99645701e-01 -2.65644136e-02 -1.67472165e-03 2.02211203e+02] [ 2.65641982e-02 9.99647098e-01 -1.50739548e-04 1.77718608e+01] [ 1.67813494e-03 1.06198503e-04 9.99998586e-01 -7.62353087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901400513 meters 0.05535019335150178 Centerline is valid? [True, True] Translation: X:202.27, Y:17.77, Z:-0.76 [[ 9.99346954e-01 -3.61293449e-02 5.79786975e-04 2.02271219e+02] [ 3.61293207e-02 9.99347122e-01 5.21371485e-05 1.77668243e+01] [-5.81292125e-04 -3.11557910e-05 9.99999831e-01 -7.59188401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96140051299997 meters 0.04922587656091492 Centerline is valid? [True, True] Translation: X:202.33, Y:17.76, Z:-0.76 [[ 9.99123697e-01 -4.18520272e-02 4.96162832e-04 2.02332202e+02] [ 4.18520102e-02 9.99123820e-01 4.46691422e-05 1.77625304e+01] [-4.97597598e-04 -2.38645866e-05 9.99999876e-01 -7.58589325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02140051299997 meters 0.041195332439401044 Centerline is valid? [True, True] Translation: X:202.39, Y:17.75, Z:-0.77 [[ 9.98649177e-01 -5.17687491e-02 -4.45174488e-03 2.02392698e+02] [ 5.17674759e-02 9.98659085e-01 -4.00840650e-04 1.77539454e+01] [ 4.46652649e-03 1.69843589e-04 9.99990011e-01 -7.67919777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08140051299998 meters 0.03569731951855969 Centerline is valid? [True, True] Translation: X:202.45, Y:17.75, Z:-0.77 [[ 9.98328455e-01 -5.77341224e-02 -2.65845512e-03 2.02453917e+02] [ 5.77336895e-02 9.98331991e-01 -2.39369753e-04 1.77493459e+01] [ 2.66784059e-03 8.54872135e-05 9.99996438e-01 -7.65572998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14140051299998 meters 0.027614972250377595 Centerline is valid? [True, True] Translation: X:202.51, Y:17.74, Z:-0.76 [[ 9.97994187e-01 -6.33046908e-02 3.45632174e-04 2.02514899e+02] [ 6.33046839e-02 9.97994246e-01 3.11107303e-05 1.77422240e+01] [-3.46908376e-04 -9.16819253e-06 9.99999940e-01 -7.58579224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20140051299998 meters 0.02742269445660097 Centerline is valid? [True, True] Translation: X:202.57, Y:17.75, Z:-0.76 [[ 9.97888023e-01 -6.49551461e-02 -5.68638005e-04 2.02572251e+02] [ 6.49551273e-02 9.97888185e-01 -5.14451068e-05 1.77467140e+01] [ 5.70778771e-04 1.44005019e-05 9.99999837e-01 -7.62175437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26140051299998 meters 0.02240535034121481 Centerline is valid? [True, True] Translation: X:202.63, Y:17.74, Z:-0.76 [[ 9.97608739e-01 -6.91029471e-02 -1.25972452e-03 2.02632950e+02] [ 6.91028586e-02 9.97609534e-01 -1.13659168e-04 1.77413028e+01] [ 1.26456738e-03 2.63368132e-05 9.99999200e-01 -7.64209141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321400513 meters 0.01875132341742591 Centerline is valid? [True, True] Translation: X:202.69, Y:17.74, Z:-0.76 [[ 9.97341099e-01 -7.28652660e-02 -1.17682593e-03 2.02692240e+02] [ 7.28651913e-02 9.97341793e-01 -1.06296142e-04 1.77383608e+01] [ 1.18144298e-03 2.02638642e-05 9.99999302e-01 -7.62415919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381400513 meters 0.015267702895279319 Centerline is valid? [True, True] Translation: X:202.75, Y:17.73, Z:-0.76 [[ 9.97042591e-01 -7.68113795e-02 -2.46633585e-03 2.02752018e+02] [ 7.68110636e-02 9.97045641e-01 -2.22700115e-04 1.77327076e+01] [ 2.47615531e-03 3.25996199e-05 9.99996934e-01 -7.64310903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441400513 meters 0.014307685309715549 Centerline is valid? [True, True] Translation: X:202.81, Y:17.73, Z:-0.77 [[ 9.96959100e-01 -7.78727232e-02 -2.89704750e-03 2.02811286e+02] [ 7.78722892e-02 9.96963308e-01 -2.62494143e-04 1.77340447e+01] [ 2.90869119e-03 3.60962043e-05 9.99995769e-01 -7.65631650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501400513 meters 0.012519929512358018 Centerline is valid? [True, True] Translation: X:202.87, Y:17.73, Z:-0.76 [[ 9.96782769e-01 -8.01165773e-02 -2.33353409e-03 2.02870298e+02] [ 8.01163007e-02 9.96785500e-01 -2.11950104e-04 1.77331204e+01] [ 2.34301366e-03 2.43140927e-05 9.99997255e-01 -7.64252145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561400513 meters 0.010880357350578317 Centerline is valid? [True, True] Translation: X:202.93, Y:17.73, Z:-0.76 [[ 9.96584282e-01 -8.25658509e-02 -1.62739778e-03 2.02928979e+02] [ 8.25657189e-02 9.96585611e-01 -1.48261749e-04 1.77313252e+01] [ 1.63408257e-03 1.33880614e-05 9.99998665e-01 -7.64210618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621400513 meters 0.008724164538717168 Centerline is valid? [True, True] Translation: X:202.99, Y:17.73, Z:-0.77 [[ 9.96310166e-01 -8.57821148e-02 -2.73523777e-03 2.02988975e+02] [ 8.57817551e-02 9.96313921e-01 -2.48767075e-04 1.77268218e+01] [ 2.74649523e-03 1.32156698e-05 9.99996228e-01 -7.66549365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68140051299997 meters 0.007602640959867402 Centerline is valid? [True, True] Translation: X:203.05, Y:17.73, Z:-0.77 [[ 9.96056196e-01 -8.86946259e-02 -2.30584660e-03 2.03048506e+02] [ 8.86943764e-02 9.96058865e-01 -2.10436798e-04 1.77252402e+01] [ 2.31542356e-03 5.09125024e-06 9.99997319e-01 -7.66736041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74140051299997 meters 0.007138082845137213 Centerline is valid? [True, True] Translation: X:203.11, Y:17.72, Z:-0.76 [[ 9.95966446e-01 -8.97225877e-02 -8.33650933e-04 2.03108168e+02] [ 8.97225550e-02 9.95966795e-01 -7.66138732e-05 1.77233571e+01] [ 8.37162643e-04 1.50755539e-06 9.99999650e-01 -7.62416456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80140051299998 meters 0.009488491007100497 Centerline is valid? [True, True] Translation: X:203.17, Y:17.74, Z:-0.76 [[ 9.96388769e-01 -8.49079348e-02 2.53064541e-04 2.03165321e+02] [ 8.49079317e-02 9.96388801e-01 2.28712665e-05 1.77361129e+01] [-2.54092626e-04 -1.30148635e-06 9.99999968e-01 -7.62745910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86140051299998 meters 0.009195978316173217 Centerline is valid? [True, True] Translation: X:203.22, Y:17.74, Z:-0.77 [[ 9.96376969e-01 -8.50410380e-02 -9.78419318e-04 2.03223523e+02] [ 8.50409905e-02 9.96377449e-01 -9.01599896e-05 1.77404660e+01] [ 9.82542244e-04 6.62758928e-06 9.99999517e-01 -7.65006401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92140051299998 meters 0.007298651650392342 Centerline is valid? [True, True] Translation: X:203.28, Y:17.74, Z:-0.76 [[ 9.95923427e-01 -9.01948030e-02 -1.19392671e-03 2.03280933e+02] [ 9.01947366e-02 9.95924142e-01 -1.09446236e-04 1.77429339e+01] [ 1.19893191e-03 1.31416533e-06 9.99999281e-01 -7.64287164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98140051299998 meters 0.008763886591887926 Centerline is valid? [True, True] Translation: X:203.34, Y:17.74, Z:-0.76 [[ 9.95398362e-01 -9.58220821e-02 -4.78655045e-04 2.03340194e+02] [ 9.58220718e-02 9.95398477e-01 -4.44620528e-05 1.77445545e+01] [ 4.80712949e-04 -1.60826357e-06 9.99999884e-01 -7.63101668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04140051299999 meters 0.016670997278848042 Centerline is valid? [True, True] Translation: X:203.40, Y:17.74, Z:-0.77 [[ 9.94521984e-01 -1.04503434e-01 -2.24850415e-03 2.03400194e+02] [ 1.04503235e-01 9.94524525e-01 -2.06216856e-04 1.77438082e+01] [ 2.25774289e-03 -2.98887604e-05 9.99997451e-01 -7.65226695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101400513 meters 0.024545333906223574 Centerline is valid? [True, True] Translation: X:203.46, Y:17.75, Z:-0.77 [[ 9.93754146e-01 -1.11531010e-01 -3.67838586e-03 2.03460403e+02] [ 1.11530525e-01 9.93760951e-01 -3.37302169e-04 1.77482213e+01] [ 3.69305588e-03 -7.50568793e-05 9.99993178e-01 -7.67481099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161400513 meters 0.02719225043438438 Centerline is valid? [True, True] Translation: X:203.52, Y:17.76, Z:-0.76 [[ 9.93318212e-01 -1.15384963e-01 -2.28925900e-03 2.03519288e+02] [ 1.15384785e-01 9.93320848e-01 -2.10111021e-04 1.77552644e+01] [ 2.29821235e-03 -5.54385538e-05 9.99997358e-01 -7.64654693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221400513 meters 0.0364873065753724 Centerline is valid? [True, True] Translation: X:203.58, Y:17.76, Z:-0.76 [[ 9.92689917e-01 -1.20663581e-01 -2.65130379e-03 2.03579541e+02] [ 1.20663362e-01 9.92693454e-01 -2.43187168e-04 1.77606998e+01] [ 2.66127576e-03 -7.85057793e-05 9.99996456e-01 -7.64245655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281400513 meters 0.03528773936231895 Centerline is valid? [True, True] Translation: X:203.64, Y:17.77, Z:-0.76 [[ 9.92366470e-01 -1.23311255e-01 -1.76724166e-03 2.03638004e+02] [ 1.23311161e-01 9.92368042e-01 -1.62380203e-04 1.77655686e+01] [ 1.77377746e-03 -5.67799514e-05 9.99998425e-01 -7.64414235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341400513 meters 0.041015174103220885 Centerline is valid? [True, True] Translation: X:203.69, Y:17.78, Z:-0.76 [[ 9.92348834e-01 -1.23442616e-01 -2.39013952e-03 2.03694846e+02] [ 1.23442443e-01 9.92351709e-01 -2.20547658e-04 1.77769406e+01] [ 2.39908402e-03 -7.61844489e-05 9.99997119e-01 -7.64419457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401400513 meters 0.03407490562318108 Centerline is valid? [True, True] Translation: X:203.75, Y:17.79, Z:-0.76 [[ 9.92556716e-01 -1.21771808e-01 -1.67084190e-03 2.03752487e+02] [ 1.21771722e-01 9.92558121e-01 -1.53934215e-04 1.77861708e+01] [ 1.67715255e-03 -5.06728561e-05 9.99998592e-01 -7.63505338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46140051299997 meters 0.031424573084899675 Centerline is valid? [True, True] Translation: X:203.81, Y:17.80, Z:-0.76 [[ 9.92834277e-01 -1.19499362e-01 2.59472806e-05 2.03810378e+02] [ 1.19499362e-01 9.92834277e-01 1.80941405e-06 1.78031765e+01] [-2.59775734e-05 1.30423519e-06 1.00000000e+00 -7.61388338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52140051299997 meters 0.029189394451711877 Centerline is valid? [True, True] Translation: X:203.87, Y:17.81, Z:-0.76 [[ 9.92864424e-01 -1.19247763e-01 -4.55397838e-04 2.03868091e+02] [ 1.19247756e-01 9.92864528e-01 -4.26961909e-05 1.78145278e+01] [ 4.57239784e-04 -1.19136411e-05 9.99999895e-01 -7.62100936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58140051299998 meters 0.035980584312268526 Centerline is valid? [True, True] Translation: X:203.92, Y:17.83, Z:-0.77 [[ 9.92897334e-01 -1.18871595e-01 -4.94257261e-03 2.03924979e+02] [ 1.18870792e-01 9.92909626e-01 -4.57045554e-04 1.78275464e+01] [ 4.96185765e-03 -1.33728206e-04 9.99987681e-01 -7.68563449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64140051299998 meters 0.027341201444460006 Centerline is valid? [True, True] Translation: X:203.98, Y:17.85, Z:-0.77 [[ 9.93097780e-01 -1.17267419e-01 -2.26965852e-03 2.03981694e+02] [ 1.17267245e-01 9.93100372e-01 -2.10068059e-04 1.78506365e+01] [ 2.27863286e-03 -5.75384782e-05 9.99997402e-01 -7.65019621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70140051299998 meters 0.029179734091540406 Centerline is valid? [True, True] Translation: X:204.04, Y:17.86, Z:-0.77 [[ 9.92996945e-01 -1.18111801e-01 -2.58250579e-03 2.04038291e+02] [ 1.18111577e-01 9.93000301e-01 -2.39486311e-04 1.78618654e+01] [ 2.59271518e-03 -6.72146554e-05 9.99996637e-01 -7.66540110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76140051299998 meters 0.03391527594260114 Centerline is valid? [True, True] Translation: X:204.10, Y:17.87, Z:-0.77 [[ 9.92445034e-01 -1.22662943e-01 -2.57999544e-03 2.04097704e+02] [ 1.22662736e-01 9.92448385e-01 -2.38961687e-04 1.78739503e+01] [ 2.58982405e-03 -7.93129605e-05 9.99996643e-01 -7.66078706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821400513 meters 0.038895962384013105 Centerline is valid? [True, True] Translation: X:204.16, Y:17.88, Z:-0.77 [[ 9.91909549e-01 -1.26918173e-01 -2.68785057e-03 2.04157441e+02] [ 1.26917963e-01 9.91913186e-01 -2.48969043e-04 1.78786181e+01] [ 2.69771312e-03 -9.41817500e-05 9.99996357e-01 -7.65068586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881400513 meters 0.049402274023770426 Centerline is valid? [True, True] Translation: X:204.22, Y:17.89, Z:-0.76 [[ 9.91089666e-01 -1.33183680e-01 -1.83875823e-03 2.04217258e+02] [ 1.33183593e-01 9.91091369e-01 -1.70296582e-04 1.78916436e+01] [ 1.84505813e-03 -7.61132447e-05 9.99998295e-01 -7.64981084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941400513 meters 0.04723428913917633 Centerline is valid? [True, True] Translation: X:204.28, Y:17.90, Z:-0.76 [[ 9.90991051e-01 -1.33923976e-01 -1.05113908e-03 2.04275467e+02] [ 1.33923947e-01 9.90991608e-01 -9.81265197e-05 1.79027707e+01] [ 1.05481150e-03 -4.35301918e-05 9.99999443e-01 -7.64105834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001400513 meters 0.04907349902989692 Centerline is valid? [True, True] Translation: X:204.33, Y:17.92, Z:-0.76 [[ 9.90568628e-01 -1.37007164e-01 -1.68252780e-03 2.04334469e+02] [ 1.37007096e-01 9.90570054e-01 -1.56168107e-04 1.79151672e+01] [ 1.68805781e-03 -7.58230197e-05 9.99998572e-01 -7.63856780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061400513 meters 0.04939512082192687 Centerline is valid? [True, True] Translation: X:204.39, Y:17.93, Z:-0.76 [[ 9.90014491e-01 -1.40963602e-01 -7.55197845e-04 2.04393726e+02] [ 1.40963590e-01 9.90014778e-01 -7.01055262e-05 1.79296222e+01] [ 7.57539354e-04 -3.70499122e-05 9.99999712e-01 -7.62528374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121400513 meters 0.056935486402071904 Centerline is valid? [True, True] Translation: X:204.45, Y:17.94, Z:-0.77 [[ 9.89270912e-01 -1.46078142e-01 -2.05902543e-03 2.04453142e+02] [ 1.46078060e-01 9.89273048e-01 -1.91122098e-04 1.79393613e+01] [ 2.06485713e-03 -1.11706907e-04 9.99997862e-01 -7.65033055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18140051299997 meters 0.05291780463234868 Centerline is valid? [True, True] Translation: X:204.51, Y:17.96, Z:-0.77 [[ 9.88970529e-01 -1.48088294e-01 -2.67402157e-03 2.04511921e+02] [ 1.48088162e-01 9.88974132e-01 -2.48246857e-04 1.79556700e+01] [ 2.68130061e-03 -1.50482115e-04 9.99996394e-01 -7.66145248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24140051299997 meters 0.05969576130973735 Centerline is valid? [True, True] Translation: X:204.57, Y:17.96, Z:-0.77 [[ 9.88970225e-01 -1.48103923e-01 -1.76716147e-03 2.04569930e+02] [ 1.48103865e-01 9.88971798e-01 -1.64357145e-04 1.79585088e+01] [ 1.77201479e-03 -9.91791204e-05 9.99998425e-01 -7.65614778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30140051299998 meters 0.061205795291370664 Centerline is valid? [True, True] Translation: X:204.63, Y:17.97, Z:-0.76 [[ 9.88864457e-01 -1.48814867e-01 -1.10478849e-03 2.04627467e+02] [ 1.48814844e-01 9.88865072e-01 -1.03383134e-04 1.79710788e+01] [ 1.10787169e-03 -6.21770200e-05 9.99999384e-01 -7.64600868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36140051299998 meters 0.05753395505390304 Centerline is valid? [True, True] Translation: X:204.69, Y:17.98, Z:-0.77 [[ 9.88881715e-01 -1.48691813e-01 -1.92301380e-03 2.04685557e+02] [ 1.48691743e-01 9.88883579e-01 -1.79852766e-04 1.79845561e+01] [ 1.92837940e-03 -1.08083162e-04 9.99998135e-01 -7.65845483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42140051299998 meters 0.0641108340922279 Centerline is valid? [True, True] Translation: X:204.74, Y:17.99, Z:-0.77 [[ 9.88542351e-01 -1.50913999e-01 -2.99750783e-03 2.04744545e+02] [ 1.50913843e-01 9.88546880e-01 -2.79485100e-04 1.79941201e+01] [ 3.00535523e-03 -1.76082569e-04 9.99995468e-01 -7.68594669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48140051299998 meters 0.0570405658014228 Centerline is valid? [True, True] Translation: X:204.80, Y:18.01, Z:-0.77 [[ 9.88336403e-01 -1.52260120e-01 -2.83022664e-03 2.04802507e+02] [ 1.52259986e-01 9.88340441e-01 -2.64084358e-04 1.80080263e+01] [ 2.83743696e-03 -1.69926082e-04 9.99995960e-01 -7.67307713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54140051299999 meters 0.06008405890691994 Centerline is valid? [True, True] Translation: X:204.86, Y:18.02, Z:-0.77 [[ 9.87861238e-01 -1.55288069e-01 -3.97358922e-03 2.04862404e+02] [ 1.55287829e-01 9.87869198e-01 -3.70619056e-04 1.80168162e+01] [ 3.98293912e-03 -2.50929846e-04 9.99992037e-01 -7.68533125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601400513 meters 0.06425454978681269 Centerline is valid? [True, True] Translation: X:204.92, Y:18.03, Z:-0.77 [[ 9.88027315e-01 -1.54248056e-01 -3.09218585e-03 2.04920301e+02] [ 1.54247905e-01 9.88032135e-01 -2.88721277e-04 1.80251615e+01] [ 3.09971368e-03 -1.91698680e-04 9.99995178e-01 -7.68498445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661400513 meters 0.06052822547955168 Centerline is valid? [True, True] Translation: X:204.98, Y:18.04, Z:-0.77 [[ 9.88806575e-01 -1.49165685e-01 -3.34007450e-03 2.04977903e+02] [ 1.49165480e-01 9.88812198e-01 -3.11789164e-04 1.80432799e+01] [ 3.34921465e-03 -1.89924640e-04 9.99994373e-01 -7.69146947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721400513 meters 0.06139146140711442 Centerline is valid? [True, True] Translation: X:205.04, Y:18.06, Z:-0.77 [[ 9.88941271e-01 -1.48237823e-01 -4.55084272e-03 2.05036092e+02] [ 1.48237427e-01 9.88951710e-01 -4.25973809e-04 1.80578199e+01] [ 4.56370912e-03 -2.53342135e-04 9.99989554e-01 -7.71227878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781400513 meters 0.06167263230208119 Centerline is valid? [True, True] Translation: X:205.10, Y:18.07, Z:-0.77 [[ 9.88647548e-01 -1.50243609e-01 -1.69812555e-03 2.05095071e+02] [ 1.50243557e-01 9.88649002e-01 -1.58869575e-04 1.80703716e+01] [ 1.70271927e-03 -9.80664068e-05 9.99998546e-01 -7.66202923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841400513 meters 0.05755325046620032 Centerline is valid? [True, True] Translation: X:205.15, Y:18.09, Z:-0.77 [[ 9.88420680e-01 -1.51697260e-01 -3.53567297e-03 2.05152812e+02] [ 1.51697044e-01 9.88426981e-01 -3.30783510e-04 1.80916981e+01] [ 3.54493351e-03 -2.09397874e-04 9.99993695e-01 -7.67009734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901400513 meters 0.05537871459684677 Centerline is valid? [True, True] Translation: X:205.21, Y:18.11, Z:-0.76 [[ 9.88329379e-01 -1.52325254e-01 -1.43392870e-03 2.05209895e+02] [ 1.52325218e-01 9.88330415e-01 -1.34425390e-04 1.81084516e+01] [ 1.43767173e-03 -8.55669404e-05 9.99998963e-01 -7.64345363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96140051299997 meters 0.05515853584411325 Centerline is valid? [True, True] Translation: X:205.27, Y:18.13, Z:-0.76 [[ 9.88529001e-01 -1.51030385e-01 -4.85825520e-04 2.05267766e+02] [ 1.51030381e-01 9.88529120e-01 -4.55687967e-05 1.81280263e+01] [ 4.87134947e-04 -2.83283362e-05 9.99999881e-01 -7.63062873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02140051299997 meters 0.059833367635379886 Centerline is valid? [True, True] Translation: X:205.33, Y:18.14, Z:-0.76 [[ 9.88362947e-01 -1.52112008e-01 -7.88985307e-04 2.05325534e+02] [ 1.52111998e-01 9.88363261e-01 -7.40204497e-05 1.81378595e+01] [ 7.91063489e-04 -4.68550612e-05 9.99999686e-01 -7.64986295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08140051299998 meters 0.06540713062106729 Centerline is valid? [True, True] Translation: X:205.38, Y:18.15, Z:-0.77 [[ 9.87713126e-01 -1.56277726e-01 -2.29638013e-04 2.05384482e+02] [ 1.56277725e-01 9.87713153e-01 -2.15475213e-05 1.81514035e+01] [ 2.30183883e-04 -1.46045365e-05 9.99999973e-01 -7.65423618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14140051299998 meters 0.07611361477109267 Centerline is valid? [True, True] Translation: X:205.44, Y:18.15, Z:-0.77 [[ 9.86863888e-01 -1.61549920e-01 -1.13555614e-03 2.05443429e+02] [ 1.61549904e-01 9.86864538e-01 -1.06373728e-04 1.81539959e+01] [ 1.13782476e-03 -7.84725955e-05 9.99999350e-01 -7.68547338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20140051299998 meters 0.06864870638495327 Centerline is valid? [True, True] Translation: X:205.50, Y:18.18, Z:-0.77 [[ 9.85323282e-01 -1.70598619e-01 -5.84310052e-03 2.05501371e+02] [ 1.70598355e-01 9.85340500e-01 -5.47379119e-04 1.81767370e+01] [ 5.85082572e-03 -4.57477945e-04 9.99982779e-01 -7.74549822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26140051299998 meters 0.07837662352141694 Centerline is valid? [True, True] Translation: X:205.56, Y:18.17, Z:-0.78 [[ 9.85039756e-01 -1.72232648e-01 -5.70905404e-03 2.05561457e+02] [ 1.72232422e-01 9.85056195e-01 -5.34934651e-04 1.81737788e+01] [ 5.71587226e-03 -4.56352305e-04 9.99983560e-01 -7.75789438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321400513 meters 0.0679119203043866 Centerline is valid? [True, True] Translation: X:205.62, Y:18.19, Z:-0.77 [[ 9.85709006e-01 -1.68377457e-01 -5.17557645e-03 2.05619832e+02] [ 1.68377219e-01 9.85722515e-01 -4.84945652e-04 1.81948818e+01] [ 5.18333615e-03 -3.93433870e-04 9.99986489e-01 -7.73258019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381400513 meters 0.07343921497475506 Centerline is valid? [True, True] Translation: X:205.68, Y:18.20, Z:-0.78 [[ 9.87426296e-01 -1.57995634e-01 -5.16611947e-03 2.05678936e+02] [ 1.57995254e-01 9.87439753e-01 -4.84125264e-04 1.81991860e+01] [ 5.17772141e-03 -3.38184344e-04 9.99986538e-01 -7.75030628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441400513 meters 0.05928943858598621 Centerline is valid? [True, True] Translation: X:205.74, Y:18.23, Z:-0.77 [[ 9.89078334e-01 -1.47383941e-01 -1.42246486e-03 2.05736620e+02] [ 1.47383901e-01 9.89079354e-01 -1.33364896e-04 1.82256749e+01] [ 1.42658646e-03 -7.77400902e-05 9.99998979e-01 -7.68907268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501400513 meters 0.0513966825331728 Centerline is valid? [True, True] Translation: X:205.80, Y:18.24, Z:-0.77 [[ 9.89798054e-01 -1.42466469e-01 -1.76537753e-03 2.05795042e+02] [ 1.42466400e-01 9.89799625e-01 -1.65552810e-04 1.82425847e+01] [ 1.77095574e-03 -8.76431320e-05 9.99998428e-01 -7.69249444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561400513 meters 0.04729717958716802 Centerline is valid? [True, True] Translation: X:205.85, Y:18.26, Z:-0.77 [[ 9.90364076e-01 -1.38485515e-01 -8.71368180e-04 2.05854080e+02] [ 1.38485497e-01 9.90364458e-01 -8.16913215e-05 1.82642759e+01] [ 8.74285140e-04 -3.97677052e-05 9.99999617e-01 -7.68042140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621400513 meters 0.04188069614225213 Centerline is valid? [True, True] Translation: X:205.91, Y:18.29, Z:-0.76 [[ 9.90387549e-01 -1.38312585e-01 1.45982465e-03 2.05910642e+02] [ 1.38312534e-01 9.90388623e-01 1.36477946e-04 1.82907354e+01] [-1.46467034e-03 6.67459873e-05 9.99998925e-01 -7.62875546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68140051299997 meters 0.054350455182432755 Centerline is valid? [True, True] Translation: X:205.97, Y:18.30, Z:-0.76 [[ 9.89944627e-01 -1.41425302e-01 2.91889902e-03 2.05970132e+02] [ 1.41425107e-01 9.89948920e-01 2.74116385e-04 1.82954653e+01] [-2.92832793e-03 1.41445564e-04 9.99995702e-01 -7.61455200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74140051299997 meters 0.06186866705522571 Centerline is valid? [True, True] Translation: X:206.03, Y:18.31, Z:-0.76 [[ 9.88442720e-01 -1.51541586e-01 4.01719205e-03 2.06029305e+02] [ 1.51541300e-01 9.88450855e-01 3.77318361e-04 1.83079954e+01] [-4.02797633e-03 2.35812917e-04 9.99991860e-01 -7.60898016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80140051299998 meters 0.06559379245532478 Centerline is valid? [True, True] Translation: X:206.09, Y:18.32, Z:-0.77 [[ 9.86855541e-01 -1.61604837e-01 1.33727315e-04 2.06088293e+02] [ 1.61604837e-01 9.86855550e-01 1.25288881e-05 1.83208705e+01] [-1.33994272e-04 9.24677829e-06 9.99999991e-01 -7.67038445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86140051299998 meters 0.08439410846523603 Centerline is valid? [True, True] Translation: X:206.15, Y:18.31, Z:-0.77 [[ 9.84548003e-01 -1.75113492e-01 -7.03940492e-04 2.06149304e+02] [ 1.75113489e-01 9.84548252e-01 -6.61183972e-05 1.83100316e+01] [ 7.04641605e-04 -5.81727398e-05 9.99999750e-01 -7.69589313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92140051299998 meters 0.0822274159492355 Centerline is valid? [True, True] Translation: X:206.21, Y:18.33, Z:-0.77 [[ 9.83711609e-01 -1.79753887e-01 -1.01895335e-04 2.06208378e+02] [ 1.79753887e-01 9.83711614e-01 -9.58618488e-06 1.83258393e+01] [ 1.01958778e-04 -8.88604112e-06 9.99999995e-01 -7.68624383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98140051299998 meters 0.07821964382655026 Centerline is valid? [True, True] Translation: X:206.27, Y:18.34, Z:-0.77 [[ 9.83773803e-01 -1.79412542e-01 -4.94607390e-04 2.06266468e+02] [ 1.79412541e-01 9.83773926e-01 -4.71290556e-05 1.83386979e+01] [ 4.95037398e-04 -4.23744382e-05 9.99999877e-01 -7.69288979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04140051299999 meters 0.07889850569600762 Centerline is valid? [True, True] Translation: X:206.33, Y:18.34, Z:-0.77 [[ 9.84012380e-01 -1.78097584e-01 9.42099714e-04 2.06326530e+02] [ 1.78097580e-01 9.84012827e-01 8.86223437e-05 1.83441233e+01] [-9.42821628e-04 8.05801956e-05 9.99999552e-01 -7.67242796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101400513 meters 0.08026808324643418 Centerline is valid? [True, True] Translation: X:206.39, Y:18.35, Z:-0.77 [[ 9.84269120e-01 -1.76669502e-01 -1.47885151e-03 2.06385911e+02] [ 1.76669491e-01 9.84270223e-01 -1.39295485e-04 1.83471821e+01] [ 1.48019877e-03 -1.24163699e-04 9.99998897e-01 -7.71961478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161400513 meters 0.07871477832675858 Centerline is valid? [True, True] Translation: X:206.45, Y:18.35, Z:-0.78 [[ 9.84661241e-01 -1.74438314e-01 -3.67618679e-03 2.06445851e+02] [ 1.74438229e-01 9.84668058e-01 -3.46079168e-04 1.83519984e+01] [ 3.68019318e-03 -3.00496772e-04 9.99993183e-01 -7.75897459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221400513 meters 0.07296086470066898 Centerline is valid? [True, True] Translation: X:206.51, Y:18.36, Z:-0.77 [[ 9.85023232e-01 -1.72402673e-01 -2.55952397e-03 2.06506049e+02] [ 1.72402625e-01 9.85026536e-01 -2.40965320e-04 1.83623191e+01] [ 2.56274209e-03 -2.03912212e-04 9.99996695e-01 -7.74176249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281400513 meters 0.07860693097291367 Centerline is valid? [True, True] Translation: X:206.57, Y:18.36, Z:-0.77 [[ 9.86028274e-01 -1.66577440e-01 4.47309472e-04 2.06565651e+02] [ 1.66577438e-01 9.86028375e-01 4.20360519e-05 1.83590042e+01] [-4.48062090e-04 3.30629300e-05 9.99999899e-01 -7.69215384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341400513 meters 0.06287135817200029 Centerline is valid? [True, True] Translation: X:206.62, Y:18.38, Z:-0.77 [[ 9.86929890e-01 -1.61149159e-01 -5.84439035e-04 2.06623634e+02] [ 1.61149154e-01 9.86930062e-01 -5.50448103e-05 1.83849581e+01] [ 5.85670878e-04 -3.98564878e-05 9.99999828e-01 -7.71627535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401400513 meters 0.0721388593557219 Centerline is valid? [True, True] Translation: X:206.68, Y:18.38, Z:-0.77 [[ 9.87098738e-01 -1.60108241e-01 -1.19716996e-03 2.06682879e+02] [ 1.60108221e-01 9.87099460e-01 -1.12957431e-04 1.83791751e+01] [ 1.19981124e-03 -8.01766154e-05 9.99999277e-01 -7.74099084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46140051299997 meters 0.06585073911904575 Centerline is valid? [True, True] Translation: X:206.74, Y:18.39, Z:-0.77 [[ 9.86788486e-01 -1.62012343e-01 -6.96586833e-04 2.06743162e+02] [ 1.62012337e-01 9.86788730e-01 -6.56281950e-05 1.83861461e+01] [ 6.98016614e-04 -4.80945138e-05 9.99999755e-01 -7.72627688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52140051299997 meters 0.06701052335151059 Centerline is valid? [True, True] Translation: X:206.80, Y:18.39, Z:-0.77 [[ 9.86085491e-01 -1.66236439e-01 9.21916416e-04 2.06803192e+02] [ 1.66236430e-01 9.86085920e-01 8.68282568e-05 1.83878824e+01] [-9.23522818e-04 6.76360096e-05 9.99999571e-01 -7.69676283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58140051299998 meters 0.07570387528459653 Centerline is valid? [True, True] Translation: X:206.86, Y:18.38, Z:-0.77 [[ 9.85711277e-01 -1.68439979e-01 1.11863927e-03 2.06863225e+02] [ 1.68439968e-01 9.85711908e-01 1.05356369e-04 1.83791571e+01] [-1.12040227e-03 8.45726016e-05 9.99999369e-01 -7.69410009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64140051299998 meters 0.06680514949382724 Centerline is valid? [True, True] Translation: X:206.92, Y:18.40, Z:-0.77 [[ 9.86378861e-01 -1.64445138e-01 3.81296935e-03 2.06921821e+02] [ 1.64444971e-01 9.86386193e-01 3.59349932e-04 1.83983878e+01] [-3.82015368e-03 2.72568460e-04 9.99992666e-01 -7.65682117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70140051299998 meters 0.06128286180980447 Centerline is valid? [True, True] Translation: X:206.98, Y:18.42, Z:-0.77 [[ 9.87717808e-01 -1.56204860e-01 3.68410599e-03 2.06979900e+02] [ 1.56204647e-01 9.87724652e-01 3.47210786e-04 1.84209556e+01] [-3.69311831e-03 2.32528199e-04 9.99993153e-01 -7.65727990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76140051299998 meters 0.05874092994573834 Centerline is valid? [True, True] Translation: X:207.04, Y:18.44, Z:-0.77 [[ 9.88042009e-01 -1.54153632e-01 3.10586183e-03 2.07037756e+02] [ 1.54153470e-01 9.88046872e-01 2.92717621e-04 1.84438314e+01] [-3.11386055e-03 1.89562074e-04 9.99995134e-01 -7.69465755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821400513 meters 0.06362464242067303 Centerline is valid? [True, True] Translation: X:207.10, Y:18.45, Z:-0.77 [[ 9.87564004e-01 -1.57203850e-01 2.07069202e-03 2.07096310e+02] [ 1.57203785e-01 9.87566166e-01 1.95186063e-04 1.84523707e+01] [-2.07562938e-03 1.32761894e-04 9.99997837e-01 -7.70768903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881400513 meters 0.07797539329484195 Centerline is valid? [True, True] Translation: X:207.16, Y:18.45, Z:-0.77 [[ 9.85829180e-01 -1.67740461e-01 1.99139337e-03 2.07155781e+02] [ 1.67740422e-01 9.85831180e-01 1.87742260e-04 1.84517539e+01] [-1.99466965e-03 1.48955366e-04 9.99998000e-01 -7.71576550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941400513 meters 0.08286090588527592 Centerline is valid? [True, True] Translation: X:207.22, Y:18.46, Z:-0.78 [[ 9.84396062e-01 -1.75966856e-01 -2.43298111e-04 2.07215825e+02] [ 1.75966855e-01 9.84396092e-01 -2.29470928e-05 1.84590094e+01] [ 2.43539637e-04 -2.02233757e-05 9.99999970e-01 -7.76016904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001400513 meters 0.08001151061181105 Centerline is valid? [True, True] Translation: X:207.27, Y:18.48, Z:-0.78 [[ 9.82994733e-01 -1.83610424e-01 -2.92694459e-03 2.07274583e+02] [ 1.83610409e-01 9.82999055e-01 -2.75873679e-04 1.84752287e+01] [ 2.92783705e-03 -2.66235122e-04 9.99995678e-01 -7.80635269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061400513 meters 0.08335167519944779 Centerline is valid? [True, True] Translation: X:207.34, Y:18.48, Z:-0.78 [[ 9.82548774e-01 -1.86004312e-01 -5.50606178e-04 2.07335538e+02] [ 1.86004312e-01 9.82548927e-01 -5.18927463e-05 1.84776289e+01] [ 5.50649783e-04 -5.14279692e-05 9.99999847e-01 -7.76894193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121400513 meters 0.08092691468324885 Centerline is valid? [True, True] Translation: X:207.39, Y:18.49, Z:-0.78 [[ 9.82994652e-01 -1.83633161e-01 -6.13461496e-04 2.07394138e+02] [ 1.83633160e-01 9.82994842e-01 -5.78870645e-05 1.84927132e+01] [ 6.13659471e-04 -5.57491983e-05 9.99999810e-01 -7.76175806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18140051299997 meters 0.08699553247910008 Centerline is valid? [True, True] Translation: X:207.45, Y:18.50, Z:-0.78 [[ 9.83846551e-01 -1.79005735e-01 1.70607204e-03 2.07453384e+02] [ 1.79005724e-01 9.83848019e-01 1.60792656e-04 1.84965851e+01] [-1.70729840e-03 1.47201360e-04 9.99998532e-01 -7.76237266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24140051299997 meters 0.07908114270360915 Centerline is valid? [True, True] Translation: X:207.51, Y:18.51, Z:-0.77 [[ 9.84004444e-01 -1.78088449e-01 4.44505031e-03 2.07512180e+02] [ 1.78088360e-01 9.84014411e-01 4.19083080e-04 1.85129357e+01] [-4.44862742e-03 3.79232107e-04 9.99990033e-01 -7.72552036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30140051299998 meters 0.08424422261798127 Centerline is valid? [True, True] Translation: X:207.57, Y:18.51, Z:-0.77 [[ 9.83528328e-01 -1.80736917e-01 2.48879713e-03 2.07571650e+02] [ 1.80736897e-01 9.83531453e-01 2.34663700e-04 1.85133841e+01] [-2.49022265e-03 2.19019073e-04 9.99996875e-01 -7.73992222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36140051299998 meters 0.08418949099810374 Centerline is valid? [True, True] Translation: X:207.63, Y:18.52, Z:-0.77 [[ 9.83644991e-01 -1.80089295e-01 3.22132026e-03 2.07630353e+02] [ 1.80089259e-01 9.83650226e-01 3.03700233e-04 1.85238112e+01] [-3.22334556e-03 2.81391964e-04 9.99994765e-01 -7.74903943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42140051299998 meters 0.0848298486918068 Centerline is valid? [True, True] Translation: X:207.69, Y:18.53, Z:-0.78 [[ 9.84016257e-01 -1.78070762e-01 1.67589252e-03 2.07690514e+02] [ 1.78070749e-01 9.84017674e-01 1.58268807e-04 1.85315276e+01] [-1.67729091e-03 1.42688358e-04 9.99998583e-01 -7.77302371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48140051299998 meters 0.08299760422369616 Centerline is valid? [True, True] Translation: X:207.75, Y:18.54, Z:-0.78 [[ 9.84337210e-01 -1.76294712e-01 -6.57010376e-04 2.07750182e+02] [ 1.76294710e-01 9.84337428e-01 -6.20711873e-05 1.85400234e+01] [ 6.57662726e-04 -5.47284743e-05 9.99999782e-01 -7.79574045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54140051299999 meters 0.08735878675651473 Centerline is valid? [True, True] Translation: X:207.81, Y:18.54, Z:-0.78 [[ 9.84242483e-01 -1.76823926e-01 -1.84726099e-04 2.07807851e+02] [ 1.76823925e-01 9.84242500e-01 -1.76549326e-05 1.85418440e+01] [ 1.84937092e-04 -1.52872593e-05 9.99999983e-01 -7.80599099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601400513 meters 0.08383661418773282 Centerline is valid? [True, True] Translation: X:207.87, Y:18.55, Z:-0.78 [[ 9.84493153e-01 -1.75409961e-01 -2.13933453e-03 2.07866613e+02] [ 1.75409933e-01 9.84495462e-01 -2.02299352e-04 1.85520020e+01] [ 2.14165045e-03 -1.76098199e-04 9.99997691e-01 -7.83121531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661400513 meters 0.07384236152303954 Centerline is valid? [True, True] Translation: X:207.92, Y:18.57, Z:-0.78 [[ 9.85154239e-01 -1.71656179e-01 -2.29818070e-03 2.07924977e+02] [ 1.71656136e-01 9.85156903e-01 -2.17299492e-04 1.85720664e+01] [ 2.30136938e-03 -1.80423303e-04 9.99997336e-01 -7.81817375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721400513 meters 0.08122518710293043 Centerline is valid? [True, True] Translation: X:207.98, Y:18.57, Z:-0.78 [[ 9.85874140e-01 -1.67482860e-01 -1.29264330e-03 2.07984644e+02] [ 1.67482843e-01 9.85874983e-01 -1.22234987e-04 1.85696643e+01] [ 1.29485696e-03 -9.59872616e-05 9.99999157e-01 -7.81145670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781400513 meters 0.07727631301565116 Centerline is valid? [True, True] Translation: X:208.04, Y:18.59, Z:-0.78 [[ 9.86769382e-01 -1.62124890e-01 1.30663697e-03 2.08043365e+02] [ 1.62124868e-01 9.86770243e-01 1.23536726e-04 1.85850913e+01] [-1.30937886e-03 8.99360871e-05 9.99999139e-01 -7.77173010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841400513 meters 0.06867888888702633 Centerline is valid? [True, True] Translation: X:208.10, Y:18.60, Z:-0.78 [[ 9.86673023e-01 -1.62714794e-01 4.92434844e-04 2.08102942e+02] [ 1.62714791e-01 9.86673145e-01 4.65903350e-05 1.86015363e+01] [-4.93453172e-04 3.41570059e-05 9.99999878e-01 -7.79684651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901400513 meters 0.08375984601616512 Centerline is valid? [True, True] Translation: X:208.16, Y:18.59, Z:-0.78 [[ 9.86293228e-01 -1.64989361e-01 -2.04443320e-03 2.08163123e+02] [ 1.64989313e-01 9.86295336e-01 -1.93253287e-04 1.85918898e+01] [ 2.04829967e-03 -1.46705221e-04 9.99997891e-01 -7.84716203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96140051299997 meters 0.0783866608362267 Centerline is valid? [True, True] Translation: X:208.22, Y:18.60, Z:-0.78 [[ 9.85731013e-01 -1.68325787e-01 -8.93831313e-04 2.08222507e+02] [ 1.68325779e-01 9.85731416e-01 -8.45389170e-05 1.86039808e+01] [ 8.95307686e-04 -6.71222202e-05 9.99999597e-01 -7.81905507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02140051299997 meters 0.06851367810565903 Centerline is valid? [True, True] Translation: X:208.28, Y:18.62, Z:-0.78 [[ 9.85222872e-01 -1.71274320e-01 9.99580293e-04 2.08280891e+02] [ 1.71274312e-01 9.85223376e-01 9.45055879e-05 1.86242453e+01] [-1.00099625e-03 7.80933604e-05 9.99999496e-01 -7.77660892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08140051299998 meters 0.08286412049803757 Centerline is valid? [True, True] Translation: X:208.34, Y:18.61, Z:-0.78 [[ 9.84054486e-01 -1.77845918e-01 2.75663363e-03 2.08341867e+02] [ 1.77845880e-01 9.84058319e-01 2.60604210e-04 1.86090122e+01] [-2.75903565e-03 2.33807194e-04 9.99996167e-01 -7.76926186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14140051299998 meters 0.08673285780065748 Centerline is valid? [True, True] Translation: X:208.40, Y:18.61, Z:-0.78 [[ 9.83193773e-01 -1.82538377e-01 3.12167690e-03 2.08402382e+02] [ 1.82538352e-01 9.83198689e-01 2.95104724e-04 1.86055357e+01] [-3.12309658e-03 2.79680631e-04 9.99995084e-01 -7.76573844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20140051299998 meters 0.09136905282095482 Centerline is valid? [True, True] Translation: X:208.46, Y:18.59, Z:-0.78 [[ 9.82890634e-01 -1.84187023e-01 -1.06835106e-03 2.08462812e+02] [ 1.84187021e-01 9.82891210e-01 -1.01000054e-04 1.85928803e+01] [ 1.06867577e-03 -9.75043929e-05 9.99999424e-01 -7.83301347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26140051299998 meters 0.0792155034416825 Centerline is valid? [True, True] Translation: X:208.52, Y:18.61, Z:-0.78 [[ 9.83533679e-01 -1.80719214e-01 -1.43806872e-03 2.08522360e+02] [ 1.80719207e-01 9.83534722e-01 -1.35955863e-04 1.86068385e+01] [ 1.43896036e-03 -1.26169470e-04 9.99998957e-01 -7.81633258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321400513 meters 0.08247014872805965 Centerline is valid? [True, True] Translation: X:208.58, Y:18.60, Z:-0.78 [[ 9.84727251e-01 -1.74102656e-01 7.11555630e-04 2.08582581e+02] [ 1.74102653e-01 9.84727506e-01 6.72269138e-05 1.86024304e+01] [-7.12392785e-04 5.76835485e-05 9.99999745e-01 -7.78439812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381400513 meters 0.0691361418285866 Centerline is valid? [True, True] Translation: X:208.64, Y:18.62, Z:-0.78 [[ 9.85662662e-01 -1.68715435e-01 2.05391424e-03 2.08641811e+02] [ 1.68715395e-01 9.85664790e-01 1.94204426e-04 1.86172832e+01] [-2.05723623e-03 1.55106900e-04 9.99997872e-01 -7.77106358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441400513 meters 0.0709645955909988 Centerline is valid? [True, True] Translation: X:208.70, Y:18.62, Z:-0.78 [[ 9.86196634e-01 -1.65555566e-01 2.74858820e-03 2.08701204e+02] [ 1.65555481e-01 9.86200444e-01 2.59877696e-04 1.86167835e+01] [-2.75368310e-03 1.98753332e-04 9.99996189e-01 -7.76641376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501400513 meters 0.07359650914830017 Centerline is valid? [True, True] Translation: X:208.76, Y:18.61, Z:-0.78 [[ 9.86440854e-01 -1.64114021e-01 -1.01513435e-03 2.08760605e+02] [ 1.64114008e-01 9.86441373e-01 -9.61236085e-05 1.86145925e+01] [ 1.01714575e-03 -7.17775126e-05 9.99999480e-01 -7.82738415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561400513 meters 0.07377815926849506 Centerline is valid? [True, True] Translation: X:208.82, Y:18.62, Z:-0.78 [[ 9.86170417e-01 -1.65720454e-01 -2.15386945e-03 2.08820677e+02] [ 1.65720402e-01 9.86172757e-01 -2.03861263e-04 1.86158213e+01] [ 2.15787135e-03 -1.55898162e-04 9.99997660e-01 -7.84537598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621400513 meters 0.07805017337408172 Centerline is valid? [True, True] Translation: X:208.88, Y:18.61, Z:-0.78 [[ 9.85044454e-01 -1.72300265e-01 -2.03954455e-04 2.08882340e+02] [ 1.72300265e-01 9.85044475e-01 -1.92719358e-05 1.86100013e+01] [ 2.04224769e-04 -1.61576932e-05 9.99999979e-01 -7.82720661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68140051299997 meters 0.07739501305472356 Centerline is valid? [True, True] Translation: X:208.94, Y:18.61, Z:-0.78 [[ 9.84415161e-01 -1.75860124e-01 8.78252192e-05 2.08942798e+02] [ 1.75860124e-01 9.84415165e-01 8.27319995e-06 1.86119610e+01] [-8.79114036e-05 7.30069049e-06 9.99999996e-01 -7.82321633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74140051299997 meters 0.0780929543980765 Centerline is valid? [True, True] Translation: X:209.00, Y:18.61, Z:-0.78 [[ 9.84352289e-01 -1.76211134e-01 -4.56115214e-04 2.09001608e+02] [ 1.76211132e-01 9.84352394e-01 -4.38138207e-05 1.86119664e+01] [ 4.56698586e-04 -3.72443435e-05 9.99999895e-01 -7.82386997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80140051299998 meters 0.09014836487593149 Centerline is valid? [True, True] Translation: X:209.06, Y:18.60, Z:-0.78 [[ 9.84662998e-01 -1.74466721e-01 -3.78188133e-04 2.09061627e+02] [ 1.74466720e-01 9.84663070e-01 -3.59221967e-05 1.86041086e+01] [ 3.78655116e-04 -3.06099854e-05 9.99999928e-01 -7.83109904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86140051299998 meters 0.07504260662654341 Centerline is valid? [True, True] Translation: X:209.12, Y:18.63, Z:-0.78 [[ 9.85206724e-01 -1.71369774e-01 -3.32908426e-04 2.09118931e+02] [ 1.71369773e-01 9.85206780e-01 -3.16428161e-05 1.86339897e+01] [ 3.33406261e-04 -2.58757260e-05 9.99999944e-01 -7.82994516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92140051299998 meters 0.07562228113642692 Centerline is valid? [True, True] Translation: X:209.18, Y:18.64, Z:-0.78 [[ 9.85232176e-01 -1.71222462e-01 6.54021694e-04 2.09177054e+02] [ 1.71222459e-01 9.85232392e-01 6.15509964e-05 1.86420831e+01] [-6.54902271e-04 5.13411807e-05 9.99999784e-01 -7.80585574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98140051299998 meters 0.08013231191794833 Centerline is valid? [True, True] Translation: X:209.24, Y:18.65, Z:-0.78 [[ 9.84794279e-01 -1.73723513e-01 6.07721070e-04 2.09236329e+02] [ 1.73723511e-01 9.84794465e-01 5.76920419e-05 1.86467884e+01] [-6.08502810e-04 4.87606449e-05 9.99999814e-01 -7.82597908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04140051299999 meters 0.08592561591525975 Centerline is valid? [True, True] Translation: X:209.30, Y:18.65, Z:-0.78 [[ 9.84348029e-01 -1.76235513e-01 5.26718045e-05 2.09295779e+02] [ 1.76235513e-01 9.84348030e-01 4.99862898e-06 1.86477970e+01] [-5.27283229e-05 4.36225188e-06 9.99999999e-01 -7.83547932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101400513 meters 0.08295571544092005 Centerline is valid? [True, True] Translation: X:209.36, Y:18.66, Z:-0.79 [[ 9.83746090e-01 -1.79559995e-01 -1.35583690e-03 2.09355496e+02] [ 1.79559987e-01 9.83747018e-01 -1.28801311e-04 1.86613679e+01] [ 1.35692807e-03 -1.16746269e-04 9.99999073e-01 -7.86308942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161400513 meters 0.08783696848128857 Centerline is valid? [True, True] Translation: X:209.42, Y:18.66, Z:-0.79 [[ 9.83134000e-01 -1.82878569e-01 -1.72251368e-03 2.09416278e+02] [ 1.82878560e-01 9.83135497e-01 -1.63694024e-04 1.86598207e+01] [ 1.72340048e-03 -1.54077662e-04 9.99998503e-01 -7.86850680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221400513 meters 0.10595565961901383 Centerline is valid? [True, False] Translation: X:209.42, Y:18.66, Z:-0.79 [[ 9.85116546e-01 -1.71887046e-01 4.83384328e-04 2.09416753e+02] [ 1.71885483e-01 9.85085435e-01 -7.87825026e-03 1.86614187e+01] [ 8.77994306e-04 7.84408144e-03 9.99968849e-01 -7.88637596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281400513 meters 0.08273166771740349 Centerline is valid? [False, True] Translation: X:209.39, Y:18.65, Z:-0.80 [[ 9.86760711e-01 -1.61980967e-01 8.09111308e-03 2.09392808e+02] [ 1.61997659e-01 9.86790080e-01 -1.44777356e-03 1.86469838e+01] [-7.74971836e-03 2.73934745e-03 9.99966218e-01 -7.96535394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341400513 meters 0.0799514631660929 Centerline is valid? [True, True] Translation: X:209.45, Y:18.65, Z:-0.80 [[ 9.87931900e-01 -1.54655833e-01 8.49319737e-03 2.09452501e+02] [ 1.54656401e-01 9.87968140e-01 5.93850202e-04 1.86492822e+01] [-8.48285080e-03 7.26843775e-04 9.99963756e-01 -7.96562714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401400513 meters 0.08146971152763607 Centerline is valid? [True, True] Translation: X:209.51, Y:18.65, Z:-0.80 [[ 9.88923101e-01 -1.48107469e-01 9.76100909e-03 2.09512393e+02] [ 1.48107900e-01 9.88970972e-01 6.82688698e-04 1.86496272e+01] [-9.75446594e-03 7.70555937e-04 9.99952127e-01 -7.95490818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46140051299997 meters 0.06941534760258584 Centerline is valid? [True, True] Translation: X:209.57, Y:18.66, Z:-0.79 [[ 9.89754003e-01 -1.42111073e-01 1.38368043e-02 2.09572026e+02] [ 1.42111355e-01 9.89850204e-01 9.67881280e-04 1.86622649e+01] [-1.38339102e-02 1.00840263e-03 9.99903798e-01 -7.91495464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52140051299997 meters 0.06695113839086489 Centerline is valid? [True, True] Translation: X:209.63, Y:18.67, Z:-0.79 [[ 9.89916835e-01 -1.41115830e-01 1.22874875e-02 2.09633241e+02] [ 1.41115974e-01 9.89992698e-01 8.59614661e-04 1.86673556e+01] [-1.22858281e-02 8.83013748e-04 9.99924136e-01 -7.93605996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58140051299998 meters 0.06625309982303057 Centerline is valid? [True, True] Translation: X:209.69, Y:18.67, Z:-0.80 [[ 9.89678953e-01 -1.42968701e-01 9.77348099e-03 2.09694285e+02] [ 1.42968884e-01 9.89726948e-01 6.83516924e-04 1.86665442e+01] [-9.77079903e-03 7.20841360e-04 9.99952005e-01 -7.97602631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64140051299998 meters 0.07580104446145411 Centerline is valid? [True, True] Translation: X:209.75, Y:18.66, Z:-0.80 [[ 9.89416789e-01 -1.44663974e-01 1.12584582e-02 2.09754987e+02] [ 1.44664329e-01 9.89480476e-01 7.87164573e-04 1.86562601e+01] [-1.12538990e-02 8.49863459e-04 9.99936312e-01 -7.96713336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70140051299998 meters 0.07012891425146882 Centerline is valid? [True, True] Translation: X:209.82, Y:18.67, Z:-0.80 [[ 9.89419895e-01 -1.44536158e-01 1.25527196e-02 2.09816086e+02] [ 1.44536588e-01 9.89499067e-01 8.77729084e-04 1.86668032e+01] [-1.25477679e-02 9.45884642e-04 9.99920826e-01 -7.96280607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76140051299998 meters 0.07698283210803462 Centerline is valid? [True, True] Translation: X:209.88, Y:18.66, Z:-0.80 [[ 9.89672557e-01 -1.42601995e-01 1.45910992e-02 2.09876662e+02] [ 1.42602373e-01 9.89779533e-01 1.01983507e-03 1.86642306e+01] [-1.45874018e-02 1.07142259e-03 9.99893024e-01 -7.95184523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821400513 meters 0.07212751815684433 Centerline is valid? [True, True] Translation: X:209.94, Y:18.68, Z:-0.80 [[ 9.89916791e-01 -1.41052644e-01 1.29961094e-02 2.09936764e+02] [ 1.41052811e-01 9.90001656e-01 9.08384488e-04 1.86754508e+01] [-1.29942999e-02 9.33912701e-04 9.99915134e-01 -7.99185948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881400513 meters 0.07568349200884233 Centerline is valid? [True, True] Translation: X:210.00, Y:18.68, Z:-0.80 [[ 9.89904944e-01 -1.41256297e-01 1.16129084e-02 2.09997030e+02] [ 1.41256446e-01 9.89972706e-01 8.11591408e-04 1.86773690e+01] [-1.16111047e-02 8.36999810e-04 9.99932239e-01 -8.01367674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941400513 meters 0.07499789740475452 Centerline is valid? [True, True] Translation: X:210.06, Y:18.68, Z:-0.80 [[ 9.89958902e-01 -1.40862030e-01 1.18008462e-02 2.10058031e+02] [ 1.40862156e-01 9.90028875e-01 8.24633939e-04 1.86844488e+01] [-1.17993381e-02 8.45938926e-04 9.99930028e-01 -8.00643897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001400513 meters 0.07290924574176219 Centerline is valid? [True, True] Translation: X:210.12, Y:18.69, Z:-0.80 [[ 9.90016376e-01 -1.40525323e-01 1.09639642e-02 2.10118532e+02] [ 1.40525414e-01 9.90076775e-01 7.65935005e-04 1.86940213e+01] [-1.09627996e-02 7.82427408e-04 9.99939601e-01 -8.02869979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061400513 meters 0.06585946165771256 Centerline is valid? [True, True] Translation: X:210.18, Y:18.71, Z:-0.80 [[ 9.90036522e-01 -1.40316863e-01 1.17839824e-02 2.10180187e+02] [ 1.40316955e-01 9.90106295e-01 8.23026102e-04 1.87092458e+01] [-1.17828795e-02 8.38666625e-04 9.99930228e-01 -8.02058482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121400513 meters 0.07523765145164626 Centerline is valid? [True, True] Translation: X:210.24, Y:18.71, Z:-0.80 [[ 9.89850574e-01 -1.41729013e-01 1.04272386e-02 2.10240852e+02] [ 1.41729169e-01 9.89905204e-01 7.27678982e-04 1.87058421e+01] [-1.04251109e-02 7.57550401e-04 9.99945370e-01 -8.04901252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18140051299997 meters 0.07148102973751416 Centerline is valid? [True, True] Translation: X:210.30, Y:18.71, Z:-0.81 [[ 9.89533411e-01 -1.43911674e-01 1.06329179e-02 2.10300930e+02] [ 1.43911964e-01 9.89590216e-01 7.41860407e-04 1.87148703e+01] [-1.06289939e-02 7.96108438e-04 9.99943194e-01 -8.05147093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24140051299997 meters 0.07874906069672617 Centerline is valid? [True, True] Translation: X:210.36, Y:18.71, Z:-0.81 [[ 9.89348245e-01 -1.45111236e-01 1.15230009e-02 2.10361715e+02] [ 1.45111657e-01 9.89414959e-01 8.04016448e-04 1.87114034e+01] [-1.15177013e-02 8.76669495e-04 9.99933285e-01 -8.06037108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30140051299998 meters 0.07701265461411445 Centerline is valid? [True, True] Translation: X:210.42, Y:18.72, Z:-0.80 [[ 9.89255406e-01 -1.45634391e-01 1.28205120e-02 2.10422637e+02] [ 1.45634960e-01 9.89337990e-01 8.94200655e-04 1.87168296e+01] [-1.28140460e-02 9.82521925e-04 9.99917414e-01 -8.04531429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36140051299998 meters 0.0741995402034247 Centerline is valid? [True, True] Translation: X:210.48, Y:18.72, Z:-0.81 [[ 9.89092558e-01 -1.46817338e-01 1.18567156e-02 2.10483018e+02] [ 1.46817913e-01 9.89163190e-01 8.26697384e-04 1.87233200e+01] [-1.18496002e-02 9.23098008e-04 9.99929365e-01 -8.06959780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42140051299998 meters 0.07297948929277723 Centerline is valid? [True, True] Translation: X:210.54, Y:18.73, Z:-0.81 [[ 9.89020941e-01 -1.47345550e-01 1.12634876e-02 2.10544574e+02] [ 1.47346103e-01 9.89084683e-01 7.85319225e-04 1.87277932e+01] [-1.12562563e-02 8.82933835e-04 9.99936257e-01 -8.08302294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48140051299998 meters 0.07527937050679898 Centerline is valid? [True, True] Translation: X:210.60, Y:18.73, Z:-0.81 [[ 9.89401686e-01 -1.44782210e-01 1.10641711e-02 2.10604721e+02] [ 1.44782590e-01 9.89463192e-01 7.70885057e-04 1.87282112e+01] [-1.10592005e-02 8.39184378e-04 9.99938493e-01 -8.09675589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54140051299999 meters 0.07876125001628662 Centerline is valid? [True, True] Translation: X:210.66, Y:18.73, Z:-0.81 [[ 9.90053686e-01 -1.40312843e-01 1.02959088e-02 2.10664722e+02] [ 1.40312932e-01 9.90106947e-01 7.17314654e-04 1.87273971e+01] [-1.02946993e-02 7.34469128e-04 9.99946738e-01 -8.12357543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601400513 meters 0.06963367197040318 Centerline is valid? [True, True] Translation: X:210.72, Y:18.75, Z:-0.81 [[ 9.91019146e-01 -1.33203569e-01 1.17414699e-02 2.10723982e+02] [ 1.33203185e-01 9.91088413e-01 8.18180028e-04 1.87485579e+01] [-1.17458193e-02 7.53169126e-04 9.99930732e-01 -8.10933632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661400513 meters 0.061241454175680166 Centerline is valid? [True, True] Translation: X:210.79, Y:18.76, Z:-0.81 [[ 9.91058884e-01 -1.32797421e-01 1.29280174e-02 2.10785226e+02] [ 1.32796921e-01 9.91142859e-01 9.00913890e-04 1.87634103e+01] [-1.29331512e-02 8.23942201e-04 9.99916024e-01 -8.09328865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721400513 meters 0.07216901137482894 Centerline is valid? [True, True] Translation: X:210.85, Y:18.76, Z:-0.81 [[ 9.90101334e-01 -1.39693107e-01 1.36082503e-02 2.10845809e+02] [ 1.39693212e-01 9.90194379e-01 9.47543713e-04 1.87565575e+01] [-1.36071783e-02 9.62815894e-04 9.99906955e-01 -8.10273301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781400513 meters 0.07352747054537322 Centerline is valid? [True, True] Translation: X:210.91, Y:18.76, Z:-0.81 [[ 9.89189825e-01 -1.46076480e-01 1.28511459e-02 2.10905790e+02] [ 1.46077108e-01 9.89272802e-01 8.94882717e-04 1.87610172e+01] [-1.28440105e-02 9.92049352e-04 9.99917020e-01 -8.11435753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841400513 meters 0.07234877502204613 Centerline is valid? [True, True] Translation: X:210.97, Y:18.77, Z:-0.82 [[ 9.88924117e-01 -1.48152986e-01 8.93220741e-03 2.10965954e+02] [ 1.48153374e-01 9.88964201e-01 6.21964682e-04 1.87670886e+01] [-8.92577929e-03 7.08260788e-04 9.99959914e-01 -8.18349626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901400513 meters 0.07679009869833604 Centerline is valid? [True, True] Translation: X:211.03, Y:18.76, Z:-0.82 [[ 9.88731034e-01 -1.49218884e-01 1.20277799e-02 2.11026983e+02] [ 1.49219665e-01 9.88803717e-01 8.37494223e-04 1.87581528e+01] [-1.20180834e-02 9.66724759e-04 9.99927313e-01 -8.16583585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96140051299997 meters 0.07120911545103407 Centerline is valid? [True, True] Translation: X:211.09, Y:18.77, Z:-0.81 [[ 9.88875405e-01 -1.48225492e-01 1.24353236e-02 2.11088103e+02] [ 1.48226250e-01 9.88953098e-01 8.65797170e-04 1.87700804e+01] [-1.24262850e-02 9.87075854e-04 9.99922304e-01 -8.14655898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02140051299997 meters 0.07653413132236275 Centerline is valid? [True, True] Translation: X:211.15, Y:18.77, Z:-0.82 [[ 9.89610059e-01 -1.43495056e-01 9.00551664e-03 2.11147512e+02] [ 1.43495263e-01 9.89650806e-01 6.26538027e-04 1.87661939e+01] [-9.00222191e-03 6.72220645e-04 9.99959253e-01 -8.21596473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08140051299998 meters 0.06662638628890931 Centerline is valid? [True, True] Translation: X:211.21, Y:18.79, Z:-0.82 [[ 9.90160107e-01 -1.39534166e-01 1.06385681e-02 2.11207262e+02] [ 1.39534224e-01 9.90216972e-01 7.40384068e-04 1.87852103e+01] [-1.06377996e-02 7.51345582e-04 9.99943135e-01 -8.18461530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14140051299998 meters 0.07173997435028402 Centerline is valid? [True, True] Translation: X:211.27, Y:18.79, Z:-0.82 [[ 9.90752369e-01 -1.35050675e-01 1.30789522e-02 2.11266834e+02] [ 1.35050378e-01 9.90838315e-01 9.10003851e-04 1.87899361e+01] [-1.30820236e-02 8.64728965e-04 9.99914053e-01 -8.15817927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20140051299998 meters 0.07117357964161487 Centerline is valid? [True, True] Translation: X:211.33, Y:18.80, Z:-0.82 [[ 9.90758714e-01 -1.35100201e-01 1.20460020e-02 2.11327661e+02] [ 1.35099949e-01 9.90831621e-01 8.38427749e-04 1.88044202e+01] [-1.20488314e-02 7.96734647e-04 9.99927093e-01 -8.18250582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26140051299998 meters 0.0710625383324457 Centerline is valid? [True, True] Translation: X:211.39, Y:18.82, Z:-0.82 [[ 9.90426591e-01 -1.37557272e-01 1.15397467e-02 2.11388022e+02] [ 1.37557218e-01 9.90493497e-01 8.02152326e-04 1.88158981e+01] [-1.15403859e-02 7.92902455e-04 9.99933093e-01 -8.20558379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321400513 meters 0.06747447705970312 Centerline is valid? [True, True] Translation: X:211.45, Y:18.83, Z:-0.82 [[ 9.89773399e-01 -1.42151984e-01 1.18925572e-02 2.11447815e+02] [ 1.42152257e-01 9.89844459e-01 8.26664223e-04 1.88336245e+01] [-1.18892938e-02 8.72343587e-04 9.99928939e-01 -8.19807388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381400513 meters 0.08364120829475669 Centerline is valid? [True, True] Translation: X:211.51, Y:18.83, Z:-0.82 [[ 9.88836447e-01 -1.48505714e-01 1.21874212e-02 2.11507482e+02] [ 1.48506480e-01 9.88911072e-01 8.47135249e-04 1.88291293e+01] [-1.21780802e-02 9.72232813e-04 9.99925372e-01 -8.21196037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441400513 meters 0.08933400664322888 Centerline is valid? [True, True] Translation: X:211.57, Y:18.83, Z:-0.82 [[ 9.87004690e-01 -1.60197522e-01 1.25895289e-02 2.11567561e+02] [ 1.60199285e-01 9.87084304e-01 8.74834870e-04 1.88330919e+01] [-1.25670728e-02 1.15336741e-03 9.99920366e-01 -8.23638305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501400513 meters 0.09643381751708974 Centerline is valid? [True, True] Translation: X:211.63, Y:18.83, Z:-0.83 [[ 9.85861331e-01 -1.67289430e-01 9.57512924e-03 2.11628228e+02] [ 1.67290781e-01 9.85907375e-01 6.65334715e-04 1.88278231e+01] [-9.55149400e-03 9.45903080e-04 9.99953936e-01 -8.29086577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561400513 meters 0.09630564093554869 Centerline is valid? [True, True] Translation: X:211.69, Y:18.83, Z:-0.83 [[ 9.85934145e-01 -1.66791000e-01 1.07062796e-02 2.11688677e+02] [ 1.66792661e-01 9.85991711e-01 7.43886368e-04 1.88295199e+01] [-1.06803765e-02 1.05230590e-03 9.99942409e-01 -8.27994958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621400513 meters 0.08219986667218473 Centerline is valid? [True, True] Translation: X:211.75, Y:18.85, Z:-0.83 [[ 9.87106735e-01 -1.59644529e-01 1.15723000e-02 2.11747950e+02] [ 1.59645982e-01 9.87174004e-01 8.04073762e-04 1.88499508e+01] [-1.15522397e-02 1.05376458e-03 9.99932715e-01 -8.27134546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68140051299997 meters 0.08466012440239962 Centerline is valid? [True, True] Translation: X:211.81, Y:18.85, Z:-0.83 [[ 9.88300365e-01 -1.52179413e-01 1.01889747e-02 2.11807358e+02] [ 1.52180146e-01 9.88352519e-01 7.07931348e-04 1.88523658e+01] [-1.01780314e-02 8.50910847e-04 9.99947840e-01 -8.28754255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74140051299997 meters 0.07026084057298684 Centerline is valid? [True, True] Translation: X:211.87, Y:18.88, Z:-0.83 [[ 9.90220085e-01 -1.39078251e-01 1.10192366e-02 2.11866050e+02] [ 1.39078300e-01 9.90281092e-01 7.65554073e-04 1.88805256e+01] [-1.10186136e-02 7.74469678e-04 9.99938993e-01 -8.27169797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80140051299998 meters 0.06443502874245238 Centerline is valid? [True, True] Translation: X:211.93, Y:18.90, Z:-0.83 [[ 9.91192911e-01 -1.31889474e-01 1.19071490e-02 2.11926191e+02] [ 1.31889016e-01 9.91264144e-01 8.27207721e-04 1.88968154e+01] [-1.19122298e-02 7.50499731e-04 9.99928765e-01 -8.27561527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86140051299998 meters 0.0518387471565795 Centerline is valid? [True, True] Translation: X:211.98, Y:18.93, Z:-0.83 [[ 9.91988731e-01 -1.25827537e-01 1.12155022e-02 2.11984454e+02] [ 1.25826745e-01 9.92051926e-01 7.79093837e-04 1.89258234e+01] [-1.12243921e-02 6.38357830e-04 9.99936801e-01 -8.29031958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92140051299998 meters 0.04927636280928387 Centerline is valid? [True, True] Translation: X:212.04, Y:18.94, Z:-0.83 [[ 9.92710296e-01 -1.19872811e-01 1.25210757e-02 2.12043543e+02] [ 1.19871352e-01 9.92789052e-01 8.69697253e-04 1.89390063e+01] [-1.25350400e-02 6.37560853e-04 9.99921230e-01 -8.29290774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98140051299998 meters 0.04598504425534415 Centerline is valid? [True, True] Translation: X:212.10, Y:18.95, Z:-0.83 [[ 9.92811515e-01 -1.18753844e-01 1.49271499e-02 2.12103856e+02] [ 1.18751642e-01 9.92923447e-01 1.03692026e-03 1.89515764e+01] [-1.49446554e-02 7.43157192e-04 9.99888046e-01 -8.26973596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04140051299999 meters 0.04631029235846379 Centerline is valid? [True, True] Translation: X:212.16, Y:18.96, Z:-0.83 [[ 9.93102184e-01 -1.16353576e-01 1.44878444e-02 2.12163913e+02] [ 1.16351253e-01 9.93207619e-01 1.00604181e-03 1.89583396e+01] [-1.45064940e-02 6.86576533e-04 9.99894540e-01 -8.28061393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101400513 meters 0.04032975141729981 Centerline is valid? [True, True] Translation: X:212.22, Y:18.97, Z:-0.83 [[ 9.93849652e-01 -1.09997820e-01 1.27807694e-02 2.12222830e+02] [ 1.09995487e-01 9.93931690e-01 8.87464980e-04 1.89684293e+01] [-1.28008310e-02 5.23820202e-04 9.99917929e-01 -8.30087598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161400513 meters 0.03286461722568125 Centerline is valid? [True, True] Translation: X:212.28, Y:18.98, Z:-0.83 [[ 9.94648709e-01 -1.02529708e-01 1.27123992e-02 2.12282943e+02] [ 1.02526788e-01 9.94729852e-01 8.82941383e-04 1.89832374e+01] [-1.27359307e-02 4.25144949e-04 9.99918804e-01 -8.31282166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221400513 meters 0.023924136273024192 Centerline is valid? [True, True] Translation: X:212.34, Y:19.00, Z:-0.83 [[ 9.95547823e-01 -9.31876047e-02 1.41634424e-02 2.12343085e+02] [ 9.31830361e-02 9.95648509e-01 9.83589036e-04 1.89975860e+01] [-1.41934686e-02 3.40582640e-04 9.99899210e-01 -8.31035161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281400513 meters 0.01995604519875557 Centerline is valid? [True, True] Translation: X:212.40, Y:19.01, Z:-0.83 [[ 9.95972470e-01 -8.86085679e-02 1.36880121e-02 2.12404142e+02] [ 8.86038701e-02 9.96066489e-01 9.50454334e-04 1.90061516e+01] [-1.37183886e-02 2.66184498e-04 9.99905863e-01 -8.32123530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341400513 meters 0.015095830870004075 Centerline is valid? [True, True] Translation: X:212.46, Y:19.02, Z:-0.84 [[ 9.96547081e-01 -8.25164611e-02 9.21672671e-03 2.12464315e+02] [ 8.25140715e-02 9.96589694e-01 6.39883669e-04 1.90163125e+01] [-9.23809579e-03 1.22835444e-04 9.99957320e-01 -8.40254503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401400513 meters 0.010769115141816037 Centerline is valid? [True, True] Translation: X:212.52, Y:19.03, Z:-0.84 [[ 9.96900315e-01 -7.77814433e-02 1.18241241e-02 2.12524844e+02] [ 7.77771817e-02 9.96970429e-01 8.20524680e-04 1.90271666e+01] [-1.18521237e-02 1.01665740e-04 9.99929756e-01 -8.37777169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46140051299997 meters 0.006649260069247512 Centerline is valid? [True, True] Translation: X:212.59, Y:19.04, Z:-0.84 [[ 9.97461599e-01 -7.00995448e-02 1.25064970e-02 2.12586435e+02] [ 7.00941761e-02 9.97540001e-01 8.67634569e-04 1.90414837e+01] [-1.25365518e-02 1.12004350e-05 9.99921414e-01 -8.37763283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52140051299997 meters 0.006595921787168252 Centerline is valid? [True, True] Translation: X:212.65, Y:19.05, Z:-0.84 [[ 9.97591234e-01 -6.81670244e-02 1.28446929e-02 2.12649543e+02] [ 6.81612041e-02 9.97673923e-01 8.90870784e-04 1.90495549e+01] [-1.28755431e-02 -1.32151518e-05 9.99917107e-01 -8.39655516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58140051299998 meters 0.006428963230464212 Centerline is valid? [True, True] Translation: X:212.71, Y:19.05, Z:-0.84 [[ 9.97484333e-01 -6.95021401e-02 1.39448532e-02 2.12711871e+02] [ 6.94954530e-02 9.97581802e-01 9.64129591e-04 1.90497806e+01] [-1.39781408e-02 7.39972432e-06 9.99902301e-01 -8.37516070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64140051299998 meters 0.00667200671069143 Centerline is valid? [True, True] Translation: X:212.78, Y:19.05, Z:-0.84 [[ 9.97440837e-01 -7.02005506e-02 1.35521021e-02 2.12775563e+02] [ 7.01943183e-02 9.97532898e-01 9.35579229e-04 1.90493944e+01] [-1.35843458e-02 1.80956372e-05 9.99907728e-01 -8.38581747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70140051299998 meters 0.0065074546125291465 Centerline is valid? [True, True] Translation: X:212.84, Y:19.05, Z:-0.84 [[ 9.97605671e-01 -6.76422085e-02 1.44033425e-02 2.12838378e+02] [ 6.76349443e-02 9.97709643e-01 9.91413380e-04 1.90492760e+01] [-1.44374150e-02 -1.48703461e-05 9.99895775e-01 -8.38763219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76140051299998 meters 0.009780648358640509 Centerline is valid? [True, True] Translation: X:212.90, Y:19.06, Z:-0.84 [[ 9.98001936e-01 -6.15777441e-02 1.41533648e-02 2.12899002e+02] [ 6.15701579e-02 9.98102285e-01 9.71528999e-04 1.90590830e+01] [-1.41863304e-02 -9.81629145e-05 9.99899364e-01 -8.40076165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821400513 meters 0.023778668923493947 Centerline is valid? [True, True] Translation: X:212.96, Y:19.08, Z:-0.84 [[ 9.98796848e-01 -4.76165441e-02 1.17269398e-02 2.12958138e+02] [ 4.76103965e-02 9.98865659e-01 8.03002765e-04 1.90799291e+01] [-1.17518736e-02 -2.43712379e-04 9.99930915e-01 -8.43280295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881400513 meters 0.03418586149473414 Centerline is valid? [True, True] Translation: X:213.02, Y:19.10, Z:-0.84 [[ 9.99271285e-01 -3.57068255e-02 1.34878148e-02 2.13017580e+02] [ 3.56976091e-02 9.99362211e-01 9.23530723e-04 1.90964482e+01] [-1.35121887e-02 -4.41374994e-04 9.99908609e-01 -8.42361738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941400513 meters 0.04085122578073914 Centerline is valid? [True, True] Translation: X:213.08, Y:19.11, Z:-0.84 [[ 9.99387570e-01 -3.19351845e-02 1.43048550e-02 2.13076922e+02] [ 3.19244322e-02 9.99489806e-01 9.79428589e-04 1.91105565e+01] [-1.43288350e-02 -5.22154384e-04 9.99897201e-01 -8.42618905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001400513 meters 0.04332919214984278 Centerline is valid? [True, True] Translation: X:213.14, Y:19.12, Z:-0.85 [[ 9.99449064e-01 -3.06489453e-02 1.27361871e-02 2.13138175e+02] [ 3.06403120e-02 9.99530095e-01 8.72475002e-04 1.91161328e+01] [-1.27569427e-02 -4.81753578e-04 9.99918511e-01 -8.46870067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061400513 meters 0.04267954762005582 Centerline is valid? [True, True] Translation: X:213.20, Y:19.12, Z:-0.85 [[ 9.99437670e-01 -3.04841174e-02 1.39664397e-02 2.13201368e+02] [ 3.04737518e-02 9.99535112e-01 9.54446537e-04 1.91207411e+01] [-1.39890423e-02 -5.28300007e-04 9.99902009e-01 -8.45402753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121400513 meters 0.04117608730253562 Centerline is valid? [True, True] Translation: X:213.26, Y:19.12, Z:-0.85 [[ 9.99475062e-01 -2.92554699e-02 1.39182762e-02 2.13264002e+02] [ 2.92450936e-02 9.99571821e-01 9.48503850e-04 1.91222940e+01] [-1.39400656e-02 -5.40964653e-04 9.99902686e-01 -8.46128058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18140051299997 meters 0.043787655955052615 Centerline is valid? [True, True] Translation: X:213.33, Y:19.13, Z:-0.85 [[ 9.99509216e-01 -2.90024392e-02 1.18400215e-02 2.13325046e+02] [ 2.89949327e-02 9.99579234e-01 8.05201598e-04 1.91258772e+01] [-1.18583924e-02 -4.61505791e-04 9.99929580e-01 -8.50038390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24140051299997 meters 0.041045006833170576 Centerline is valid? [True, True] Translation: X:213.39, Y:19.12, Z:-0.84 [[ 9.99454145e-01 -2.88266549e-02 1.61380381e-02 2.13388199e+02] [ 2.88127401e-02 9.99584228e-01 1.09412882e-03 1.91212938e+01] [-1.61628684e-02 -6.28550485e-04 9.99869175e-01 -8.43775971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30140051299998 meters 0.04481861434465316 Centerline is valid? [True, True] Translation: X:213.45, Y:19.12, Z:-0.85 [[ 9.99508906e-01 -2.76687367e-02 1.47101589e-02 2.13449066e+02] [ 2.76570584e-02 9.99616973e-01 9.96776148e-04 1.91232922e+01] [-1.47321040e-02 -5.89446913e-04 9.99891303e-01 -8.47463282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36140051299998 meters 0.04575470327231933 Centerline is valid? [True, True] Translation: X:213.51, Y:19.12, Z:-0.85 [[ 9.99610285e-01 -2.41634309e-02 1.39787789e-02 2.13510970e+02] [ 2.41525749e-02 9.99707837e-01 9.44932664e-04 1.91179610e+01] [-1.39975277e-02 -6.06940905e-04 9.99901846e-01 -8.48447665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42140051299998 meters 0.047289586626743284 Centerline is valid? [True, True] Translation: X:213.57, Y:19.12, Z:-0.85 [[ 9.99621432e-01 -2.31056086e-02 1.49373253e-02 2.13573238e+02] [ 2.30931003e-02 9.99732809e-01 1.00935340e-03 1.91178782e+01] [-1.49566559e-02 -6.64022139e-04 9.99887922e-01 -8.48294313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48140051299998 meters 0.04786720118362577 Centerline is valid? [True, True] Translation: X:213.64, Y:19.11, Z:-0.85 [[ 9.99631626e-01 -2.34931838e-02 1.35898212e-02 2.13635581e+02] [ 2.34828710e-02 9.99723818e-01 9.17956281e-04 1.91105827e+01] [-1.36076336e-02 -5.98490112e-04 9.99907233e-01 -8.53450758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54140051299999 meters 0.044909561295934444 Centerline is valid? [True, True] Translation: X:213.70, Y:19.11, Z:-0.86 [[ 9.99605542e-01 -2.51839762e-02 1.24308931e-02 2.13697390e+02] [ 2.51755075e-02 9.99682696e-01 8.37296145e-04 1.91057206e+01] [-1.24480352e-02 -5.24011823e-04 9.99922383e-01 -8.56234369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601400513 meters 0.04009316527735486 Centerline is valid? [True, True] Translation: X:213.76, Y:19.09, Z:-0.86 [[ 9.99484593e-01 -2.97396378e-02 1.20872689e-02 2.13759330e+02] [ 2.97319678e-02 9.99557576e-01 8.13788257e-04 1.90923136e+01] [-1.21061229e-02 -4.53990536e-04 9.99926615e-01 -8.58473284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661400513 meters 0.04156716778235299 Centerline is valid? [True, True] Translation: X:213.82, Y:19.09, Z:-0.86 [[ 9.99390036e-01 -3.25251134e-02 1.27150790e-02 2.13819882e+02] [ 3.25168515e-02 9.99470821e-01 8.56026738e-04 1.90900051e+01] [-1.27361928e-02 -4.42050259e-04 9.99918794e-01 -8.58463982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721400513 meters 0.04053080472290066 Centerline is valid? [True, True] Translation: X:213.88, Y:19.08, Z:-0.86 [[ 9.99441398e-01 -3.09959331e-02 1.24957834e-02 2.13882880e+02] [ 3.09878348e-02 9.99519408e-01 8.41225840e-04 1.90826132e+01] [-1.25158526e-02 -4.53538659e-04 9.99921571e-01 -8.58787169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781400513 meters 0.044877066225473536 Centerline is valid? [True, True] Translation: X:213.94, Y:19.09, Z:-0.86 [[ 9.99600863e-01 -2.47088689e-02 1.36962105e-02 2.13943495e+02] [ 2.46985613e-02 9.99694520e-01 9.21249355e-04 1.90901519e+01] [-1.37147896e-02 -5.82604957e-04 9.99905778e-01 -8.56351279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841400513 meters 0.0532427742219149 Centerline is valid? [True, True] Translation: X:214.00, Y:19.10, Z:-0.86 [[ 9.99728280e-01 -1.98030189e-02 1.22965892e-02 2.14001783e+02] [ 1.97943442e-02 9.99803731e-01 8.26778380e-04 1.91032361e+01] [-1.23105485e-02 -5.83150810e-04 9.99924052e-01 -8.59788466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901400513 meters 0.05902359446334754 Centerline is valid? [True, True] Translation: X:214.06, Y:19.12, Z:-0.86 [[ 9.99797063e-01 -1.58713427e-02 1.24070072e-02 2.14060157e+02] [ 1.58622055e-02 9.99873839e-01 8.34515770e-04 1.91164623e+01] [-1.24186868e-02 -6.37543918e-04 9.99922682e-01 -8.61245038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96140051299997 meters 0.054091134387495896 Centerline is valid? [True, True] Translation: X:214.12, Y:19.12, Z:-0.86 [[ 9.99774909e-01 -1.64823144e-02 1.33590537e-02 2.14122391e+02] [ 1.64717717e-02 9.99863927e-01 8.98831178e-04 1.91168068e+01] [-1.33720507e-02 -6.78581577e-04 9.99910360e-01 -8.60064622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02140051299997 meters 0.05486714949945079 Centerline is valid? [True, True] Translation: X:214.18, Y:19.12, Z:-0.86 [[ 9.99730692e-01 -1.79603101e-02 1.46959498e-02 2.14183012e+02] [ 1.79477229e-02 9.99838439e-01 9.87957819e-04 1.91243728e+01] [-1.47113195e-02 -7.23932920e-04 9.99891521e-01 -8.58849922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08140051299998 meters 0.05006850646550239 Centerline is valid? [True, True] Translation: X:214.24, Y:19.12, Z:-0.86 [[ 9.99671408e-01 -1.92994615e-02 1.68703118e-02 2.14244615e+02] [ 1.92830717e-02 9.99813422e-01 1.13366484e-03 1.91236420e+01] [-1.68890433e-02 -8.07980890e-04 9.99857043e-01 -8.57289411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14140051299998 meters 0.04957617986631973 Centerline is valid? [True, True] Translation: X:214.30, Y:19.12, Z:-0.86 [[ 9.99667319e-01 -2.11587437e-02 1.47499051e-02 2.14304925e+02] [ 2.11464221e-02 9.99775898e-01 9.90845698e-04 1.91248294e+01] [-1.47675646e-02 -6.78608343e-04 9.99890723e-01 -8.62965106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20140051299998 meters 0.04980745685440653 Centerline is valid? [True, True] Translation: X:214.37, Y:19.12, Z:-0.86 [[ 9.99667649e-01 -2.11952781e-02 1.46748877e-02 2.14367253e+02] [ 2.11830876e-02 9.99775127e-01 9.85662979e-04 1.91247384e+01] [-1.46924791e-02 -6.74475962e-04 9.99891832e-01 -8.64602542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26140051299998 meters 0.050683908605339126 Centerline is valid? [True, True] Translation: X:214.43, Y:19.12, Z:-0.86 [[ 9.99647643e-01 -2.03615907e-02 1.70292293e-02 2.14430174e+02] [ 2.03450699e-02 9.99792364e-01 1.14283833e-03 1.91217899e+01] [-1.70489635e-02 -7.95974785e-04 9.99854339e-01 -8.62431235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321400513 meters 0.04863198336887873 Centerline is valid? [True, True] Translation: X:214.49, Y:19.12, Z:-0.87 [[ 9.99668276e-01 -2.05846554e-02 1.54793145e-02 2.14492922e+02] [ 2.05710424e-02 9.99787855e-01 1.03815972e-03 1.91166548e+01] [-1.54974008e-02 -7.19389706e-04 9.99879649e-01 -8.66310248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381400513 meters 0.04782733761048025 Centerline is valid? [True, True] Translation: X:214.56, Y:19.11, Z:-0.87 [[ 9.99659491e-01 -2.12881015e-02 1.50903787e-02 2.14555915e+02] [ 2.12752838e-02 9.99773146e-01 1.00944579e-03 1.91063500e+01] [-1.51084446e-02 -6.88049972e-04 9.99885624e-01 -8.66288285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441400513 meters 0.0467450899808306 Centerline is valid? [True, True] Translation: X:214.62, Y:19.10, Z:-0.87 [[ 9.99679788e-01 -2.16130226e-02 1.31604616e-02 2.14618233e+02] [ 2.16033093e-02 9.99766234e-01 8.79794475e-04 1.91001175e+01] [-1.31764002e-02 -5.95203231e-04 9.99913010e-01 -8.69879820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501400513 meters 0.05294116243230528 Centerline is valid? [True, True] Translation: X:214.68, Y:19.10, Z:-0.88 [[ 9.99773016e-01 -1.98716143e-02 7.68339905e-03 2.14678450e+02] [ 1.98682522e-02 9.99802475e-01 5.13657777e-04 1.90983313e+01] [-7.69208859e-03 -3.60885475e-04 9.99970350e-01 -8.80576165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561400513 meters 0.05334471491967962 Centerline is valid? [True, True] Translation: X:214.74, Y:19.09, Z:-0.88 [[ 9.99835154e-01 -1.65880716e-02 7.38244640e-03 2.14739375e+02] [ 1.65848848e-02 9.99862340e-01 4.92689002e-04 1.90936118e+01] [-7.38960289e-03 -3.70170761e-04 9.99972628e-01 -8.81059283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621400513 meters 0.056096243431553276 Centerline is valid? [True, True] Translation: X:214.80, Y:19.10, Z:-0.88 [[ 9.99818242e-01 -1.63882004e-02 9.74219024e-03 2.14800981e+02] [ 1.63826399e-02 9.99865584e-01 6.50304134e-04 1.90962146e+01] [-9.75153805e-03 -4.90583141e-04 9.99952332e-01 -8.78618694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68140051299997 meters 0.05290730098353441 Centerline is valid? [True, True] Translation: X:214.86, Y:19.09, Z:-0.88 [[ 9.99758696e-01 -1.82669110e-02 1.22012216e-02 2.14863451e+02] [ 1.82583349e-02 9.99832971e-01 8.13919033e-04 1.90864540e+01] [-1.22140514e-02 -5.90948641e-04 9.99925231e-01 -8.77452588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74140051299997 meters 0.052145878745279296 Centerline is valid? [True, True] Translation: X:214.92, Y:19.08, Z:-0.87 [[ 9.99698104e-01 -1.99112809e-02 1.43958996e-02 2.14924770e+02] [ 1.98995254e-02 9.99801525e-01 9.59383883e-04 1.90814254e+01] [-1.44121449e-02 -6.72622680e-04 9.99895913e-01 -8.74663058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80140051299998 meters 0.05244995839400778 Centerline is valid? [True, True] Translation: X:214.99, Y:19.08, Z:-0.88 [[ 9.99721553e-01 -1.91209065e-02 1.38277432e-02 2.14987268e+02] [ 1.91099890e-02 9.99816963e-01 9.21249754e-04 1.90756460e+01] [-1.38428274e-02 -6.56745214e-04 9.99903968e-01 -8.75719332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86140051299998 meters 0.06117683295061958 Centerline is valid? [True, True] Translation: X:215.05, Y:19.08, Z:-0.88 [[ 9.99847774e-01 -1.16013974e-02 1.30321663e-02 2.15047303e+02] [ 1.15910719e-02 9.99932445e-01 8.67559922e-04 1.90786099e+01] [-1.30413508e-02 -7.16371079e-04 9.99914701e-01 -8.79135165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92140051299998 meters 0.06432966039019353 Centerline is valid? [True, True] Translation: X:215.11, Y:19.08, Z:-0.88 [[ 9.99887553e-01 -6.35665684e-03 1.35821291e-02 2.15107723e+02] [ 6.34496038e-03 9.99979462e-01 9.04083264e-04 1.90803598e+01] [-1.35875971e-02 -8.17803532e-04 9.99907350e-01 -8.79505467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98140051299998 meters 0.06425317559208661 Centerline is valid? [True, True] Translation: X:215.17, Y:19.07, Z:-0.88 [[ 9.99908214e-01 -3.03600695e-03 1.32040212e-02 2.15168985e+02] [ 3.02466614e-03 9.99995040e-01 8.78776138e-04 1.90715390e+01] [-1.32066237e-02 -8.38757723e-04 9.99912437e-01 -8.81826325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04140051299999 meters 0.06575467618977267 Centerline is valid? [True, True] Translation: X:215.23, Y:19.07, Z:-0.88 [[ 9.99889279e-01 -2.76879260e-03 1.46206343e-02 2.15230926e+02] [ 2.75485685e-03 9.99995732e-01 9.73209883e-04 1.90711415e+01] [-1.46232665e-02 -9.32824374e-04 9.99892639e-01 -8.81177950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101400513 meters 0.06537190358980113 Centerline is valid? [True, True] Translation: X:215.29, Y:19.06, Z:-0.88 [[ 9.99886462e-01 -5.34852651e-03 1.40874684e-02 2.15291644e+02] [ 5.33588188e-03 9.99985327e-01 9.35013714e-04 1.90630816e+01] [-1.40922626e-02 -8.59738488e-04 9.99900330e-01 -8.83140742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161400513 meters 0.06076650712076202 Centerline is valid? [True, True] Translation: X:215.35, Y:19.05, Z:-0.88 [[ 9.99869412e-01 -8.55090687e-03 1.37127852e-02 2.15352785e+02] [ 8.53922547e-03 9.99963126e-01 9.10188075e-04 1.90548956e+01] [-1.37200624e-02 -7.92972651e-04 9.99905561e-01 -8.84485023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221400513 meters 0.05743418452932945 Centerline is valid? [True, True] Translation: X:215.41, Y:19.04, Z:-0.89 [[ 9.99841399e-01 -1.23942242e-02 1.27890563e-02 2.15414341e+02] [ 1.23843774e-02 9.99922950e-01 8.48855611e-04 1.90427110e+01] [-1.27985918e-02 -6.90336482e-04 9.99917856e-01 -8.85820612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281400513 meters 0.06464464389758583 Centerline is valid? [True, True] Translation: X:215.47, Y:19.05, Z:-0.89 [[ 9.99889696e-01 -1.13576048e-02 9.57077107e-03 2.15474874e+02] [ 1.13520383e-02 9.99935361e-01 6.35748455e-04 1.90476018e+01] [-9.57737301e-03 -5.27030570e-04 9.99953997e-01 -8.92524056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341400513 meters 0.06144795695565995 Centerline is valid? [True, True] Translation: X:215.54, Y:19.04, Z:-0.89 [[ 9.99930064e-01 -7.78721182e-03 8.90088280e-03 2.15535541e+02] [ 7.78226684e-03 9.99969544e-01 5.90061495e-04 1.90425005e+01] [-8.90520665e-03 -5.20751184e-04 9.99960212e-01 -8.93049729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401400513 meters 0.06907911475177053 Centerline is valid? [True, True] Translation: X:215.60, Y:19.05, Z:-0.89 [[ 9.99947200e-01 -1.18639718e-03 1.02072943e-02 2.15595740e+02] [ 1.17955140e-03 9.99999075e-01 6.76668925e-04 1.90536834e+01] [-1.02080876e-02 -6.64593169e-04 9.99947675e-01 -8.91751037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46140051299997 meters 0.0755837177738391 Centerline is valid? [True, True] Translation: X:215.65, Y:19.06, Z:-0.89 [[ 9.99947132e-01 2.93327661e-03 9.85543554e-03 2.15654811e+02] [-2.93986000e-03 9.99995465e-01 6.53575132e-04 1.90644109e+01] [-9.85347373e-03 -6.82514179e-04 9.99951220e-01 -8.94432176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52140051299997 meters 0.0732949932152344 Centerline is valid? [True, True] Translation: X:215.72, Y:19.06, Z:-0.89 [[ 9.99920622e-01 3.16045247e-03 1.21968051e-02 2.15716891e+02] [-3.17054821e-03 9.99994647e-01 8.08489521e-04 1.90640010e+01] [-1.21941846e-02 -8.47095903e-04 9.99925289e-01 -8.90507294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58140051299998 meters 0.07550227441034293 Centerline is valid? [True, True] Translation: X:215.78, Y:19.06, Z:-0.89 [[ 9.99884358e-01 5.16884448e-04 1.51987929e-02 2.15777212e+02] [-5.32209742e-04 9.99999354e-01 1.00429566e-03 1.90595693e+01] [-1.51982640e-02 -1.01226847e-03 9.99883987e-01 -8.88049519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64140051299998 meters 0.0683118616364903 Centerline is valid? [True, True] Translation: X:215.84, Y:19.05, Z:-0.89 [[ 9.99869366e-01 -2.11624265e-03 1.60240977e-02 2.15839078e+02] [ 2.09954153e-03 9.99997235e-01 1.05900159e-03 1.90483979e+01] [-1.60262945e-02 -1.02521999e-03 9.99871045e-01 -8.88188011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70140051299998 meters 0.07411492140936372 Centerline is valid? [True, True] Translation: X:215.90, Y:19.05, Z:-0.89 [[ 9.99895727e-01 -5.67567483e-04 1.44296065e-02 2.15898696e+02] [ 5.53864086e-04 9.99999392e-01 9.53650727e-04 1.90513458e+01] [-1.44301390e-02 -9.45559246e-04 9.99895433e-01 -8.92053819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76140051299998 meters 0.07785063502399064 Centerline is valid? [True, True] Translation: X:215.96, Y:19.05, Z:-0.89 [[ 9.99843247e-01 2.04496469e-03 1.75869134e-02 2.15959858e+02] [-2.06570601e-03 9.99997192e-01 1.16127599e-03 1.90460025e+01] [-1.75844892e-02 -1.19742335e-03 9.99844664e-01 -8.88547496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821400513 meters 0.07659408707338655 Centerline is valid? [True, True] Translation: X:216.02, Y:19.04, Z:-0.89 [[ 9.99849183e-01 2.90004650e-03 1.71231252e-02 2.16022452e+02] [-2.91982857e-03 9.99995098e-01 1.13039635e-03 1.90365332e+01] [-1.71197631e-02 -1.18022246e-03 9.99852750e-01 -8.91303693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881400513 meters 0.08303184346690835 Centerline is valid? [True, True] Translation: X:216.08, Y:19.03, Z:-0.90 [[ 9.99899026e-01 6.47643594e-03 1.26488775e-02 2.16082352e+02] [-6.48749357e-03 9.99978609e-01 8.33362675e-04 1.90348720e+01] [-1.26432097e-02 -9.15338039e-04 9.99919652e-01 -8.99106652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941400513 meters 0.07621271966586714 Centerline is valid? [True, True] Translation: X:216.14, Y:19.03, Z:-0.90 [[ 9.99901370e-01 7.87996711e-03 1.16256401e-02 2.16143787e+02] [-7.88939521e-03 9.99968585e-01 7.65335665e-04 1.90262705e+01] [-1.16192440e-02 -8.56979449e-04 9.99932127e-01 -9.01203120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001400513 meters 0.07786653379116895 Centerline is valid? [True, True] Translation: X:216.20, Y:19.02, Z:-0.90 [[ 9.99875895e-01 1.24459694e-02 9.65883461e-03 2.16204582e+02] [-1.24526854e-02 9.99922260e-01 6.35485531e-04 1.90205512e+01] [-9.65017450e-03 -7.55685093e-04 9.99953150e-01 -9.03935518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061400513 meters 0.0852427589833196 Centerline is valid? [True, True] Translation: X:216.26, Y:19.03, Z:-0.91 [[ 9.99852926e-01 1.49143597e-02 8.46692322e-03 2.16263555e+02] [-1.49196075e-02 9.99888541e-01 5.56967730e-04 1.90279103e+01] [-8.45767269e-03 -6.83208985e-04 9.99964000e-01 -9.07282164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121400513 meters 0.08208406785905971 Centerline is valid? [True, True] Translation: X:216.33, Y:19.02, Z:-0.91 [[ 9.99848983e-01 1.40705054e-02 1.01996235e-02 2.16325991e+02] [-1.40780820e-02 9.99900673e-01 6.71402671e-04 1.90228582e+01] [-1.01891634e-02 -8.14892412e-04 9.99947757e-01 -9.06438307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18140051299997 meters 0.0818371898208313 Centerline is valid? [True, True] Translation: X:216.39, Y:19.02, Z:-0.90 [[ 9.99902179e-01 7.49228414e-03 1.18109271e-02 2.16385841e+02] [-7.50197635e-03 9.99971558e-01 7.76522251e-04 1.90209344e+01] [-1.18047732e-02 -8.65051587e-04 9.99929947e-01 -9.04293679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24140051299997 meters 0.07027112887247274 Centerline is valid? [True, True] Translation: X:216.45, Y:19.01, Z:-0.90 [[ 9.99925522e-01 1.80368417e-03 1.20705407e-02 2.16446866e+02] [-1.81339639e-03 9.99998041e-01 7.93725852e-04 1.90090768e+01] [-1.20690854e-02 -8.15555411e-04 9.99926833e-01 -9.04224481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30140051299998 meters 0.07163192469169942 Centerline is valid? [True, True] Translation: X:216.51, Y:19.01, Z:-0.90 [[ 9.99866378e-01 -5.63331369e-03 1.53457386e-02 2.16506605e+02] [ 5.61848707e-03 9.99983707e-01 1.00911290e-03 1.90088289e+01] [-1.53511732e-02 -9.22758222e-04 9.99881738e-01 -8.99704736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36140051299998 meters 0.06369685950551426 Centerline is valid? [True, True] Translation: X:216.57, Y:19.00, Z:-0.90 [[ 9.99844290e-01 -8.96952855e-03 1.51967968e-02 2.16568104e+02] [ 8.95537397e-03 9.99959401e-01 9.99214099e-04 1.89998205e+01] [-1.52051423e-02 -8.62965513e-04 9.99884023e-01 -9.01204429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42140051299998 meters 0.0621960498389945 Centerline is valid? [True, True] Translation: X:216.63, Y:19.00, Z:-0.90 [[ 9.99836250e-01 -1.06733747e-02 1.46133958e-02 2.16630038e+02] [ 1.06604670e-02 9.99942714e-01 9.60889715e-04 1.89955736e+01] [-1.46228146e-02 -8.04946746e-04 9.99892757e-01 -9.02738489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48140051299998 meters 0.054914148627316806 Centerline is valid? [True, True] Translation: X:216.69, Y:18.99, Z:-0.90 [[ 9.99825574e-01 -1.02702393e-02 1.55994982e-02 2.16693254e+02] [ 1.02554905e-02 9.99946886e-01 1.02517024e-03 1.89875605e+01] [-1.56091984e-02 -8.65010912e-04 9.99877795e-01 -9.01521087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54140051299999 meters 0.059006174005704126 Centerline is valid? [True, True] Translation: X:216.75, Y:18.99, Z:-0.90 [[ 9.99853710e-01 -6.08569395e-03 1.59851036e-02 2.16753952e+02] [ 6.06968625e-03 9.99981028e-01 1.04973831e-03 1.89905408e+01] [-1.59911887e-02 -9.52560182e-04 9.99871679e-01 -9.01390589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601400513 meters 0.0664533355671847 Centerline is valid? [True, True] Translation: X:216.81, Y:19.00, Z:-0.90 [[ 9.99872439e-01 -3.09095731e-03 1.56701029e-02 2.16812902e+02] [ 3.07521456e-03 9.99994742e-01 1.02863242e-03 1.90013682e+01] [-1.56731999e-02 -9.80312279e-04 9.99876687e-01 -9.04078983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661400513 meters 0.06949340535572958 Centerline is valid? [True, True] Translation: X:216.87, Y:19.00, Z:-0.90 [[ 9.99849682e-01 -2.27890193e-03 1.71878008e-02 2.16873697e+02] [ 2.25984909e-03 9.99996811e-01 1.12785072e-03 1.90049781e+01] [-1.71903162e-02 -1.08883935e-03 9.99851643e-01 -9.01959482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721400513 meters 0.0699046542056969 Centerline is valid? [True, True] Translation: X:216.94, Y:19.00, Z:-0.91 [[ 9.99900422e-01 -1.89454741e-03 1.39841609e-02 2.16936263e+02] [ 1.88192073e-03 9.99997810e-01 9.16031491e-04 1.90047250e+01] [-1.39858657e-02 -8.89623192e-04 9.99901797e-01 -9.07223018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781400513 meters 0.0704765632618787 Centerline is valid? [True, True] Translation: X:217.00, Y:19.01, Z:-0.91 [[ 9.99907658e-01 4.42777738e-04 1.35822887e-02 2.16996862e+02] [-4.54871308e-04 9.99999503e-01 8.87316350e-04 1.90066993e+01] [-1.35818891e-02 -8.93412607e-04 9.99907363e-01 -9.10050869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841400513 meters 0.0797950738036405 Centerline is valid? [True, True] Translation: X:217.06, Y:19.02, Z:-0.91 [[ 9.99848526e-01 1.01416255e-02 1.41447119e-02 2.17056762e+02] [-1.01557063e-02 9.99948003e-01 9.24010157e-04 1.90217744e+01] [-1.41346055e-02 -1.06751973e-03 9.99899532e-01 -9.09715109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901400513 meters 0.0891672696686594 Centerline is valid? [True, True] Translation: X:217.11, Y:19.04, Z:-0.91 [[ 9.99786485e-01 1.71091834e-02 1.15870628e-02 2.17114719e+02] [-1.71190981e-02 9.99853171e-01 7.57016776e-04 1.90401502e+01] [-1.15724096e-02 -9.55215207e-04 9.99932581e-01 -9.14476719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96140051299997 meters 0.09199632582967368 Centerline is valid? [True, True] Translation: X:217.17, Y:19.05, Z:-0.92 [[ 9.99703096e-01 2.16258133e-02 1.12269456e-02 2.17174599e+02] [-2.16353982e-02 9.99765659e-01 7.32977232e-04 1.90476670e+01] [-1.12084634e-02 -9.75659046e-04 9.99936707e-01 -9.16838487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02140051299997 meters 0.08402394806411068 Centerline is valid? [True, True] Translation: X:217.24, Y:19.04, Z:-0.91 [[ 9.99749415e-01 1.87207260e-02 1.22736510e-02 2.17235443e+02] [-1.87319636e-02 9.99824220e-01 8.01260885e-04 1.90411432e+01] [-1.22564934e-02 -1.03096969e-03 9.99924355e-01 -9.14565363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08140051299998 meters 0.08513313126049454 Centerline is valid? [True, True] Translation: X:217.30, Y:19.05, Z:-0.92 [[ 9.99844854e-01 1.28466960e-02 1.20511476e-02 2.17295080e+02] [-1.28571060e-02 9.99917034e-01 7.86742513e-04 1.90476607e+01] [-1.20400408e-02 -9.41563336e-04 9.99927073e-01 -9.16621543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14140051299998 meters 0.08339471744296686 Centerline is valid? [True, True] Translation: X:217.36, Y:19.05, Z:-0.92 [[ 9.99846172e-01 1.11545205e-02 1.35355077e-02 2.17356134e+02] [-1.11674999e-02 9.99937251e-01 8.83704399e-04 1.90507995e+01] [-1.35248011e-02 -1.03472624e-03 9.99908000e-01 -9.16160875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20140051299998 meters 0.07850167605193376 Centerline is valid? [True, True] Translation: X:217.42, Y:19.05, Z:-0.92 [[ 9.99898605e-01 7.15537487e-03 1.23118217e-02 2.17417199e+02] [-7.16581030e-03 9.99974002e-01 8.03688464e-04 1.90477386e+01] [-1.23057509e-02 -8.91831153e-04 9.99923884e-01 -9.18437188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26140051299998 meters 0.07632762663310523 Centerline is valid? [True, True] Translation: X:217.48, Y:19.05, Z:-0.92 [[ 9.99894321e-01 4.37217259e-03 1.38647134e-02 2.17478123e+02] [-4.38513807e-03 9.99989976e-01 9.04879738e-04 1.90464690e+01] [-1.38606182e-02 -9.65582794e-04 9.99903471e-01 -9.16479268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321400513 meters 0.07399603375252393 Centerline is valid? [True, True] Translation: X:217.54, Y:19.04, Z:-0.91 [[ 9.99845435e-01 3.74565670e-03 1.71777791e-02 2.17540290e+02] [-3.76546389e-03 9.99992282e-01 1.12087201e-03 1.90442923e+01] [-1.71734481e-02 -1.18538107e-03 9.99851823e-01 -9.12926906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381400513 meters 0.07678333056193692 Centerline is valid? [True, True] Translation: X:217.60, Y:19.05, Z:-0.91 [[ 9.99828640e-01 8.02076981e-03 1.66840725e-02 2.17600518e+02] [-8.04000667e-03 9.99967089e-01 1.08625144e-03 1.90461056e+01] [-1.66748108e-02 -1.22020535e-03 9.99860221e-01 -9.14930162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441400513 meters 0.08170894971055023 Centerline is valid? [True, True] Translation: X:217.66, Y:19.05, Z:-0.92 [[ 9.99821160e-01 1.17449272e-02 1.48224423e-02 2.17660021e+02] [-1.17605153e-02 9.99930377e-01 9.64924580e-04 1.90510395e+01] [-1.48100774e-02 -1.13907157e-03 9.99889676e-01 -9.19692420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501400513 meters 0.07807201933972371 Centerline is valid? [True, True] Translation: X:217.72, Y:19.04, Z:-0.92 [[ 9.99817936e-01 1.32859662e-02 1.36959232e-02 2.17721457e+02] [-1.32994205e-02 9.99911161e-01 8.91749972e-04 1.90444577e+01] [-1.36828587e-02 -1.07373546e-03 9.99905809e-01 -9.22631300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561400513 meters 0.07859828119502066 Centerline is valid? [True, True] Translation: X:217.78, Y:19.04, Z:-0.92 [[ 9.99823441e-01 1.23146360e-02 1.41928431e-02 2.17782930e+02] [-1.23289851e-02 9.99923568e-01 9.23951802e-04 1.90417008e+01] [-1.41803801e-02 -1.09877202e-03 9.99898850e-01 -9.23491322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621400513 meters 0.07889864292805045 Centerline is valid? [True, True] Translation: X:217.84, Y:19.04, Z:-0.92 [[ 9.99819208e-01 1.29539542e-02 1.39192597e-02 2.17844600e+02] [-1.29678139e-02 9.99915504e-01 9.05929718e-04 1.90429952e+01] [-1.39063482e-02 -1.08626830e-03 9.99902712e-01 -9.23866356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68140051299997 meters 0.08635299858943125 Centerline is valid? [True, True] Translation: X:217.90, Y:19.05, Z:-0.93 [[ 9.99822680e-01 1.57302440e-02 1.03522065e-02 2.17904488e+02] [-1.57380495e-02 9.99875923e-01 6.72956799e-04 1.90526944e+01] [-1.03403363e-02 -8.35761009e-04 9.99946188e-01 -9.30738341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74140051299997 meters 0.0886480306997085 Centerline is valid? [True, True] Translation: X:217.96, Y:19.06, Z:-0.94 [[ 9.99750796e-01 2.07185727e-02 8.31182680e-03 2.17964322e+02] [-2.07237731e-02 9.99785094e-01 5.40012281e-04 1.90568090e+01] [-8.29885225e-03 -7.12130120e-04 9.99965310e-01 -9.35036572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80140051299998 meters 0.08485985754068291 Centerline is valid? [True, True] Translation: X:218.03, Y:19.05, Z:-0.93 [[ 9.99710907e-01 2.21120406e-02 9.44249505e-03 2.18026185e+02] [-2.21188149e-02 9.99755161e-01 6.13585243e-04 1.90547374e+01] [-9.42661554e-03 -8.22264660e-04 9.99955230e-01 -9.33602598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86140051299998 meters 0.10614632049395951 Centerline is valid? [True, False] Translation: X:218.03, Y:19.05, Z:-0.93 [[ 9.99709142e-01 2.21439587e-02 9.55383876e-03 2.18025797e+02] [-2.21516170e-02 9.99754380e-01 6.96510094e-04 1.90543763e+01] [-9.53606866e-03 -9.07940487e-04 9.99954118e-01 -9.33503633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92140051299998 meters 0.0921792107307712 Centerline is valid? [False, True] Translation: X:218.01, Y:19.05, Z:-0.94 [[ 9.99659292e-01 2.21868221e-02 1.37493579e-02 2.18009603e+02] [-2.23245440e-02 9.99701307e-01 9.94539312e-03 1.90463205e+01] [-1.35245944e-02 -1.02489528e-02 9.99856012e-01 -9.41948723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98140051299998 meters 0.10682268024706264 Centerline is valid? [True, False] Translation: X:218.01, Y:19.05, Z:-0.94 [[ 9.99749882e-01 1.75928328e-02 1.38081656e-02 2.18009202e+02] [-1.76576636e-02 9.99833568e-01 4.58730338e-03 1.90508228e+01] [-1.37251638e-02 -4.82997596e-03 9.99894140e-01 -9.42036955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04140051299999 meters 0.08970873061964492 Centerline is valid? [False, True] Translation: X:218.00, Y:19.04, Z:-0.93 [[ 9.99945096e-01 8.39058134e-03 6.27714020e-03 2.18002307e+02] [-8.46456321e-03 9.99893915e-01 1.18536861e-02 1.90420738e+01] [-6.17701497e-03 -1.19061685e-02 9.99910040e-01 -9.33648220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101400513 meters 0.08652153533280475 Centerline is valid? [True, True] Translation: X:218.06, Y:19.05, Z:-0.94 [[ 9.99970291e-01 5.00488042e-03 5.86238302e-03 2.18062050e+02] [-5.00757706e-03 9.99987363e-01 4.45403579e-04 1.90518209e+01] [-5.86007974e-03 -4.74746682e-04 9.99982717e-01 -9.37398550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161400513 meters 0.08979051034780688 Centerline is valid? [True, True] Translation: X:218.12, Y:19.05, Z:-0.94 [[ 9.99967919e-01 1.35081808e-03 7.89538051e-03 2.18122110e+02] [-1.35559634e-03 9.99998901e-01 5.99876684e-04 1.90529098e+01] [-7.89456151e-03 -6.10560388e-04 9.99968651e-01 -9.35006655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221400513 meters 0.0863714574153932 Centerline is valid? [True, True] Translation: X:218.18, Y:19.05, Z:-0.94 [[ 9.99975644e-01 4.77981470e-04 6.96299197e-03 2.18183788e+02] [-4.81677331e-04 9.99999744e-01 5.29119024e-04 1.90533776e+01] [-6.96273728e-03 -5.32460053e-04 9.99975618e-01 -9.36860073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281400513 meters 0.08474616046471989 Centerline is valid? [True, True] Translation: X:218.25, Y:19.05, Z:-0.94 [[ 9.99989431e-01 6.75795225e-04 4.54767632e-03 2.18245932e+02] [-6.77374253e-04 9.99999711e-01 3.45685159e-04 1.90535827e+01] [-4.54744139e-03 -3.48761984e-04 9.99989600e-01 -9.41459797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341400513 meters 0.08744436954135648 Centerline is valid? [True, True] Translation: X:218.31, Y:19.05, Z:-0.94 [[ 9.99989772e-01 9.96741475e-04 4.41162300e-03 2.18307558e+02] [-9.98230738e-04 9.99999446e-01 3.35388004e-04 1.90541861e+01] [-4.41128626e-03 -3.39788392e-04 9.99990213e-01 -9.42236052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401400513 meters 0.08158428603908537 Centerline is valid? [True, True] Translation: X:218.37, Y:19.05, Z:-0.94 [[ 9.99981775e-01 1.69240291e-03 5.79532204e-03 2.18370400e+02] [-1.69497924e-03 9.99998467e-01 4.39670147e-04 1.90479538e+01] [-5.79456905e-03 -4.49485084e-04 9.99983110e-01 -9.40286555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46140051299997 meters 0.09318001987526958 Centerline is valid? [True, True] Translation: X:218.43, Y:19.06, Z:-0.94 [[ 9.99967046e-01 4.24006038e-03 6.92305815e-03 2.18429040e+02] [-4.24379359e-03 9.99990857e-01 5.24642442e-04 1.90595356e+01] [-6.92077034e-03 -5.54005183e-04 9.99975898e-01 -9.40076087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52140051299997 meters 0.08250177302100109 Centerline is valid? [True, True] Translation: X:218.49, Y:19.05, Z:-0.94 [[ 9.99964109e-01 5.60269665e-03 6.35528195e-03 2.18490724e+02] [-5.60587123e-03 9.99984171e-01 4.81815431e-04 1.90499335e+01] [-6.35248188e-03 -5.17425031e-04 9.99979689e-01 -9.41946321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58140051299998 meters 0.09300650947144956 Centerline is valid? [True, True] Translation: X:218.55, Y:19.06, Z:-0.94 [[ 9.99932055e-01 7.57096194e-03 8.86378700e-03 2.18549661e+02] [-7.57721043e-03 9.99971067e-01 6.71575630e-04 1.90606947e+01] [-8.85844607e-03 -7.38692778e-04 9.99960490e-01 -9.38603890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64140051299998 meters 0.08598763055159328 Centerline is valid? [True, True] Translation: X:218.61, Y:19.05, Z:-0.94 [[ 9.99923027e-01 7.15672778e-03 1.01351151e-02 2.18613061e+02] [-7.16487746e-03 9.99974037e-01 7.68021164e-04 1.90537886e+01] [-1.01293555e-02 -8.40578905e-04 9.99948343e-01 -9.36801322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70140051299998 meters 0.0846113439009269 Centerline is valid? [True, True] Translation: X:218.67, Y:19.05, Z:-0.94 [[ 9.99958056e-01 5.97778685e-03 6.93922173e-03 2.18674275e+02] [-5.98157528e-03 9.99981972e-01 5.25318496e-04 1.90542869e+01] [-6.93595639e-03 -5.66803939e-04 9.99975785e-01 -9.42534214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76140051299998 meters 0.07983551654995473 Centerline is valid? [True, True] Translation: X:218.74, Y:19.05, Z:-0.94 [[ 9.99967618e-01 4.24471403e-03 6.83706030e-03 2.18735633e+02] [-4.24835030e-03 9.99990842e-01 5.17410679e-04 1.90517906e+01] [-6.83480142e-03 -5.46440152e-04 9.99976493e-01 -9.43473904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821400513 meters 0.09007883223678065 Centerline is valid? [True, True] Translation: X:218.79, Y:19.06, Z:-0.95 [[ 9.99982170e-01 2.27736953e-03 5.52034099e-03 2.18794832e+02] [-2.27970955e-03 9.99997314e-01 4.17635381e-04 1.90648437e+01] [-5.51937505e-03 -4.30212708e-04 9.99984676e-01 -9.46431564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881400513 meters 0.08035673630633433 Centerline is valid? [True, True] Translation: X:218.86, Y:19.06, Z:-0.95 [[ 9.99983528e-01 2.51780608e-03 5.15799992e-03 2.18858293e+02] [-2.51985699e-03 9.99996749e-01 3.91156181e-04 1.90575259e+01] [-5.15699830e-03 -4.04147159e-04 9.99986621e-01 -9.46101230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941400513 meters 0.08407635183670092 Centerline is valid? [True, True] Translation: X:218.92, Y:19.07, Z:-0.94 [[ 9.99951210e-01 5.37926787e-03 8.28505052e-03 2.18917849e+02] [-5.38463229e-03 9.99985307e-01 6.25310781e-04 1.90666535e+01] [-8.28156508e-03 -6.69892222e-04 9.99965483e-01 -9.41572936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001400513 meters 0.08921658587577497 Centerline is valid? [True, True] Translation: X:218.98, Y:19.08, Z:-0.95 [[ 9.99942799e-01 8.83245940e-03 6.03205962e-03 2.18977163e+02] [-8.83536522e-03 9.99960864e-01 4.55249698e-04 1.90778207e+01] [-6.02780257e-03 -5.08519108e-04 9.99981703e-01 -9.46432785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061400513 meters 0.09414725974884688 Centerline is valid? [True, True] Translation: X:219.04, Y:19.09, Z:-0.95 [[ 9.99882057e-01 1.46381802e-02 4.64705506e-03 2.19037157e+02] [-1.46399672e-02 9.99892768e-01 3.50739767e-04 1.90934597e+01] [-4.64142256e-03 -4.18731133e-04 9.99989141e-01 -9.51074552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121400513 meters 0.09649096922723073 Centerline is valid? [True, True] Translation: X:219.10, Y:19.10, Z:-0.95 [[ 9.99819679e-01 1.82488594e-02 5.25247943e-03 2.19097271e+02] [-1.82511915e-02 9.99833355e-01 3.96416681e-04 1.91035849e+01] [-5.24436997e-03 -4.92209207e-04 9.99986127e-01 -9.49812708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18140051299997 meters 0.1014846559257524 Centerline is valid? [True, False] Translation: X:219.09, Y:19.10, Z:-0.94 [[ 9.99896789e-01 1.43665264e-02 1.15883809e-04 2.19093832e+02] [-1.43666010e-02 9.99777287e-01 1.54588830e-02 1.90972476e+01] [ 1.06232450e-04 -1.54589523e-02 9.99880498e-01 -9.42790985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24140051299997 meters 0.10178959739664684 Centerline is valid? [False, False] Translation: X:219.09, Y:19.12, Z:-0.95 [[ 9.99991675e-01 4.05277013e-03 4.74454116e-04 2.19093857e+02] [-4.05353453e-03 9.99990470e-01 1.62140370e-03 1.91173236e+01] [-4.67878418e-04 -1.62331342e-03 9.99998573e-01 -9.46397330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30140051299998 meters 0.08615335901125667 Centerline is valid? [False, True] Translation: X:219.09, Y:19.13, Z:-0.94 [[ 9.99997434e-01 1.45105144e-03 1.73961543e-03 2.19086882e+02] [-1.44792895e-03 9.99997341e-01 -1.79484843e-03 1.91259112e+01] [-1.74221522e-03 1.79232499e-03 9.99996876e-01 -9.41817388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36140051299998 meters 0.0812634430810035 Centerline is valid? [True, True] Translation: X:219.15, Y:19.12, Z:-0.94 [[ 9.99977017e-01 -6.45695921e-03 2.06737167e-03 2.19146797e+02] [ 6.45660247e-03 9.99979140e-01 1.79188782e-04 1.91243968e+01] [-2.06848556e-03 -1.65836467e-04 9.99997847e-01 -9.41302122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42140051299998 meters 0.07010522103240764 Centerline is valid? [True, True] Translation: X:219.21, Y:19.12, Z:-0.94 [[ 9.99834444e-01 -1.81634016e-02 1.08457328e-03 2.19207838e+02] [ 1.81633103e-02 9.99835029e-01 9.40159866e-05 1.91168073e+01] [-1.08610201e-03 -7.43009805e-05 9.99999407e-01 -9.42169056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48140051299998 meters 0.06400793127369607 Centerline is valid? [True, True] Translation: X:219.27, Y:19.11, Z:-0.94 [[ 9.99741713e-01 -2.24498269e-02 3.53722423e-03 2.19269179e+02] [ 2.24488821e-02 9.99747945e-01 3.06571646e-04 1.91137324e+01] [-3.54321514e-03 -2.27085733e-04 9.99993697e-01 -9.38144162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54140051299999 meters 0.07355132449085766 Centerline is valid? [True, True] Translation: X:219.33, Y:19.13, Z:-0.94 [[ 9.99737901e-01 -2.23761118e-02 4.84138314e-03 2.19327752e+02] [ 2.23743415e-02 9.99749575e-01 4.19537342e-04 1.91290692e+01] [-4.84955836e-03 -3.11104622e-04 9.99988192e-01 -9.36701277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601400513 meters 0.07776795580332832 Centerline is valid? [True, True] Translation: X:219.39, Y:19.14, Z:-0.94 [[ 9.99806320e-01 -1.91412754e-02 4.57539567e-03 2.19388166e+02] [ 1.91396601e-02 9.99816741e-01 3.96552435e-04 1.91361736e+01] [-4.58214771e-03 -3.08904112e-04 9.99989454e-01 -9.37839544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661400513 meters 0.07266007574583594 Centerline is valid? [True, True] Translation: X:219.45, Y:19.13, Z:-0.94 [[ 9.99805679e-01 -1.89770405e-02 5.33623141e-03 2.19449832e+02] [ 1.89748412e-02 9.99819855e-01 4.62491508e-04 1.91318005e+01] [-5.34404684e-03 -3.61147493e-04 9.99985655e-01 -9.37234928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721400513 meters 0.07191977918311857 Centerline is valid? [True, True] Translation: X:219.51, Y:19.14, Z:-0.94 [[ 9.99798608e-01 -1.90471017e-02 6.32068762e-03 2.19510697e+02] [ 1.90440184e-02 9.99818496e-01 5.47648534e-04 1.91351730e+01] [-6.32997151e-03 -4.27166951e-04 9.99979874e-01 -9.36212203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781400513 meters 0.07443758538482358 Centerline is valid? [True, True] Translation: X:219.57, Y:19.14, Z:-0.94 [[ 9.99853659e-01 -1.57473061e-02 6.68456947e-03 2.19571502e+02] [ 1.57437851e-02 9.99875891e-01 5.79023794e-04 1.91408586e+01] [-6.69285792e-03 -4.73698633e-04 9.99977490e-01 -9.36439166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841400513 meters 0.08456680269413307 Centerline is valid? [True, True] Translation: X:219.63, Y:19.16, Z:-0.94 [[ 9.99913621e-01 -1.20957664e-02 5.14229044e-03 2.19630074e+02] [ 1.20936351e-02 9.99926770e-01 4.45350622e-04 1.91578631e+01] [-5.14730072e-03 -3.83123169e-04 9.99986679e-01 -9.39681662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901400513 meters 0.08720734170672281 Centerline is valid? [True, True] Translation: X:219.69, Y:19.17, Z:-0.95 [[ 9.99978208e-01 -6.35994616e-03 1.77043233e-03 2.19690331e+02] [ 6.35968452e-03 9.99979765e-01 1.53374593e-04 1.91656451e+01] [-1.77137196e-03 -1.42111859e-04 9.99998421e-01 -9.46184294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96140051299997 meters 0.08580190362297667 Centerline is valid? [True, True] Translation: X:219.75, Y:19.17, Z:-0.95 [[ 9.99990393e-01 -4.08951536e-03 1.57799828e-03 2.19750360e+02] [ 4.08930474e-03 9.99991629e-01 1.36672666e-04 1.91701606e+01] [-1.57854400e-03 -1.30218438e-04 9.99998746e-01 -9.46535686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02140051299997 meters 0.08846756917309154 Centerline is valid? [True, True] Translation: X:219.81, Y:19.18, Z:-0.95 [[ 9.99986184e-01 -5.01739767e-03 1.56773367e-03 2.19811058e+02] [ 5.01719086e-03 9.99987405e-01 1.35817847e-04 1.91780636e+01] [-1.56839538e-03 -1.27950352e-04 9.99998762e-01 -9.46033716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08140051299998 meters 0.08303347272817492 Centerline is valid? [True, True] Translation: X:219.87, Y:19.18, Z:-0.95 [[ 9.99973451e-01 -6.99260750e-03 2.04979553e-03 2.19871853e+02] [ 6.99225822e-03 9.99975538e-01 1.77512115e-04 1.91795602e+01] [-2.05098666e-03 -1.63174702e-04 9.99997883e-01 -9.46456629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14140051299998 meters 0.08015817021656242 Centerline is valid? [True, True] Translation: X:219.93, Y:19.18, Z:-0.95 [[ 9.99950052e-01 -9.61581246e-03 2.72590122e-03 2.19932703e+02] [ 9.61520455e-03 9.99953745e-01 2.36032445e-04 1.91826461e+01] [-2.72804477e-03 -2.09810558e-04 9.99996257e-01 -9.45913223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20140051299998 meters 0.08440049257994493 Centerline is valid? [True, True] Translation: X:219.99, Y:19.20, Z:-0.94 [[ 9.99873900e-01 -1.53230496e-02 4.16989290e-03 2.19991117e+02] [ 1.53216764e-02 9.99882551e-01 3.61063532e-04 1.91960720e+01] [-4.17493575e-03 -2.97128252e-04 9.99991241e-01 -9.44224631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26140051299998 meters 0.06738565257409196 Centerline is valid? [True, True] Translation: X:220.05, Y:19.18, Z:-0.94 [[ 9.99862006e-01 -1.61703855e-02 3.80615972e-03 2.20053917e+02] [ 1.61692473e-02 9.99869215e-01 3.29615497e-04 1.91825175e+01] [-3.81099194e-03 -2.68027274e-04 9.99992702e-01 -9.43870843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321400513 meters 0.07827310246790078 Centerline is valid? [True, True] Translation: X:220.11, Y:19.20, Z:-0.95 [[ 9.99903523e-01 -1.37710930e-02 1.81696555e-03 2.20112069e+02] [ 1.37708299e-02 9.99905165e-01 1.57247488e-04 1.92049736e+01] [-1.81895871e-03 -1.32211193e-04 9.99998337e-01 -9.47193159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381400513 meters 0.07751003156636753 Centerline is valid? [True, True] Translation: X:220.17, Y:19.21, Z:-0.95 [[ 9.99920261e-01 -1.22602847e-02 3.02604511e-03 2.20172494e+02] [ 1.22595477e-02 9.99924815e-01 2.61978225e-04 1.92109960e+01] [-3.02902952e-03 -2.24859391e-04 9.99995387e-01 -9.46066690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441400513 meters 0.08176289792267273 Centerline is valid? [True, True] Translation: X:220.23, Y:19.22, Z:-0.95 [[ 9.99957976e-01 -8.75578920e-03 2.71708789e-03 2.20232467e+02] [ 8.75518214e-03 9.99961645e-01 2.35235815e-04 1.92207062e+01] [-2.71904335e-03 -2.11437331e-04 9.99996281e-01 -9.46231485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501400513 meters 0.08411532653187888 Centerline is valid? [True, True] Translation: X:220.29, Y:19.23, Z:-0.95 [[ 9.99975563e-01 -6.96849737e-03 5.59544585e-04 2.20292305e+02] [ 6.96847132e-03 9.99975719e-01 4.84980859e-05 1.92279015e+01] [-5.59868957e-04 -4.45977303e-05 9.99999842e-01 -9.50299788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561400513 meters 0.09015927332396942 Centerline is valid? [True, True] Translation: X:220.35, Y:19.24, Z:-0.95 [[ 9.99986697e-01 -3.85029159e-03 3.43230290e-03 2.20350890e+02] [ 3.84929451e-03 9.99992547e-01 2.97057933e-04 1.92387074e+01] [-3.43342108e-03 -2.83842036e-04 9.99994066e-01 -9.48262166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621400513 meters 0.08713407367569233 Centerline is valid? [True, True] Translation: X:220.41, Y:19.24, Z:-0.95 [[ 9.99991914e-01 -2.53656251e-03 3.12048973e-03 2.20412447e+02] [ 2.53573149e-03 9.99996749e-01 2.70238733e-04 1.92382160e+01] [-3.12116506e-03 -2.62323824e-04 9.99995095e-01 -9.49010556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68140051299997 meters 0.08979115537348739 Centerline is valid? [True, True] Translation: X:220.47, Y:19.24, Z:-0.95 [[ 9.99998588e-01 -8.55174160e-04 1.44659090e-03 2.20473596e+02] [ 8.54993809e-04 9.99999627e-01 1.25286980e-04 1.92406649e+01] [-1.44669750e-03 -1.24049977e-04 9.99998946e-01 -9.51333985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74140051299997 meters 0.09138670835003387 Centerline is valid? [True, True] Translation: X:220.53, Y:19.25, Z:-0.95 [[ 9.99997128e-01 1.39560832e-03 1.94835389e-03 2.20533860e+02] [-1.39593949e-03 9.99999011e-01 1.68625683e-04 1.92495237e+01] [-1.94811663e-03 -1.71344982e-04 9.99998088e-01 -9.52230808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80140051299998 meters 0.08642263437830723 Centerline is valid? [True, True] Translation: X:220.60, Y:19.25, Z:-0.96 [[ 9.99996007e-01 2.74127805e-03 -6.86326612e-04 2.20595186e+02] [-2.74131935e-03 9.99996241e-01 -5.92510526e-05 1.92485390e+01] [ 6.86161609e-04 6.11322565e-05 9.99999763e-01 -9.57567839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86140051299998 meters 0.08889531766869059 Centerline is valid? [True, True] Translation: X:220.65, Y:19.26, Z:-0.96 [[ 9.99998098e-01 1.91323561e-03 -3.78552711e-04 2.20654697e+02] [-1.91324814e-03 9.99998169e-01 -3.27521349e-05 1.92560877e+01] [ 3.78489356e-04 3.34763379e-05 9.99999928e-01 -9.57989174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92140051299998 meters 0.0916004875844174 Centerline is valid? [True, True] Translation: X:220.71, Y:19.27, Z:-0.96 [[ 9.99999176e-01 -7.76232457e-04 1.02205024e-03 2.20713212e+02] [ 7.76142541e-04 9.99999695e-01 8.83698869e-05 1.92668104e+01] [-1.02211852e-03 -8.75765574e-05 9.99999474e-01 -9.56370234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98140051299998 meters 0.09310344326753635 Centerline is valid? [True, True] Translation: X:220.77, Y:19.28, Z:-0.96 [[ 9.99999309e-01 -1.15161727e-03 2.37323932e-04 2.20772811e+02] [ 1.15161242e-03 9.99999337e-01 2.05964360e-05 1.92763942e+01] [-2.37347494e-04 -2.03231166e-05 9.99999972e-01 -9.57973119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04140051299999 meters 0.08938119664999009 Centerline is valid? [True, True] Translation: X:220.83, Y:19.28, Z:-0.96 [[ 9.99989047e-01 -4.67671082e-03 1.87094911e-04 2.20833832e+02] [ 4.67670786e-03 9.99989064e-01 1.62296373e-05 1.92807803e+01] [-1.87168767e-04 -1.53544713e-05 9.99999982e-01 -9.57904956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101400513 meters 0.07438474325804594 Centerline is valid? [True, True] Translation: X:220.90, Y:19.27, Z:-0.96 [[ 9.99957236e-01 -9.24698176e-03 -1.39208900e-04 2.20895500e+02] [ 9.24698018e-03 9.99957246e-01 -1.20551324e-05 1.92678674e+01] [ 1.39314422e-04 1.07673550e-05 9.99999990e-01 -9.56813349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161400513 meters 0.07012400206906262 Centerline is valid? [True, True] Translation: X:220.95, Y:19.27, Z:-0.95 [[ 9.99857702e-01 -1.67584677e-02 1.93125858e-03 2.20954914e+02] [ 1.67581762e-02 9.99859558e-01 1.67064039e-04 1.92681695e+01] [-1.93378709e-03 -1.34675894e-04 9.99998121e-01 -9.53721951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221400513 meters 0.07309544193062485 Centerline is valid? [True, True] Translation: X:221.01, Y:19.28, Z:-0.95 [[ 9.99819973e-01 -1.88864426e-02 1.82323597e-03 2.21014087e+02] [ 1.88861862e-02 9.99821628e-01 1.57702722e-04 1.92769656e+01] [-1.82588920e-03 -1.23240357e-04 9.99998325e-01 -9.54300183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281400513 meters 0.07608931575315048 Centerline is valid? [True, True] Translation: X:221.07, Y:19.29, Z:-0.96 [[ 9.99835066e-01 -1.81392296e-02 8.99956399e-04 2.21073101e+02] [ 1.81391669e-02 9.99835469e-01 7.78200789e-05 1.92856758e+01] [-9.01219924e-04 -6.14827844e-05 9.99999592e-01 -9.57696504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341400513 meters 0.06837808544622735 Centerline is valid? [True, True] Translation: X:221.13, Y:19.28, Z:-0.96 [[ 9.99879581e-01 -1.54248667e-02 1.70227197e-03 2.21134603e+02] [ 1.54246382e-02 9.99881022e-01 1.47312391e-04 1.92795641e+01] [-1.70434171e-03 -1.21037722e-04 9.99998540e-01 -9.56623262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401400513 meters 0.07776918167461536 Centerline is valid? [True, True] Translation: X:221.19, Y:19.29, Z:-0.96 [[ 9.99915666e-01 -1.29836112e-02 2.93495022e-04 2.21192531e+02] [ 1.29836043e-02 9.99915709e-01 2.53292688e-05 1.92949786e+01] [-2.93799149e-04 -2.15165094e-05 9.99999957e-01 -9.60007500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46140051299997 meters 0.0881540193288044 Centerline is valid? [True, True] Translation: X:221.25, Y:19.31, Z:-0.96 [[ 9.99932246e-01 -1.09178046e-02 4.03784427e-03 2.21250514e+02] [ 1.09164819e-02 9.99940352e-01 3.49462766e-04 1.93059304e+01] [-4.04141879e-03 -3.05360035e-04 9.99991787e-01 -9.55232760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52140051299997 meters 0.07875624409439305 Centerline is valid? [True, True] Translation: X:221.31, Y:19.30, Z:-0.96 [[ 9.99952877e-01 -9.11465113e-03 3.34179690e-03 2.21312809e+02] [ 9.11373471e-03 9.99958427e-01 2.89355385e-04 1.92965397e+01] [-3.34429535e-03 -2.58885499e-04 9.99994374e-01 -9.55737206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58140051299998 meters 0.08190019596685975 Centerline is valid? [True, True] Translation: X:221.37, Y:19.30, Z:-0.96 [[ 9.99975523e-01 -6.74572334e-03 1.85684598e-03 2.21372474e+02] [ 6.74543648e-03 9.99977236e-01 1.60705120e-04 1.93033509e+01] [-1.85788778e-03 -1.48175950e-04 9.99998263e-01 -9.58869870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64140051299998 meters 0.08219351930659605 Centerline is valid? [True, True] Translation: X:221.43, Y:19.31, Z:-0.96 [[ 9.99977067e-01 -6.33214285e-03 2.40215306e-03 2.21433205e+02] [ 6.33166133e-03 9.99979933e-01 2.08008418e-04 1.93075661e+01] [-2.40342200e-03 -1.92794028e-04 9.99997093e-01 -9.58220917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70140051299998 meters 0.08545399032733966 Centerline is valid? [True, True] Translation: X:221.49, Y:19.32, Z:-0.96 [[ 9.99975967e-01 -6.25490455e-03 2.99012569e-03 2.21494121e+02] [ 6.25415807e-03 9.99980409e-01 2.58934465e-04 1.93155971e+01] [-2.99168672e-03 -2.40227523e-04 9.99995496e-01 -9.57128113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76140051299998 meters 0.07662380491409511 Centerline is valid? [True, True] Translation: X:221.56, Y:19.31, Z:-0.96 [[ 9.99949530e-01 -9.68257058e-03 2.68055581e-03 2.21555836e+02] [ 9.68198328e-03 9.99953102e-01 2.31985061e-04 1.93090588e+01] [-2.68267631e-03 -2.06020256e-04 9.99996380e-01 -9.56490585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821400513 meters 0.07519346611018639 Centerline is valid? [True, True] Translation: X:221.62, Y:19.31, Z:-0.96 [[ 9.99890600e-01 -1.43805636e-02 3.46238566e-03 2.21615631e+02] [ 1.43796121e-02 9.99896563e-01 2.99547225e-04 1.93124825e+01] [-3.46633518e-03 -2.49726692e-04 9.99993961e-01 -9.55141279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881400513 meters 0.06879301904601523 Centerline is valid? [True, True] Translation: X:221.68, Y:19.31, Z:-0.96 [[ 9.99795227e-01 -2.00654128e-02 2.62378321e-03 2.21676178e+02] [ 2.00648857e-02 9.99798654e-01 2.27038304e-04 1.93127671e+01] [-2.62781054e-03 -1.74345902e-04 9.99996532e-01 -9.57334950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941400513 meters 0.0602361015413329 Centerline is valid? [True, True] Translation: X:221.74, Y:19.31, Z:-0.96 [[ 9.99560620e-01 -2.94616258e-02 3.25265374e-03 2.21737492e+02] [ 2.94608654e-02 9.99565895e-01 2.81454491e-04 1.93086642e+01] [-3.25953385e-03 -1.85504832e-04 9.99994670e-01 -9.56117295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001400513 meters 0.04758529026100264 Centerline is valid? [True, True] Translation: X:221.80, Y:19.30, Z:-0.95 [[ 9.99247840e-01 -3.84708049e-02 4.87356586e-03 2.21798646e+02] [ 3.84692045e-02 9.99259697e-01 4.21734494e-04 1.93038593e+01] [-4.88618241e-03 -2.33935081e-04 9.99988035e-01 -9.53247252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061400513 meters 0.047900474495862176 Centerline is valid? [True, True] Translation: X:221.86, Y:19.31, Z:-0.95 [[ 9.99041853e-01 -4.34458968e-02 5.27543570e-03 2.21857237e+02] [ 4.34440910e-02 9.99055755e-01 4.56471200e-04 1.93136273e+01] [-5.29028620e-03 -2.26847325e-04 9.99985981e-01 -9.53100568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121400513 meters 0.04384923121551709 Centerline is valid? [True, True] Translation: X:221.92, Y:19.32, Z:-0.95 [[ 9.98863774e-01 -4.72052130e-02 6.54430761e-03 2.21916546e+02] [ 4.72025139e-02 9.98885180e-01 5.66364183e-04 1.93237395e+01] [-6.56374723e-03 -2.56812895e-04 9.99978425e-01 -9.52078895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18140051299997 meters 0.040449573412562036 Centerline is valid? [True, True] Translation: X:221.97, Y:19.33, Z:-0.95 [[ 9.98799246e-01 -4.83536441e-02 7.87347364e-03 2.21974911e+02] [ 4.83497699e-02 9.98830233e-01 6.81764513e-04 1.93340023e+01] [-7.89722932e-03 -3.00265242e-04 9.99968771e-01 -9.49333539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24140051299997 meters 0.04109967938769966 Centerline is valid? [True, True] Translation: X:222.03, Y:19.35, Z:-0.95 [[ 9.98791068e-01 -4.86828879e-02 6.81016493e-03 2.22032824e+02] [ 4.86799914e-02 9.98814252e-01 5.90547090e-04 1.93487448e+01] [-6.83083933e-03 -2.58314389e-04 9.99976636e-01 -9.50466449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30140051299998 meters 0.04037715725296306 Centerline is valid? [True, True] Translation: X:222.09, Y:19.36, Z:-0.95 [[ 9.98640021e-01 -5.17297865e-02 6.49136719e-03 2.22091023e+02] [ 5.17272177e-02 9.98661093e-01 5.63110715e-04 1.93611613e+01] [-6.51180545e-03 -2.26564532e-04 9.99978772e-01 -9.52262207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36140051299998 meters 0.030430978520400897 Centerline is valid? [True, True] Translation: X:222.15, Y:19.36, Z:-0.95 [[ 9.98329698e-01 -5.75069030e-02 5.54707584e-03 2.22151432e+02] [ 5.75051156e-02 9.98345096e-01 4.81308151e-04 1.93581161e+01] [-5.56557450e-03 -1.61518983e-04 9.99984499e-01 -9.54673392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42140051299998 meters 0.020856131436518252 Centerline is valid? [True, True] Translation: X:222.21, Y:19.35, Z:-0.96 [[ 9.97704906e-01 -6.75052497e-02 5.28785657e-03 2.22211727e+02] [ 6.75037657e-02 9.97718914e-01 4.58820675e-04 1.93532188e+01] [-5.30676731e-03 -1.00817407e-04 9.99985914e-01 -9.55940259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48140051299998 meters 0.015522501483298506 Centerline is valid? [True, True] Translation: X:222.27, Y:19.35, Z:-0.96 [[ 9.97218347e-01 -7.43640596e-02 5.05526486e-03 2.22271338e+02] [ 7.43627909e-02 9.97231158e-01 4.38721171e-04 1.93482832e+01] [-5.07389272e-03 -6.15771969e-05 9.99987126e-01 -9.56277968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54140051299999 meters 0.013376306935682255 Centerline is valid? [True, True] Translation: X:222.33, Y:19.35, Z:-0.96 [[ 9.97051350e-01 -7.65494676e-02 5.36509969e-03 2.22330423e+02] [ 7.65480699e-02 9.97065783e-01 4.65693147e-04 1.93483488e+01] [-5.38500589e-03 -5.36319546e-05 9.99985499e-01 -9.55444199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601400513 meters 0.01466151375445849 Centerline is valid? [True, True] Translation: X:222.39, Y:19.36, Z:-0.96 [[ 9.97124124e-01 -7.56566753e-02 4.42143589e-03 2.22388042e+02] [ 7.56557142e-02 9.97133925e-01 3.84453373e-04 1.93550771e+01] [-4.43785019e-03 -4.88408432e-05 9.99990152e-01 -9.58168802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661400513 meters 0.017186747257035465 Centerline is valid? [True, True] Translation: X:222.45, Y:19.37, Z:-0.96 [[ 9.97300879e-01 -7.33120670e-02 4.03700487e-03 2.22445698e+02] [ 7.33112453e-02 9.97309048e-01 3.51341932e-04 1.93652692e+01] [-4.05189908e-03 -5.44357632e-05 9.99991790e-01 -9.58575512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721400513 meters 0.020016544927448834 Centerline is valid? [True, True] Translation: X:222.50, Y:19.38, Z:-0.95 [[ 9.97590326e-01 -6.90773230e-02 6.47034315e-03 2.22504233e+02] [ 6.90751178e-02 9.97611302e-01 5.63938595e-04 1.93806958e+01] [-6.49384283e-03 -1.15639971e-04 9.99978908e-01 -9.53698634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781400513 meters 0.02530701693013852 Centerline is valid? [True, True] Translation: X:222.56, Y:19.40, Z:-0.96 [[ 9.97810376e-01 -6.60113284e-02 4.11793998e-03 2.22561223e+02] [ 6.60104090e-02 9.97818870e-01 3.58916370e-04 1.93996882e+01] [-4.13265076e-03 -8.63035754e-05 9.99991457e-01 -9.57710271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841400513 meters 0.02650579687071954 Centerline is valid? [True, True] Translation: X:222.62, Y:19.42, Z:-0.96 [[ 9.97997687e-01 -6.31951070e-02 2.64471164e-03 2.22619410e+02] [ 6.31947178e-02 9.98001190e-01 2.30544264e-04 1.94156141e+01] [-2.65399463e-03 -6.29508369e-05 9.99996476e-01 -9.60963520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901400513 meters 0.02858616415915332 Centerline is valid? [True, True] Translation: X:222.68, Y:19.44, Z:-0.96 [[ 9.98023967e-01 -6.27674387e-02 2.90006498e-03 2.22675797e+02] [ 6.27669685e-02 9.98028178e-01 2.52941908e-04 1.94355391e+01] [-2.91022308e-03 -7.04137993e-05 9.99995763e-01 -9.60977625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96140051299997 meters 0.03116660295492249 Centerline is valid? [True, True] Translation: X:222.73, Y:19.44, Z:-0.96 [[ 9.97829972e-01 -6.58174683e-02 1.84579098e-03 2.22734228e+02] [ 6.58172830e-02 9.97831679e-01 1.61018226e-04 1.94428430e+01] [-1.85238652e-03 -3.91838652e-05 9.99998284e-01 -9.63014535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02140051299997 meters 0.021488525732003712 Centerline is valid? [True, True] Translation: X:222.79, Y:19.45, Z:-0.96 [[ 9.97563731e-01 -6.96875389e-02 3.20156961e-03 2.22792356e+02] [ 6.96870001e-02 9.97568867e-01 2.79673163e-04 1.94507150e+01] [-3.21327590e-03 -5.58840217e-05 9.99994836e-01 -9.60467783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08140051299998 meters 0.02466291428780259 Centerline is valid? [True, True] Translation: X:222.85, Y:19.47, Z:-0.96 [[ 9.97713515e-01 -6.72903782e-02 6.30444808e-03 2.22849847e+02] [ 6.72882380e-02 9.97733426e-01 5.51214627e-04 1.94684253e+01] [-6.32725002e-03 -1.25739081e-04 9.99979975e-01 -9.55325877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14140051299998 meters 0.028376351250778767 Centerline is valid? [True, True] Translation: X:222.91, Y:19.49, Z:-0.96 [[ 9.98115273e-01 -6.11632212e-02 4.99630727e-03 2.22908357e+02] [ 6.11617967e-02 9.98127769e-01 4.37563558e-04 1.94852029e+01] [-5.01371583e-03 -1.31155740e-04 9.99987423e-01 -9.57540119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20140051299998 meters 0.03481916818307914 Centerline is valid? [True, True] Translation: X:222.97, Y:19.50, Z:-0.96 [[ 9.98493952e-01 -5.47240594e-02 3.88651681e-03 2.22967016e+02] [ 5.47231486e-02 9.98501508e-01 3.40400088e-04 1.95027464e+01] [-3.89932096e-03 -1.27204993e-04 9.99992390e-01 -9.60209747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26140051299998 meters 0.04218688744615307 Centerline is valid? [True, True] Translation: X:223.03, Y:19.52, Z:-0.96 [[ 9.98844174e-01 -4.75878948e-02 6.76072681e-03 2.23025853e+02] [ 4.75849743e-02 9.98867018e-01 5.92276339e-04 1.95213985e+01] [-6.78125221e-03 -2.69882760e-04 9.99976971e-01 -9.55939454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321400513 meters 0.04858682822304675 Centerline is valid? [True, True] Translation: X:223.08, Y:19.54, Z:-0.95 [[ 9.98975250e-01 -4.46384482e-02 7.47385020e-03 2.23084879e+02] [ 4.46347965e-02 9.99003156e-01 6.54766376e-04 1.95391864e+01] [-7.49562769e-03 -3.20501621e-04 9.99971856e-01 -9.54490365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381400513 meters 0.050937416285285496 Centerline is valid? [True, True] Translation: X:223.14, Y:19.56, Z:-0.96 [[ 9.99211440e-01 -3.92777749e-02 5.80981000e-03 2.23144613e+02] [ 3.92754781e-02 9.99228291e-01 5.08930272e-04 1.95553079e+01] [-5.82531617e-03 -2.80345885e-04 9.99982993e-01 -9.58767350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441400513 meters 0.05900505630892711 Centerline is valid? [True, True] Translation: X:223.20, Y:19.57, Z:-0.96 [[ 9.99357288e-01 -3.53344550e-02 6.04050574e-03 2.23202580e+02] [ 3.53319010e-02 9.99375493e-01 5.29027240e-04 1.95741989e+01] [-6.05542629e-03 -3.15264676e-04 9.99981616e-01 -9.57764188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501400513 meters 0.05807489602193986 Centerline is valid? [True, True] Translation: X:223.26, Y:19.58, Z:-0.96 [[ 9.99419693e-01 -3.39257210e-02 3.05337885e-03 2.23263520e+02] [ 3.39250618e-02 9.99424344e-01 2.67455915e-04 1.95826391e+01] [-3.06069479e-03 -1.63714643e-04 9.99995303e-01 -9.61811831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561400513 meters 0.06006477599023945 Centerline is valid? [True, True] Translation: X:223.32, Y:19.59, Z:-0.96 [[ 9.99406504e-01 -3.43755624e-02 2.22733604e-03 2.23323027e+02] [ 3.43752126e-02 9.99408979e-01 1.95154502e-04 1.95917541e+01] [-2.23272818e-03 -1.18473529e-04 9.99997500e-01 -9.63532299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621400513 meters 0.0552317488155907 Centerline is valid? [True, True] Translation: X:223.38, Y:19.60, Z:-0.96 [[ 9.99376303e-01 -3.50653131e-02 4.17489512e-03 2.23383782e+02] [ 3.50640920e-02 9.99384999e-01 3.65348926e-04 1.95963684e+01] [-4.18513863e-03 -2.18732152e-04 9.99991218e-01 -9.59468475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68140051299997 meters 0.05694773405520035 Centerline is valid? [True, True] Translation: X:223.44, Y:19.61, Z:-0.96 [[ 9.99426727e-01 -3.36636831e-02 3.60187626e-03 2.23444677e+02] [ 3.36627652e-02 9.99433199e-01 3.15195472e-04 1.96056747e+01] [-3.61044536e-03 -1.93765665e-04 9.99993464e-01 -9.60629501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74140051299997 meters 0.06133587411283417 Centerline is valid? [True, True] Translation: X:223.50, Y:19.62, Z:-0.96 [[ 9.99543172e-01 -3.00984079e-02 2.74478174e-03 2.23504737e+02] [ 3.00978617e-02 9.99546928e-01 2.40095142e-04 1.96176356e+01] [-2.75076464e-03 -1.57373399e-04 9.99996204e-01 -9.61620370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80140051299998 meters 0.06400611253228837 Centerline is valid? [True, True] Translation: X:223.56, Y:19.63, Z:-0.96 [[ 9.99648631e-01 -2.62998971e-02 3.30594316e-03 2.23563960e+02] [ 2.62990841e-02 9.99654077e-01 2.89144717e-04 1.96296337e+01] [-3.31240404e-03 -2.02099843e-04 9.99994494e-01 -9.59668643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86140051299998 meters 0.06651340926237978 Centerline is valid? [True, True] Translation: X:223.62, Y:19.64, Z:-0.96 [[ 9.99742608e-01 -2.22547376e-02 4.40952955e-03 2.23624787e+02] [ 2.22532517e-02 9.99752291e-01 3.85767920e-04 1.96385031e+01] [-4.41702243e-03 -2.87542256e-04 9.99990204e-01 -9.58617512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92140051299998 meters 0.07043467781349777 Centerline is valid? [True, True] Translation: X:223.68, Y:19.65, Z:-0.96 [[ 9.99820473e-01 -1.84549709e-02 4.29369871e-03 2.23684424e+02] [ 1.84535275e-02 9.99829649e-01 3.75539617e-04 1.96540932e+01] [-4.29989785e-03 -2.96238310e-04 9.99990712e-01 -9.60027435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98140051299998 meters 0.07758161948099862 Centerline is valid? [True, True] Translation: X:223.74, Y:19.67, Z:-0.96 [[ 9.99806008e-01 -1.93014418e-02 3.92442156e-03 2.23744234e+02] [ 1.93002425e-02 9.99813674e-01 3.43245342e-04 1.96672873e+01] [-3.93031547e-03 -2.67436467e-04 9.99992241e-01 -9.60758993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04140051299999 meters 0.06989295070385465 Centerline is valid? [True, True] Translation: X:223.80, Y:19.66, Z:-0.96 [[ 9.99717033e-01 -2.30439238e-02 5.90178967e-03 2.23804990e+02] [ 2.30412775e-02 9.99734381e-01 5.15992366e-04 1.96637098e+01] [-5.91211253e-03 -3.79861584e-04 9.99982451e-01 -9.57393804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101400513 meters 0.06346795769644735 Centerline is valid? [True, True] Translation: X:223.87, Y:19.66, Z:-0.96 [[ 9.99613054e-01 -2.73621107e-02 5.00567912e-03 2.23866820e+02] [ 2.73602610e-02 9.99625542e-01 4.37655243e-04 1.96573597e+01] [-5.01577987e-03 -3.00529207e-04 9.99987376e-01 -9.60206533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161400513 meters 0.06264021887019476 Centerline is valid? [True, True] Translation: X:223.93, Y:19.66, Z:-0.96 [[ 9.99577353e-01 -2.86228231e-02 5.08426026e-03 2.23927436e+02] [ 2.86209312e-02 9.99590238e-01 4.44489188e-04 1.96583221e+01] [-5.09489946e-03 -2.98785063e-04 9.99986976e-01 -9.60142462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221400513 meters 0.06538838018254398 Centerline is valid? [True, True] Translation: X:223.99, Y:19.65, Z:-0.96 [[ 9.99584510e-01 -2.80189838e-02 6.76349225e-03 2.23986062e+02] [ 2.79278980e-02 9.99522708e-01 1.32056519e-02 1.96464880e+01] [-7.13027304e-03 -1.30112750e-02 9.99889927e-01 -9.60490605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281400513 meters 0.06527514721185486 Centerline is valid? [True, True] Translation: X:224.05, Y:19.67, Z:-0.96 [[ 9.99587524e-01 -2.81928730e-02 5.47211718e-03 2.24048963e+02] [ 2.82567409e-02 9.99529051e-01 -1.19679550e-02 1.96706895e+01] [-5.13212906e-03 1.21176427e-02 9.99913408e-01 -9.61612859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341400513 meters 0.0715637597864051 Centerline is valid? [True, True] Translation: X:224.11, Y:19.67, Z:-0.96 [[ 9.99726192e-01 -2.29859740e-02 4.38021395e-03 2.24109526e+02] [ 2.29845186e-02 9.99735748e-01 3.82314995e-04 1.96688391e+01] [-4.38784435e-03 -2.81533205e-04 9.99990334e-01 -9.63427000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40140051299997 meters 0.07369226706741208 Centerline is valid? [True, True] Translation: X:224.17, Y:19.67, Z:-0.96 [[ 9.99797136e-01 -1.98126221e-02 3.62593330e-03 2.24169709e+02] [ 1.98116040e-02 9.99803681e-01 3.16476042e-04 1.96728786e+01] [-3.63149168e-03 -2.44576285e-04 9.99993376e-01 -9.64939226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46140051299997 meters 0.07566956021502126 Centerline is valid? [True, True] Translation: X:224.23, Y:19.68, Z:-0.97 [[ 9.99909892e-01 -1.33022752e-02 1.80484185e-03 2.24229241e+02] [ 1.33020125e-02 9.99911512e-01 1.57494092e-04 1.96798037e+01] [-1.80677717e-03 -1.33471872e-04 9.99998359e-01 -9.67193571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52140051299997 meters 0.07838295517117148 Centerline is valid? [True, True] Translation: X:224.29, Y:19.69, Z:-0.96 [[ 9.99941949e-01 -1.02411997e-02 3.34919482e-03 2.24289933e+02] [ 1.02402776e-02 9.99947524e-01 2.92341945e-04 1.96851009e+01] [-3.35201300e-03 -2.58028289e-04 9.99994349e-01 -9.64289222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58140051299998 meters 0.08698522005527463 Centerline is valid? [True, True] Translation: X:224.35, Y:19.70, Z:-0.97 [[ 9.99952028e-01 -9.69723862e-03 1.38029261e-03 2.24350126e+02] [ 9.69708111e-03 9.99952975e-01 1.20761136e-04 1.96964288e+01] [-1.38139875e-03 -1.07370533e-04 9.99999040e-01 -9.68493136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64140051299998 meters 0.08756813987112022 Centerline is valid? [True, True] Translation: X:224.41, Y:19.70, Z:-0.97 [[ 9.99957850e-01 -8.86463059e-03 2.39089048e-03 2.24410897e+02] [ 8.86415708e-03 9.99960691e-01 2.08570496e-04 1.97002001e+01] [-2.39264540e-03 -1.87368476e-04 9.99997120e-01 -9.67302831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70140051299998 meters 0.08640530531469866 Centerline is valid? [True, True] Translation: X:224.47, Y:19.70, Z:-0.96 [[ 9.99977281e-01 -5.36613647e-03 4.07949217e-03 2.24471017e+02] [ 5.36472951e-03 9.99985546e-01 3.55749616e-04 1.97013039e+01] [-4.08134221e-03 -3.33856162e-04 9.99991616e-01 -9.64521165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76140051299998 meters 0.08100887150452697 Centerline is valid? [True, True] Translation: X:224.53, Y:19.70, Z:-0.97 [[ 9.99987454e-01 -4.18228295e-03 2.75673328e-03 2.24532359e+02] [ 4.18163580e-03 9.99991228e-01 2.40472262e-04 1.96962102e+01] [-2.75771483e-03 -2.28941591e-04 9.99996171e-01 -9.66311091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821400513 meters 0.08813117495878804 Centerline is valid? [True, True] Translation: X:224.59, Y:19.71, Z:-0.97 [[ 9.99992784e-01 -3.18291599e-03 2.07370715e-03 2.24592033e+02] [ 3.18254768e-03 9.99994919e-01 1.80883492e-04 1.97080099e+01] [-2.07427235e-03 -1.74282515e-04 9.99997834e-01 -9.68424064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881400513 meters 0.08467861473140047 Centerline is valid? [True, True] Translation: X:224.65, Y:19.70, Z:-0.97 [[ 9.99990714e-01 -2.65649517e-03 3.39336816e-03 2.24654541e+02] [ 2.65550593e-03 9.99996430e-01 2.95995302e-04 1.97039501e+01] [-3.39414236e-03 -2.86981445e-04 9.99994199e-01 -9.66462236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941400513 meters 0.09174834457301678 Centerline is valid? [True, True] Translation: X:224.71, Y:19.71, Z:-0.96 [[ 9.99986029e-01 -2.95029104e-03 4.38602923e-03 2.24714957e+02] [ 2.94864248e-03 9.99995580e-01 3.82283698e-04 1.97147795e+01] [-4.38713769e-03 -3.69345526e-04 9.99990308e-01 -9.64806740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001400513 meters 0.08293759333399943 Centerline is valid? [True, True] Translation: X:224.78, Y:19.71, Z:-0.97 [[ 9.99993024e-01 -2.85965441e-03 2.40299028e-03 2.24777769e+02] [ 2.85915919e-03 9.99995891e-01 2.09491925e-04 1.97055309e+01] [-2.40357948e-03 -2.02619932e-04 9.99997091e-01 -9.68489438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061400513 meters 0.08933935997190469 Centerline is valid? [True, True] Translation: X:224.84, Y:19.71, Z:-0.97 [[ 9.99991370e-01 -1.61665126e-03 3.82697062e-03 2.24837675e+02] [ 1.61538775e-03 9.99998640e-01 3.33227054e-04 1.97137774e+01] [-3.82750412e-03 -3.27042137e-04 9.99992622e-01 -9.65734832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121400513 meters 0.0906366402291398 Centerline is valid? [True, True] Translation: X:224.90, Y:19.72, Z:-0.97 [[ 9.99995914e-01 -8.21407202e-05 2.85741995e-03 2.24898485e+02] [ 8.14301562e-05 9.99999966e-01 2.48788724e-04 1.97214254e+01] [-2.85744029e-03 -2.48555027e-04 9.99995887e-01 -9.67246767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18140051299997 meters 0.09418376118898224 Centerline is valid? [True, True] Translation: X:224.96, Y:19.73, Z:-0.97 [[ 9.99997859e-01 -5.62484954e-06 2.06905025e-03 2.24958831e+02] [ 5.25196483e-06 9.99999984e-01 1.80225619e-04 1.97326042e+01] [-2.06905123e-03 -1.80214367e-04 9.99997843e-01 -9.69002755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24140051299997 meters 0.08717012397545286 Centerline is valid? [True, True] Translation: X:225.02, Y:19.73, Z:-0.97 [[ 9.99989264e-01 -3.26727136e-03 3.28590875e-03 2.25019730e+02] [ 3.26634939e-03 9.99994625e-01 2.85908015e-04 1.97289333e+01] [-3.28682523e-03 -2.75172019e-04 9.99994561e-01 -9.68244418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30140051299998 meters 0.07599813252414386 Centerline is valid? [True, True] Translation: X:225.08, Y:19.72, Z:-0.97 [[ 9.99933677e-01 -1.11707634e-02 2.80287854e-03 2.25082275e+02] [ 1.11701233e-02 9.99937582e-01 2.43905614e-04 1.97150092e+01] [-2.80542820e-03 -2.12580939e-04 9.99996042e-01 -9.68064825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36140051299998 meters 0.07594891468855575 Centerline is valid? [True, True] Translation: X:225.14, Y:19.72, Z:-0.97 [[ 9.99854824e-01 -1.68444635e-02 2.56802762e-03 2.25141538e+02] [ 1.68439449e-02 9.99858106e-01 2.23429358e-04 1.97177530e+01] [-2.57142678e-03 -1.80141205e-04 9.99996678e-01 -9.68833433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42140051299998 meters 0.07374850653211643 Centerline is valid? [True, True] Translation: X:225.20, Y:19.72, Z:-0.97 [[ 9.99814471e-01 -1.89002369e-02 3.71558792e-03 2.25202242e+02] [ 1.88991653e-02 9.99821343e-01 3.23301205e-04 1.97191609e+01] [-3.72103457e-03 -2.53019713e-04 9.99993045e-01 -9.67417003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48140051299998 meters 0.06343327307706217 Centerline is valid? [True, True] Translation: X:225.26, Y:19.71, Z:-0.97 [[ 9.99725835e-01 -2.30854682e-02 3.91363602e-03 2.25264408e+02] [ 2.30843115e-02 9.99733464e-01 3.40480740e-04 1.97067366e+01] [-3.92045306e-03 -2.50043799e-04 9.99992284e-01 -9.67175727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54140051299999 meters 0.0639445194139767 Centerline is valid? [True, True] Translation: X:225.32, Y:19.71, Z:-0.97 [[ 9.99658288e-01 -2.60012022e-02 2.69143156e-03 2.25324423e+02] [ 2.60006658e-02 9.99661898e-01 2.34087106e-04 1.97084932e+01] [-2.69660813e-03 -1.64028103e-04 9.99996351e-01 -9.69476647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.601400513 meters 0.05950162247722579 Centerline is valid? [True, True] Translation: X:225.39, Y:19.70, Z:-0.97 [[ 9.99495980e-01 -3.12879693e-02 5.37103102e-03 2.25385737e+02] [ 3.12859088e-02 9.99510367e-01 4.67253517e-04 1.96986934e+01] [-5.38302060e-03 -2.98980426e-04 9.99985467e-01 -9.67277645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.661400513 meters 0.05720845666323477 Centerline is valid? [True, True] Translation: X:225.45, Y:19.69, Z:-0.97 [[ 9.99423296e-01 -3.34440786e-02 5.87957398e-03 2.25447729e+02] [ 3.34416463e-02 9.99440541e-01 5.11544306e-04 1.96914573e+01] [-5.89339273e-03 -3.14626662e-04 9.99982584e-01 -9.66734739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.721400513 meters 0.06116468386443805 Centerline is valid? [True, True] Translation: X:225.51, Y:19.69, Z:-0.97 [[ 9.99515262e-01 -3.08087538e-02 4.47895744e-03 2.25507998e+02] [ 3.08073162e-02 9.99525266e-01 3.89628487e-04 1.96907258e+01] [-4.48883510e-03 -2.51454961e-04 9.99989894e-01 -9.68919775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.781400513 meters 0.07234729990514871 Centerline is valid? [True, True] Translation: X:225.57, Y:19.70, Z:-0.97 [[ 9.99689948e-01 -2.45832443e-02 3.95875354e-03 2.25566592e+02] [ 2.45820725e-02 9.99697756e-01 3.44391947e-04 1.97038330e+01] [-3.96602330e-03 -2.46970801e-04 9.99992105e-01 -9.71167258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.841400513 meters 0.07967090544095227 Centerline is valid? [True, True] Translation: X:225.63, Y:19.71, Z:-0.98 [[ 9.99898371e-01 -1.42397022e-02 6.91654564e-04 2.25627028e+02] [ 1.42396640e-02 9.99898609e-01 6.01556810e-05 1.97108810e+01] [-6.92441035e-04 -5.03006388e-05 9.99999759e-01 -9.77504455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90140051299997 meters 0.08308810551766078 Centerline is valid? [True, True] Translation: X:225.69, Y:19.72, Z:-0.98 [[ 9.99945971e-01 -1.03828080e-02 5.02977838e-04 2.25686384e+02] [ 1.03827874e-02 9.99946096e-01 4.36765556e-05 1.97193051e+01] [-5.03404211e-04 -3.84518838e-05 9.99999873e-01 -9.77152891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96140051299997 meters 0.08852865465665247 Centerline is valid? [True, True] Translation: X:225.75, Y:19.73, Z:-0.97 [[ 9.99940655e-01 -1.01891948e-02 3.85586132e-03 2.25745287e+02] [ 1.01879762e-02 9.99948045e-01 3.35544684e-04 1.97311675e+01] [-3.85907992e-03 -2.96241348e-04 9.99992510e-01 -9.72717367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02140051299997 meters 0.07479887709902115 Centerline is valid? [True, True] Translation: X:225.81, Y:19.72, Z:-0.97 [[ 9.99898828e-01 -1.35954769e-02 4.18296212e-03 2.25807667e+02] [ 1.35940725e-02 9.99907530e-01 3.64007257e-04 1.97173509e+01] [-4.18752417e-03 -3.07106939e-04 9.99991185e-01 -9.71744012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08140051299998 meters 0.07148583124704805 Centerline is valid? [True, True] Translation: X:225.87, Y:19.72, Z:-0.98 [[ 9.99799000e-01 -2.00214826e-02 1.04854860e-03 2.25867729e+02] [ 2.00213978e-02 9.99799548e-01 9.12292451e-05 1.97150591e+01] [-1.05016496e-03 -7.02174994e-05 9.99999446e-01 -9.77395801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14140051299998 meters 0.06840900743370926 Centerline is valid? [True, True] Translation: X:225.93, Y:19.71, Z:-0.98 [[ 9.99710499e-01 -2.39913369e-02 1.82599780e-03 2.25928161e+02] [ 2.39910867e-02 9.99712160e-01 1.58811295e-04 1.97100162e+01] [-1.82928230e-03 -1.14957648e-04 9.99998320e-01 -9.76238456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20140051299998 meters 0.0672590944728357 Centerline is valid? [True, True] Translation: X:225.99, Y:19.71, Z:-0.97 [[ 9.99692521e-01 -2.45679388e-02 3.35851621e-03 2.25988160e+02] [ 2.45670951e-02 9.99698141e-01 2.92244967e-04 1.97073460e+01] [-3.36468227e-03 -2.09646121e-04 9.99994317e-01 -9.73030457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26140051299998 meters 0.07645055211301377 Centerline is valid? [True, True] Translation: X:226.05, Y:19.72, Z:-0.97 [[ 9.99789637e-01 -1.99905897e-02 4.58894982e-03 2.26046484e+02] [ 1.99889657e-02 9.99800121e-01 3.99478135e-04 1.97186218e+01] [-4.59601839e-03 -3.07665739e-04 9.99989391e-01 -9.71242110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.321400513 meters 0.08701871222267622 Centerline is valid? [True, True] Translation: X:226.11, Y:19.73, Z:-0.97 [[ 9.99937749e-01 -1.03890599e-02 4.06999624e-03 2.26106477e+02] [ 1.03877031e-02 9.99945984e-01 3.54352756e-04 1.97278598e+01] [-4.07345778e-03 -3.12052785e-04 9.99991655e-01 -9.73231730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.381400513 meters 0.08542869274677015 Centerline is valid? [True, True] Translation: X:226.17, Y:19.72, Z:-0.98 [[ 9.99986718e-01 -4.84153982e-03 1.76701045e-03 2.26167695e+02] [ 4.84127544e-03 9.99988269e-01 1.53866333e-04 1.97239495e+01] [-1.76773467e-03 -1.45309705e-04 9.99998427e-01 -9.76338249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.441400513 meters 0.09423273039914834 Centerline is valid? [True, True] Translation: X:226.23, Y:19.74, Z:-0.98 [[ 9.99994272e-01 2.81702414e-03 1.87625197e-03 2.26226037e+02] [-2.81733566e-03 9.99996018e-01 1.63408031e-04 1.97381963e+01] [-1.87578418e-03 -1.68693127e-04 9.99998226e-01 -9.75561327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.501400513 meters 0.09791035038239611 Centerline is valid? [True, True] Translation: X:226.29, Y:19.75, Z:-0.98 [[ 9.99972750e-01 7.15903799e-03 1.80183754e-03 2.26285274e+02] [-7.15933209e-03 9.99974359e-01 1.56825913e-04 1.97504232e+01] [-1.80066862e-03 -1.69721593e-04 9.99998364e-01 -9.77223142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.561400513 meters 0.1040887989360354 Centerline is valid? [True, False] Translation: X:226.29, Y:19.75, Z:-0.98 [[ 9.99974292e-01 6.92853757e-03 1.84677534e-03 2.26285357e+02] [-6.92763637e-03 9.99975882e-01 -4.93936831e-04 1.97532934e+01] [-1.85015306e-03 4.81130345e-04 9.99998173e-01 -9.77785891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.621400513 meters 0.09144228882225594 Centerline is valid? [False, True] Translation: X:226.26, Y:19.75, Z:-0.98 [[ 9.99977927e-01 -1.16100312e-04 6.64312586e-03 2.26263668e+02] [ 1.05559538e-04 9.99998735e-01 1.58704766e-03 1.97546913e+01] [-6.64330171e-03 -1.58631139e-03 9.99976675e-01 -9.83642424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68140051299997 meters 0.0802593163059005 Centerline is valid? [True, True] Translation: X:226.32, Y:19.75, Z:-0.98 [[ 9.99896601e-01 -1.24431934e-02 7.20799753e-03 2.26324686e+02] [ 1.24387645e-02 9.99922418e-01 6.58951748e-04 1.97514277e+01] [-7.21563779e-03 -5.69225028e-04 9.99973805e-01 -9.84161473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74140051299997 meters 0.07667734329195472 Centerline is valid? [True, True] Translation: X:226.38, Y:19.76, Z:-0.99 [[ 9.99771422e-01 -2.01715808e-02 7.08604015e-03 2.26383611e+02] [ 2.01674940e-02 9.99796406e-01 6.47722624e-04 1.97580812e+01] [-7.09766306e-03 -5.04666896e-04 9.99974684e-01 -9.85030855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80140051299998 meters 0.0689454127238366 Centerline is valid? [True, True] Translation: X:226.44, Y:19.76, Z:-0.99 [[ 9.99563251e-01 -2.89888677e-02 5.74047027e-03 2.26444234e+02] [ 2.89863298e-02 9.99579670e-01 5.24828206e-04 1.97588451e+01] [-5.75327156e-03 -3.58203824e-04 9.99983386e-01 -9.87495381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86140051299998 meters 0.06224361219632258 Centerline is valid? [True, True] Translation: X:226.50, Y:19.76, Z:-0.99 [[ 9.99443936e-01 -3.28472083e-02 5.73401534e-03 2.26504794e+02] [ 3.28447392e-02 9.99460329e-01 5.24252941e-04 1.97584160e+01] [-5.74814110e-03 -3.35629184e-04 9.99983423e-01 -9.87855269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92140051299998 meters 0.05911561202559246 Centerline is valid? [True, True] Translation: X:226.57, Y:19.76, Z:-0.98 [[ 9.99281948e-01 -3.68480448e-02 8.82099884e-03 2.26565185e+02] [ 3.68423569e-02 9.99320764e-01 8.06502026e-04 1.97623836e+01] [-8.84472533e-03 -4.80936528e-04 9.99960769e-01 -9.83189202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98140051299998 meters 0.05958044481086033 Centerline is valid? [True, True] Translation: X:226.63, Y:19.77, Z:-0.98 [[ 9.99244252e-01 -3.80518951e-02 7.93588473e-03 2.26625637e+02] [ 3.80473286e-02 9.99275675e-01 7.25657728e-04 1.97688548e+01] [-7.95774922e-03 -4.23170099e-04 9.99968247e-01 -9.84906731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04140051299999 meters 0.06258816920007118 Centerline is valid? [True, True] Translation: X:226.68, Y:19.78, Z:-0.99 [[ 9.99361979e-01 -3.49549235e-02 7.33405611e-03 2.26684741e+02] [ 3.49509421e-02 9.99388804e-01 6.70371345e-04 1.97821165e+01] [-7.35300634e-03 -4.13611463e-04 9.99972881e-01 -9.85930785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.101400513 meters 0.06715955222800403 Centerline is valid? [True, True] Translation: X:226.74, Y:19.79, Z:-0.99 [[ 9.99447086e-01 -3.25459283e-02 6.80323796e-03 2.26743761e+02] [ 3.25424456e-02 9.99470161e-01 6.22021518e-04 1.97932034e+01] [-6.81987760e-03 -4.00283593e-04 9.99976664e-01 -9.87689423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.161400513 meters 0.058800008544393295 Centerline is valid? [True, True] Translation: X:226.81, Y:19.79, Z:-0.99 [[ 9.99464847e-01 -3.19587207e-02 6.97559622e-03 2.26806043e+02] [ 3.19550459e-02 9.99489104e-01 6.37649370e-04 1.97899139e+01] [-6.99241087e-03 -4.14402633e-04 9.99975467e-01 -9.87911522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.221400513 meters 0.0678216122100575 Centerline is valid? [True, True] Translation: X:226.87, Y:19.81, Z:-0.99 [[ 9.99420088e-01 -3.29898390e-02 8.43554316e-03 2.26865405e+02] [ 3.29845040e-02 9.99455566e-01 7.70827334e-04 1.98051568e+01] [-8.45638003e-03 -4.92138115e-04 9.99964123e-01 -9.86374425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.281400513 meters 0.0631161047175324 Centerline is valid? [True, True] Translation: X:226.93, Y:19.80, Z:-0.99 [[ 9.99410431e-01 -3.35493093e-02 7.29618560e-03 2.26927422e+02] [ 3.35453332e-02 9.99436975e-01 6.66683776e-04 1.98035526e+01] [-7.31444444e-03 -4.21537743e-04 9.99973160e-01 -9.88626249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.341400513 meters 0.05771744434970787 Centerline is valid? [True, True] Translation: X:226.99, Y:19.80, Z:-0.99 [[ 9.99449557e-01 -3.25165392e-02 6.57702184e-03 2.26988700e+02] [ 3.25132867e-02 9.99471123e-01 6.00873513e-04 1.98025976e+01] [-6.59308172e-03 -3.86702170e-04 9.99978191e-01 -9.90159606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40140051299997 meters 0.0723184898658346 Centerline is valid? [True, True] Translation: X:227.05, Y:19.83, Z:-0.99 [[ 9.99648063e-01 -2.59499013e-02 5.50924901e-03 2.27046356e+02] [ 2.59475215e-02 9.99663180e-01 5.03015870e-04 1.98278597e+01] [-5.52044660e-03 -3.59887483e-04 9.99984697e-01 -9.93972535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46140051299997 meters 0.07418178547850748 Centerline is valid? [True, True] Translation: X:227.11, Y:19.84, Z:-0.99 [[ 9.99750739e-01 -2.18018130e-02 4.81049374e-03 2.27106385e+02] [ 2.17999506e-02 9.99762256e-01 4.39261944e-04 1.98379295e+01] [-4.81892678e-03 -3.34283928e-04 9.99988333e-01 -9.94411901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52140051299997 meters 0.07571763353258296 Centerline is valid? [True, True] Translation: X:227.17, Y:19.85, Z:-1.00 [[ 9.99776370e-01 -2.07100325e-02 4.27834653e-03 2.27166978e+02] [ 2.07085485e-02 9.99785479e-01 3.90872962e-04 1.98478573e+01] [-4.28552373e-03 -3.02187204e-04 9.99990771e-01 -9.96355158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58140051299998 meters 0.07150393303992433 Centerline is valid? [True, True] Translation: X:227.23, Y:19.85, Z:-0.99 [[ 9.99702017e-01 -2.35597625e-02 6.38870384e-03 2.27228333e+02] [ 2.35565133e-02 9.99722337e-01 5.83365347e-04 1.98478712e+01] [-6.40067388e-03 -4.32695927e-04 9.99979422e-01 -9.94445310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64140051299998 meters 0.059012331404635666 Centerline is valid? [True, True] Translation: X:227.29, Y:19.84, Z:-0.99 [[ 9.99531123e-01 -2.98929346e-02 6.62922637e-03 2.27289862e+02] [ 2.98895755e-02 9.99553024e-01 6.05220250e-04 1.98360880e+01] [-6.64435507e-03 -4.06791713e-04 9.99977843e-01 -9.92725882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70140051299998 meters 0.06262961594496991 Centerline is valid? [True, True] Translation: X:227.35, Y:19.85, Z:-0.99 [[ 9.99413286e-01 -3.36908086e-02 6.16547067e-03 2.27348736e+02] [ 3.36879757e-02 9.99432241e-01 5.62784661e-04 1.98463009e+01] [-6.18093084e-03 -3.54752241e-04 9.99980835e-01 -9.93704920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76140051299998 meters 0.0575807424455024 Centerline is valid? [True, True] Translation: X:227.41, Y:19.84, Z:-0.99 [[ 9.99275984e-01 -3.72459129e-02 7.76206852e-03 2.27410029e+02] [ 3.72415284e-02 9.99306042e-01 7.08683332e-04 1.98414962e+01] [-7.78307753e-03 -4.19098939e-04 9.99969624e-01 -9.92336894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.821400513 meters 0.05557159173620127 Centerline is valid? [True, True] Translation: X:227.47, Y:19.84, Z:-0.99 [[ 9.99131435e-01 -4.08442378e-02 8.25370557e-03 2.27470046e+02] [ 4.08394028e-02 9.99165439e-01 7.53560907e-04 1.98396113e+01] [-8.27759597e-03 -4.15829984e-04 9.99965654e-01 -9.92447594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.881400513 meters 0.047345637217701186 Centerline is valid? [True, True] Translation: X:227.53, Y:19.83, Z:-0.99 [[ 9.98902414e-01 -4.56488766e-02 1.04951127e-02 2.27532134e+02] [ 4.56413219e-02 9.98957432e-01 9.58349923e-04 1.98270932e+01] [-1.05279184e-02 -4.78287237e-04 9.99944466e-01 -9.89296383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.941400513 meters 0.04414274031188682 Centerline is valid? [True, True] Translation: X:227.59, Y:19.82, Z:-0.99 [[ 9.98826769e-01 -4.68744355e-02 1.21602588e-02 2.27593114e+02] [ 4.68643827e-02 9.98900644e-01 1.11048898e-03 1.98204887e+01] [-1.21989439e-02 -5.39303097e-04 9.99925445e-01 -9.88110229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.001400513 meters 0.05815939772080661 Centerline is valid? [True, True] Translation: X:227.65, Y:19.82, Z:-0.99 [[ 9.98992243e-01 -4.36188138e-02 1.05781420e-02 2.27649614e+02] [ 4.35176632e-02 9.99006427e-01 9.61107277e-03 1.98204096e+01] [-1.09868554e-02 -9.14105113e-03 9.99897860e-01 -9.93503981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.061400513 meters 0.05787307300668596 Centerline is valid? [True, True] Translation: X:227.71, Y:19.85, Z:-0.99 [[ 9.99195626e-01 -3.86724150e-02 1.06086908e-02 2.27710626e+02] [ 3.87603710e-02 9.99214770e-01 -8.21448282e-03 1.98459419e+01] [-1.02826866e-02 8.61907210e-03 9.99909985e-01 -9.92029411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.121400513 meters 0.062312347769778995 Centerline is valid? [True, True] Translation: X:227.77, Y:19.85, Z:-0.99 [[ 9.99423088e-01 -3.22043837e-02 1.07874330e-02 2.27770568e+02] [ 3.21955889e-02 9.99481099e-01 9.88000994e-04 1.98504408e+01] [-1.08136534e-02 -6.40123246e-04 9.99941326e-01 -9.90022410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18140051299997 meters 0.07324048051040978 Centerline is valid? [True, True] Translation: X:227.83, Y:19.87, Z:-1.00 [[ 9.99710165e-01 -2.33412779e-02 5.89665285e-03 2.27828586e+02] [ 2.33384964e-02 9.99727474e-01 5.40073389e-04 1.98727693e+01] [-5.90765186e-03 -4.02297845e-04 9.99982469e-01 -9.99226479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24140051299997 meters 0.06950203825345898 Centerline is valid? [True, True] Translation: X:227.89, Y:19.88, Z:-1.00 [[ 9.99796411e-01 -1.98172848e-02 3.79634027e-03 2.27888891e+02] [ 1.98161062e-02 9.99803581e-01 3.47816179e-04 1.98772334e+01] [-3.80248737e-03 -2.72516685e-04 9.99992733e-01 -1.00235811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30140051299998 meters 0.07923680532035454 Centerline is valid? [True, True] Translation: X:227.95, Y:19.90, Z:-1.00 [[ 9.99871446e-01 -1.57074969e-02 3.21966611e-03 2.27946633e+02] [ 1.57066282e-02 9.99876600e-01 2.94928869e-04 1.98998481e+01] [-3.22390140e-03 -2.44320857e-04 9.99994773e-01 -1.00292571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36140051299998 meters 0.08384794745725246 Centerline is valid? [True, True] Translation: X:228.01, Y:19.92, Z:-1.00 [[ 9.99918678e-01 -1.22981082e-02 3.37551795e-03 2.28005140e+02] [ 1.22971349e-02 9.99924340e-01 3.08973750e-04 1.99173666e+01] [-3.37906235e-03 -2.67439424e-04 9.99994255e-01 -1.00308360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42140051299998 meters 0.08339666244413582 Centerline is valid? [True, True] Translation: X:228.07, Y:19.93, Z:-1.00 [[ 9.99918013e-01 -1.17304333e-02 5.13465332e-03 2.28065691e+02] [ 1.17281721e-02 9.99931112e-01 4.70261886e-04 1.99287385e+01] [-5.13981598e-03 -4.10003232e-04 9.99986707e-01 -1.00101484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48140051299998 meters 0.07786209231965499 Centerline is valid? [True, True] Translation: X:228.13, Y:19.93, Z:-1.00 [[ 9.99794821e-01 -1.95566422e-02 5.27766075e-03 2.28125921e+02] [ 1.95543629e-02 9.99808678e-01 4.83144277e-04 1.99291406e+01] [-5.28609970e-03 -3.79843853e-04 9.99985956e-01 -1.00100814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54140051299999 meters 0.0755516106428013 Centerline is valid? [True, True] Translation: X:228.19, Y:19.93, Z:-1.00 [[ 9.99673088e-01 -2.50848788e-02 4.94628550e-03 2.28185977e+02] [ 2.50829443e-02 9.99685271e-01 4.52754567e-04 1.99315236e+01] [-4.95608606e-03 -3.28539153e-04 9.99987665e-01 -1.00218554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.601400513 meters 0.07318625409265836 Centerline is valid? [True, True] Translation: X:228.25, Y:19.93, Z:-1.00 [[ 9.99562795e-01 -2.89528594e-02 5.99590661e-03 2.28245595e+02] [ 2.89500863e-02 9.99580708e-01 5.48786063e-04 1.99321924e+01] [-6.00928150e-03 -3.74964117e-04 9.99981874e-01 -1.00088615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.661400513 meters 0.07279174309973041 Centerline is valid? [True, True] Translation: X:228.31, Y:19.94, Z:-1.00 [[ 9.99611120e-01 -2.71021031e-02 6.56393450e-03 2.28306393e+02] [ 2.70987386e-02 9.99632581e-01 6.00984899e-04 1.99382271e+01] [-6.57781074e-03 -4.22876842e-04 9.99978277e-01 -1.00223267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.721400513 meters 0.07005130459366754 Centerline is valid? [True, True] Translation: X:228.37, Y:19.94, Z:-1.00 [[ 9.99653499e-01 -2.54581388e-02 6.69060523e-03 2.28367232e+02] [ 2.54546073e-02 9.99675791e-01 6.12462454e-04 1.99397910e+01] [-6.70402823e-03 -4.41943506e-04 9.99977430e-01 -1.00137697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.781400513 meters 0.06914007806590636 Centerline is valid? [True, True] Translation: X:228.43, Y:19.95, Z:-1.00 [[ 9.99735675e-01 -2.22804797e-02 5.67099807e-03 2.28427575e+02] [ 2.22778928e-02 9.99751682e-01 5.18937011e-04 1.99463943e+01] [-5.68115203e-03 -3.92461957e-04 9.99983785e-01 -1.00360577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.841400513 meters 0.08083010534166042 Centerline is valid? [True, True] Translation: X:228.49, Y:19.97, Z:-1.00 [[ 9.99769063e-01 -2.04566520e-02 6.58380702e-03 2.28486006e+02] [ 2.04531251e-02 9.99790631e-01 6.02596338e-04 1.99680568e+01] [-6.59475568e-03 -4.67797748e-04 9.99978145e-01 -1.00442950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90140051299997 meters 0.0709596951770426 Centerline is valid? [True, True] Translation: X:228.55, Y:19.97, Z:-1.00 [[ 9.99781120e-01 -1.99756894e-02 6.21963529e-03 2.28548183e+02] [ 1.99725333e-02 9.99800367e-01 5.69132882e-04 1.99687073e+01] [-6.22976247e-03 -4.44786437e-04 9.99980496e-01 -1.00394762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96140051299997 meters 0.0759819905458887 Centerline is valid? [True, True] Translation: X:228.61, Y:19.98, Z:-1.01 [[ 9.99795322e-01 -1.99724406e-02 3.22742683e-03 2.28607858e+02] [ 1.99715908e-02 9.99800504e-01 2.95325556e-04 1.99847170e+01] [-3.23268134e-03 -2.30808262e-04 9.99994748e-01 -1.01095240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02140051299997 meters 0.07721472934623169 Centerline is valid? [True, True] Translation: X:228.67, Y:20.00, Z:-1.01 [[ 9.99801901e-01 -1.98331081e-02 1.67530166e-03 2.28667322e+02] [ 1.98328792e-02 9.99803297e-01 1.53111509e-04 1.99950000e+01] [-1.67800881e-03 -1.19855123e-04 9.99998585e-01 -1.01441478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08140051299998 meters 0.07490456303780094 Centerline is valid? [True, True] Translation: X:228.73, Y:20.00, Z:-1.02 [[ 9.99818704e-01 -1.90227950e-02 8.32317672e-04 2.28727390e+02] [ 1.90227383e-02 9.99819048e-01 7.60683391e-05 2.00008352e+01] [-8.33614096e-04 -6.02215870e-05 9.99999651e-01 -1.01500469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14140051299998 meters 0.07793981390448489 Centerline is valid? [True, True] Translation: X:228.79, Y:20.01, Z:-1.01 [[ 9.99850307e-01 -1.70518289e-02 2.93242807e-03 2.28787012e+02] [ 1.70511158e-02 9.99854583e-01 2.68004561e-04 2.00136063e+01] [-2.93657161e-03 -2.17963272e-04 9.99995665e-01 -1.01237852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20140051299998 meters 0.08070666144941052 Centerline is valid? [True, True] Translation: X:228.85, Y:20.03, Z:-1.01 [[ 9.99823850e-01 -1.80196175e-02 5.24991863e-03 2.28846173e+02] [ 1.80173451e-02 9.99837559e-01 4.79807896e-04 2.00258449e+01] [-5.25771179e-03 -3.85133782e-04 9.99986104e-01 -1.01163523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26140051299998 meters 0.07516732130894131 Centerline is valid? [True, True] Translation: X:228.91, Y:20.03, Z:-1.01 [[ 9.99802759e-01 -1.89112598e-02 6.06682615e-03 2.28907611e+02] [ 1.89082410e-02 9.99821069e-01 5.54567906e-04 2.00252177e+01] [-6.07622819e-03 -4.39745512e-04 9.99981443e-01 -1.01042167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.321400513 meters 0.07371554642504768 Centerline is valid? [True, True] Translation: X:228.97, Y:20.03, Z:-1.01 [[ 9.99731265e-01 -2.22963660e-02 6.34591735e-03 2.28967381e+02] [ 2.22931325e-02 9.99751309e-01 5.79826942e-04 2.00316218e+01] [-6.35726721e-03 -4.38200746e-04 9.99979696e-01 -1.01016412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.381400513 meters 0.07168499382001797 Centerline is valid? [True, True] Translation: X:229.03, Y:20.04, Z:-1.01 [[ 9.99701956e-01 -2.35078979e-02 6.58616710e-03 2.29028697e+02] [ 2.35044405e-02 9.99723551e-01 6.01873705e-04 2.00362517e+01] [-6.59849515e-03 -4.46890147e-04 9.99978130e-01 -1.01048914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.441400513 meters 0.06679338292794962 Centerline is valid? [True, True] Translation: X:229.09, Y:20.04, Z:-1.01 [[ 9.99684516e-01 -2.37626443e-02 8.13662382e-03 2.29090725e+02] [ 2.37573776e-02 9.99717477e-01 7.43348118e-04 2.00376503e+01] [-8.15198896e-03 -5.49808759e-04 9.99966621e-01 -1.00820344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.501400513 meters 0.07119656966390477 Centerline is valid? [True, True] Translation: X:229.15, Y:20.05, Z:-1.01 [[ 9.99683025e-01 -2.27068878e-02 1.08741129e-02 2.29150807e+02] [ 2.26974241e-02 9.99741887e-01 9.92935280e-04 2.00518538e+01] [-1.08938526e-02 -7.45806194e-04 9.99940382e-01 -1.00551194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.561400513 meters 0.07579836929280655 Centerline is valid? [True, True] Translation: X:229.21, Y:20.07, Z:-1.01 [[ 9.99741459e-01 -2.13632069e-02 7.78646449e-03 2.29209484e+02] [ 2.13583150e-02 9.99771632e-01 7.10880553e-04 2.00662242e+01] [-7.79987301e-03 -5.44391000e-04 9.99969432e-01 -1.01065238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.621400513 meters 0.07653883713430645 Centerline is valid? [True, True] Translation: X:229.27, Y:20.08, Z:-1.01 [[ 9.99786693e-01 -1.97804312e-02 5.94164379e-03 2.29269350e+02] [ 1.97775573e-02 9.99804258e-01 5.42072022e-04 2.00769208e+01] [-5.95120318e-03 -4.24445194e-04 9.99982201e-01 -1.01457983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68140051299997 meters 0.07849552573282577 Centerline is valid? [True, True] Translation: X:229.33, Y:20.09, Z:-1.01 [[ 9.99809371e-01 -1.77494485e-02 8.13509022e-03 2.29329439e+02] [ 1.77439949e-02 9.99842288e-01 7.42077073e-04 2.00938215e+01] [-8.14697868e-03 -5.97586612e-04 9.99966634e-01 -1.01151511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74140051299997 meters 0.07737140971214894 Centerline is valid? [True, True] Translation: X:229.39, Y:20.10, Z:-1.01 [[ 9.99797199e-01 -1.90344381e-02 6.57651053e-03 2.29390874e+02] [ 1.90309021e-02 9.99818716e-01 5.99845941e-04 2.00993333e+01] [-6.58673605e-03 -4.74567363e-04 9.99978195e-01 -1.01404955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80140051299998 meters 0.06431758862552918 Centerline is valid? [True, True] Translation: X:229.45, Y:20.09, Z:-1.02 [[ 9.99638386e-01 -2.66423845e-02 3.64438041e-03 2.29452211e+02] [ 2.66413498e-02 9.99645001e-01 3.32172571e-04 2.00890245e+01] [-3.65193653e-03 -2.34961239e-04 9.99993304e-01 -1.01922994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86140051299998 meters 0.06335839380523152 Centerline is valid? [True, True] Translation: X:229.51, Y:20.09, Z:-1.02 [[ 9.99486279e-01 -3.19289904e-02 2.77805483e-03 2.29512271e+02] [ 3.19284094e-02 9.99490126e-01 2.53241991e-04 2.00885745e+01] [-2.78472414e-03 -1.64413023e-04 9.99996109e-01 -1.02085741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92140051299998 meters 0.05771338483142543 Centerline is valid? [True, True] Translation: X:229.57, Y:20.08, Z:-1.02 [[ 9.99419002e-01 -3.40086027e-02 2.25249265e-03 2.29573052e+02] [ 3.40082262e-02 9.99421532e-01 2.05249606e-04 2.00827002e+01] [-2.25816991e-03 -1.28527076e-04 9.99997442e-01 -1.02124494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98140051299998 meters 0.05970642290795823 Centerline is valid? [True, True] Translation: X:229.63, Y:20.08, Z:-1.02 [[ 9.99510575e-01 -3.10671860e-02 3.66610830e-03 2.29633570e+02] [ 3.10661684e-02 9.99517274e-01 3.34204569e-04 2.00802295e+01] [-3.67472137e-03 -2.20149063e-04 9.99993224e-01 -1.01930957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04140051299999 meters 0.07028231627602277 Centerline is valid? [True, True] Translation: X:229.69, Y:20.09, Z:-1.02 [[ 9.99649737e-01 -2.60776364e-02 4.51213665e-03 2.29691905e+02] [ 2.60760441e-02 9.99659878e-01 4.11380769e-04 2.00883451e+01] [-4.52132981e-03 -2.93578003e-04 9.99989736e-01 -1.01915407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.101400513 meters 0.07170156757262508 Centerline is valid? [True, True] Translation: X:229.75, Y:20.09, Z:-1.02 [[ 9.99706744e-01 -2.37119897e-02 4.91601195e-03 2.29752446e+02] [ 2.37100706e-02 9.99718776e-01 4.48312807e-04 2.00901265e+01] [-4.92525984e-03 -3.31622347e-04 9.99987816e-01 -1.01837524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.161400513 meters 0.0764765495098864 Centerline is valid? [True, True] Translation: X:229.81, Y:20.09, Z:-1.02 [[ 9.99768272e-01 -2.01771382e-02 7.50240564e-03 2.29813181e+02] [ 2.01725695e-02 9.99796279e-01 6.84149299e-04 2.00943801e+01] [-7.51468142e-03 -5.32647963e-04 9.99971623e-01 -1.01550837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.221400513 meters 0.08210751931039854 Centerline is valid? [True, True] Translation: X:229.87, Y:20.09, Z:-1.01 [[ 9.99763020e-01 -1.78300968e-02 1.24896766e-02 2.29874161e+02] [ 1.77166110e-02 9.99801282e-01 9.13883966e-03 2.00949150e+01] [-1.26501411e-02 -8.91539919e-03 9.99880238e-01 -1.01337708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.281400513 meters 0.0833968244866724 Centerline is valid? [True, True] Translation: X:229.93, Y:20.11, Z:-1.01 [[ 9.99841344e-01 -1.46473256e-02 1.01361618e-02 2.29933859e+02] [ 1.47195783e-02 9.99866519e-01 -7.09069799e-03 2.01095189e+01] [-1.00309490e-02 7.23877304e-03 9.99923487e-01 -1.01399936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.341400513 meters 0.0885237727798771 Centerline is valid? [True, True] Translation: X:229.99, Y:20.11, Z:-1.02 [[ 9.99854944e-01 -1.46644965e-02 8.66282213e-03 2.29994766e+02] [ 1.46581990e-02 9.99892251e-01 7.90004692e-04 2.01130787e+01] [-8.67347374e-03 -6.62908725e-04 9.99962165e-01 -1.01602732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40140051299997 meters 0.08088559862661589 Centerline is valid? [True, True] Translation: X:230.06, Y:20.10, Z:-1.01 [[ 9.99862583e-01 -1.36395155e-02 9.42228718e-03 2.30057319e+02] [ 1.36320275e-02 9.99906711e-01 8.58479579e-04 2.01027844e+01] [-9.43311743e-03 -7.29916732e-04 9.99955241e-01 -1.01416873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46140051299997 meters 0.07999541024791956 Centerline is valid? [True, True] Translation: X:230.12, Y:20.10, Z:-1.02 [[ 9.99863570e-01 -1.48599128e-02 7.21278906e-03 2.30118949e+02] [ 1.48555573e-02 9.99889434e-01 6.57060687e-04 2.01006737e+01] [-7.22175544e-03 -5.49821043e-04 9.99973772e-01 -1.01887493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52140051299997 meters 0.08136550773043516 Centerline is valid? [True, True] Translation: X:230.18, Y:20.10, Z:-1.02 [[ 9.99811223e-01 -1.82760119e-02 6.59584863e-03 2.30179285e+02] [ 1.82724450e-02 9.99832865e-01 6.00641096e-04 2.01010762e+01] [-6.60572356e-03 -4.80005427e-04 9.99978067e-01 -1.02049017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58140051299998 meters 0.07603729007420285 Centerline is valid? [True, True] Translation: X:230.24, Y:20.09, Z:-1.02 [[ 9.99680587e-01 -2.47794578e-02 4.97019612e-03 2.30240180e+02] [ 2.47775123e-02 9.99692888e-01 4.52648632e-04 2.00903555e+01] [-4.97988610e-03 -3.29354955e-04 9.99987546e-01 -1.02309585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64140051299998 meters 0.06638199855513162 Centerline is valid? [True, True] Translation: X:230.30, Y:20.08, Z:-1.02 [[ 9.99631355e-01 -2.67460371e-02 4.66939953e-03 2.30302403e+02] [ 2.67443413e-02 9.99642216e-01 4.25253486e-04 2.00759864e+01] [-4.67910274e-03 -3.00216704e-04 9.99989008e-01 -1.02430435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70140051299998 meters 0.06834008183847659 Centerline is valid? [True, True] Translation: X:230.36, Y:20.08, Z:-1.02 [[ 9.99646385e-01 -2.61684237e-02 4.72428696e-03 2.30361030e+02] [ 2.61666829e-02 9.99657501e-01 4.29937189e-04 2.00751776e+01] [-4.73391968e-03 -3.06166238e-04 9.99988748e-01 -1.02464534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76140051299998 meters 0.08219013409703349 Centerline is valid? [True, True] Translation: X:230.42, Y:20.09, Z:-1.03 [[ 9.99774600e-01 -2.08116988e-02 4.19801573e-03 2.30419801e+02] [ 2.08102759e-02 9.99783370e-01 3.82353311e-04 2.00870940e+01] [-4.20506374e-03 -2.94905262e-04 9.99991115e-01 -1.02577647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.821400513 meters 0.0836871615863876 Centerline is valid? [True, True] Translation: X:230.48, Y:20.09, Z:-1.02 [[ 9.99858248e-01 -1.58063212e-02 5.80028937e-03 2.30480292e+02] [ 1.58035209e-02 9.99874977e-01 5.28298441e-04 2.00903494e+01] [-5.80791466e-03 -4.36558560e-04 9.99983039e-01 -1.02348443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.881400513 meters 0.08484343026881494 Centerline is valid? [True, True] Translation: X:230.54, Y:20.09, Z:-1.02 [[ 9.99939596e-01 -8.97668443e-03 6.34217302e-03 2.30540539e+02] [ 8.97319990e-03 9.99959573e-01 5.77664555e-04 2.00940225e+01] [-6.34710214e-03 -5.20720075e-04 9.99979721e-01 -1.02309073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.941400513 meters 0.08553921504710366 Centerline is valid? [True, True] Translation: X:230.60, Y:20.09, Z:-1.02 [[ 9.99943239e-01 -7.45489657e-03 7.61208727e-03 2.30601921e+02] [ 7.44983300e-03 9.99972009e-01 6.93339306e-04 2.00948853e+01] [-7.61704297e-03 -6.36591172e-04 9.99970787e-01 -1.02178628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.001400513 meters 0.09561886751908626 Centerline is valid? [True, True] Translation: X:230.66, Y:20.11, Z:-1.02 [[ 9.99921019e-01 -8.22245955e-03 9.50509017e-03 2.30661300e+02] [ 8.21459987e-03 9.99965885e-01 8.65637482e-04 2.01112579e+01] [-9.51188358e-03 -7.87488601e-04 9.99954451e-01 -1.01997547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.061400513 meters 0.08947589988068529 Centerline is valid? [True, True] Translation: X:230.72, Y:20.11, Z:-1.02 [[ 9.99897814e-01 -9.87134583e-03 1.03401337e-02 2.30722850e+02] [ 9.86213460e-03 9.99950925e-01 9.41435188e-04 2.01085585e+01] [-1.03489195e-02 -8.39363196e-04 9.99946096e-01 -1.01905169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.121400513 meters 0.08136074195785101 Centerline is valid? [True, True] Translation: X:230.78, Y:20.11, Z:-1.02 [[ 9.99840367e-01 -1.52674723e-02 9.28142707e-03 2.30783925e+02] [ 1.52602827e-02 9.99883198e-01 8.44950621e-04 2.01061564e+01] [-9.29324324e-03 -7.03178538e-04 9.99956570e-01 -1.02151888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18140051299997 meters 0.07444118667006645 Centerline is valid? [True, True] Translation: X:230.84, Y:20.10, Z:-1.02 [[ 9.99808741e-01 -1.79239615e-02 7.82386072e-03 2.30844870e+02] [ 1.79189341e-02 9.99839189e-01 7.12196464e-04 2.01030140e+01] [-7.83536794e-03 -5.71865005e-04 9.99969140e-01 -1.02431548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24140051299997 meters 0.0656189243713666 Centerline is valid? [True, True] Translation: X:230.91, Y:20.10, Z:-1.03 [[ 9.99555478e-01 -2.91960547e-02 6.03632239e-03 2.30905376e+02] [ 2.91932666e-02 9.99573635e-01 5.49497579e-04 2.00982298e+01] [-6.04979188e-03 -3.73033346e-04 9.99981630e-01 -1.02728837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30140051299998 meters 0.05645517634237181 Centerline is valid? [True, True] Translation: X:230.97, Y:20.09, Z:-1.03 [[ 9.99247698e-01 -3.82474960e-02 6.41622082e-03 2.30966343e+02] [ 3.82445323e-02 9.99268240e-01 5.84017254e-04 2.00926377e+01] [-6.43386288e-03 -3.38192532e-04 9.99979245e-01 -1.02776087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36140051299998 meters 0.04264819267980714 Centerline is valid? [True, True] Translation: X:231.03, Y:20.08, Z:-1.03 [[ 9.98814617e-01 -4.83531529e-02 5.59756146e-03 2.31028231e+02] [ 4.83510554e-02 9.98830274e-01 5.09531101e-04 2.00787929e+01] [-5.61565128e-03 -2.38279108e-04 9.99984204e-01 -1.02930038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42140051299998 meters 0.03851525578016821 Centerline is valid? [True, True] Translation: X:231.09, Y:20.08, Z:-1.03 [[ 9.98621949e-01 -5.21142985e-02 6.18899731e-03 2.31088366e+02] [ 5.21118066e-02 9.98641098e-01 5.63321539e-04 2.00789198e+01] [-6.20994417e-03 -2.40025422e-04 9.99980689e-01 -1.02840563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48140051299998 meters 0.03715355887358027 Centerline is valid? [True, True] Translation: X:231.15, Y:20.08, Z:-1.03 [[ 9.98473574e-01 -5.48208629e-02 6.72279753e-03 2.31147132e+02] [ 5.48179838e-02 9.98496176e-01 6.11915956e-04 2.00816642e+01] [-6.74623338e-03 -2.42451705e-04 9.99977215e-01 -1.02855871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54140051299999 meters 0.031780978326227276 Centerline is valid? [True, True] Translation: X:231.21, Y:20.08, Z:-1.03 [[ 9.98130915e-01 -6.08213494e-02 5.95322983e-03 2.31207839e+02] [ 6.08191965e-02 9.98148652e-01 5.42186594e-04 2.00792475e+01] [-5.97518485e-03 -1.79102546e-04 9.99982132e-01 -1.03293503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.601400513 meters 0.027868808768731716 Centerline is valid? [True, True] Translation: X:231.27, Y:20.06, Z:-1.03 [[ 9.97293764e-01 -7.31064590e-02 7.78422038e-03 2.31269895e+02] [ 7.31031517e-02 9.97324133e-01 7.08930777e-04 2.00579889e+01] [-7.81521826e-03 -1.37961199e-04 9.99969451e-01 -1.02953639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.661400513 meters 0.012800106599300438 Centerline is valid? [True, True] Translation: X:231.33, Y:20.05, Z:-1.03 [[ 9.96702088e-01 -8.08043073e-02 7.45734122e-03 2.31329623e+02] [ 8.08014870e-02 9.96729983e-01 6.79193911e-04 2.00503947e+01] [-7.48783738e-03 -7.43897292e-05 9.99971963e-01 -1.03143462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.721400513 meters 0.008296977082255545 Centerline is valid? [True, True] Translation: X:231.39, Y:20.04, Z:-1.03 [[ 9.96253503e-01 -8.59248553e-02 9.79165989e-03 2.31389889e+02] [ 8.59202365e-02 9.96301619e-01 8.92182493e-04 2.00389912e+01] [-9.83210726e-03 -4.75382002e-05 9.99951663e-01 -1.02865216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.781400513 meters 0.0077629261525299885 Centerline is valid? [True, True] Translation: X:231.45, Y:20.03, Z:-1.03 [[ 9.96137274e-01 -8.71735202e-02 1.05503246e-02 2.31448725e+02] [ 8.71682077e-02 9.96193142e-01 9.63216796e-04 2.00308451e+01] [-1.05941280e-02 -3.98432681e-05 9.99943880e-01 -1.02725475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.841400513 meters 0.009357048235491711 Centerline is valid? [True, True] Translation: X:231.51, Y:20.03, Z:-1.03 [[ 9.96397646e-01 -8.44099719e-02 8.16621913e-03 2.31508011e+02] [ 8.44066955e-02 9.96431108e-01 7.45647147e-04 2.00327386e+01] [-8.20001483e-03 -5.36774906e-05 9.99966378e-01 -1.03200238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90140051299997 meters 0.013532043917073695 Centerline is valid? [True, True] Translation: X:231.57, Y:20.03, Z:-1.03 [[ 9.96813477e-01 -7.94238140e-02 7.39927015e-03 2.31566885e+02] [ 7.94209786e-02 9.96840935e-01 6.76712933e-04 2.00348131e+01] [-7.42964250e-03 -8.68992954e-05 9.99972396e-01 -1.03321798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96140051299997 meters 0.017023197972181915 Centerline is valid? [True, True] Translation: X:231.62, Y:20.04, Z:-1.03 [[ 9.97029628e-01 -7.65386396e-02 8.58824024e-03 2.31624528e+02] [ 7.65346959e-02 9.97066608e-01 7.87398070e-04 2.00426945e+01] [-8.62331394e-03 -1.27760850e-04 9.99962810e-01 -1.03250442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02140051299997 meters 0.019757919356234766 Centerline is valid? [True, True] Translation: X:231.68, Y:20.05, Z:-1.03 [[ 9.97225627e-01 -7.39567497e-02 8.45268119e-03 2.31683333e+02] [ 7.39528344e-02 9.97261439e-01 7.75256792e-04 2.00480391e+01] [-8.48686848e-03 -1.48006208e-04 9.99963975e-01 -1.03389798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08140051299998 meters 0.01638741845406853 Centerline is valid? [True, True] Translation: X:231.74, Y:20.05, Z:-1.04 [[ 9.96956944e-01 -7.75344727e-02 8.07819126e-03 2.31742335e+02] [ 7.75310017e-02 9.96989665e-01 7.42425476e-04 2.00501246e+01] [-8.11143677e-03 -1.13855973e-04 9.99967095e-01 -1.03600832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14140051299998 meters 0.01266595973202198 Centerline is valid? [True, True] Translation: X:231.80, Y:20.05, Z:-1.04 [[ 9.96627302e-01 -8.16326007e-02 8.37488039e-03 2.31801099e+02] [ 8.16290132e-02 9.96662486e-01 7.69861278e-04 2.00517082e+01] [-8.40977489e-03 -8.36315464e-05 9.99964634e-01 -1.03541311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20140051299998 meters 0.009082318767027326 Centerline is valid? [True, True] Translation: X:231.86, Y:20.05, Z:-1.04 [[ 9.96246343e-01 -8.61461218e-02 8.48944460e-03 2.31859720e+02] [ 8.61425877e-02 9.96282512e-01 7.81766315e-04 2.00535843e+01] [-8.52523133e-03 -4.75291061e-05 9.99963658e-01 -1.03527063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26140051299998 meters 0.0065320423133812516 Centerline is valid? [True, True] Translation: X:231.92, Y:20.06, Z:-1.03 [[ 9.95708840e-01 -9.20664122e-02 9.36390183e-03 2.31919108e+02] [ 9.20623581e-02 9.95752869e-01 8.63984884e-04 2.00554708e+01] [-9.40367610e-03 1.78549750e-06 9.99955784e-01 -1.03305689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.321400513 meters 0.006614058323130053 Centerline is valid? [True, True] Translation: X:231.98, Y:20.06, Z:-1.03 [[ 9.95578795e-01 -9.33198943e-02 1.06892617e-02 2.31976597e+02] [ 9.33146624e-02 9.95636177e-01 9.88246872e-04 2.00640436e+01] [-1.07348388e-02 1.35872194e-05 9.99942380e-01 -1.03248580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.381400513 meters 0.006771808062276491 Centerline is valid? [True, True] Translation: X:232.03, Y:20.08, Z:-1.04 [[ 9.95799491e-01 -9.11089812e-02 9.08447742e-03 2.32032353e+02] [ 9.11050967e-02 9.95840928e-01 8.41379663e-04 2.00756839e+01] [-9.12335166e-03 -1.02032472e-05 9.99958381e-01 -1.03636742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.441400513 meters 0.00765909791962355 Centerline is valid? [True, True] Translation: X:232.09, Y:20.09, Z:-1.04 [[ 9.95992115e-01 -8.89749097e-02 9.11987084e-03 2.32090662e+02] [ 8.89708950e-02 9.96033867e-01 8.45782301e-04 2.00881205e+01] [-9.15895362e-03 -3.09894321e-05 9.99958055e-01 -1.03722514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.501400513 meters 0.01022594787168683 Centerline is valid? [True, True] Translation: X:232.15, Y:20.10, Z:-1.04 [[ 9.96346762e-01 -8.49801854e-02 8.45560048e-03 2.32148089e+02] [ 8.49765799e-02 9.96382639e-01 7.85412989e-04 2.01029440e+01] [-8.49175807e-03 -6.40156784e-05 9.99963942e-01 -1.03851387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.561400513 meters 0.011867437282402055 Centerline is valid? [True, True] Translation: X:232.21, Y:20.11, Z:-1.04 [[ 9.96479211e-01 -8.35384276e-02 7.10719903e-03 2.32205472e+02] [ 8.35358345e-02 9.96504554e-01 6.61444048e-04 2.01112013e+01] [-7.13761219e-03 -6.54094417e-05 9.99974525e-01 -1.04186348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.621400513 meters 0.009933067737106768 Centerline is valid? [True, True] Translation: X:232.26, Y:20.12, Z:-1.04 [[ 9.96247817e-01 -8.62390887e-02 7.28740471e-03 2.32263387e+02] [ 8.62364314e-02 9.96274469e-01 6.78668435e-04 2.01157847e+01] [-7.31878300e-03 -4.76821710e-05 9.99973216e-01 -1.04346357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68140051299997 meters 0.007128451388311352 Centerline is valid? [True, True] Translation: X:232.32, Y:20.11, Z:-1.04 [[ 9.95843060e-01 -9.07424912e-02 7.89937645e-03 2.32323200e+02] [ 9.07395084e-02 9.95874390e-01 7.35929952e-04 2.01143175e+01] [-7.93356682e-03 -1.60852005e-05 9.99968529e-01 -1.04156202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74140051299997 meters 0.01006019005174347 Centerline is valid? [True, True] Translation: X:232.38, Y:20.11, Z:-1.04 [[ 9.94936512e-01 -1.00079162e-01 9.24653911e-03 2.32382564e+02] [ 1.00075462e-01 9.94979476e-01 8.63085423e-04 2.01079900e+01] [-9.28649350e-03 6.66364762e-05 9.99956877e-01 -1.04040043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80140051299998 meters 0.01737141800633392 Centerline is valid? [True, True] Translation: X:232.44, Y:20.10, Z:-1.04 [[ 9.94164803e-01 -1.07414438e-01 9.92385082e-03 2.32441446e+02] [ 1.07410523e-01 9.94214322e-01 9.28120724e-04 2.01049608e+01] [-9.96612818e-03 1.43221054e-04 9.99950327e-01 -1.04190958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86140051299998 meters 0.02244812684298997 Centerline is valid? [True, True] Translation: X:232.50, Y:20.10, Z:-1.05 [[ 9.93444729e-01 -1.14093898e-01 7.08182272e-03 2.32502714e+02] [ 1.14092071e-01 9.93469959e-01 6.62726774e-04 2.01009209e+01] [-7.11119121e-03 1.49597400e-04 9.99974704e-01 -1.04615973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92140051299998 meters 0.0230981937357709 Centerline is valid? [True, True] Translation: X:232.56, Y:20.10, Z:-1.04 [[ 9.93446588e-01 -1.14059442e-01 7.37021263e-03 2.32559446e+02] [ 1.14057465e-01 9.93473915e-01 6.89298283e-04 2.01041900e+01] [-7.40073497e-03 1.55846744e-04 9.99972602e-01 -1.04478850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98140051299998 meters 0.017267087803211283 Centerline is valid? [True, True] Translation: X:232.62, Y:20.12, Z:-1.04 [[ 9.93956461e-01 -1.09224835e-01 1.09767433e-02 2.32618515e+02] [ 1.09220133e-01 9.94017054e-01 1.02870635e-03 2.01201150e+01] [-1.10234304e-02 1.76392045e-04 9.99939225e-01 -1.03809959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04140051299999 meters 0.02237592293302112 Centerline is valid? [True, True] Translation: X:232.68, Y:20.13, Z:-1.04 [[ 9.94222074e-01 -1.06763816e-01 1.11334866e-02 2.32675422e+02] [ 1.06758822e-01 9.94284398e-01 1.04356899e-03 2.01285447e+01] [-1.11812674e-02 1.51058594e-04 9.99937476e-01 -1.03816333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.101400513 meters 0.023515512721986286 Centerline is valid? [True, True] Translation: X:232.73, Y:20.15, Z:-1.04 [[ 9.95242812e-01 -9.70534245e-02 8.50757628e-03 2.32732781e+02] [ 9.70501522e-02 9.95279173e-01 7.97610455e-04 2.01536187e+01] [-8.54482430e-03 3.18455006e-05 9.99963492e-01 -1.04215870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.161400513 meters 0.007073877582338779 Centerline is valid? [True, True] Translation: X:232.79, Y:20.17, Z:-1.04 [[ 9.95807595e-01 -9.10877471e-02 8.38193724e-03 2.32788296e+02] [ 9.10843476e-02 9.95842870e-01 7.87220088e-04 2.01707675e+01] [-8.41879854e-03 -2.04564571e-05 9.99964561e-01 -1.04239461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.221400513 meters 0.010132695914532688 Centerline is valid? [True, True] Translation: X:232.85, Y:20.19, Z:-1.04 [[ 9.96269405e-01 -8.58365659e-02 8.90825844e-03 2.32845929e+02] [ 8.58325051e-02 9.96309229e-01 8.37879080e-04 2.01882013e+01] [-8.94730076e-03 -7.01351549e-05 9.99959970e-01 -1.04305290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.281400513 meters 0.013545817386160565 Centerline is valid? [True, True] Translation: X:232.90, Y:20.20, Z:-1.05 [[ 9.96529858e-01 -8.29039807e-02 7.42782923e-03 2.32902882e+02] [ 8.29010660e-02 9.96557536e-01 6.99960123e-04 2.02014165e+01] [-7.46028868e-03 -8.17562003e-05 9.99972168e-01 -1.04784916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.341400513 meters 0.015476545980375338 Centerline is valid? [True, True] Translation: X:232.96, Y:20.21, Z:-1.05 [[ 9.96729084e-01 -8.04394446e-02 7.78651612e-03 2.32961233e+02] [ 8.04361647e-02 9.96759492e-01 7.33985039e-04 2.02094452e+01] [-7.82032520e-03 -1.05266742e-04 9.99969415e-01 -1.04760816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40140051299997 meters 0.01998688691735642 Centerline is valid? [True, True] Translation: X:233.02, Y:20.22, Z:-1.05 [[ 9.97011436e-01 -7.68282117e-02 8.10080423e-03 2.33019309e+02] [ 7.68245286e-02 9.97044335e-01 7.65319943e-04 2.02221398e+01] [-8.13565913e-03 -1.40692269e-04 9.99966895e-01 -1.04804606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46140051299997 meters 0.022207917262139193 Centerline is valid? [True, True] Translation: X:233.08, Y:20.23, Z:-1.05 [[ 9.97264518e-01 -7.34581806e-02 8.20830102e-03 2.33078155e+02] [ 7.34542814e-02 9.97298284e-01 7.75914637e-04 2.02319158e+01] [-8.24312179e-03 -1.70857284e-04 9.99966010e-01 -1.04916126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52140051299997 meters 0.02785618559473196 Centerline is valid? [True, True] Translation: X:233.14, Y:20.25, Z:-1.05 [[ 9.97743829e-01 -6.65075363e-02 9.16511445e-03 2.33137031e+02] [ 6.65023793e-02 9.97785890e-01 8.66628377e-04 2.02455665e+01] [-9.20245919e-03 -2.55171198e-04 9.99957624e-01 -1.04907101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58140051299998 meters 0.03565042871644075 Centerline is valid? [True, True] Translation: X:233.20, Y:20.26, Z:-1.05 [[ 9.98144597e-01 -6.04614228e-02 7.19586297e-03 2.33195198e+02] [ 6.04580864e-02 9.98170505e-01 6.80480827e-04 2.02616376e+01] [-7.22384101e-03 -2.44170155e-04 9.99973878e-01 -1.05281774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64140051299998 meters 0.03840288154705139 Centerline is valid? [True, True] Translation: X:233.25, Y:20.27, Z:-1.06 [[ 9.98284808e-01 -5.82379515e-02 5.98196729e-03 2.33254257e+02] [ 5.82356066e-02 9.98302707e-01 5.65570262e-04 2.02695999e+01] [-6.00475179e-03 -2.16236706e-04 9.99981948e-01 -1.05531706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70140051299998 meters 0.04344623311955513 Centerline is valid? [True, True] Translation: X:233.31, Y:20.28, Z:-1.05 [[ 9.98340913e-01 -5.70948660e-02 7.45640636e-03 2.33310887e+02] [ 5.70911910e-02 9.98368719e-01 7.04963271e-04 2.02806520e+01] [-7.48449265e-03 -2.78098556e-04 9.99971952e-01 -1.05418170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76140051299998 meters 0.038747244940846366 Centerline is valid? [True, True] Translation: X:233.37, Y:20.28, Z:-1.05 [[ 9.98427439e-01 -5.53758141e-02 8.72747442e-03 2.33371319e+02] [ 5.53707031e-02 9.98465524e-01 8.26359006e-04 2.02785924e+01] [-8.75984262e-03 -3.41813111e-04 9.99961573e-01 -1.05211976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.821400513 meters 0.04166390563551243 Centerline is valid? [True, True] Translation: X:233.43, Y:20.28, Z:-1.05 [[ 9.98644953e-01 -5.14573176e-02 7.77188266e-03 2.33431014e+02] [ 5.14531445e-02 9.98675138e-01 7.36076528e-04 2.02824373e+01] [-7.79946251e-03 -3.35191309e-04 9.99969528e-01 -1.05497292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.881400513 meters 0.0426143493168475 Centerline is valid? [True, True] Translation: X:233.49, Y:20.29, Z:-1.05 [[ 9.98680441e-01 -5.06466430e-02 8.50263641e-03 2.33489054e+02] [ 5.06416190e-02 9.98716565e-01 8.05272845e-04 2.02876512e+01] [-8.53250820e-03 -3.73622966e-04 9.99963528e-01 -1.05448040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.941400513 meters 0.05502720310338771 Centerline is valid? [True, True] Translation: X:233.55, Y:20.31, Z:-1.05 [[ 9.98798651e-01 -4.78889744e-02 1.03875008e-02 2.33546591e+02] [ 4.78813193e-02 9.98852547e-01 9.84543123e-04 2.03061771e+01] [-1.04227304e-02 -4.85993101e-04 9.99945564e-01 -1.05194544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.001400513 meters 0.046748558035670976 Centerline is valid? [True, True] Translation: X:233.61, Y:20.30, Z:-1.05 [[ 9.98973324e-01 -4.43290878e-02 9.33965380e-03 2.33607472e+02] [ 4.43227434e-02 9.99016872e-01 8.85284745e-04 2.02998020e+01] [-9.36971559e-03 -4.70416766e-04 9.99955993e-01 -1.05329844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.061400513 meters 0.05669025444971535 Centerline is valid? [True, True] Translation: X:233.67, Y:20.32, Z:-1.06 [[ 9.99145768e-01 -4.06211617e-02 7.59307576e-03 2.33665231e+02] [ 4.06168616e-02 9.99174536e-01 7.19731882e-04 2.03195044e+01] [-7.61604430e-03 -4.10710157e-04 9.99970913e-01 -1.05787135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.121400513 meters 0.05398861606936679 Centerline is valid? [True, True] Translation: X:233.73, Y:20.32, Z:-1.06 [[ 9.99288454e-01 -3.67353560e-02 8.54986483e-03 2.33725740e+02] [ 3.67297608e-02 9.99324906e-01 8.10572555e-04 2.03247711e+01] [-8.57386954e-03 -4.95961305e-04 9.99963121e-01 -1.05738281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18140051299997 meters 0.06156758694781633 Centerline is valid? [True, True] Translation: X:233.78, Y:20.34, Z:-1.06 [[ 9.99361812e-01 -3.50252473e-02 7.01428216e-03 2.33783491e+02] [ 3.50214401e-02 9.99386340e-01 6.64910286e-04 2.03418538e+01] [-7.03326642e-03 -4.18835686e-04 9.99975179e-01 -1.05992815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24140051299997 meters 0.05606586002819827 Centerline is valid? [True, True] Translation: X:233.84, Y:20.35, Z:-1.06 [[ 9.99396519e-01 -3.39921894e-02 7.15048085e-03 2.33842674e+02] [ 3.39882056e-02 9.99422004e-01 6.77954814e-04 2.03454410e+01] [-7.16939307e-03 -4.34513668e-04 9.99974205e-01 -1.06106433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30140051299998 meters 0.06090003357421383 Centerline is valid? [True, True] Translation: X:233.90, Y:20.36, Z:-1.06 [[ 9.99230787e-01 -3.84992973e-02 7.45914978e-03 2.33901291e+02] [ 3.84950849e-02 9.99258539e-01 7.07536592e-04 2.03574187e+01] [-7.48085877e-03 -4.19851742e-04 9.99971930e-01 -1.06075664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36140051299998 meters 0.05533034947713386 Centerline is valid? [True, True] Translation: X:233.96, Y:20.36, Z:-1.06 [[ 9.99037494e-01 -4.32966759e-02 7.03441163e-03 2.33961739e+02] [ 4.32930469e-02 9.99062194e-01 6.67420331e-04 2.03550655e+01] [-7.05671180e-03 -3.62236822e-04 9.99975035e-01 -1.06166377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42140051299998 meters 0.05210488313749258 Centerline is valid? [True, True] Translation: X:234.02, Y:20.35, Z:-1.06 [[ 9.98880470e-01 -4.67896284e-02 6.96691087e-03 2.34022681e+02] [ 4.67861522e-02 9.98904710e-01 6.61202351e-04 2.03528156e+01] [-6.99021750e-03 -3.34507163e-04 9.99975512e-01 -1.06262534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48140051299998 meters 0.05206423797274961 Centerline is valid? [True, True] Translation: X:234.08, Y:20.36, Z:-1.06 [[ 9.98921975e-01 -4.59277588e-02 6.74743237e-03 2.34081267e+02] [ 4.59244824e-02 9.98944709e-01 6.39802781e-04 2.03585650e+01] [-6.76969658e-03 -3.29240719e-04 9.99977031e-01 -1.06353790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54140051299999 meters 0.0519123349421172 Centerline is valid? [True, True] Translation: X:234.14, Y:20.36, Z:-1.06 [[ 9.99170340e-01 -3.99610931e-02 7.85761681e-03 2.34141454e+02] [ 3.99564506e-02 9.99201143e-01 7.46987250e-04 2.03641588e+01] [-7.88119012e-03 -4.32405027e-04 9.99968849e-01 -1.06137501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.601400513 meters 0.06735031204108215 Centerline is valid? [True, True] Translation: X:234.20, Y:20.39, Z:-1.06 [[ 9.99237194e-01 -3.79537236e-02 9.19479693e-03 2.34199013e+02] [ 3.79472807e-02 9.99279360e-01 8.74222834e-04 2.03867046e+01] [-9.22135081e-03 -5.24638431e-04 9.99957345e-01 -1.05987816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.661400513 meters 0.05714824593545643 Centerline is valid? [True, True] Translation: X:234.26, Y:20.38, Z:-1.06 [[ 9.99112057e-01 -4.10118869e-02 9.64996106e-03 2.34260932e+02] [ 4.10049313e-02 9.99158523e-01 9.17625946e-04 2.03767541e+01] [-9.67947441e-03 -5.21115157e-04 9.99953017e-01 -1.06109807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.721400513 meters 0.050893447827051984 Centerline is valid? [True, True] Translation: X:234.32, Y:20.37, Z:-1.06 [[ 9.99088499e-01 -4.15829860e-02 9.64507264e-03 2.34320578e+02] [ 4.15760650e-02 9.99134921e-01 9.17050042e-04 2.03720894e+01] [-9.67486257e-03 -5.15209982e-04 9.99953065e-01 -1.06010480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.781400513 meters 0.057704440101086385 Centerline is valid? [True, True] Translation: X:234.38, Y:20.39, Z:-1.06 [[ 9.99237195e-01 -3.78326349e-02 9.68086575e-03 2.34379325e+02] [ 3.78254701e-02 9.99283935e-01 9.22187071e-04 2.03850790e+01] [-9.70882239e-03 -5.55300324e-04 9.99952714e-01 -1.05978827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.841400513 meters 0.07041359566191562 Centerline is valid? [True, True] Translation: X:234.44, Y:20.41, Z:-1.07 [[ 9.99623999e-01 -2.67439402e-02 6.05168357e-03 2.34436847e+02] [ 2.67409380e-02 9.99642231e-01 5.76478992e-04 2.04063799e+01] [-6.06493578e-03 -4.14434540e-04 9.99981522e-01 -1.06702342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90140051299997 meters 0.07838581256841996 Centerline is valid? [True, True] Translation: X:234.50, Y:20.43, Z:-1.07 [[ 9.99809154e-01 -1.90587072e-02 4.29200466e-03 2.34495750e+02] [ 1.90571268e-02 9.99818313e-01 4.08830241e-04 2.04251216e+01] [-4.29901664e-03 -3.26958940e-04 9.99990706e-01 -1.07100355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96140051299997 meters 0.08804676305621657 Centerline is valid? [True, True] Translation: X:234.55, Y:20.44, Z:-1.07 [[ 9.99857120e-01 -1.63622717e-02 4.24445330e-03 2.34553946e+02] [ 1.63607019e-02 9.99866073e-01 4.04310007e-04 2.04447187e+01] [-4.25050028e-03 -3.34810004e-04 9.99990911e-01 -1.07242468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02140051299997 meters 0.08943016833554653 Centerline is valid? [True, True] Translation: X:234.61, Y:20.46, Z:-1.07 [[ 9.99898101e-01 -1.33476026e-02 5.06248859e-03 2.34613902e+02] [ 1.33453306e-02 9.99910831e-01 4.82303039e-04 2.04552236e+01] [-5.06847476e-03 -4.14693309e-04 9.99987069e-01 -1.07202126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08140051299998 meters 0.0799761835564939 Centerline is valid? [True, True] Translation: X:234.68, Y:20.45, Z:-1.07 [[ 9.99855985e-01 -1.63488614e-02 4.55237534e-03 2.34675428e+02] [ 1.63470549e-02 9.99866284e-01 4.33755740e-04 2.04515220e+01] [-4.55885803e-03 -3.59275343e-04 9.99989544e-01 -1.07377169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14140051299998 meters 0.07756187412269638 Centerline is valid? [True, True] Translation: X:234.74, Y:20.46, Z:-1.07 [[ 9.99758508e-01 -2.08898751e-02 6.82196825e-03 2.34736125e+02] [ 2.08859245e-02 9.99781654e-01 6.49843577e-04 2.04554606e+01] [-6.83405385e-03 -5.07203531e-04 9.99976519e-01 -1.07106992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20140051299998 meters 0.07223605078435093 Centerline is valid? [True, True] Translation: X:234.80, Y:20.45, Z:-1.07 [[ 9.99604450e-01 -2.70284379e-02 7.77213704e-03 2.34797439e+02] [ 2.70234945e-02 9.99634525e-01 7.40368669e-04 2.04543369e+01] [-7.78930753e-03 -5.30045514e-04 9.99969522e-01 -1.06967522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26140051299998 meters 0.06650690677303937 Centerline is valid? [True, True] Translation: X:234.86, Y:20.45, Z:-1.07 [[ 9.99513908e-01 -3.02323281e-02 7.61274186e-03 2.34858062e+02] [ 3.02276786e-02 9.99542776e-01 7.25105178e-04 2.04532322e+01] [-7.63118275e-03 -4.94637196e-04 9.99970760e-01 -1.07047904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.321400513 meters 0.06529916659163085 Centerline is valid? [True, True] Translation: X:234.92, Y:20.46, Z:-1.07 [[ 9.99456308e-01 -3.16462480e-02 9.25216970e-03 2.34917975e+02] [ 3.16394405e-02 9.99498959e-01 8.81250128e-04 2.04568150e+01] [-9.27542224e-03 -5.88037526e-04 9.99956809e-01 -1.06814028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.381400513 meters 0.0627642920877644 Centerline is valid? [True, True] Translation: X:234.98, Y:20.46, Z:-1.07 [[ 9.99332255e-01 -3.52840437e-02 9.49102478e-03 2.34978594e+02] [ 3.52770424e-02 9.99377162e-01 9.04130863e-04 2.04613068e+01] [-9.51701481e-03 -5.68711850e-04 9.99954550e-01 -1.06899827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.441400513 meters 0.06409674565222863 Centerline is valid? [True, True] Translation: X:235.04, Y:20.47, Z:-1.07 [[ 9.99292162e-01 -3.62309720e-02 1.01237962e-02 2.35039327e+02] [ 3.62230554e-02 9.99343265e-01 9.64304091e-04 2.04650057e+01] [-1.01520853e-02 -5.96906687e-04 9.99948288e-01 -1.06809613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.501400513 meters 0.06458177191067774 Centerline is valid? [True, True] Translation: X:235.10, Y:20.47, Z:-1.07 [[ 9.99381548e-01 -3.35609024e-02 1.04969803e-02 2.35099241e+02] [ 3.35522447e-02 9.99436465e-01 9.99850510e-04 2.04733139e+01] [-1.05246208e-02 -6.47034898e-04 9.99944405e-01 -1.06771778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.561400513 meters 0.07710824449259021 Centerline is valid? [True, True] Translation: X:235.16, Y:20.50, Z:-1.07 [[ 9.99609277e-01 -2.71246089e-02 6.74900156e-03 2.35156247e+02] [ 2.71208834e-02 9.99631954e-01 6.42933707e-04 2.04965217e+01] [-6.76395694e-03 -4.59643614e-04 9.99977019e-01 -1.07436996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.621400513 meters 0.08144833332845944 Centerline is valid? [True, True] Translation: X:235.22, Y:20.51, Z:-1.07 [[ 9.99727683e-01 -2.18686009e-02 8.14391770e-03 2.35215268e+02] [ 2.18630042e-02 9.99760675e-01 7.75622381e-04 2.05101341e+01] [-8.15893043e-03 -5.97360659e-04 9.99966537e-01 -1.07196987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68140051299997 meters 0.09258002939802867 Centerline is valid? [True, True] Translation: X:235.27, Y:20.53, Z:-1.07 [[ 9.99848084e-01 -1.56588406e-02 7.65566971e-03 2.35273120e+02] [ 1.56537134e-02 9.99877207e-01 7.29195100e-04 2.05320861e+01] [-7.66614800e-03 -6.09244664e-04 9.99970429e-01 -1.07297429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74140051299997 meters 0.08767622483597683 Centerline is valid? [True, True] Translation: X:235.33, Y:20.54, Z:-1.08 [[ 9.99890670e-01 -1.35744630e-02 5.86370139e-03 2.35333839e+02] [ 1.35714201e-02 9.99907748e-01 5.58414505e-04 2.05374105e+01] [-5.87074063e-03 -4.78774698e-04 9.99982652e-01 -1.07718482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80140051299998 meters 0.08586114246257487 Centerline is valid? [True, True] Translation: X:235.39, Y:20.54, Z:-1.08 [[ 9.99854821e-01 -1.51851632e-02 7.72965158e-03 2.35393963e+02] [ 1.51799235e-02 9.99884507e-01 7.36088273e-04 2.05443366e+01] [-7.73993648e-03 -6.18645889e-04 9.99969855e-01 -1.07578782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86140051299998 meters 0.0766469608108948 Centerline is valid? [True, True] Translation: X:235.46, Y:20.54, Z:-1.08 [[ 9.99776683e-01 -1.96874802e-02 7.68035421e-03 2.35455294e+02] [ 1.96824391e-02 9.99806015e-01 7.31403459e-04 2.05391025e+01] [-7.69326382e-03 -5.80072020e-04 9.99970238e-01 -1.07546420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92140051299998 meters 0.07080755269759363 Centerline is valid? [True, True] Translation: X:235.52, Y:20.54, Z:-1.08 [[ 9.99661918e-01 -2.52659497e-02 6.13845071e-03 2.35516392e+02] [ 2.52628344e-02 9.99680673e-01 5.84533469e-04 2.05351797e+01] [-6.15125933e-03 -4.29261186e-04 9.99980989e-01 -1.07895725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98140051299998 meters 0.07304207278712894 Centerline is valid? [True, True] Translation: X:235.58, Y:20.54, Z:-1.08 [[ 9.99644896e-01 -2.59459413e-02 6.07378247e-03 2.35575354e+02] [ 2.59429040e-02 9.99663259e-01 5.78337074e-04 2.05414786e+01] [-6.08674267e-03 -4.20560148e-04 9.99981387e-01 -1.08014690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04140051299999 meters 0.07030042203020329 Centerline is valid? [True, True] Translation: X:235.64, Y:20.54, Z:-1.08 [[ 9.99634199e-01 -2.61097890e-02 7.05322468e-03 2.35636759e+02] [ 2.61056963e-02 9.99658963e-01 6.71708639e-04 2.05407398e+01] [-7.06835743e-03 -4.87333586e-04 9.99974900e-01 -1.07817948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.101400513 meters 0.07034828088069353 Centerline is valid? [True, True] Translation: X:235.70, Y:20.54, Z:-1.08 [[ 9.99635761e-01 -2.62297031e-02 6.35196753e-03 2.35696969e+02] [ 2.62263858e-02 9.99655846e-01 6.04996950e-04 2.05432118e+01] [-6.36565037e-03 -4.38187435e-04 9.99979643e-01 -1.08014968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.161400513 meters 0.06855424124570358 Centerline is valid? [True, True] Translation: X:235.76, Y:20.54, Z:-1.08 [[ 9.99651953e-01 -2.55149675e-02 6.70510280e-03 2.35758000e+02] [ 2.55112551e-02 9.99674331e-01 6.38631529e-04 2.05438842e+01] [-6.71921382e-03 -4.67353668e-04 9.99977317e-01 -1.08154328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.221400513 meters 0.07279369465863489 Centerline is valid? [True, True] Translation: X:235.82, Y:20.55, Z:-1.08 [[ 9.99689696e-01 -2.41266599e-02 6.19814360e-03 2.35816766e+02] [ 2.41234614e-02 9.99708813e-01 5.90297694e-04 2.05541253e+01] [-6.21058069e-03 -4.40593844e-04 9.99980617e-01 -1.08168694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.281400513 meters 0.07582492758048584 Centerline is valid? [True, True] Translation: X:235.88, Y:20.56, Z:-1.09 [[ 9.99740217e-01 -2.24089525e-02 4.16379851e-03 2.35876279e+02] [ 2.24074942e-02 9.99748842e-01 3.96560459e-04 2.05648328e+01] [-4.17163925e-03 -3.03157148e-04 9.99991253e-01 -1.08596673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.341400513 meters 0.07550615422793285 Centerline is valid? [True, True] Translation: X:235.94, Y:20.57, Z:-1.08 [[ 9.99750889e-01 -2.12688972e-02 6.76706658e-03 2.35935382e+02] [ 2.12650186e-02 9.99773666e-01 6.44602406e-04 2.05719235e+01] [-6.77924495e-03 -5.00540032e-04 9.99976895e-01 -1.08281634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40140051299997 meters 0.07193560310501804 Centerline is valid? [True, True] Translation: X:236.00, Y:20.58, Z:-1.08 [[ 9.99675310e-01 -2.40097726e-02 8.53264756e-03 2.35995565e+02] [ 2.40037028e-02 9.99711539e-01 8.13080894e-04 2.05755482e+01] [-8.54970811e-03 -6.08001758e-04 9.99963266e-01 -1.07946299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46140051299997 meters 0.07094092246861336 Centerline is valid? [True, True] Translation: X:236.05, Y:20.58, Z:-1.08 [[ 9.99443827e-01 -3.27448248e-02 6.30970937e-03 2.36054551e+02] [ 3.27416793e-02 9.99463667e-01 6.01204284e-04 2.05847503e+01] [-6.32601159e-03 -3.94279430e-04 9.99979913e-01 -1.08426480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52140051299997 meters 0.059604650323028294 Centerline is valid? [True, True] Translation: X:236.12, Y:20.58, Z:-1.08 [[ 9.99263342e-01 -3.76308633e-02 7.52941293e-03 2.36115639e+02] [ 3.76265211e-02 9.99291614e-01 7.17577810e-04 2.05782752e+01] [-7.55108227e-03 -4.33743585e-04 9.99971396e-01 -1.08261838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58140051299998 meters 0.0597630013407119 Centerline is valid? [True, True] Translation: X:236.17, Y:20.58, Z:-1.08 [[ 9.99246677e-01 -3.83124602e-02 6.18337061e-03 2.36173784e+02] [ 3.83095490e-02 9.99265746e-01 5.88613215e-04 2.05838229e+01] [-6.20138167e-03 -3.51287659e-04 9.99980710e-01 -1.08326703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64140051299998 meters 0.06254096058679098 Centerline is valid? [True, True] Translation: X:236.23, Y:20.60, Z:-1.08 [[ 9.99318298e-01 -3.62681448e-02 6.89638929e-03 2.36233210e+02] [ 3.62644621e-02 9.99342011e-01 6.58345546e-04 2.05979038e+01] [-6.91572852e-03 -4.07802902e-04 9.99976003e-01 -1.08334736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70140051299998 meters 0.06246141083594436 Centerline is valid? [True, True] Translation: X:236.29, Y:20.61, Z:-1.08 [[ 9.99414752e-01 -3.32503818e-02 8.03526974e-03 2.36292556e+02] [ 3.32452851e-02 9.99446928e-01 7.67061731e-04 2.06103896e+01] [-8.05633075e-03 -4.99477976e-04 9.99967422e-01 -1.08296338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76140051299998 meters 0.06481739362870932 Centerline is valid? [True, True] Translation: X:236.35, Y:20.62, Z:-1.09 [[ 9.99441524e-01 -3.28849380e-02 5.93471396e-03 2.36351396e+02] [ 3.28821516e-02 9.99459075e-01 5.66500200e-04 2.06231691e+01] [-5.95013305e-03 -3.71037659e-04 9.99982229e-01 -1.08674125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.821400513 meters 0.063467306810826 Centerline is valid? [True, True] Translation: X:236.41, Y:20.63, Z:-1.08 [[ 9.99320567e-01 -3.63093275e-02 6.32755127e-03 2.36410752e+02] [ 3.63062276e-02 9.99340529e-01 6.04117768e-04 2.06323737e+01] [-6.34531354e-03 -3.73977793e-04 9.99979798e-01 -1.08498911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.881400513 meters 0.060813346925376814 Centerline is valid? [True, True] Translation: X:236.47, Y:20.64, Z:-1.08 [[ 9.99260821e-01 -3.77180636e-02 7.42696872e-03 2.36470967e+02] [ 3.77138318e-02 9.99288329e-01 7.09072105e-04 2.06354820e+01] [-7.44842799e-03 -4.28448525e-04 9.99972168e-01 -1.08355158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.941400513 meters 0.05373751345858798 Centerline is valid? [True, True] Translation: X:236.53, Y:20.63, Z:-1.08 [[ 9.99157794e-01 -3.99294511e-02 9.45204396e-03 2.36531639e+02] [ 3.99226941e-02 9.99202364e-01 9.02550735e-04 2.06339033e+01] [-9.48054302e-03 -5.24439541e-04 9.99954921e-01 -1.08230886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.001400513 meters 0.05573095543396602 Centerline is valid? [True, True] Translation: X:236.59, Y:20.64, Z:-1.09 [[ 9.99149594e-01 -4.06917316e-02 6.65365693e-03 2.36590202e+02] [ 4.06884000e-02 9.99171682e-01 6.35382652e-04 2.06425266e+01] [-6.67400040e-03 -3.64115664e-04 9.99977662e-01 -1.08775699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.061400513 meters 0.058715031041525444 Centerline is valid? [True, True] Translation: X:236.65, Y:20.65, Z:-1.09 [[ 9.99201085e-01 -3.94281885e-02 6.52767004e-03 2.36647691e+02] [ 3.94249553e-02 9.99222340e-01 6.23292241e-04 2.06508000e+01] [-6.54716901e-03 -3.65441184e-04 9.99978500e-01 -1.08743940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.121400513 meters 0.059078438043987755 Centerline is valid? [True, True] Translation: X:236.71, Y:20.66, Z:-1.09 [[ 9.99257206e-01 -3.78935607e-02 7.00823118e-03 2.36706775e+02] [ 3.78897939e-02 9.99281700e-01 6.69519010e-04 2.06556951e+01] [-7.02856762e-03 -4.03481260e-04 9.99975218e-01 -1.08808744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18140051299997 meters 0.06625219214950306 Centerline is valid? [True, True] Translation: X:236.76, Y:20.66, Z:-1.09 [[ 9.99199095e-01 -3.93397058e-02 7.31826257e-03 2.36764843e+02] [ 3.93356337e-02 9.99225810e-01 6.99582517e-04 2.06644999e+01] [-7.34011821e-03 -4.11153722e-04 9.99972976e-01 -1.09021753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24140051299997 meters 0.057832071768391224 Centerline is valid? [True, True] Translation: X:236.83, Y:20.65, Z:-1.09 [[ 9.99176804e-01 -4.00315789e-02 6.57166800e-03 2.36825291e+02] [ 4.00283123e-02 9.99198349e-01 6.27910268e-04 2.06544683e+01] [-6.59153605e-03 -3.64340596e-04 9.99978209e-01 -1.09110751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30140051299998 meters 0.05772520734016833 Centerline is valid? [True, True] Translation: X:236.88, Y:20.65, Z:-1.09 [[ 9.99199461e-01 -3.96347449e-02 5.43358096e-03 2.36884130e+02] [ 3.96324998e-02 9.99214188e-01 5.20268494e-04 2.06512809e+01] [-5.44993189e-03 -3.04505603e-04 9.99985103e-01 -1.09279379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36140051299998 meters 0.060004894223425274 Centerline is valid? [True, True] Translation: X:236.94, Y:20.65, Z:-1.10 [[ 9.99245321e-01 -3.85793234e-02 4.51932885e-03 2.36944075e+02] [ 3.85777579e-02 9.99255507e-01 4.33090962e-04 2.06540425e+01] [-4.53267260e-03 -2.58418544e-04 9.99989694e-01 -1.09500527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42140051299998 meters 0.06751735380870776 Centerline is valid? [True, True] Translation: X:237.00, Y:20.66, Z:-1.10 [[ 9.99348004e-01 -3.57863364e-02 4.78595208e-03 2.37003012e+02] [ 3.57845480e-02 9.99359423e-01 4.58807918e-04 2.06571601e+01] [-4.79930536e-03 -2.87245645e-04 9.99988442e-01 -1.09555801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48140051299998 meters 0.07182093646171171 Centerline is valid? [True, True] Translation: X:237.06, Y:20.66, Z:-1.10 [[ 9.99545429e-01 -2.98102811e-02 4.50355303e-03 2.37063492e+02] [ 2.98086365e-02 9.99555531e-01 4.31871925e-04 2.06563388e+01] [-4.51442556e-03 -2.97430834e-04 9.99989766e-01 -1.09530886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54140051299999 meters 0.07122320291017106 Centerline is valid? [True, True] Translation: X:237.12, Y:20.66, Z:-1.09 [[ 9.99674883e-01 -2.48884860e-02 5.54000980e-03 2.37123546e+02] [ 2.48859221e-02 9.99690156e-01 5.31265218e-04 2.06577630e+01] [-5.55151565e-03 -3.93224242e-04 9.99984513e-01 -1.09415952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.601400513 meters 0.08402365131846642 Centerline is valid? [True, True] Translation: X:237.18, Y:20.67, Z:-1.09 [[ 9.99791385e-01 -1.87144755e-02 8.18258510e-03 2.37181317e+02] [ 1.87086764e-02 9.99824669e-01 7.84694249e-04 2.06745845e+01] [-8.19583559e-03 -6.31445213e-04 9.99966214e-01 -1.09190061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.661400513 meters 0.07933567086616967 Centerline is valid? [True, True] Translation: X:237.24, Y:20.67, Z:-1.09 [[ 9.99819956e-01 -1.70247464e-02 8.37937572e-03 2.37243053e+02] [ 1.70186039e-02 9.99854850e-01 8.03810696e-04 2.06709425e+01] [-8.39184412e-03 -6.61060698e-04 9.99964569e-01 -1.09150422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.721400513 meters 0.0764687357761203 Centerline is valid? [True, True] Translation: X:237.30, Y:20.67, Z:-1.10 [[ 9.99798813e-01 -1.89197059e-02 6.66173278e-03 2.37304336e+02] [ 1.89158657e-02 9.99820875e-01 6.38991204e-04 2.06710694e+01] [-6.67262902e-03 -5.12850205e-04 9.99977606e-01 -1.09504657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.781400513 meters 0.07894740197874255 Centerline is valid? [True, True] Translation: X:237.36, Y:20.68, Z:-1.10 [[ 9.99690815e-01 -2.37962312e-02 7.21203796e-03 2.37363315e+02] [ 2.37918577e-02 9.99716694e-01 6.91612482e-04 2.06785572e+01] [-7.22645252e-03 -5.19810865e-04 9.99973754e-01 -1.09639851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.841400513 meters 0.0620595144813193 Centerline is valid? [True, True] Translation: X:237.43, Y:20.66, Z:-1.10 [[ 9.99595101e-01 -2.74140075e-02 7.62280159e-03 2.37426108e+02] [ 2.74092252e-02 9.99624029e-01 7.31155239e-04 2.06623724e+01] [-7.63997953e-03 -5.21924110e-04 9.99970679e-01 -1.09607646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90140051299997 meters 0.06557098851680326 Centerline is valid? [True, True] Translation: X:237.49, Y:20.67, Z:-1.10 [[ 9.99402262e-01 -3.39006797e-02 6.77226722e-03 2.37485011e+02] [ 3.38970541e-02 9.99425119e-01 6.49467701e-04 2.06698521e+01] [-6.79039137e-03 -4.19519581e-04 9.99976857e-01 -1.09914208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96140051299997 meters 0.06145191924417177 Centerline is valid? [True, True] Translation: X:237.55, Y:20.67, Z:-1.10 [[ 9.99316462e-01 -3.62728247e-02 7.13379971e-03 2.37545601e+02] [ 3.62688617e-02 9.99341834e-01 6.84150388e-04 2.06677279e+01] [-7.15392056e-03 -4.24947950e-04 9.99974320e-01 -1.09822347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02140051299997 meters 0.062260758643845344 Centerline is valid? [True, True] Translation: X:237.61, Y:20.67, Z:-1.10 [[ 9.99360092e-01 -3.51407893e-02 6.67326207e-03 2.37605421e+02] [ 3.51372963e-02 9.99382290e-01 6.39999326e-04 2.06718458e+01] [-6.69163001e-03 -4.05109399e-04 9.99977529e-01 -1.09742521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08140051299998 meters 0.06294809555691513 Centerline is valid? [True, True] Translation: X:237.67, Y:20.67, Z:-1.10 [[ 9.99402218e-01 -3.44062828e-02 3.37861844e-03 2.37665249e+02] [ 3.44053834e-02 9.99407907e-01 3.23986514e-04 2.06716763e+01] [-3.38776516e-03 -2.07550178e-04 9.99994240e-01 -1.10207832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14140051299998 meters 0.06578583317898706 Centerline is valid? [True, True] Translation: X:237.72, Y:20.68, Z:-1.11 [[ 9.99420931e-01 -3.39621615e-02 2.09143215e-03 2.37722323e+02] [ 3.39618167e-02 9.99423111e-01 2.00140387e-04 2.06779431e+01] [-2.09702283e-03 -1.28995657e-04 9.99997793e-01 -1.10506872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20140051299998 meters 0.06554166004411774 Centerline is valid? [True, True] Translation: X:237.78, Y:20.68, Z:-1.10 [[ 9.99545643e-01 -2.98897797e-02 3.88685870e-03 2.37783014e+02] [ 2.98885532e-02 9.99553168e-01 3.73260331e-04 2.06787181e+01] [-3.89627859e-03 -2.56918155e-04 9.99992376e-01 -1.10157241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26140051299998 meters 0.07055150336722242 Centerline is valid? [True, True] Translation: X:237.84, Y:20.69, Z:-1.10 [[ 9.99661873e-01 -2.53067433e-02 5.97572815e-03 2.37842522e+02] [ 2.53037631e-02 9.99679644e-01 5.73797580e-04 2.06902994e+01] [-5.98833474e-03 -4.22395154e-04 9.99981981e-01 -1.09891484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.321400513 meters 0.07764141155193699 Centerline is valid? [True, True] Translation: X:237.90, Y:20.70, Z:-1.10 [[ 9.99839800e-01 -1.74629576e-02 3.92678457e-03 2.37901840e+02] [ 1.74616105e-02 9.99847463e-01 3.77087753e-04 2.07007434e+01] [-3.93277066e-03 -3.08459361e-04 9.99992219e-01 -1.10392873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.381400513 meters 0.0813300369386247 Centerline is valid? [True, True] Translation: X:237.96, Y:20.71, Z:-1.10 [[ 9.99863866e-01 -1.55034391e-02 5.64733035e-03 2.37960777e+02] [ 1.55006216e-02 9.99879711e-01 5.42342061e-04 2.07098531e+01] [-5.65505921e-03 -4.54731099e-04 9.99983907e-01 -1.10243975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.441400513 meters 0.08385997577737428 Centerline is valid? [True, True] Translation: X:238.02, Y:20.72, Z:-1.10 [[ 9.99807458e-01 -1.78827365e-02 8.07809464e-03 2.38020145e+02] [ 1.78770474e-02 9.99839892e-01 7.75919433e-04 2.07171856e+01] [-8.09067684e-03 -6.31357554e-04 9.99967071e-01 -1.10065379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.501400513 meters 0.07823203305084349 Centerline is valid? [True, True] Translation: X:238.08, Y:20.71, Z:-1.10 [[ 9.99767558e-01 -2.05131741e-02 6.63625439e-03 2.38081285e+02] [ 2.05093917e-02 9.99789457e-01 6.37521432e-04 2.07149162e+01] [-6.64793476e-03 -5.01267705e-04 9.99977777e-01 -1.10389006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.561400513 meters 0.06826272080095158 Centerline is valid? [True, True] Translation: X:238.14, Y:20.71, Z:-1.10 [[ 9.99707856e-01 -2.35505408e-02 5.43828659e-03 2.38142308e+02] [ 2.35480455e-02 9.99722570e-01 5.22424497e-04 2.07113571e+01] [-5.44908122e-03 -3.94210854e-04 9.99985076e-01 -1.10455118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.621400513 meters 0.07350239704423911 Centerline is valid? [True, True] Translation: X:238.20, Y:20.72, Z:-1.10 [[ 9.99663588e-01 -2.51272610e-02 6.42901771e-03 2.38200735e+02] [ 2.51238065e-02 9.99684157e-01 6.17539452e-04 2.07239500e+01] [-6.44250422e-03 -4.55810307e-04 9.99979143e-01 -1.10340725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68140051299997 meters 0.06867659959226065 Centerline is valid? [True, True] Translation: X:238.26, Y:20.72, Z:-1.11 [[ 9.99576608e-01 -2.86725286e-02 4.94874340e-03 2.38261673e+02] [ 2.86705243e-02 9.99588803e-01 4.75498291e-04 2.07211304e+01] [-4.96034223e-03 -3.33413902e-04 9.99987642e-01 -1.10641880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74140051299997 meters 0.06796989779942172 Centerline is valid? [True, True] Translation: X:238.32, Y:20.73, Z:-1.11 [[ 9.99503508e-01 -3.13678414e-02 2.96568343e-03 2.38321171e+02] [ 3.13671336e-02 9.99507890e-01 2.84899684e-04 2.07250756e+01] [-2.97316068e-03 -1.91733246e-04 9.99995562e-01 -1.11057026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80140051299998 meters 0.0670158504200763 Centerline is valid? [True, True] Translation: X:238.38, Y:20.73, Z:-1.11 [[ 9.99503120e-01 -3.14159713e-02 2.55930086e-03 2.38379566e+02] [ 3.14154472e-02 9.99506383e-01 2.44744461e-04 2.07292071e+01] [-2.56572643e-03 -1.64221271e-04 9.99996695e-01 -1.11172947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86140051299998 meters 0.07243933566306346 Centerline is valid? [True, True] Translation: X:238.44, Y:20.74, Z:-1.11 [[ 9.99568520e-01 -2.90949734e-02 4.03182170e-03 2.38438059e+02] [ 2.90936438e-02 9.99576615e-01 3.88060353e-04 2.07408199e+01] [-4.04140529e-03 -2.70592529e-04 9.99991797e-01 -1.10989764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92140051299998 meters 0.07509988735055251 Centerline is valid? [True, True] Translation: X:238.50, Y:20.75, Z:-1.11 [[ 9.99646896e-01 -2.62127090e-02 4.35630893e-03 2.38497788e+02] [ 2.62111289e-02 9.99656341e-01 4.19428471e-04 2.07517096e+01] [-4.36580620e-03 -3.05096594e-04 9.99990423e-01 -1.10965851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98140051299998 meters 0.07445617542126658 Centerline is valid? [True, True] Translation: X:238.56, Y:20.76, Z:-1.11 [[ 9.99717223e-01 -2.32440087e-02 5.01906360e-03 2.38557443e+02] [ 2.32418740e-02 9.99729754e-01 4.83241287e-04 2.07609433e+01] [-5.02893969e-03 -3.66452194e-04 9.99987288e-01 -1.11013363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04140051299999 meters 0.07068001439507247 Centerline is valid? [True, True] Translation: X:238.62, Y:20.77, Z:-1.11 [[ 9.99684334e-01 -2.46459105e-02 4.87967197e-03 2.38617246e+02] [ 2.46439097e-02 9.99696182e-01 4.69755488e-04 2.07652156e+01] [-4.88976699e-03 -3.49353007e-04 9.99987984e-01 -1.11069385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.101400513 meters 0.060959005297249284 Centerline is valid? [True, True] Translation: X:238.68, Y:20.76, Z:-1.11 [[ 9.99447327e-01 -3.29797917e-02 4.16822796e-03 2.38678684e+02] [ 3.29784035e-02 9.99455984e-01 4.01356476e-04 2.07570058e+01] [-4.17919703e-03 -2.63673153e-04 9.99991232e-01 -1.11137484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.161400513 meters 0.057288074872612886 Centerline is valid? [True, True] Translation: X:238.74, Y:20.76, Z:-1.11 [[ 9.99148181e-01 -4.07779901e-02 6.32996647e-03 2.38738572e+02] [ 4.07749445e-02 9.99168170e-01 6.09495248e-04 2.07557060e+01] [-6.34955500e-03 -3.50872037e-04 9.99979780e-01 -1.10933023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.221400513 meters 0.04805970450569632 Centerline is valid? [True, True] Translation: X:238.80, Y:20.74, Z:-1.11 [[ 9.98859072e-01 -4.72311313e-02 7.05504469e-03 2.38800283e+02] [ 4.72275078e-02 9.98883928e-01 6.79422264e-04 2.07434503e+01] [-7.07926064e-03 -3.45454914e-04 9.99974882e-01 -1.10854623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.281400513 meters 0.052713786373359973 Centerline is valid? [True, True] Translation: X:238.86, Y:20.75, Z:-1.11 [[ 9.98970765e-01 -4.47067322e-02 7.66286332e-03 2.38859230e+02] [ 4.47023837e-02 9.99000076e-01 7.37911532e-04 2.07486247e+01] [-7.68819066e-03 -3.94603791e-04 9.99970368e-01 -1.10815153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.341400513 meters 0.053211824845469866 Centerline is valid? [True, True] Translation: X:238.92, Y:20.75, Z:-1.11 [[ 9.99186185e-01 -3.98372845e-02 6.32122338e-03 2.38919664e+02] [ 3.98342269e-02 9.99206117e-01 6.08917886e-04 2.07533007e+01] [-6.34046270e-03 -3.56621293e-04 9.99979835e-01 -1.11038168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40140051299997 meters 0.06457876331862909 Centerline is valid? [True, True] Translation: X:238.98, Y:20.77, Z:-1.11 [[ 9.99372686e-01 -3.48004319e-02 6.57003508e-03 2.38977987e+02] [ 3.47970208e-02 9.99394200e-01 6.32833435e-04 2.07694244e+01] [-6.58807783e-03 -4.03818802e-04 9.99978217e-01 -1.11235987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46140051299997 meters 0.06294706187774406 Centerline is valid? [True, True] Translation: X:239.04, Y:20.77, Z:-1.11 [[ 9.99340738e-01 -3.58900640e-02 5.47654980e-03 2.39037680e+02] [ 3.58877136e-02 9.99355690e-01 5.26879026e-04 2.07667779e+01] [-5.49193093e-03 -3.29990823e-04 9.99984865e-01 -1.11437262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52140051299997 meters 0.06742373421628414 Centerline is valid? [True, True] Translation: X:239.09, Y:20.77, Z:-1.11 [[ 9.99342468e-01 -3.57675340e-02 5.94269477e-03 2.39094712e+02] [ 3.57647567e-02 9.99360072e-01 5.72995218e-04 2.07749196e+01] [-5.95938650e-03 -3.60079423e-04 9.99982178e-01 -1.11488684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58140051299998 meters 0.0682906823459989 Centerline is valid? [True, True] Translation: X:239.15, Y:20.78, Z:-1.11 [[ 9.99526362e-01 -3.01992525e-02 5.92081323e-03 2.39154646e+02] [ 3.01963932e-02 9.99543821e-01 5.71751869e-04 2.07808025e+01] [-5.93537877e-03 -3.92693862e-04 9.99982308e-01 -1.11470143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64140051299998 meters 0.07610472057068997 Centerline is valid? [True, True] Translation: X:239.21, Y:20.80, Z:-1.12 [[ 9.99617477e-01 -2.71306655e-02 5.36908531e-03 2.39212733e+02] [ 2.71282704e-02 9.99631826e-01 5.18427222e-04 2.07951239e+01] [-5.38117383e-03 -3.72574913e-04 9.99985452e-01 -1.11627243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70140051299998 meters 0.07272964745177943 Centerline is valid? [True, True] Translation: X:239.27, Y:20.80, Z:-1.11 [[ 9.99633229e-01 -2.61763941e-02 6.94291163e-03 2.39271610e+02] [ 2.61723659e-02 9.99657220e-01 6.70421443e-04 2.08017652e+01] [-6.95808095e-03 -4.88463128e-04 9.99975673e-01 -1.11455999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76140051299998 meters 0.07123208924576084 Centerline is valid? [True, True] Translation: X:239.33, Y:20.81, Z:-1.11 [[ 9.99568819e-01 -2.83684358e-02 7.57685716e-03 2.39331067e+02] [ 2.83636985e-02 9.99597401e-01 7.31976003e-04 2.08095517e+01] [-7.59457174e-03 -5.16752696e-04 9.99971027e-01 -1.11416409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.821400513 meters 0.062441928662088225 Centerline is valid? [True, True] Translation: X:239.39, Y:20.81, Z:-1.11 [[ 9.99359668e-01 -3.46458221e-02 8.93985221e-03 2.39392597e+02] [ 3.46394756e-02 9.99399500e-01 8.63823354e-04 2.08076578e+01] [-8.96441169e-03 -5.53598428e-04 9.99959666e-01 -1.11303427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.881400513 meters 0.05782941083288235 Centerline is valid? [True, True] Translation: X:239.45, Y:20.81, Z:-1.12 [[ 9.99197402e-01 -3.92925007e-02 7.78783533e-03 2.39452695e+02] [ 3.92878256e-02 9.99227652e-01 7.52448987e-04 2.08108057e+01] [-7.81138601e-03 -4.45877957e-04 9.99969391e-01 -1.11575631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.941400513 meters 0.054067670244223626 Centerline is valid? [True, True] Translation: X:239.51, Y:20.81, Z:-1.12 [[ 9.99107714e-01 -4.16429590e-02 7.04561059e-03 2.39512334e+02] [ 4.16391896e-02 9.99132481e-01 6.80911603e-04 2.08148926e+01] [-7.06785356e-03 -3.86930520e-04 9.99974948e-01 -1.11819866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.001400513 meters 0.05237286532594914 Centerline is valid? [True, True] Translation: X:239.57, Y:20.82, Z:-1.12 [[ 9.98995469e-01 -4.38718676e-02 9.12759861e-03 2.39571703e+02] [ 4.38656328e-02 9.99037050e-01 8.82247370e-04 2.08202885e+01] [-9.15751503e-03 -4.80973236e-04 9.99957953e-01 -1.11661008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.061400513 meters 0.05203858563612859 Centerline is valid? [True, True] Translation: X:239.63, Y:20.83, Z:-1.12 [[ 9.99006526e-01 -4.39356875e-02 7.45761160e-03 2.39630422e+02] [ 4.39315294e-02 9.99034284e-01 7.20543744e-04 2.08263710e+01] [-7.48206725e-03 -3.92203619e-04 9.99971932e-01 -1.12010429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.121400513 meters 0.05972974860162422 Centerline is valid? [True, True] Translation: X:239.69, Y:20.84, Z:-1.12 [[ 9.99226070e-01 -3.86893826e-02 7.09879248e-03 2.39688289e+02] [ 3.86854716e-02 9.99251200e-01 6.87475436e-04 2.08434736e+01] [-7.12007491e-03 -4.12323243e-04 9.99974567e-01 -1.12025718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18140051299997 meters 0.05704205439890062 Centerline is valid? [True, True] Translation: X:239.75, Y:20.85, Z:-1.12 [[ 9.99338943e-01 -3.55546412e-02 7.58582935e-03 2.39747952e+02] [ 3.55500849e-02 9.99367626e-01 7.34664532e-04 2.08502177e+01] [-7.60715300e-03 -4.64501999e-04 9.99970957e-01 -1.11995673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24140051299997 meters 0.06505037928627466 Centerline is valid? [True, True] Translation: X:239.80, Y:20.87, Z:-1.12 [[ 9.99367527e-01 -3.49810051e-02 6.39331932e-03 2.39803962e+02] [ 3.49777586e-02 9.99387899e-01 6.18950971e-04 2.08688665e+01] [-6.41105749e-03 -3.94935521e-04 9.99979371e-01 -1.12407766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30140051299998 meters 0.05824235244391101 Centerline is valid? [True, True] Translation: X:239.87, Y:20.87, Z:-1.12 [[ 9.99248147e-01 -3.82453899e-02 6.35857039e-03 2.39865148e+02] [ 3.82422406e-02 9.99268308e-01 6.16183157e-04 2.08664873e+01] [-6.37748404e-03 -3.72553899e-04 9.99979594e-01 -1.12399635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36140051299998 meters 0.05311012027969695 Centerline is valid? [True, True] Translation: X:239.93, Y:20.87, Z:-1.12 [[ 9.99138174e-01 -4.08092920e-02 7.58357081e-03 2.39925655e+02] [ 4.08048859e-02 9.99166864e-01 7.34888650e-04 2.08666166e+01] [-7.60724295e-03 -4.24808562e-04 9.99970974e-01 -1.12209761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42140051299998 meters 0.05761529693662847 Centerline is valid? [True, True] Translation: X:239.98, Y:20.88, Z:-1.13 [[ 9.99082466e-01 -4.22599941e-02 6.95125831e-03 2.39982777e+02] [ 4.22563278e-02 9.99106575e-01 6.73509543e-04 2.08782153e+01] [-6.97351040e-03 -3.79156924e-04 9.99975613e-01 -1.12506433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48140051299998 meters 0.05521873655864323 Centerline is valid? [True, True] Translation: X:240.04, Y:20.88, Z:-1.13 [[ 9.99091050e-01 -4.21906060e-02 6.08498840e-03 2.40042123e+02] [ 4.21877964e-02 9.99109525e-01 5.89404733e-04 2.08795175e+01] [-6.10443721e-03 -3.32156742e-04 9.99981313e-01 -1.12734759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54140051299999 meters 0.05164201080442255 Centerline is valid? [True, True] Translation: X:240.10, Y:20.88, Z:-1.13 [[ 9.99158258e-01 -4.06885078e-02 5.21743649e-03 2.40101872e+02] [ 4.06864153e-02 9.99171837e-01 5.06623852e-04 2.08786703e+01] [-5.23372937e-03 -2.93918617e-04 9.99986261e-01 -1.12794149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.601400513 meters 0.05295765393776408 Centerline is valid? [True, True] Translation: X:240.16, Y:20.88, Z:-1.13 [[ 9.99202554e-01 -3.96342390e-02 4.83560532e-03 2.40161690e+02] [ 3.96324282e-02 9.99214216e-01 4.69761594e-04 2.08823540e+01] [-4.85042422e-03 -2.77740204e-04 9.99988198e-01 -1.12919039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.661400513 meters 0.06503359583165384 Centerline is valid? [True, True] Translation: X:240.22, Y:20.90, Z:-1.13 [[ 9.99220814e-01 -3.91256667e-02 5.19106190e-03 2.40217597e+02] [ 3.91235732e-02 9.99234253e-01 5.04252204e-04 2.09020268e+01] [-5.20681606e-03 -3.00766407e-04 9.99986399e-01 -1.13088631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.721400513 meters 0.06736151153861131 Centerline is valid? [True, True] Translation: X:240.27, Y:20.91, Z:-1.13 [[ 9.99240524e-01 -3.85380264e-02 5.76153060e-03 2.40274841e+02] [ 3.85354353e-02 9.99257077e-01 5.60092217e-04 2.09070783e+01] [-5.77883507e-03 -3.37643750e-04 9.99983245e-01 -1.13127569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.781400513 meters 0.05753964161093127 Centerline is valid? [True, True] Translation: X:240.34, Y:20.89, Z:-1.13 [[ 9.99182849e-01 -3.99730643e-02 5.98241269e-03 2.40336529e+02] [ 3.99702932e-02 9.99200699e-01 5.82097245e-04 2.08932712e+01] [-6.00089915e-03 -3.42502794e-04 9.99981936e-01 -1.13026442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.841400513 meters 0.058811487760762095 Centerline is valid? [True, True] Translation: X:240.40, Y:20.90, Z:-1.13 [[ 9.99228474e-01 -3.90204267e-02 4.45685156e-03 2.40395639e+02] [ 3.90188802e-02 9.99238380e-01 4.33451753e-04 2.08966157e+01] [-4.47037061e-03 -2.59215976e-04 9.99989974e-01 -1.13279793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90140051299997 meters 0.06627288360118197 Centerline is valid? [True, True] Translation: X:240.45, Y:20.91, Z:-1.13 [[ 9.99396807e-01 -3.42771753e-02 5.57653373e-03 2.40453794e+02] [ 3.42746770e-02 9.99412303e-01 5.42986805e-04 2.09107285e+01] [-5.59186848e-03 -3.51525386e-04 9.99984304e-01 -1.13135585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96140051299997 meters 0.07971872106545572 Centerline is valid? [True, True] Translation: X:240.51, Y:20.93, Z:-1.13 [[ 9.99757338e-01 -2.12924006e-02 5.64795861e-03 2.40512014e+02] [ 2.12896317e-02 9.99773199e-01 5.49930104e-04 2.09342154e+01] [-5.65838698e-03 -4.29553699e-04 9.99983899e-01 -1.13306475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02140051299997 meters 0.08248976732717817 Centerline is valid? [True, True] Translation: X:240.57, Y:20.95, Z:-1.13 [[ 9.99888749e-01 -1.36023783e-02 6.12089144e-03 2.40571391e+02] [ 1.35989830e-02 9.99907352e-01 5.95996090e-04 2.09483742e+01] [-6.12843131e-03 -5.12691886e-04 9.99981090e-01 -1.13205184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08140051299998 meters 0.08506048877559057 Centerline is valid? [True, True] Translation: X:240.63, Y:20.96, Z:-1.13 [[ 9.99894280e-01 -1.20345771e-02 8.16075380e-03 2.40631622e+02] [ 1.20284887e-02 9.99927339e-01 7.94725300e-04 2.09615123e+01] [-8.16972502e-03 -6.96479747e-04 9.99966385e-01 -1.12885566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14140051299998 meters 0.08473334601566355 Centerline is valid? [True, True] Translation: X:240.69, Y:20.98, Z:-1.13 [[ 9.99887165e-01 -1.28386921e-02 7.79908444e-03 2.40692035e+02] [ 1.28331561e-02 9.99917363e-01 7.59452644e-04 2.09751341e+01] [-7.80819032e-03 -6.59280083e-04 9.99969298e-01 -1.13122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20140051299998 meters 0.08217634216271827 Centerline is valid? [True, True] Translation: X:240.75, Y:20.98, Z:-1.13 [[ 9.99874888e-01 -1.46231554e-02 6.03085702e-03 2.40752846e+02] [ 1.46198782e-02 9.99892951e-01 5.87137591e-04 2.09815150e+01] [-6.03879723e-03 -4.98893738e-04 9.99981642e-01 -1.13481194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26140051299998 meters 0.07716695133755584 Centerline is valid? [True, True] Translation: X:240.81, Y:20.99, Z:-1.13 [[ 9.99732448e-01 -2.20155834e-02 7.09549876e-03 2.40811821e+02] [ 2.20112332e-02 9.99757485e-01 6.90604635e-04 2.09902218e+01] [-7.10898206e-03 -5.34239184e-04 9.99974588e-01 -1.13330354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.321400513 meters 0.06787729280531472 Centerline is valid? [True, True] Translation: X:240.87, Y:20.99, Z:-1.14 [[ 9.99486386e-01 -3.15477675e-02 5.63059097e-03 2.40872659e+02] [ 3.15451780e-02 9.99502177e-01 5.48151978e-04 2.09868108e+01] [-5.64508090e-03 -3.70252445e-04 9.99983998e-01 -1.13722824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.381400513 meters 0.06081204189200918 Centerline is valid? [True, True] Translation: X:240.93, Y:20.98, Z:-1.14 [[ 9.99263624e-01 -3.79625780e-02 5.57247041e-03 2.40933467e+02] [ 3.79601412e-02 9.99279107e-01 5.42450724e-04 2.09821091e+01] [-5.58904608e-03 -3.30519513e-04 9.99984327e-01 -1.13853290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.441400513 meters 0.056596969962986333 Centerline is valid? [True, True] Translation: X:240.99, Y:20.98, Z:-1.14 [[ 9.99141907e-01 -4.10010170e-02 5.86232621e-03 2.40994451e+02] [ 4.09983723e-02 9.99159050e-01 5.70650424e-04 2.09805404e+01] [-5.88079353e-03 -3.29814920e-04 9.99982654e-01 -1.13867308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.501400513 meters 0.062141996925199235 Centerline is valid? [True, True] Translation: X:241.05, Y:20.99, Z:-1.14 [[ 9.99242283e-01 -3.85534158e-02 5.33791297e-03 2.41052655e+02] [ 3.85511887e-02 9.99256492e-01 5.19517450e-04 2.09908774e+01] [-5.35397336e-03 -3.13340913e-04 9.99985618e-01 -1.14020018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.561400513 meters 0.05618565760798326 Centerline is valid? [True, True] Translation: X:241.11, Y:20.99, Z:-1.14 [[ 9.99381178e-01 -3.47568430e-02 5.40586151e-03 2.41113366e+02] [ 3.47545022e-02 9.99395741e-01 5.26372255e-04 2.09883756e+01] [-5.42089001e-03 -3.38168498e-04 9.99985250e-01 -1.14034779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.621400513 meters 0.06438202770681394 Centerline is valid? [True, True] Translation: X:241.17, Y:21.00, Z:-1.14 [[ 9.99466180e-01 -3.24661724e-02 3.64741288e-03 2.41170953e+02] [ 3.24650920e-02 9.99472807e-01 3.55052400e-04 2.10019017e+01] [-3.65701718e-03 -2.36449272e-04 9.99993285e-01 -1.14316186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68140051299997 meters 0.06535302816814487 Centerline is valid? [True, True] Translation: X:241.23, Y:21.01, Z:-1.14 [[ 9.99545249e-01 -3.00849192e-02 2.04785834e-03 2.41231474e+02] [ 3.00845736e-02 9.99547337e-01 1.99403101e-04 2.10063209e+01] [-2.05293038e-03 -1.37703478e-04 9.99997883e-01 -1.14494728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74140051299997 meters 0.0688351846709579 Centerline is valid? [True, True] Translation: X:241.29, Y:21.02, Z:-1.14 [[ 9.99541292e-01 -2.98133576e-02 5.32622549e-03 2.41287893e+02] [ 2.98110171e-02 9.99555418e-01 5.18298417e-04 2.10167386e+01] [-5.33930977e-03 -3.59280470e-04 9.99985681e-01 -1.14073649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80140051299998 meters 0.07639451282148536 Centerline is valid? [True, True] Translation: X:241.34, Y:21.03, Z:-1.14 [[ 9.99567524e-01 -2.87318529e-02 6.26466355e-03 2.41344969e+02] [ 2.87285890e-02 9.99587063e-01 6.10391503e-04 2.10327110e+01] [-6.27961432e-03 -4.30152579e-04 9.99980191e-01 -1.14161968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86140051299998 meters 0.07056294121916293 Centerline is valid? [True, True] Translation: X:241.40, Y:21.04, Z:-1.14 [[ 9.99571394e-01 -2.85373919e-02 6.53033361e-03 2.41404022e+02] [ 2.85338417e-02 9.99592625e-01 6.36196245e-04 2.10360734e+01] [-6.54582869e-03 -4.49588063e-04 9.99978475e-01 -1.14271000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92140051299998 meters 0.06833993638371488 Centerline is valid? [True, True] Translation: X:241.46, Y:21.05, Z:-1.14 [[ 9.99521528e-01 -2.96070601e-02 8.95195208e-03 2.41462773e+02] [ 2.96004113e-02 9.99561429e-01 8.74325984e-04 2.10457724e+01] [-8.97391224e-03 -6.08926180e-04 9.99959548e-01 -1.13897542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98140051299998 meters 0.06522151555438135 Centerline is valid? [True, True] Translation: X:241.52, Y:21.06, Z:-1.14 [[ 9.99362501e-01 -3.42636311e-02 1.00297414e-02 2.41522713e+02] [ 3.42555158e-02 9.99412627e-01 9.79855057e-04 2.10587548e+01] [-1.00574236e-02 -6.35656434e-04 9.99949221e-01 -1.13874196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04140051299999 meters 0.06126422062530043 Centerline is valid? [True, True] Translation: X:241.58, Y:21.07, Z:-1.14 [[ 9.99252052e-01 -3.76624836e-02 8.76782752e-03 2.41582582e+02] [ 3.76564120e-02 9.99290379e-01 8.56609612e-04 2.10666950e+01] [-8.79386773e-03 -5.25803987e-04 9.99961195e-01 -1.14154897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.101400513 meters 0.057605700467662425 Centerline is valid? [True, True] Translation: X:241.64, Y:21.08, Z:-1.14 [[ 9.99055137e-01 -4.22017053e-02 1.03850262e-02 2.41641538e+02] [ 4.21934313e-02 9.99108945e-01 1.01462933e-03 2.10794013e+01] [-1.04185917e-02 -5.75490757e-04 9.99945559e-01 -1.13917339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.161400513 meters 0.055454561312335796 Centerline is valid? [True, True] Translation: X:241.70, Y:21.09, Z:-1.14 [[ 9.98932150e-01 -4.51769132e-02 9.67506104e-03 2.41701441e+02] [ 4.51698692e-02 9.98978873e-01 9.45451352e-04 2.10865474e+01] [-9.70789415e-03 -5.07420510e-04 9.99952749e-01 -1.14109097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.221400513 meters 0.048662456396352215 Centerline is valid? [True, True] Translation: X:241.76, Y:21.09, Z:-1.15 [[ 9.98763330e-01 -4.94645920e-02 5.00642610e-03 2.41762065e+02] [ 4.94627597e-02 9.98775849e-01 4.89233368e-04 2.10870943e+01] [-5.02449720e-03 -2.40996697e-04 9.99987348e-01 -1.14858301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.281400513 meters 0.05123805271103905 Centerline is valid? [True, True] Translation: X:241.82, Y:21.09, Z:-1.15 [[ 9.98596726e-01 -5.27257647e-02 4.95704660e-03 2.41822444e+02] [ 5.27240086e-02 9.98609005e-01 4.84351510e-04 2.10896232e+01] [-4.97568918e-03 -2.22316465e-04 9.99987596e-01 -1.15079259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.341400513 meters 0.04059242301661038 Centerline is valid? [True, True] Translation: X:241.88, Y:21.09, Z:-1.15 [[ 9.98352189e-01 -5.68760089e-02 7.61754323e-03 2.41883606e+02] [ 5.68719809e-02 9.98381201e-01 7.44528801e-04 2.10857422e+01] [-7.64755779e-03 -3.10077185e-04 9.99970709e-01 -1.14547237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40140051299997 meters 0.043681019569291525 Centerline is valid? [True, True] Translation: X:241.94, Y:21.09, Z:-1.15 [[ 9.98402379e-01 -5.60260329e-02 7.33301716e-03 2.41941419e+02] [ 5.60222785e-02 9.98429262e-01 7.16558336e-04 2.10918468e+01] [-7.36164483e-03 -3.04601218e-04 9.99972856e-01 -1.14644744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46140051299997 meters 0.04730307341527191 Centerline is valid? [True, True] Translation: X:242.00, Y:21.10, Z:-1.15 [[ 9.98559110e-01 -5.30098429e-02 8.34628864e-03 2.42000429e+02] [ 5.30048687e-02 9.98593920e-01 8.16218047e-04 2.10980320e+01] [-8.37782068e-03 -3.72648034e-04 9.99964836e-01 -1.14652295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52140051299997 meters 0.04588210798253568 Centerline is valid? [True, True] Translation: X:242.06, Y:21.10, Z:-1.15 [[ 9.98734785e-01 -4.97184579e-02 7.54348359e-03 2.42060336e+02] [ 4.97142994e-02 9.98763207e-01 7.37891008e-04 2.11002780e+01] [-7.57084067e-03 -3.61938415e-04 9.99971275e-01 -1.14815046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58140051299998 meters 0.05055173533889911 Centerline is valid? [True, True] Translation: X:242.12, Y:21.11, Z:-1.15 [[ 9.98833260e-01 -4.77918528e-02 6.93232941e-03 2.42118309e+02] [ 4.77882951e-02 9.98857257e-01 6.78039048e-04 2.11099636e+01] [-6.95681228e-03 -3.45963750e-04 9.99975741e-01 -1.14926499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64140051299998 meters 0.055018942942591784 Centerline is valid? [True, True] Translation: X:242.18, Y:21.12, Z:-1.15 [[ 9.99065983e-01 -4.26069046e-02 7.19818053e-03 2.42178137e+02] [ 4.26029306e-02 9.99091835e-01 7.04588639e-04 2.11186314e+01] [-7.22166373e-03 -3.97266955e-04 9.99973845e-01 -1.14933172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70140051299998 meters 0.059521352545485226 Centerline is valid? [True, True] Translation: X:242.24, Y:21.13, Z:-1.15 [[ 9.99184473e-01 -3.97797055e-02 6.92556197e-03 2.42236448e+02] [ 3.97759590e-02 9.99208393e-01 6.77911869e-04 2.11306943e+01] [-6.94704678e-03 -4.01888144e-04 9.99975788e-01 -1.15199445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76140051299998 meters 0.06039714257933069 Centerline is valid? [True, True] Translation: X:242.30, Y:21.14, Z:-1.15 [[ 9.99288122e-01 -3.71917924e-02 6.32612767e-03 2.42295714e+02] [ 3.71886139e-02 9.99308072e-01 6.19358071e-04 2.11393420e+01] [-6.34478549e-03 -3.83657244e-04 9.99979798e-01 -1.15393671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.821400513 meters 0.06501395280328388 Centerline is valid? [True, True] Translation: X:242.36, Y:21.15, Z:-1.15 [[ 9.99431984e-01 -3.29789240e-02 6.93534719e-03 2.42355190e+02] [ 3.29750021e-02 9.99455946e-01 6.79108082e-04 2.11524292e+01] [-6.95397024e-03 -4.50029250e-04 9.99975720e-01 -1.15343220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.881400513 meters 0.06095645987555478 Centerline is valid? [True, True] Translation: X:242.41, Y:21.16, Z:-1.15 [[ 9.99459852e-01 -3.21630672e-02 6.74850361e-03 2.42414436e+02] [ 3.21593363e-02 9.99482536e-01 6.60671027e-04 2.11553200e+01] [-6.76626071e-03 -4.43286770e-04 9.99977010e-01 -1.15394937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.941400513 meters 0.06745771922281069 Centerline is valid? [True, True] Translation: X:242.47, Y:21.17, Z:-1.15 [[ 9.99481648e-01 -3.12754083e-02 7.63434146e-03 2.42471877e+02] [ 3.12706054e-02 9.99510675e-01 7.47713494e-04 2.11719512e+01] [-7.65399084e-03 -5.08595436e-04 9.99970578e-01 -1.15320018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.001400513 meters 0.07144362852613172 Centerline is valid? [True, True] Translation: X:242.53, Y:21.19, Z:-1.15 [[ 9.99558168e-01 -2.88130508e-02 7.29908435e-03 2.42531537e+02] [ 2.88085926e-02 9.99584690e-01 7.15219593e-04 2.11860191e+01] [-7.31666063e-03 -5.04627238e-04 9.99973106e-01 -1.15420115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.061400513 meters 0.06995596028199505 Centerline is valid? [True, True] Translation: X:242.59, Y:21.19, Z:-1.16 [[ 9.99639758e-01 -2.61380020e-02 6.09579811e-03 2.42591179e+02] [ 2.61348430e-02 9.99658248e-01 5.97331791e-04 2.11937173e+01] [-6.10932792e-03 -4.37803881e-04 9.99981242e-01 -1.15650744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.121400513 meters 0.06889964065639331 Centerline is valid? [True, True] Translation: X:242.65, Y:21.20, Z:-1.16 [[ 9.99655177e-01 -2.54975013e-02 6.27736223e-03 2.42651099e+02] [ 2.54941387e-02 9.99674782e-01 6.15129060e-04 2.12001093e+01] [-6.29100497e-03 -4.54881006e-04 9.99980108e-01 -1.15687841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18140051299997 meters 0.06894030884814857 Centerline is valid? [True, True] Translation: X:242.71, Y:21.21, Z:-1.16 [[ 9.99618906e-01 -2.64150337e-02 8.01805426e-03 2.42710692e+02] [ 2.64095771e-02 9.99650898e-01 7.85674258e-04 2.12074282e+01] [-8.03600875e-03 -5.73621420e-04 9.99967546e-01 -1.15597118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24140051299997 meters 0.07729611283632325 Centerline is valid? [True, True] Translation: X:242.77, Y:21.22, Z:-1.16 [[ 9.99602580e-01 -2.74700200e-02 6.33084300e-03 2.42769260e+02] [ 2.74666387e-02 9.99622528e-01 6.20442761e-04 2.12243341e+01] [-6.34549686e-03 -4.46309207e-04 9.99979768e-01 -1.15971675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30140051299998 meters 0.06584384045375279 Centerline is valid? [True, True] Translation: X:242.83, Y:21.22, Z:-1.16 [[ 9.99611148e-01 -2.71390048e-02 6.40527331e-03 2.42831115e+02] [ 2.71355368e-02 9.99631566e-01 6.27737168e-04 2.12173423e+01] [-6.41994955e-03 -4.53682541e-04 9.99979289e-01 -1.15946099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36140051299998 meters 0.07480347407468996 Centerline is valid? [True, True] Translation: X:242.89, Y:21.23, Z:-1.16 [[ 9.99644568e-01 -2.49614345e-02 9.36288272e-03 2.42889493e+02] [ 2.49539294e-02 9.99688181e-01 9.17574211e-04 2.12300486e+01] [-9.38286716e-03 -6.83607363e-04 9.99955746e-01 -1.15554093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42140051299998 meters 0.07423215737802748 Centerline is valid? [True, True] Translation: X:242.95, Y:21.23, Z:-1.16 [[ 9.99650794e-01 -2.48880713e-02 8.88112689e-03 2.42951687e+02] [ 2.48813137e-02 9.99690033e-01 8.70597000e-04 2.12333077e+01] [-8.90004152e-03 -6.49318879e-04 9.99960183e-01 -1.15858662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48140051299998 meters 0.0734773962148798 Centerline is valid? [True, True] Translation: X:243.01, Y:21.24, Z:-1.16 [[ 9.99620236e-01 -2.51795926e-02 1.11970011e-02 2.43013221e+02] [ 2.51688760e-02 9.99682612e-01 1.09700628e-03 2.12382655e+01] [-1.12210695e-02 -8.14773747e-04 9.99936710e-01 -1.15584063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54140051299999 meters 0.07022330599947824 Centerline is valid? [True, True] Translation: X:243.07, Y:21.24, Z:-1.15 [[ 9.99554357e-01 -2.71407900e-02 1.24283981e-02 2.43074455e+02] [ 2.71277408e-02 9.99631234e-01 1.21736649e-03 2.12376181e+01] [-1.24568552e-02 -8.79669619e-04 9.99922023e-01 -1.15366983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.601400513 meters 0.07253836749798591 Centerline is valid? [True, True] Translation: X:243.14, Y:21.25, Z:-1.16 [[ 9.99584456e-01 -2.74720326e-02 8.72942090e-03 2.43135580e+02] [ 2.74656078e-02 9.99622383e-01 8.55044584e-04 2.12452849e+01] [-8.74961434e-03 -6.14930424e-04 9.99961532e-01 -1.16063457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.661400513 meters 0.06743390231590897 Centerline is valid? [True, True] Translation: X:243.20, Y:21.24, Z:-1.16 [[ 9.99645565e-01 -2.57789355e-02 6.64764568e-03 2.43197215e+02] [ 2.57751745e-02 9.99667553e-01 6.50828076e-04 2.12429049e+01] [-6.66221334e-03 -4.79253172e-04 9.99977692e-01 -1.16376630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.721400513 meters 0.07395840509536039 Centerline is valid? [True, True] Translation: X:243.26, Y:21.26, Z:-1.16 [[ 9.99702416e-01 -2.32148974e-02 7.49319029e-03 2.43255196e+02] [ 2.32100486e-02 9.99730342e-01 7.33411586e-04 2.12590690e+01] [-7.50819577e-03 -5.59276024e-04 9.99971657e-01 -1.16427263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.781400513 meters 0.07553658407134832 Centerline is valid? [True, True] Translation: X:243.32, Y:21.27, Z:-1.17 [[ 9.99741667e-01 -2.16352582e-02 6.96525994e-03 2.43315493e+02] [ 2.16310294e-02 9.99765789e-01 6.81900165e-04 2.12653221e+01] [-6.97838169e-03 -5.31058265e-04 9.99975510e-01 -1.16616235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.841400513 meters 0.07478219483225787 Centerline is valid? [True, True] Translation: X:243.38, Y:21.27, Z:-1.17 [[ 9.99702024e-01 -2.33424032e-02 7.14113221e-03 2.43375862e+02] [ 2.33380023e-02 9.99727387e-01 6.98996693e-04 2.12699528e+01] [-7.15550171e-03 -5.32128649e-04 9.99974257e-01 -1.16699740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90140051299997 meters 0.06697182059040337 Centerline is valid? [True, True] Translation: X:243.44, Y:21.27, Z:-1.17 [[ 9.99625191e-01 -2.65415184e-02 6.71015777e-03 2.43437387e+02] [ 2.65377045e-02 9.99647597e-01 6.56799353e-04 2.12663639e+01] [-6.72522555e-03 -4.78480995e-04 9.99977271e-01 -1.16911521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96140051299997 meters 0.06823960022652097 Centerline is valid? [True, True] Translation: X:243.50, Y:21.27, Z:-1.17 [[ 9.99554294e-01 -2.91921112e-02 6.24772036e-03 2.43496694e+02] [ 2.91888565e-02 9.99573728e-01 6.11509177e-04 2.12726870e+01] [-6.26290837e-03 -4.28872811e-04 9.99980296e-01 -1.17032832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02140051299997 meters 0.06631412683922935 Centerline is valid? [True, True] Translation: X:243.56, Y:21.27, Z:-1.17 [[ 9.99504021e-01 -3.08186334e-02 6.47482669e-03 2.43556922e+02] [ 3.08151716e-02 9.99524899e-01 6.33766909e-04 2.12736956e+01] [-6.49128232e-03 -4.33929679e-04 9.99978837e-01 -1.16992582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08140051299998 meters 0.06722779370798816 Centerline is valid? [True, True] Translation: X:243.62, Y:21.28, Z:-1.17 [[ 9.99425495e-01 -3.30260687e-02 7.61310633e-03 2.43615930e+02] [ 3.30213440e-02 9.99454369e-01 7.45503776e-04 2.12765260e+01] [-7.63357344e-03 -4.93680477e-04 9.99970742e-01 -1.17071696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14140051299998 meters 0.06417818247451475 Centerline is valid? [True, True] Translation: X:243.68, Y:21.27, Z:-1.17 [[ 9.99394412e-01 -3.34211847e-02 9.68675800e-03 2.43675224e+02] [ 3.34135529e-02 9.99441161e-01 9.48676593e-04 2.12717384e+01] [-9.71305056e-03 -6.24433086e-04 9.99952632e-01 -1.16779843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20140051299998 meters 0.05869004614462827 Centerline is valid? [True, True] Translation: X:243.74, Y:21.27, Z:-1.17 [[ 9.99439076e-01 -3.23036765e-02 8.83211314e-03 2.43735776e+02] [ 3.22972752e-02 9.99477931e-01 8.66489302e-04 2.12704000e+01] [-8.85549296e-03 -5.80750078e-04 9.99960621e-01 -1.16934172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26140051299998 meters 0.06013997274572938 Centerline is valid? [True, True] Translation: X:243.80, Y:21.27, Z:-1.17 [[ 9.99453942e-01 -3.23119145e-02 6.91066149e-03 2.43795418e+02] [ 3.23079957e-02 9.99477730e-01 6.77994578e-04 2.12705451e+01] [-6.92895957e-03 -4.54354733e-04 9.99975891e-01 -1.17348175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.321400513 meters 0.061709701797921415 Centerline is valid? [True, True] Translation: X:243.85, Y:21.28, Z:-1.17 [[ 9.99406570e-01 -3.32846719e-02 8.86785065e-03 2.43853029e+02] [ 3.32782547e-02 9.99445747e-01 8.70259013e-04 2.12795931e+01] [-8.89190189e-03 -5.74635982e-04 9.99960301e-01 -1.17071048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.381400513 meters 0.07093084996621274 Centerline is valid? [True, True] Translation: X:243.91, Y:21.30, Z:-1.17 [[ 9.99534453e-01 -2.89502792e-02 9.63113170e-03 2.43910751e+02] [ 2.89425043e-02 9.99580631e-01 9.45700045e-04 2.12975542e+01] [-9.65447098e-03 -6.66510706e-04 9.99953172e-01 -1.17140264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.441400513 meters 0.07395875335414687 Centerline is valid? [True, True] Translation: X:243.97, Y:21.30, Z:-1.17 [[ 9.99727315e-01 -2.21802402e-02 7.30298443e-03 2.43970738e+02] [ 2.21755900e-02 9.99753834e-01 7.17131040e-04 2.13048275e+01] [-7.31709283e-03 -5.54987500e-04 9.99973076e-01 -1.17485253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.501400513 meters 0.0782297791033352 Centerline is valid? [True, True] Translation: X:244.03, Y:21.32, Z:-1.18 [[ 9.99766878e-01 -2.03667005e-02 7.16850915e-03 2.44029703e+02] [ 2.03621733e-02 9.99792422e-01 7.03971739e-04 2.13203573e+01] [-7.18135870e-03 -5.57841202e-04 9.99974058e-01 -1.17573149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.561400513 meters 0.08458571843185249 Centerline is valid? [True, True] Translation: X:244.09, Y:21.33, Z:-1.18 [[ 9.99803178e-01 -1.82271489e-02 7.83426014e-03 2.44088008e+02] [ 1.82216764e-02 9.99833675e-01 7.69342780e-04 2.13336969e+01] [-7.84698004e-03 -6.26438004e-04 9.99969016e-01 -1.17592577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.621400513 meters 0.08631344840716916 Centerline is valid? [True, True] Translation: X:244.15, Y:21.34, Z:-1.18 [[ 9.99804273e-01 -1.82966555e-02 7.52652058e-03 2.44149797e+02] [ 1.82916049e-02 9.99832421e-01 7.39340844e-04 2.13419812e+01] [-7.53878676e-03 -6.01523994e-04 9.99971402e-01 -1.17721589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68140051299997 meters 0.09060383377066823 Centerline is valid? [True, True] Translation: X:244.21, Y:21.35, Z:-1.18 [[ 9.99799360e-01 -1.89881076e-02 6.37900618e-03 2.44209687e+02] [ 1.89844955e-02 9.99819582e-01 6.26320928e-04 2.13538684e+01] [-6.38974794e-03 -5.05093049e-04 9.99979458e-01 -1.18034224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74140051299997 meters 0.07977901545354939 Centerline is valid? [True, True] Translation: X:244.27, Y:21.35, Z:-1.18 [[ 9.99818290e-01 -1.80724428e-02 6.06421663e-03 2.44271183e+02] [ 1.80691627e-02 9.99836562e-01 5.95247907e-04 2.13507872e+01] [-6.07398309e-03 -4.85564427e-04 9.99981435e-01 -1.18059609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80140051299998 meters 0.09220277719278906 Centerline is valid? [True, True] Translation: X:244.33, Y:21.37, Z:-1.18 [[ 9.99840160e-01 -1.61619844e-02 7.64496595e-03 2.44328591e+02] [ 1.61567172e-02 9.99869190e-01 7.50237852e-04 2.13730706e+01] [-7.65609125e-03 -6.26600381e-04 9.99970495e-01 -1.17874803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86140051299998 meters 0.08724209147866278 Centerline is valid? [True, True] Translation: X:244.39, Y:21.38, Z:-1.18 [[ 9.99854101e-01 -1.58516454e-02 6.36404616e-03 2.44390615e+02] [ 1.58479876e-02 9.99874218e-01 6.24788008e-04 2.13807883e+01] [-6.37314960e-03 -5.23839528e-04 9.99979554e-01 -1.18007539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92140051299998 meters 0.08945242327563172 Centerline is valid? [True, True] Translation: X:244.45, Y:21.39, Z:-1.18 [[ 9.99805123e-01 -1.86354286e-02 6.51436041e-03 2.44449699e+02] [ 1.86316580e-02 9.99826211e-01 6.39029521e-04 2.13884700e+01] [-6.52513688e-03 -5.17531654e-04 9.99978577e-01 -1.18146445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98140051299998 meters 0.0820154379545671 Centerline is valid? [True, True] Translation: X:244.51, Y:21.39, Z:-1.18 [[ 9.99701028e-01 -2.26278459e-02 9.26468940e-03 2.44510656e+02] [ 2.26203879e-02 9.99743713e-01 9.09002274e-04 2.13926490e+01] [-9.28288374e-03 -6.99159640e-04 9.99956669e-01 -1.17622238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04140051299999 meters 0.07679193627170273 Centerline is valid? [True, True] Translation: X:244.57, Y:21.39, Z:-1.18 [[ 9.99675243e-01 -2.38255235e-02 9.04170458e-03 2.44572428e+02] [ 2.38184689e-02 9.99715906e-01 8.87118715e-04 2.13937699e+01] [-9.06027196e-03 -6.71471057e-04 9.99958729e-01 -1.17740302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.101400513 meters 0.08228351118429794 Centerline is valid? [True, True] Translation: X:244.63, Y:21.40, Z:-1.18 [[ 9.99593167e-01 -2.66698599e-02 1.01103297e-02 2.44630860e+02] [ 2.66611879e-02 9.99644036e-01 9.91570429e-04 2.14048918e+01] [-1.01331758e-02 -7.21613625e-04 9.99948398e-01 -1.17730431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.161400513 meters 0.07021907969809228 Centerline is valid? [True, True] Translation: X:244.69, Y:21.39, Z:-1.18 [[ 9.99442315e-01 -3.15811688e-02 1.08484142e-02 2.44692802e+02] [ 3.15714709e-02 9.99500930e-01 1.06408591e-03 2.13921021e+01] [-1.08766051e-02 -7.20992094e-04 9.99940588e-01 -1.17526125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.221400513 meters 0.062339395230179305 Centerline is valid? [True, True] Translation: X:244.75, Y:21.38, Z:-1.17 [[ 9.99245521e-01 -3.74620081e-02 1.02463102e-02 2.44754873e+02] [ 3.74536649e-02 9.99297860e-01 1.00501116e-03 2.13831947e+01] [-1.02767656e-02 -6.20491033e-04 9.99947000e-01 -1.17473405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.281400513 meters 0.06875778168588653 Centerline is valid? [True, True] Translation: X:244.81, Y:21.39, Z:-1.18 [[ 9.99332990e-01 -3.52641243e-02 9.48771604e-03 2.44814968e+02] [ 3.52568733e-02 9.99377850e-01 9.30476279e-04 2.13895710e+01] [-9.51462569e-03 -5.95348440e-04 9.99954558e-01 -1.17722410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.341400513 meters 0.07258289502181664 Centerline is valid? [True, True] Translation: X:244.87, Y:21.40, Z:-1.18 [[ 9.99601756e-01 -2.71041474e-02 7.85453640e-03 2.44874710e+02] [ 2.70989258e-02 9.99632460e-01 7.70473813e-04 2.14020243e+01] [-7.87253258e-03 -5.57317478e-04 9.99968856e-01 -1.18035843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40140051299997 meters 0.07629648092208723 Centerline is valid? [True, True] Translation: X:244.93, Y:21.41, Z:-1.18 [[ 9.99742360e-01 -2.13750274e-02 7.63685919e-03 2.44934427e+02] [ 2.13699249e-02 9.99771356e-01 7.49124034e-04 2.14130810e+01] [-7.65112562e-03 -5.85731922e-04 9.99970558e-01 -1.18044655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46140051299997 meters 0.08472198681209081 Centerline is valid? [True, True] Translation: X:244.99, Y:21.43, Z:-1.18 [[ 9.99731693e-01 -2.21073319e-02 6.91436743e-03 2.44993425e+02] [ 2.21031655e-02 9.99755465e-01 6.78417422e-04 2.14279837e+01] [-6.92767462e-03 -5.25405990e-04 9.99975865e-01 -1.18327586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52140051299997 meters 0.07111884480945607 Centerline is valid? [True, True] Translation: X:245.06, Y:21.42, Z:-1.18 [[ 9.99564300e-01 -2.80647808e-02 9.14213303e-03 2.45055613e+02] [ 2.80577510e-02 9.99605902e-01 8.96316507e-04 2.14164307e+01] [-9.16368505e-03 -6.39418290e-04 9.99957808e-01 -1.18078941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58140051299998 meters 0.06789369595407674 Centerline is valid? [True, True] Translation: X:245.12, Y:21.42, Z:-1.18 [[ 9.99472975e-01 -3.12019797e-02 8.95591103e-03 2.45116046e+02] [ 3.11953596e-02 9.99512921e-01 8.77967997e-04 2.14167630e+01] [-8.97894313e-03 -5.98122421e-04 9.99959510e-01 -1.18038293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64140051299998 meters 0.06852892055533326 Centerline is valid? [True, True] Translation: X:245.18, Y:21.42, Z:-1.18 [[ 9.99499170e-01 -3.04032493e-02 8.77796100e-03 2.45175355e+02] [ 3.03968593e-02 9.99537538e-01 8.60489202e-04 2.14230851e+01] [-8.80006319e-03 -5.93235797e-04 9.99961103e-01 -1.18111095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70140051299998 meters 0.07310358363862868 Centerline is valid? [True, True] Translation: X:245.23, Y:21.44, Z:-1.18 [[ 9.99575802e-01 -2.77329170e-02 8.89393158e-03 2.45234223e+02] [ 2.77262499e-02 9.99615173e-01 8.72078287e-04 2.14367622e+01] [-8.91469423e-03 -6.25112984e-04 9.99960068e-01 -1.18044386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76140051299998 meters 0.08246355220627821 Centerline is valid? [True, True] Translation: X:245.29, Y:21.46, Z:-1.18 [[ 9.99646242e-01 -2.52474506e-02 8.36398599e-03 2.45292672e+02] [ 2.52414667e-02 9.99681047e-01 8.20243542e-04 2.14550635e+01] [-8.38202733e-03 -6.08834100e-04 9.99964685e-01 -1.18284491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.821400513 meters 0.0760587945836167 Centerline is valid? [True, True] Translation: X:245.35, Y:21.45, Z:-1.18 [[ 9.99696510e-01 -2.28843322e-02 9.12116949e-03 2.45353495e+02] [ 2.28771186e-02 9.99737884e-01 8.94427251e-04 2.14545308e+01] [-9.13924706e-03 -6.85489724e-04 9.99958001e-01 -1.18154593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.881400513 meters 0.08719893101240697 Centerline is valid? [True, True] Translation: X:245.41, Y:21.48, Z:-1.19 [[ 9.99762502e-01 -2.07398906e-02 6.69308184e-03 2.45411012e+02] [ 2.07359584e-02 9.99784771e-01 6.56368325e-04 2.14779051e+01] [-6.70525430e-03 -5.17424972e-04 9.99977386e-01 -1.18604247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.941400513 meters 0.07813266211294159 Centerline is valid? [True, True] Translation: X:245.47, Y:21.47, Z:-1.19 [[ 9.99750587e-01 -2.07325973e-02 8.30202316e-03 2.45472597e+02] [ 2.07265484e-02 9.99784851e-01 8.14001674e-04 2.14734111e+01] [-8.31711336e-03 -6.41726366e-04 9.99965206e-01 -1.18536518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.001400513 meters 0.07884884718232286 Centerline is valid? [True, True] Translation: X:245.53, Y:21.48, Z:-1.19 [[ 9.99720013e-01 -2.22173153e-02 8.14162509e-03 2.45533147e+02] [ 2.22115467e-02 9.99752974e-01 7.98274869e-04 2.14762818e+01] [-8.15734943e-03 -6.17213276e-04 9.99966538e-01 -1.18661991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.061400513 meters 0.07527654100243943 Centerline is valid? [True, True] Translation: X:245.59, Y:21.48, Z:-1.19 [[ 9.99680726e-01 -2.44298213e-02 6.45217199e-03 2.45593472e+02] [ 2.44262442e-02 9.99701435e-01 6.32643709e-04 2.14803698e+01] [-6.46570097e-03 -4.74839394e-04 9.99978984e-01 -1.19000371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.121400513 meters 0.07107037871778835 Centerline is valid? [True, True] Translation: X:245.65, Y:21.48, Z:-1.19 [[ 9.99680377e-01 -2.36453331e-02 8.94667521e-03 2.45654653e+02] [ 2.36384245e-02 9.99720189e-01 8.77170121e-04 2.14802050e+01] [-8.96491281e-03 -6.65404451e-04 9.99959593e-01 -1.18688250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18140051299997 meters 0.07723427650431516 Centerline is valid? [True, True] Translation: X:245.71, Y:21.49, Z:-1.19 [[ 9.99774350e-01 -1.93623456e-02 8.73775221e-03 2.45713569e+02] [ 1.93555932e-02 9.99812296e-01 8.56694175e-04 2.14943483e+01] [-8.75269971e-03 -6.87376485e-04 9.99961458e-01 -1.18908607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24140051299997 meters 0.09048157819149899 Centerline is valid? [True, True] Translation: X:245.77, Y:21.52, Z:-1.19 [[ 9.99841740e-01 -1.59474830e-02 7.88496155e-03 2.45771415e+02] [ 1.59418784e-02 9.99872621e-01 7.73144491e-04 2.15171942e+01] [-7.89628688e-03 -6.47321035e-04 9.99968614e-01 -1.19126158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30140051299998 meters 0.08540066444388913 Centerline is valid? [True, True] Translation: X:245.83, Y:21.52, Z:-1.19 [[ 9.99874136e-01 -1.35516650e-02 8.25007686e-03 2.45831658e+02] [ 1.35454520e-02 9.99907929e-01 8.08499660e-04 2.15212673e+01] [-8.26027378e-03 -6.96646879e-04 9.99965641e-01 -1.19053077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36140051299998 meters 0.08749432191476678 Centerline is valid? [True, True] Translation: X:245.89, Y:21.53, Z:-1.19 [[ 9.99869868e-01 -1.34076514e-02 8.97114979e-03 2.45891650e+02] [ 1.34002987e-02 9.99909825e-01 8.79204894e-04 2.15315231e+01] [-8.98212889e-03 -7.58874395e-04 9.99959372e-01 -1.19031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42140051299998 meters 0.08235982882835022 Centerline is valid? [True, True] Translation: X:245.95, Y:21.53, Z:-1.19 [[ 9.99854966e-01 -1.45922559e-02 8.78141296e-03 2.45953240e+02] [ 1.45852589e-02 9.99893259e-01 8.60306661e-04 2.15321344e+01] [-8.79302944e-03 -7.32102705e-04 9.99961073e-01 -1.19122402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48140051299998 meters 0.08709323822194516 Centerline is valid? [True, True] Translation: X:246.01, Y:21.54, Z:-1.19 [[ 9.99814900e-01 -1.74230871e-02 8.16098511e-03 2.46012146e+02] [ 1.74171394e-02 9.99847991e-01 7.99307017e-04 2.15439275e+01] [-8.17367096e-03 -6.57018050e-04 9.99966379e-01 -1.19237687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54140051299999 meters 0.07729749339108731 Centerline is valid? [True, True] Translation: X:246.07, Y:21.54, Z:-1.19 [[ 9.99718692e-01 -2.16854355e-02 9.60613109e-03 2.46073789e+02] [ 2.16773902e-02 9.99764575e-01 9.40858842e-04 2.15386829e+01] [-9.62427250e-03 -7.32358319e-04 9.99953417e-01 -1.19040124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.601400513 meters 0.0715797414990356 Centerline is valid? [True, True] Translation: X:246.14, Y:21.54, Z:-1.19 [[ 9.99694308e-01 -2.29729814e-02 9.13958463e-03 2.46135443e+02] [ 2.29657522e-02 9.99735852e-01 8.95152101e-04 2.15375023e+01] [-9.15773473e-03 -6.84981024e-04 9.99957832e-01 -1.19173661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.661400513 meters 0.07773096318923467 Centerline is valid? [True, True] Translation: X:246.19, Y:21.55, Z:-1.19 [[ 9.99693927e-01 -2.28101217e-02 9.57868524e-03 2.46194984e+02] [ 2.28021759e-02 9.99739557e-01 9.37935572e-04 2.15528402e+01] [-9.59758496e-03 -7.19233629e-04 9.99953683e-01 -1.19167043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.721400513 meters 0.07716236261161924 Centerline is valid? [True, True] Translation: X:246.26, Y:21.56, Z:-1.19 [[ 9.99721989e-01 -2.11792635e-02 1.03625775e-02 2.46255972e+02] [ 2.11698808e-02 9.99775378e-01 1.01430749e-03 2.15586453e+01] [-1.03817322e-02 -7.94650975e-04 9.99945793e-01 -1.19014349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.781400513 meters 0.0794696026368112 Centerline is valid? [True, True] Translation: X:246.32, Y:21.57, Z:-1.20 [[ 9.99813940e-01 -1.71882376e-02 8.75493871e-03 2.46315971e+02] [ 1.71813892e-02 9.99852022e-01 8.56851154e-04 2.15694805e+01] [-8.76837093e-03 -7.06269720e-04 9.99961308e-01 -1.19517088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.841400513 meters 0.08517706487587089 Centerline is valid? [True, True] Translation: X:246.38, Y:21.58, Z:-1.20 [[ 9.99831783e-01 -1.61956715e-02 8.60851065e-03 2.46375155e+02] [ 1.61890137e-02 9.99868594e-01 8.42532627e-04 2.15837579e+01] [-8.62102483e-03 -7.03027602e-04 9.99962591e-01 -1.19575780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90140051299997 meters 0.08011798842684109 Centerline is valid? [True, True] Translation: X:246.44, Y:21.58, Z:-1.20 [[ 9.99796986e-01 -1.90702753e-02 6.50467410e-03 2.46436102e+02] [ 1.90665350e-02 9.99818014e-01 6.36553531e-04 2.15848121e+01] [-6.51562960e-03 -5.12402705e-04 9.99978642e-01 -1.19896247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96140051299997 meters 0.07532777617129398 Centerline is valid? [True, True] Translation: X:246.50, Y:21.58, Z:-1.20 [[ 9.99694776e-01 -2.43145906e-02 4.37669501e-03 2.46496897e+02] [ 2.43129473e-02 9.99704305e-01 4.28274727e-04 2.15828436e+01] [-4.38581417e-03 -3.21733652e-04 9.99990331e-01 -1.20375524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02140051299997 meters 0.060746502345643154 Centerline is valid? [True, True] Translation: X:246.56, Y:21.57, Z:-1.20 [[ 9.99402913e-01 -3.38306722e-02 7.02160343e-03 2.46559011e+02] [ 3.38266764e-02 9.99427478e-01 6.87086886e-04 2.15682499e+01] [-7.04082802e-03 -4.49159128e-04 9.99975112e-01 -1.19939379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08140051299998 meters 0.06088726210079496 Centerline is valid? [True, True] Translation: X:246.62, Y:21.57, Z:-1.20 [[ 9.99302901e-01 -3.66063508e-02 7.32713909e-03 2.46618490e+02] [ 3.66020740e-02 9.99329662e-01 7.16983964e-04 2.15743844e+01] [-7.34847360e-03 -4.48295668e-04 9.99972899e-01 -1.19922129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14140051299998 meters 0.061260593353112645 Centerline is valid? [True, True] Translation: X:246.68, Y:21.57, Z:-1.20 [[ 9.99268541e-01 -3.77212569e-02 6.28408231e-03 2.46677894e+02] [ 3.77181362e-02 9.99288229e-01 6.14423132e-04 2.15747530e+01] [-6.30278630e-03 -3.76949834e-04 9.99980066e-01 -1.20176570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20140051299998 meters 0.05475635157219241 Centerline is valid? [True, True] Translation: X:246.74, Y:21.56, Z:-1.20 [[ 9.99158110e-01 -4.03913078e-02 7.18427850e-03 2.46739362e+02] [ 4.03872850e-02 9.99183853e-01 7.04202245e-04 2.15648101e+01] [-7.20685872e-03 -4.13455881e-04 9.99973945e-01 -1.19969506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26140051299998 meters 0.053149998528471146 Centerline is valid? [True, True] Translation: X:246.80, Y:21.57, Z:-1.20 [[ 9.99119519e-01 -4.15149507e-02 6.05776752e-03 2.46798357e+02] [ 4.15121123e-02 9.99137824e-01 5.93601167e-04 2.15667975e+01] [-6.07718798e-03 -3.41607787e-04 9.99981475e-01 -1.20282111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.321400513 meters 0.05933260408678669 Centerline is valid? [True, True] Translation: X:246.86, Y:21.58, Z:-1.20 [[ 9.99162947e-01 -3.98983180e-02 9.02938435e-03 2.46856432e+02] [ 3.98919397e-02 9.99203607e-01 8.85474275e-04 2.15760676e+01] [-9.05752235e-03 -5.24533430e-04 9.99958842e-01 -1.20086446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.381400513 meters 0.05705340945151718 Centerline is valid? [True, True] Translation: X:246.92, Y:21.57, Z:-1.20 [[ 9.99229873e-01 -3.79298323e-02 1.00493355e-02 2.46917026e+02] [ 3.79218283e-02 9.99280222e-01 9.85897088e-04 2.15748772e+01] [-1.00794972e-02 -6.04048646e-04 9.99949018e-01 -1.19917057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.441400513 meters 0.060107796571628916 Centerline is valid? [True, True] Translation: X:246.98, Y:21.58, Z:-1.21 [[ 9.99182585e-01 -3.99017233e-02 6.48190744e-03 2.46975794e+02] [ 3.98984348e-02 9.99203538e-01 6.35913365e-04 2.15837774e+01] [-6.50211888e-03 -3.76775598e-04 9.99978790e-01 -1.20505261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.501400513 meters 0.05715164984477729 Centerline is valid? [True, True] Translation: X:247.04, Y:21.59, Z:-1.20 [[ 9.99030778e-01 -4.32772743e-02 8.03633042e-03 2.47036334e+02] [ 4.32723258e-02 9.99063003e-01 7.88707815e-04 2.15873492e+01] [-8.06293352e-03 -4.40192673e-04 9.99967397e-01 -1.20454036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.561400513 meters 0.04854863805475909 Centerline is valid? [True, True] Translation: X:247.10, Y:21.58, Z:-1.20 [[ 9.98526406e-01 -5.35320380e-02 8.90714176e-03 2.47098567e+02] [ 5.35263656e-02 9.98566054e-01 8.74183099e-04 2.15754569e+01] [-8.94116620e-03 -3.96127983e-04 9.99959949e-01 -1.20349080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.621400513 meters 0.03461059462813677 Centerline is valid? [True, True] Translation: X:247.16, Y:21.57, Z:-1.21 [[ 9.97868512e-01 -6.50005571e-02 5.77578557e-03 2.47158823e+02] [ 6.49983641e-02 9.97885210e-01 5.66792284e-04 2.15699846e+01] [-5.80041280e-03 -1.90167560e-04 9.99983159e-01 -1.20899968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68140051299997 meters 0.028791528075501786 Centerline is valid? [True, True] Translation: X:247.22, Y:21.57, Z:-1.20 [[ 9.97567245e-01 -6.91654472e-02 8.70245928e-03 2.47218746e+02] [ 6.91606251e-02 9.97605172e-01 8.54195920e-04 2.15694056e+01] [-8.74069923e-03 -2.50250347e-04 9.99961768e-01 -1.20402185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74140051299997 meters 0.036149325040800075 Centerline is valid? [True, True] Translation: X:247.28, Y:21.58, Z:-1.20 [[ 9.97529971e-01 -6.96944307e-02 8.75462015e-03 2.47276292e+02] [ 6.96895713e-02 9.97568356e-01 8.59284382e-04 2.15805984e+01] [-8.79321937e-03 -2.47056199e-04 9.99961308e-01 -1.20439974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80140051299998 meters 0.03088717026099666 Centerline is valid? [True, True] Translation: X:247.34, Y:21.59, Z:-1.21 [[ 9.97742977e-01 -6.68219815e-02 6.61622171e-03 2.47335185e+02] [ 6.68191349e-02 9.97764892e-01 6.50619024e-04 2.15935883e+01] [-6.64490940e-03 -2.07060351e-04 9.99977901e-01 -1.20739787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86140051299998 meters 0.033449532611430896 Centerline is valid? [True, True] Translation: X:247.39, Y:21.61, Z:-1.21 [[ 9.97838990e-01 -6.52707204e-02 7.55530922e-03 2.47393025e+02] [ 6.52669653e-02 9.97867562e-01 7.42770734e-04 2.16077076e+01] [-7.58767918e-03 -2.48053494e-04 9.99971182e-01 -1.20674058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92140051299998 meters 0.037863583798541545 Centerline is valid? [True, True] Translation: X:247.45, Y:21.61, Z:-1.21 [[ 9.97732369e-01 -6.70973284e-02 5.29788474e-03 2.47451746e+02] [ 6.70955058e-02 9.97746421e-01 5.21200756e-04 2.16136545e+01] [-5.32091672e-03 -1.64554608e-04 9.99985830e-01 -1.21094233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98140051299998 meters 0.026416507117193993 Centerline is valid? [True, True] Translation: X:247.51, Y:21.62, Z:-1.21 [[ 9.97452529e-01 -7.09626746e-02 7.26298569e-03 2.47511210e+02] [ 7.09593348e-02 9.97478952e-01 7.16832833e-04 2.16188180e+01] [-7.29554373e-03 -1.99630089e-04 9.99973367e-01 -1.20744905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04140051299999 meters 0.022774800009431634 Centerline is valid? [True, True] Translation: X:247.57, Y:21.62, Z:-1.21 [[ 9.97041576e-01 -7.63748047e-02 8.65935176e-03 2.47570200e+02] [ 7.63702588e-02 9.97079161e-01 8.54910555e-04 2.16202465e+01] [-8.69935282e-03 -1.91064432e-04 9.99962142e-01 -1.20585724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.101400513 meters 0.013295800158566105 Centerline is valid? [True, True] Translation: X:247.63, Y:21.62, Z:-1.21 [[ 9.96144924e-01 -8.73308709e-02 8.28302273e-03 2.47631690e+02] [ 8.73270879e-02 9.96179357e-01 8.17992267e-04 2.16155430e+01] [-8.32281223e-03 -9.15065914e-05 9.99965361e-01 -1.20913698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.161400513 meters 0.02077854696103727 Centerline is valid? [True, True] Translation: X:247.69, Y:21.61, Z:-1.21 [[ 9.95675431e-01 -9.25771802e-02 7.73968972e-03 2.47690480e+02] [ 9.25740366e-02 9.95705511e-01 7.64201454e-04 2.16121537e+01] [-7.77719932e-03 -4.44022917e-05 9.99969756e-01 -1.20971531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.221400513 meters 0.018354159315652915 Centerline is valid? [True, True] Translation: X:247.75, Y:21.62, Z:-1.21 [[ 9.95573022e-01 -9.34815815e-02 9.77505362e-03 2.47748685e+02] [ 9.34766043e-02 9.95621008e-01 9.65824008e-04 2.16173481e+01] [-9.82253549e-03 -4.78095071e-05 9.99951757e-01 -1.20574661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.281400513 meters 0.00979805974817831 Centerline is valid? [True, True] Translation: X:247.81, Y:21.63, Z:-1.21 [[ 9.95699189e-01 -9.21414910e-02 9.64726695e-03 2.47807000e+02] [ 9.21365619e-02 9.95745922e-01 9.55077418e-04 2.16266506e+01] [-9.69422898e-03 -6.21038022e-05 9.99953008e-01 -1.20722104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.341400513 meters 0.015755279294918004 Centerline is valid? [True, True] Translation: X:247.86, Y:21.64, Z:-1.21 [[ 9.96338594e-01 -8.52786887e-02 6.07880760e-03 2.47864059e+02] [ 8.52765984e-02 9.96357134e-01 6.02702775e-04 2.16448346e+01] [-6.10806102e-03 -8.21160007e-05 9.99981342e-01 -1.21277686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40140051299997 meters 0.019025548839385942 Centerline is valid? [True, True] Translation: X:247.92, Y:21.66, Z:-1.21 [[ 9.96697648e-01 -8.08921351e-02 7.08949107e-03 2.47922724e+02] [ 8.08891771e-02 9.96722853e-01 7.03457491e-04 2.16615129e+01] [-7.12316195e-03 -1.27671328e-04 9.99974622e-01 -1.21183317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46140051299997 meters 0.022788099018113597 Centerline is valid? [True, True] Translation: X:247.98, Y:21.68, Z:-1.21 [[ 9.96987473e-01 -7.73188756e-02 6.14572368e-03 2.47979876e+02] [ 7.73165848e-02 9.97006406e-01 6.09810592e-04 2.16778717e+01] [-6.17447575e-03 -1.32807155e-04 9.99980929e-01 -1.21298252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52140051299997 meters 0.019275145849813484 Centerline is valid? [True, True] Translation: X:248.04, Y:21.68, Z:-1.21 [[ 9.96855989e-01 -7.90831693e-02 4.89796792e-03 2.48038942e+02] [ 7.90817380e-02 9.96868017e-01 4.85520540e-04 2.16838611e+01] [-4.92102407e-03 -9.66542429e-05 9.99987887e-01 -1.21412327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58140051299998 meters 0.027974442514762225 Centerline is valid? [True, True] Translation: X:248.10, Y:21.69, Z:-1.21 [[ 9.96544407e-01 -8.24015860e-02 1.04509624e-02 2.48096480e+02] [ 8.23952131e-02 9.96599191e-01 1.03963151e-03 2.16919680e+01] [-1.05010880e-02 -1.74929689e-04 9.99944847e-01 -1.20622209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64140051299998 meters 0.026970679096196232 Centerline is valid? [True, True] Translation: X:248.16, Y:21.70, Z:-1.21 [[ 9.96422587e-01 -8.40157495e-02 9.13140303e-03 2.48155807e+02] [ 8.40109487e-02 9.96464417e-01 9.08731298e-04 2.16951471e+01] [-9.17546594e-03 -1.38342559e-04 9.99957895e-01 -1.20922400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70140051299998 meters 0.02164648043285998 Centerline is valid? [True, True] Translation: X:248.21, Y:21.71, Z:-1.22 [[ 9.96717629e-01 -8.08238719e-02 4.63353315e-03 2.48213569e+02] [ 8.08225985e-02 9.96728395e-01 4.61732439e-04 2.17057643e+01] [-4.65569307e-03 -8.57226718e-05 9.99989159e-01 -1.21732646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76140051299998 meters 0.02508258971093267 Centerline is valid? [True, True] Translation: X:248.27, Y:21.72, Z:-1.21 [[ 9.97171479e-01 -7.47954229e-02 7.39501544e-03 2.48272855e+02] [ 7.47920093e-02 9.97198883e-01 7.37469402e-04 2.17167228e+01] [-7.42946047e-03 -1.82295391e-04 9.99972385e-01 -1.21140105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.821400513 meters 0.03553598085317908 Centerline is valid? [True, True] Translation: X:248.33, Y:21.74, Z:-1.21 [[ 9.97815113e-01 -6.55633915e-02 8.15119417e-03 2.48330272e+02] [ 6.55589354e-02 9.97848368e-01 8.12966516e-04 2.17370555e+01] [-8.18695664e-03 -2.76806663e-04 9.99966448e-01 -1.21233703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.881400513 meters 0.04099693551936395 Centerline is valid? [True, True] Translation: X:248.39, Y:21.75, Z:-1.22 [[ 9.98109956e-01 -6.11093537e-02 6.49335152e-03 2.48388603e+02] [ 6.11064305e-02 9.98131046e-01 6.47809910e-04 2.17478279e+01] [-6.52080299e-03 -2.49799987e-04 9.99978708e-01 -1.21583647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.941400513 meters 0.03849915576906975 Centerline is valid? [True, True] Translation: X:248.45, Y:21.75, Z:-1.21 [[ 9.98102337e-01 -6.07101289e-02 1.02958687e-02 2.48447834e+02] [ 6.07027585e-02 9.98155359e-01 1.02714619e-03 2.17481936e+01] [-1.03392347e-02 -4.00209380e-04 9.99946469e-01 -1.21008482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.001400513 meters 0.03654002662534611 Centerline is valid? [True, True] Translation: X:248.51, Y:21.75, Z:-1.21 [[ 9.97948768e-01 -6.30107270e-02 1.13095177e-02 2.48508572e+02] [ 6.30019593e-02 9.98012763e-01 1.13020749e-03 2.17474432e+01] [-1.13582582e-02 -4.15367399e-04 9.99935407e-01 -1.20935995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.061400513 meters 0.03864738732188138 Centerline is valid? [True, True] Translation: X:248.57, Y:21.74, Z:-1.22 [[ 9.97803675e-01 -6.57494718e-02 8.05185021e-03 2.48569379e+02] [ 6.57451166e-02 9.97836125e-01 8.04685932e-04 2.17392719e+01] [-8.08733469e-03 -2.73548750e-04 9.99967260e-01 -1.21507251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.121400513 meters 0.03370874081044662 Centerline is valid? [True, True] Translation: X:248.63, Y:21.74, Z:-1.22 [[ 9.97857801e-01 -6.50129149e-02 7.28900878e-03 2.48628427e+02] [ 6.50093285e-02 9.97884391e-01 7.28142689e-04 2.17399930e+01] [-7.32092676e-03 -2.52729297e-04 9.99973170e-01 -1.21601774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18140051299997 meters 0.040479958614226465 Centerline is valid? [True, True] Translation: X:248.69, Y:21.75, Z:-1.22 [[ 9.98092296e-01 -6.12972265e-02 7.37683801e-03 2.48687410e+02] [ 6.12934390e-02 9.98119516e-01 7.38634113e-04 2.17463282e+01] [-7.40824221e-03 -2.85073248e-04 9.99972518e-01 -1.21556227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24140051299997 meters 0.043340272974410114 Centerline is valid? [True, True] Translation: X:248.75, Y:21.75, Z:-1.22 [[ 9.98290015e-01 -5.80153408e-02 7.16003485e-03 2.48747415e+02] [ 5.80116869e-02 9.98315646e-01 7.17129597e-04 2.17501549e+01] [-7.18957934e-03 -3.00537616e-04 9.99974109e-01 -1.21645640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30140051299998 meters 0.04554946137039032 Centerline is valid? [True, True] Translation: X:248.81, Y:21.75, Z:-1.22 [[ 9.98499075e-01 -5.42265761e-02 7.68610017e-03 2.48808440e+02] [ 5.42222524e-02 9.98528595e-01 7.69966857e-04 2.17509089e+01] [-7.71654347e-03 -3.52053531e-04 9.99970165e-01 -1.21673288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36140051299998 meters 0.05017622940062373 Centerline is valid? [True, True] Translation: X:248.87, Y:21.76, Z:-1.22 [[ 9.98639768e-01 -5.14522460e-02 8.44279220e-03 2.48867363e+02] [ 5.14469308e-02 9.98675372e-01 8.45677901e-04 2.17559687e+01] [-8.47512067e-03 -4.10171837e-04 9.99964001e-01 -1.21619409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42140051299998 meters 0.0521143643388984 Centerline is valid? [True, True] Translation: X:248.93, Y:21.76, Z:-1.22 [[ 9.98778900e-01 -4.84433352e-02 9.69286359e-03 2.48927317e+02] [ 4.84361872e-02 9.98825807e-01 9.70978308e-04 2.17567676e+01] [-9.72851973e-03 -5.00307291e-04 9.99952552e-01 -1.21581174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48140051299998 meters 0.05320145347251731 Centerline is valid? [True, True] Translation: X:248.99, Y:21.76, Z:-1.22 [[ 9.98889133e-01 -4.62547495e-02 8.99990217e-03 2.48987984e+02] [ 4.62484971e-02 9.98929559e-01 9.01717959e-04 2.17592922e+01] [-9.03197704e-03 -4.84484322e-04 9.99959093e-01 -1.21689999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54140051299999 meters 0.055911004254646235 Centerline is valid? [True, True] Translation: X:249.05, Y:21.76, Z:-1.22 [[ 9.99093789e-01 -4.20725967e-02 6.44178398e-03 2.49047993e+02] [ 4.20693071e-02 9.99114486e-01 6.45371104e-04 2.17631497e+01] [-6.46323213e-03 -3.73784874e-04 9.99979043e-01 -1.22041323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.601400513 meters 0.060013015933122894 Centerline is valid? [True, True] Translation: X:249.11, Y:21.77, Z:-1.22 [[ 9.99136565e-01 -4.07296046e-02 8.19905766e-03 2.49106331e+02] [ 4.07242298e-02 9.99170087e-01 8.21491677e-04 2.17689017e+01] [-8.22571218e-03 -4.86882063e-04 9.99966050e-01 -1.21868317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.661400513 meters 0.05763144271029014 Centerline is valid? [True, True] Translation: X:249.17, Y:21.77, Z:-1.22 [[ 9.99045568e-01 -4.26937215e-02 9.23039220e-03 2.49166284e+02] [ 4.26869896e-02 9.99088067e-01 9.25200789e-04 2.17715127e+01] [-9.26147496e-03 -5.30300091e-04 9.99956971e-01 -1.21839736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.721400513 meters 0.05159564818226783 Centerline is valid? [True, True] Translation: X:249.23, Y:21.77, Z:-1.22 [[ 9.98753860e-01 -4.94885097e-02 6.45093566e-03 2.49227341e+02] [ 4.94853615e-02 9.98774640e-01 6.46828831e-04 2.17725301e+01] [-6.47504153e-03 -3.26795908e-04 9.99978983e-01 -1.22351097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.781400513 meters 0.04380741969457872 Centerline is valid? [True, True] Translation: X:249.29, Y:21.77, Z:-1.22 [[ 9.98397340e-01 -5.63280479e-02 5.46836440e-03 2.49288235e+02] [ 5.63258885e-02 9.98412286e-01 5.48222906e-04 2.17700884e+01] [-5.49056253e-03 -2.39333807e-04 9.99984898e-01 -1.22327617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.841400513 meters 0.034078150936738064 Centerline is valid? [True, True] Translation: X:249.35, Y:21.77, Z:-1.22 [[ 9.97812944e-01 -6.54755367e-02 9.07102359e-03 2.49348722e+02] [ 6.54699716e-02 9.97854126e-01 9.09413975e-04 2.17700387e+01] [-9.11110268e-03 -3.13545379e-04 9.99958444e-01 -1.21707283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90140051299997 meters 0.030765185748848126 Centerline is valid? [True, True] Translation: X:249.41, Y:21.78, Z:-1.22 [[ 9.97447993e-01 -7.07158207e-02 9.83741095e-03 2.49408219e+02] [ 7.07095298e-02 9.97496461e-01 9.86265322e-04 2.17755723e+01] [-9.88252717e-03 -2.88149662e-04 9.99951125e-01 -1.21655607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96140051299997 meters 0.024549934971808147 Centerline is valid? [True, True] Translation: X:249.47, Y:21.78, Z:-1.22 [[ 9.96995683e-01 -7.69112684e-02 9.17954263e-03 2.49468352e+02] [ 7.69060518e-02 9.97037919e-01 9.20448238e-04 2.17765289e+01] [-9.22314492e-03 -2.11720539e-04 9.99957443e-01 -1.21812696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.021400513 meters 0.01391347040954603 Centerline is valid? [True, True] Translation: X:249.53, Y:21.77, Z:-1.22 [[ 9.96109269e-01 -8.76004032e-02 9.61731355e-03 2.49530033e+02] [ 8.75951744e-02 9.96155688e-01 9.64384958e-04 2.17679810e+01] [-9.66482211e-03 -1.18202538e-04 9.99953288e-01 -1.21712444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.081400513 meters 0.011321665351730943 Centerline is valid? [True, True] Translation: X:249.59, Y:21.77, Z:-1.22 [[ 9.95776610e-01 -9.10894742e-02 1.14739120e-02 2.49588040e+02] [ 9.10822620e-02 9.95842707e-01 1.15065469e-03 2.17706472e+01] [-1.15310241e-02 -1.00725168e-04 9.99933510e-01 -1.21598589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.141400513 meters 0.01596593570083687 Centerline is valid? [True, True] Translation: X:249.65, Y:21.78, Z:-1.22 [[ 9.96154023e-01 -8.68775255e-02 1.13779943e-02 2.49645366e+02] [ 8.68701509e-02 9.96218989e-01 1.14170869e-03 2.17807172e+01] [-1.14341628e-02 -1.48909627e-04 9.99934617e-01 -1.21678994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.201400513 meters 0.01754737615683154 Centerline is valid? [True, True] Translation: X:249.70, Y:21.79, Z:-1.22 [[ 9.96377771e-01 -8.43040961e-02 1.11425965e-02 2.49703424e+02] [ 8.42968551e-02 9.96440058e-01 1.11875408e-03 2.17869212e+01] [-1.11972451e-02 -1.75415846e-04 9.99937293e-01 -1.21758107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.261400513 meters 0.024008054726309295 Centerline is valid? [True, True] Translation: X:249.76, Y:21.79, Z:-1.22 [[ 9.96922688e-01 -7.78887767e-02 8.85961396e-03 2.49763366e+02] [ 7.78839392e-02 9.96962035e-01 8.90253887e-04 2.17936240e+01] [-8.90203955e-03 -1.97492663e-04 9.99960357e-01 -1.22030422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.321400513 meters 0.027161579629561033 Centerline is valid? [True, True] Translation: X:249.82, Y:21.80, Z:-1.22 [[ 9.97047986e-01 -7.60240343e-02 1.07545323e-02 2.49821448e+02] [ 7.60167958e-02 9.97105952e-01 1.08083763e-03 2.17970480e+01] [-1.08055778e-02 -2.60121898e-04 9.99941584e-01 -1.21860108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.381400513 meters 0.02885449208470722 Centerline is valid? [True, True] Translation: X:249.88, Y:21.80, Z:-1.22 [[ 9.97260558e-01 -7.31544722e-02 1.09454159e-02 2.49881542e+02] [ 7.31467914e-02 9.97320578e-01 1.10095120e-03 2.17991036e+01] [-1.09966280e-02 -2.97313162e-04 9.99939491e-01 -1.21867311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.441400513 meters 0.03248778815322353 Centerline is valid? [True, True] Translation: X:249.94, Y:21.80, Z:-1.22 [[ 9.97709212e-01 -6.70661585e-02 8.85767790e-03 2.49941569e+02] [ 6.70608869e-02 9.97748487e-01 8.91147691e-04 2.18025405e+01] [-8.89750058e-03 -2.95102524e-04 9.99960373e-01 -1.22350064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.501400513 meters 0.03450308236253353 Centerline is valid? [True, True] Translation: X:250.00, Y:21.81, Z:-1.22 [[ 9.97856384e-01 -6.48492466e-02 8.78701102e-03 2.50000710e+02] [ 6.48439732e-02 9.97895023e-01 8.84000771e-04 2.18058080e+01] [-8.82584135e-03 -3.12321106e-04 9.99961003e-01 -1.22474417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.561400513 meters 0.04037719581552521 Centerline is valid? [True, True] Translation: X:250.06, Y:21.81, Z:-1.23 [[ 9.98039574e-01 -6.21643263e-02 7.25290459e-03 2.50058679e+02] [ 6.21606618e-02 9.98065889e-01 7.29792044e-04 2.18099011e+01] [-7.28424370e-03 -2.77515991e-04 9.99973431e-01 -1.22769052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.621400513 meters 0.040287655120038 Centerline is valid? [True, True] Translation: X:250.12, Y:21.81, Z:-1.23 [[ 9.98209279e-01 -5.94033063e-02 7.03434899e-03 2.50119698e+02] [ 5.93997869e-02 9.98234022e-01 7.08369259e-04 2.18098057e+01] [-7.06400597e-03 -2.89261936e-04 9.99975008e-01 -1.22864330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.681400513 meters 0.04244921368821286 Centerline is valid? [True, True] Translation: X:250.18, Y:21.81, Z:-1.23 [[ 9.98429050e-01 -5.54419674e-02 8.10064473e-03 2.50180723e+02] [ 5.54371700e-02 9.98461844e-01 8.15734476e-04 2.18099679e+01] [-8.13341060e-03 -3.65376179e-04 9.99966857e-01 -1.22787253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74140051300003 meters 0.053292179086336926 Centerline is valid? [True, True] Translation: X:250.24, Y:21.82, Z:-1.23 [[ 9.98664297e-01 -5.09844964e-02 8.37872871e-03 2.50239043e+02] [ 5.09792070e-02 9.98699358e-01 8.43791624e-04 2.18216615e+01] [-8.41085128e-03 -4.15523624e-04 9.99964542e-01 -1.22877803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80140051300003 meters 0.05200193768857187 Centerline is valid? [True, True] Translation: X:250.30, Y:21.82, Z:-1.23 [[ 9.98830392e-01 -4.78207645e-02 7.14304419e-03 2.50299697e+02] [ 4.78168396e-02 9.98855862e-01 7.19349003e-04 2.18214781e+01] [-7.16927138e-03 -3.76949849e-04 9.99974229e-01 -1.23033255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86140051300004 meters 0.05626190921613045 Centerline is valid? [True, True] Translation: X:250.36, Y:21.83, Z:-1.23 [[ 9.99009626e-01 -4.38289923e-02 7.66717854e-03 2.50360173e+02] [ 4.38243528e-02 9.99038953e-01 7.72163313e-04 2.18276607e+01] [-7.69365317e-03 -4.35389445e-04 9.99970309e-01 -1.22997613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92140051300004 meters 0.058377874822617415 Centerline is valid? [True, True] Translation: X:250.42, Y:21.83, Z:-1.23 [[ 9.99117908e-01 -4.12966716e-02 7.61517441e-03 2.50420372e+02] [ 4.12920214e-02 9.99146826e-01 7.66938095e-04 2.18322450e+01] [-7.64034934e-03 -4.51815640e-04 9.99970710e-01 -1.23071235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98140051300004 meters 0.06271111309408214 Centerline is valid? [True, True] Translation: X:250.48, Y:21.84, Z:-1.23 [[ 9.99283058e-01 -3.67656153e-02 9.03661637e-03 2.50479965e+02] [ 3.67588813e-02 9.99323749e-01 9.10219891e-04 2.18411950e+01] [-9.06397015e-03 -5.77391408e-04 9.99958755e-01 -1.22949210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.041400513 meters 0.06436197052643446 Centerline is valid? [True, True] Translation: X:250.54, Y:21.85, Z:-1.23 [[ 9.99401823e-01 -3.31442161e-02 9.87199285e-03 2.50539946e+02] [ 3.31360023e-02 9.99450357e-01 9.94483110e-04 2.18498457e+01] [-9.89952815e-03 -6.66769856e-04 9.99950776e-01 -1.22904760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.101400513 meters 0.06531597993678177 Centerline is valid? [True, True] Translation: X:250.60, Y:21.86, Z:-1.23 [[ 9.99482115e-01 -3.06554797e-02 9.78482239e-03 2.50599851e+02] [ 3.06472917e-02 9.99529775e-01 9.85691890e-04 2.18567258e+01] [-9.81043818e-03 -6.85303110e-04 9.99951642e-01 -1.23117155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.161400513 meters 0.06522875968648009 Centerline is valid? [True, True] Translation: X:250.66, Y:21.86, Z:-1.23 [[ 9.99472802e-01 -3.07030718e-02 1.05564735e-02 2.50658718e+02] [ 3.06935435e-02 9.99528276e-01 1.06347018e-03 2.18613356e+01] [-1.05841456e-02 -7.38893937e-04 9.99943713e-01 -1.23040679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.221400513 meters 0.06800992695801955 Centerline is valid? [True, True] Translation: X:250.72, Y:21.88, Z:-1.24 [[ 9.99507064e-01 -3.06144713e-02 6.95575474e-03 2.50716339e+02] [ 3.06103259e-02 9.99531148e-01 7.01677099e-04 2.18752801e+01] [-6.97397499e-03 -4.88413299e-04 9.99975562e-01 -1.23733423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.281400513 meters 0.06871011147848248 Centerline is valid? [True, True] Translation: X:250.78, Y:21.88, Z:-1.24 [[ 9.99482915e-01 -3.14164145e-02 6.84913900e-03 2.50775123e+02] [ 3.14124143e-02 9.99506270e-01 6.90870245e-04 2.18838772e+01] [-6.86746204e-03 -4.75365015e-04 9.99976306e-01 -1.23891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.341400513 meters 0.06622851871467726 Centerline is valid? [True, True] Translation: X:250.84, Y:21.88, Z:-1.24 [[ 9.99426371e-01 -3.32776902e-02 6.28678436e-03 2.50835020e+02] [ 3.32743483e-02 9.99446054e-01 6.35448489e-04 2.18829621e+01] [-6.30444808e-03 -4.25895325e-04 9.99980036e-01 -1.23850081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.401400513 meters 0.08213097097213119 Centerline is valid? [True, True] Translation: X:250.89, Y:21.91, Z:-1.24 [[ 9.99489417e-01 -3.15352762e-02 5.14115014e-03 2.50891769e+02] [ 3.15330180e-02 9.99502576e-01 5.19725495e-04 2.19112456e+01] [-5.15498250e-03 -3.57344152e-04 9.99986649e-01 -1.24241412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.461400513 meters 0.07737150024678727 Centerline is valid? [True, True] Translation: X:250.95, Y:21.92, Z:-1.24 [[ 9.99619711e-01 -2.69951521e-02 5.62979057e-03 2.50952131e+02] [ 2.69923713e-02 9.99635477e-01 5.69356300e-04 2.19150407e+01] [-5.64310825e-03 -4.17178383e-04 9.99983991e-01 -1.24217682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.521400513 meters 0.08556667633304621 Centerline is valid? [True, True] Translation: X:251.01, Y:21.93, Z:-1.24 [[ 9.99741995e-01 -2.16815159e-02 6.77171907e-03 2.51010386e+02] [ 2.16773712e-02 9.99764784e-01 6.84863123e-04 2.19321066e+01] [-6.78497512e-03 -5.37893356e-04 9.99976837e-01 -1.24000626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.581400513 meters 0.07661907788546388 Centerline is valid? [True, True] Translation: X:251.07, Y:21.93, Z:-1.24 [[ 9.99736016e-01 -2.16726975e-02 7.62840003e-03 2.51070971e+02] [ 2.16674372e-02 9.99764936e-01 7.71555011e-04 2.19289301e+01] [-7.64332854e-03 -6.06063455e-04 9.99970606e-01 -1.23818413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.641400513 meters 0.08215903581433882 Centerline is valid? [True, True] Translation: X:251.13, Y:21.94, Z:-1.24 [[ 9.99680961e-01 -2.34891787e-02 9.28623739e-03 2.51129148e+02] [ 2.34814588e-02 9.99723831e-01 9.39503156e-04 2.19447961e+01] [-9.30574097e-03 -7.21149018e-04 9.99956441e-01 -1.23624644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.701400513 meters 0.07211688905460699 Centerline is valid? [True, True] Translation: X:251.19, Y:21.94, Z:-1.24 [[ 9.99668857e-01 -2.42049223e-02 8.73482634e-03 2.51190359e+02] [ 2.41981181e-02 9.99706792e-01 8.83836981e-04 2.19434395e+01] [-8.75365842e-03 -6.72177946e-04 9.99961460e-01 -1.23818177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.761400513 meters 0.08450230342508332 Centerline is valid? [True, True] Translation: X:251.25, Y:21.98, Z:-1.24 [[ 9.99671949e-01 -2.42898403e-02 8.12393206e-03 2.51247292e+02] [ 2.42839576e-02 9.99704763e-01 8.21997364e-04 2.19758913e+01] [-8.14149976e-03 -6.24446485e-04 9.99966662e-01 -1.24101793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.821400513 meters 0.08094770263208989 Centerline is valid? [True, True] Translation: X:251.31, Y:21.98, Z:-1.24 [[ 9.99662182e-01 -2.44773332e-02 8.73962887e-03 2.51307189e+02] [ 2.44705310e-02 9.99700161e-01 8.84420778e-04 2.19834345e+01] [-8.75865664e-03 -6.70258646e-04 9.99961418e-01 -1.23902764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.881400513 meters 0.07216575529710949 Centerline is valid? [True, True] Translation: X:251.37, Y:21.99, Z:-1.24 [[ 9.99579842e-01 -2.75207137e-02 9.09672199e-03 2.51367145e+02] [ 2.75134696e-02 9.99621009e-01 9.20554980e-04 2.19910227e+01] [-9.11860875e-03 -6.69885817e-04 9.99958200e-01 -1.23864701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.941400513 meters 0.06943158363114309 Centerline is valid? [True, True] Translation: X:251.43, Y:22.00, Z:-1.24 [[ 9.99501421e-01 -2.95498169e-02 1.11228546e-02 2.51427095e+02] [ 2.95391109e-02 9.99562991e-01 1.12561828e-03 2.20001515e+01] [-1.11512556e-02 -7.96497837e-04 9.99937506e-01 -1.23682722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.001400513 meters 0.07095932798573538 Centerline is valid? [True, True] Translation: X:251.49, Y:22.01, Z:-1.24 [[ 9.99454990e-01 -3.10073050e-02 1.13256141e-02 2.51485893e+02] [ 3.09962976e-02 9.99518842e-01 1.14618964e-03 2.20144688e+01] [-1.13557049e-02 -7.94512856e-04 9.99935206e-01 -1.23730052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.061400513 meters 0.07124899310625542 Centerline is valid? [True, True] Translation: X:251.55, Y:22.03, Z:-1.25 [[ 9.99496249e-01 -3.10150967e-02 6.73146710e-03 2.51545535e+02] [ 3.10112086e-02 9.99518805e-01 6.81246760e-04 2.20292513e+01] [-6.74935689e-03 -4.72152650e-04 9.99977111e-01 -1.24543975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.121400513 meters 0.07001614718258584 Centerline is valid? [True, True] Translation: X:251.60, Y:22.04, Z:-1.25 [[ 9.99476222e-01 -3.19438393e-02 5.18395897e-03 2.51603383e+02] [ 3.19415501e-02 9.99489601e-01 5.23823625e-04 2.20389391e+01] [-5.19804603e-03 -3.57965572e-04 9.99986426e-01 -1.24840592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.181400513 meters 0.06924800392605157 Centerline is valid? [True, True] Translation: X:251.66, Y:22.05, Z:-1.25 [[ 9.99371793e-01 -3.49914333e-02 5.62304631e-03 2.51662944e+02] [ 3.49887780e-02 9.99387543e-01 5.69938786e-04 2.20472591e+01] [-5.63954541e-03 -3.72837227e-04 9.99984028e-01 -1.24856161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24140051300003 meters 0.06551629990859403 Centerline is valid? [True, True] Translation: X:251.72, Y:22.05, Z:-1.25 [[ 9.99187233e-01 -3.97782514e-02 6.52415748e-03 2.51723587e+02] [ 3.97747784e-02 9.99208452e-01 6.61264221e-04 2.20465880e+01] [-6.54529723e-03 -4.01229849e-04 9.99978499e-01 -1.24765068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30140051300003 meters 0.053119590316550634 Centerline is valid? [True, True] Translation: X:251.79, Y:22.03, Z:-1.25 [[ 9.98982222e-01 -4.45985405e-02 6.74464782e-03 2.51785445e+02] [ 4.45949385e-02 9.99004917e-01 6.83581499e-04 2.20325616e+01] [-6.76842308e-03 -3.82108610e-04 9.99977021e-01 -1.24735541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36140051300004 meters 0.058664156794147326 Centerline is valid? [True, True] Translation: X:251.84, Y:22.04, Z:-1.24 [[ 9.98989469e-01 -4.39927331e-02 9.20218626e-03 2.51843016e+02] [ 4.39860018e-02 9.99031712e-01 9.32694926e-04 2.20365016e+01] [-9.23430769e-03 -5.26985027e-04 9.99957224e-01 -1.24322237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42140051300004 meters 0.05905169609109624 Centerline is valid? [True, True] Translation: X:251.90, Y:22.04, Z:-1.24 [[ 9.99057364e-01 -4.21778148e-02 1.02671878e-02 2.51903251e+02] [ 4.21693292e-02 9.99109935e-01 1.04165774e-03 2.20382433e+01] [-1.03019842e-02 -6.07715415e-04 9.99946748e-01 -1.24297619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48140051300004 meters 0.06270076162588413 Centerline is valid? [True, True] Translation: X:251.96, Y:22.04, Z:-1.25 [[ 9.99188056e-01 -3.95118629e-02 7.87662910e-03 2.51963780e+02] [ 3.95067857e-02 9.99218983e-01 7.99201975e-04 2.20421315e+01] [-7.90205527e-03 -4.87372770e-04 9.99968660e-01 -1.24774901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.541400513 meters 0.06198268513615156 Centerline is valid? [True, True] Translation: X:252.02, Y:22.04, Z:-1.25 [[ 9.99236188e-01 -3.83584104e-02 7.46148863e-03 2.52023711e+02] [ 3.83538225e-02 9.99263935e-01 7.57060572e-04 2.20433368e+01] [-7.48503612e-03 -4.70305710e-04 9.99971876e-01 -1.24867263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.601400513 meters 0.07077119420503407 Centerline is valid? [True, True] Translation: X:252.08, Y:22.06, Z:-1.25 [[ 9.99318646e-01 -3.57615845e-02 9.12976414e-03 2.52081968e+02] [ 3.57546051e-02 9.99360170e-01 9.26599170e-04 2.20561183e+01] [-9.15705930e-03 -5.99536717e-04 9.99957894e-01 -1.24699821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.661400513 meters 0.06148218637961864 Centerline is valid? [True, True] Translation: X:252.14, Y:22.05, Z:-1.25 [[ 9.99407346e-01 -3.34395534e-02 8.17025130e-03 2.52143186e+02] [ 3.34338859e-02 9.99440587e-01 8.29317353e-04 2.20484384e+01] [-8.19341276e-03 -5.55662605e-04 9.99966279e-01 -1.24901157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.721400513 meters 0.07199851711848809 Centerline is valid? [True, True] Translation: X:252.20, Y:22.07, Z:-1.25 [[ 9.99562435e-01 -2.82815537e-02 8.66560317e-03 2.52200387e+02] [ 2.82749838e-02 9.99599796e-01 8.79758502e-04 2.20708107e+01] [-8.68701610e-03 -6.34353761e-04 9.99962066e-01 -1.25202321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.781400513 meters 0.07132841826158089 Centerline is valid? [True, True] Translation: X:252.26, Y:22.08, Z:-1.25 [[ 9.99587758e-01 -2.72650978e-02 8.99598636e-03 2.52260075e+02] [ 2.72579753e-02 9.99628015e-01 9.13425478e-04 2.20766404e+01] [-9.01754462e-03 -6.67836551e-04 9.99959118e-01 -1.25140783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.841400513 meters 0.0689968849678081 Centerline is valid? [True, True] Translation: X:252.32, Y:22.08, Z:-1.26 [[ 9.99523561e-01 -3.01278930e-02 6.70537019e-03 2.52319931e+02] [ 3.01239995e-02 9.99545937e-01 6.80924021e-04 2.20839375e+01] [-6.72284034e-03 -4.78607034e-04 9.99977287e-01 -1.25500250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.901400513 meters 0.07538719576119625 Centerline is valid? [True, True] Translation: X:252.38, Y:22.10, Z:-1.26 [[ 9.99420028e-01 -3.32644620e-02 7.28577820e-03 2.52377649e+02] [ 3.32599483e-02 9.99446461e-01 7.39835186e-04 2.21020827e+01] [-7.30635545e-03 -4.97081496e-04 9.99973185e-01 -1.25618825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.961400513 meters 0.05992476227758422 Centerline is valid? [True, True] Translation: X:252.44, Y:22.09, Z:-1.25 [[ 9.99291040e-01 -3.67050368e-02 8.37603852e-03 2.52438588e+02] [ 3.66991901e-02 9.99325996e-01 8.50705120e-04 2.20943194e+01] [-8.40161820e-03 -5.42708173e-04 9.99964559e-01 -1.25432633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.021400513 meters 0.06226250890997459 Centerline is valid? [True, True] Translation: X:252.50, Y:22.11, Z:-1.25 [[ 9.99264293e-01 -3.73992977e-02 8.49499098e-03 2.52496937e+02] [ 3.73933100e-02 9.99300253e-01 8.62649161e-04 2.21057834e+01] [-8.52130911e-03 -5.44358673e-04 9.99963545e-01 -1.25230529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.081400513 meters 0.06414705608811926 Centerline is valid? [True, True] Translation: X:252.55, Y:22.12, Z:-1.25 [[ 9.99322523e-01 -3.53835987e-02 1.01240785e-02 2.52554144e+02] [ 3.53749705e-02 9.99373579e-01 1.03011091e-03 2.21237300e+01] [-1.01541856e-02 -6.71274058e-04 9.99948220e-01 -1.25100758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.141400513 meters 0.06714215537663637 Centerline is valid? [True, True] Translation: X:252.61, Y:22.14, Z:-1.25 [[ 9.99350852e-01 -3.44491221e-02 1.05419366e-02 2.52611059e+02] [ 3.44397124e-02 9.99406201e-01 1.07288339e-03 2.21378887e+01] [-1.05726367e-02 -7.09125662e-04 9.99943857e-01 -1.25068321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.201400513 meters 0.06645674295046511 Centerline is valid? [True, True] Translation: X:252.67, Y:22.15, Z:-1.25 [[ 9.99385579e-01 -3.37317515e-02 9.52016863e-03 2.52669851e+02] [ 3.37240413e-02 9.99430713e-01 9.69301419e-04 2.21496537e+01] [-9.54744515e-03 -6.47647299e-04 9.99954212e-01 -1.25351919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.261400513 meters 0.07049335854960599 Centerline is valid? [True, True] Translation: X:252.73, Y:22.16, Z:-1.25 [[ 9.99444211e-01 -3.18143852e-02 9.95558314e-03 2.52727758e+02] [ 3.18058565e-02 9.99493552e-01 1.01387503e-03 2.21643844e+01] [-9.98279696e-03 -6.96665686e-04 9.99949928e-01 -1.25268318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.321400513 meters 0.07249496223770743 Centerline is valid? [True, True] Translation: X:252.79, Y:22.18, Z:-1.25 [[ 9.99518649e-01 -2.91927373e-02 1.05001682e-02 2.52787276e+02] [ 2.91831043e-02 9.99573510e-01 1.06950261e-03 2.21778487e+01] [-1.05269117e-02 -7.62560306e-04 9.99944300e-01 -1.25264223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.381400513 meters 0.08765004581160447 Centerline is valid? [True, True] Translation: X:252.84, Y:22.21, Z:-1.25 [[ 9.99680798e-01 -2.20208464e-02 1.23848622e-02 2.52844591e+02] [ 2.20068971e-02 9.99757023e-01 1.26149150e-03 2.22057404e+01] [-1.24096321e-02 -9.88536441e-04 9.99922509e-01 -1.25087629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.441400513 meters 0.08045411016547269 Centerline is valid? [True, True] Translation: X:252.91, Y:22.21, Z:-1.25 [[ 9.99761152e-01 -1.83533329e-02 1.18656890e-02 2.52905234e+02] [ 1.83402711e-02 9.99831072e-01 1.20869383e-03 2.22077491e+01] [-1.18858682e-02 -9.90785182e-04 9.99928870e-01 -1.25399890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.501400513 meters 0.08479302646547592 Centerline is valid? [True, True] Translation: X:252.97, Y:22.22, Z:-1.26 [[ 9.99791658e-01 -1.80581653e-02 9.51543025e-03 2.52965414e+02] [ 1.80497519e-02 9.99836620e-01 9.69333844e-04 2.22216371e+01] [-9.53138001e-03 -7.97380736e-04 9.99954257e-01 -1.25892691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.561400513 meters 0.08857858242319795 Centerline is valid? [True, True] Translation: X:253.02, Y:22.23, Z:-1.26 [[ 9.99713870e-01 -2.19145639e-02 9.58800808e-03 2.53024012e+02] [ 2.19062012e-02 9.99759554e-01 9.76375235e-04 2.22325600e+01] [-9.60709952e-03 -7.66059031e-04 9.99953557e-01 -1.25986113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.621400513 meters 0.07117889722280829 Centerline is valid? [True, True] Translation: X:253.09, Y:22.21, Z:-1.26 [[ 9.99484226e-01 -3.09726948e-02 8.48379544e-03 2.53086706e+02] [ 3.09664720e-02 9.99520050e-01 8.63910569e-04 2.22142511e+01] [-8.50648129e-03 -6.00751772e-04 9.99963639e-01 -1.26243434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.681400513 meters 0.06671254952623126 Centerline is valid? [True, True] Translation: X:253.15, Y:22.21, Z:-1.26 [[ 9.99253477e-01 -3.74652679e-02 9.42558251e-03 2.53147389e+02] [ 3.74578745e-02 9.99297747e-01 9.59770152e-04 2.22120876e+01] [-9.45492141e-03 -6.05991375e-04 9.99955118e-01 -1.26200351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74140051300003 meters 0.06141039223719852 Centerline is valid? [True, True] Translation: X:253.21, Y:22.20, Z:-1.26 [[ 9.99028075e-01 -4.28243614e-02 1.04393138e-02 2.53208610e+02] [ 4.28155832e-02 9.99082427e-01 1.06303132e-03 2.22037141e+01] [-1.04752586e-02 -6.15032825e-04 9.99944944e-01 -1.25991231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80140051300003 meters 0.0683629801377235 Centerline is valid? [True, True] Translation: X:253.27, Y:22.21, Z:-1.26 [[ 9.99115724e-01 -4.11911669e-02 8.42958597e-03 2.53266946e+02] [ 4.11853853e-02 9.99151153e-01 8.58388359e-04 2.22134207e+01] [-8.45778856e-03 -5.10453560e-04 9.99964102e-01 -1.26399485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86140051300004 meters 0.06449351982746516 Centerline is valid? [True, True] Translation: X:253.33, Y:22.21, Z:-1.27 [[ 9.99224752e-01 -3.89153069e-02 5.95766780e-03 2.53328317e+02] [ 3.89123785e-02 9.99242442e-01 6.06706247e-04 2.22085493e+01] [-5.97676468e-03 -3.74408875e-04 9.99982069e-01 -1.26752667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92140051300004 meters 0.0649221296737665 Centerline is valid? [True, True] Translation: X:253.39, Y:22.21, Z:-1.26 [[ 9.99277109e-01 -3.63149440e-02 1.12465602e-02 2.53389263e+02] [ 3.63043440e-02 9.99340124e-01 1.14529891e-03 2.22107776e+01] [-1.12807303e-02 -7.36171995e-04 9.99936100e-01 -1.25912928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98140051300004 meters 0.07086228122301665 Centerline is valid? [True, True] Translation: X:253.45, Y:22.22, Z:-1.26 [[ 9.99436876e-01 -3.17527447e-02 1.08486597e-02 2.53448074e+02] [ 3.17426144e-02 9.99495466e-01 1.10473926e-03 2.22198761e+01] [-1.08782647e-02 -7.59752338e-04 9.99940541e-01 -1.26005525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.041400513 meters 0.07247570540519718 Centerline is valid? [True, True] Translation: X:253.51, Y:22.23, Z:-1.26 [[ 9.99503567e-01 -2.97339903e-02 1.04167371e-02 2.53507517e+02] [ 2.97245407e-02 9.99557565e-01 1.06084082e-03 2.22264937e+01] [-1.04436714e-02 -7.50681453e-04 9.99945182e-01 -1.26194323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.101400513 meters 0.07351219423841615 Centerline is valid? [True, True] Translation: X:253.57, Y:22.23, Z:-1.26 [[ 9.99590888e-01 -2.62370931e-02 1.13873016e-02 2.53567518e+02] [ 2.62255732e-02 9.99655378e-01 1.15982120e-03 2.22307457e+01] [-1.14138076e-02 -8.60708190e-04 9.99934490e-01 -1.26202262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.161400513 meters 0.07596326853716594 Centerline is valid? [True, True] Translation: X:253.63, Y:22.24, Z:-1.26 [[ 9.99570540e-01 -2.69649070e-02 1.14729802e-02 2.53628023e+02] [ 2.69532597e-02 9.99636012e-01 1.16863745e-03 2.22377281e+01] [-1.15003164e-02 -8.58901349e-04 9.99933500e-01 -1.26169768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.221400513 meters 0.07369421789033535 Centerline is valid? [True, True] Translation: X:253.69, Y:22.24, Z:-1.26 [[ 9.99514874e-01 -2.88478923e-02 1.17394884e-02 2.53689034e+02] [ 2.88358297e-02 9.99583446e-01 1.19552821e-03 2.22410218e+01] [-1.17690868e-02 -8.56430342e-04 9.99930375e-01 -1.26291720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.281400513 meters 0.07510503408970265 Centerline is valid? [True, True] Translation: X:253.75, Y:22.25, Z:-1.27 [[ 9.99550421e-01 -2.79623439e-02 1.08195434e-02 2.53749382e+02] [ 2.79520475e-02 9.99608658e-01 1.10172543e-03 2.22486298e+01] [-1.08461161e-02 -7.98801725e-04 9.99940860e-01 -1.26684487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.341400513 meters 0.08272003594321305 Centerline is valid? [True, True] Translation: X:253.81, Y:22.26, Z:-1.26 [[ 9.99534289e-01 -2.77719996e-02 1.26460136e-02 2.53808335e+02] [ 2.77579225e-02 9.99613846e-01 1.28735591e-03 2.22632544e+01] [-1.26768828e-02 -9.35729307e-04 9.99919207e-01 -1.26418738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.401400513 meters 0.07211012021611639 Centerline is valid? [True, True] Translation: X:253.87, Y:22.26, Z:-1.26 [[ 9.99506790e-01 -2.82844429e-02 1.36442823e-02 2.53870443e+02] [ 2.82681057e-02 9.99599413e-01 1.38878141e-03 2.22600994e+01] [-1.36780974e-02 -1.00239844e-03 9.99905948e-01 -1.26178201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.461400513 meters 0.07086272629853321 Centerline is valid? [True, True] Translation: X:253.93, Y:22.27, Z:-1.26 [[ 9.99463826e-01 -2.97978325e-02 1.35701405e-02 2.53931061e+02] [ 2.97818148e-02 9.99555469e-01 1.38096523e-03 2.22677053e+01] [-1.36052579e-02 -9.76081385e-04 9.99906968e-01 -1.26263243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.521400513 meters 0.07721374245509065 Centerline is valid? [True, True] Translation: X:253.99, Y:22.28, Z:-1.26 [[ 9.99407834e-01 -3.17278643e-02 1.33163082e-02 2.53989474e+02] [ 3.17126123e-02 9.99496110e-01 1.35501834e-03 2.22833938e+01] [-1.33525901e-02 -9.31921023e-04 9.99910416e-01 -1.26254430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.581400513 meters 0.06468521565671924 Centerline is valid? [True, True] Translation: X:254.05, Y:22.28, Z:-1.27 [[ 9.99462503e-01 -3.06995259e-02 1.14997069e-02 2.54050922e+02] [ 3.06880840e-02 9.99528325e-01 1.17015545e-03 2.22785444e+01] [-1.15302060e-02 -8.16622529e-04 9.99933192e-01 -1.26616921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.641400513 meters 0.07517912372985582 Centerline is valid? [True, True] Translation: X:254.11, Y:22.30, Z:-1.27 [[ 9.99511272e-01 -2.91760822e-02 1.12237928e-02 2.54108959e+02] [ 2.91650885e-02 9.99573956e-01 1.14196102e-03 2.23018467e+01] [-1.12523289e-02 -8.14059996e-04 9.99936359e-01 -1.26781771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.701400513 meters 0.07668291867226071 Centerline is valid? [True, True] Translation: X:254.17, Y:22.32, Z:-1.26 [[ 9.99549824e-01 -2.68824414e-02 1.33222924e-02 2.54168184e+02] [ 2.68667496e-02 9.99638105e-01 1.35546646e-03 2.23193832e+01] [-1.33539094e-02 -9.96929566e-04 9.99910336e-01 -1.26379225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.761400513 meters 0.08180106130004905 Centerline is valid? [True, True] Translation: X:254.23, Y:22.34, Z:-1.27 [[ 9.99569066e-01 -2.67407514e-02 1.21084766e-02 2.54227163e+02] [ 2.67277795e-02 9.99641990e-01 1.23189403e-03 2.23442386e+01] [-1.21370834e-02 -9.07730468e-04 9.99925931e-01 -1.26643403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.821400513 meters 0.07039980469778259 Centerline is valid? [True, True] Translation: X:254.29, Y:22.35, Z:-1.27 [[ 9.99482278e-01 -2.87126714e-02 1.45175546e-02 2.54288429e+02] [ 2.86942373e-02 9.99587145e-01 1.47652865e-03 2.23455994e+01] [-1.45539561e-02 -1.05919406e-03 9.99893525e-01 -1.26568685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.881400513 meters 0.07153471186873342 Centerline is valid? [True, True] Translation: X:254.35, Y:22.36, Z:-1.26 [[ 9.99348777e-01 -3.17884676e-02 1.70737982e-02 2.54346483e+02] [ 3.17634170e-02 9.99493907e-01 1.73645071e-03 2.23591131e+01] [-1.71203564e-02 -1.19299772e-03 9.99852724e-01 -1.26158433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.941400513 meters 0.07068265572462827 Centerline is valid? [True, True] Translation: X:254.41, Y:22.37, Z:-1.27 [[ 9.99365898e-01 -3.22221943e-02 1.51502928e-02 2.54407570e+02] [ 3.22025218e-02 9.99480177e-01 1.54071824e-03 2.23686871e+01] [-1.51920626e-02 -1.05186364e-03 9.99884041e-01 -1.26632846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.001400513 meters 0.07176300350894625 Centerline is valid? [True, True] Translation: X:254.47, Y:22.38, Z:-1.27 [[ 9.99365549e-01 -3.18338478e-02 1.59720418e-02 2.54468888e+02] [ 3.18119458e-02 9.99492553e-01 1.62353640e-03 2.23789822e+01] [-1.60156203e-02 -1.11440462e-03 9.99871121e-01 -1.26590705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.061400513 meters 0.06921071145717683 Centerline is valid? [True, True] Translation: X:254.53, Y:22.38, Z:-1.27 [[ 9.99368003e-01 -3.19487462e-02 1.55843677e-02 2.54530972e+02] [ 3.19279193e-02 9.99488920e-01 1.58343629e-03 2.23825686e+01] [-1.56269917e-02 -1.08485913e-03 9.99877303e-01 -1.26719366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.121400513 meters 0.0735595971142816 Centerline is valid? [True, True] Translation: X:254.59, Y:22.39, Z:-1.27 [[ 9.99538092e-01 -2.74494442e-02 1.30434024e-02 2.54590954e+02] [ 2.74344797e-02 9.99622726e-01 1.32486495e-03 2.23922068e+01] [-1.30748483e-02 -9.66414025e-04 9.99914053e-01 -1.27174257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.181400513 meters 0.07868102243243717 Centerline is valid? [True, True] Translation: X:254.65, Y:22.41, Z:-1.27 [[ 9.99631542e-01 -2.22455748e-02 1.55535831e-02 2.54650098e+02] [ 2.22236697e-02 9.99751776e-01 1.57981371e-03 2.24098899e+01] [-1.55848662e-02 -1.23357392e-03 9.99877788e-01 -1.26919422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24140051300003 meters 0.08722265929396966 Centerline is valid? [True, True] Translation: X:254.71, Y:22.43, Z:-1.27 [[ 9.99671127e-01 -2.06900635e-02 1.51512367e-02 2.54708459e+02] [ 2.06691032e-02 9.99785187e-01 1.53870881e-03 2.24269675e+01] [-1.51798180e-02 -1.22504029e-03 9.99884029e-01 -1.26968306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30140051300003 meters 0.07174604913714616 Centerline is valid? [True, True] Translation: X:254.77, Y:22.41, Z:-1.27 [[ 9.99607214e-01 -2.36860440e-02 1.49796307e-02 2.54770494e+02] [ 2.36658969e-02 9.99718767e-01 1.52082700e-03 2.24139171e+01] [-1.50114403e-02 -1.16572325e-03 9.99886642e-01 -1.27224857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36140051300004 meters 0.07520634918064423 Centerline is valid? [True, True] Translation: X:254.83, Y:22.42, Z:-1.27 [[ 9.99488436e-01 -2.74611170e-02 1.63936824e-02 2.54829452e+02] [ 2.74374907e-02 9.99622136e-01 1.66440640e-03 2.24238933e+01] [-1.64331943e-02 -1.21375344e-03 9.99864229e-01 -1.27072318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42140051300004 meters 0.07189708344297524 Centerline is valid? [True, True] Translation: X:254.89, Y:22.43, Z:-1.27 [[ 9.99417422e-01 -2.97824263e-02 1.66680426e-02 2.54889919e+02] [ 2.97583237e-02 9.99555691e-01 1.69225516e-03 2.24294445e+01] [-1.67110363e-02 -1.19525628e-03 9.99859646e-01 -1.27114783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48140051300004 meters 0.0689826062377474 Centerline is valid? [True, True] Translation: X:254.95, Y:22.44, Z:-1.27 [[ 9.99454589e-01 -2.79868589e-02 1.75288128e-02 2.54950760e+02] [ 2.79599295e-02 9.99607461e-01 1.77953136e-03 2.24364537e+01] [-1.75717355e-02 -1.28845641e-03 9.99844775e-01 -1.27118237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.541400513 meters 0.07696406016440346 Centerline is valid? [True, True] Translation: X:255.01, Y:22.46, Z:-1.27 [[ 9.99523473e-01 -2.53026673e-02 1.76805304e-02 2.55008345e+02] [ 2.52748550e-02 9.99678929e-01 1.79476929e-03 2.24603031e+01] [-1.77202661e-02 -1.34704120e-03 9.99842076e-01 -1.27160358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.601400513 meters 0.08169603237014832 Centerline is valid? [True, True] Translation: X:255.07, Y:22.48, Z:-1.27 [[ 9.99565278e-01 -2.36853532e-02 1.75573097e-02 2.55067982e+02] [ 2.36576833e-02 9.99718530e-01 1.78202987e-03 2.24774689e+01] [-1.75945758e-02 -1.36588991e-03 9.99844270e-01 -1.27327983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.661400513 meters 0.07181429720055113 Centerline is valid? [True, True] Translation: X:255.13, Y:22.49, Z:-1.27 [[ 9.99510934e-01 -2.54437164e-02 1.81799260e-02 2.55128590e+02] [ 2.54143445e-02 9.99675301e-01 1.84487430e-03 2.24863402e+01] [-1.82209635e-02 -1.38194114e-03 9.99833029e-01 -1.27372787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.721400513 meters 0.07649757775650935 Centerline is valid? [True, True] Translation: X:255.19, Y:22.50, Z:-1.27 [[ 9.99275753e-01 -3.25179463e-02 1.97623907e-02 2.55187037e+02] [ 3.24846146e-02 9.99470224e-01 2.00538967e-03 2.25000588e+01] [-1.98171322e-02 -1.36196363e-03 9.99802694e-01 -1.27094986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.781400513 meters 0.07212116390544342 Centerline is valid? [True, True] Translation: X:255.25, Y:22.50, Z:-1.27 [[ 9.99051038e-01 -3.87502159e-02 1.98857937e-02 2.55246630e+02] [ 3.87176938e-02 9.99248151e-01 2.01799315e-03 2.25043237e+01] [-1.99490402e-02 -1.24614608e-03 9.99800222e-01 -1.27091884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.841400513 meters 0.06238779240812531 Centerline is valid? [True, True] Translation: X:255.31, Y:22.50, Z:-1.27 [[ 9.98964471e-01 -4.00714401e-02 2.15468232e-02 2.55308614e+02] [ 4.00335682e-02 9.99195943e-01 2.18631420e-03 2.25004386e+01] [-2.16171071e-02 -1.32145399e-03 9.99765450e-01 -1.27180461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.901400513 meters 0.06470092843245484 Centerline is valid? [True, True] Translation: X:255.37, Y:22.51, Z:-1.27 [[ 9.98943913e-01 -3.98396356e-02 2.28880538e-02 2.55369451e+02] [ 3.97968559e-02 9.99205094e-01 2.32172919e-03 2.25097909e+01] [-2.29623568e-02 -1.40840466e-03 9.99735338e-01 -1.27034301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.961400513 meters 0.059011503506001206 Centerline is valid? [True, True] Translation: X:255.43, Y:22.51, Z:-1.27 [[ 9.98950591e-01 -3.94411394e-02 2.32833154e-02 2.55431583e+02] [ 3.93967839e-02 9.99220856e-01 2.36085701e-03 2.25138728e+01] [-2.33582892e-02 -1.44109176e-03 9.99726119e-01 -1.27125025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.021400513 meters 0.06126708394604456 Centerline is valid? [True, True] Translation: X:255.49, Y:22.53, Z:-1.28 [[ 9.99018336e-01 -3.92707836e-02 2.04980702e-02 2.55491650e+02] [ 3.92363876e-02 9.99227796e-01 2.07765569e-03 2.25260423e+01] [-2.05638327e-02 -1.27134590e-03 9.99787734e-01 -1.27546467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.081400513 meters 0.059441522244851476 Centerline is valid? [True, True] Translation: X:255.55, Y:22.54, Z:-1.28 [[ 9.99074293e-01 -3.86383926e-02 1.89111423e-02 2.55553135e+02] [ 3.86090183e-02 9.99252557e-01 1.91606528e-03 2.25357428e+01] [-1.89710410e-02 -1.18415093e-03 9.99819332e-01 -1.28096364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.141400513 meters 0.064268902622625 Centerline is valid? [True, True] Translation: X:255.61, Y:22.55, Z:-1.28 [[ 9.99072091e-01 -3.86152353e-02 1.90740821e-02 2.55613275e+02] [ 3.85853677e-02 9.99253441e-01 1.93155985e-03 2.25547954e+01] [-1.91344298e-02 -1.19378706e-03 9.99816207e-01 -1.28046144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.201400513 meters 0.056698057974386935 Centerline is valid? [True, True] Translation: X:255.67, Y:22.56, Z:-1.29 [[ 9.98950295e-01 -4.22473679e-02 1.77050367e-02 2.55674018e+02] [ 4.22222136e-02 9.99106637e-01 1.79231344e-03 2.25576876e+01] [-1.77649402e-02 -1.04288620e-03 9.99841647e-01 -1.28550815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.261400513 meters 0.051949483320770116 Centerline is valid? [True, True] Translation: X:255.73, Y:22.57, Z:-1.29 [[ 9.98724215e-01 -4.79481781e-02 1.58402775e-02 2.55734130e+02] [ 4.79287598e-02 9.98849470e-01 1.60345715e-03 2.25681466e+01] [-1.58989357e-02 -8.42206622e-04 9.99873249e-01 -1.28989374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.321400513 meters 0.04644406345420401 Centerline is valid? [True, True] Translation: X:255.79, Y:22.57, Z:-1.29 [[ 9.98378682e-01 -5.45239214e-02 1.63447052e-02 2.55794845e+02] [ 5.45041278e-02 9.98512175e-01 1.65436135e-03 2.25717174e+01] [-1.64105894e-02 -7.60825200e-04 9.99865048e-01 -1.28815348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.381400513 meters 0.042581588476150546 Centerline is valid? [True, True] Translation: X:255.86, Y:22.57, Z:-1.29 [[ 9.98125472e-01 -5.84590429e-02 1.81130404e-02 2.55855804e+02] [ 5.84353845e-02 9.98289510e-01 1.83313147e-03 2.25740027e+01] [-1.81892213e-02 -7.71252739e-04 9.99834265e-01 -1.28561610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.441400513 meters 0.041338482772653826 Centerline is valid? [True, True] Translation: X:255.91, Y:22.58, Z:-1.29 [[ 9.97745251e-01 -6.46367442e-02 1.80694877e-02 2.55914913e+02] [ 6.46142103e-02 9.97908643e-01 1.82873128e-03 2.25819775e+01] [-1.81499011e-02 -6.57062269e-04 9.99835061e-01 -1.28774180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.501400513 meters 0.033679645098221286 Centerline is valid? [True, True] Translation: X:255.98, Y:22.58, Z:-1.29 [[ 9.97491014e-01 -6.89388908e-02 1.60967870e-02 2.55976119e+02] [ 6.89215667e-02 9.97620751e-01 1.62917724e-03 2.25779611e+01] [-1.61708024e-02 -5.15673873e-04 9.99869111e-01 -1.29245286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.561400513 meters 0.035951725909440846 Centerline is valid? [True, True] Translation: X:256.03, Y:22.59, Z:-1.29 [[ 9.97617406e-01 -6.72531674e-02 1.53793153e-02 2.56034158e+02] [ 6.72371512e-02 9.97735808e-01 1.55669588e-03 2.25871090e+01] [-1.54491863e-02 -5.18925556e-04 9.99880520e-01 -1.29444359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.621400513 meters 0.036344503368464426 Centerline is valid? [True, True] Translation: X:256.09, Y:22.59, Z:-1.30 [[ 9.97774605e-01 -6.50266350e-02 1.47436283e-02 2.56093458e+02] [ 6.50116660e-02 9.97883387e-01 1.49280935e-03 2.25940784e+01] [-1.48094941e-02 -5.30979416e-04 9.99890192e-01 -1.29655721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.681400513 meters 0.03931557230326936 Centerline is valid? [True, True] Translation: X:256.15, Y:22.60, Z:-1.30 [[ 9.97776658e-01 -6.47012213e-02 1.59841680e-02 2.56151281e+02] [ 6.46835778e-02 9.97904511e-01 1.61888695e-03 2.26032514e+01] [-1.60554173e-02 -5.81374439e-04 9.99870934e-01 -1.29615689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74140051300003 meters 0.03902464584420164 Centerline is valid? [True, True] Translation: X:256.21, Y:22.61, Z:-1.30 [[ 9.97671950e-01 -6.59959227e-02 1.71819319e-02 2.56210026e+02] [ 6.59757163e-02 9.97819710e-01 1.74083238e-03 2.26092062e+01] [-1.72593581e-02 -6.03189372e-04 9.99850864e-01 -1.29554446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80140051300003 meters 0.03497387440163682 Centerline is valid? [True, True] Translation: X:256.27, Y:22.61, Z:-1.30 [[ 9.97562906e-01 -6.70303049e-02 1.93697339e-02 2.56269561e+02] [ 6.70048071e-02 9.97750721e-01 1.96311610e-03 2.26099806e+01] [-1.94577543e-02 -6.60466516e-04 9.99810462e-01 -1.29662251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86140051300004 meters 0.03942503927769297 Centerline is valid? [True, True] Translation: X:256.33, Y:22.62, Z:-1.30 [[ 9.97516391e-01 -6.74819592e-02 2.01800665e-02 2.56330246e+02] [ 6.74543748e-02 9.97720264e-01 2.04526634e-03 2.26163566e+01] [-2.02720798e-02 -6.78952928e-04 9.99794270e-01 -1.29669378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92140051300004 meters 0.038057345863083285 Centerline is valid? [True, True] Translation: X:256.39, Y:22.63, Z:-1.30 [[ 9.97477398e-01 -6.85829210e-02 1.83091092e-02 2.56389648e+02] [ 6.85604063e-02 9.97645242e-01 1.85531605e-03 2.26260077e+01] [-1.83932386e-02 -5.95355862e-04 9.99830653e-01 -1.29827023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98140051300004 meters 0.029330669121000366 Centerline is valid? [True, True] Translation: X:256.45, Y:22.62, Z:-1.30 [[ 9.97061798e-01 -7.49796114e-02 1.56789324e-02 2.56450957e+02] [ 7.49638926e-02 9.97184983e-01 1.58869407e-03 2.26230693e+01] [-1.57539156e-02 -4.08672360e-04 9.99875816e-01 -1.30466523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.041400513 meters 0.02512325245309373 Centerline is valid? [True, True] Translation: X:256.51, Y:22.62, Z:-1.31 [[ 9.96817502e-01 -7.82841551e-02 1.50485416e-02 2.56510644e+02] [ 7.82700492e-02 9.96931028e-01 1.52494656e-03 2.26237978e+01] [-1.51217372e-02 -3.42243324e-04 9.99885601e-01 -1.30508421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.101400513 meters 0.025533381225058733 Centerline is valid? [True, True] Translation: X:256.57, Y:22.64, Z:-1.31 [[ 9.96900041e-01 -7.72948284e-02 1.46907193e-02 2.56568892e+02] [ 7.72812639e-02 9.97008218e-01 1.48964472e-03 2.26359629e+01] [-1.47619097e-02 -3.49709525e-04 9.99890976e-01 -1.30726537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.161400513 meters 0.027094801600262015 Centerline is valid? [True, True] Translation: X:256.63, Y:22.65, Z:-1.31 [[ 9.97092126e-01 -7.50486750e-02 1.32282932e-02 2.56626352e+02] [ 7.50374519e-02 9.97179811e-01 1.34341689e-03 2.26517102e+01] [-1.32918086e-02 -3.46892989e-04 9.99911600e-01 -1.31077827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.221400513 meters 0.028871865235729672 Centerline is valid? [True, True] Translation: X:256.68, Y:22.67, Z:-1.31 [[ 9.97211242e-01 -7.39033020e-02 1.03942697e-02 2.56682545e+02] [ 7.38962960e-02 9.97265371e-01 1.05700261e-03 2.26656997e+01] [-1.04439612e-02 -2.85956855e-04 9.99945419e-01 -1.31470944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.281400513 meters 0.029393108899026146 Centerline is valid? [True, True] Translation: X:256.74, Y:22.68, Z:-1.32 [[ 9.97060467e-01 -7.60463536e-02 9.34753308e-03 2.56738779e+02] [ 7.60407763e-02 9.97104255e-01 9.51144095e-04 2.26820315e+01] [-9.39279605e-03 -2.37554504e-04 9.99955859e-01 -1.31670173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.341400513 meters 0.023131954714195713 Centerline is valid? [True, True] Translation: X:256.80, Y:22.69, Z:-1.31 [[ 9.96531199e-01 -8.24996715e-02 1.09258467e-02 2.56797748e+02] [ 8.24924273e-02 9.96591070e-01 1.11281690e-03 2.26918502e+01] [-1.09804083e-02 -2.07657145e-04 9.99939692e-01 -1.31426742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.401400513 meters 0.017618539110067825 Centerline is valid? [True, True] Translation: X:256.86, Y:22.70, Z:-1.32 [[ 9.96155346e-01 -8.70074944e-02 1.02088964e-02 2.56856413e+02] [ 8.70014042e-02 9.96207646e-01 1.04000364e-03 2.26955486e+01] [-1.02606688e-02 -1.47816861e-04 9.99947347e-01 -1.31644004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.461400513 meters 0.01545150986333868 Centerline is valid? [True, True] Translation: X:256.91, Y:22.70, Z:-1.32 [[ 9.95862580e-01 -9.02845248e-02 1.03162871e-02 2.56913804e+02] [ 9.02784764e-02 9.95916006e-01 1.05143573e-03 2.27031365e+01] [-1.03690838e-02 -1.15746815e-04 9.99946233e-01 -1.31771157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.521400513 meters 0.01658919880940126 Centerline is valid? [True, True] Translation: X:256.97, Y:22.72, Z:-1.32 [[ 9.95996375e-01 -8.88174590e-02 1.01331566e-02 2.56971221e+02] [ 8.88115418e-02 9.96047912e-01 1.03332609e-03 2.27193996e+01] [-1.01848868e-02 -1.29247782e-04 9.99948124e-01 -1.31830913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.581400513 meters 0.018241060287354133 Centerline is valid? [True, True] Translation: X:257.03, Y:22.73, Z:-1.32 [[ 9.96195418e-01 -8.65329245e-02 1.03315634e-02 2.57028454e+02] [ 8.65266323e-02 9.96248979e-01 1.05531111e-03 2.27338616e+01] [-1.03841286e-02 -1.57340706e-04 9.99946071e-01 -1.31876931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.641400513 meters 0.01820502804941928 Centerline is valid? [True, True] Translation: X:257.08, Y:22.75, Z:-1.32 [[ 9.96121844e-01 -8.74388621e-02 9.78357089e-03 2.57084632e+02] [ 8.74332579e-02 9.96169878e-01 9.99892376e-04 2.27497981e+01] [-9.83352807e-03 -1.40605159e-04 9.99951640e-01 -1.32086619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.701400513 meters 0.015059172504522385 Centerline is valid? [True, True] Translation: X:257.14, Y:22.76, Z:-1.32 [[ 9.95861765e-01 -9.04542771e-02 8.79593926e-03 2.57143497e+02] [ 9.04498623e-02 9.95900604e-01 8.99253176e-04 2.27573678e+01] [-8.84122252e-03 -9.99403609e-05 9.99960911e-01 -1.32356026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.761400513 meters 0.014920180464175408 Centerline is valid? [True, True] Translation: X:257.20, Y:22.77, Z:-1.33 [[ 9.95848022e-01 -9.07351873e-02 7.33775646e-03 2.57200575e+02] [ 9.07321170e-02 9.95875052e-01 7.50934914e-04 2.27675730e+01] [-7.37562482e-03 -8.20468711e-05 9.99972796e-01 -1.32572829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.821400513 meters 0.01734251090087066 Centerline is valid? [True, True] Translation: X:257.26, Y:22.79, Z:-1.33 [[ 9.96083889e-01 -8.82681971e-02 5.06079587e-03 2.57257665e+02] [ 8.82667023e-02 9.96096743e-01 5.18399113e-04 2.27858128e+01] [-5.08680043e-03 -6.96692426e-05 9.99987060e-01 -1.32979744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.881400513 meters 0.02009642732941257 Centerline is valid? [True, True] Translation: X:257.32, Y:22.80, Z:-1.33 [[ 9.96180830e-01 -8.71723759e-02 4.97304226e-03 2.57315005e+02] [ 8.71709126e-02 9.96193240e-01 5.10666566e-04 2.27976449e+01] [-4.99862710e-03 -7.52116114e-05 9.99987504e-01 -1.33206595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.941400513 meters 0.02292547579507385 Centerline is valid? [True, True] Translation: X:257.37, Y:22.80, Z:-1.33 [[ 9.96383906e-01 -8.45911653e-02 7.96539757e-03 2.57370776e+02] [ 8.45447303e-02 9.96401639e-01 5.99683001e-03 2.28048647e+01] [-8.44401404e-03 -5.30171251e-03 9.99950294e-01 -1.33300478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.001400513 meters 0.02565386053701969 Centerline is valid? [True, True] Translation: X:257.43, Y:22.82, Z:-1.34 [[ 9.96628868e-01 -8.19130195e-02 4.59971219e-03 2.57430779e+02] [ 8.19338078e-02 9.96627483e-01 -4.52889168e-03 2.28239789e+01] [-4.21322439e-03 4.89049612e-03 9.99979166e-01 -1.33617220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.061400513 meters 0.026748089048574772 Centerline is valid? [True, True] Translation: X:257.49, Y:22.83, Z:-1.34 [[ 9.96831186e-01 -7.95111230e-02 2.35963252e-03 2.57490272e+02] [ 7.95107709e-02 9.96833977e-01 2.42807423e-04 2.28265706e+01] [-2.37146776e-03 -5.44218109e-05 9.99997187e-01 -1.33881665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.121400513 meters 0.030352285684023025 Centerline is valid? [True, True] Translation: X:257.55, Y:22.84, Z:-1.34 [[ 9.96942760e-01 -7.81325414e-02 6.62488003e-04 2.57546934e+02] [ 7.81325140e-02 9.96942980e-01 6.71747975e-05 2.28361952e+01] [-6.65711302e-04 -1.52075749e-05 9.99999778e-01 -1.34246986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.181400513 meters 0.037139896645299646 Centerline is valid? [True, True] Translation: X:257.61, Y:22.86, Z:-1.34 [[ 9.97561214e-01 -6.97838113e-02 1.35804291e-03 2.57605849e+02] [ 6.97836853e-02 9.97562137e-01 1.40039730e-04 2.28568993e+01] [-1.36450469e-03 -4.49289644e-05 9.99999068e-01 -1.34071280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24140051300003 meters 0.04886538729316304 Centerline is valid? [True, True] Translation: X:257.66, Y:22.89, Z:-1.35 [[ 9.98244591e-01 -5.90032784e-02 -5.13325914e-03 2.57663078e+02] [ 5.90013343e-02 9.98257763e-01 -5.29464433e-04 2.28875004e+01] [ 5.15555592e-03 2.25665868e-04 9.99986685e-01 -1.35354369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30140051300003 meters 0.05471624016965024 Centerline is valid? [True, True] Translation: X:257.72, Y:22.91, Z:-1.35 [[ 9.98427190e-01 -5.57994969e-02 -5.43708601e-03 2.57720655e+02] [ 5.57972679e-02 9.98441961e-01 -5.60900418e-04 2.29062761e+01] [ 5.45991278e-03 2.56643683e-04 9.99985062e-01 -1.35484660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36140051300004 meters 0.05123034219084573 Centerline is valid? [True, True] Translation: X:257.78, Y:22.91, Z:-1.35 [[ 9.98265486e-01 -5.86466638e-02 -5.15636728e-03 2.57780764e+02] [ 5.86446967e-02 9.98278777e-01 -5.32000595e-04 2.29083683e+01] [ 5.17869208e-03 2.28684237e-04 9.99986564e-01 -1.35323845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42140051300004 meters 0.050327542751448934 Centerline is valid? [True, True] Translation: X:257.84, Y:22.93, Z:-1.36 [[ 9.98098436e-01 -6.11453825e-02 -7.79447082e-03 2.57837150e+02] [ 6.11409533e-02 9.98128817e-01 -8.05500365e-04 2.29258661e+01] [ 7.82913857e-03 3.27407278e-04 9.99969298e-01 -1.36012067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48140051300004 meters 0.04770603564311193 Centerline is valid? [True, True] Translation: X:257.90, Y:22.93, Z:-1.36 [[ 9.98121331e-01 -6.05525444e-02 -9.33799839e-03 2.57896177e+02] [ 6.05461644e-02 9.98164932e-01 -9.64680451e-04 2.29298217e+01] [ 9.37927639e-03 3.97488150e-04 9.99955935e-01 -1.36101461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.541400513 meters 0.051621530040509386 Centerline is valid? [True, True] Translation: X:257.95, Y:22.94, Z:-1.36 [[ 9.98257046e-01 -5.80590055e-02 -1.05840654e-02 2.57953676e+02] [ 5.80506684e-02 9.98313039e-01 -1.09347926e-03 2.29443007e+01] [ 1.06296968e-02 4.77161307e-04 9.99943389e-01 -1.36245079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.601400513 meters 0.05867565078523181 Centerline is valid? [True, True] Translation: X:258.01, Y:22.96, Z:-1.37 [[ 9.98458364e-01 -5.42055372e-02 -1.19438502e-02 2.58012353e+02] [ 5.41946481e-02 9.98529628e-01 -1.23370951e-03 2.29583826e+01] [ 1.19931621e-02 5.84514823e-04 9.99927909e-01 -1.36624581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.661400513 meters 0.059878975059763334 Centerline is valid? [True, True] Translation: X:258.07, Y:22.97, Z:-1.36 [[ 9.98685207e-01 -4.99752222e-02 -1.14164558e-02 2.58072429e+02] [ 4.99649979e-02 9.98750273e-01 -1.17922754e-03 2.29666338e+01] [ 1.14611205e-02 6.07253910e-04 9.99934135e-01 -1.36461415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.721400513 meters 0.06166914434589366 Centerline is valid? [True, True] Translation: X:258.13, Y:22.98, Z:-1.36 [[ 9.98886484e-01 -4.63903088e-02 -8.58672533e-03 2.58132289e+02] [ 4.63843909e-02 9.98923271e-01 -8.87165509e-04 2.29756453e+01] [ 8.61863563e-03 4.87887611e-04 9.99962740e-01 -1.36016061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.781400513 meters 0.0656764237594138 Centerline is valid? [True, True] Translation: X:258.19, Y:22.98, Z:-1.36 [[ 9.98950465e-01 -4.51941123e-02 -7.44721436e-03 2.58189758e+02] [ 4.51896207e-02 9.98978130e-01 -7.70375148e-04 2.29837545e+01] [ 7.47442070e-03 4.33029820e-04 9.99971972e-01 -1.35918932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.841400513 meters 0.06359849864969636 Centerline is valid? [True, True] Translation: X:258.25, Y:22.99, Z:-1.36 [[ 9.99076328e-01 -4.24427636e-02 -6.71582862e-03 2.58249941e+02] [ 4.24390514e-02 9.99098816e-01 -6.94366832e-04 2.29860932e+01] [ 6.73924727e-03 4.08712069e-04 9.99977207e-01 -1.35526682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.901400513 meters 0.07321737415579072 Centerline is valid? [True, True] Translation: X:258.31, Y:23.00, Z:-1.35 [[ 9.99409074e-01 -3.42542609e-02 -2.85468392e-03 2.58307341e+02] [ 3.42535562e-02 9.99413131e-01 -2.95389210e-04 2.30047219e+01] [ 2.86312693e-03 1.97431581e-04 9.99995882e-01 -1.34952554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.961400513 meters 0.08364806169616436 Centerline is valid? [True, True] Translation: X:258.36, Y:23.03, Z:-1.35 [[ 9.99682720e-01 -2.47345972e-02 -4.76009932e-03 2.58364086e+02] [ 2.47325347e-02 9.99693983e-01 -4.91677877e-04 2.30290640e+01] [ 4.77080410e-03 3.73792555e-04 9.99988550e-01 -1.35196943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.021400513 meters 0.07500371387099602 Centerline is valid? [True, True] Translation: X:258.42, Y:23.03, Z:-1.35 [[ 9.99739231e-01 -2.24450979e-02 -4.20564313e-03 2.58422038e+02] [ 2.24394129e-02 9.99747233e-01 -1.39409356e-03 2.30282910e+01] [ 4.23587065e-03 1.29935786e-03 9.99990184e-01 -1.34856952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.081400513 meters 0.07140010878079452 Centerline is valid? [True, True] Translation: X:258.48, Y:23.03, Z:-1.35 [[ 9.99454259e-01 -3.29941458e-02 -1.60298002e-03 2.58483521e+02] [ 3.29954181e-02 9.99455203e-01 7.73839150e-04 2.30308814e+01] [ 1.57657456e-03 -8.26307831e-04 9.99998416e-01 -1.34698895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.141400513 meters 0.06156470624778728 Centerline is valid? [True, True] Translation: X:258.54, Y:23.02, Z:-1.35 [[ 9.98937450e-01 -4.60235500e-02 -2.40908354e-03 2.58544187e+02] [ 4.60230813e-02 9.98940345e-01 -2.49652056e-04 2.30199127e+01] [ 2.41802061e-03 1.38513340e-04 9.99997067e-01 -1.34947406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.201400513 meters 0.05903140551736841 Centerline is valid? [True, True] Translation: X:258.60, Y:23.02, Z:-1.35 [[ 9.98842560e-01 -4.80123282e-02 -2.89084609e-03 2.58604630e+02] [ 4.80116612e-02 9.98846730e-01 -2.99728765e-04 2.30192218e+01] [ 2.90190284e-03 1.60587524e-04 9.99995777e-01 -1.34977407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.261400513 meters 0.06843827503523664 Centerline is valid? [True, True] Translation: X:258.66, Y:23.03, Z:-1.35 [[ 9.99154573e-01 -4.11017804e-02 -8.85274968e-04 2.58663456e+02] [ 4.11017151e-02 9.99154963e-01 -9.18262441e-05 2.30309525e+01] [ 8.88301100e-04 5.53622921e-05 9.99999604e-01 -1.34727634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.321400513 meters 0.07138532651139277 Centerline is valid? [True, True] Translation: X:258.72, Y:23.03, Z:-1.35 [[ 9.99368804e-01 -3.55243545e-02 -1.15180919e-04 2.58723502e+02] [ 3.55243534e-02 9.99368811e-01 -1.19543539e-05 2.30329236e+01] [ 1.15532889e-04 7.85508071e-06 9.99999993e-01 -1.34766065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.381400513 meters 0.07670646103772091 Centerline is valid? [True, True] Translation: X:258.78, Y:23.04, Z:-1.35 [[ 9.99435264e-01 -3.35745970e-02 1.37812870e-03 2.58782177e+02] [ 3.35744322e-02 9.99436210e-01 1.42540909e-04 2.30419900e+01] [-1.38213748e-03 -9.61905228e-05 9.99999040e-01 -1.34566511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.441400513 meters 0.07615278982382183 Centerline is valid? [True, True] Translation: X:258.84, Y:23.05, Z:-1.35 [[ 9.99561731e-01 -2.95384478e-02 -1.95602354e-03 2.58842544e+02] [ 2.95381072e-02 9.99563634e-01 -2.02779474e-04 2.30466140e+01] [ 1.96115979e-03 1.44913369e-04 9.99998066e-01 -1.34991302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.501400513 meters 0.07884770513124979 Centerline is valid? [True, True] Translation: X:258.90, Y:23.06, Z:-1.35 [[ 9.99684802e-01 -2.50964951e-02 -6.79883515e-04 2.58902274e+02] [ 2.50964529e-02 9.99685032e-01 -7.05960742e-05 2.30577127e+01] [ 6.81441088e-04 5.35111579e-05 9.99999766e-01 -1.34732433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.561400513 meters 0.08675446809982632 Centerline is valid? [True, True] Translation: X:258.96, Y:23.07, Z:-1.35 [[ 9.99677307e-01 -2.53864200e-02 9.00975902e-04 2.58960317e+02] [ 2.53863462e-02 9.99677710e-01 9.32562251e-05 2.30739500e+01] [-9.03052968e-04 -7.03536458e-05 9.99999590e-01 -1.34530438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.621400513 meters 0.08108045384741475 Centerline is valid? [True, True] Translation: X:259.02, Y:23.07, Z:-1.35 [[ 9.99530475e-01 -3.06370793e-02 -4.45799528e-04 2.59021564e+02] [ 3.06370617e-02 9.99530574e-01 -4.62071848e-05 2.30670342e+01] [ 4.47005911e-04 3.25275017e-05 9.99999900e-01 -1.34939608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.681400513 meters 0.07715073810457505 Centerline is valid? [True, True] Translation: X:259.08, Y:23.07, Z:-1.35 [[ 9.99381199e-01 -3.51417831e-02 1.50772420e-03 2.59080466e+02] [ 3.51415875e-02 9.99382331e-01 1.56038706e-04 2.30705094e+01] [-1.51227640e-03 -1.02958327e-04 9.99998851e-01 -1.34615073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74140051300003 meters 0.06788508320437557 Centerline is valid? [True, True] Translation: X:259.14, Y:23.07, Z:-1.34 [[ 9.99297726e-01 -3.72793829e-02 3.78181750e-03 2.59141447e+02] [ 3.72781651e-02 9.99304851e-01 3.92035576e-04 2.30671038e+01] [-3.79380342e-03 -2.50781043e-04 9.99992772e-01 -1.34066833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80140051300003 meters 0.07324499363685301 Centerline is valid? [True, True] Translation: X:259.20, Y:23.08, Z:-1.34 [[ 9.99322473e-01 -3.66544764e-02 3.32321539e-03 2.59201127e+02] [ 3.66535322e-02 9.99327974e-01 3.44604252e-04 2.30784575e+01] [-3.33361339e-03 -2.22563191e-04 9.99994419e-01 -1.34277888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86140051300004 meters 0.073698389837692 Centerline is valid? [True, True] Translation: X:259.26, Y:23.08, Z:-1.34 [[ 9.99367592e-01 -3.49245337e-02 6.68526736e-03 2.59261809e+02] [ 3.49206757e-02 9.99389847e-01 6.92988822e-04 2.30801792e+01] [-6.70539063e-03 -4.59096517e-04 9.99977413e-01 -1.33866868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92140051300004 meters 0.07563103817528016 Centerline is valid? [True, True] Translation: X:259.31, Y:23.08, Z:-1.33 [[ 9.99522454e-01 -2.91234056e-02 1.03291747e-02 2.59314433e+02] [ 2.90692182e-02 9.99563041e-01 5.35798174e-03 2.30751652e+01] [-1.04807040e-02 -5.05516202e-03 9.99932298e-01 -1.33435998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98140051300004 meters 0.08058082607623669 Centerline is valid? [True, True] Translation: X:259.38, Y:23.10, Z:-1.34 [[ 9.99517463e-01 -3.01713148e-02 7.38462736e-03 2.59381706e+02] [ 3.01965144e-02 9.99538451e-01 -3.32504953e-03 2.30950287e+01] [-7.28089787e-03 3.54643508e-03 9.99967205e-01 -1.33925939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.041400513 meters 0.08599923790459277 Centerline is valid? [True, True] Translation: X:259.44, Y:23.10, Z:-1.34 [[ 9.99653458e-01 -2.53363799e-02 7.14369099e-03 2.59441766e+02] [ 2.53317326e-02 9.99678826e-01 7.40287260e-04 2.31041370e+01] [-7.16015283e-03 -5.59068649e-04 9.99974209e-01 -1.33951303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.101400513 meters 0.08226533236083916 Centerline is valid? [True, True] Translation: X:259.50, Y:23.10, Z:-1.34 [[ 9.99741800e-01 -2.18054441e-02 6.39192655e-03 2.59502565e+02] [ 2.18016519e-02 9.99762096e-01 6.62373183e-04 2.31033675e+01] [-6.40484923e-03 -5.22847600e-04 9.99979352e-01 -1.33962333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.161400513 meters 0.07966475047272846 Centerline is valid? [True, True] Translation: X:259.56, Y:23.10, Z:-1.35 [[ 9.99676856e-01 -2.52106703e-02 3.25661358e-03 2.59564204e+02] [ 2.52097036e-02 9.99682128e-01 3.37531037e-04 2.31004402e+01] [-3.26408778e-03 -2.55323702e-04 9.99994640e-01 -1.34692542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.221400513 meters 0.07813702716591625 Centerline is valid? [True, True] Translation: X:259.62, Y:23.10, Z:-1.35 [[ 9.99437675e-01 -3.33036166e-02 3.89899865e-03 2.59624134e+02] [ 3.33022932e-02 9.99445243e-01 4.03885836e-04 2.30989925e+01] [-3.91028651e-03 -2.73813125e-04 9.99992317e-01 -1.34776107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.281400513 meters 0.07043053276095872 Centerline is valid? [True, True] Translation: X:259.69, Y:23.10, Z:-1.35 [[ 9.99350030e-01 -3.56608766e-02 5.27438263e-03 2.59685742e+02] [ 3.56584863e-02 9.99363884e-01 5.46563583e-04 2.30963596e+01] [-5.29051845e-03 -3.58131832e-04 9.99985941e-01 -1.34571534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.341400513 meters 0.0697857626782301 Centerline is valid? [True, True] Translation: X:259.75, Y:23.10, Z:-1.34 [[ 9.99406058e-01 -3.40229963e-02 5.47413509e-03 2.59746338e+02] [ 3.40203969e-02 9.99420978e-01 5.67290044e-04 2.31010729e+01] [-5.49026635e-03 -3.80720858e-04 9.99984856e-01 -1.34461555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.401400513 meters 0.07082013829965932 Centerline is valid? [True, True] Translation: X:259.81, Y:23.11, Z:-1.34 [[ 9.99408675e-01 -3.38811873e-02 5.86217285e-03 2.59807515e+02] [ 3.38782040e-02 9.99425784e-01 6.07479250e-04 2.31091034e+01] [-5.87938882e-03 -4.08520145e-04 9.99982633e-01 -1.34360193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.461400513 meters 0.0768380765901782 Centerline is valid? [True, True] Translation: X:259.87, Y:23.12, Z:-1.34 [[ 9.99349398e-01 -3.53644063e-02 7.08093148e-03 2.59866060e+02] [ 3.53600931e-02 9.99374367e-01 7.33436875e-04 2.31224788e+01] [-7.10243897e-03 -4.82577303e-04 9.99974661e-01 -1.34320444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.521400513 meters 0.08372139115960484 Centerline is valid? [True, True] Translation: X:259.92, Y:23.14, Z:-1.34 [[ 9.99410337e-01 -3.32868681e-02 8.42388387e-03 2.59924358e+02] [ 3.32806883e-02 9.99445663e-01 8.72756875e-04 2.31398412e+01] [-8.44826554e-03 -5.91889589e-04 9.99964138e-01 -1.34081011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.581400513 meters 0.08123413774531082 Centerline is valid? [True, True] Translation: X:259.99, Y:23.14, Z:-1.34 [[ 9.99566251e-01 -2.86173081e-02 6.95406977e-03 2.59985117e+02] [ 2.86129863e-02 9.99590305e-01 7.20188134e-04 2.31427482e+01] [-6.97183057e-03 -5.20899050e-04 9.99975561e-01 -1.34359932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.641400513 meters 0.0843992827328748 Centerline is valid? [True, True] Translation: X:260.04, Y:23.15, Z:-1.34 [[ 9.99608982e-01 -2.67815492e-02 8.03941377e-03 2.60044909e+02] [ 2.67757140e-02 9.99641120e-01 8.32593786e-04 2.31534682e+01] [-8.05882674e-03 -6.17007182e-04 9.99967337e-01 -1.34365066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.701400513 meters 0.08037263239972867 Centerline is valid? [True, True] Translation: X:260.11, Y:23.15, Z:-1.34 [[ 9.99556475e-01 -2.77864862e-02 1.07127868e-02 2.60106693e+02] [ 2.77761839e-02 9.99613552e-01 1.10929807e-03 2.31529554e+01] [-1.07394704e-02 -8.11245735e-04 9.99942001e-01 -1.34039538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.761400513 meters 0.07600428765536933 Centerline is valid? [True, True] Translation: X:260.17, Y:23.15, Z:-1.34 [[ 9.99537807e-01 -2.93088410e-02 8.07240720e-03 2.60168489e+02] [ 2.93030420e-02 9.99570224e-01 8.35736594e-04 2.31470623e+01] [-8.09343235e-03 -5.98804235e-04 9.99967068e-01 -1.34434592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.821400513 meters 0.08196382565605992 Centerline is valid? [True, True] Translation: X:260.23, Y:23.16, Z:-1.35 [[ 9.99544174e-01 -2.94110018e-02 6.81444438e-03 2.60228785e+02] [ 2.94068716e-02 9.99567275e-01 7.05526150e-04 2.31568258e+01] [-6.83224583e-03 -5.04813062e-04 9.99976533e-01 -1.34764598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.881400513 meters 0.07715353691777657 Centerline is valid? [True, True] Translation: X:260.29, Y:23.15, Z:-1.35 [[ 9.99551886e-01 -2.88617877e-02 7.93878308e-03 2.60291318e+02] [ 2.88561669e-02 9.99583236e-01 8.21675817e-04 2.31520026e+01] [-7.95918952e-03 -5.92224763e-04 9.99968150e-01 -1.34514924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.941400513 meters 0.08241647496948658 Centerline is valid? [True, True] Translation: X:260.35, Y:23.16, Z:-1.35 [[ 9.99592509e-01 -2.74887568e-02 7.69309921e-03 2.60350244e+02] [ 2.74834432e-02 9.99621942e-01 7.95593920e-04 2.31634946e+01] [-7.71206066e-03 -5.83836868e-04 9.99970091e-01 -1.34599801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.001400513 meters 0.08142697312600289 Centerline is valid? [True, True] Translation: X:260.41, Y:23.16, Z:-1.35 [[ 9.99630176e-01 -2.65370226e-02 5.94110671e-03 2.60412065e+02] [ 2.65338363e-02 9.99647727e-01 6.14513352e-04 2.31637929e+01] [-5.95532117e-03 -4.56645737e-04 9.99982163e-01 -1.34987082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.061400513 meters 0.08278843657074066 Centerline is valid? [True, True] Translation: X:260.47, Y:23.17, Z:-1.35 [[ 9.99586813e-01 -2.79501077e-02 6.70780797e-03 2.60471235e+02] [ 2.79460797e-02 9.99609191e-01 6.93503687e-04 2.31706434e+01] [-6.72457000e-03 -5.05760205e-04 9.99977262e-01 -1.34989977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.121400513 meters 0.07925258827102674 Centerline is valid? [True, True] Translation: X:260.53, Y:23.17, Z:-1.36 [[ 9.99542107e-01 -3.00575717e-02 3.48106908e-03 2.60531799e+02] [ 3.00564994e-02 9.99548137e-01 3.59960477e-04 2.31720601e+01] [-3.49031565e-03 -2.55166903e-04 9.99993876e-01 -1.35510088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.181400513 meters 0.0754379419558762 Centerline is valid? [True, True] Translation: X:260.59, Y:23.18, Z:-1.35 [[ 9.99415357e-01 -3.37941591e-02 5.18645141e-03 2.60592282e+02] [ 3.37918285e-02 9.99428749e-01 5.36357659e-04 2.31775257e+01] [-5.20161440e-03 -3.60784405e-04 9.99986406e-01 -1.35379113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24140051300003 meters 0.07624342220985758 Centerline is valid? [True, True] Translation: X:260.65, Y:23.19, Z:-1.35 [[ 9.99306137e-01 -3.66164466e-02 6.81768339e-03 2.60651450e+02] [ 3.66124860e-02 9.99329290e-01 7.04876132e-04 2.31862501e+01] [-6.83892075e-03 -4.54774707e-04 9.99976511e-01 -1.35212262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30140051300003 meters 0.0656497749687473 Centerline is valid? [True, True] Translation: X:260.71, Y:23.18, Z:-1.35 [[ 9.99147912e-01 -4.00691102e-02 9.89523421e-03 2.60712655e+02] [ 4.00609336e-02 9.99196715e-01 1.02323247e-03 2.31816564e+01] [-9.92828553e-03 -6.25948261e-04 9.99950517e-01 -1.34675811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36140051300004 meters 0.06812028105462022 Centerline is valid? [True, True] Translation: X:260.77, Y:23.19, Z:-1.35 [[ 9.99050557e-01 -4.23956641e-02 1.00296066e-02 2.60771567e+02] [ 4.23873806e-02 9.99100713e-01 1.03713410e-03 2.31909385e+01] [-1.00645571e-02 -6.11020648e-04 9.99949164e-01 -1.34759535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42140051300004 meters 0.059545243664754194 Centerline is valid? [True, True] Translation: X:260.83, Y:23.18, Z:-1.35 [[ 9.98848461e-01 -4.69133702e-02 1.00442935e-02 2.60834031e+02] [ 4.69052899e-02 9.98898801e-01 1.03865834e-03 2.31813342e+01] [-1.00819597e-02 -5.66331783e-04 9.99949015e-01 -1.34761927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48140051300004 meters 0.06353002158687608 Centerline is valid? [True, True] Translation: X:260.89, Y:23.19, Z:-1.34 [[ 9.98843184e-01 -4.66843553e-02 1.15267088e-02 2.60894242e+02] [ 4.66737003e-02 9.98909478e-01 1.19180069e-03 2.31894316e+01] [-1.15697771e-02 -6.52427848e-04 9.99932855e-01 -1.34383493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.541400513 meters 0.072497802728492 Centerline is valid? [True, True] Translation: X:260.95, Y:23.21, Z:-1.34 [[ 9.99022298e-01 -4.27218752e-02 1.13705195e-02 2.60953240e+02] [ 4.27112540e-02 9.99086767e-01 1.17540712e-03 2.32061711e+01] [-1.14103512e-02 -6.88608777e-04 9.99934663e-01 -1.34451601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.601400513 meters 0.07274391853529204 Centerline is valid? [True, True] Translation: X:261.01, Y:23.21, Z:-1.35 [[ 9.99291620e-01 -3.59011694e-02 1.12855347e-02 2.61014053e+02] [ 3.58902738e-02 9.99355056e-01 1.16655655e-03 2.32098785e+01] [-1.13201369e-02 -7.60689258e-04 9.99935636e-01 -1.34711357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.661400513 meters 0.07580734330304598 Centerline is valid? [True, True] Translation: X:261.07, Y:23.22, Z:-1.35 [[ 9.99408626e-01 -3.22119085e-02 1.20329178e-02 2.61073827e+02] [ 3.21992559e-02 9.99480696e-01 1.24380304e-03 2.32217058e+01] [-1.20667344e-02 -8.55616488e-04 9.99926828e-01 -1.34683712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.721400513 meters 0.07631354447633279 Centerline is valid? [True, True] Translation: X:261.13, Y:23.23, Z:-1.35 [[ 9.99624736e-01 -2.51995127e-02 1.07411678e-02 2.61134164e+02] [ 2.51890308e-02 9.99682090e-01 1.11005565e-03 2.32283548e+01] [-1.07657259e-02 -8.39079484e-04 9.99941696e-01 -1.34916441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.781400513 meters 0.08814010212638788 Centerline is valid? [True, True] Translation: X:261.19, Y:23.25, Z:-1.35 [[ 9.99727536e-01 -2.13455238e-02 9.44577261e-03 2.61191862e+02] [ 2.13372468e-02 9.99771858e-01 9.76184852e-04 2.32508464e+01] [-9.46445481e-03 -7.74372095e-04 9.99954911e-01 -1.35317923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.841400513 meters 0.10102159359364407 Centerline is valid? [True, False] Translation: X:261.19, Y:23.26, Z:-1.35 [[ 9.99877531e-01 -1.40117167e-02 6.97100397e-03 2.61190625e+02] [ 1.40975965e-02 9.99823400e-01 -1.24268587e-02 2.32590693e+01] [-6.79565127e-03 1.25236112e-02 9.99898484e-01 -1.34991376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.901400513 meters 0.08589689064651122 Centerline is valid? [False, True] Translation: X:261.17, Y:23.25, Z:-1.35 [[ 9.99901648e-01 -1.39701920e-02 1.23648447e-03 2.61174359e+02] [ 1.39714269e-02 9.99901899e-01 -9.95769400e-04 2.32512563e+01] [-1.22245208e-03 1.01294692e-03 9.99998740e-01 -1.34841318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.961400513 meters 0.08215943171378859 Centerline is valid? [True, True] Translation: X:261.24, Y:23.26, Z:-1.35 [[ 9.99841799e-01 -1.77771597e-02 -5.91761169e-04 2.61235048e+02] [ 1.77771295e-02 9.99841973e-01 -5.62346314e-05 2.32552793e+01] [ 5.92667346e-04 4.57059201e-05 9.99999823e-01 -1.35083702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.021400513 meters 0.08081855777619355 Centerline is valid? [True, True] Translation: X:261.29, Y:23.27, Z:-1.35 [[ 9.99739963e-01 -2.27563398e-02 -1.46796886e-03 2.61293202e+02] [ 2.27561591e-02 9.99741035e-01 -1.39630907e-04 2.32689008e+01] [ 1.47076619e-03 1.06189265e-04 9.99998913e-01 -1.35132326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.081400513 meters 0.08299963098565637 Centerline is valid? [True, True] Translation: X:261.35, Y:23.28, Z:-1.35 [[ 9.99667539e-01 -2.57688693e-02 -8.81111226e-04 2.61351101e+02] [ 2.57688052e-02 9.99667926e-01 -8.39420921e-05 2.32817161e+01] [ 8.82981724e-04 6.12090010e-05 9.99999608e-01 -1.35161990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.141400513 meters 0.07556193510416108 Centerline is valid? [True, True] Translation: X:261.41, Y:23.29, Z:-1.35 [[ 9.99599527e-01 -2.82337134e-02 1.90880087e-03 2.61411123e+02] [ 2.82334179e-02 9.99601341e-01 1.81578961e-04 2.32880129e+01] [-1.91316655e-03 -1.27614271e-04 9.99998162e-01 -1.34696004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.201400513 meters 0.06486706430875522 Centerline is valid? [True, True] Translation: X:261.47, Y:23.29, Z:-1.34 [[ 9.99486789e-01 -3.17686336e-02 4.11240711e-03 2.61472214e+02] [ 3.17672917e-02 9.99495216e-01 3.91225253e-04 2.32898538e+01] [-4.12275993e-03 -2.60384436e-04 9.99991467e-01 -1.34264521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.261400513 meters 0.06636671353705834 Centerline is valid? [True, True] Translation: X:261.53, Y:23.30, Z:-1.34 [[ 9.99378577e-01 -3.48904926e-02 5.01130721e-03 2.61531630e+02] [ 3.48885393e-02 9.99391096e-01 4.76686448e-04 2.32992266e+01] [-5.02488763e-03 -3.01553036e-04 9.99987330e-01 -1.34344643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.321400513 meters 0.06179469853411078 Centerline is valid? [True, True] Translation: X:261.59, Y:23.30, Z:-1.34 [[ 9.99354435e-01 -3.54418048e-02 5.88145169e-03 2.61593987e+02] [ 3.54391241e-02 9.99371680e-01 5.59404083e-04 2.32975469e+01] [-5.89758255e-03 -3.50609455e-04 9.99982548e-01 -1.34106300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.381400513 meters 0.06383692571905039 Centerline is valid? [True, True] Translation: X:261.65, Y:23.30, Z:-1.34 [[ 9.99442465e-01 -3.29718699e-02 5.25501348e-03 2.61654777e+02] [ 3.29696967e-02 9.99456227e-01 4.99668942e-04 2.33030647e+01] [-5.26863097e-03 -3.26134159e-04 9.99986067e-01 -1.34200036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.441400513 meters 0.0685967581862306 Centerline is valid? [True, True] Translation: X:261.71, Y:23.31, Z:-1.34 [[ 9.99590412e-01 -2.81370148e-02 5.22649092e-03 2.61714808e+02] [ 2.81347997e-02 9.99604015e-01 4.96876464e-04 2.33142972e+01] [-5.23840193e-03 -3.49626674e-04 9.99986218e-01 -1.34317804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.501400513 meters 0.06354367885059663 Centerline is valid? [True, True] Translation: X:261.78, Y:23.31, Z:-1.34 [[ 9.99684254e-01 -2.46194021e-02 5.02774612e-03 2.61776708e+02] [ 2.46173082e-02 9.99696834e-01 4.77928665e-04 2.33123465e+01] [-5.03798820e-03 -3.54008185e-04 9.99987247e-01 -1.34148929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.561400513 meters 0.07337959960348885 Centerline is valid? [True, True] Translation: X:261.84, Y:23.33, Z:-1.34 [[ 9.99670338e-01 -2.49706637e-02 5.97342326e-03 2.61837126e+02] [ 2.49677154e-02 9.99688097e-01 5.67656476e-04 2.33282514e+01] [-5.98573489e-03 -4.18326609e-04 9.99981998e-01 -1.34025151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.621400513 meters 0.06673033880216202 Centerline is valid? [True, True] Translation: X:261.90, Y:23.32, Z:-1.34 [[ 9.99553438e-01 -2.93623948e-02 5.54752696e-03 2.61899351e+02] [ 2.93599204e-02 9.99568766e-01 5.26969987e-04 2.33171202e+01] [-5.56060777e-03 -3.63859713e-04 9.99984474e-01 -1.34271827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.681400513 meters 0.06198064807120765 Centerline is valid? [True, True] Translation: X:261.96, Y:23.31, Z:-1.35 [[ 9.99451261e-01 -3.29691358e-02 3.19574365e-03 2.61960807e+02] [ 3.29683331e-02 9.99456351e-01 3.03539777e-04 2.33107938e+01] [-3.20401373e-03 -1.98014871e-04 9.99994848e-01 -1.34590395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74140051300003 meters 0.06436282190378141 Centerline is valid? [True, True] Translation: X:262.02, Y:23.31, Z:-1.34 [[ 9.99338843e-01 -3.58654513e-02 5.96202821e-03 2.62020896e+02] [ 3.58627087e-02 9.99356566e-01 5.66308682e-04 2.33100505e+01] [-5.97850295e-03 -3.52119782e-04 9.99982067e-01 -1.34023072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80140051300003 meters 0.06754107331286842 Centerline is valid? [True, True] Translation: X:262.08, Y:23.31, Z:-1.34 [[ 9.99427271e-01 -3.31165831e-02 6.95858269e-03 2.62082068e+02] [ 3.31127803e-02 9.99451403e-01 6.61014717e-04 2.33102169e+01] [-6.97665578e-03 -4.30218115e-04 9.99975570e-01 -1.34085836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86140051300004 meters 0.06708748487284534 Centerline is valid? [True, True] Translation: X:262.14, Y:23.30, Z:-1.34 [[ 9.99492704e-01 -3.10059790e-02 7.27768335e-03 2.62144111e+02] [ 3.10017641e-02 9.99519091e-01 6.91284670e-04 2.33015507e+01] [-7.29561740e-03 -4.65312962e-04 9.99973278e-01 -1.34160279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92140051300004 meters 0.07327106357948823 Centerline is valid? [True, True] Translation: X:262.20, Y:23.30, Z:-1.34 [[ 9.99581722e-01 -2.77735508e-02 8.06290055e-03 2.62202889e+02] [ 2.77205530e-02 9.99593843e-01 6.61204513e-03 2.32972535e+01] [-8.24326572e-03 -6.38577139e-03 9.99945634e-01 -1.34280439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98140051300004 meters 0.08067461263677281 Centerline is valid? [True, True] Translation: X:262.26, Y:23.32, Z:-1.34 [[ 9.99701919e-01 -2.34771291e-02 6.70055885e-03 2.62264477e+02] [ 2.35118792e-02 9.99710265e-01 -5.15536772e-03 2.33158653e+01] [-6.57758423e-03 5.31137373e-03 9.99964262e-01 -1.34465666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.041400513 meters 0.08248459023400725 Centerline is valid? [True, True] Translation: X:262.33, Y:23.31, Z:-1.34 [[ 9.99818549e-01 -1.70992769e-02 8.39542040e-03 2.62326488e+02] [ 1.70931798e-02 9.99853583e-01 7.97468700e-04 2.33083061e+01] [-8.40782731e-03 -6.53819569e-04 9.99964440e-01 -1.34242496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.101400513 meters 0.09265440378485745 Centerline is valid? [True, True] Translation: X:262.39, Y:23.32, Z:-1.34 [[ 9.99874863e-01 -1.29542278e-02 9.08002888e-03 2.62385967e+02] [ 1.29469260e-02 9.99915813e-01 8.62483030e-04 2.33153020e+01] [-9.09043727e-03 -7.44816639e-04 9.99958404e-01 -1.34111741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.161400513 meters 0.0886113683697184 Centerline is valid? [True, True] Translation: X:262.45, Y:23.31, Z:-1.34 [[ 9.99905293e-01 -1.12307447e-02 7.95457639e-03 2.62447602e+02] [ 1.12250871e-02 9.99936711e-01 7.55540671e-04 2.33127224e+01] [-7.96255824e-03 -6.66178304e-04 9.99968076e-01 -1.34341229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.221400513 meters 0.08841915841808588 Centerline is valid? [True, True] Translation: X:262.51, Y:23.31, Z:-1.35 [[ 9.99907944e-01 -1.09731939e-02 7.98080678e-03 2.62509808e+02] [ 1.09674927e-02 9.99939568e-01 7.57777186e-04 2.33116562e+01] [-7.98863972e-03 -6.70177987e-04 9.99967866e-01 -1.34519704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.281400513 meters 0.08863820997000854 Centerline is valid? [True, True] Translation: X:262.57, Y:23.31, Z:-1.34 [[ 9.99877827e-01 -1.25649560e-02 9.29800369e-03 2.62570513e+02] [ 1.25572885e-02 9.99920765e-01 8.82558290e-04 2.33138781e+01] [-9.30835627e-03 -7.65692750e-04 9.99956383e-01 -1.34313614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.341400513 meters 0.08675757273746176 Centerline is valid? [True, True] Translation: X:262.63, Y:23.32, Z:-1.35 [[ 9.99872113e-01 -1.35631255e-02 8.47341120e-03 2.62632079e+02] [ 1.35567949e-02 9.99907779e-01 8.04111410e-04 2.33180327e+01] [-8.48353604e-03 -6.89136277e-04 9.99963777e-01 -1.34665412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.401400513 meters 0.08586347616452858 Centerline is valid? [True, True] Translation: X:262.69, Y:23.33, Z:-1.35 [[ 9.99842357e-01 -1.56003443e-02 8.47884493e-03 2.62691986e+02] [ 1.55940797e-02 9.99878081e-01 8.04467677e-04 2.33258247e+01] [-8.49036117e-03 -6.72121075e-04 9.99963730e-01 -1.34822752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.461400513 meters 0.07890826278630124 Centerline is valid? [True, True] Translation: X:262.75, Y:23.33, Z:-1.35 [[ 9.99765856e-01 -1.97254706e-02 8.89600793e-03 2.62753362e+02] [ 1.97187370e-02 9.99805211e-01 8.44002285e-04 2.33255688e+01] [-8.91092343e-03 -6.68386626e-04 9.99960074e-01 -1.34798362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.521400513 meters 0.07591200325962544 Centerline is valid? [True, True] Translation: X:262.81, Y:23.33, Z:-1.35 [[ 9.99716077e-01 -2.18122245e-02 9.59122401e-03 2.62814633e+02] [ 2.18044937e-02 9.99761840e-01 9.09868335e-04 2.33279633e+01] [-9.60878602e-03 -7.00478219e-04 9.99953589e-01 -1.34764760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.581400513 meters 0.07077193401927356 Centerline is valid? [True, True] Translation: X:262.88, Y:23.33, Z:-1.35 [[ 9.99517861e-01 -2.88076211e-02 1.15830126e-02 2.62875889e+02] [ 2.87968146e-02 9.99584682e-01 1.09870396e-03 2.33273142e+01] [-1.16098531e-02 -7.64620367e-04 9.99932311e-01 -1.34562024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.641400513 meters 0.06518386216334718 Centerline is valid? [True, True] Translation: X:262.94, Y:23.32, Z:-1.35 [[ 9.99379304e-01 -3.32716948e-02 1.15759208e-02 2.62937483e+02] [ 3.32612010e-02 9.99446090e-01 1.09792101e-03 2.33226855e+01] [-1.16060385e-02 -7.12210510e-04 9.99932394e-01 -1.34662649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.701400513 meters 0.06254505466692448 Centerline is valid? [True, True] Translation: X:263.00, Y:23.32, Z:-1.35 [[ 9.99326580e-01 -3.50812014e-02 1.07562288e-02 2.62998983e+02] [ 3.50722468e-02 9.99384259e-01 1.02006176e-03 2.33214054e+01] [-1.07853908e-02 -6.42129717e-04 9.99941630e-01 -1.34839973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.761400513 meters 0.0626768066262265 Centerline is valid? [True, True] Translation: X:263.06, Y:23.32, Z:-1.35 [[ 9.99328318e-01 -3.53354648e-02 9.71174223e-03 2.63060658e+02] [ 3.53281785e-02 9.99375341e-01 9.20843576e-04 2.33219189e+01] [-9.73821413e-03 -5.77126899e-04 9.99952416e-01 -1.35011795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.821400513 meters 0.06826784081898632 Centerline is valid? [True, True] Translation: X:263.12, Y:23.33, Z:-1.35 [[ 9.99406942e-01 -3.31362891e-02 9.36748679e-03 2.63120055e+02] [ 3.31294149e-02 9.99450676e-01 8.88103676e-04 2.33317213e+01] [-9.39176947e-03 -5.77237623e-04 9.99955730e-01 -1.35049057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.881400513 meters 0.07280114864286785 Centerline is valid? [True, True] Translation: X:263.18, Y:23.34, Z:-1.34 [[ 9.99535190e-01 -2.72104492e-02 1.37475557e-02 2.63179474e+02] [ 2.71950846e-02 9.99629296e-01 1.30336766e-03 2.33406814e+01] [-1.37779246e-02 -9.28895905e-04 9.99904648e-01 -1.34399658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.941400513 meters 0.06875375083486421 Centerline is valid? [True, True] Translation: X:263.24, Y:23.34, Z:-1.35 [[ 9.99565828e-01 -2.65201905e-02 1.28388052e-02 2.63242050e+02] [ 2.65067384e-02 9.99647894e-01 1.21682701e-03 2.33398263e+01] [-1.28665551e-02 -8.75983846e-04 9.99916839e-01 -1.34726502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.001400513 meters 0.0661923124082709 Centerline is valid? [True, True] Translation: X:263.30, Y:23.34, Z:-1.35 [[ 9.99427692e-01 -3.16219342e-02 1.20142287e-02 2.63302162e+02] [ 3.16105232e-02 9.99499614e-01 1.13854818e-03 2.33397513e+01] [-1.20442200e-02 -7.58120526e-04 9.99927178e-01 -1.35046010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.061400513 meters 0.058179384777916815 Centerline is valid? [True, True] Translation: X:263.36, Y:23.33, Z:-1.35 [[ 9.99101667e-01 -4.04921868e-02 1.24996897e-02 2.63364157e+02] [ 4.04805262e-02 9.99179625e-01 1.18458015e-03 2.33289757e+01] [-1.25374016e-02 -6.77521982e-04 9.99921174e-01 -1.34943199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.121400513 meters 0.05629678812048478 Centerline is valid? [True, True] Translation: X:263.42, Y:23.33, Z:-1.35 [[ 9.99031816e-01 -4.23954358e-02 1.17498162e-02 2.63424676e+02] [ 4.23852637e-02 9.99100720e-01 1.11350772e-03 2.33316820e+01] [-1.17864575e-02 -6.14410582e-04 9.99930349e-01 -1.35128267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.181400513 meters 0.0639470733334451 Centerline is valid? [True, True] Translation: X:263.48, Y:23.34, Z:-1.35 [[ 9.99297613e-01 -3.52582278e-02 1.26939915e-02 2.63484084e+02] [ 3.52457809e-02 9.99377950e-01 1.20298118e-03 2.33437759e+01] [-1.27285102e-02 -7.54726572e-04 9.99918704e-01 -1.35071007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24140051300003 meters 0.06017767126842117 Centerline is valid? [True, True] Translation: X:263.54, Y:23.35, Z:-1.35 [[ 9.99457687e-01 -3.06564914e-02 1.20213259e-02 2.63544937e+02] [ 3.06449980e-02 9.99529683e-01 1.13916875e-03 2.33460094e+01] [-1.20505950e-02 -7.70157460e-04 9.99927092e-01 -1.35352390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30140051300003 meters 0.06301242785004203 Centerline is valid? [True, True] Translation: X:263.61, Y:23.36, Z:-1.36 [[ 9.99505220e-01 -2.98782156e-02 9.82892679e-03 2.63605326e+02] [ 2.98704970e-02 9.99553343e-01 9.31191142e-04 2.33565306e+01] [-9.85235897e-03 -6.37135479e-04 9.99951261e-01 -1.35775237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36140051300004 meters 0.06696577018295817 Centerline is valid? [True, True] Translation: X:263.67, Y:23.37, Z:-1.36 [[ 9.99507367e-01 -3.04810232e-02 7.47866022e-03 2.63665102e+02] [ 3.04765735e-02 9.99535230e-01 7.08250412e-04 2.33671609e+01] [-7.49677256e-03 -4.79977566e-04 9.99971784e-01 -1.36057181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42140051300004 meters 0.0724697803555386 Centerline is valid? [True, True] Translation: X:263.72, Y:23.38, Z:-1.36 [[ 9.99488805e-01 -3.11293342e-02 7.28649625e-03 2.63724522e+02] [ 3.11251293e-02 9.99515258e-01 6.89793469e-04 2.33832926e+01] [-7.30443699e-03 -4.62647712e-04 9.99973215e-01 -1.36137047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48140051300004 meters 0.06665995988266041 Centerline is valid? [True, True] Translation: X:263.79, Y:23.38, Z:-1.36 [[ 9.99401978e-01 -3.37254263e-02 7.63429955e-03 2.63785038e+02] [ 3.37208863e-02 9.99431028e-01 7.22658282e-04 2.33849080e+01] [-7.65432780e-03 -4.64790769e-04 9.99970597e-01 -1.36231056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.541400513 meters 0.061352520062342306 Centerline is valid? [True, True] Translation: X:263.85, Y:23.39, Z:-1.36 [[ 9.99280396e-01 -3.73023244e-02 6.87224301e-03 2.63845826e+02] [ 3.72987299e-02 9.99303949e-01 6.50517706e-04 2.33850509e+01] [-6.89172539e-03 -3.93723655e-04 9.99976174e-01 -1.36326507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.601400513 meters 0.057379199134926555 Centerline is valid? [True, True] Translation: X:263.91, Y:23.39, Z:-1.37 [[ 9.99169863e-01 -4.03668561e-02 5.48655936e-03 2.63906049e+02] [ 4.03646110e-02 9.99184882e-01 5.19361981e-04 2.33887058e+01] [-5.50305218e-03 -2.97468005e-04 9.99984814e-01 -1.36531728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.661400513 meters 0.06390818795103437 Centerline is valid? [True, True] Translation: X:263.96, Y:23.41, Z:-1.37 [[ 9.99129212e-01 -4.12833502e-02 6.04180229e-03 2.63962984e+02] [ 4.12806429e-02 9.99147427e-01 5.72177442e-04 2.34055367e+01] [-6.06027262e-03 -3.22269713e-04 9.99981584e-01 -1.36500235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.721400513 meters 0.05638866941389827 Centerline is valid? [True, True] Translation: X:264.02, Y:23.40, Z:-1.37 [[ 9.99125975e-01 -4.15866182e-02 4.22368734e-03 2.64022303e+02] [ 4.15852959e-02 9.99134877e-01 4.00449378e-04 2.34035677e+01] [-4.23668667e-03 -2.24456088e-04 9.99991000e-01 -1.36802394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.781400513 meters 0.05645124676927797 Centerline is valid? [True, True] Translation: X:264.08, Y:23.41, Z:-1.37 [[ 9.99060962e-01 -4.32868101e-02 1.85657095e-03 2.64080710e+02] [ 4.32865570e-02 9.99062682e-01 1.76278924e-04 2.34118512e+01] [-1.86246130e-03 -9.57488271e-05 9.99998261e-01 -1.37252999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.841400513 meters 0.05214486579593965 Centerline is valid? [True, True] Translation: X:264.14, Y:23.42, Z:-1.37 [[ 9.98922898e-01 -4.63876549e-02 1.10845441e-03 2.64140940e+02] [ 4.63875666e-02 9.98923512e-01 1.05296307e-04 2.34178589e+01] [-1.11214562e-03 -5.37643896e-05 9.99999380e-01 -1.37467599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.901400513 meters 0.05256890417491805 Centerline is valid? [True, True] Translation: X:264.20, Y:23.43, Z:-1.38 [[ 9.98892326e-01 -4.70539006e-02 -2.28732331e-04 2.64199169e+02] [ 4.70538967e-02 9.98892352e-01 -2.24785883e-05 2.34271970e+01] [ 2.29536682e-04 1.16909418e-05 9.99999974e-01 -1.37722878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.961400513 meters 0.05518194636676602 Centerline is valid? [True, True] Translation: X:264.26, Y:23.44, Z:-1.38 [[ 9.99044326e-01 -4.37048929e-02 -5.62810927e-04 2.64258038e+02] [ 4.37048697e-02 9.99044484e-01 -5.35753863e-05 2.34414790e+01] [ 5.64614658e-04 2.89266075e-05 9.99999840e-01 -1.37708463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.021400513 meters 0.056994658387689544 Centerline is valid? [True, True] Translation: X:264.32, Y:23.45, Z:-1.37 [[ 9.99197306e-01 -4.00582290e-02 2.87085890e-04 2.64317922e+02] [ 4.00582228e-02 9.99197347e-01 2.73072987e-05 2.34530528e+01] [-2.87949342e-04 -1.57852288e-05 9.99999958e-01 -1.37446406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.081400513 meters 0.06580026075516675 Centerline is valid? [True, True] Translation: X:264.37, Y:23.48, Z:-1.38 [[ 9.99395811e-01 -3.45611604e-02 -3.67950810e-03 2.64374818e+02] [ 3.45601046e-02 9.99402560e-01 -3.50172277e-04 2.34818732e+01] [ 3.68941218e-03 2.22796522e-04 9.99993169e-01 -1.38303494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.141400513 meters 0.07614094659604953 Centerline is valid? [True, True] Translation: X:264.43, Y:23.51, Z:-1.39 [[ 9.99476010e-01 -3.21387852e-02 -3.84755463e-03 2.64431862e+02] [ 3.21376125e-02 9.99483386e-01 -3.66248296e-04 2.35080928e+01] [ 3.85733770e-03 2.42405166e-04 9.99992531e-01 -1.38579332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.201400513 meters 0.0690626610090312 Centerline is valid? [True, True] Translation: X:264.49, Y:23.51, Z:-1.39 [[ 9.99413359e-01 -3.37702355e-02 -5.70175303e-03 2.64491082e+02] [ 3.37676785e-02 9.99429561e-01 -5.44162102e-04 2.35112353e+01] [ 5.71687701e-03 3.51307910e-04 9.99983597e-01 -1.38672384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.261400513 meters 0.06235686090002086 Centerline is valid? [True, True] Translation: X:264.55, Y:23.51, Z:-1.39 [[ 9.99256502e-01 -3.77938508e-02 -7.62029763e-03 2.64552602e+02] [ 3.77894064e-02 9.99285461e-01 -7.26430744e-04 2.35081818e+01] [ 7.64230725e-03 4.37924120e-04 9.99970701e-01 -1.38969078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.321400513 meters 0.058127949144781026 Centerline is valid? [True, True] Translation: X:264.61, Y:23.51, Z:-1.39 [[ 9.99077383e-01 -4.26480060e-02 -5.05267708e-03 2.64613369e+02] [ 4.26461136e-02 9.99090125e-01 -4.81730090e-04 2.35050904e+01] [ 5.06862460e-03 2.65808597e-04 9.99987119e-01 -1.38707361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.381400513 meters 0.06021029742244595 Centerline is valid? [True, True] Translation: X:264.67, Y:23.51, Z:-1.39 [[ 9.99105756e-01 -4.19951231e-02 -4.90902111e-03 2.64670778e+02] [ 4.19933265e-02 9.99117781e-01 -4.68526907e-04 2.35116358e+01] [ 4.92436612e-03 2.61961803e-04 9.99987841e-01 -1.38761338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.441400513 meters 0.05722558878117212 Centerline is valid? [True, True] Translation: X:264.73, Y:23.51, Z:-1.39 [[ 9.99251104e-01 -3.78421268e-02 -8.07495069e-03 2.64730831e+02] [ 3.78371326e-02 9.99283622e-01 -7.70412120e-04 2.35135742e+01] [ 8.09832001e-03 4.64302182e-04 9.99967100e-01 -1.39083399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.501400513 meters 0.06589951184134688 Centerline is valid? [True, True] Translation: X:264.79, Y:23.53, Z:-1.39 [[ 9.99337946e-01 -3.53489426e-02 -8.60943995e-03 2.64788926e+02] [ 3.53431710e-02 9.99374897e-01 -8.21658076e-04 2.35308663e+01] [ 8.63310291e-03 5.16829186e-04 9.99962601e-01 -1.39316910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.561400513 meters 0.07109720099727343 Centerline is valid? [True, True] Translation: X:264.85, Y:23.55, Z:-1.39 [[ 9.99494298e-01 -3.02467094e-02 -9.81250757e-03 2.64847812e+02] [ 3.02389677e-02 9.99542259e-01 -9.36400554e-04 2.35480346e+01] [ 9.83633902e-03 6.39206914e-04 9.99951418e-01 -1.39470523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.621400513 meters 0.07123064683934648 Centerline is valid? [True, True] Translation: X:264.91, Y:23.55, Z:-1.40 [[ 9.99434091e-01 -3.17006609e-02 -1.12501653e-02 2.64906740e+02] [ 3.16905503e-02 9.99497149e-01 -1.07588200e-03 2.35543888e+01] [ 1.12786143e-02 7.18749221e-04 9.99936136e-01 -1.39758223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.681400513 meters 0.0629455914402369 Centerline is valid? [True, True] Translation: X:264.97, Y:23.55, Z:-1.40 [[ 9.99124371e-01 -4.04705602e-02 -1.06124990e-02 2.64968548e+02] [ 4.04620615e-02 9.99180561e-01 -1.01439936e-03 2.35473465e+01] [ 1.06448560e-02 5.84107534e-04 9.99943171e-01 -1.39592252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74140051300003 meters 0.053105613323722156 Centerline is valid? [True, True] Translation: X:265.03, Y:23.54, Z:-1.40 [[ 9.98776947e-01 -4.79724433e-02 -1.19688996e-02 2.65030002e+02] [ 4.79621702e-02 9.98848498e-01 -1.14404737e-03 2.35363025e+01] [ 1.20100002e-02 5.68593742e-04 9.99927716e-01 -1.39728105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80140051300003 meters 0.04818154197441196 Centerline is valid? [True, True] Translation: X:265.09, Y:23.53, Z:-1.40 [[ 9.98527159e-01 -5.29434636e-02 -1.18533914e-02 2.65091192e+02] [ 5.29337341e-02 9.98597384e-01 -1.13327369e-03 2.35282628e+01] [ 1.18967651e-02 5.04160287e-04 9.99929104e-01 -1.39545497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86140051300004 meters 0.04973316890877125 Centerline is valid? [True, True] Translation: X:265.15, Y:23.52, Z:-1.39 [[ 9.98711404e-01 -4.98107146e-02 -9.71722642e-03 2.65147321e+02] [ 4.98490272e-02 9.98749758e-01 3.74106363e-03 2.35198636e+01] [ 9.51873248e-03 -4.22063720e-03 9.99945789e-01 -1.39197431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92140051300004 meters 0.0538002139542058 Centerline is valid? [True, True] Translation: X:265.21, Y:23.54, Z:-1.40 [[ 9.98753339e-01 -4.81312309e-02 -1.32345226e-02 2.65208568e+02] [ 4.80551240e-02 9.98826605e-01 -6.00991803e-03 2.35429092e+01] [ 1.35082580e-02 5.36643908e-03 9.99894359e-01 -1.39926937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98140051300004 meters 0.05952033840170944 Centerline is valid? [True, True] Translation: X:265.27, Y:23.55, Z:-1.39 [[ 9.99100523e-01 -4.14085254e-02 -9.13663845e-03 2.65268814e+02] [ 4.14022489e-02 9.99142176e-01 -8.75116450e-04 2.35471751e+01] [ 9.16503811e-03 4.96051924e-04 9.99957877e-01 -1.39091995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.041400513 meters 0.06999079860991254 Centerline is valid? [True, True] Translation: X:265.33, Y:23.56, Z:-1.39 [[ 9.99204731e-01 -3.88993436e-02 -8.76050103e-03 2.65327153e+02] [ 3.88934749e-02 9.99243010e-01 -8.39344468e-04 2.35616204e+01] [ 8.78651937e-03 4.97950636e-04 9.99961274e-01 -1.39170666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.101400513 meters 0.06811685360001261 Centerline is valid? [True, True] Translation: X:265.39, Y:23.56, Z:-1.40 [[ 9.99202073e-01 -3.86812257e-02 -9.94888117e-03 2.65386079e+02] [ 3.86736251e-02 9.99251439e-01 -9.55292713e-04 2.35628829e+01] [ 9.97838572e-03 5.69771158e-04 9.99950052e-01 -1.39507686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.161400513 meters 0.06001858115395891 Centerline is valid? [True, True] Translation: X:265.45, Y:23.56, Z:-1.39 [[ 9.99181506e-01 -3.95951912e-02 -8.27882534e-03 2.65445573e+02] [ 3.95899594e-02 9.99215694e-01 -7.94946161e-04 2.35570356e+01] [ 8.30380825e-03 4.66537143e-04 9.99965414e-01 -1.38975959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.221400513 meters 0.05737694258609315 Centerline is valid? [True, True] Translation: X:265.50, Y:23.56, Z:-1.39 [[ 9.99168724e-01 -3.97854125e-02 -8.88714624e-03 2.65504644e+02] [ 3.97793734e-02 9.99208121e-01 -8.55334807e-04 2.35558001e+01] [ 8.91413854e-03 5.01098679e-04 9.99960143e-01 -1.38855851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.281400513 meters 0.060454052575600194 Centerline is valid? [True, True] Translation: X:265.56, Y:23.56, Z:-1.39 [[ 9.99224904e-01 -3.82498448e-02 -9.30276394e-03 2.65562977e+02] [ 3.82431641e-02 9.99268062e-01 -8.95038868e-04 2.35613477e+01] [ 9.33018999e-03 5.38577999e-04 9.99956328e-01 -1.39030023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.341400513 meters 0.06616065113016079 Centerline is valid? [True, True] Translation: X:265.62, Y:23.57, Z:-1.39 [[ 9.99328366e-01 -3.58745648e-02 -7.47218033e-03 2.65620963e+02] [ 3.58701874e-02 9.99356199e-01 -7.19062769e-04 2.35724197e+01] [ 7.49316580e-03 4.50551313e-04 9.99971824e-01 -1.38782734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.401400513 meters 0.06764824723510085 Centerline is valid? [True, True] Translation: X:265.68, Y:23.58, Z:-1.39 [[ 9.99485123e-01 -3.13160702e-02 -6.98517589e-03 2.65681253e+02] [ 3.13121347e-02 9.99509429e-01 -6.72086882e-04 2.35798725e+01] [ 7.00279629e-03 4.53020071e-04 9.99975378e-01 -1.38515117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.461400513 meters 0.07102448287980301 Centerline is valid? [True, True] Translation: X:265.74, Y:23.59, Z:-1.39 [[ 9.99641559e-01 -2.54192622e-02 -8.40321035e-03 2.65740980e+02] [ 2.54133593e-02 9.99676701e-01 -8.08514916e-04 2.35888477e+01] [ 8.42104546e-03 5.94671308e-04 9.99964366e-01 -1.38727735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.521400513 meters 0.07151468478505835 Centerline is valid? [True, True] Translation: X:265.80, Y:23.60, Z:-1.39 [[ 9.99634466e-01 -2.60038133e-02 -7.39844230e-03 2.65799720e+02] [ 2.59992393e-02 9.99661708e-01 -7.13762334e-04 2.35952624e+01] [ 7.41450001e-03 5.21147558e-04 9.99972376e-01 -1.38618071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.581400513 meters 0.06905411307730679 Centerline is valid? [True, True] Translation: X:265.86, Y:23.60, Z:-1.38 [[ 9.99554583e-01 -2.90969052e-02 -6.63373814e-03 2.65860505e+02] [ 2.90933006e-02 9.99576496e-01 -6.39237704e-04 2.35978735e+01] [ 6.64952856e-03 4.45955639e-04 9.99977792e-01 -1.38454294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.641400513 meters 0.07312441802510422 Centerline is valid? [True, True] Translation: X:265.92, Y:23.61, Z:-1.38 [[ 9.99609126e-01 -2.71861792e-02 -6.51966426e-03 2.65918596e+02] [ 2.71826552e-02 9.99630286e-01 -6.28535511e-04 2.36090009e+01] [ 6.53434133e-03 4.51068047e-04 9.99978549e-01 -1.38436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.701400513 meters 0.07571380892042943 Centerline is valid? [True, True] Translation: X:265.98, Y:23.62, Z:-1.39 [[ 9.99726749e-01 -2.24473159e-02 -6.52268688e-03 2.65978061e+02] [ 2.24436886e-02 9.99747911e-01 -6.28775430e-04 2.36201262e+01] [ 6.53515690e-03 4.82210464e-04 9.99978529e-01 -1.38506132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.761400513 meters 0.08461885626891365 Centerline is valid? [True, True] Translation: X:266.04, Y:23.64, Z:-1.39 [[ 9.99834840e-01 -1.66569318e-02 -7.26903891e-03 2.66035462e+02] [ 1.66522751e-02 9.99861096e-01 -7.00680456e-04 2.36385846e+01] [ 7.27970040e-03 5.79518696e-04 9.99973335e-01 -1.38746893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.821400513 meters 0.08435779008094008 Centerline is valid? [True, True] Translation: X:266.09, Y:23.65, Z:-1.39 [[ 9.99854107e-01 -1.57301152e-02 -6.65789768e-03 2.66094273e+02] [ 1.57261865e-02 9.99876130e-01 -6.42029771e-04 2.36481420e+01] [ 6.66717217e-03 5.37232763e-04 9.99977630e-01 -1.38698639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.881400513 meters 0.08162416046982508 Centerline is valid? [True, True] Translation: X:266.15, Y:23.65, Z:-1.38 [[ 9.99844253e-01 -1.72146519e-02 -3.88908531e-03 2.66153823e+02] [ 1.72133220e-02 9.99851769e-01 -3.75158129e-04 2.36526955e+01] [ 3.89496705e-03 3.08155621e-04 9.99992367e-01 -1.38185932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.941400513 meters 0.07926679070840273 Centerline is valid? [True, True] Translation: X:266.21, Y:23.66, Z:-1.38 [[ 9.99794298e-01 -2.00741620e-02 -2.89647181e-03 2.66213352e+02] [ 2.00734361e-02 9.99798469e-01 -2.79458082e-04 2.36565634e+01] [ 2.90149797e-03 2.21258455e-04 9.99995766e-01 -1.38108856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.001400513 meters 0.07604934679909361 Centerline is valid? [True, True] Translation: X:266.27, Y:23.66, Z:-1.38 [[ 9.99734811e-01 -2.26106873e-02 -4.36618330e-03 2.66273665e+02] [ 2.26090625e-02 9.99744294e-01 -4.21159260e-04 2.36563027e+01] [ 4.37458954e-03 3.22332262e-04 9.99990379e-01 -1.38300012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.061400513 meters 0.07312571302959263 Centerline is valid? [True, True] Translation: X:266.33, Y:23.66, Z:-1.38 [[ 9.99697322e-01 -2.43422360e-02 -3.56651535e-03 2.66333442e+02] [ 2.43411621e-02 9.99703651e-01 -3.44202563e-04 2.36563903e+01] [ 3.57383708e-03 2.57285252e-04 9.99993581e-01 -1.38084353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.121400513 meters 0.07438886266815102 Centerline is valid? [True, True] Translation: X:266.39, Y:23.66, Z:-1.38 [[ 9.99639420e-01 -2.68246129e-02 -1.21213529e-03 2.66393302e+02] [ 2.68244906e-02 9.99640152e-01 -1.17023990e-04 2.36574259e+01] [ 1.21483822e-03 8.44668819e-05 9.99999259e-01 -1.37761486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.181400513 meters 0.08164708634355144 Centerline is valid? [True, True] Translation: X:266.45, Y:23.67, Z:-1.38 [[ 9.99612704e-01 -2.77218779e-02 -2.43723323e-03 2.66450513e+02] [ 2.77213857e-02 9.99615661e-01 -2.35488997e-04 2.36728281e+01] [ 2.44282471e-03 1.67834311e-04 9.99997002e-01 -1.38020871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24140051300003 meters 0.08032241731997997 Centerline is valid? [True, True] Translation: X:266.51, Y:23.68, Z:-1.38 [[ 9.99738641e-01 -2.24868625e-02 -4.12208101e-03 2.66510337e+02] [ 2.24854114e-02 9.99747092e-01 -3.98029120e-04 2.36776542e+01] [ 4.12998893e-03 3.05238404e-04 9.99991425e-01 -1.38154457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30140051300003 meters 0.07500277657456535 Centerline is valid? [True, True] Translation: X:266.57, Y:23.68, Z:-1.38 [[ 9.99848020e-01 -1.68493290e-02 -4.47625505e-03 2.66570940e+02] [ 1.68475620e-02 9.99857976e-01 -4.32166568e-04 2.36788806e+01] [ 4.48290104e-03 3.56686903e-04 9.99989888e-01 -1.38100374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36140051300004 meters 0.08521113797961698 Centerline is valid? [True, True] Translation: X:266.63, Y:23.70, Z:-1.38 [[ 9.99886310e-01 -1.42755659e-02 -4.85536433e-03 2.66628492e+02] [ 1.42734562e-02 9.99898019e-01 -4.68882786e-04 2.36985718e+01] [ 4.86156274e-03 3.99526649e-04 9.99988103e-01 -1.38333334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42140051300004 meters 0.09599458114130696 Centerline is valid? [True, True] Translation: X:266.69, Y:23.72, Z:-1.39 [[ 9.99873501e-01 -1.49790900e-02 -5.34876157e-03 2.66685156e+02] [ 1.49765371e-02 9.99887712e-01 -5.17020862e-04 2.37155666e+01] [ 5.35590547e-03 4.36849533e-04 9.99985562e-01 -1.38585434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48140051300004 meters 0.07520960102369514 Centerline is valid? [True, True] Translation: X:266.75, Y:23.69, Z:-1.38 [[ 9.99779776e-01 -2.06076788e-02 -3.96528825e-03 2.66748217e+02] [ 2.06063207e-02 9.99787594e-01 -3.83063564e-04 2.36934444e+01] [ 3.97234005e-03 3.01269203e-04 9.99992065e-01 -1.38075386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.541400513 meters 0.07672700007717288 Centerline is valid? [True, True] Translation: X:266.81, Y:23.70, Z:-1.38 [[ 9.99680349e-01 -2.50832349e-02 -3.16712584e-03 2.66807570e+02] [ 2.50823905e-02 9.99685340e-01 -3.06077803e-04 2.36966462e+01] [ 3.17380670e-03 2.26540878e-04 9.99994938e-01 -1.38079627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.601400513 meters 0.07483986234388779 Centerline is valid? [True, True] Translation: X:266.87, Y:23.70, Z:-1.38 [[ 9.99680756e-01 -2.49790892e-02 -3.79893381e-03 2.66866538e+02] [ 2.49778687e-02 9.99687936e-01 -3.68386084e-04 2.36965652e+01] [ 3.80695025e-03 2.73379209e-04 9.99992716e-01 -1.38150963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.661400513 meters 0.06931800653189209 Centerline is valid? [True, True] Translation: X:266.93, Y:23.69, Z:-1.38 [[ 9.99703497e-01 -2.39735449e-02 -4.26463904e-03 2.66926943e+02] [ 2.39720003e-02 9.99712545e-01 -4.12947014e-04 2.36923974e+01] [ 4.27331295e-03 3.10592646e-04 9.99990821e-01 -1.38013737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.721400513 meters 0.07571252151698088 Centerline is valid? [True, True] Translation: X:266.99, Y:23.70, Z:-1.38 [[ 9.99769426e-01 -2.10557753e-02 -4.21306682e-03 2.66985500e+02] [ 2.10542416e-02 9.99778252e-01 -4.08049951e-04 2.37004911e+01] [ 4.22072438e-03 3.19252938e-04 9.99991042e-01 -1.38054234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.781400513 meters 0.07939729657985975 Centerline is valid? [True, True] Translation: X:267.04, Y:23.71, Z:-1.38 [[ 9.99814570e-01 -1.92016227e-02 -1.45707884e-03 2.67044462e+02] [ 1.92014373e-02 9.99815625e-01 -1.41142673e-04 2.37070824e+01] [ 1.45952036e-03 1.13138493e-04 9.99998928e-01 -1.37570235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.841400513 meters 0.08071355376999177 Centerline is valid? [True, True] Translation: X:267.10, Y:23.72, Z:-1.38 [[ 9.99846098e-01 -1.75130740e-02 -1.03543177e-03 2.67104082e+02] [ 1.75129794e-02 9.99846631e-01 -1.00354925e-04 2.37167522e+01] [ 1.03703049e-03 8.22059851e-05 9.99999459e-01 -1.37527423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.901400513 meters 0.09306865921106829 Centerline is valid? [True, True] Translation: X:267.16, Y:23.74, Z:-1.38 [[ 9.99870104e-01 -1.61153378e-02 -2.66069393e-04 2.67161773e+02] [ 1.61153315e-02 9.99870139e-01 -2.58232804e-05 2.37379342e+01] [ 2.66450992e-04 2.15321296e-05 9.99999964e-01 -1.37583465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.961400513 meters 0.08623213431511575 Centerline is valid? [True, True] Translation: X:267.22, Y:23.74, Z:-1.37 [[ 9.99892487e-01 -1.46532823e-02 5.44161319e-04 2.67222699e+02] [ 1.46532558e-02 9.99892634e-01 5.27099648e-05 2.37361957e+01] [-5.44875269e-04 -4.47305628e-05 9.99999851e-01 -1.37390544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.021400513 meters 0.08762706650031026 Centerline is valid? [True, True] Translation: X:267.28, Y:23.75, Z:-1.38 [[ 9.99905682e-01 -1.37247769e-02 -5.07108425e-04 2.67281450e+02] [ 1.37247536e-02 9.99905810e-01 -4.92884159e-05 2.37454593e+01] [ 5.07737133e-04 4.23238290e-05 9.99999870e-01 -1.37541745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.081400513 meters 0.07743569038449322 Centerline is valid? [True, True] Translation: X:267.34, Y:23.74, Z:-1.37 [[ 9.99875903e-01 -1.57519116e-02 2.35754641e-04 2.67342113e+02] [ 1.57519067e-02 9.99875931e-01 2.27832917e-05 2.37406072e+01] [-2.36084272e-04 -1.90668793e-05 9.99999972e-01 -1.37375348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.141400513 meters 0.09028557917233673 Centerline is valid? [True, True] Translation: X:267.40, Y:23.76, Z:-1.37 [[ 9.99859523e-01 -1.67422545e-02 7.94961745e-04 2.67398987e+02] [ 1.67421986e-02 9.99859837e-01 7.69135050e-05 2.37610868e+01] [-7.96138026e-04 -6.35932930e-05 9.99999681e-01 -1.37401552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.201400513 meters 0.08243855792968906 Centerline is valid? [True, True] Translation: X:267.46, Y:23.76, Z:-1.37 [[ 9.99852939e-01 -1.71493085e-02 3.47356125e-05 2.67459180e+02] [ 1.71493084e-02 9.99852940e-01 3.26675539e-06 2.37581184e+01] [-3.47865269e-05 -2.67058324e-06 9.99999999e-01 -1.37493247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.261400513 meters 0.08293173611894519 Centerline is valid? [True, True] Translation: X:267.52, Y:23.77, Z:-1.38 [[ 9.99828598e-01 -1.84080012e-02 -1.97987713e-03 2.67517839e+02] [ 1.84076550e-02 9.99830546e-01 -1.92924890e-04 2.37673948e+01] [ 1.98309300e-03 1.56446927e-04 9.99998021e-01 -1.37785045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.321400513 meters 0.07580845998982855 Centerline is valid? [True, True] Translation: X:267.58, Y:23.76, Z:-1.38 [[ 9.99791097e-01 -2.02029634e-02 -3.09878484e-03 2.67578374e+02] [ 2.02021269e-02 9.99795871e-01 -3.01020849e-04 2.37647888e+01] [ 3.10423380e-03 2.38355921e-04 9.99995153e-01 -1.37929515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.381400513 meters 0.06994720632979226 Centerline is valid? [True, True] Translation: X:267.64, Y:23.76, Z:-1.38 [[ 9.99741844e-01 -2.26887651e-02 -1.21042922e-03 2.67639064e+02] [ 2.26886393e-02 9.99742573e-01 -1.17573451e-04 2.37615439e+01] [ 1.21278522e-03 9.00801064e-05 9.99999261e-01 -1.37501546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.441400513 meters 0.07884146365885308 Centerline is valid? [True, True] Translation: X:267.70, Y:23.78, Z:-1.38 [[ 9.99717295e-01 -2.37625757e-02 -8.18650560e-04 2.67696887e+02] [ 2.37625184e-02 9.99717628e-01 -7.96368708e-05 2.37779996e+01] [ 8.20311774e-04 6.01611580e-05 9.99999662e-01 -1.37563268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.501400513 meters 0.0768195475510049 Centerline is valid? [True, True] Translation: X:267.76, Y:23.79, Z:-1.37 [[ 9.99742140e-01 -2.27022779e-02 5.10832297e-04 2.67755665e+02] [ 2.27022556e-02 9.99742269e-01 4.94907624e-05 2.37874448e+01] [-5.11824193e-04 -3.78809553e-05 9.99999868e-01 -1.37465690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.561400513 meters 0.08765379573014918 Centerline is valid? [True, True] Translation: X:267.81, Y:23.81, Z:-1.37 [[ 9.99774897e-01 -2.12041443e-02 7.34611805e-04 2.67813025e+02] [ 2.12040976e-02 9.99775165e-01 7.13074713e-05 2.38089548e+01] [-7.35958652e-04 -5.57146394e-05 9.99999728e-01 -1.37399895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.621400513 meters 0.08253111958616789 Centerline is valid? [True, True] Translation: X:267.87, Y:23.82, Z:-1.37 [[ 9.99809921e-01 -1.92294542e-02 3.21702007e-03 2.67872542e+02] [ 1.92285470e-02 9.99815065e-01 3.12700660e-04 2.38159818e+01] [-3.22243819e-03 -2.50782601e-04 9.99994776e-01 -1.36870120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.681400513 meters 0.08335034250458369 Centerline is valid? [True, True] Translation: X:267.93, Y:23.83, Z:-1.37 [[ 9.99818988e-01 -1.85889260e-02 4.05492706e-03 2.67932744e+02] [ 1.85874792e-02 9.99827160e-01 3.94209886e-04 2.38257579e+01] [-4.06155415e-03 -3.18767657e-04 9.99991701e-01 -1.36753370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74140051300003 meters 0.07941624474990136 Centerline is valid? [True, True] Translation: X:267.99, Y:23.83, Z:-1.37 [[ 9.99789872e-01 -2.04467013e-02 1.46408961e-03 2.67993344e+02] [ 2.04465146e-02 9.99790938e-01 1.42369582e-04 2.38281118e+01] [-1.46669451e-03 -1.12404137e-04 9.99998918e-01 -1.37175471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80140051300003 meters 0.07365583366441628 Centerline is valid? [True, True] Translation: X:268.05, Y:23.82, Z:-1.37 [[ 9.99656215e-01 -2.62131983e-02 5.64914328e-04 2.68054357e+02] [ 2.62131714e-02 9.99656374e-01 5.49009734e-05 2.38249499e+01] [-5.66159339e-04 -4.00739031e-05 9.99999839e-01 -1.37280083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86140051300004 meters 0.06818434744617008 Centerline is valid? [True, True] Translation: X:268.11, Y:23.82, Z:-1.37 [[ 9.99678705e-01 -2.53327052e-02 8.61180220e-04 2.68114637e+02] [ 2.53326425e-02 9.99679074e-01 8.36284814e-05 2.38189599e+01] [-8.63022380e-04 -6.17856413e-05 9.99999626e-01 -1.37162496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92140051300004 meters 0.08799165795689962 Centerline is valid? [True, True] Translation: X:268.17, Y:23.85, Z:-1.37 [[ 9.99797215e-01 -2.01288649e-02 5.97985595e-04 2.68170843e+02] [ 2.01288337e-02 9.99797393e-01 5.82611462e-05 2.38498302e+01] [-5.99037169e-04 -4.62125791e-05 9.99999820e-01 -1.37441306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98140051300004 meters 0.08381131486724695 Centerline is valid? [True, True] Translation: X:268.23, Y:23.85, Z:-1.38 [[ 9.99898186e-01 -1.42641668e-02 3.87957110e-04 2.68230725e+02] [ 1.42641532e-02 9.99898261e-01 3.76712417e-05 2.38541102e+01] [-3.88454988e-04 -3.21335266e-05 9.99999924e-01 -1.37547514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.041400513 meters 0.08907230850340622 Centerline is valid? [True, True] Translation: X:268.29, Y:23.87, Z:-1.38 [[ 9.99911787e-01 -1.28743675e-02 -3.26645092e-03 2.68289120e+02] [ 1.28733981e-02 9.99917084e-01 -3.17627597e-04 2.38690052e+01] [ 3.27026933e-03 2.75549255e-04 9.99994615e-01 -1.38099057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.101400513 meters 0.08077285767799955 Centerline is valid? [True, True] Translation: X:268.35, Y:23.87, Z:-1.38 [[ 9.99866798e-01 -1.62380176e-02 -1.64718779e-03 2.68349873e+02] [ 1.62377756e-02 9.99868146e-01 -1.60194525e-04 2.38672146e+01] [ 1.64957184e-03 1.33426521e-04 9.99998631e-01 -1.37888368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.161400513 meters 0.07448052469024664 Centerline is valid? [True, True] Translation: X:268.41, Y:23.86, Z:-1.38 [[ 9.99677203e-01 -2.54049165e-02 -2.82643578e-04 2.68411182e+02] [ 2.54049098e-02 9.99677243e-01 -2.74966630e-05 2.38649712e+01] [ 2.83250903e-04 2.03072526e-05 9.99999960e-01 -1.37772500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.221400513 meters 0.07626718796929229 Centerline is valid? [True, True] Translation: X:268.47, Y:23.87, Z:-1.38 [[ 9.99481581e-01 -3.21427737e-02 -1.84711446e-03 2.68470377e+02] [ 3.21424963e-02 9.99483280e-01 -1.79639966e-04 2.38728276e+01] [ 1.85193414e-03 1.20175968e-04 9.99998278e-01 -1.38170136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.281400513 meters 0.058396248886206786 Centerline is valid? [True, True] Translation: X:268.53, Y:23.85, Z:-1.38 [[ 9.99247483e-01 -3.87626222e-02 -1.38792248e-03 2.68533359e+02] [ 3.87624720e-02 9.99248444e-01 -1.34979585e-04 2.38516124e+01] [ 1.39211154e-03 8.10787049e-05 9.99999028e-01 -1.37964953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.341400513 meters 0.0564321904308339 Centerline is valid? [True, True] Translation: X:268.59, Y:23.85, Z:-1.38 [[ 9.98998167e-01 -4.47327348e-02 -1.28270333e-03 2.68593104e+02] [ 4.47326113e-02 9.98998988e-01 -1.24811357e-04 2.38471174e+01] [ 1.28700248e-03 6.73076474e-05 9.99999170e-01 -1.37981726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.401400513 meters 0.051115595434829596 Centerline is valid? [True, True] Translation: X:268.65, Y:23.84, Z:-1.38 [[ 9.98807457e-01 -4.88166872e-02 7.71240832e-04 2.68654736e+02] [ 4.88166438e-02 9.98807754e-01 7.50006322e-05 2.38387853e+01] [-7.73982606e-04 -3.72618017e-05 9.99999700e-01 -1.37665050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.461400513 meters 0.053751089551902206 Centerline is valid? [True, True] Translation: X:268.71, Y:23.84, Z:-1.37 [[ 9.98878104e-01 -4.72504253e-02 3.15137703e-03 2.68713856e+02] [ 4.72496930e-02 9.98883063e-01 3.06451915e-04 2.38355334e+01] [-3.16233713e-03 -1.57206510e-04 9.99994987e-01 -1.37248657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.521400513 meters 0.05763241757624399 Centerline is valid? [True, True] Translation: X:268.77, Y:23.84, Z:-1.37 [[ 9.99092011e-01 -4.25321880e-02 2.48337934e-03 2.68774013e+02] [ 4.25317184e-02 9.99095088e-01 2.41616780e-04 2.38404522e+01] [-2.49140859e-03 -1.35775004e-04 9.99996887e-01 -1.37377300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.581400513 meters 0.06731597127387902 Centerline is valid? [True, True] Translation: X:268.83, Y:23.85, Z:-1.38 [[ 9.99436996e-01 -3.35385132e-02 -9.26847191e-04 2.68833946e+02] [ 3.35384440e-02 9.99437424e-01 -9.01927310e-05 2.38514998e+01] [ 9.29350699e-04 5.90569395e-05 9.99999566e-01 -1.38000357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.641400513 meters 0.06804335093578229 Centerline is valid? [True, True] Translation: X:268.89, Y:23.85, Z:-1.38 [[ 9.99526652e-01 -3.07566874e-02 7.06171031e-04 2.68894779e+02] [ 3.07566466e-02 9.99526900e-01 6.86991521e-05 2.38523910e+01] [-7.07949900e-04 -4.69471807e-05 9.99999748e-01 -1.37770506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.701400513 meters 0.07015656677002324 Centerline is valid? [True, True] Translation: X:268.95, Y:23.85, Z:-1.38 [[ 9.99435855e-01 -3.35808937e-02 5.42627105e-04 2.68954902e+02] [ 3.35808700e-02 9.99436002e-01 5.27438750e-05 2.38490768e+01] [-5.44092251e-04 -3.44922296e-05 9.99999851e-01 -1.37951442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.761400513 meters 0.05566877263879683 Centerline is valid? [True, True] Translation: X:269.02, Y:23.83, Z:-1.38 [[ 9.99287497e-01 -3.77357713e-02 -7.13694420e-04 2.69016587e+02] [ 3.77357313e-02 9.99287751e-01 -6.95630979e-05 2.38321370e+01] [ 7.15811110e-04 4.25817531e-05 9.99999743e-01 -1.38153073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.821400513 meters 0.0565914905010596 Centerline is valid? [True, True] Translation: X:269.08, Y:23.83, Z:-1.38 [[ 9.99193516e-01 -4.01527716e-02 2.67469158e-04 2.69075596e+02] [ 4.01527661e-02 9.99193552e-01 2.58826991e-05 2.38317816e+01] [-2.68292721e-04 -1.51221986e-05 9.99999964e-01 -1.38046268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.881400513 meters 0.05520357876187616 Centerline is valid? [True, True] Translation: X:269.14, Y:23.83, Z:-1.38 [[ 9.99245323e-01 -3.88342164e-02 -8.29633229e-04 2.69135971e+02] [ 3.88341625e-02 9.99245666e-01 -8.09058630e-05 2.38277752e+01] [ 8.32149325e-04 4.86266935e-05 9.99999653e-01 -1.38217043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.941400513 meters 0.0674253619212304 Centerline is valid? [True, True] Translation: X:269.19, Y:23.84, Z:-1.39 [[ 9.99429076e-01 -3.37282729e-02 -1.98131397e-03 2.69194314e+02] [ 3.37279561e-02 9.99431032e-01 -1.93105267e-04 2.38384366e+01] [ 1.98669978e-03 1.26169348e-04 9.99998019e-01 -1.38550117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.001400513 meters 0.07204429072113042 Centerline is valid? [True, True] Translation: X:269.25, Y:23.85, Z:-1.39 [[ 9.99542525e-01 -3.01930033e-02 -1.76731085e-03 2.69252042e+02] [ 3.01927457e-02 9.99544080e-01 -1.72298180e-04 2.38532835e+01] [ 1.77170730e-03 1.18859391e-04 9.99998423e-01 -1.38637259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.061400513 meters 0.06844777950170407 Centerline is valid? [True, True] Translation: X:269.31, Y:23.85, Z:-1.38 [[ 9.99578205e-01 -2.90414898e-02 6.54881931e-05 2.69312163e+02] [ 2.90414895e-02 9.99578207e-01 6.27931140e-06 2.38511938e+01] [-6.56429312e-05 -4.37478814e-06 9.99999998e-01 -1.38388673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.121400513 meters 0.06812749636110194 Centerline is valid? [True, True] Translation: X:269.37, Y:23.86, Z:-1.38 [[ 9.99521449e-01 -3.09158557e-02 1.04064604e-03 2.69372201e+02] [ 3.09157669e-02 9.99521988e-01 1.01380177e-04 2.38556214e+01] [-1.04328285e-03 -6.91592912e-05 9.99999453e-01 -1.38221004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.181400513 meters 0.06760689472143114 Centerline is valid? [True, True] Translation: X:269.43, Y:23.86, Z:-1.38 [[ 9.99494917e-01 -3.17320615e-02 1.72837885e-03 2.69431059e+02] [ 3.17318182e-02 9.99496405e-01 1.68023007e-04 2.38612747e+01] [-1.73284016e-03 -1.13093538e-04 9.99998492e-01 -1.38256068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24140051300003 meters 0.0708381479129127 Centerline is valid? [True, True] Translation: X:269.49, Y:23.86, Z:-1.38 [[ 9.99485850e-01 -3.20510491e-02 8.75127565e-04 2.69489609e+02] [ 3.20509870e-02 9.99486232e-01 8.48623891e-05 2.38634406e+01] [-8.77397881e-04 -5.67700549e-05 9.99999613e-01 -1.38256756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30140051300003 meters 0.07305043016639923 Centerline is valid? [True, True] Translation: X:269.55, Y:23.87, Z:-1.38 [[ 9.99603571e-01 -2.81463853e-02 6.94244422e-04 2.69548363e+02] [ 2.81463450e-02 9.99603811e-01 6.78474497e-05 2.38748605e+01] [-6.95879030e-04 -4.82801100e-05 9.99999757e-01 -1.38216415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36140051300004 meters 0.07606521484564185 Centerline is valid? [True, True] Translation: X:269.61, Y:23.89, Z:-1.38 [[ 9.99783757e-01 -2.06908141e-02 2.08077823e-03 2.69608155e+02] [ 2.06904352e-02 9.99785909e-01 2.03490040e-04 2.38853211e+01] [-2.08454313e-03 -1.60393830e-04 9.99997814e-01 -1.38063164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42140051300004 meters 0.09205532532702085 Centerline is valid? [True, True] Translation: X:269.67, Y:23.91, Z:-1.38 [[ 9.99911002e-01 -1.31297900e-02 2.36577001e-03 2.69665002e+02] [ 1.31292790e-02 9.99913781e-01 2.31369789e-04 2.39111587e+01] [-2.36860387e-03 -2.00288343e-04 9.99997175e-01 -1.38149652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48140051300004 meters 0.08948300003399512 Centerline is valid? [True, True] Translation: X:269.73, Y:23.91, Z:-1.38 [[ 9.99973522e-01 -6.04443588e-03 4.05228515e-03 2.69725906e+02] [ 6.04287921e-03 9.99981663e-01 3.96279795e-04 2.39120990e+01] [-4.05460613e-03 -3.71781832e-04 9.99991711e-01 -1.37886983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.541400513 meters 0.09101788527503969 Centerline is valid? [True, True] Translation: X:269.78, Y:23.92, Z:-1.38 [[ 9.99971149e-01 -7.45928479e-03 1.43562792e-03 2.69784659e+02] [ 7.45909091e-03 9.99972171e-01 1.40354849e-04 2.39212949e+01] [-1.43663491e-03 -1.29642320e-04 9.99998960e-01 -1.38456334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.601400513 meters 0.09270318146428667 Centerline is valid? [True, True] Translation: X:269.84, Y:23.93, Z:-1.39 [[ 9.99947074e-01 -1.00256372e-02 -2.31000372e-03 2.69843940e+02] [ 1.00251416e-02 9.99949721e-01 -2.25996844e-04 2.39283079e+01] [ 2.31215334e-03 2.02826769e-04 9.99997306e-01 -1.39079642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.661400513 meters 0.08532942137923338 Centerline is valid? [True, True] Translation: X:269.90, Y:23.93, Z:-1.39 [[ 9.99935140e-01 -1.13876194e-02 -1.92182092e-04 2.69904388e+02] [ 1.13876159e-02 9.99935159e-01 -1.88504626e-05 2.39274084e+01] [ 1.92384293e-04 1.66607441e-05 9.99999981e-01 -1.38770482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.721400513 meters 0.08778951555522925 Centerline is valid? [True, True] Translation: X:269.96, Y:23.94, Z:-1.39 [[ 9.99928885e-01 -1.19127317e-02 5.58385442e-04 2.69961793e+02] [ 1.19127034e-02 9.99929040e-01 5.40082802e-05 2.39388382e+01] [-5.58989205e-04 -4.73525593e-05 9.99999843e-01 -1.38759623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.781400513 meters 0.08600174501812824 Centerline is valid? [True, True] Translation: X:270.02, Y:23.94, Z:-1.39 [[ 9.99907017e-01 -1.36157026e-02 7.54320662e-04 2.70022013e+02] [ 1.36156507e-02 9.99907300e-01 7.38902670e-05 2.39449039e+01] [-7.55256805e-04 -6.36128298e-05 9.99999713e-01 -1.38782176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.841400513 meters 0.087045271442048 Centerline is valid? [True, True] Translation: X:270.08, Y:23.95, Z:-1.38 [[ 9.99829562e-01 -1.83619664e-02 1.91970816e-03 2.70081290e+02] [ 1.83616389e-02 9.99831393e-01 1.88099602e-04 2.39541711e+01] [-1.92283836e-03 -1.52818555e-04 9.99998140e-01 -1.38497804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.901400513 meters 0.088353523215236 Centerline is valid? [True, True] Translation: X:270.14, Y:23.97, Z:-1.39 [[ 9.99789427e-01 -2.05199529e-02 1.81436883e-04 2.70139316e+02] [ 2.05199500e-02 9.99789444e-01 1.77219774e-05 2.39671950e+01] [-1.81762334e-04 -1.39951698e-05 9.99999983e-01 -1.38748858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.961400513 meters 0.08543002411775581 Centerline is valid? [True, True] Translation: X:270.20, Y:23.98, Z:-1.39 [[ 9.99761899e-01 -2.18141457e-02 5.36865391e-04 2.70198607e+02] [ 2.18141206e-02 9.99762042e-01 5.25046165e-05 2.39779022e+01] [-5.37882983e-04 -4.07808687e-05 9.99999855e-01 -1.38617946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.021400513 meters 0.07624916535563855 Centerline is valid? [True, True] Translation: X:270.26, Y:23.98, Z:-1.38 [[ 9.99730591e-01 -2.31433961e-02 1.76894144e-03 2.70258747e+02] [ 2.31431254e-02 9.99732147e-01 1.73362373e-04 2.39798586e+01] [-1.77247982e-03 -1.32376834e-04 9.99998420e-01 -1.38342344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.081400513 meters 0.07787521619003071 Centerline is valid? [True, True] Translation: X:270.32, Y:23.99, Z:-1.39 [[ 9.99560392e-01 -2.96470494e-02 -2.74200183e-04 2.70316751e+02] [ 2.96470431e-02 9.99560429e-01 -2.69220103e-05 2.39930807e+01] [ 2.74877811e-04 1.87809505e-05 9.99999962e-01 -1.38761816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.141400513 meters 0.06769599967451927 Centerline is valid? [True, True] Translation: X:270.38, Y:23.99, Z:-1.39 [[ 9.99441575e-01 -3.34078649e-02 6.72409561e-04 2.70377885e+02] [ 3.34078282e-02 9.99441801e-01 6.58343804e-05 2.39887512e+01] [-6.74233608e-04 -4.33338738e-05 9.99999772e-01 -1.38582394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.201400513 meters 0.06144185898787457 Centerline is valid? [True, True] Translation: X:270.44, Y:23.99, Z:-1.38 [[ 9.99161206e-01 -4.05222742e-02 5.90163375e-03 2.70438933e+02] [ 4.05195604e-02 9.99178578e-01 5.78739632e-04 2.39890170e+01] [-5.92023787e-03 -3.39122584e-04 9.99982418e-01 -1.37624165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.261400513 meters 0.06561763011996016 Centerline is valid? [True, True] Translation: X:270.50, Y:24.00, Z:-1.37 [[ 9.99150341e-01 -4.06836188e-02 6.59092011e-03 2.70496246e+02] [ 4.06802363e-02 9.99172007e-01 6.46512662e-04 2.40004240e+01] [-6.61176535e-03 -3.77843159e-04 9.99978071e-01 -1.37421112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.321400513 meters 0.06814185925169633 Centerline is valid? [True, True] Translation: X:270.56, Y:24.01, Z:-1.38 [[ 9.99451183e-01 -3.30036258e-02 2.84473833e-03 2.70555402e+02] [ 3.30029643e-02 9.99455215e-01 2.79190337e-04 2.40140226e+01] [-2.85240286e-03 -1.85152315e-04 9.99995915e-01 -1.38225891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.381400513 meters 0.07871974218401567 Centerline is valid? [True, True] Translation: X:270.61, Y:24.03, Z:-1.38 [[ 9.99624083e-01 -2.73054045e-02 2.47135677e-03 2.70613457e+02] [ 2.73048878e-02 9.99627123e-01 2.42580025e-04 2.40339608e+01] [-2.47705900e-03 -1.75008716e-04 9.99996917e-01 -1.38227339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.441400513 meters 0.07128590862444578 Centerline is valid? [True, True] Translation: X:270.67, Y:24.04, Z:-1.38 [[ 9.99724786e-01 -2.32876191e-02 2.83516980e-03 2.70673199e+02] [ 2.32869230e-02 9.99728784e-01 2.78287690e-04 2.40371809e+01] [-2.84088152e-03 -2.12188721e-04 9.99995942e-01 -1.38222547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.501400513 meters 0.07808936540333014 Centerline is valid? [True, True] Translation: X:270.73, Y:24.05, Z:-1.38 [[ 9.99748616e-01 -2.23234011e-02 2.09042106e-03 2.70730980e+02] [ 2.23230207e-02 9.99750789e-01 2.05138054e-04 2.40514038e+01] [-2.09447948e-03 -1.58421973e-04 9.99997794e-01 -1.38474276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.561400513 meters 0.07724564463159629 Centerline is valid? [True, True] Translation: X:270.79, Y:24.06, Z:-1.39 [[ 9.99780287e-01 -2.09608365e-02 -1.42010299e-04 2.70791388e+02] [ 2.09608347e-02 9.99780297e-01 -1.39464090e-05 2.40553676e+01] [ 1.42271427e-04 1.09666904e-05 9.99999990e-01 -1.38782698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.621400513 meters 0.08051747484912411 Centerline is valid? [True, True] Translation: X:270.85, Y:24.07, Z:-1.39 [[ 9.99818435e-01 -1.90549789e-02 7.00594392e-05 2.70851016e+02] [ 1.90549785e-02 9.99818437e-01 6.88051728e-06 2.40679174e+01] [-7.01778272e-05 -5.54428691e-06 9.99999998e-01 -1.38898872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.681400513 meters 0.09610909247815237 Centerline is valid? [True, True] Translation: X:270.91, Y:24.09, Z:-1.39 [[ 9.99917726e-01 -1.25718414e-02 -2.54766068e-03 2.70908612e+02] [ 1.25712444e-02 9.99920947e-01 -2.50210975e-04 2.40908872e+01] [ 2.55060489e-03 2.18163124e-04 9.99996723e-01 -1.39224576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74140051300003 meters 0.0890379791598053 Centerline is valid? [True, True] Translation: X:270.97, Y:24.09, Z:-1.40 [[ 9.99958601e-01 -8.05846322e-03 -4.22583429e-03 2.70969119e+02] [ 8.05678078e-03 9.99967457e-01 -4.15004771e-04 2.40924735e+01] [ 4.22904107e-03 3.80940970e-04 9.99990985e-01 -1.39533832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80140051300003 meters 0.10263444426266373 Centerline is valid? [True, False] Translation: X:270.97, Y:24.09, Z:-1.39 [[ 9.99984600e-01 -3.53775012e-03 -4.27598633e-03 2.70968814e+02] [ 3.55658521e-03 9.99983972e-01 4.40530578e-03 2.40904641e+01] [ 4.26033293e-03 -4.42044585e-03 9.99981154e-01 -1.39422637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86140051300004 meters 0.09167605166218472 Centerline is valid? [False, True] Translation: X:270.97, Y:24.09, Z:-1.39 [[ 9.99983750e-01 -3.89678285e-03 -4.16107117e-03 2.70968245e+02] [ 3.91133339e-03 9.99986245e-01 3.49443171e-03 2.40946732e+01] [ 4.14739690e-03 -3.51065026e-03 9.99985237e-01 -1.39388948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92140051300004 meters 0.09469439202195364 Centerline is valid? [True, True] Translation: X:271.03, Y:24.11, Z:-1.39 [[ 9.99965403e-01 -7.35007842e-03 -3.89469603e-03 2.71025944e+02] [ 7.34870771e-03 9.99972931e-01 -3.66135866e-04 2.41105456e+01] [ 3.89728173e-03 3.37502216e-04 9.99992349e-01 -1.39455806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.981400513 meters 0.08173543757591137 Centerline is valid? [True, True] Translation: X:271.09, Y:24.11, Z:-1.40 [[ 9.99911223e-01 -1.25147006e-02 -4.57468060e-03 2.71087565e+02] [ 1.25128631e-02 9.99921619e-01 -4.30063120e-04 2.41055782e+01] [ 4.57970414e-03 3.72782588e-04 9.99989444e-01 -1.39507935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.041400513 meters 0.08052018148923366 Centerline is valid? [True, True] Translation: X:271.15, Y:24.11, Z:-1.40 [[ 9.99849745e-01 -1.63441637e-02 -5.77543043e-03 2.71148359e+02] [ 1.63412986e-02 9.99866325e-01 -5.42936696e-04 2.41088323e+01] [ 5.78353225e-03 4.48477084e-04 9.99983175e-01 -1.39653090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.101400513 meters 0.0801881042683186 Centerline is valid? [True, True] Translation: X:271.21, Y:24.12, Z:-1.40 [[ 9.99804659e-01 -1.87682067e-02 -6.19664774e-03 2.71207042e+02] [ 1.87649542e-02 9.99823753e-01 -5.82609279e-04 2.41156272e+01] [ 6.20649013e-03 4.66215661e-04 9.99980631e-01 -1.39685614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.161400513 meters 0.0796085208495952 Centerline is valid? [True, True] Translation: X:271.27, Y:24.12, Z:-1.39 [[ 9.99791648e-01 -2.00695875e-02 -3.72455508e-03 2.71266253e+02] [ 2.00684212e-02 9.99798548e-01 -3.50258975e-04 2.41234883e+01] [ 3.73083431e-03 2.75440058e-04 9.99993002e-01 -1.39343494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.221400513 meters 0.07659693336075325 Centerline is valid? [True, True] Translation: X:271.33, Y:24.13, Z:-1.39 [[ 9.99777310e-01 -2.08266064e-02 -3.40328365e-03 2.71325003e+02] [ 2.08256354e-02 9.99783072e-01 -3.20518414e-04 2.41256328e+01] [ 3.40922069e-03 2.49571494e-04 9.99994157e-01 -1.39376328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.281400513 meters 0.07584107281058641 Centerline is valid? [True, True] Translation: X:271.38, Y:24.13, Z:-1.40 [[ 9.99707707e-01 -2.36920077e-02 -4.81556984e-03 2.71384310e+02] [ 2.36900957e-02 9.99719247e-01 -4.53692066e-04 2.41315178e+01] [ 4.82496673e-03 3.39478144e-04 9.99988302e-01 -1.39511492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.341400513 meters 0.0727002122488667 Centerline is valid? [True, True] Translation: X:271.44, Y:24.13, Z:-1.39 [[ 9.99678780e-01 -2.51348344e-02 -3.25209635e-03 2.71444538e+02] [ 2.51339699e-02 9.99684045e-01 -3.06427245e-04 2.41347374e+01] [ 3.25877083e-03 2.24590722e-04 9.99994665e-01 -1.39217477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.401400513 meters 0.08109258896751963 Centerline is valid? [True, True] Translation: X:271.50, Y:24.15, Z:-1.39 [[ 9.99731977e-01 -2.31496086e-02 -2.65163983e-04 2.71502220e+02] [ 2.31496028e-02 9.99732012e-01 -2.49804848e-05 2.41538980e+01] [ 2.65671210e-04 1.88353486e-05 9.99999965e-01 -1.38897091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.461400513 meters 0.07509477116737417 Centerline is valid? [True, True] Translation: X:271.56, Y:24.15, Z:-1.40 [[ 9.99776413e-01 -2.07451925e-02 -4.09406000e-03 2.71562878e+02] [ 2.07437854e-02 9.99784750e-01 -3.85863639e-04 2.41543141e+01] [ 4.10118357e-03 3.00851063e-04 9.99991545e-01 -1.39516942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.521400513 meters 0.07774805899574466 Centerline is valid? [True, True] Translation: X:271.62, Y:24.16, Z:-1.40 [[ 9.99751194e-01 -2.08932732e-02 -7.81158412e-03 2.71620036e+02] [ 2.08881517e-02 9.99781547e-01 -7.36652521e-04 2.41638554e+01] [ 7.82526875e-03 5.73299684e-04 9.99969218e-01 -1.40231079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.581400513 meters 0.06854926175852395 Centerline is valid? [True, True] Translation: X:271.68, Y:24.16, Z:-1.40 [[ 9.99694494e-01 -2.39308230e-02 -6.18337038e-03 2.71680486e+02] [ 2.39276710e-02 9.99713522e-01 -5.83248333e-04 2.41580714e+01] [ 6.19555660e-03 4.35116495e-04 9.99980713e-01 -1.39847984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.641400513 meters 0.0712301493255717 Centerline is valid? [True, True] Translation: X:271.74, Y:24.17, Z:-1.39 [[ 9.99640542e-01 -2.64813889e-02 -4.18602485e-03 2.71739091e+02] [ 2.64799663e-02 9.99649266e-01 -3.94905771e-04 2.41704097e+01] [ 4.19501432e-03 2.83918022e-04 9.99991161e-01 -1.39452774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.701400513 meters 0.07700870708041063 Centerline is valid? [True, True] Translation: X:271.80, Y:24.19, Z:-1.39 [[ 9.99807256e-01 -1.92668864e-02 -3.77333807e-03 2.71798262e+02] [ 1.92656793e-02 9.99814336e-01 -3.55994750e-04 2.41868208e+01] [ 3.77949641e-03 2.83230213e-04 9.99992818e-01 -1.39335481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.761400513 meters 0.08366150714587409 Centerline is valid? [True, True] Translation: X:271.86, Y:24.21, Z:-1.39 [[ 9.99893041e-01 -1.36299088e-02 -5.30389316e-03 2.71855940e+02] [ 1.36274448e-02 9.99907017e-01 -5.00434399e-04 2.42084604e+01] [ 5.31022087e-03 4.28102362e-04 9.99985809e-01 -1.39439699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.821400513 meters 0.08508644982551407 Centerline is valid? [True, True] Translation: X:271.92, Y:24.23, Z:-1.40 [[ 9.99910895e-01 -1.21782275e-02 -5.46747109e-03 2.71915304e+02] [ 1.21755875e-02 9.99925742e-01 -5.15872138e-04 2.42254605e+01] [ 5.47334750e-03 4.49256498e-04 9.99984920e-01 -1.39536045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.881400513 meters 0.07960279186661547 Centerline is valid? [True, True] Translation: X:271.98, Y:24.23, Z:-1.39 [[ 9.99853833e-01 -1.65522114e-02 -4.28212962e-03 2.71975604e+02] [ 1.65506318e-02 9.99862947e-01 -4.04042439e-04 2.42282315e+01] [ 4.28823054e-03 3.33111430e-04 9.99990750e-01 -1.39374643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.941400513 meters 0.07224966137907483 Centerline is valid? [True, True] Translation: X:272.04, Y:24.23, Z:-1.39 [[ 9.99749594e-01 -2.20002881e-02 -4.09092708e-03 2.72036717e+02] [ 2.19988920e-02 9.99757921e-01 -3.85972058e-04 2.42272724e+01] [ 4.09842825e-03 2.95879546e-04 9.99991558e-01 -1.39350967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.001400513 meters 0.07539952820150772 Centerline is valid? [True, True] Translation: X:272.09, Y:24.24, Z:-1.39 [[ 9.99735376e-01 -2.25722718e-02 -4.43521902e-03 2.72093530e+02] [ 2.25706354e-02 9.99745163e-01 -4.18678378e-04 2.42372504e+01] [ 4.44353928e-03 3.18461874e-04 9.99990077e-01 -1.39407215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.061400513 meters 0.07743931687742439 Centerline is valid? [True, True] Translation: X:272.15, Y:24.25, Z:-1.39 [[ 9.99803176e-01 -1.94878131e-02 -3.71955575e-03 2.72153656e+02] [ 1.94866409e-02 9.99810056e-01 -3.51142118e-04 2.42455514e+01] [ 3.72569223e-03 2.78591357e-04 9.99993021e-01 -1.39268065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.121400513 meters 0.08130874875639281 Centerline is valid? [True, True] Translation: X:272.21, Y:24.26, Z:-1.39 [[ 9.99827890e-01 -1.79871372e-02 -4.54466138e-03 2.72211672e+02] [ 1.79853713e-02 9.99838158e-01 -4.29127265e-04 2.42576796e+01] [ 4.55164463e-03 3.47315986e-04 9.99989581e-01 -1.39417582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.181400513 meters 0.08564591324756203 Centerline is valid? [True, True] Translation: X:272.27, Y:24.27, Z:-1.40 [[ 9.99882980e-01 -1.39896129e-02 -6.19007015e-03 2.72271059e+02] [ 1.39862605e-02 9.99902017e-01 -5.84538118e-04 2.42729407e+01] [ 6.19764109e-03 4.97893782e-04 9.99980670e-01 -1.39870535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24140051300003 meters 0.08440042198690059 Centerline is valid? [True, True] Translation: X:272.33, Y:24.28, Z:-1.40 [[ 9.99883056e-01 -1.37062451e-02 -6.78330443e-03 2.72329448e+02] [ 1.37022061e-02 9.99905915e-01 -6.41557031e-04 2.42769117e+01] [ 6.79145956e-03 5.48535770e-04 9.99976787e-01 -1.39868610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30140051300003 meters 0.08218124983104376 Centerline is valid? [True, True] Translation: X:272.39, Y:24.28, Z:-1.40 [[ 9.99809535e-01 -1.83448630e-02 -6.66035144e-03 2.72388080e+02] [ 1.83410707e-02 9.99831590e-01 -6.30035337e-04 2.42834351e+01] [ 6.67078768e-03 5.07757361e-04 9.99977621e-01 -1.39892919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36140051300004 meters 0.08207980269441195 Centerline is valid? [True, True] Translation: X:272.45, Y:24.29, Z:-1.40 [[ 9.99763046e-01 -2.07343033e-02 -6.62874745e-03 2.72446953e+02] [ 2.07305985e-02 9.99784901e-01 -6.27128872e-04 2.42917086e+01] [ 6.64032469e-03 4.89562370e-04 9.99977833e-01 -1.39957935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42140051300004 meters 0.07372657067776928 Centerline is valid? [True, True] Translation: X:272.51, Y:24.29, Z:-1.40 [[ 9.99779985e-01 -2.01019711e-02 -5.99108140e-03 2.72506167e+02] [ 2.00989281e-02 9.99797835e-01 -5.67705114e-04 2.42929439e+01] [ 6.00128221e-03 4.47165896e-04 9.99981892e-01 -1.39665089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.481400513 meters 0.07451330627249124 Centerline is valid? [True, True] Translation: X:272.56, Y:24.31, Z:-1.40 [[ 9.99751022e-01 -2.09928665e-02 -7.56268487e-03 2.72563881e+02] [ 2.09880335e-02 9.99779469e-01 -7.17873610e-04 2.43084160e+01] [ 7.57608729e-03 5.58968992e-04 9.99971145e-01 -1.39883325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.541400513 meters 0.064527911043201 Centerline is valid? [True, True] Translation: X:272.62, Y:24.31, Z:-1.40 [[ 9.99540330e-01 -2.94590908e-02 -7.16180473e-03 2.72624760e+02] [ 2.94549720e-02 9.99565877e-01 -6.79920154e-04 2.43065088e+01] [ 7.17872545e-03 4.68656857e-04 9.99974123e-01 -1.39838667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.601400513 meters 0.06868830137292363 Centerline is valid? [True, True] Translation: X:272.68, Y:24.32, Z:-1.40 [[ 9.99275713e-01 -3.77648958e-02 -4.67563895e-03 2.72682996e+02] [ 3.77632306e-02 9.99286616e-01 -4.43949729e-04 2.43204120e+01] [ 4.68906914e-03 2.67060951e-04 9.99988971e-01 -1.39675031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.661400513 meters 0.05231635073810649 Centerline is valid? [True, True] Translation: X:272.75, Y:24.31, Z:-1.39 [[ 9.98976024e-01 -4.50941191e-02 -3.66397868e-03 2.72745327e+02] [ 4.50931457e-02 9.98982726e-01 -3.47900886e-04 2.43060153e+01] [ 3.67593970e-03 1.82324319e-04 9.99993227e-01 -1.39298670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.721400513 meters 0.052481964266819274 Centerline is valid? [True, True] Translation: X:272.81, Y:24.32, Z:-1.39 [[ 9.99103127e-01 -4.21145865e-02 -4.39346905e-03 2.72805229e+02] [ 4.21131581e-02 9.99112760e-01 -4.17167623e-04 2.43153688e+01] [ 4.40713983e-03 2.31770620e-04 9.99990262e-01 -1.39337189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.781400513 meters 0.06627112842434883 Centerline is valid? [True, True] Translation: X:272.86, Y:24.34, Z:-1.40 [[ 9.99521437e-01 -3.03408358e-02 -6.02750263e-03 2.72862881e+02] [ 3.03379337e-02 9.99539535e-01 -5.72346996e-04 2.43414356e+01] [ 6.04209267e-03 3.89211117e-04 9.99981671e-01 -1.39586396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.841400513 meters 0.07725643808697173 Centerline is valid? [True, True] Translation: X:272.92, Y:24.37, Z:-1.40 [[ 9.99710939e-01 -2.29629345e-02 -7.12337589e-03 2.72920337e+02] [ 2.29586948e-02 9.99736186e-01 -6.76396227e-04 2.43671486e+01] [ 7.13702868e-03 5.12657294e-04 9.99974400e-01 -1.39785379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.901400513 meters 0.07024965311058999 Centerline is valid? [True, True] Translation: X:272.98, Y:24.37, Z:-1.40 [[ 9.99718219e-01 -2.27845666e-02 -6.65933419e-03 2.72978980e+02] [ 2.27808505e-02 9.99740282e-01 -6.33356008e-04 2.43683701e+01] [ 6.67203538e-03 4.81472244e-04 9.99977626e-01 -1.39689698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.961400513 meters 0.07780322514398857 Centerline is valid? [True, True] Translation: X:273.04, Y:24.38, Z:-1.40 [[ 9.99698084e-01 -2.37709328e-02 -6.21967703e-03 2.73035673e+02] [ 2.37677066e-02 9.99717333e-01 -5.92110548e-04 2.43824558e+01] [ 6.23199395e-03 4.44104321e-04 9.99980482e-01 -1.39645999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.021400513 meters 0.06934159722907211 Centerline is valid? [True, True] Translation: X:273.10, Y:24.38, Z:-1.39 [[ 9.99577655e-01 -2.87500827e-02 -4.23613889e-03 2.73096795e+02] [ 2.87486305e-02 9.99586591e-01 -4.03315809e-04 2.43813229e+01] [ 4.24598299e-03 2.81362279e-04 9.99990946e-01 -1.39249558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.081400513 meters 0.06913934476141408 Centerline is valid? [True, True] Translation: X:273.16, Y:24.38, Z:-1.39 [[ 9.99487860e-01 -3.17477016e-02 -4.01254141e-03 2.73157633e+02] [ 3.17464226e-02 9.99495882e-01 -3.82035315e-04 2.43842430e+01] [ 4.02264736e-03 2.54455824e-04 9.99991877e-01 -1.39257745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.141400513 meters 0.062421547666696754 Centerline is valid? [True, True] Translation: X:273.22, Y:24.39, Z:-1.39 [[ 9.99429269e-01 -3.32795696e-02 -5.79718500e-03 2.73217830e+02] [ 3.32769253e-02 9.99446017e-01 -5.52015748e-04 2.43875167e+01] [ 5.81234430e-03 3.58788203e-04 9.99983044e-01 -1.39432780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.201400513 meters 0.07071442126039086 Centerline is valid? [True, True] Translation: X:273.28, Y:24.40, Z:-1.40 [[ 9.99447904e-01 -3.24871338e-02 -6.96229735e-03 2.73275066e+02] [ 3.24832984e-02 9.99472058e-01 -6.63283281e-04 2.44028529e+01] [ 6.98016983e-03 4.36758703e-04 9.99975543e-01 -1.39675810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.261400513 meters 0.06831432164293684 Centerline is valid? [True, True] Translation: X:273.34, Y:24.41, Z:-1.39 [[ 9.99541250e-01 -2.97117615e-02 -5.87368765e-03 2.73335262e+02] [ 2.97089838e-02 9.99558434e-01 -5.59609383e-04 2.44070653e+01] [ 5.88772101e-03 3.84851371e-04 9.99982593e-01 -1.39417181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.321400513 meters 0.07070362062095123 Centerline is valid? [True, True] Translation: X:273.39, Y:24.42, Z:-1.39 [[ 9.99613004e-01 -2.72058977e-02 -5.80353746e-03 2.73394869e+02] [ 2.72031438e-02 9.99629773e-01 -5.52947551e-04 2.44173341e+01] [ 5.81643227e-03 3.94859099e-04 9.99983006e-01 -1.39478546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.381400513 meters 0.07785374453786988 Centerline is valid? [True, True] Translation: X:273.45, Y:24.43, Z:-1.40 [[ 9.99681933e-01 -2.42870616e-02 -6.79498186e-03 2.73452933e+02] [ 2.42832205e-02 9.99704910e-01 -6.47237598e-04 2.44295312e+01] [ 6.80869622e-03 4.82027690e-04 9.99976704e-01 -1.39684600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.441400513 meters 0.07789648340729508 Centerline is valid? [True, True] Translation: X:273.51, Y:24.43, Z:-1.40 [[ 9.99746294e-01 -2.10765061e-02 -7.94537727e-03 2.73513052e+02] [ 2.10711532e-02 9.99777692e-01 -7.56839592e-04 2.44349569e+01] [ 7.95956249e-03 5.89229315e-04 9.99968149e-01 -1.39748297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.501400513 meters 0.08229423740850969 Centerline is valid? [True, True] Translation: X:273.57, Y:24.45, Z:-1.40 [[ 9.99794216e-01 -1.88622156e-02 -7.46611784e-03 2.73571831e+02] [ 1.88574267e-02 9.99821930e-01 -7.11296093e-04 2.44451212e+01] [ 7.47820497e-03 5.70357949e-04 9.99971875e-01 -1.39691376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.561400513 meters 0.08649485137396278 Centerline is valid? [True, True] Translation: X:273.63, Y:24.45, Z:-1.39 [[ 9.99867022e-01 -1.57075007e-02 -4.38319999e-03 2.73631433e+02] [ 1.57058199e-02 9.99876569e-01 -4.17632354e-04 2.44540775e+01] [ 4.38921892e-03 3.48735069e-04 9.99990307e-01 -1.39208727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.621400513 meters 0.0760578718029147 Centerline is valid? [True, True] Translation: X:273.69, Y:24.45, Z:-1.39 [[ 9.99862675e-01 -1.56916840e-02 -5.32936739e-03 2.73690978e+02] [ 1.56891947e-02 9.99876788e-01 -5.08590932e-04 2.44499830e+01] [ 5.33669139e-03 4.24907608e-04 9.99985669e-01 -1.39328517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.681400513 meters 0.07708767651791049 Centerline is valid? [True, True] Translation: X:273.75, Y:24.46, Z:-1.39 [[ 9.99805565e-01 -1.91511317e-02 -4.69746955e-03 2.73749930e+02] [ 1.91492349e-02 9.99816536e-01 -4.48441965e-04 2.44559364e+01] [ 4.70519590e-03 3.58401824e-04 9.99988866e-01 -1.39232121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74140051300003 meters 0.0773237596233101 Centerline is valid? [True, True] Translation: X:273.81, Y:24.46, Z:-1.39 [[ 9.99736523e-01 -2.27806620e-02 -2.81514338e-03 2.73808067e+02] [ 2.27799948e-02 9.99740466e-01 -2.68824564e-04 2.44637183e+01] [ 2.82053675e-03 2.04624783e-04 9.99996001e-01 -1.38897889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80140051300003 meters 0.07139717036462519 Centerline is valid? [True, True] Translation: X:273.87, Y:24.46, Z:-1.39 [[ 9.99640167e-01 -2.61894798e-02 -5.80059474e-03 2.73868676e+02] [ 2.61867041e-02 9.99656916e-01 -5.53972608e-04 2.44636090e+01] [ 5.81311290e-03 4.01874813e-04 9.99983023e-01 -1.39484179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86140051300004 meters 0.06675114297466664 Centerline is valid? [True, True] Translation: X:273.93, Y:24.46, Z:-1.39 [[ 9.99611994e-01 -2.71291987e-02 -6.31409731e-03 2.73927872e+02] [ 2.71259224e-02 9.99631842e-01 -6.03955959e-04 2.44626010e+01] [ 6.32815756e-03 4.32445907e-04 9.99979884e-01 -1.39478969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92140051300004 meters 0.07421380987727946 Centerline is valid? [True, True] Translation: X:273.98, Y:24.48, Z:-1.39 [[ 9.99635725e-01 -2.63389764e-02 -5.88862904e-03 2.73984979e+02] [ 2.63361116e-02 9.99652986e-01 -5.63522578e-04 2.44791277e+01] [ 5.90142821e-03 4.08233709e-04 9.99982503e-01 -1.39306159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.981400513 meters 0.08099047161288882 Centerline is valid? [True, True] Translation: X:274.04, Y:24.49, Z:-1.39 [[ 9.99663827e-01 -2.53235896e-02 -5.56320049e-03 2.74042128e+02] [ 2.53210156e-02 9.99679230e-01 -5.32640162e-04 2.44946021e+01] [ 5.57490434e-03 3.91595217e-04 9.99984383e-01 -1.39358330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.041400513 meters 0.07949437561389416 Centerline is valid? [True, True] Translation: X:274.10, Y:24.50, Z:-1.39 [[ 9.99727060e-01 -2.29328585e-02 -4.45978531e-03 2.74101751e+02] [ 2.29311805e-02 9.99736955e-01 -4.27026002e-04 2.45048074e+01] [ 4.46840511e-03 3.24641308e-04 9.99989964e-01 -1.39288896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.101400513 meters 0.08259591111377328 Centerline is valid? [True, True] Translation: X:274.16, Y:24.52, Z:-1.40 [[ 9.99742006e-01 -2.17089740e-02 -6.68140583e-03 2.74159204e+02] [ 2.17051805e-02 9.99764210e-01 -6.39767326e-04 2.45222222e+01] [ 6.69371912e-03 4.94581151e-04 9.99977475e-01 -1.39671382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.161400513 meters 0.07725771937324512 Centerline is valid? [True, True] Translation: X:274.22, Y:24.53, Z:-1.40 [[ 9.99708623e-01 -2.25426305e-02 -8.63127638e-03 2.74217829e+02] [ 2.25363193e-02 9.99745682e-01 -8.27780456e-04 2.45252429e+01] [ 8.64774164e-03 6.33022060e-04 9.99962407e-01 -1.39851248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.221400513 meters 0.06971125742520996 Centerline is valid? [True, True] Translation: X:274.28, Y:24.53, Z:-1.40 [[ 9.99601728e-01 -2.64402987e-02 -9.86388996e-03 2.74277643e+02] [ 2.64322421e-02 9.99650159e-01 -9.46276877e-04 2.45288340e+01] [ 9.88545902e-03 6.85175274e-04 9.99950903e-01 -1.39966816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.281400513 meters 0.07462282064240958 Centerline is valid? [True, True] Translation: X:274.34, Y:24.55, Z:-1.40 [[ 9.99498753e-01 -2.98364553e-02 -1.05843813e-02 2.74336280e+02] [ 2.98273681e-02 9.99554549e-01 -1.01540145e-03 2.45459850e+01] [ 1.06099624e-02 6.99188246e-04 9.99943468e-01 -1.40222383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.341400513 meters 0.06645201433438766 Centerline is valid? [True, True] Translation: X:274.40, Y:24.54, Z:-1.40 [[ 9.99453919e-01 -3.15360232e-02 -9.86628417e-03 2.74396415e+02] [ 3.15282076e-02 9.99502414e-01 -9.46731171e-04 2.45440131e+01] [ 9.89123098e-03 6.35147924e-04 9.99950879e-01 -1.40017098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.401400513 meters 0.07382227851417722 Centerline is valid? [True, True] Translation: X:274.45, Y:24.57, Z:-1.40 [[ 9.99489222e-01 -3.08705246e-02 -8.26470913e-03 2.74452110e+02] [ 3.08650140e-02 9.99523247e-01 -7.93512220e-04 2.45650203e+01] [ 8.28526504e-03 5.38016549e-04 9.99965532e-01 -1.39735055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.461400513 meters 0.06949128878616911 Centerline is valid? [True, True] Translation: X:274.51, Y:24.57, Z:-1.40 [[ 9.99548251e-01 -2.87226333e-02 -8.84894179e-03 2.74511559e+02] [ 2.87162311e-02 9.99587243e-01 -8.49734109e-04 2.45727367e+01] [ 8.86969593e-03 5.95241984e-04 9.99960486e-01 -1.39584650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.521400513 meters 0.07305461167671967 Centerline is valid? [True, True] Translation: X:274.57, Y:24.59, Z:-1.39 [[ 9.99683189e-01 -2.46233802e-02 -5.21642877e-03 2.74570273e+02] [ 2.46210996e-02 9.99696729e-01 -5.00970535e-04 2.45884646e+01] [ 5.22718237e-03 3.72377610e-04 9.99986269e-01 -1.39021154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.581400513 meters 0.0759300787677611 Centerline is valid? [True, True] Translation: X:274.63, Y:24.60, Z:-1.39 [[ 9.99721153e-01 -2.33531096e-02 -3.49984790e-03 2.74628481e+02] [ 2.33520749e-02 9.99727247e-01 -3.36223645e-04 2.46016503e+01] [ 3.50674517e-03 2.54401180e-04 9.99993819e-01 -1.38801035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.641400513 meters 0.07326137991658448 Centerline is valid? [True, True] Translation: X:274.69, Y:24.60, Z:-1.39 [[ 9.99699713e-01 -2.42458866e-02 -3.55260164e-03 2.74686955e+02] [ 2.42448255e-02 9.99705993e-01 -3.41452220e-04 2.46044755e+01] [ 3.55983596e-03 2.55217480e-04 9.99993631e-01 -1.38785800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.701400513 meters 0.08077335920449451 Centerline is valid? [True, True] Translation: X:274.74, Y:24.62, Z:-1.39 [[ 9.99692427e-01 -2.46308515e-02 -2.89350564e-03 2.74743743e+02] [ 2.46301487e-02 9.99696593e-01 -2.78262126e-04 2.46193343e+01] [ 2.89948156e-03 2.06909066e-04 9.99995775e-01 -1.38751678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.761400513 meters 0.07914711218090105 Centerline is valid? [True, True] Translation: X:274.80, Y:24.62, Z:-1.39 [[ 9.99678075e-01 -2.50213639e-02 -4.20457305e-03 2.74802978e+02] [ 2.50198808e-02 9.99686872e-01 -4.04972948e-04 2.46219020e+01] [ 4.21338945e-03 2.99644661e-04 9.99991079e-01 -1.38990829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.821400513 meters 0.0785152347784377 Centerline is valid? [True, True] Translation: X:274.86, Y:24.62, Z:-1.39 [[ 9.99640564e-01 -2.62886157e-02 -5.25841955e-03 2.74862725e+02] [ 2.62863123e-02 9.99654327e-01 -5.06679525e-04 2.46243124e+01] [ 5.26992176e-03 3.68272948e-04 9.99986046e-01 -1.39142302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.881400513 meters 0.07154699473396776 Centerline is valid? [True, True] Translation: X:274.92, Y:24.61, Z:-1.39 [[ 9.99641032e-01 -2.65164791e-02 -3.83200365e-03 2.74923305e+02] [ 2.65152554e-02 9.99648340e-01 -3.69793852e-04 2.46131094e+01] [ 3.84046172e-03 2.68054553e-04 9.99992589e-01 -1.38958274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.941400513 meters 0.07749513767345348 Centerline is valid? [True, True] Translation: X:274.98, Y:24.62, Z:-1.39 [[ 9.99643615e-01 -2.61411896e-02 -5.41117363e-03 2.74981058e+02] [ 2.61387419e-02 9.99658188e-01 -5.22583114e-04 2.46206529e+01] [ 5.42298497e-03 3.80955603e-04 9.99985223e-01 -1.39199221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.001400513 meters 0.07306921466739356 Centerline is valid? [True, True] Translation: X:275.04, Y:24.61, Z:-1.39 [[ 9.99689906e-01 -2.42291285e-02 -5.74817907e-03 2.75042632e+02] [ 2.42263348e-02 9.99706345e-01 -5.55159091e-04 2.46140301e+01] [ 5.75994211e-03 4.15729629e-04 9.99983325e-01 -1.39327635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.061400513 meters 0.07616547955683042 Centerline is valid? [True, True] Translation: X:275.10, Y:24.62, Z:-1.39 [[ 9.99758315e-01 -2.12267526e-02 -5.72157807e-03 2.75102796e+02] [ 2.12239357e-02 9.99774594e-01 -5.52588549e-04 2.46201208e+01] [ 5.73201805e-03 4.31020591e-04 9.99983479e-01 -1.39264894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.121400513 meters 0.08772095115293244 Centerline is valid? [True, True] Translation: X:275.16, Y:24.64, Z:-1.40 [[ 9.99828578e-01 -1.69491386e-02 -7.45266186e-03 2.75160785e+02] [ 1.69442413e-02 9.99856177e-01 -7.19768910e-04 2.46383301e+01] [ 7.46378946e-03 5.93365825e-04 9.99971969e-01 -1.39563949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.181400513 meters 0.09131758105635789 Centerline is valid? [True, True] Translation: X:275.22, Y:24.65, Z:-1.40 [[ 9.99873558e-01 -1.38334582e-02 -7.84244308e-03 2.75219069e+02] [ 1.38279404e-02 9.99904103e-01 -7.57366595e-04 2.46497187e+01] [ 7.85216801e-03 6.48825996e-04 9.99968961e-01 -1.39569736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24140051300003 meters 0.08648584829952446 Centerline is valid? [True, True] Translation: X:275.28, Y:24.65, Z:-1.39 [[ 9.99869232e-01 -1.48279161e-02 -6.45374534e-03 2.75278655e+02] [ 1.48241944e-02 9.99889921e-01 -6.24133427e-04 2.46514983e+01] [ 6.46228952e-03 5.28380236e-04 9.99978980e-01 -1.39283341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30140051300003 meters 0.08013001507575633 Centerline is valid? [True, True] Translation: X:275.34, Y:24.65, Z:-1.39 [[ 9.99814689e-01 -1.79326842e-02 -7.00048438e-03 2.75338771e+02] [ 1.79283793e-02 9.99839044e-01 -6.77220208e-04 2.46489892e+01] [ 7.01150199e-03 5.51587372e-04 9.99975267e-01 -1.39454429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36140051300004 meters 0.08332245295592446 Centerline is valid? [True, True] Translation: X:275.40, Y:24.66, Z:-1.39 [[ 9.99794559e-01 -1.96161585e-02 -5.10347622e-03 2.75396982e+02] [ 1.96138918e-02 9.99807507e-01 -4.93819273e-04 2.46589143e+01] [ 5.11218067e-03 3.93618793e-04 9.99986855e-01 -1.39124279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42140051300004 meters 0.07746450092907033 Centerline is valid? [True, True] Translation: X:275.46, Y:24.66, Z:-1.39 [[ 9.99737642e-01 -2.20008941e-02 -6.37250308e-03 2.75457720e+02] [ 2.19974079e-02 9.99757838e-01 -6.16639803e-04 2.46586403e+01] [ 6.38452653e-03 4.76299473e-04 9.99979505e-01 -1.39205914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.481400513 meters 0.07537110435331323 Centerline is valid? [True, True] Translation: X:275.52, Y:24.66, Z:-1.39 [[ 9.99697723e-01 -2.39249509e-02 -5.66214922e-03 2.75517827e+02] [ 2.39222290e-02 9.99713672e-01 -5.47961806e-04 2.46606422e+01] [ 5.67363795e-03 4.12344939e-04 9.99983820e-01 -1.39062493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.541400513 meters 0.07300944549294493 Centerline is valid? [True, True] Translation: X:275.58, Y:24.66, Z:-1.39 [[ 9.99595469e-01 -2.81442177e-02 -4.09887086e-03 2.75577449e+02] [ 2.81428263e-02 9.99603833e-01 -3.96756011e-04 2.46579661e+01] [ 4.10841341e-03 2.81241701e-04 9.99991521e-01 -1.38772780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.601400513 meters 0.07012570189342625 Centerline is valid? [True, True] Translation: X:275.64, Y:24.65, Z:-1.39 [[ 9.99510385e-01 -3.05875638e-02 -6.58719559e-03 2.75638028e+02] [ 3.05840227e-02 9.99531996e-01 -6.37659518e-04 2.46549844e+01] [ 6.60361721e-03 4.35884371e-04 9.99978101e-01 -1.39137157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.661400513 meters 0.06615624774494043 Centerline is valid? [True, True] Translation: X:275.70, Y:24.65, Z:-1.39 [[ 9.99380579e-01 -3.49720083e-02 -3.92644244e-03 2.75699154e+02] [ 3.49707838e-02 9.99388263e-01 -3.80112822e-04 2.46465321e+01] [ 3.93733380e-03 2.42566602e-04 9.99992219e-01 -1.38717814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.721400513 meters 0.06481684505868482 Centerline is valid? [True, True] Translation: X:275.76, Y:24.64, Z:-1.39 [[ 9.99313066e-01 -3.67794964e-02 -4.54587297e-03 2.75759853e+02] [ 3.67778734e-02 9.99323368e-01 -4.40128867e-04 2.46443406e+01] [ 4.55898480e-03 2.72638987e-04 9.99989571e-01 -1.38657392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.781400513 meters 0.06663957733775822 Centerline is valid? [True, True] Translation: X:275.82, Y:24.65, Z:-1.39 [[ 9.99375850e-01 -3.45658599e-02 -7.28773682e-03 2.75819712e+02] [ 3.45616294e-02 9.99402319e-01 -7.05681022e-04 2.46501309e+01] [ 7.30777355e-03 4.53364512e-04 9.99973195e-01 -1.39049494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.841400513 meters 0.07733217273598332 Centerline is valid? [True, True] Translation: X:275.88, Y:24.66, Z:-1.39 [[ 9.99610549e-01 -2.72539845e-02 -5.99748260e-03 2.75878094e+02] [ 2.72509876e-02 9.99628454e-01 -5.80863532e-04 2.46619269e+01] [ 6.01108510e-03 4.17199991e-04 9.99981846e-01 -1.38997617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.901400513 meters 0.08733766088993561 Centerline is valid? [True, True] Translation: X:275.94, Y:24.68, Z:-1.39 [[ 9.99661879e-01 -2.50148992e-02 -7.09801275e-03 2.75936536e+02] [ 2.50106446e-02 9.99686948e-01 -6.87552672e-04 2.46766471e+01] [ 7.11298976e-03 5.09794322e-04 9.99974572e-01 -1.39247755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.961400513 meters 0.07420359545948345 Centerline is valid? [True, True] Translation: X:276.00, Y:24.66, Z:-1.39 [[ 9.99745509e-01 -2.07207126e-02 -8.92011100e-03 2.75998002e+02] [ 2.07138225e-02 9.99785072e-01 -8.64121535e-04 2.46634364e+01] [ 8.93609903e-03 6.79132029e-04 9.99959842e-01 -1.39250902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.021400513 meters 0.08781214899052542 Centerline is valid? [True, True] Translation: X:276.05, Y:24.69, Z:-1.39 [[ 9.99912847e-01 -1.26758566e-02 -3.69067295e-03 2.76054932e+02] [ 1.26746228e-02 9.99919610e-01 -3.57496422e-04 2.46883548e+01] [ 3.69490782e-03 3.10687378e-04 9.99993126e-01 -1.38540061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.081400513 meters 0.0924145163128686 Centerline is valid? [True, True] Translation: X:276.11, Y:24.70, Z:-1.39 [[ 9.99955349e-01 -8.81770100e-03 -3.39833907e-03 2.76114593e+02] [ 8.81663279e-03 9.99961079e-01 -3.29184714e-04 2.47011133e+01] [ 3.40110946e-03 2.99208108e-04 9.99994171e-01 -1.38580560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.141400513 meters 0.09288247224985922 Centerline is valid? [True, True] Translation: X:276.17, Y:24.71, Z:-1.39 [[ 9.99938991e-01 -9.59907259e-03 -5.46545564e-03 2.76173160e+02] [ 9.59631996e-03 9.99953814e-01 -5.29644429e-04 2.47064735e+01] [ 5.47028731e-03 4.77163855e-04 9.99984924e-01 -1.38926599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.201400513 meters 0.08206696964314159 Centerline is valid? [True, True] Translation: X:276.24, Y:24.70, Z:-1.39 [[ 9.99781111e-01 -2.01459586e-02 -5.64542259e-03 2.76235338e+02] [ 2.01431883e-02 9.99796956e-01 -5.47156221e-04 2.46960065e+01] [ 5.65529931e-03 4.33319644e-04 9.99983915e-01 -1.38881281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.261400513 meters 0.06845865422361175 Centerline is valid? [True, True] Translation: X:276.30, Y:24.68, Z:-1.39 [[ 9.99516876e-01 -3.08107925e-02 -4.08781950e-03 2.76298393e+02] [ 3.08094286e-02 9.99525198e-01 -3.96203001e-04 2.46753279e+01] [ 4.09808592e-03 2.70068202e-04 9.99991566e-01 -1.38613536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.321400513 meters 0.06316646264870047 Centerline is valid? [True, True] Translation: X:276.36, Y:24.67, Z:-1.39 [[ 9.99419920e-01 -3.37154287e-02 -4.80554245e-03 2.76359185e+02] [ 3.37135773e-02 9.99431427e-01 -4.65777014e-04 2.46703836e+01] [ 4.81851402e-03 3.03494800e-04 9.99988345e-01 -1.38629304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.381400513 meters 0.06610494971003247 Centerline is valid? [True, True] Translation: X:276.42, Y:24.68, Z:-1.39 [[ 9.99403017e-01 -3.41101097e-02 -5.48731045e-03 2.76416659e+02] [ 3.41077000e-02 9.99418021e-01 -5.32150904e-04 2.46765472e+01] [ 5.50226868e-03 3.44673680e-04 9.99984803e-01 -1.38736835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.441400513 meters 0.06451644015451082 Centerline is valid? [True, True] Translation: X:276.48, Y:24.67, Z:-1.39 [[ 9.99436496e-01 -3.31707446e-02 -5.13732701e-03 2.76476816e+02] [ 3.31686194e-02 9.99449646e-01 -4.98345438e-04 2.46720098e+01] [ 5.15103014e-03 3.27666574e-04 9.99986680e-01 -1.38695230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.501400513 meters 0.0702908320297848 Centerline is valid? [True, True] Translation: X:276.54, Y:24.68, Z:-1.39 [[ 9.99493039e-01 -3.14495314e-02 -4.95894502e-03 2.76535681e+02] [ 3.14475298e-02 9.99505288e-01 -4.81104264e-04 2.46834187e+01] [ 4.97162227e-03 3.24913791e-04 9.99987589e-01 -1.38709635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.561400513 meters 0.07141359299277175 Centerline is valid? [True, True] Translation: X:276.60, Y:24.69, Z:-1.39 [[ 9.99608137e-01 -2.74786681e-02 -5.33812982e-03 2.76595522e+02] [ 2.74762920e-02 9.99622321e-01 -5.17948933e-04 2.46885004e+01] [ 5.35034627e-03 3.71073954e-04 9.99985618e-01 -1.38806872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.621400513 meters 0.0695529842831413 Centerline is valid? [True, True] Translation: X:276.65, Y:24.69, Z:-1.39 [[ 9.99618446e-01 -2.68967803e-02 -6.28691069e-03 2.76654116e+02] [ 2.68934670e-02 9.99638119e-01 -6.10965007e-04 2.46911401e+01] [ 6.30106856e-03 4.41655065e-04 9.99980051e-01 -1.38960868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.681400513 meters 0.06872372064936418 Centerline is valid? [True, True] Translation: X:276.71, Y:24.69, Z:-1.39 [[ 9.99591284e-01 -2.75818177e-02 -7.51718147e-03 2.76712803e+02] [ 2.75770907e-02 9.99619412e-01 -7.31772761e-04 2.46935213e+01] [ 7.53450414e-03 5.24171679e-04 9.99971478e-01 -1.39154647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74140051300003 meters 0.07043821385119231 Centerline is valid? [True, True] Translation: X:276.77, Y:24.70, Z:-1.39 [[ 9.99518579e-01 -3.00078913e-02 -7.88267698e-03 2.76772161e+02] [ 3.00027670e-02 9.99549521e-01 -7.67541967e-04 2.46990986e+01] [ 7.90215832e-03 5.30670336e-04 9.99968637e-01 -1.39183946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80140051300003 meters 0.06402539450959553 Centerline is valid? [True, True] Translation: X:276.83, Y:24.70, Z:-1.39 [[ 9.99551076e-01 -2.92614267e-02 -6.43545175e-03 2.76831687e+02] [ 2.92579894e-02 9.99571696e-01 -6.27632395e-04 2.46952567e+01] [ 6.45106084e-03 4.39062256e-04 9.99979095e-01 -1.38810811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86140051300004 meters 0.08098275566972048 Centerline is valid? [True, True] Translation: X:276.89, Y:24.72, Z:-1.39 [[ 9.99729749e-01 -2.24165718e-02 -6.15843015e-03 2.76888290e+02] [ 2.24132943e-02 9.99748610e-01 -6.00703591e-04 2.47236861e+01] [ 6.17034770e-03 4.62510543e-04 9.99980856e-01 -1.38962592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92140051300004 meters 0.08578445276810577 Centerline is valid? [True, True] Translation: X:276.95, Y:24.74, Z:-1.39 [[ 9.99841060e-01 -1.64184021e-02 -6.94917580e-03 2.76946955e+02] [ 1.64140845e-02 9.99865050e-01 -6.77893396e-04 2.47407935e+01] [ 6.95936794e-03 5.63721293e-04 9.99975624e-01 -1.39025088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.981400513 meters 0.08116412961490757 Centerline is valid? [True, True] Translation: X:277.01, Y:24.75, Z:-1.39 [[ 9.99899924e-01 -1.23340211e-02 -6.92914706e-03 2.77006711e+02] [ 1.23296306e-02 9.99923759e-01 -6.75982044e-04 2.47489065e+01] [ 6.93695635e-03 5.90480571e-04 9.99975765e-01 -1.38905189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.041400513 meters 0.08093934344735662 Centerline is valid? [True, True] Translation: X:277.07, Y:24.76, Z:-1.39 [[ 9.99834717e-01 -1.64018887e-02 -7.84326938e-03 2.77065490e+02] [ 1.63963869e-02 9.99865277e-01 -7.65262671e-04 2.47625387e+01] [ 7.85476446e-03 6.36534907e-04 9.99968948e-01 -1.39246795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.101400513 meters 0.0707782865395961 Centerline is valid? [True, True] Translation: X:277.13, Y:24.76, Z:-1.39 [[ 9.99670275e-01 -2.46614500e-02 -7.15220194e-03 2.77126955e+02] [ 2.46570850e-02 9.99695724e-01 -6.97851650e-04 2.47593146e+01] [ 7.16723573e-03 5.21269100e-04 9.99974179e-01 -1.39163680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.161400513 meters 0.0678141602134419 Centerline is valid? [True, True] Translation: X:277.19, Y:24.76, Z:-1.39 [[ 9.99387520e-01 -3.46269217e-02 -5.05575872e-03 2.77186141e+02] [ 3.46248674e-02 9.99400258e-01 -4.93327338e-04 2.47637606e+01] [ 5.06980897e-03 3.17970210e-04 9.99987098e-01 -1.38769952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.221400513 meters 0.058987420560396714 Centerline is valid? [True, True] Translation: X:277.25, Y:24.76, Z:-1.39 [[ 9.99240972e-01 -3.86828910e-02 -4.59498720e-03 2.77246585e+02] [ 3.86812364e-02 9.99251500e-01 -4.48445262e-04 2.47621076e+01] [ 4.60889502e-03 2.70365093e-04 9.99989342e-01 -1.38688805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.281400513 meters 0.06272118427679535 Centerline is valid? [True, True] Translation: X:277.30, Y:24.77, Z:-1.39 [[ 9.99235726e-01 -3.87740389e-02 -4.95360703e-03 2.77303209e+02] [ 3.87721152e-02 9.99247962e-01 -4.83823310e-04 2.47685954e+01] [ 4.96864151e-03 2.91391714e-04 9.99987614e-01 -1.38740042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.341400513 meters 0.06449177947207915 Centerline is valid? [True, True] Translation: X:277.36, Y:24.78, Z:-1.39 [[ 9.99222482e-01 -3.89679204e-02 -5.99439028e-03 2.77359363e+02] [ 3.89651039e-02 9.99240400e-01 -5.85966454e-04 2.47755280e+01] [ 6.01267084e-03 3.51938814e-04 9.99981862e-01 -1.38962093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.401400513 meters 0.0648298276332527 Centerline is valid? [True, True] Translation: X:277.42, Y:24.78, Z:-1.39 [[ 9.99270624e-01 -3.77406917e-02 -5.81894136e-03 2.77419044e+02] [ 3.77380160e-02 9.99287505e-01 -5.68975497e-04 2.47775788e+01] [ 5.83626892e-03 3.48965198e-04 9.99982908e-01 -1.39083972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.461400513 meters 0.06605160926006609 Centerline is valid? [True, True] Translation: X:277.48, Y:24.78, Z:-1.39 [[ 9.99425557e-01 -3.35483189e-02 -4.80266074e-03 2.77479588e+02] [ 3.35464480e-02 9.99437049e-01 -4.69609108e-04 2.47817953e+01] [ 4.81571167e-03 3.08227136e-04 9.99988357e-01 -1.38838044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.521400513 meters 0.07263612071095016 Centerline is valid? [True, True] Translation: X:277.54, Y:24.79, Z:-1.39 [[ 9.99676268e-01 -2.48495669e-02 -5.46417681e-03 2.77539238e+02] [ 2.48470156e-02 9.99691122e-01 -5.34314114e-04 2.47915515e+01] [ 5.47576652e-03 3.98372653e-04 9.99984929e-01 -1.38739457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.581400513 meters 0.08439368216540762 Centerline is valid? [True, True] Translation: X:277.60, Y:24.81, Z:-1.39 [[ 9.99771321e-01 -2.07658869e-02 -5.10717198e-03 2.77597006e+02] [ 2.07636049e-02 9.99784288e-01 -4.99460665e-04 2.48128457e+01] [ 5.11644205e-03 3.93303148e-04 9.99986834e-01 -1.38815262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.641400513 meters 0.07866412294768112 Centerline is valid? [True, True] Translation: X:277.66, Y:24.82, Z:-1.39 [[ 9.99810595e-01 -1.89591779e-02 -4.39579725e-03 2.77657413e+02] [ 1.89574697e-02 9.99820199e-01 -4.29941364e-04 2.48157175e+01] [ 4.40315822e-03 3.46526737e-04 9.99990246e-01 -1.38689884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.701400513 meters 0.08212768486194061 Centerline is valid? [True, True] Translation: X:277.72, Y:24.82, Z:-1.38 [[ 9.99741250e-01 -2.26610150e-02 -1.97788620e-03 2.77716819e+02] [ 2.26606763e-02 9.99743195e-01 -1.93467618e-04 2.48224766e+01] [ 1.98176244e-03 1.48597319e-04 9.99998025e-01 -1.38264327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.761400513 meters 0.06961145334245905 Centerline is valid? [True, True] Translation: X:277.78, Y:24.81, Z:-1.38 [[ 9.99609718e-01 -2.79057432e-02 -1.29624610e-03 2.77779175e+02] [ 2.79056021e-02 9.99610555e-01 -1.26801386e-04 2.48111077e+01] [ 1.29927977e-03 9.05793703e-05 9.99999152e-01 -1.38293521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.821400513 meters 0.06427574512121258 Centerline is valid? [True, True] Translation: X:277.84, Y:24.81, Z:-1.39 [[ 9.99455848e-01 -3.29244546e-02 -1.99719791e-03 2.77840836e+02] [ 3.29241296e-02 9.99457835e-01 -1.95383501e-04 2.48052613e+01] [ 2.00254799e-03 1.29521179e-04 9.99997987e-01 -1.38686031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.881400513 meters 0.06035540434918418 Centerline is valid? [True, True] Translation: X:277.90, Y:24.80, Z:-1.39 [[ 9.99284252e-01 -3.76416807e-02 -3.75321367e-03 2.77900865e+02] [ 3.76405660e-02 9.99291275e-01 -3.67207720e-04 2.48023718e+01] [ 3.76437599e-03 2.25671804e-04 9.99992889e-01 -1.38794050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.941400513 meters 0.057906848124844354 Centerline is valid? [True, True] Translation: X:277.96, Y:24.80, Z:-1.39 [[ 9.99187548e-01 -3.98752175e-02 -5.84894303e-03 2.77961063e+02] [ 3.98725478e-02 9.99204610e-01 -5.72383636e-04 2.48003271e+01] [ 5.86711476e-03 3.38706341e-04 9.99982731e-01 -1.38903334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.001400513 meters 0.06700463154411684 Centerline is valid? [True, True] Translation: X:278.02, Y:24.81, Z:-1.39 [[ 9.99329040e-01 -3.63636991e-02 -4.37615064e-03 2.78020045e+02] [ 3.63621711e-02 9.99338586e-01 -4.28262143e-04 2.48122274e+01] [ 4.38882939e-03 2.68848458e-04 9.99990333e-01 -1.38833462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.061400513 meters 0.06395101950372682 Centerline is valid? [True, True] Translation: X:278.08, Y:24.81, Z:-1.39 [[ 9.99470513e-01 -3.24039377e-02 -2.94607043e-03 2.78080145e+02] [ 3.24032280e-02 9.99474836e-01 -2.88322209e-04 2.48139979e+01] [ 2.95386604e-03 1.92707354e-04 9.99995619e-01 -1.38604511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.121400513 meters 0.07306065519536314 Centerline is valid? [True, True] Translation: X:278.14, Y:24.83, Z:-1.39 [[ 9.99550630e-01 -2.96976642e-02 -4.07265266e-03 2.78137964e+02] [ 2.96962852e-02 9.99558889e-01 -3.98669216e-04 2.48283277e+01] [ 4.08269571e-03 2.77547411e-04 9.99991627e-01 -1.38834654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.181400513 meters 0.0714592511928241 Centerline is valid? [True, True] Translation: X:278.20, Y:24.83, Z:-1.39 [[ 9.99428153e-01 -3.36536162e-02 -3.28665063e-03 2.78197317e+02] [ 3.36527391e-02 9.99433534e-01 -3.21823077e-04 2.48264746e+01] [ 3.29561936e-03 2.11034247e-04 9.99994547e-01 -1.38789568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24140051300003 meters 0.05457048368039185 Centerline is valid? [True, True] Translation: X:278.26, Y:24.81, Z:-1.39 [[ 9.99077245e-01 -4.28337400e-02 -3.15106699e-03 2.78260567e+02] [ 4.28329791e-02 9.99082199e-01 -3.08571277e-04 2.48050554e+01] [ 3.16139220e-03 1.73316955e-04 9.99994988e-01 -1.38787446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30140051300003 meters 0.04649454871565283 Centerline is valid? [True, True] Translation: X:278.32, Y:24.78, Z:-1.39 [[ 9.98502385e-01 -5.45380391e-02 -4.31151065e-03 2.78323198e+02] [ 5.45367234e-02 9.98511676e-01 -4.22223183e-04 2.47819213e+01] [ 4.32812095e-03 1.86455191e-04 9.99990616e-01 -1.39118004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36140051300004 meters 0.04218527336783575 Centerline is valid? [True, True] Translation: X:278.38, Y:24.78, Z:-1.39 [[ 9.98334692e-01 -5.76666772e-02 -1.54814115e-03 2.78383357e+02] [ 5.76665113e-02 9.98335891e-01 -1.51633952e-04 2.47775728e+01] [ 1.55430910e-03 6.21055358e-05 9.99998790e-01 -1.38646677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42140051300004 meters 0.04409373691308959 Centerline is valid? [True, True] Translation: X:278.44, Y:24.78, Z:-1.39 [[ 9.98588171e-01 -5.30740861e-02 -2.19214344e-03 2.78444084e+02] [ 5.30737423e-02 9.98590573e-01 -2.14728668e-04 2.47808879e+01] [ 2.20045030e-03 9.80802524e-05 9.99997574e-01 -1.38654800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.481400513 meters 0.0492219159339389 Centerline is valid? [True, True] Translation: X:278.50, Y:24.79, Z:-1.39 [[ 9.98674968e-01 -5.13813515e-02 -2.87498445e-03 2.78502263e+02] [ 5.13807530e-02 9.98679097e-01 -2.81701141e-04 2.47888234e+01] [ 2.88566106e-03 1.33609011e-04 9.99995828e-01 -1.38762615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.541400513 meters 0.04626468120801508 Centerline is valid? [True, True] Translation: X:278.56, Y:24.78, Z:-1.39 [[ 9.98385372e-01 -5.67423954e-02 -2.63634785e-03 2.78562926e+02] [ 5.67419107e-02 9.98388847e-01 -2.58344084e-04 2.47847895e+01] [ 2.64675935e-03 1.08335540e-04 9.99996491e-01 -1.38972625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.601400513 meters 0.034636132610723874 Centerline is valid? [True, True] Translation: X:278.62, Y:24.78, Z:-1.39 [[ 9.97937906e-01 -6.40651339e-02 -3.94889518e-03 2.78622279e+02] [ 6.40641032e-02 9.97945710e-01 -3.87078483e-04 2.47809563e+01] [ 3.96558124e-03 1.33297862e-04 9.99992128e-01 -1.39059729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.661400513 meters 0.02636870018233814 Centerline is valid? [True, True] Translation: X:278.68, Y:24.78, Z:-1.39 [[ 9.97330794e-01 -7.28581773e-02 -4.79304525e-03 2.78682983e+02] [ 7.28567597e-02 9.97342304e-01 -4.69934404e-04 2.47767313e+01] [ 4.81454535e-03 1.19474306e-04 9.99988403e-01 -1.39165558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.721400513 meters 0.02291049355152893 Centerline is valid? [True, True] Translation: X:278.74, Y:24.78, Z:-1.39 [[ 9.97085676e-01 -7.61183356e-02 -5.11398686e-03 2.78741949e+02] [ 7.61167634e-02 9.97098785e-01 -5.01637499e-04 2.47771704e+01] [ 5.13733389e-03 1.10915437e-04 9.99986798e-01 -1.39244719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.781400513 meters 0.024004243479362235 Centerline is valid? [True, True] Translation: X:278.80, Y:24.78, Z:-1.40 [[ 9.96998622e-01 -7.71625841e-02 -6.29945842e-03 2.78799342e+02] [ 7.71602170e-02 9.97018515e-01 -6.18301856e-04 2.47847761e+01] [ 6.32838644e-03 1.30378520e-04 9.99979967e-01 -1.39502398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.841400513 meters 0.021202712518245077 Centerline is valid? [True, True] Translation: X:278.86, Y:24.79, Z:-1.39 [[ 9.96885880e-01 -7.86555396e-02 -5.64339982e-03 2.78857826e+02] [ 7.86536587e-02 9.96901848e-01 -5.54806776e-04 2.47890368e+01] [ 5.66955433e-03 1.09204998e-04 9.99983922e-01 -1.39400216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.901400513 meters 0.027630807319516726 Centerline is valid? [True, True] Translation: X:278.92, Y:24.79, Z:-1.39 [[ 9.96628381e-01 -8.19789399e-02 -3.36513873e-03 2.78917175e+02] [ 8.19782884e-02 9.96634060e-01 -3.31330979e-04 2.47913004e+01] [ 3.38097404e-03 5.43455441e-05 9.99994283e-01 -1.39166969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.961400513 meters 0.018367872781034945 Centerline is valid? [True, True] Translation: X:278.98, Y:24.79, Z:-1.39 [[ 9.95992749e-01 -8.93639153e-02 -3.54041129e-03 2.78976315e+02] [ 8.93632401e-02 9.95999041e-01 -3.48778138e-04 2.47874997e+01] [ 3.55741443e-03 3.09978722e-05 9.99993672e-01 -1.39252009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.021400513 meters 0.02231006723482175 Centerline is valid? [True, True] Translation: X:279.04, Y:24.79, Z:-1.39 [[ 9.95576865e-01 -9.39264310e-02 -2.12893067e-03 2.79035538e+02] [ 9.39261966e-02 9.95579141e-01 -2.10017550e-04 2.47854741e+01] [ 2.13924517e-03 9.12625325e-06 9.99997712e-01 -1.39072204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.081400513 meters 0.015428256539164752 Centerline is valid? [True, True] Translation: X:279.09, Y:24.79, Z:-1.39 [[ 9.95190987e-01 -9.79535472e-02 4.32736799e-05 2.79093987e+02] [ 9.79535471e-02 9.95190988e-01 4.31804394e-06 2.47854142e+01] [-4.34885440e-05 -5.84679713e-08 9.99999999e-01 -1.38655261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.141400513 meters 0.008226215151256452 Centerline is valid? [True, True] Translation: X:279.15, Y:24.79, Z:-1.39 [[ 9.95036548e-01 -9.95097163e-02 2.90177441e-04 2.79151547e+02] [ 9.95097121e-02 9.95036590e-01 2.88165749e-05 2.47887493e+01] [-2.91604701e-04 2.01928417e-07 9.99999957e-01 -1.38536065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.201400513 meters 0.020514494423684172 Centerline is valid? [True, True] Translation: X:279.21, Y:24.79, Z:-1.39 [[ 9.94794354e-01 -1.01902345e-01 3.25569059e-04 2.79209213e+02] [ 1.01902340e-01 9.94794407e-01 3.23848294e-05 2.47942894e+01] [-3.27174369e-04 9.60003501e-07 9.99999946e-01 -1.38633162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.261400513 meters 0.017198887014344008 Centerline is valid? [True, True] Translation: X:279.27, Y:24.79, Z:-1.39 [[ 9.94353055e-01 -1.06122381e-01 -2.06725530e-04 2.79267284e+02] [ 1.06122379e-01 9.94353076e-01 -2.04849634e-05 2.47948379e+01] [ 2.07732080e-04 -1.56891910e-06 9.99999978e-01 -1.38614277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.321400513 meters 0.022817501618277572 Centerline is valid? [True, True] Translation: X:279.33, Y:24.80, Z:-1.39 [[ 9.94032827e-01 -1.09074548e-01 -1.21749595e-03 2.79325685e+02] [ 1.09074482e-01 9.94033572e-01 -1.20945537e-04 2.47996856e+01] [ 1.22342393e-03 -1.25739055e-05 9.99999252e-01 -1.38738358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.381400513 meters 0.019632945568460448 Centerline is valid? [True, True] Translation: X:279.38, Y:24.80, Z:-1.39 [[ 9.93503746e-01 -1.13794700e-01 -1.03583803e-03 2.79384689e+02] [ 1.13794654e-01 9.93504286e-01 -1.03065456e-04 2.48038910e+01] [ 1.04083782e-03 -1.54769132e-05 9.99999458e-01 -1.38619085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.441400513 meters 0.03807293962116299 Centerline is valid? [True, True] Translation: X:279.45, Y:24.80, Z:-1.39 [[ 9.92435887e-01 -1.22751797e-01 -1.73368389e-03 2.79445111e+02] [ 1.22751682e-01 9.92437401e-01 -1.72651200e-04 2.48021776e+01] [ 1.74176598e-03 -4.14673674e-05 9.99998482e-01 -1.38770738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.501400513 meters 0.03754893966120975 Centerline is valid? [True, True] Translation: X:279.50, Y:24.81, Z:-1.39 [[ 9.92041344e-01 -1.25904569e-01 -1.41810655e-03 2.79504400e+02] [ 1.25904495e-01 9.92042357e-01 -1.41250196e-04 2.48073071e+01] [ 1.42460581e-03 -3.84199559e-05 9.99998985e-01 -1.38728291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.561400513 meters 0.038023955768960595 Centerline is valid? [True, True] Translation: X:279.56, Y:24.81, Z:-1.39 [[ 9.92029081e-01 -1.25982554e-01 -2.58827734e-03 2.79560748e+02] [ 1.25982309e-01 9.92032455e-01 -2.58006007e-04 2.48130287e+01] [ 2.60015938e-03 -7.01276931e-05 9.99996617e-01 -1.38885619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.621400513 meters 0.03706955041686469 Centerline is valid? [True, True] Translation: X:279.62, Y:24.82, Z:-1.39 [[ 9.92012308e-01 -1.26067094e-01 -4.32079355e-03 2.79618088e+02] [ 1.26066410e-01 9.92021711e-01 -4.31536532e-04 2.48238704e+01] [ 4.34072357e-03 -1.16617379e-04 9.99990572e-01 -1.39155866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.681400513 meters 0.039391074770012066 Centerline is valid? [True, True] Translation: X:279.67, Y:24.83, Z:-1.39 [[ 9.92229025e-01 -1.24339315e-01 -4.61493737e-03 2.79674992e+02] [ 1.24338513e-01 9.92239750e-01 -4.61269062e-04 2.48323720e+01] [ 4.63647818e-03 -1.16129901e-04 9.99989245e-01 -1.39219221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74140051300003 meters 0.034884094054783904 Centerline is valid? [True, True] Translation: X:279.73, Y:24.85, Z:-1.39 [[ 9.92459154e-01 -1.22470062e-01 -5.09039069e-03 2.79732937e+02] [ 1.22469058e-01 9.92472201e-01 -5.09627006e-04 2.48453748e+01] [ 5.11448531e-03 -1.17631367e-04 9.99986914e-01 -1.39209031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80140051300003 meters 0.03411130999155805 Centerline is valid? [True, True] Translation: X:279.79, Y:24.86, Z:-1.39 [[ 9.92891749e-01 -1.18888363e-01 -5.61536857e-03 2.79790392e+02] [ 1.18887082e-01 9.92907622e-01 -5.62531341e-04 2.48599349e+01] [ 5.64242069e-03 -1.09062060e-04 9.99984075e-01 -1.39220483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86140051300004 meters 0.03201761886550967 Centerline is valid? [True, True] Translation: X:279.85, Y:24.88, Z:-1.39 [[ 9.93285732e-01 -1.15634898e-01 -3.46757970e-03 2.79847495e+02] [ 1.15634389e-01 9.93291784e-01 -3.47533246e-04 2.48779374e+01] [ 3.48450540e-03 -5.57716463e-05 9.99993928e-01 -1.38914662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92140051300004 meters 0.020104299472607227 Centerline is valid? [True, True] Translation: X:279.91, Y:24.89, Z:-1.39 [[ 9.93170023e-01 -1.16605414e-01 -4.05988949e-03 2.79905708e+02] [ 1.16604722e-01 9.93178319e-01 -4.07534716e-04 2.48891989e+01] [ 4.07971498e-03 -6.86510215e-05 9.99991676e-01 -1.38918741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.981400513 meters 0.03488770347580373 Centerline is valid? [True, True] Translation: X:279.96, Y:24.90, Z:-1.39 [[ 9.92667233e-01 -1.20830103e-01 -3.44240905e-03 2.79964292e+02] [ 1.20829630e-01 9.92673199e-01 -3.45731635e-04 2.48982775e+01] [ 3.45896200e-03 -7.27485483e-05 9.99994015e-01 -1.38921333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.041400513 meters 0.040580956079589676 Centerline is valid? [True, True] Translation: X:280.02, Y:24.89, Z:-1.38 [[ 9.91370073e-01 -1.31092254e-01 -4.45518116e-04 2.80023988e+02] [ 1.31092247e-01 9.91370173e-01 -4.47473789e-05 2.48927451e+01] [ 4.47539406e-04 -1.40427586e-05 9.99999900e-01 -1.38409437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.101400513 meters 0.04166648650818924 Centerline is valid? [True, True] Translation: X:280.08, Y:24.90, Z:-1.38 [[ 9.90638363e-01 -1.36511146e-01 -5.84434528e-04 2.80084171e+02] [ 1.36511135e-01 9.90638535e-01 -5.86960910e-05 2.48972206e+01] [ 5.86976035e-04 -2.16352211e-05 9.99999827e-01 -1.38333322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.161400513 meters 0.049899612569759284 Centerline is valid? [True, True] Translation: X:280.14, Y:24.89, Z:-1.38 [[ 9.89791376e-01 -1.42522311e-01 -6.51053138e-04 2.80144572e+02] [ 1.42522298e-01 9.89791589e-01 -6.53951244e-05 2.48943340e+01] [ 6.53727185e-04 -2.80620594e-05 9.99999786e-01 -1.38383115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.221400513 meters 0.047802505407582525 Centerline is valid? [True, True] Translation: X:280.20, Y:24.90, Z:-1.38 [[ 9.89529038e-01 -1.44333405e-01 -3.87801994e-04 2.80203488e+02] [ 1.44333401e-01 9.89529114e-01 -3.89545457e-05 2.49046966e+01] [ 3.89363806e-04 -1.74261265e-05 9.99999924e-01 -1.38289418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.281400513 meters 0.04832771338557636 Centerline is valid? [True, True] Translation: X:280.26, Y:24.91, Z:-1.38 [[ 9.89632955e-01 -1.43616914e-01 -8.92431614e-04 2.80260391e+02] [ 1.43616892e-01 9.89633357e-01 -8.96958369e-05 2.49135632e+01] [ 8.96061933e-04 -3.94022984e-05 9.99999598e-01 -1.38201617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.341400513 meters 0.050461161713715785 Centerline is valid? [True, True] Translation: X:280.32, Y:24.93, Z:-1.39 [[ 9.89844007e-01 -1.42116432e-01 -3.42961259e-03 2.80318029e+02] [ 1.42116087e-01 9.89849937e-01 -3.45282326e-04 2.49317441e+01] [ 3.44387210e-03 -1.45627481e-04 9.99994059e-01 -1.38596201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.401400513 meters 0.050344665244894116 Centerline is valid? [True, True] Translation: X:280.38, Y:24.95, Z:-1.39 [[ 9.90197926e-01 -1.39524327e-01 -6.40548988e-03 2.80376838e+02] [ 1.39523069e-01 9.90218611e-01 -6.45100921e-04 2.49481331e+01] [ 6.43284256e-03 -2.54936013e-04 9.99979277e-01 -1.39105056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.461400513 meters 0.04806694176763257 Centerline is valid? [True, True] Translation: X:280.43, Y:24.96, Z:-1.39 [[ 9.90260155e-01 -1.39157405e-01 -4.47674580e-03 2.80434106e+02] [ 1.39156783e-01 9.90270259e-01 -4.51538665e-04 2.49617336e+01] [ 4.49602317e-03 -1.75828796e-04 9.99989877e-01 -1.38745099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.521400513 meters 0.049121208636933825 Centerline is valid? [True, True] Translation: X:280.49, Y:24.97, Z:-1.39 [[ 9.89862041e-01 -1.41983845e-01 -3.70512825e-03 2.80493843e+02] [ 1.41983439e-01 9.89868963e-01 -3.73779007e-04 2.49725024e+01] [ 3.72066203e-03 -1.56077199e-04 9.99993066e-01 -1.38606677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.581400513 meters 0.048872853287862186 Centerline is valid? [True, True] Translation: X:280.55, Y:24.98, Z:-1.39 [[ 9.89167569e-01 -1.46707999e-01 -4.92785030e-03 2.80553961e+02] [ 1.46707338e-01 9.89179817e-01 -4.97147379e-04 2.49795795e+01] [ 4.94746555e-03 -2.31189738e-04 9.99987734e-01 -1.38825922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.641400513 meters 0.05958568014753481 Centerline is valid? [True, True] Translation: X:280.61, Y:24.98, Z:-1.39 [[ 9.87568880e-01 -1.57110871e-01 -4.88682975e-03 2.80613625e+02] [ 1.57110348e-01 9.87580931e-01 -4.93049458e-04 2.49763908e+01] [ 4.90360331e-03 -2.80851222e-04 9.99987938e-01 -1.38805605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.701400513 meters 0.06274306498969111 Centerline is valid? [True, True] Translation: X:280.67, Y:24.98, Z:-1.39 [[ 9.86881785e-01 -1.61407195e-01 -3.47272925e-03 2.80673531e+02] [ 1.61406957e-01 9.86887872e-01 -3.50384912e-04 2.49819739e+01] [ 3.48374903e-03 -2.14734174e-04 9.99993909e-01 -1.38547053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.761400513 meters 0.06600742901340484 Centerline is valid? [True, True] Translation: X:280.73, Y:24.99, Z:-1.38 [[ 9.87083119e-01 -1.60196809e-01 -1.97461145e-03 2.80731454e+02] [ 1.60196730e-01 9.87085087e-01 -1.99277334e-04 2.49893678e+01] [ 1.98103310e-03 -1.19623004e-04 9.99998031e-01 -1.38359468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.821400513 meters 0.06376217201131895 Centerline is valid? [True, True] Translation: X:280.79, Y:25.00, Z:-1.39 [[ 9.87785818e-01 -1.55806484e-01 -1.87560703e-03 2.80789410e+02] [ 1.55806405e-01 9.87787593e-01 -1.89326893e-04 2.50041888e+01] [ 1.88219971e-03 -1.05217169e-04 9.99998223e-01 -1.38521213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.881400513 meters 0.06371293592899865 Centerline is valid? [True, True] Translation: X:280.85, Y:25.01, Z:-1.39 [[ 9.87753619e-01 -1.55994284e-01 -2.92759345e-03 2.80846349e+02] [ 1.55994090e-01 9.87757944e-01 -2.95992967e-04 2.50147808e+01] [ 2.93792690e-03 -1.64319150e-04 9.99995671e-01 -1.38753031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.941400513 meters 0.06291991117794721 Centerline is valid? [True, True] Translation: X:280.91, Y:25.02, Z:-1.39 [[ 9.87489692e-01 -1.57647688e-01 -3.36380580e-03 2.80905400e+02] [ 1.57647440e-01 9.87495402e-01 -3.40302494e-04 2.50186436e+01] [ 3.37539066e-03 -1.94250169e-04 9.99994284e-01 -1.38871061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.001400513 meters 0.05963858174922132 Centerline is valid? [True, True] Translation: X:280.96, Y:25.03, Z:-1.39 [[ 9.87135145e-01 -1.59853506e-01 -3.32611307e-03 2.80964741e+02] [ 1.59853276e-01 9.87140728e-01 -3.36540577e-04 2.50299206e+01] [ 3.33713886e-03 -1.99479039e-04 9.99994412e-01 -1.38627864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.061400513 meters 0.061959585971333386 Centerline is valid? [True, True] Translation: X:281.02, Y:25.04, Z:-1.39 [[ 9.87139548e-01 -1.59827214e-01 -3.28233590e-03 2.81022990e+02] [ 1.59826988e-01 9.87144986e-01 -3.32565377e-04 2.50435631e+01] [ 3.29329443e-03 -1.96317427e-04 9.99994558e-01 -1.38547169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.121400513 meters 0.0607608657234891 Centerline is valid? [True, True] Translation: X:281.08, Y:25.05, Z:-1.39 [[ 9.87177684e-01 -1.59591350e-01 -3.28951786e-03 2.81080828e+02] [ 1.59591120e-01 9.87183146e-01 -3.33854899e-04 2.50528815e+01] [ 3.30063695e-03 -1.95403735e-04 9.99994534e-01 -1.38657291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.181400513 meters 0.06868112299322099 Centerline is valid? [True, True] Translation: X:281.14, Y:25.06, Z:-1.39 [[ 9.87025277e-01 -1.60523566e-01 -3.64506389e-03 2.81138565e+02] [ 1.60523290e-01 9.87031983e-01 -3.70224411e-04 2.50550395e+01] [ 3.65722439e-03 -2.19696795e-04 9.99993288e-01 -1.38864550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24140051300003 meters 0.06720438022763364 Centerline is valid? [True, True] Translation: X:281.20, Y:25.06, Z:-1.39 [[ 9.86743491e-01 -1.62200526e-01 -5.31716777e-03 2.81198855e+02] [ 1.62199962e-01 9.86757762e-01 -5.40100818e-04 2.50624889e+01] [ 5.33436121e-03 -3.29503442e-04 9.99985718e-01 -1.39036089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30140051300003 meters 0.06402133661323316 Centerline is valid? [True, True] Translation: X:281.26, Y:25.07, Z:-1.39 [[ 9.86239810e-01 -1.65241093e-01 -5.13978258e-03 2.81257793e+02] [ 1.65240607e-01 9.86253147e-01 -5.22114118e-04 2.50740957e+01] [ 5.15540145e-03 -3.34371062e-04 9.99986655e-01 -1.38962568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36140051300004 meters 0.06987193166716234 Centerline is valid? [True, True] Translation: X:281.32, Y:25.08, Z:-1.39 [[ 9.86074862e-01 -1.66261276e-01 -3.68159121e-03 2.81316686e+02] [ 1.66261033e-01 9.86081705e-01 -3.74104973e-04 2.50776494e+01] [ 3.69254891e-03 -2.43209647e-04 9.99993153e-01 -1.38727693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42140051300004 meters 0.06968046075713191 Centerline is valid? [True, True] Translation: X:281.37, Y:25.09, Z:-1.38 [[ 9.86243943e-01 -1.65284103e-01 -2.01248062e-03 2.81374436e+02] [ 1.65284028e-01 9.86245988e-01 -2.04748913e-04 2.50948262e+01] [ 2.01864268e-03 -1.30698528e-04 9.99997954e-01 -1.38445030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.481400513 meters 0.06614768249533669 Centerline is valid? [True, True] Translation: X:281.43, Y:25.11, Z:-1.39 [[ 9.85955891e-01 -1.66967146e-01 -3.59907885e-03 2.81433224e+02] [ 1.66966916e-01 9.85962431e-01 -3.66343838e-04 2.51088767e+01] [ 3.60972392e-03 -2.39728232e-04 9.99993456e-01 -1.38604722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.541400513 meters 0.07212757204521368 Centerline is valid? [True, True] Translation: X:281.49, Y:25.11, Z:-1.39 [[ 9.85441922e-01 -1.69916641e-01 -5.70549009e-03 2.81493003e+02] [ 1.69916112e-01 9.85458359e-01 -5.80846838e-04 2.51077290e+01] [ 5.72121844e-03 -3.97063867e-04 9.99983555e-01 -1.38952438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.601400513 meters 0.07122703040665085 Centerline is valid? [True, True] Translation: X:281.55, Y:25.12, Z:-1.39 [[ 9.85229175e-01 -1.71154605e-01 -5.43820646e-03 2.81551964e+02] [ 1.71154143e-01 9.85244108e-01 -5.53763609e-04 2.51159689e+01] [ 5.45274007e-03 -3.85187500e-04 9.99985060e-01 -1.38812425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.661400513 meters 0.07337461252831914 Centerline is valid? [True, True] Translation: X:281.61, Y:25.12, Z:-1.38 [[ 9.85378747e-01 -1.70333970e-01 -3.88122452e-03 2.81609624e+02] [ 1.70333727e-01 9.85386353e-01 -3.95429790e-04 2.51223093e+01] [ 3.89186080e-03 -2.71455326e-04 9.99992390e-01 -1.38491076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.721400513 meters 0.0690642599344613 Centerline is valid? [True, True] Translation: X:281.67, Y:25.14, Z:-1.39 [[ 9.86211515e-01 -1.65413409e-01 -5.02511790e-03 2.81668179e+02] [ 1.65412938e-01 9.86224263e-01 -5.12095614e-04 2.51376133e+01] [ 5.04060068e-03 -3.26184926e-04 9.99987243e-01 -1.38702206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.781400513 meters 0.0625028686742052 Centerline is valid? [True, True] Translation: X:281.73, Y:25.16, Z:-1.39 [[ 9.87256473e-01 -1.59078475e-01 -4.32367653e-03 2.81726265e+02] [ 1.59078066e-01 9.87265909e-01 -4.40673562e-04 2.51571255e+01] [ 4.33872012e-03 -2.52744273e-04 9.99990556e-01 -1.38611745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.841400513 meters 0.05625348061439027 Centerline is valid? [True, True] Translation: X:281.78, Y:25.18, Z:-1.38 [[ 9.88044905e-01 -1.54155846e-01 -1.80048774e-03 2.81783877e+02] [ 1.54155767e-01 9.88046540e-01 -1.83521774e-04 2.51848542e+01] [ 1.80725663e-03 -9.62278137e-05 9.99998362e-01 -1.38099719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.901400513 meters 0.05541834794215473 Centerline is valid? [True, True] Translation: X:281.84, Y:25.20, Z:-1.38 [[ 9.87991613e-01 -1.54467203e-01 -3.52926073e-03 2.81840605e+02] [ 1.54466900e-01 9.87997898e-01 -3.59925174e-04 2.51969925e+01] [ 3.54249882e-03 -1.89550912e-04 9.99993707e-01 -1.38481459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.961400513 meters 0.05825273563563671 Centerline is valid? [True, True] Translation: X:281.90, Y:25.22, Z:-1.39 [[ 9.87671332e-01 -1.56511319e-01 -3.08975502e-03 2.81899057e+02] [ 1.56511096e-01 9.87676150e-01 -3.15159078e-04 2.52177184e+01] [ 3.10100330e-03 -1.72307359e-04 9.99995177e-01 -1.38506689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.021400513 meters 0.058557063594298825 Centerline is valid? [True, True] Translation: X:281.96, Y:25.24, Z:-1.38 [[ 9.87401633e-01 -1.58202136e-01 -3.17784578e-03 2.81957310e+02] [ 1.58201909e-01 9.87406730e-01 -3.24213831e-04 2.52359228e+01] [ 3.18911763e-03 -1.82612004e-04 9.99994898e-01 -1.38472528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.081400513 meters 0.05941461152725055 Centerline is valid? [True, True] Translation: X:282.01, Y:25.26, Z:-1.39 [[ 9.87140979e-01 -1.59794574e-01 -4.28733374e-03 2.82014723e+02] [ 1.59794175e-01 9.87150257e-01 -4.37561369e-04 2.52561863e+01] [ 4.30216254e-03 -2.53156201e-04 9.99990714e-01 -1.38646657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.141400513 meters 0.05816525578759172 Centerline is valid? [True, True] Translation: X:282.07, Y:25.27, Z:-1.39 [[ 9.86262051e-01 -1.65122500e-01 -4.66117189e-03 2.82073415e+02] [ 1.65122088e-01 9.86273020e-01 -4.75780485e-04 2.52703304e+01] [ 4.67575014e-03 -3.00418197e-04 9.99989023e-01 -1.38777337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.201400513 meters 0.06935305184564194 Centerline is valid? [True, True] Translation: X:282.13, Y:25.27, Z:-1.39 [[ 9.85623840e-01 -1.68881875e-01 -4.95565337e-03 2.82133162e+02] [ 1.68881457e-01 9.85636240e-01 -5.05896855e-04 2.52690782e+01] [ 4.96990837e-03 -3.38293959e-04 9.99987593e-01 -1.38910668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.261400513 meters 0.07151364548374807 Centerline is valid? [True, True] Translation: X:282.19, Y:25.27, Z:-1.39 [[ 9.85383156e-01 -1.70279779e-01 -4.98325775e-03 2.82192248e+02] [ 1.70279372e-01 9.85395695e-01 -5.08876677e-04 2.52735916e+01] [ 4.99713215e-03 -3.47107496e-04 9.99987454e-01 -1.38871185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.321400513 meters 0.062089014384340044 Centerline is valid? [True, True] Translation: X:282.25, Y:25.30, Z:-1.39 [[ 9.85820363e-01 -1.67736236e-01 -4.77140933e-03 2.82250473e+02] [ 1.67735833e-01 9.85831858e-01 -4.87282088e-04 2.52976760e+01] [ 4.78554219e-03 -3.19963715e-04 9.99988498e-01 -1.38637274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.381400513 meters 0.07020864728076907 Centerline is valid? [True, True] Translation: X:282.31, Y:25.30, Z:-1.39 [[ 9.86004184e-01 -1.66681027e-01 -3.63096046e-03 2.82308290e+02] [ 1.66680786e-01 9.86010841e-01 -3.71004540e-04 2.52986927e+01] [ 3.64200579e-03 -2.39399315e-04 9.99993339e-01 -1.38580857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.441400513 meters 0.0719578191548352 Centerline is valid? [True, True] Translation: X:282.37, Y:25.30, Z:-1.39 [[ 9.84848660e-01 -1.73359246e-01 -4.43709539e-03 2.82369643e+02] [ 1.73358953e-01 9.84858603e-01 -4.53436527e-04 2.52957060e+01] [ 4.44851899e-03 -3.22643858e-04 9.99990053e-01 -1.38839281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.501400513 meters 0.07577406906290947 Centerline is valid? [True, True] Translation: X:282.43, Y:25.29, Z:-1.38 [[ 9.83774316e-01 -1.79382009e-01 -3.19213165e-03 2.82430605e+02] [ 1.79381889e-01 9.83779463e-01 -3.26231750e-04 2.52940653e+01] [ 3.19887366e-03 -2.51672189e-04 9.99994852e-01 -1.38482798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.561400513 meters 0.08320112990355799 Centerline is valid? [True, True] Translation: X:282.49, Y:25.29, Z:-1.39 [[ 9.83148913e-01 -1.82766786e-01 -3.81000779e-03 2.82491468e+02] [ 1.82766640e-01 9.83156246e-01 -3.89417404e-04 2.52865129e+01] [ 3.81700552e-03 -3.13487025e-04 9.99992666e-01 -1.38513346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.621400513 meters 0.07087152694732633 Centerline is valid? [True, True] Translation: X:282.55, Y:25.30, Z:-1.39 [[ 9.83614351e-01 -1.80064850e-01 -8.91391070e-03 2.82549929e+02] [ 1.80063940e-01 9.83654486e-01 -9.11143179e-04 2.53034227e+01] [ 8.93227310e-03 -7.08860370e-04 9.99959855e-01 -1.39245779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.681400513 meters 0.0724043699755923 Centerline is valid? [True, True] Translation: X:282.61, Y:25.30, Z:-1.39 [[ 9.84154468e-01 -1.77123017e-01 -8.21095674e-03 2.82609488e+02] [ 1.77122142e-01 9.84188520e-01 -8.39432189e-04 2.53048209e+01] [ 8.22981212e-03 -6.28211306e-04 9.99965937e-01 -1.39111487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74140051300003 meters 0.07288033360952813 Centerline is valid? [True, True] Translation: X:282.67, Y:25.31, Z:-1.39 [[ 9.84626217e-01 -1.74564762e-01 -6.19320334e-03 2.82668618e+02] [ 1.74564213e-01 9.84645588e-01 -6.33291462e-04 2.53087883e+01] [ 6.20866072e-03 -4.57556293e-04 9.99980621e-01 -1.38748568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80140051300003 meters 0.07401135856048306 Centerline is valid? [True, True] Translation: X:282.73, Y:25.31, Z:-1.39 [[ 9.84538026e-01 -1.74968820e-01 -8.41347137e-03 2.82727336e+02] [ 1.74967810e-01 9.84573777e-01 -8.61657955e-04 2.53106989e+01] [ 8.43444657e-03 -6.23751639e-04 9.99964235e-01 -1.39100638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86140051300004 meters 0.07566635406160989 Centerline is valid? [True, True] Translation: X:282.79, Y:25.31, Z:-1.39 [[ 9.84084970e-01 -1.77554997e-01 -7.14110656e-03 2.82787828e+02] [ 1.77554336e-01 9.84110727e-01 -7.31454683e-04 2.53095453e+01] [ 7.15751301e-03 -5.48120875e-04 9.99974234e-01 -1.38883894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92140051300004 meters 0.07848218889463554 Centerline is valid? [True, True] Translation: X:282.85, Y:25.31, Z:-1.38 [[ 9.83688837e-01 -1.79838526e-01 -3.79162488e-03 2.82848708e+02] [ 1.79838357e-01 9.83696099e-01 -3.88403399e-04 2.53098237e+01] [ 3.79965649e-03 -2.99811499e-04 9.99992736e-01 -1.38397242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.981400513 meters 0.07460812134912587 Centerline is valid? [True, True] Translation: X:282.91, Y:25.32, Z:-1.39 [[ 9.83971147e-01 -1.78257831e-01 -4.99268535e-03 2.82908427e+02] [ 1.78257517e-01 9.83983738e-01 -5.11495746e-04 2.53162437e+01] [ 5.00389932e-03 -3.86686639e-04 9.99987406e-01 -1.38562094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.041400513 meters 0.07467162324945298 Centerline is valid? [True, True] Translation: X:282.97, Y:25.33, Z:-1.39 [[ 9.84490015e-01 -1.75320186e-01 -6.49942700e-03 2.82967900e+02] [ 1.75319589e-01 9.84511350e-01 -6.65952248e-04 2.53265888e+01] [ 6.51551452e-03 -4.83853532e-04 9.99978657e-01 -1.38778715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.101400513 meters 0.0757540009201675 Centerline is valid? [True, True] Translation: X:283.03, Y:25.33, Z:-1.39 [[ 9.84461744e-01 -1.75490758e-01 -6.16993195e-03 2.83025838e+02] [ 1.75490217e-01 9.84480971e-01 -6.33272803e-04 2.53283531e+01] [ 6.18531413e-03 -4.59329847e-04 9.99980765e-01 -1.38723109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.161400513 meters 0.07484646488205643 Centerline is valid? [True, True] Translation: X:283.09, Y:25.33, Z:-1.39 [[ 9.84319185e-01 -1.76295300e-01 -5.97578635e-03 2.83085015e+02] [ 1.76294800e-01 9.84337222e-01 -6.14334578e-04 2.53296443e+01] [ 5.99049323e-03 -4.48798751e-04 9.99981956e-01 -1.38693310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.221400513 meters 0.07324210909650683 Centerline is valid? [True, True] Translation: X:283.14, Y:25.34, Z:-1.38 [[ 9.85184554e-01 -1.71438941e-01 -4.48145099e-03 2.83144445e+02] [ 1.71438610e-01 9.85194697e-01 -4.60799048e-04 2.53394268e+01] [ 4.49410065e-03 -3.14321623e-04 9.99989852e-01 -1.38493371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.281400513 meters 0.05810978542343533 Centerline is valid? [True, True] Translation: X:283.20, Y:25.36, Z:-1.39 [[ 9.86290041e-01 -1.64915122e-01 -5.91242761e-03 2.83202312e+02] [ 1.64914429e-01 9.86307691e-01 -6.08010672e-04 2.53624245e+01] [ 5.93174298e-03 -3.75369751e-04 9.99982337e-01 -1.38629949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.341400513 meters 0.05431895348466359 Centerline is valid? [True, True] Translation: X:283.26, Y:25.38, Z:-1.39 [[ 9.87662137e-01 -1.56368150e-01 -8.51502399e-03 2.83260105e+02] [ 1.56366393e-01 9.87698731e-01 -8.75789174e-04 2.53787878e+01] [ 8.54722393e-03 -4.66479780e-04 9.99963363e-01 -1.39139947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.401400513 meters 0.057315089306808474 Centerline is valid? [True, True] Translation: X:283.32, Y:25.39, Z:-1.39 [[ 9.88071071e-01 -1.53841162e-01 -6.96106714e-03 2.83318378e+02] [ 1.53839924e-01 9.88095524e-01 -7.16118118e-04 2.53862337e+01] [ 6.98836773e-03 -3.63314444e-04 9.99975515e-01 -1.38867134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.461400513 meters 0.04985814082387197 Centerline is valid? [True, True] Translation: X:283.38, Y:25.40, Z:-1.39 [[ 9.88192407e-01 -1.53088367e-01 -6.30224771e-03 2.83375855e+02] [ 1.53087331e-01 9.88212451e-01 -6.49311148e-04 2.54021628e+01] [ 6.32736163e-03 -3.23149935e-04 9.99979930e-01 -1.38648869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.521400513 meters 0.057487247061203714 Centerline is valid? [True, True] Translation: X:283.43, Y:25.40, Z:-1.39 [[ 9.88256993e-01 -1.52662506e-01 -6.50200154e-03 2.83433997e+02] [ 1.52661390e-01 9.88278326e-01 -6.70506147e-04 2.54048426e+01] [ 6.52814835e-03 -3.29972206e-04 9.99978637e-01 -1.38776899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.581400513 meters 0.05161664262015329 Centerline is valid? [True, True] Translation: X:283.49, Y:25.43, Z:-1.39 [[ 9.88414826e-01 -1.51650878e-01 -6.17606277e-03 2.83491366e+02] [ 1.51649846e-01 9.88434073e-01 -6.37826680e-04 2.54257238e+01] [ 6.20135786e-03 -3.06161623e-04 9.99980725e-01 -1.38777349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.641400513 meters 0.053353735052367485 Centerline is valid? [True, True] Translation: X:283.55, Y:25.43, Z:-1.38 [[ 9.88575866e-01 -1.50686009e-01 -3.38884303e-03 2.83548609e+02] [ 1.50685692e-01 9.88581661e-01 -3.50194206e-04 2.54349158e+01] [ 3.40291744e-03 -1.64456616e-04 9.99994197e-01 -1.38455665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.701400513 meters 0.05282980069983978 Centerline is valid? [True, True] Translation: X:283.61, Y:25.45, Z:-1.38 [[ 9.88701088e-01 -1.49881174e-01 -2.40665149e-03 2.83606707e+02] [ 1.49881011e-01 9.88704011e-01 -2.49002113e-04 2.54508824e+01] [ 2.41678671e-03 -1.14522698e-04 9.99997073e-01 -1.38185566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.761400513 meters 0.05284676889877766 Centerline is valid? [True, True] Translation: X:283.66, Y:25.47, Z:-1.38 [[ 9.88095554e-01 -1.53816669e-01 -2.75833468e-03 2.83664663e+02] [ 1.53816470e-01 9.88099394e-01 -2.85471606e-04 2.54737335e+01] [ 2.76941912e-03 -1.42204080e-04 9.99996155e-01 -1.38359593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.821400513 meters 0.05993247875998104 Centerline is valid? [True, True] Translation: X:283.72, Y:25.48, Z:-1.38 [[ 9.86911755e-01 -1.61250993e-01 -1.81787622e-03 2.83724884e+02] [ 1.61250919e-01 9.86913424e-01 -1.88145481e-04 2.54804485e+01] [ 1.82442509e-03 -1.07451225e-04 9.99998330e-01 -1.38390087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.881400513 meters 0.07524705554911443 Centerline is valid? [True, True] Translation: X:283.78, Y:25.48, Z:-1.39 [[ 9.84627050e-01 -1.74624555e-01 -3.97951470e-03 2.83784397e+02] [ 1.74624309e-01 9.84635050e-01 -4.11862296e-04 2.54774560e+01] [ 3.99029093e-03 -2.89389249e-04 9.99991997e-01 -1.38778905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.941400513 meters 0.08896124784576206 Centerline is valid? [True, True] Translation: X:283.85, Y:25.47, Z:-1.39 [[ 9.83271411e-01 -1.81946763e-01 -8.52687074e-03 2.83845029e+02] [ 1.81945907e-01 9.83308145e-01 -8.82571118e-04 2.54725575e+01] [ 8.54512240e-03 -6.83622282e-04 9.99963256e-01 -1.39487430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.001400513 meters 0.0849874421432637 Centerline is valid? [True, True] Translation: X:283.90, Y:25.49, Z:-1.39 [[ 9.82229767e-01 -1.87425344e-01 -9.81959110e-03 2.83903792e+02] [ 1.87424479e-01 9.82278490e-01 -1.01646870e-03 2.54882269e+01] [ 9.83608511e-03 -8.42025939e-04 9.99951270e-01 -1.39475171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.061400513 meters 0.08574168364038136 Centerline is valid? [True, True] Translation: X:283.96, Y:25.50, Z:-1.39 [[ 9.81331445e-01 -1.92241734e-01 -5.63115139e-03 2.83963870e+02] [ 1.92241528e-01 9.81347469e-01 -5.82914489e-04 2.54950596e+01] [ 5.63817666e-03 -5.10508832e-04 9.99983975e-01 -1.38842614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.121400513 meters 0.094544076996881 Centerline is valid? [True, True] Translation: X:284.02, Y:25.49, Z:-1.39 [[ 9.81116932e-01 -1.93286803e-01 -7.05529790e-03 2.84023458e+02] [ 1.93286505e-01 9.81142086e-01 -7.30562592e-04 2.54909962e+01] [ 7.06345780e-03 -6.46926542e-04 9.99974844e-01 -1.39125960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.181400513 meters 0.09593849745508733 Centerline is valid? [True, True] Translation: X:284.08, Y:25.50, Z:-1.40 [[ 9.81099652e-01 -1.93179120e-01 -1.11937580e-02 2.84081760e+02] [ 1.93178344e-01 9.81162973e-01 -1.16079548e-03 2.54956601e+01] [ 1.12071423e-02 -1.02353559e-03 9.99936674e-01 -1.39732649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24140051300003 meters 0.08241479506781077 Centerline is valid? [True, True] Translation: X:284.14, Y:25.51, Z:-1.39 [[ 9.81499154e-01 -1.91248529e-01 -9.13293019e-03 2.84140047e+02] [ 1.91247929e-01 9.81541305e-01 -9.47216647e-04 2.55145072e+01] [ 9.14550201e-03 -8.16961644e-04 9.99957845e-01 -1.39153408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30140051300003 meters 0.09345204558639873 Centerline is valid? [True, True] Translation: X:284.20, Y:25.51, Z:-1.39 [[ 9.82016578e-01 -1.88657949e-01 -7.18465187e-03 2.84200426e+02] [ 1.88657507e-01 9.82042662e-01 -7.45279493e-04 2.55057670e+01] [ 7.19623754e-03 -6.23561693e-04 9.99973912e-01 -1.39068911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36140051300004 meters 0.08078767516185337 Centerline is valid? [True, True] Translation: X:284.26, Y:25.53, Z:-1.39 [[ 9.82721168e-01 -1.84932416e-01 -7.68820247e-03 2.84258846e+02] [ 1.84931796e-01 9.82751034e-01 -7.97562091e-04 2.55257953e+01] [ 7.70308401e-03 -6.38011945e-04 9.99970127e-01 -1.39222626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42140051300004 meters 0.07890641289961273 Centerline is valid? [True, True] Translation: X:284.32, Y:25.53, Z:-1.39 [[ 9.82977049e-01 -1.83530818e-01 -8.51824493e-03 2.84318513e+02] [ 1.83530005e-01 9.83013711e-01 -8.83765534e-04 2.55337204e+01] [ 8.53574977e-03 -6.94632298e-04 9.99963329e-01 -1.39309653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.481400513 meters 0.08249945525160086 Centerline is valid? [True, True] Translation: X:284.38, Y:25.53, Z:-1.39 [[ 9.83559010e-01 -1.80422114e-01 -7.71589640e-03 2.84378317e+02] [ 1.80421350e-01 9.83589089e-01 -8.00665366e-04 2.55331433e+01] [ 7.73372924e-03 -6.04610812e-04 9.99969911e-01 -1.39159880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.541400513 meters 0.07228869192397407 Centerline is valid? [True, True] Translation: X:284.44, Y:25.55, Z:-1.39 [[ 9.84473906e-01 -1.75398004e-01 -6.83148302e-03 2.84437011e+02] [ 1.75397284e-01 9.84497481e-01 -7.08956729e-04 2.55525007e+01] [ 6.84992742e-03 -5.00274169e-04 9.99976414e-01 -1.38763348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.601400513 meters 0.07031853712502524 Centerline is valid? [True, True] Translation: X:284.49, Y:25.57, Z:-1.39 [[ 9.85782492e-01 -1.67916012e-01 -6.09034760e-03 2.84494713e+02] [ 1.67915297e-01 9.85801224e-01 -6.32139009e-04 2.55688054e+01] [ 6.11001838e-03 -3.99510958e-04 9.99981254e-01 -1.38634132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.661400513 meters 0.05600512388367534 Centerline is valid? [True, True] Translation: X:284.55, Y:25.60, Z:-1.38 [[ 9.87460600e-01 -1.57829720e-01 -3.36804370e-03 2.84551792e+02] [ 1.57829443e-01 9.87466326e-01 -3.49613320e-04 2.56045969e+01] [ 3.38100911e-03 -1.86347083e-04 9.99994267e-01 -1.38218671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.721400513 meters 0.0542372084421549 Centerline is valid? [True, True] Translation: X:284.61, Y:25.62, Z:-1.38 [[ 9.87919434e-01 -1.54921634e-01 -3.80518809e-03 2.84610733e+02] [ 1.54921259e-01 9.87926742e-01 -3.95013728e-04 2.56248416e+01] [ 3.82044325e-03 -1.99262790e-04 9.99992682e-01 -1.38206688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.781400513 meters 0.05267301686238601 Centerline is valid? [True, True] Translation: X:284.67, Y:25.64, Z:-1.38 [[ 9.87711877e-01 -1.56221900e-01 -4.46830350e-03 2.84668869e+02] [ 1.56221395e-01 9.87721955e-01 -4.63995545e-04 2.56371774e+01] [ 4.48592773e-03 -2.39750697e-04 9.99989909e-01 -1.38305815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.841400513 meters 0.05969781771074506 Centerline is valid? [True, True] Translation: X:284.73, Y:25.64, Z:-1.38 [[ 9.86365888e-01 -1.64552342e-01 -2.20497482e-03 2.84728691e+02] [ 1.64552239e-01 9.86368343e-01 -2.28994029e-04 2.56443978e+01] [ 2.21259886e-03 -1.36961646e-04 9.99997543e-01 -1.37849148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.901400513 meters 0.06489251700142072 Centerline is valid? [True, True] Translation: X:284.79, Y:25.65, Z:-1.38 [[ 9.85403864e-01 -1.70198121e-01 -3.43851834e-03 2.84788517e+02] [ 1.70197906e-01 9.85409836e-01 -3.57119668e-04 2.56541208e+01] [ 3.44913089e-03 -2.33321522e-04 9.99994025e-01 -1.37942723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.961400513 meters 0.07333066442385057 Centerline is valid? [True, True] Translation: X:284.85, Y:25.66, Z:-1.38 [[ 9.84620592e-01 -1.74619000e-01 -5.52213353e-03 2.84846910e+02] [ 1.74618515e-01 9.84635996e-01 -5.73536107e-04 2.56615075e+01] [ 5.53744175e-03 -3.99551296e-04 9.99984588e-01 -1.38378718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.021400513 meters 0.06938956615311466 Centerline is valid? [True, True] Translation: X:284.90, Y:25.68, Z:-1.38 [[ 9.84381811e-01 -1.76001980e-01 -3.96898377e-03 2.84904516e+02] [ 1.76001740e-01 9.84389769e-01 -4.12346528e-04 2.56798979e+01] [ 3.97960082e-03 -2.92641628e-04 9.99992039e-01 -1.38179849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.081400513 meters 0.06934526226292508 Centerline is valid? [True, True] Translation: X:284.96, Y:25.70, Z:-1.38 [[ 9.83583356e-01 -1.80414490e-01 -3.79379159e-03 2.84963866e+02] [ 1.80414304e-01 9.83590628e-01 -3.94185918e-04 2.56950468e+01] [ 3.80265470e-03 -2.96739559e-04 9.99992726e-01 -1.38077678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.141400513 meters 0.08222228388727586 Centerline is valid? [True, True] Translation: X:285.02, Y:25.69, Z:-1.38 [[ 9.82572194e-01 -1.85780506e-01 -6.12274551e-03 2.85023934e+02] [ 1.85780124e-01 9.82591136e-01 -6.36141350e-04 2.56863691e+01] [ 6.13433813e-03 -5.12429617e-04 9.99981053e-01 -1.38432836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.201400513 meters 0.08642852751932886 Centerline is valid? [True, True] Translation: X:285.08, Y:25.69, Z:-1.38 [[ 9.81713313e-01 -1.90223745e-01 -7.34150562e-03 2.85084409e+02] [ 1.90223318e-01 9.81740550e-01 -7.62758069e-04 2.56908530e+01] [ 7.35254846e-03 -6.47715810e-04 9.99972760e-01 -1.38490653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.261400513 meters 0.08312485177104148 Centerline is valid? [True, True] Translation: X:285.14, Y:25.70, Z:-1.39 [[ 9.81207731e-01 -1.92774349e-01 -8.33297504e-03 2.85144067e+02] [ 1.92773891e-01 9.81242823e-01 -8.65761390e-04 2.57023012e+01] [ 8.34356854e-03 -7.56888252e-04 9.99964905e-01 -1.38602822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.321400513 meters 0.08234386518379708 Centerline is valid? [True, True] Translation: X:285.20, Y:25.71, Z:-1.39 [[ 9.81057746e-01 -1.93558464e-01 -7.79874244e-03 2.85201844e+02] [ 1.93558077e-01 9.81088483e-01 -8.11447019e-04 2.57121609e+01] [ 7.80831883e-03 -7.13433210e-04 9.99969260e-01 -1.38551035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.381400513 meters 0.08719041581494677 Centerline is valid? [True, True] Translation: X:285.26, Y:25.72, Z:-1.39 [[ 9.81105749e-01 -1.93273180e-01 -8.77423411e-03 2.85259238e+02] [ 1.93272673e-01 9.81144657e-01 -9.13738661e-04 2.57175298e+01] [ 8.78539409e-03 -7.99345429e-04 9.99961088e-01 -1.38724714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.441400513 meters 0.08001558002381107 Centerline is valid? [True, True] Translation: X:285.32, Y:25.73, Z:-1.39 [[ 9.81446690e-01 -1.91477792e-01 -9.93228204e-03 2.85317722e+02] [ 1.91477050e-01 9.81496546e-01 -1.03448508e-03 2.57345552e+01] [ 9.94658144e-03 -8.86512108e-04 9.99950139e-01 -1.38715266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.501400513 meters 0.08699786066209665 Centerline is valid? [True, True] Translation: X:285.38, Y:25.73, Z:-1.39 [[ 9.82346799e-01 -1.86868281e-01 -8.66093812e-03 2.85377143e+02] [ 1.86867537e-01 9.82384706e-01 -9.02241974e-04 2.57349286e+01] [ 8.67697355e-03 -7.32133656e-04 9.99962086e-01 -1.38740845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.561400513 meters 0.07857370944746549 Centerline is valid? [True, True] Translation: X:285.44, Y:25.75, Z:-1.39 [[ 9.83333946e-01 -1.81628006e-01 -8.10047146e-03 2.85435335e+02] [ 1.81627178e-01 9.83367101e-01 -8.43929527e-04 2.57542154e+01] [ 8.11901838e-03 -6.41401217e-04 9.99966835e-01 -1.38629134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.621400513 meters 0.07109453234132401 Centerline is valid? [True, True] Translation: X:285.49, Y:25.78, Z:-1.39 [[ 9.84452950e-01 -1.75243753e-01 -1.19170705e-02 2.85493200e+02] [ 1.75241494e-01 9.84524696e-01 -1.24163608e-03 2.57816149e+01] [ 1.19502392e-02 -8.66032941e-04 9.99928218e-01 -1.39300937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.681400513 meters 0.06460219376436405 Centerline is valid? [True, True] Translation: X:285.55, Y:25.81, Z:-1.39 [[ 9.84929168e-01 -1.72669172e-01 -9.99452728e-03 2.85551849e+02] [ 1.72667451e-01 9.84979628e-01 -1.04134945e-03 2.58055299e+01] [ 1.00242147e-02 -7.00074099e-04 9.99949511e-01 -1.38840281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74140051300003 meters 0.06346224718986271 Centerline is valid? [True, True] Translation: X:285.61, Y:25.82, Z:-1.38 [[ 9.85168884e-01 -1.71469431e-01 -6.36429392e-03 2.85609169e+02] [ 1.71468707e-01 9.85189344e-01 -6.63317268e-04 2.58212276e+01] [ 6.38377319e-03 -4.37797717e-04 9.99979528e-01 -1.38298996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80140051300003 meters 0.0756541299652395 Centerline is valid? [True, True] Translation: X:285.67, Y:25.82, Z:-1.38 [[ 9.85014113e-01 -1.72438658e-01 -3.47944329e-03 2.85666846e+02] [ 1.72438447e-01 9.85020228e-01 -3.62828457e-04 2.58229879e+01] [ 3.48988768e-03 -2.42598647e-04 9.99993881e-01 -1.38068578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86140051300004 meters 0.07121810632866106 Centerline is valid? [True, True] Translation: X:285.73, Y:25.84, Z:-1.38 [[ 9.84335585e-01 -1.76274932e-01 -3.25656089e-03 2.85725934e+02] [ 1.76274768e-01 9.84340942e-01 -3.39609898e-04 2.58414233e+01] [ 3.26543093e-03 -2.39759407e-04 9.99994640e-01 -1.37901853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92140051300004 meters 0.08263549821130219 Centerline is valid? [True, True] Translation: X:285.79, Y:25.84, Z:-1.38 [[ 9.83822119e-01 -1.79137751e-01 -1.92482290e-03 2.85786188e+02] [ 1.79137699e-01 9.83823991e-01 -2.00746124e-04 2.58353081e+01] [ 1.92964815e-03 -1.47309867e-04 9.99998127e-01 -1.37725477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.981400513 meters 0.07983747279271036 Centerline is valid? [True, True] Translation: X:285.84, Y:25.85, Z:-1.38 [[ 9.83701428e-01 -1.79754777e-01 -4.44081320e-03 2.85843587e+02] [ 1.79754504e-01 9.83711392e-01 -4.63779593e-04 2.58533922e+01] [ 4.45184513e-03 -3.42035525e-04 9.99990032e-01 -1.38014872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.041400513 meters 0.07121761422699331 Centerline is valid? [True, True] Translation: X:285.90, Y:25.87, Z:-1.38 [[ 9.84006729e-01 -1.78025838e-01 -6.12841759e-03 2.85902358e+02] [ 1.78025284e-01 9.84025705e-01 -6.40194809e-04 2.58724065e+01] [ 6.14449166e-03 -4.61057283e-04 9.99981016e-01 -1.38169750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.101400513 meters 0.07105412421455966 Centerline is valid? [True, True] Translation: X:285.96, Y:25.88, Z:-1.38 [[ 9.84181249e-01 -1.77079443e-01 -5.48998704e-03 2.85962047e+02] [ 1.77078984e-01 9.84196477e-01 -5.73507185e-04 2.58844380e+01] [ 5.50478224e-03 -4.07726310e-04 9.99984765e-01 -1.38089888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.161400513 meters 0.0752472875237786 Centerline is valid? [True, True] Translation: X:286.02, Y:25.89, Z:-1.38 [[ 9.83489270e-01 -1.80861908e-01 -6.15032800e-03 2.86022144e+02] [ 1.80861405e-01 9.83508383e-01 -6.42565377e-04 2.58898609e+01] [ 6.16511475e-03 -4.80400809e-04 9.99980880e-01 -1.38222987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.221400513 meters 0.08252115805904055 Centerline is valid? [True, True] Translation: X:286.08, Y:25.88, Z:-1.38 [[ 9.82528948e-01 -1.86020730e-01 -5.75794357e-03 2.86082736e+02] [ 1.86020377e-01 9.82545702e-01 -6.01603175e-04 2.58841885e+01] [ 5.76935337e-03 -4.80002299e-04 9.99983242e-01 -1.38176029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.281400513 meters 0.09174087715062103 Centerline is valid? [True, True] Translation: X:286.14, Y:25.88, Z:-1.38 [[ 9.82395040e-01 -1.86679072e-01 -7.13507330e-03 2.86141549e+02] [ 1.86678545e-01 9.82420768e-01 -7.45786378e-04 2.58825493e+01] [ 7.14886690e-03 -5.99308262e-04 9.99974267e-01 -1.38495058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.341400513 meters 0.08577237898914232 Centerline is valid? [True, True] Translation: X:286.20, Y:25.90, Z:-1.39 [[ 9.82813395e-01 -1.84381787e-01 -9.01044580e-03 2.86200629e+02] [ 1.84380849e-01 9.82854422e-01 -9.41851761e-04 2.58961634e+01] [ 9.02961682e-03 -7.35689121e-04 9.99958962e-01 -1.38773095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.401400513 meters 0.08154112326113123 Centerline is valid? [True, True] Translation: X:286.26, Y:25.91, Z:-1.38 [[ 9.83674492e-01 -1.79853081e-01 -6.11251731e-03 2.86260787e+02] [ 1.79852562e-01 9.83693371e-01 -6.38888769e-04 2.59067302e+01] [ 6.12774887e-03 -4.70893316e-04 9.99981114e-01 -1.38369602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.461400513 meters 0.07292002110316217 Centerline is valid? [True, True] Translation: X:286.32, Y:25.93, Z:-1.38 [[ 9.84113329e-01 -1.77474068e-01 -4.88987863e-03 2.86319218e+02] [ 1.77473707e-01 9.84125410e-01 -5.11103157e-04 2.59256076e+01] [ 4.90296137e-03 -3.64841457e-04 9.99987914e-01 -1.38250753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.521400513 meters 0.06660280842854463 Centerline is valid? [True, True] Translation: X:286.38, Y:25.94, Z:-1.39 [[ 9.84290961e-01 -1.76426982e-01 -6.69509828e-03 2.86378626e+02] [ 1.76426282e-01 9.84313607e-01 -6.99790954e-04 2.59363187e+01] [ 6.71353835e-03 -4.92393385e-04 9.99977343e-01 -1.38517054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.581400513 meters 0.06592175981122857 Centerline is valid? [True, True] Translation: X:286.44, Y:25.95, Z:-1.39 [[ 9.84808924e-01 -1.73404994e-01 -9.06045531e-03 2.86438655e+02] [ 1.73403583e-01 9.84850395e-01 -9.47035850e-04 2.59462997e+01] [ 9.08741374e-03 -6.38466062e-04 9.99958505e-01 -1.38680388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.641400513 meters 0.05820894014475856 Centerline is valid? [True, True] Translation: X:286.50, Y:25.96, Z:-1.38 [[ 9.85974395e-01 -1.66834059e-01 -4.57040736e-03 2.86497732e+02] [ 1.66833630e-01 9.85984945e-01 -4.77743491e-04 2.59601331e+01] [ 4.58605673e-03 -2.91454799e-04 9.99989442e-01 -1.38038232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.701400513 meters 0.06435239913350047 Centerline is valid? [True, True] Translation: X:286.56, Y:25.96, Z:-1.38 [[ 9.86283396e-01 -1.65013953e-01 -3.93157088e-03 2.86557451e+02] [ 1.65013621e-01 9.86291203e-01 -4.10968679e-04 2.59634860e+01] [ 3.94548933e-03 -2.43431160e-04 9.99992187e-01 -1.37999898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.761400513 meters 0.06533679675370428 Centerline is valid? [True, True] Translation: X:286.62, Y:25.97, Z:-1.38 [[ 9.86490821e-01 -1.63757870e-01 -4.38407376e-03 2.86616652e+02] [ 1.63757445e-01 9.86500527e-01 -4.58312743e-04 2.59701236e+01] [ 4.39994339e-03 -2.65803402e-04 9.99990285e-01 -1.38013338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.821400513 meters 0.0564642224869841 Centerline is valid? [True, True] Translation: X:286.68, Y:25.99, Z:-1.38 [[ 9.86930614e-01 -1.61095028e-01 -4.04414344e-03 2.86675283e+02] [ 1.61094643e-01 9.86938872e-01 -4.22739505e-04 2.59926983e+01] [ 4.05942359e-03 -2.34275286e-04 9.99991733e-01 -1.37798006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.881400513 meters 0.05674213916058179 Centerline is valid? [True, True] Translation: X:286.73, Y:26.00, Z:-1.38 [[ 9.87510395e-01 -1.57526028e-01 -2.96131518e-03 2.86734445e+02] [ 1.57525806e-01 9.87514823e-01 -3.09575317e-04 2.60014828e+01] [ 2.97310881e-03 -1.60774717e-04 9.99995567e-01 -1.37651234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.941400513 meters 0.04755131339848191 Centerline is valid? [True, True] Translation: X:286.79, Y:26.02, Z:-1.38 [[ 9.87938627e-01 -1.54819955e-01 -2.83741786e-03 2.86792815e+02] [ 1.54819740e-01 9.87942691e-01 -2.96628619e-04 2.60239095e+01] [ 2.84913027e-03 -1.46237424e-04 9.99995931e-01 -1.37633279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.001400513 meters 0.05107163168348977 Centerline is valid? [True, True] Translation: X:286.85, Y:26.04, Z:-1.38 [[ 9.87949202e-01 -1.54753393e-01 -2.78601267e-03 2.86854714e+02] [ 1.54753186e-01 9.87953120e-01 -2.91091761e-04 2.60399357e+01] [ 2.79749735e-03 -1.43560464e-04 9.99996077e-01 -1.37537366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.061400513 meters 0.05661508812657818 Centerline is valid? [True, True] Translation: X:286.91, Y:26.05, Z:-1.38 [[ 9.86948112e-01 -1.61020579e-01 -2.40786063e-03 2.86913938e+02] [ 1.61020442e-01 9.86951039e-01 -2.51526686e-04 2.60467689e+01] [ 2.41694152e-03 -1.39470995e-04 9.99997069e-01 -1.37664724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.121400513 meters 0.05885620100063586 Centerline is valid? [True, True] Translation: X:286.97, Y:26.05, Z:-1.38 [[ 9.85791113e-01 -1.67964550e-01 -1.94737818e-03 2.86974529e+02] [ 1.67964474e-01 9.85793028e-01 -2.03412735e-04 2.60527405e+01] [ 1.95387797e-03 -1.26567887e-04 9.99998083e-01 -1.37634535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.181400513 meters 0.07182030578872418 Centerline is valid? [True, True] Translation: X:287.04, Y:26.05, Z:-1.38 [[ 9.83927154e-01 -1.78502599e-01 -4.91709664e-03 2.87035947e+02] [ 1.78502249e-01 9.83939370e-01 -5.13602979e-04 2.60493014e+01] [ 4.92980444e-03 -3.72364892e-04 9.99987779e-01 -1.38031048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24140051300003 meters 0.08146511280787144 Centerline is valid? [True, True] Translation: X:287.10, Y:26.04, Z:-1.38 [[ 9.82991742e-01 -1.83498564e-01 -7.45058541e-03 2.87097065e+02] [ 1.83497902e-01 9.83019793e-01 -7.78291379e-04 2.60388375e+01] [ 7.46688828e-03 -6.02112790e-04 9.99971941e-01 -1.38399553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30140051300003 meters 0.07398160304519161 Centerline is valid? [True, True] Translation: X:287.16, Y:26.05, Z:-1.38 [[ 9.82843462e-01 -1.84309716e-01 -6.97551931e-03 2.87158059e+02] [ 1.84309157e-01 9.82868050e-01 -7.28445374e-04 2.60504326e+01] [ 6.99027462e-03 -5.69704307e-04 9.99975405e-01 -1.38190607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36140051300004 meters 0.08670979112946646 Centerline is valid? [True, True] Translation: X:287.22, Y:26.04, Z:-1.38 [[ 9.83240683e-01 -1.82220005e-01 -5.79908118e-03 2.87219278e+02] [ 1.82219582e-01 9.83257676e-01 -6.05631596e-04 2.60381501e+01] [ 5.81234928e-03 -4.61224526e-04 9.99983002e-01 -1.38172624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42140051300004 meters 0.07548823651238104 Centerline is valid? [True, True] Translation: X:287.28, Y:26.05, Z:-1.38 [[ 9.83817881e-01 -1.79087587e-01 -5.47844273e-03 2.87278797e+02] [ 1.79087162e-01 9.83833045e-01 -5.72148295e-04 2.60528612e+01] [ 5.49233765e-03 -4.18229035e-04 9.99984830e-01 -1.38022815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.481400513 meters 0.07661839517165828 Centerline is valid? [True, True] Translation: X:287.34, Y:26.06, Z:-1.38 [[ 9.84834045e-01 -1.73477405e-01 -2.73754434e-03 2.87338251e+02] [ 1.73477277e-01 9.84837831e-01 -2.85900088e-04 2.60575277e+01] [ 2.74563443e-03 -1.93337598e-04 9.99996212e-01 -1.37574316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.541400513 meters 0.06411166927837378 Centerline is valid? [True, True] Translation: X:287.40, Y:26.08, Z:-1.38 [[ 9.86194990e-01 -1.65528651e-01 -4.43919853e-03 2.87396950e+02] [ 1.65528234e-01 9.86204943e-01 -4.63602458e-04 2.60756080e+01] [ 4.45469902e-03 -2.77610274e-04 9.99990039e-01 -1.37764769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.601400513 meters 0.06369292239126223 Centerline is valid? [True, True] Translation: X:287.46, Y:26.08, Z:-1.38 [[ 9.86741913e-01 -1.62192979e-01 -5.81680632e-03 2.87456246e+02] [ 1.62192206e-01 9.86758998e-01 -6.07529995e-04 2.60818427e+01] [ 5.83832307e-03 -3.43965339e-04 9.99982898e-01 -1.38113572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.661400513 meters 0.053117688184168024 Centerline is valid? [True, True] Translation: X:287.52, Y:26.10, Z:-1.38 [[ 9.87044650e-01 -1.60427098e-01 -2.45057408e-03 2.87515402e+02] [ 1.60426955e-01 9.87047682e-01 -2.55949864e-04 2.60960461e+01] [ 2.45989476e-03 -1.40504195e-04 9.99996965e-01 -1.37503412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.721400513 meters 0.052232562871385585 Centerline is valid? [True, True] Translation: X:287.58, Y:26.11, Z:-1.37 [[ 9.86934423e-01 -1.61117315e-01 -1.28627678e-03 2.87576432e+02] [ 1.61117277e-01 9.86935259e-01 -1.34307002e-04 2.61080464e+01] [ 1.29111109e-03 -7.46892076e-05 9.99999164e-01 -1.37308659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.781400513 meters 0.054558530781218036 Centerline is valid? [True, True] Translation: X:287.64, Y:26.12, Z:-1.38 [[ 9.86952170e-01 -1.60967361e-01 -3.86289056e-03 2.87638759e+02] [ 1.60967013e-01 9.86959705e-01 -4.03036918e-04 2.61164598e+01] [ 3.87739312e-03 -2.24019793e-04 9.99992458e-01 -1.37828582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.841400513 meters 0.05757290139760122 Centerline is valid? [True, True] Translation: X:287.70, Y:26.13, Z:-1.38 [[ 9.87253660e-01 -1.59089857e-01 -4.54186532e-03 2.87698065e+02] [ 1.59089355e-01 9.87264074e-01 -4.73837854e-04 2.61262676e+01] [ 4.55940326e-03 -2.54764268e-04 9.99989573e-01 -1.37748397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.901400513 meters 0.06244797743671211 Centerline is valid? [True, True] Translation: X:287.76, Y:26.13, Z:-1.37 [[ 9.87245611e-01 -1.59172134e-01 -3.21471488e-03 2.87759050e+02] [ 1.59171883e-01 9.87250829e-01 -3.35287007e-04 2.61301661e+01] [ 3.22709828e-03 -1.80681595e-04 9.99994777e-01 -1.37465636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.961400513 meters 0.05957473989087488 Centerline is valid? [True, True] Translation: X:287.82, Y:26.15, Z:-1.37 [[ 9.87054067e-01 -1.60368111e-01 -2.51750021e-03 2.87819631e+02] [ 1.60367961e-01 9.87057267e-01 -2.62465704e-04 2.61483527e+01] [ 2.52700800e-03 -1.44658536e-04 9.99996797e-01 -1.37335890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.021400513 meters 0.06057080318694883 Centerline is valid? [True, True] Translation: X:287.88, Y:26.17, Z:-1.38 [[ 9.86659779e-01 -1.62747688e-01 -3.95860043e-03 2.87879278e+02] [ 1.62747337e-01 9.86667692e-01 -4.12637455e-04 2.61653758e+01] [ 3.97297894e-03 -2.37118898e-04 9.99992080e-01 -1.37700368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.081400513 meters 0.05816514976846911 Centerline is valid? [True, True] Translation: X:287.94, Y:26.18, Z:-1.38 [[ 9.86066872e-01 -1.66260409e-01 -5.44063632e-03 2.87938394e+02] [ 1.66259800e-01 9.86081821e-01 -5.67153287e-04 2.61789812e+01] [ 5.45920771e-03 -3.45308039e-04 9.99985039e-01 -1.37877082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.141400513 meters 0.06313402756785778 Centerline is valid? [True, True] Translation: X:288.00, Y:26.18, Z:-1.38 [[ 9.85486655e-01 -1.69628011e-01 -6.51080233e-03 2.87997954e+02] [ 1.69627215e-01 9.85508066e-01 -6.78396551e-04 2.61829926e+01] [ 6.53152327e-03 -4.35858516e-04 9.99978574e-01 -1.37962619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.201400513 meters 0.060750393251918965 Centerline is valid? [True, True] Translation: X:288.06, Y:26.19, Z:-1.38 [[ 9.85199704e-01 -1.71323560e-01 -5.45711383e-03 2.88058466e+02] [ 1.71323027e-01 9.85214747e-01 -5.68469121e-04 2.61945898e+01] [ 5.47382117e-03 -3.74873649e-04 9.99984948e-01 -1.37739650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.261400513 meters 0.05924737413745384 Centerline is valid? [True, True] Translation: X:288.12, Y:26.21, Z:-1.38 [[ 9.85426587e-01 -1.70059584e-01 -3.76569555e-03 2.88119124e+02] [ 1.70059321e-01 9.85433749e-01 -3.92150344e-04 2.62077500e+01] [ 3.77753241e-03 -2.53956255e-04 9.99992833e-01 -1.37527307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.321400513 meters 0.056415854742903414 Centerline is valid? [True, True] Translation: X:288.18, Y:26.22, Z:-1.37 [[ 9.85798524e-01 -1.67902248e-01 -3.17876711e-03 2.88178826e+02] [ 1.67902050e-01 9.85803628e-01 -3.30982910e-04 2.62230690e+01] [ 3.18921292e-03 -2.07439049e-04 9.99994893e-01 -1.37395349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.381400513 meters 0.06293839174915514 Centerline is valid? [True, True] Translation: X:288.24, Y:26.23, Z:-1.37 [[ 9.85877308e-01 -1.67450140e-01 -2.52673354e-03 2.88239704e+02] [ 1.67450014e-01 9.85880532e-01 -2.62895285e-04 2.62278651e+01] [ 2.53507926e-03 -1.63919071e-04 9.99996773e-01 -1.37396000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.441400513 meters 0.05804828781339488 Centerline is valid? [True, True] Translation: X:288.30, Y:26.24, Z:-1.37 [[ 9.85770328e-01 -1.68065198e-01 -3.30904257e-03 2.88300562e+02] [ 1.68064986e-01 9.85775858e-01 -3.44100057e-04 2.62405504e+01] [ 3.31980553e-03 -2.16930568e-04 9.99994466e-01 -1.37433227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.501400513 meters 0.05924685359619734 Centerline is valid? [True, True] Translation: X:288.36, Y:26.25, Z:-1.37 [[ 9.85480035e-01 -1.69773430e-01 -2.46617671e-03 2.88361393e+02] [ 1.69773318e-01 9.85483107e-01 -2.56412398e-04 2.62465406e+01] [ 2.47390750e-03 -1.66001703e-04 9.99996926e-01 -1.37416433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.561400513 meters 0.06246158366663118 Centerline is valid? [True, True] Translation: X:288.42, Y:26.25, Z:-1.37 [[ 9.85319681e-01 -1.70719399e-01 -1.11093449e-04 2.88422266e+02] [ 1.70719399e-01 9.85319688e-01 -1.15589492e-05 2.62465879e+01] [ 1.11435899e-04 -7.57654660e-06 9.99999994e-01 -1.37064134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.621400513 meters 0.06743794908240403 Centerline is valid? [True, True] Translation: X:288.48, Y:26.24, Z:-1.37 [[ 9.85238210e-01 -1.71188472e-01 -4.20730002e-04 2.88484240e+02] [ 1.71188469e-01 9.85238299e-01 -4.37354307e-05 2.62433290e+01] [ 4.22006313e-04 -2.89343076e-05 9.99999911e-01 -1.37119173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.681400513 meters 0.06185050039701909 Centerline is valid? [True, True] Translation: X:288.54, Y:26.25, Z:-1.37 [[ 9.85636384e-01 -1.68876709e-01 -1.25495102e-03 2.88543942e+02] [ 1.68876679e-01 9.85637180e-01 -1.30399579e-04 2.62522865e+01] [ 1.25894784e-03 -8.34053907e-05 9.99999204e-01 -1.37270568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74140051300003 meters 0.056764006360012324 Centerline is valid? [True, True] Translation: X:288.60, Y:26.26, Z:-1.37 [[ 9.86359078e-01 -1.64605613e-01 -8.72827036e-04 2.88603890e+02] [ 1.64605597e-01 9.86359463e-01 -9.06920338e-05 2.62615445e+01] [ 8.75849624e-04 -5.42173042e-05 9.99999615e-01 -1.37308670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80140051300003 meters 0.05873779403795543 Centerline is valid? [True, True] Translation: X:288.66, Y:26.27, Z:-1.38 [[ 9.86850330e-01 -1.61560968e-01 -4.94771256e-03 2.88662818e+02] [ 1.61560414e-01 9.86862690e-01 -5.14143596e-04 2.62667606e+01] [ 4.96577846e-03 -2.91971713e-04 9.99987628e-01 -1.37709941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86140051300004 meters 0.061522272365633124 Centerline is valid? [True, True] Translation: X:288.72, Y:26.27, Z:-1.38 [[ 9.86616769e-01 -1.62990769e-01 -4.62168883e-03 2.88723246e+02] [ 1.62990302e-01 9.86627554e-01 -4.80134853e-04 2.62747436e+01] [ 4.63814309e-03 -2.79581358e-04 9.99989205e-01 -1.37837967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92140051300004 meters 0.06155458630073353 Centerline is valid? [True, True] Translation: X:288.78, Y:26.27, Z:-1.38 [[ 9.85798845e-01 -1.67899858e-01 -3.20536698e-03 2.88783952e+02] [ 1.67899659e-01 9.85804034e-01 -3.32965864e-04 2.62730156e+01] [ 3.21576862e-03 -2.09942657e-04 9.99994807e-01 -1.37652206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.981400513 meters 0.07992412921198011 Centerline is valid? [True, True] Translation: X:288.85, Y:26.26, Z:-1.38 [[ 9.84710414e-01 -1.74161289e-01 -3.63960995e-03 2.88845518e+02] [ 1.74161075e-01 9.84717105e-01 -3.77992624e-04 2.62556196e+01] [ 3.64981785e-03 -2.61665107e-04 9.99993305e-01 -1.37737683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.041400513 meters 0.0696884744571672 Centerline is valid? [True, True] Translation: X:288.90, Y:26.27, Z:-1.38 [[ 9.84182166e-01 -1.77129791e-01 -3.24062249e-03 2.88904743e+02] [ 1.77129638e-01 9.84187471e-01 -3.36536188e-04 2.62697273e+01] [ 3.24899064e-03 -2.42797374e-04 9.99994693e-01 -1.37598352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.101400513 meters 0.06987793219723848 Centerline is valid? [True, True] Translation: X:288.97, Y:26.27, Z:-1.38 [[ 9.83679117e-01 -1.79885852e-01 -4.05886858e-03 2.88965090e+02] [ 1.79885635e-01 9.83687440e-01 -4.21498290e-04 2.62736658e+01] [ 4.06847962e-03 -3.15513087e-04 9.99991674e-01 -1.37542444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.161400513 meters 0.06987753457404254 Centerline is valid? [True, True] Translation: X:289.03, Y:26.27, Z:-1.37 [[ 9.83415707e-01 -1.81317849e-01 -4.16946983e-03 2.89026876e+02] [ 1.81317633e-01 9.83424491e-01 -4.32897282e-04 2.62735736e+01] [ 4.17885075e-03 -3.30280412e-04 9.99991214e-01 -1.37478594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.221400513 meters 0.08492716690819203 Centerline is valid? [True, True] Translation: X:289.09, Y:26.26, Z:-1.38 [[ 9.83469750e-01 -1.81023710e-01 -4.20337076e-03 2.89089744e+02] [ 1.81023488e-01 9.83478676e-01 -4.36277416e-04 2.62600216e+01] [ 4.21290207e-03 -3.31843196e-04 9.99991071e-01 -1.37593099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.281400513 meters 0.06815268569940507 Centerline is valid? [True, True] Translation: X:289.15, Y:26.29, Z:-1.37 [[ 9.83729449e-01 -1.79619468e-01 -3.63569178e-03 2.89148188e+02] [ 1.79619293e-01 9.83736127e-01 -3.77299186e-04 2.62874290e+01] [ 3.64433163e-03 -2.81880066e-04 9.99993320e-01 -1.37351366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.341400513 meters 0.07018933294647565 Centerline is valid? [True, True] Translation: X:289.21, Y:26.29, Z:-1.37 [[ 9.84481971e-01 -1.75461927e-01 -2.89170588e-03 2.89207900e+02] [ 1.75461798e-01 9.84486195e-01 -3.00095081e-04 2.62912896e+01] [ 2.89949977e-03 -2.11945715e-04 9.99995774e-01 -1.37176183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.401400513 meters 0.06941193110028625 Centerline is valid? [True, True] Translation: X:289.27, Y:26.30, Z:-1.37 [[ 9.85043824e-01 -1.72269478e-01 -3.44845853e-03 2.89267443e+02] [ 1.72269275e-01 9.85049831e-01 -3.57878118e-04 2.63016533e+01] [ 3.45855497e-03 -2.41537822e-04 9.99993990e-01 -1.37371680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.461400513 meters 0.057825921332110175 Centerline is valid? [True, True] Translation: X:289.33, Y:26.32, Z:-1.37 [[ 9.86013874e-01 -1.66653722e-01 -1.78250121e-03 2.89326345e+02] [ 1.66653659e-01 9.86015478e-01 -1.84986991e-04 2.63227474e+01] [ 1.78840256e-03 -1.14660610e-04 9.99998394e-01 -1.37191443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.521400513 meters 0.05983033981032694 Centerline is valid? [True, True] Translation: X:289.39, Y:26.33, Z:-1.37 [[ 9.86586064e-01 -1.63233620e-01 -1.65035910e-03 2.89385808e+02] [ 1.63233561e-01 9.86587439e-01 -1.71287499e-04 2.63290925e+01] [ 1.65618343e-03 -1.00404132e-04 9.99998623e-01 -1.37034510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.581400513 meters 0.05419275000401621 Centerline is valid? [True, True] Translation: X:289.45, Y:26.34, Z:-1.37 [[ 9.87285277e-01 -1.58919330e-01 -3.52533763e-03 2.89445534e+02] [ 1.58919033e-01 9.87291551e-01 -3.65880968e-04 2.63434399e+01] [ 3.53868161e-03 -1.99014355e-04 9.99993719e-01 -1.37399312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.641400513 meters 0.05043446377218995 Centerline is valid? [True, True] Translation: X:289.50, Y:26.36, Z:-1.37 [[ 9.87646004e-01 -1.56669688e-01 -3.15908738e-03 2.89504837e+02] [ 1.56669438e-01 9.87651041e-01 -3.27866543e-04 2.63585695e+01] [ 3.17144269e-03 -1.71116364e-04 9.99994956e-01 -1.37336714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.701400513 meters 0.05421994805170368 Centerline is valid? [True, True] Translation: X:289.57, Y:26.36, Z:-1.37 [[ 9.87701294e-01 -1.56333561e-01 -2.44368992e-03 2.89565384e+02] [ 1.56333411e-01 9.87704308e-01 -2.53551518e-04 2.63648476e+01] [ 2.45328168e-03 -1.31597219e-04 9.99996982e-01 -1.37325272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.761400513 meters 0.055952169740545975 Centerline is valid? [True, True] Translation: X:289.62, Y:26.38, Z:-1.38 [[ 9.86872590e-01 -1.61443482e-01 -4.30041965e-03 2.89624938e+02] [ 1.61443066e-01 9.86881927e-01 -4.46120442e-04 2.63785994e+01] [ 4.31602966e-03 -2.54008896e-04 9.99990654e-01 -1.37722505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.821400513 meters 0.05939305323963772 Centerline is valid? [True, True] Translation: X:289.68, Y:26.38, Z:-1.38 [[ 9.85730048e-01 -1.68261713e-01 -4.92634679e-03 2.89684581e+02] [ 1.68261252e-01 9.85742304e-01 -5.10898132e-04 2.63771275e+01] [ 4.94207303e-03 -3.25305638e-04 9.99987735e-01 -1.37811760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.881400513 meters 0.07585328056940216 Centerline is valid? [True, True] Translation: X:289.75, Y:26.37, Z:-1.38 [[ 9.84528456e-01 -1.75140119e-01 -5.44593841e-03 2.89745942e+02] [ 1.75139661e-01 9.84543437e-01 -5.64681599e-04 2.63658912e+01] [ 5.46066133e-03 -3.97854704e-04 9.99985011e-01 -1.38034405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.941400513 meters 0.07166964697291309 Centerline is valid? [True, True] Translation: X:289.81, Y:26.37, Z:-1.38 [[ 9.83655249e-01 -1.79984354e-01 -5.28988902e-03 2.89806534e+02] [ 1.79983991e-01 9.83669387e-01 -5.48480417e-04 2.63701842e+01] [ 5.30221978e-03 -4.12579696e-04 9.99985858e-01 -1.38040362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.001400513 meters 0.07406358240142745 Centerline is valid? [True, True] Translation: X:289.87, Y:26.37, Z:-1.38 [[ 9.84092457e-01 -1.77614658e-01 -3.88199452e-03 2.89866445e+02] [ 1.77614445e-01 9.84100070e-01 -4.02540321e-04 2.63697971e+01] [ 3.89176814e-03 -2.93361406e-04 9.99992384e-01 -1.37822346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.061400513 meters 0.06299571329706463 Centerline is valid? [True, True] Translation: X:289.93, Y:26.39, Z:-1.38 [[ 9.85219534e-01 -1.71271602e-01 -2.91692953e-03 2.89925292e+02] [ 1.71271454e-01 9.85223831e-01 -3.02449657e-04 2.63893475e+01] [ 2.92562952e-03 -2.01607451e-04 9.99995700e-01 -1.37550135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.121400513 meters 0.05147858516249268 Centerline is valid? [True, True] Translation: X:289.98, Y:26.41, Z:-1.38 [[ 9.86903316e-01 -1.61179457e-01 -6.55954163e-03 2.89984224e+02] [ 1.61178485e-01 9.86925039e-01 -6.80089147e-04 2.64122394e+01] [ 6.58339228e-03 -3.86074747e-04 9.99978255e-01 -1.38012364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.181400513 meters 0.054441670971538715 Centerline is valid? [True, True] Translation: X:290.04, Y:26.42, Z:-1.38 [[ 9.87142778e-01 -1.59710819e-01 -6.44899282e-03 2.90044908e+02] [ 1.59709849e-01 9.87163774e-01 -6.68483747e-04 2.64172715e+01] [ 6.47297618e-03 -3.70078768e-04 9.99978982e-01 -1.37996901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24140051300003 meters 0.0561622847533842 Centerline is valid? [True, True] Translation: X:290.10, Y:26.43, Z:-1.38 [[ 9.86165045e-01 -1.65726758e-01 -3.62567511e-03 2.90104209e+02] [ 1.65726492e-01 9.86171683e-01 -3.75806882e-04 2.64290779e+01] [ 3.63781938e-03 -2.30262807e-04 9.99993357e-01 -1.37585402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30140051300003 meters 0.059486666201280514 Centerline is valid? [True, True] Translation: X:290.16, Y:26.43, Z:-1.38 [[ 9.85150061e-01 -1.71657284e-01 -3.62410674e-03 2.90164674e+02] [ 1.71657058e-01 9.85156695e-01 -3.75629220e-04 2.64345895e+01] [ 3.63479251e-03 -2.52052353e-04 9.99993362e-01 -1.37501981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36140051300004 meters 0.0671676348132982 Centerline is valid? [True, True] Translation: X:290.22, Y:26.44, Z:-1.38 [[ 9.84514396e-01 -1.75260419e-01 -3.89745196e-03 2.90224495e+02] [ 1.75260187e-01 9.84522069e-01 -4.03786469e-04 2.64355700e+01] [ 3.90789525e-03 -2.85534566e-04 9.99992323e-01 -1.37538551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42140051300004 meters 0.06594470079491985 Centerline is valid? [True, True] Translation: X:290.28, Y:26.45, Z:-1.37 [[ 9.84276773e-01 -1.76629026e-01 -1.19217231e-03 2.90284569e+02] [ 1.76629006e-01 9.84277491e-01 -1.23496538e-04 2.64467199e+01] [ 1.19524144e-03 -8.90174358e-05 9.99999282e-01 -1.37479983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.481400513 meters 0.0701741213203577 Centerline is valid? [True, True] Translation: X:290.35, Y:26.45, Z:-1.38 [[ 9.84415578e-01 -1.75820290e-01 -3.63261585e-03 2.90345374e+02] [ 1.75820093e-01 9.84422244e-01 -3.75813414e-04 2.64514599e+01] [ 3.64210347e-03 -2.68730279e-04 9.99993331e-01 -1.37727904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.541400513 meters 0.06588632999348976 Centerline is valid? [True, True] Translation: X:290.40, Y:26.47, Z:-1.38 [[ 9.84766858e-01 -1.73742713e-01 -6.90693966e-03 2.90404787e+02] [ 1.73741954e-01 9.84790954e-01 -7.14422137e-04 2.64652817e+01] [ 6.92601733e-03 -4.96485948e-04 9.99975892e-01 -1.38019244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.601400513 meters 0.06486033887349518 Centerline is valid? [True, True] Translation: X:290.46, Y:26.47, Z:-1.38 [[ 9.85175148e-01 -1.71438297e-01 -6.23206836e-03 2.90463413e+02] [ 1.71437632e-01 9.85194764e-01 -6.44667505e-04 2.64735298e+01] [ 6.25032182e-03 -4.33300638e-04 9.99980373e-01 -1.37958464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.661400513 meters 0.06913660972385673 Centerline is valid? [True, True] Translation: X:290.53, Y:26.48, Z:-1.38 [[ 9.85211741e-01 -1.71302694e-01 -3.63484171e-03 2.90525266e+02] [ 1.71302468e-01 9.85218414e-01 -3.75862535e-04 2.64824714e+01] [ 3.64549925e-03 -2.52353173e-04 9.99993323e-01 -1.37568939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.721400513 meters 0.061957466033418 Centerline is valid? [True, True] Translation: X:290.59, Y:26.50, Z:-1.37 [[ 9.85040304e-01 -1.72287457e-01 -3.55395554e-03 2.90586511e+02] [ 1.72287248e-01 9.85046684e-01 -3.67335028e-04 2.64962834e+01] [ 3.56409934e-03 -2.50461411e-04 9.99993617e-01 -1.37447506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.781400513 meters 0.06360921953440714 Centerline is valid? [True, True] Translation: X:290.65, Y:26.51, Z:-1.38 [[ 9.85429440e-01 -1.69960808e-01 -6.49174062e-03 2.90646725e+02] [ 1.69960059e-01 9.85450723e-01 -6.70873134e-04 2.65072197e+01] [ 6.51131263e-03 -4.42238484e-04 9.99978703e-01 -1.37864523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.841400513 meters 0.06543607364927445 Centerline is valid? [True, True] Translation: X:290.71, Y:26.51, Z:-1.38 [[ 9.85759945e-01 -1.67960349e-01 -8.16404238e-03 2.90706517e+02] [ 1.67959097e-01 9.85793604e-01 -8.43686110e-04 2.65146938e+01] [ 8.18976658e-03 -5.39553213e-04 9.99966318e-01 -1.38044592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.901400513 meters 0.06477552546914554 Centerline is valid? [True, True] Translation: X:290.77, Y:26.52, Z:-1.38 [[ 9.85906767e-01 -1.67015460e-01 -9.67894850e-03 2.90768471e+02] [ 1.67013659e-01 9.85954075e-01 -9.99725391e-04 2.65242411e+01] [ 9.70996832e-03 -6.30880579e-04 9.99952658e-01 -1.38262933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.961400513 meters 0.06322188608816993 Centerline is valid? [True, True] Translation: X:290.83, Y:26.54, Z:-1.38 [[ 9.86000937e-01 -1.66595997e-01 -6.92292520e-03 2.90829936e+02] [ 1.66595068e-01 9.86025138e-01 -7.14752222e-04 2.65374674e+01] [ 6.94525314e-03 -4.48578834e-04 9.99975781e-01 -1.37809854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.021400513 meters 0.061390355633177074 Centerline is valid? [True, True] Translation: X:290.89, Y:26.55, Z:-1.38 [[ 9.86005624e-01 -1.66635951e-01 -5.03683689e-03 2.90891420e+02] [ 1.66635460e-01 9.86018434e-01 -5.19802601e-04 2.65515916e+01] [ 5.05303183e-03 -3.26787346e-04 9.99987180e-01 -1.37527606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.081400513 meters 0.06417354427126298 Centerline is valid? [True, True] Translation: X:290.95, Y:26.56, Z:-1.37 [[ 9.85676852e-01 -1.68600092e-01 -3.89270339e-03 2.90951386e+02] [ 1.68599815e-01 9.85684504e-01 -4.01629911e-04 2.65620129e+01] [ 3.90469225e-03 -2.60431764e-04 9.99992343e-01 -1.37406291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.141400513 meters 0.06182898084487938 Centerline is valid? [True, True] Translation: X:291.01, Y:26.57, Z:-1.37 [[ 9.85090991e-01 -1.72019067e-01 -2.27612650e-03 2.91011124e+02] [ 1.72018981e-01 9.85093607e-01 -2.34822040e-04 2.65725565e+01] [ 2.28259154e-03 -1.60215887e-04 9.99997382e-01 -1.37273773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.201400513 meters 0.06725675684548481 Centerline is valid? [True, True] Translation: X:291.07, Y:26.57, Z:-1.37 [[ 9.84631627e-01 -1.74632916e-01 -1.97602422e-03 2.91070899e+02] [ 1.74632856e-01 9.84633599e-01 -2.03869467e-04 2.65747710e+01] [ 1.98126216e-03 -1.44342430e-04 9.99998027e-01 -1.37252227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.261400513 meters 0.07013238744057261 Centerline is valid? [True, True] Translation: X:291.13, Y:26.58, Z:-1.38 [[ 9.84406652e-01 -1.75854634e-01 -4.32324232e-03 2.91130743e+02] [ 1.75854363e-01 9.84416093e-01 -4.45846412e-04 2.65799275e+01] [ 4.33427347e-03 -3.21366849e-04 9.99990555e-01 -1.37595338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.321400513 meters 0.07038746469690269 Centerline is valid? [True, True] Translation: X:291.19, Y:26.59, Z:-1.38 [[ 9.84149563e-01 -1.77224454e-01 -6.41330407e-03 2.91190917e+02] [ 1.77223886e-01 9.84170339e-01 -6.61286757e-04 2.65915499e+01] [ 6.42897982e-03 -4.85785595e-04 9.99979216e-01 -1.37769991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.381400513 meters 0.07245202990402119 Centerline is valid? [True, True] Translation: X:291.25, Y:26.60, Z:-1.37 [[ 9.84185624e-01 -1.77115012e-01 -2.98845768e-03 2.91252344e+02] [ 1.77114889e-01 9.84190135e-01 -3.07750121e-04 2.66002451e+01] [ 2.99571773e-03 -2.26417106e-04 9.99995487e-01 -1.37245771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.441400513 meters 0.07016152776506551 Centerline is valid? [True, True] Translation: X:291.31, Y:26.61, Z:-1.37 [[ 9.84316527e-01 -1.76410702e-01 -4.88581435e-04 2.91314315e+02] [ 1.76410698e-01 9.84316648e-01 -5.03008113e-05 2.66062163e+01] [ 4.89792442e-04 -3.66790723e-05 9.99999879e-01 -1.37001098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.501400513 meters 0.06506707033137947 Centerline is valid? [True, True] Translation: X:291.37, Y:26.62, Z:-1.37 [[ 9.85184405e-01 -1.71485343e-01 -2.11297854e-03 2.91374323e+02] [ 1.71485270e-01 9.85186660e-01 -2.17199916e-04 2.66187312e+01] [ 2.11892487e-03 -1.48362724e-04 9.99997744e-01 -1.37192406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.561400513 meters 0.06109141446714004 Centerline is valid? [True, True] Translation: X:291.43, Y:26.63, Z:-1.37 [[ 9.86018691e-01 -1.66608870e-01 -2.93677019e-03 2.91433634e+02] [ 1.66608707e-01 9.86023046e-01 -3.01853616e-04 2.66334225e+01] [ 2.94601457e-03 -1.91658176e-04 9.99995642e-01 -1.37196330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.621400513 meters 0.05100229849012676 Centerline is valid? [True, True] Translation: X:291.49, Y:26.65, Z:-1.37 [[ 9.86543900e-01 -1.63484786e-01 -1.96426778e-03 2.91492979e+02] [ 1.63484707e-01 9.86545848e-01 -2.01882796e-04 2.66497487e+01] [ 1.97084499e-03 -1.21961502e-04 9.99998050e-01 -1.36907772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.681400513 meters 0.05880950725448731 Centerline is valid? [True, True] Translation: X:291.56, Y:26.64, Z:-1.37 [[ 9.86538090e-01 -1.63509722e-01 -2.67728183e-03 2.91555273e+02] [ 1.63509576e-01 9.86541709e-01 -2.74824898e-04 2.66439664e+01] [ 2.68618673e-03 -1.66635986e-04 9.99996378e-01 -1.37040380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74140051300003 meters 0.06164440326736232 Centerline is valid? [True, True] Translation: X:291.62, Y:26.64, Z:-1.37 [[ 9.86065540e-01 -1.66340169e-01 -2.38743252e-03 2.91616138e+02] [ 1.66340061e-01 9.86068418e-01 -2.44998080e-04 2.66425754e+01] [ 2.39492483e-03 -1.55541507e-04 9.99997120e-01 -1.37038938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80140051300003 meters 0.07414074031281304 Centerline is valid? [True, True] Translation: X:291.68, Y:26.63, Z:-1.37 [[ 9.85221802e-01 -1.71256023e-01 -3.06199150e-03 2.91677484e+02] [ 1.71255870e-01 9.85226537e-01 -3.14183987e-04 2.66303986e+01] [ 3.07056118e-03 -2.14843104e-04 9.99995263e-01 -1.37181044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86140051300004 meters 0.06791114041256262 Centerline is valid? [True, True] Translation: X:291.74, Y:26.64, Z:-1.37 [[ 9.84788829e-01 -1.73728604e-01 -3.05531505e-03 2.91736977e+02] [ 1.73728463e-01 9.84793543e-01 -3.13461390e-04 2.66398975e+01] [ 3.06331174e-03 -2.22101914e-04 9.99995283e-01 -1.37104827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92140051300004 meters 0.06730142427490124 Centerline is valid? [True, True] Translation: X:291.80, Y:26.64, Z:-1.37 [[ 9.84614420e-01 -1.74720441e-01 -2.68532109e-03 2.91798651e+02] [ 1.74720336e-01 9.84618062e-01 -2.75446826e-04 2.66388284e+01] [ 2.69214184e-03 -1.97971285e-04 9.99996357e-01 -1.37099268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.981400513 meters 0.07038464601677866 Centerline is valid? [True, True] Translation: X:291.86, Y:26.64, Z:-1.37 [[ 9.84727864e-01 -1.74080941e-01 -2.61898338e-03 2.91860739e+02] [ 1.74080839e-01 9.84731329e-01 -2.68296393e-04 2.66409730e+01] [ 2.62570028e-03 -1.91715892e-04 9.99996534e-01 -1.36998594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.041400513 meters 0.06764991503558004 Centerline is valid? [True, True] Translation: X:291.92, Y:26.65, Z:-1.37 [[ 9.84910988e-01 -1.73050815e-01 -1.93918354e-03 2.91922559e+02] [ 1.73050758e-01 9.84912887e-01 -1.98550392e-04 2.66452021e+01] [ 1.94428617e-03 -1.40022718e-04 9.99998100e-01 -1.36879665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.101400513 meters 0.06446406860842868 Centerline is valid? [True, True] Translation: X:291.98, Y:26.64, Z:-1.37 [[ 9.85145898e-01 -1.71682072e-01 -3.58127361e-03 2.91984956e+02] [ 1.71681868e-01 9.85152375e-01 -3.66545823e-04 2.66449869e+01] [ 3.59102955e-03 -2.53738629e-04 9.99993520e-01 -1.37210343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.161400513 meters 0.06872886004157926 Centerline is valid? [True, True] Translation: X:292.05, Y:26.64, Z:-1.37 [[ 9.85103387e-01 -1.71927496e-01 -3.50047109e-03 2.92047205e+02] [ 1.71927303e-01 9.85109575e-01 -3.58122828e-04 2.66442117e+01] [ 3.50991875e-03 -2.49038542e-04 9.99993809e-01 -1.37110991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.221400513 meters 0.06836181544199135 Centerline is valid? [True, True] Translation: X:292.11, Y:26.65, Z:-1.37 [[ 9.84889034e-01 -1.73166669e-01 -2.62600599e-03 2.92108690e+02] [ 1.73166565e-01 9.84892516e-01 -2.68593713e-04 2.66462319e+01] [ 2.63284513e-03 -1.90201434e-04 9.99996516e-01 -1.36925404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.281400513 meters 0.06936910414061026 Centerline is valid? [True, True] Translation: X:292.17, Y:26.64, Z:-1.37 [[ 9.84423728e-01 -1.75776869e-01 -3.52363561e-03 2.92169544e+02] [ 1.75776699e-01 9.84429999e-01 -3.60380864e-04 2.66432547e+01] [ 3.53211922e-03 -2.64605562e-04 9.99993727e-01 -1.37055873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.341400513 meters 0.0658781952583035 Centerline is valid? [True, True] Translation: X:292.23, Y:26.64, Z:-1.37 [[ 9.83958910e-01 -1.78370727e-01 -2.95772745e-03 2.92229876e+02] [ 1.78370618e-01 9.83963328e-01 -3.02522495e-04 2.66444397e+01] [ 2.96425650e-03 -2.29901969e-04 9.99995580e-01 -1.37001562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.401400513 meters 0.07991181338520797 Centerline is valid? [True, True] Translation: X:292.29, Y:26.63, Z:-1.37 [[ 9.83389216e-01 -1.81494831e-01 -2.29687085e-03 2.92291728e+02] [ 1.81494774e-01 9.83391881e-01 -2.34838404e-04 2.66276236e+01] [ 2.30134610e-03 -1.85932501e-04 9.99997335e-01 -1.36925564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.461400513 meters 0.07943246450736349 Centerline is valid? [True, True] Translation: X:292.35, Y:26.62, Z:-1.37 [[ 9.82553804e-01 -1.85950549e-01 -3.22744238e-03 2.92353506e+02] [ 1.85950462e-01 9.82559065e-01 -3.29940424e-04 2.66204044e+01] [ 3.23250537e-03 -2.75960181e-04 9.99994737e-01 -1.36965647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.521400513 meters 0.07911366706144159 Centerline is valid? [True, True] Translation: X:292.42, Y:26.62, Z:-1.37 [[ 9.82455388e-01 -1.86446009e-01 -4.39282586e-03 2.92416007e+02] [ 1.86445852e-01 9.82465136e-01 -4.48896106e-04 2.66238133e+01] [ 4.39949314e-03 -3.78003763e-04 9.99990251e-01 -1.37081946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.581400513 meters 0.07803467569306778 Centerline is valid? [True, True] Translation: X:292.48, Y:26.62, Z:-1.37 [[ 9.83578564e-01 -1.80470791e-01 -1.87154691e-03 2.92476533e+02] [ 1.80470752e-01 9.83580333e-01 -1.91253155e-04 2.66167175e+01] [ 1.87533234e-03 -1.49646973e-04 9.99998230e-01 -1.36568820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.641400513 meters 0.063881556520145 Centerline is valid? [True, True] Translation: X:292.54, Y:26.63, Z:-1.37 [[ 9.84650543e-01 -1.74531780e-01 -1.40217906e-03 2.92535652e+02] [ 1.74531752e-01 9.84651536e-01 -1.43285259e-04 2.66327662e+01] [ 1.40566559e-03 -1.03638859e-04 9.99999007e-01 -1.36523488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.701400513 meters 0.0629109079131784 Centerline is valid? [True, True] Translation: X:292.60, Y:26.64, Z:-1.37 [[ 9.85288667e-01 -1.70894161e-01 -1.19521272e-03 2.92596150e+02] [ 1.70894138e-01 9.85289388e-01 -1.22133768e-04 2.66370583e+01] [ 1.19850235e-03 -8.39178293e-05 9.99999278e-01 -1.36560998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.761400513 meters 0.06205123643355192 Centerline is valid? [True, True] Translation: X:292.66, Y:26.64, Z:-1.36 [[ 9.85559188e-01 -1.69330952e-01 -3.39615731e-04 2.92656144e+02] [ 1.69330950e-01 9.85559246e-01 -3.47040565e-05 2.66445736e+01] [ 3.40587895e-04 -2.33045525e-05 9.99999942e-01 -1.36299663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.821400513 meters 0.062434835760318004 Centerline is valid? [True, True] Translation: X:292.72, Y:26.65, Z:-1.36 [[ 9.85101777e-01 -1.71968931e-01 -1.08409267e-03 2.92716073e+02] [ 1.71968912e-01 9.85102371e-01 -1.10778142e-04 2.66505161e+01] [ 1.08699265e-03 -7.73024917e-05 9.99999406e-01 -1.36387371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.881400513 meters 0.07320276284762457 Centerline is valid? [True, True] Translation: X:292.78, Y:26.64, Z:-1.37 [[ 9.84278725e-01 -1.76601882e-01 -2.67702227e-03 2.92776795e+02] [ 1.76601787e-01 9.84282345e-01 -2.73570779e-04 2.66424238e+01] [ 2.68325887e-03 -2.03497019e-04 9.99996379e-01 -1.36763579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.941400513 meters 0.07465809783735808 Centerline is valid? [True, True] Translation: X:292.84, Y:26.64, Z:-1.37 [[ 9.82876844e-01 -1.84203043e-01 -4.72748294e-03 2.92838026e+02] [ 1.84202835e-01 9.82888133e-01 -4.83109483e-04 2.66374981e+01] [ 4.73557711e-03 -3.95978636e-04 9.99988709e-01 -1.37207919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.001400513 meters 0.08080353617122077 Centerline is valid? [True, True] Translation: X:292.90, Y:26.64, Z:-1.37 [[ 9.82843358e-01 -1.84392824e-01 -4.26844170e-03 2.92899295e+02] [ 1.84392658e-01 9.82852562e-01 -4.35895076e-04 2.66350330e+01] [ 4.27562478e-03 -3.58652728e-04 9.99990795e-01 -1.37022310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.061400513 meters 0.0772289350692919 Centerline is valid? [True, True] Translation: X:292.96, Y:26.65, Z:-1.37 [[ 9.83206612e-01 -1.82443391e-01 -4.37798837e-03 2.92959096e+02] [ 1.82443197e-01 9.83216294e-01 -4.47028869e-04 2.66461307e+01] [ 4.38606696e-03 -3.59212457e-04 9.99990317e-01 -1.36991588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.121400513 meters 0.07057560242410088 Centerline is valid? [True, True] Translation: X:293.02, Y:26.66, Z:-1.37 [[ 9.84708584e-01 -1.74127175e-01 -5.36015254e-03 2.93018689e+02] [ 1.74126762e-01 9.84723094e-01 -5.47284891e-04 2.66568472e+01] [ 5.37356317e-03 -3.94429874e-04 9.99985485e-01 -1.37329379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.181400513 meters 0.0611814245111304 Centerline is valid? [True, True] Translation: X:293.08, Y:26.67, Z:-1.37 [[ 9.85195468e-01 -1.71361143e-01 -5.02469199e-03 2.93077549e+02] [ 1.71360744e-01 9.85208218e-01 -5.13030339e-04 2.66738268e+01] [ 5.03828130e-03 -3.55599794e-04 9.99987245e-01 -1.37317812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24140051300003 meters 0.06001352553646825 Centerline is valid? [True, True] Translation: X:293.14, Y:26.68, Z:-1.37 [[ 9.85280195e-01 -1.70907437e-01 -3.68593890e-03 2.93139228e+02] [ 1.70907220e-01 9.85287055e-01 -3.76188704e-04 2.66792101e+01] [ 3.69600133e-03 -2.59302290e-04 9.99993136e-01 -1.37142302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30140051300003 meters 0.06712091493655593 Centerline is valid? [True, True] Translation: X:293.20, Y:26.67, Z:-1.37 [[ 9.84847938e-01 -1.73349571e-01 -4.94618549e-03 2.93200114e+02] [ 1.73349210e-01 9.84860293e-01 -5.04823153e-04 2.66708461e+01] [ 4.95881257e-03 -3.60243307e-04 9.99987640e-01 -1.37142314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36140051300004 meters 0.08634205251486304 Centerline is valid? [True, True] Translation: X:293.26, Y:26.65, Z:-1.38 [[ 9.84341924e-01 -1.76183215e-01 -5.51822732e-03 2.93262007e+02] [ 1.76182810e-01 9.84357303e-01 -5.63260820e-04 2.66519867e+01] [ 5.53114446e-03 -4.17775554e-04 9.99984616e-01 -1.37527390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42140051300004 meters 0.07279669397897309 Centerline is valid? [True, True] Translation: X:293.32, Y:26.66, Z:-1.37 [[ 9.83809303e-01 -1.79192449e-01 -3.05320998e-03 2.93322496e+02] [ 1.79192340e-01 9.83814011e-01 -3.11608738e-04 2.66603706e+01] [ 3.05962869e-03 -2.40548264e-04 9.99995290e-01 -1.37236351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.481400513 meters 0.070739311516804 Centerline is valid? [True, True] Translation: X:293.38, Y:26.66, Z:-1.37 [[ 9.83852023e-01 -1.78942424e-01 -3.84779386e-03 2.93383770e+02] [ 1.78942248e-01 9.83859501e-01 -3.92615215e-04 2.66599358e+01] [ 3.85594407e-03 -3.02257611e-04 9.99992520e-01 -1.37168526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.541400513 meters 0.07131171819944733 Centerline is valid? [True, True] Translation: X:293.44, Y:26.66, Z:-1.37 [[ 9.84352635e-01 -1.76165567e-01 -3.94764383e-03 2.93443757e+02] [ 1.76165360e-01 9.84360505e-01 -4.02833452e-04 2.66601348e+01] [ 3.95687005e-03 -2.98907925e-04 9.99992127e-01 -1.37125899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.601400513 meters 0.06846184173276972 Centerline is valid? [True, True] Translation: X:293.50, Y:26.67, Z:-1.37 [[ 9.85351395e-01 -1.70468839e-01 -4.79617904e-03 2.93503266e+02] [ 1.70468466e-01 9.85363010e-01 -4.89441299e-04 2.66683305e+01] [ 4.80941191e-03 -3.35325618e-04 9.99988378e-01 -1.37163565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.661400513 meters 0.06596690767095326 Centerline is valid? [True, True] Translation: X:293.56, Y:26.68, Z:-1.37 [[ 9.86055338e-01 -1.66367929e-01 -4.07210641e-03 2.93563755e+02] [ 1.66367626e-01 9.86063710e-01 -4.15542808e-04 2.66763567e+01] [ 4.08448935e-03 -2.67718471e-04 9.99991623e-01 -1.37155552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.721400513 meters 0.059387894161938175 Centerline is valid? [True, True] Translation: X:293.62, Y:26.69, Z:-1.37 [[ 9.86158997e-01 -1.65761793e-01 -3.66890799e-03 2.93623599e+02] [ 1.65761542e-01 9.86165793e-01 -3.74321895e-04 2.66908899e+01] [ 3.68019982e-03 -2.39022942e-04 9.99993199e-01 -1.37109061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.781400513 meters 0.06244261212573808 Centerline is valid? [True, True] Translation: X:293.68, Y:26.69, Z:-1.37 [[ 9.85180950e-01 -1.71429465e-01 -5.51664822e-03 2.93683953e+02] [ 1.71428988e-01 9.85196318e-01 -5.62806308e-04 2.66932896e+01] [ 5.53146310e-03 -3.91247368e-04 9.99984625e-01 -1.37359169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.841400513 meters 0.06927641620469102 Centerline is valid? [True, True] Translation: X:293.75, Y:26.69, Z:-1.37 [[ 9.83931776e-01 -1.78458274e-01 -5.55913431e-03 2.93745071e+02] [ 1.78457901e-01 9.83947385e-01 -5.67142943e-04 2.66904593e+01] [ 5.57110702e-03 -4.34041474e-04 9.99984387e-01 -1.37300114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.901400513 meters 0.0788052561570603 Centerline is valid? [True, True] Translation: X:293.81, Y:26.68, Z:-1.37 [[ 9.82424369e-01 -1.86639507e-01 -2.83779808e-03 2.93805819e+02] [ 1.86639443e-01 9.82428437e-01 -2.89507489e-04 2.66810367e+01] [ 2.84196707e-03 -2.45225842e-04 9.99995932e-01 -1.36932034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.961400513 meters 0.08053202352576427 Centerline is valid? [True, True] Translation: X:293.87, Y:26.68, Z:-1.37 [[ 9.81997462e-01 -1.88873657e-01 -2.77947080e-03 2.93867271e+02] [ 1.88873605e-01 9.82001365e-01 -2.83556361e-04 2.66780403e+01] [ 2.78300045e-03 -2.46517043e-04 9.99996097e-01 -1.37045970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.021400513 meters 0.07761708990198982 Centerline is valid? [True, True] Translation: X:293.93, Y:26.68, Z:-1.37 [[ 9.82777759e-01 -1.84784246e-01 -1.63032390e-03 2.93927567e+02] [ 1.84784222e-01 9.82779102e-01 -1.66325817e-04 2.66844045e+01] [ 1.63298265e-03 -1.37796822e-04 9.99998657e-01 -1.36668311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.081400513 meters 0.06946279678143821 Centerline is valid? [True, True] Translation: X:293.99, Y:26.70, Z:-1.36 [[ 9.83762733e-01 -1.79472295e-01 -7.61468673e-04 2.93986895e+02] [ 1.79472288e-01 9.83763026e-01 -7.76854464e-05 2.66962068e+01] [ 7.63047112e-04 -6.02384784e-05 9.99999707e-01 -1.36491698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.141400513 meters 0.07328047242662265 Centerline is valid? [True, True] Translation: X:294.05, Y:26.69, Z:-1.37 [[ 9.84883042e-01 -1.73200266e-01 -2.65722966e-03 2.94046834e+02] [ 1.73200162e-01 9.84886608e-01 -2.71101040e-04 2.66935448e+01] [ 2.66402468e-03 -1.93229789e-04 9.99996433e-01 -1.36745814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.201400513 meters 0.06873505256765662 Centerline is valid? [True, True] Translation: X:294.11, Y:26.71, Z:-1.37 [[ 9.85677569e-01 -1.68624206e-01 -2.36783227e-03 2.94106561e+02] [ 1.68624110e-01 9.85680400e-01 -2.41580990e-04 2.67055303e+01] [ 2.37466226e-03 -1.61152646e-04 9.99997168e-01 -1.36724599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.261400513 meters 0.06349099377509693 Centerline is valid? [True, True] Translation: X:294.17, Y:26.72, Z:-1.36 [[ 9.86170033e-01 -1.65734727e-01 -8.16079882e-04 2.94166417e+02] [ 1.65734715e-01 9.86170369e-01 -8.32587154e-05 2.67191675e+01] [ 8.18592659e-04 -5.31455161e-05 9.99999664e-01 -1.36472867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.321400513 meters 0.063543459196055 Centerline is valid? [True, True] Translation: X:294.23, Y:26.73, Z:-1.37 [[ 9.85962506e-01 -1.66947766e-01 -2.52602530e-03 2.94227335e+02] [ 1.66947651e-01 9.85965727e-01 -2.57651193e-04 2.67267025e+01] [ 2.53358866e-03 -1.67679574e-04 9.99996776e-01 -1.36781525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.381400513 meters 0.06427254661815339 Centerline is valid? [True, True] Translation: X:294.29, Y:26.73, Z:-1.37 [[ 9.85357894e-01 -1.70462027e-01 -3.53804011e-03 2.94287870e+02] [ 1.70461824e-01 9.85364215e-01 -3.60885743e-04 2.67316261e+01] [ 3.54777543e-03 -2.47499157e-04 9.99993676e-01 -1.37018279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.441400513 meters 0.08231297404308262 Centerline is valid? [True, True] Translation: X:294.35, Y:26.72, Z:-1.37 [[ 9.83858846e-01 -1.78921681e-01 -2.96702114e-03 2.94349593e+02] [ 1.78921576e-01 9.83863292e-01 -3.02664992e-04 2.67157167e+01] [ 2.97329651e-03 -2.33084469e-04 9.99995553e-01 -1.37029254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.501400513 meters 0.08396136591656864 Centerline is valid? [True, True] Translation: X:294.41, Y:26.72, Z:-1.37 [[ 9.83228363e-01 -1.82355029e-01 -2.93750468e-03 2.94410040e+02] [ 1.82354942e-01 9.83232722e-01 -2.99682754e-04 2.67168942e+01] [ 2.94289938e-03 -2.41011910e-04 9.99995641e-01 -1.36986729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.561400513 meters 0.08556004099472314 Centerline is valid? [True, True] Translation: X:294.47, Y:26.72, Z:-1.37 [[ 9.83224585e-01 -1.82353345e-01 -4.08326554e-03 2.94469512e+02] [ 1.82353174e-01 9.83233007e-01 -4.17136278e-04 2.67169558e+01] [ 4.09086765e-03 -3.34457789e-04 9.99991576e-01 -1.37142815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.621400513 meters 0.07222782164446134 Centerline is valid? [True, True] Translation: X:294.53, Y:26.74, Z:-1.37 [[ 9.84203304e-01 -1.77023990e-01 -2.52252386e-03 2.94528872e+02] [ 1.77023908e-01 9.84206518e-01 -2.57723662e-04 2.67368292e+01] [ 2.52830769e-03 -1.92894552e-04 9.99996785e-01 -1.36811924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.681400513 meters 0.06730149858064279 Centerline is valid? [True, True] Translation: X:294.59, Y:26.75, Z:-1.37 [[ 9.85014813e-01 -1.72444919e-01 -2.92693601e-03 2.94588229e+02] [ 1.72444788e-01 9.85019140e-01 -2.99041665e-04 2.67497617e+01] [ 2.93465621e-03 -2.10174391e-04 9.99995672e-01 -1.36856511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74140051300003 meters 0.059163015207817624 Centerline is valid? [True, True] Translation: X:294.65, Y:26.76, Z:-1.37 [[ 9.85845190e-01 -1.67590239e-01 -4.77207149e-03 2.94648048e+02] [ 1.67589833e-01 9.85856688e-01 -4.87584323e-04 2.67597261e+01] [ 4.78629297e-03 -3.19068006e-04 9.99988495e-01 -1.37202185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80140051300003 meters 0.05866967602577529 Centerline is valid? [True, True] Translation: X:294.71, Y:26.77, Z:-1.37 [[ 9.86122160e-01 -1.65989807e-01 -3.23557741e-03 2.94707524e+02] [ 1.65989612e-01 9.86127446e-01 -3.30628194e-04 2.67668582e+01] [ 3.24557260e-03 -2.11032452e-04 9.99994711e-01 -1.36920994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86140051300004 meters 0.06658129593175091 Centerline is valid? [True, True] Translation: X:294.77, Y:26.76, Z:-1.37 [[ 9.86200119e-01 -1.65554336e-01 -1.04272277e-03 2.94766911e+02] [ 1.65554315e-01 9.86200668e-01 -1.06572290e-04 2.67641724e+01] [ 1.04597740e-03 -6.75256501e-05 9.99999451e-01 -1.36721111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92140051300004 meters 0.06450256423388691 Centerline is valid? [True, True] Translation: X:294.83, Y:26.78, Z:-1.37 [[ 9.86020518e-01 -1.66615471e-01 -1.68029376e-03 2.94826897e+02] [ 1.66615419e-01 9.86021943e-01 -1.71735052e-04 2.67786272e+01] [ 1.68542024e-03 -1.10628565e-04 9.99998574e-01 -1.36958343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.981400513 meters 0.06222080127069121 Centerline is valid? [True, True] Translation: X:294.89, Y:26.78, Z:-1.37 [[ 9.85782017e-01 -1.68016718e-01 -2.04870516e-03 2.94886717e+02] [ 1.68016644e-01 9.85784136e-01 -2.09393073e-04 2.67830612e+01] [ 2.05476259e-03 -1.37800641e-04 9.99997879e-01 -1.37037626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.041400513 meters 0.06760817458734229 Centerline is valid? [True, True] Translation: X:294.95, Y:26.78, Z:-1.37 [[ 9.85220455e-01 -1.71266524e-01 -2.90384596e-03 2.94946521e+02] [ 1.71266389e-01 9.85224713e-01 -2.96829605e-04 2.67836229e+01] [ 2.91177778e-03 -2.04888614e-04 9.99995740e-01 -1.37099655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.101400513 meters 0.07062344945054706 Centerline is valid? [True, True] Translation: X:295.00, Y:26.80, Z:-1.37 [[ 9.85051009e-01 -1.72228960e-01 -3.41971729e-03 2.95004982e+02] [ 1.72228778e-01 9.85056915e-01 -3.49670339e-04 2.67952393e+01] [ 3.42883952e-03 -2.44530610e-04 9.99994092e-01 -1.37159482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.161400513 meters 0.06845503280664907 Centerline is valid? [True, True] Translation: X:295.06, Y:26.80, Z:-1.37 [[ 9.84816447e-01 -1.73529518e-01 -4.90627327e-03 2.95064434e+02] [ 1.73529161e-01 9.84828604e-01 -5.01748872e-04 2.68049960e+01] [ 4.91890649e-03 -3.57250941e-04 9.99987838e-01 -1.37480119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.221400513 meters 0.06522858952083367 Centerline is valid? [True, True] Translation: X:295.12, Y:26.81, Z:-1.37 [[ 9.84183065e-01 -1.77082628e-01 -5.04354158e-03 2.95124090e+02] [ 1.77082296e-01 9.84195913e-01 -5.15838991e-04 2.68127861e+01] [ 5.05517913e-03 -3.85441925e-04 9.99987148e-01 -1.37391313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.281400513 meters 0.08080015452031081 Centerline is valid? [True, True] Translation: X:295.19, Y:26.80, Z:-1.37 [[ 9.83590974e-01 -1.80356765e-01 -4.49824338e-03 2.95185378e+02] [ 1.80356535e-01 9.83601194e-01 -4.60096933e-04 2.68007375e+01] [ 4.50745915e-03 -3.58740397e-04 9.99989777e-01 -1.37419045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.341400513 meters 0.08149898378126759 Centerline is valid? [True, True] Translation: X:295.25, Y:26.80, Z:-1.37 [[ 9.83104260e-01 -1.82993075e-01 -4.42135927e-03 2.95246034e+02] [ 1.82992880e-01 9.83114135e-01 -4.52234277e-04 2.68032178e+01] [ 4.42945654e-03 -3.64483821e-04 9.99990123e-01 -1.37461987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.401400513 meters 0.08397079961027969 Centerline is valid? [True, True] Translation: X:295.31, Y:26.80, Z:-1.37 [[ 9.83436758e-01 -1.81197393e-01 -4.43257521e-03 2.95305783e+02] [ 1.81197178e-01 9.83446682e-01 -4.53441069e-04 2.67988536e+01] [ 4.44136372e-03 -3.57239503e-04 9.99990073e-01 -1.37474457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.461400513 meters 0.07283801599857863 Centerline is valid? [True, True] Translation: X:295.37, Y:26.82, Z:-1.38 [[ 9.84443147e-01 -1.75619117e-01 -5.44204963e-03 2.95365168e+02] [ 1.75618708e-01 9.84458105e-01 -5.56713474e-04 2.68157279e+01] [ 5.45523939e-03 -4.07672958e-04 9.99985037e-01 -1.37609733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.521400513 meters 0.06096603890427205 Centerline is valid? [True, True] Translation: X:295.42, Y:26.83, Z:-1.37 [[ 9.86666615e-01 -1.62720545e-01 -3.31878402e-03 2.95424217e+02] [ 1.62720320e-01 9.86672176e-01 -3.39513786e-04 2.68287608e+01] [ 3.32979772e-03 -2.05046679e-04 9.99994435e-01 -1.37254692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.581400513 meters 0.05414125578486135 Centerline is valid? [True, True] Translation: X:295.48, Y:26.84, Z:-1.37 [[ 9.88116323e-01 -1.53703935e-01 -1.11004008e-03 2.95482595e+02] [ 1.53703904e-01 9.88116945e-01 -1.13566910e-04 2.68389140e+01] [ 1.11430509e-03 -5.84001760e-05 9.99999377e-01 -1.36832631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.641400513 meters 0.04482366048012607 Centerline is valid? [True, True] Translation: X:295.54, Y:26.86, Z:-1.37 [[ 9.89215537e-01 -1.46463238e-01 -1.06830012e-03 2.95541231e+02] [ 1.46463205e-01 9.89216113e-01 -1.09301701e-04 2.68565070e+01] [ 1.07278837e-03 -4.83437185e-05 9.99999423e-01 -1.36886820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.701400513 meters 0.04103981957978597 Centerline is valid? [True, True] Translation: X:295.60, Y:26.87, Z:-1.37 [[ 9.90150876e-01 -1.40004194e-01 2.61097640e-04 2.95601002e+02] [ 1.40004192e-01 9.90150910e-01 2.67144162e-05 2.68672572e+01] [-2.62266197e-04 1.01034615e-05 9.99999966e-01 -1.36837060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.761400513 meters 0.04513654925121256 Centerline is valid? [True, True] Translation: X:295.66, Y:26.87, Z:-1.37 [[ 9.90461541e-01 -1.37789158e-01 2.90886767e-04 2.95660890e+02] [ 1.37789155e-01 9.90461583e-01 2.97526972e-05 2.68738635e+01] [-2.92211767e-04 1.06121396e-05 9.99999957e-01 -1.36745349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.821400513 meters 0.03360330067588781 Centerline is valid? [True, True] Translation: X:295.72, Y:26.89, Z:-1.37 [[ 9.90700799e-01 -1.36057498e-01 -5.32930135e-04 2.95721159e+02] [ 1.36057489e-01 9.90700942e-01 -5.45187199e-05 2.68877199e+01] [ 5.35392068e-04 -1.84973964e-05 9.99999857e-01 -1.36904630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.881400513 meters 0.03539294891674274 Centerline is valid? [True, True] Translation: X:295.78, Y:26.89, Z:-1.37 [[ 9.91297820e-01 -1.31634174e-01 -1.03733268e-03 2.95781438e+02] [ 1.31634135e-01 9.91298362e-01 -1.06096581e-04 2.68904071e+01] [ 1.04227212e-03 -3.13750796e-05 9.99999456e-01 -1.37026542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.941400513 meters 0.026417772763785895 Centerline is valid? [True, True] Translation: X:295.84, Y:26.91, Z:-1.37 [[ 9.91813562e-01 -1.27679208e-01 -1.96905978e-03 2.95840539e+02] [ 1.27679059e-01 9.91815516e-01 -2.01392009e-04 2.69079893e+01] [ 1.97865762e-03 -5.16643748e-05 9.99998041e-01 -1.37157336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.001400513 meters 0.023580805772154958 Centerline is valid? [True, True] Translation: X:295.90, Y:26.92, Z:-1.37 [[ 9.92534742e-01 -1.21950701e-01 -1.67691474e-03 2.95899071e+02] [ 1.21950585e-01 9.92536158e-01 -1.71525990e-04 2.69203074e+01] [ 1.68531623e-03 -3.42552287e-05 9.99998579e-01 -1.37102464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.061400513 meters 0.017008697807885467 Centerline is valid? [True, True] Translation: X:295.96, Y:26.93, Z:-1.37 [[ 9.93070726e-01 -1.17492124e-01 -2.47651698e-03 2.95959845e+02] [ 1.17491858e-01 9.93073814e-01 -2.53250913e-04 2.69346414e+01] [ 2.48911915e-03 -3.94745127e-05 9.99996901e-01 -1.37097407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.121400513 meters 0.01219706434821325 Centerline is valid? [True, True] Translation: X:296.02, Y:26.95, Z:-1.37 [[ 9.93715680e-01 -1.11901919e-01 -2.66601112e-03 2.96020567e+02] [ 1.11901590e-01 9.93719256e-01 -2.72529466e-04 2.69495263e+01] [ 2.67976316e-03 -2.75140806e-05 9.99996409e-01 -1.37143095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.181400513 meters 0.00755196591530131 Centerline is valid? [True, True] Translation: X:296.08, Y:26.97, Z:-1.37 [[ 9.94711321e-01 -1.02693140e-01 -1.87275110e-03 2.96079780e+02] [ 1.02692961e-01 9.94713084e-01 -1.91376184e-04 2.69697943e+01] [ 1.88250304e-03 -1.95429887e-06 9.99998228e-01 -1.37171938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24140051300003 meters 0.014941636817362368 Centerline is valid? [True, True] Translation: X:296.14, Y:26.99, Z:-1.37 [[ 9.95324126e-01 -9.65265939e-02 -3.53552942e-03 2.96140841e+02] [ 9.65259201e-02 9.95330406e-01 -3.61114061e-04 2.69877026e+01] [ 3.55387704e-03 1.81553067e-05 9.99993685e-01 -1.37279898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30140051300003 meters 0.019294561957648605 Centerline is valid? [True, True] Translation: X:296.20, Y:27.00, Z:-1.37 [[ 9.95821013e-01 -9.12806620e-02 -2.88975976e-03 2.96200298e+02] [ 9.12801901e-02 9.95825205e-01 -2.95049945e-04 2.70047392e+01] [ 2.90462796e-03 3.00391144e-05 9.99995781e-01 -1.37236837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36140051300004 meters 0.016758024741965635 Centerline is valid? [True, True] Translation: X:296.26, Y:27.01, Z:-1.37 [[ 9.96095273e-01 -8.82830014e-02 -5.64387589e-04 2.96260898e+02] [ 8.82829829e-02 9.96095433e-01 -5.76188165e-05 2.70138640e+01] [ 5.67270662e-04 7.56801084e-06 9.99999839e-01 -1.37179748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42140051300004 meters 0.015691414996475198 Centerline is valid? [True, True] Translation: X:296.32, Y:27.02, Z:-1.38 [[ 9.96108517e-01 -8.81013303e-02 -2.44488001e-03 2.96322643e+02] [ 8.81009835e-02 9.96111517e-01 -2.49430764e-04 2.70179960e+01] [ 2.45734831e-03 3.30637751e-05 9.99996980e-01 -1.37523754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.481400513 meters 0.0161635623736999 Centerline is valid? [True, True] Translation: X:296.38, Y:27.02, Z:-1.38 [[ 9.96120048e-01 -8.79140810e-02 -3.99556909e-03 2.96384830e+02] [ 8.79131538e-02 9.96128060e-01 -4.07425746e-04 2.70220115e+01] [ 4.01591695e-03 5.45818733e-05 9.99991935e-01 -1.37776677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.541400513 meters 0.019466203421126857 Centerline is valid? [True, True] Translation: X:296.45, Y:27.03, Z:-1.37 [[ 9.96446057e-01 -8.42168153e-02 -1.66841149e-03 2.96446796e+02] [ 8.42166486e-02 9.96447453e-01 -1.70059622e-04 2.70272855e+01] [ 1.67680626e-03 2.89472160e-05 9.99998594e-01 -1.37297916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.601400513 meters 0.023967236803693878 Centerline is valid? [True, True] Translation: X:296.51, Y:27.03, Z:-1.37 [[ 9.96818509e-01 -7.96898985e-02 -1.54261388e-03 2.96507704e+02] [ 7.96897506e-02 9.96819702e-01 -1.57189804e-04 2.70348409e+01] [ 1.55023435e-03 3.37591905e-05 9.99998798e-01 -1.37283643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.661400513 meters 0.02627872742245628 Centerline is valid? [True, True] Translation: X:296.57, Y:27.04, Z:-1.37 [[ 9.97072437e-01 -7.64520144e-02 1.28220036e-03 2.96565857e+02] [ 7.64580184e-02 9.97057203e-01 -5.57722032e-03 2.70415938e+01] [-8.52037374e-04 5.65892716e-03 9.99983625e-01 -1.36855943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.721400513 meters 0.026440500984574417 Centerline is valid? [True, True] Translation: X:296.63, Y:27.03, Z:-1.37 [[ 9.96963546e-01 -7.78671764e-02 -6.25043853e-04 2.96630939e+02] [ 7.78694711e-02 9.96947506e-01 5.65828079e-03 2.70333706e+01] [ 1.82541562e-04 -5.68977152e-03 9.99983796e-01 -1.37176818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.781400513 meters 0.025697611585831753 Centerline is valid? [True, True] Translation: X:296.69, Y:27.03, Z:-1.37 [[ 9.96866945e-01 -7.90844256e-02 -1.39525102e-03 2.96693539e+02] [ 7.90843045e-02 9.96867921e-01 -1.41840723e-04 2.70325468e+01] [ 1.40209837e-03 3.10538717e-05 9.99999017e-01 -1.37382559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.841400513 meters 0.02405016363189906 Centerline is valid? [True, True] Translation: X:296.76, Y:27.03, Z:-1.37 [[ 9.96827963e-01 -7.95861309e-02 -2.46634061e-04 2.96755690e+02] [ 7.95861271e-02 9.96827993e-01 -2.50804194e-05 2.70337289e+01] [ 2.47847790e-04 5.37221361e-06 9.99999969e-01 -1.37173647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.901400513 meters 0.022546509569894898 Centerline is valid? [True, True] Translation: X:296.82, Y:27.03, Z:-1.37 [[ 9.96769250e-01 -8.02731222e-02 2.69976417e-03 2.96818187e+02] [ 8.02726740e-02 9.96772904e-01 2.74122836e-04 2.70307894e+01] [-2.71305647e-03 -5.65199243e-05 9.99996318e-01 -1.36763736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.961400513 meters 0.024249829912894424 Centerline is valid? [True, True] Translation: X:296.88, Y:27.03, Z:-1.37 [[ 9.96778467e-01 -8.02023902e-02 5.15037316e-04 2.96879710e+02] [ 8.02023739e-02 9.96778600e-01 5.22625280e-05 2.70289018e+01] [-5.17569755e-04 -1.07869471e-05 9.99999866e-01 -1.37077251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.021400513 meters 0.025936162216054 Centerline is valid? [True, True] Translation: X:296.94, Y:27.03, Z:-1.38 [[ 9.96947905e-01 -7.79538102e-02 -4.25186331e-03 2.96942221e+02] [ 7.79526788e-02 9.96956967e-01 -4.31415513e-04 2.70310479e+01] [ 4.27255524e-03 9.86546568e-05 9.99990868e-01 -1.37882130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.081400513 meters 0.03538670404725126 Centerline is valid? [True, True] Translation: X:297.00, Y:27.03, Z:-1.38 [[ 9.97339908e-01 -7.26671087e-02 -5.70952841e-03 2.97003693e+02] [ 7.26649830e-02 9.97356238e-01 -5.79157610e-04 2.70346445e+01] [ 5.73651948e-03 1.62734213e-04 9.99983533e-01 -1.38136954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.141400513 meters 0.036670008765170736 Centerline is valid? [True, True] Translation: X:297.06, Y:27.05, Z:-1.38 [[ 9.97683610e-01 -6.79597928e-02 -2.97991838e-03 2.97063592e+02] [ 6.79591928e-02 9.97688056e-01 -3.02237433e-04 2.70453641e+01] [ 2.99356897e-03 9.90244856e-05 9.99995514e-01 -1.37696917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.201400513 meters 0.04443170982614343 Centerline is valid? [True, True] Translation: X:297.12, Y:27.06, Z:-1.38 [[ 9.98191839e-01 -5.99813585e-02 -3.91011054e-03 2.97122614e+02] [ 5.99802644e-02 9.98199484e-01 -3.96588721e-04 2.70602433e+01] [ 3.92685825e-03 1.61342161e-04 9.99992277e-01 -1.37820504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.261400513 meters 0.059133180712269584 Centerline is valid? [True, True] Translation: X:297.18, Y:27.09, Z:-1.38 [[ 9.98735824e-01 -5.00450690e-02 -4.71653469e-03 2.97179989e+02] [ 5.00433663e-02 9.98746931e-01 -4.78421544e-04 2.70853885e+01] [ 4.73456719e-03 2.41785461e-04 9.99988763e-01 -1.37963257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.321400513 meters 0.0579304785161583 Centerline is valid? [True, True] Translation: X:297.24, Y:27.09, Z:-1.38 [[ 9.98814622e-01 -4.85939809e-02 -2.82430745e-03 2.97241517e+02] [ 4.85933647e-02 9.98818604e-01 -2.86404811e-04 2.70891431e+01] [ 2.83488837e-03 1.48822711e-04 9.99995971e-01 -1.37710425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.381400513 meters 0.05717507071860218 Centerline is valid? [True, True] Translation: X:297.30, Y:27.09, Z:-1.38 [[ 9.98759247e-01 -4.97426984e-02 -2.37287148e-03 2.97303442e+02] [ 4.97422669e-02 9.98762058e-01 -2.40543655e-04 2.70924204e+01] [ 2.38189929e-03 1.22213193e-04 9.99997156e-01 -1.37745841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.441400513 meters 0.053771790933713516 Centerline is valid? [True, True] Translation: X:297.37, Y:27.09, Z:-1.38 [[ 9.98679791e-01 -5.13467550e-02 -1.47847510e-03 2.97365835e+02] [ 5.13465893e-02 9.98680883e-01 -1.49828847e-04 2.70899791e+01] [ 1.48421804e-03 7.37163877e-05 9.99998896e-01 -1.37537822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.501400513 meters 0.054251683735599104 Centerline is valid? [True, True] Translation: X:297.43, Y:27.10, Z:-1.37 [[ 9.98563633e-01 -5.35783796e-02 1.65361287e-04 2.97425862e+02] [ 5.35783775e-02 9.98563647e-01 1.67400450e-05 2.70979085e+01] [-1.66020674e-04 -7.85621073e-06 9.99999986e-01 -1.37343598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.561400513 meters 0.04948506857324231 Centerline is valid? [True, True] Translation: X:297.49, Y:27.09, Z:-1.37 [[ 9.98365285e-01 -5.71252982e-02 1.85982942e-03 2.97487648e+02] [ 5.71250462e-02 9.98367013e-01 1.88380527e-04 2.70921518e+01] [-1.86755364e-03 -8.18297367e-05 9.99998253e-01 -1.37179865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.621400513 meters 0.047849370548255096 Centerline is valid? [True, True] Translation: X:297.55, Y:27.09, Z:-1.37 [[ 9.98243930e-01 -5.92372830e-02 -1.42222721e-05 2.97548553e+02] [ 5.92372829e-02 9.98243930e-01 -1.47467378e-06 2.70891880e+01] [ 1.42846525e-05 6.29595397e-07 1.00000000e+00 -1.37498877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.681400513 meters 0.04346476255027824 Centerline is valid? [True, True] Translation: X:297.61, Y:27.08, Z:-1.38 [[ 9.98096129e-01 -6.16772298e-02 -1.89878698e-04 2.97611135e+02] [ 6.16772273e-02 9.98096147e-01 -1.92269239e-05 2.70810525e+01] [ 1.90703061e-04 7.47912672e-06 9.99999982e-01 -1.37680998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74140051300003 meters 0.04397615113579403 Centerline is valid? [True, True] Translation: X:297.67, Y:27.07, Z:-1.38 [[ 9.98252368e-01 -5.90866742e-02 -9.87010230e-04 2.97673012e+02] [ 5.90866043e-02 9.98252855e-01 -9.98753230e-05 2.70746869e+01] [ 9.91187081e-04 4.13816949e-05 9.99999508e-01 -1.37748264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80140051300003 meters 0.05163976025848494 Centerline is valid? [True, True] Translation: X:297.73, Y:27.08, Z:-1.38 [[ 9.98569479e-01 -5.31851606e-02 -5.50761103e-03 2.97732751e+02] [ 5.31828942e-02 9.98584633e-01 -5.57239006e-04 2.70823133e+01] [ 5.52945259e-03 2.63531169e-04 9.99984678e-01 -1.38391289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86140051300004 meters 0.06043910198445106 Centerline is valid? [True, True] Translation: X:297.79, Y:27.09, Z:-1.39 [[ 9.98920760e-01 -4.60371604e-02 -6.15595255e-03 2.97791505e+02] [ 4.60341936e-02 9.98939670e-01 -6.22838165e-04 2.70913109e+01] [ 6.17809891e-03 3.38781661e-04 9.99980858e-01 -1.38500671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92140051300004 meters 0.07508117704773802 Centerline is valid? [True, True] Translation: X:297.85, Y:27.10, Z:-1.38 [[ 9.99337666e-01 -3.59677366e-02 -5.52736081e-03 2.97850252e+02] [ 3.59651911e-02 9.99352887e-01 -5.59271266e-04 2.71044031e+01] [ 5.54389971e-03 3.60108254e-04 9.99984568e-01 -1.38427591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.981400513 meters 0.08611159018492684 Centerline is valid? [True, True] Translation: X:297.91, Y:27.11, Z:-1.39 [[ 9.99593003e-01 -2.78307987e-02 -6.26700568e-03 2.97909090e+02] [ 2.78273667e-02 9.99612543e-01 -6.34175356e-04 2.71146055e+01] [ 6.28222709e-03 4.59522983e-04 9.99980161e-01 -1.38530692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.041400513 meters 0.08445894890423654 Centerline is valid? [True, True] Translation: X:297.97, Y:27.12, Z:-1.38 [[ 9.99767644e-01 -2.06485829e-02 -6.18819714e-03 2.97969183e+02] [ 2.06450998e-02 9.99786671e-01 -6.26225673e-04 2.71187121e+01] [ 6.19980769e-03 4.98324218e-04 9.99980657e-01 -1.38323067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.101400513 meters 0.0918436718871071 Centerline is valid? [True, True] Translation: X:298.03, Y:27.14, Z:-1.38 [[ 9.99886965e-01 -1.40228873e-02 -5.42355559e-03 2.98028119e+02] [ 1.40201149e-02 9.99901563e-01 -5.48863484e-04 2.71401615e+01] [ 5.43071837e-03 4.72762571e-04 9.99985142e-01 -1.38217641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.161400513 meters 0.08810119859342048 Centerline is valid? [True, True] Translation: X:298.09, Y:27.15, Z:-1.38 [[ 9.99924381e-01 -1.15854494e-02 -4.12434023e-03 2.98088529e+02] [ 1.15838256e-02 9.99932818e-01 -4.17384137e-04 2.71467831e+01] [ 4.12889873e-03 3.69576937e-04 9.99991408e-01 -1.38083695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.221400513 meters 0.08859733251774032 Centerline is valid? [True, True] Translation: X:298.15, Y:27.16, Z:-1.38 [[ 9.99863741e-01 -1.62074312e-02 -3.13343622e-03 2.98147647e+02] [ 1.62065164e-02 9.99868616e-01 -3.17112643e-04 2.71574426e+01] [ 3.13816411e-03 2.66287348e-04 9.99995040e-01 -1.38026412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.281400513 meters 0.08097543388842071 Centerline is valid? [True, True] Translation: X:298.21, Y:27.15, Z:-1.38 [[ 9.99694175e-01 -2.45510835e-02 -2.96654636e-03 2.98209057e+02] [ 2.45503002e-02 9.99698551e-01 -3.00207337e-04 2.71549301e+01] [ 2.97302251e-03 2.27285923e-04 9.99995555e-01 -1.37963552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.341400513 meters 0.07792895691856952 Centerline is valid? [True, True] Translation: X:298.27, Y:27.16, Z:-1.38 [[ 9.99562768e-01 -2.94563166e-02 -2.56856065e-03 2.98268851e+02] [ 2.94557454e-02 9.99566052e-01 -2.59951040e-04 2.71551160e+01] [ 2.57510323e-03 1.84178512e-04 9.99996667e-01 -1.37856257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.401400513 meters 0.07202756967603109 Centerline is valid? [True, True] Translation: X:298.33, Y:27.15, Z:-1.38 [[ 9.99469140e-01 -3.25535697e-02 -1.30533900e-03 2.98329875e+02] [ 3.25534248e-02 9.99469988e-01 -1.32109545e-04 2.71539532e+01] [ 1.30894780e-03 8.95461578e-05 9.99999139e-01 -1.37576527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.461400513 meters 0.07769812082068243 Centerline is valid? [True, True] Translation: X:298.39, Y:27.16, Z:-1.38 [[ 9.99519679e-01 -3.09431902e-02 -1.71152915e-03 2.98389063e+02] [ 3.09429388e-02 9.99521138e-01 -1.73171376e-04 2.71632305e+01] [ 1.71606803e-03 1.20128457e-04 9.99998520e-01 -1.37654799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.521400513 meters 0.08188864768373988 Centerline is valid? [True, True] Translation: X:298.45, Y:27.17, Z:-1.38 [[ 9.99573265e-01 -2.89399914e-02 -3.97047578e-03 2.98448310e+02] [ 2.89386228e-02 9.99581110e-01 -4.01708610e-04 2.71714824e+01] [ 3.98043803e-03 2.86637086e-04 9.99992037e-01 -1.38029119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.581400513 meters 0.0776314644387799 Centerline is valid? [True, True] Translation: X:298.51, Y:27.17, Z:-1.38 [[ 9.99618182e-01 -2.73111156e-02 -4.19453965e-03 2.98509129e+02] [ 2.73095738e-02 9.99626934e-01 -4.24425477e-04 2.71656635e+01] [ 4.20456634e-03 3.09712334e-04 9.99991113e-01 -1.38184359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.641400513 meters 0.07926063357376688 Centerline is valid? [True, True] Translation: X:298.57, Y:27.17, Z:-1.38 [[ 9.99641416e-01 -2.65568162e-02 -3.43132285e-03 2.98569440e+02] [ 2.65557800e-02 9.99647273e-01 -3.47203965e-04 2.71702004e+01] [ 3.43933316e-03 2.55958009e-04 9.99994053e-01 -1.38048500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.701400513 meters 0.07792763354350413 Centerline is valid? [True, True] Translation: X:298.63, Y:27.17, Z:-1.38 [[ 9.99660893e-01 -2.54723939e-02 -5.40880907e-03 2.98629937e+02] [ 2.54698034e-02 9.99675442e-01 -5.47299115e-04 2.71728956e+01] [ 5.42099462e-03 4.09352218e-04 9.99985223e-01 -1.38275364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.761400513 meters 0.08807989930239622 Centerline is valid? [True, True] Translation: X:298.69, Y:27.19, Z:-1.39 [[ 9.99660569e-01 -2.45610485e-02 -8.68918030e-03 2.98687803e+02] [ 2.45543268e-02 9.99698110e-01 -8.79423623e-04 2.71879177e+01] [ 8.70815669e-03 6.65768147e-04 9.99961862e-01 -1.38892423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.821400513 meters 0.08908726663177091 Centerline is valid? [True, True] Translation: X:298.75, Y:27.19, Z:-1.38 [[ 9.99689640e-01 -2.39806256e-02 -6.74932428e-03 2.98746493e+02] [ 2.39765503e-02 9.99712287e-01 -6.84092473e-04 2.71935197e+01] [ 6.76378738e-03 5.22054645e-04 9.99976989e-01 -1.38426910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.881400513 meters 0.08422940634522842 Centerline is valid? [True, True] Translation: X:298.81, Y:27.19, Z:-1.38 [[ 9.99713584e-01 -2.34836919e-02 -4.61143141e-03 2.98806287e+02] [ 2.34817808e-02 9.99724155e-01 -4.68125967e-04 2.71870813e+01] [ 4.62115270e-03 3.59707267e-04 9.99989258e-01 -1.38101714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.941400513 meters 0.0788778058591484 Centerline is valid? [True, True] Translation: X:298.87, Y:27.18, Z:-1.38 [[ 9.99700394e-01 -2.38861383e-02 -5.34551742e-03 2.98866091e+02] [ 2.38835750e-02 9.99714599e-01 -5.42854507e-04 2.71848441e+01] [ 5.35695850e-03 4.15021798e-04 9.99985565e-01 -1.38283055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.001400513 meters 0.07975259119843352 Centerline is valid? [True, True] Translation: X:298.93, Y:27.19, Z:-1.38 [[ 9.99687320e-01 -2.43207481e-02 -5.81059393e-03 2.98925711e+02] [ 2.43177259e-02 9.99704106e-01 -5.90223661e-04 2.71918739e+01] [ 5.82322929e-03 4.48738680e-04 9.99982944e-01 -1.38319785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.061400513 meters 0.07004756351542295 Centerline is valid? [True, True] Translation: X:298.99, Y:27.18, Z:-1.38 [[ 9.99572647e-01 -2.90694327e-02 -3.08090784e-03 2.98987987e+02] [ 2.90686054e-02 9.99577370e-01 -3.12968898e-04 2.71791851e+01] [ 3.08870358e-03 2.23277455e-04 9.99995205e-01 -1.37757252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.121400513 meters 0.07954631553793383 Centerline is valid? [True, True] Translation: X:299.05, Y:27.19, Z:-1.38 [[ 9.99527391e-01 -3.06857804e-02 -1.83755442e-03 2.99046632e+02] [ 3.06854888e-02 9.99529072e-01 -1.86682790e-04 2.71917050e+01] [ 1.84241757e-03 1.30208307e-04 9.99998294e-01 -1.37708111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.181400513 meters 0.07594767905046074 Centerline is valid? [True, True] Translation: X:299.11, Y:27.19, Z:-1.38 [[ 9.99621684e-01 -2.72312625e-02 -3.86621055e-03 2.99108093e+02] [ 2.72299459e-02 9.99629119e-01 -3.92786010e-04 2.71871912e+01] [ 3.87547271e-03 2.87360708e-04 9.99992449e-01 -1.38061081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24140051300003 meters 0.08189910635851072 Centerline is valid? [True, True] Translation: X:299.17, Y:27.20, Z:-1.38 [[ 9.99738814e-01 -2.25101154e-02 -3.94943707e-03 2.99166259e+02] [ 2.25087047e-02 9.99746566e-01 -4.01288109e-04 2.72000815e+01] [ 3.95746919e-03 3.12286586e-04 9.99992120e-01 -1.38024599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30140051300003 meters 0.07952405773823164 Centerline is valid? [True, True] Translation: X:299.23, Y:27.20, Z:-1.38 [[ 9.99808761e-01 -1.85749541e-02 -6.11662650e-03 2.99226360e+02] [ 1.85714965e-02 9.99827342e-01 -6.21593097e-04 2.71994483e+01] [ 6.12711648e-03 5.07879316e-04 9.99981100e-01 -1.38285231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36140051300004 meters 0.08441792295377558 Centerline is valid? [True, True] Translation: X:299.29, Y:27.21, Z:-1.39 [[ 9.99755405e-01 -2.10787942e-02 -6.69434045e-03 2.99285712e+02] [ 2.10747077e-02 9.99777672e-01 -6.80400215e-04 2.72069267e+01] [ 6.70719413e-03 5.39152524e-04 9.99977361e-01 -1.38540368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42140051300004 meters 0.0764518356440418 Centerline is valid? [True, True] Translation: X:299.35, Y:27.20, Z:-1.38 [[ 9.99554137e-01 -2.98061278e-02 -1.76685661e-03 2.99347504e+02] [ 2.98058567e-02 9.99555691e-01 -1.79587828e-04 2.71978794e+01] [ 1.77142440e-03 1.26845082e-04 9.99998423e-01 -1.37717860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.481400513 meters 0.07062756941216393 Centerline is valid? [True, True] Translation: X:299.41, Y:27.19, Z:-1.38 [[ 9.99360434e-01 -3.57139175e-02 -1.80000162e-03 2.99409125e+02] [ 3.57136456e-02 9.99362048e-01 -1.82960085e-04 2.71924331e+01] [ 1.80538753e-03 1.18558450e-04 9.99998363e-01 -1.37702737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.541400513 meters 0.06380721467187757 Centerline is valid? [True, True] Translation: X:299.47, Y:27.18, Z:-1.38 [[ 9.99167186e-01 -4.06695383e-02 -3.30494636e-03 2.99471031e+02] [ 4.06686489e-02 9.99172632e-01 -3.35916909e-04 2.71842145e+01] [ 3.31587354e-03 2.01229450e-04 9.99994482e-01 -1.38023610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.601400513 meters 0.06810916653956658 Centerline is valid? [True, True] Translation: X:299.53, Y:27.18, Z:-1.38 [[ 9.99103407e-01 -4.20270583e-02 -5.10963605e-03 2.99530220e+02] [ 4.20249493e-02 9.99116427e-01 -5.19451925e-04 2.71849403e+01] [ 5.12695234e-03 3.04253992e-04 9.99986811e-01 -1.38266208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.661400513 meters 0.07215047734996495 Centerline is valid? [True, True] Translation: X:299.59, Y:27.19, Z:-1.38 [[ 9.99223699e-01 -3.88528888e-02 -6.51548127e-03 2.99590122e+02] [ 3.88493924e-02 9.99244858e-01 -6.62385768e-04 2.71937395e+01] [ 6.53629676e-03 4.08749070e-04 9.99978555e-01 -1.38433205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.721400513 meters 0.07665854398282945 Centerline is valid? [True, True] Translation: X:299.65, Y:27.20, Z:-1.39 [[ 9.99379641e-01 -3.43705307e-02 -7.68117276e-03 2.99649979e+02] [ 3.43655388e-02 9.99409025e-01 -7.80968421e-04 2.71979031e+01] [ 7.70347568e-03 5.16516300e-04 9.99970194e-01 -1.38627978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.781400513 meters 0.07496815800722287 Centerline is valid? [True, True] Translation: X:299.71, Y:27.20, Z:-1.39 [[ 9.99514095e-01 -3.00722492e-02 -8.19962465e-03 2.99709972e+02] [ 3.00664160e-02 9.99547555e-01 -8.33774961e-04 2.72023957e+01] [ 8.22098827e-03 5.86836500e-04 9.99966035e-01 -1.38670989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.841400513 meters 0.08377259348138247 Centerline is valid? [True, True] Translation: X:299.77, Y:27.22, Z:-1.39 [[ 9.99596717e-01 -2.71752723e-02 -8.24057648e-03 2.99767976e+02] [ 2.71692846e-02 9.99630496e-01 -8.37718094e-04 2.72157632e+01] [ 8.26029677e-03 6.13489689e-04 9.99965695e-01 -1.38774204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.901400513 meters 0.07712275088998742 Centerline is valid? [True, True] Translation: X:299.83, Y:27.21, Z:-1.38 [[ 9.99684840e-01 -2.47027330e-02 -4.47172009e-03 2.99829023e+02] [ 2.47009451e-02 9.99694782e-01 -4.54605731e-04 2.72080461e+01] [ 4.48158525e-03 3.44006745e-04 9.99989898e-01 -1.37870454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.961400513 meters 0.08811244950375864 Centerline is valid? [True, True] Translation: X:299.89, Y:27.22, Z:-1.37 [[ 9.99731709e-01 -2.31363110e-02 -1.10528322e-03 2.99886891e+02] [ 2.31362009e-02 9.99732316e-01 -1.12370771e-04 2.72236314e+01] [ 1.10758720e-03 8.67685683e-05 9.99999383e-01 -1.37354027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.021400513 meters 0.09197217977682519 Centerline is valid? [True, True] Translation: X:299.95, Y:27.24, Z:-1.38 [[ 9.99777747e-01 -2.09729970e-02 -2.14251276e-03 2.99945274e+02] [ 2.09725780e-02 9.99780028e-01 -2.17825822e-04 2.72366992e+01] [ 2.14660992e-03 1.72843394e-04 9.99997681e-01 -1.37548206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.081400513 meters 0.09006463052390246 Centerline is valid? [True, True] Translation: X:300.00, Y:27.24, Z:-1.38 [[ 9.99802234e-01 -1.92186122e-02 -5.11258025e-03 3.00004777e+02] [ 1.92162036e-02 9.99815217e-01 -5.19834984e-04 2.72414511e+01] [ 5.12162604e-03 4.21487795e-04 9.99986796e-01 -1.37971008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.141400513 meters 0.08301522234752963 Centerline is valid? [True, True] Translation: X:300.06, Y:27.24, Z:-1.38 [[ 9.99784118e-01 -2.02719433e-02 -4.55700294e-03 3.00064803e+02] [ 2.02700401e-02 9.99794434e-01 -4.63445056e-04 2.72392587e+01] [ 4.56546110e-03 3.70974374e-04 9.99989509e-01 -1.37859134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.201400513 meters 0.07866683851016482 Centerline is valid? [True, True] Translation: X:300.13, Y:27.24, Z:-1.38 [[ 9.99632219e-01 -2.66582119e-02 -4.97658993e-03 3.00125971e+02] [ 2.66560205e-02 9.99644537e-01 -5.06151504e-04 2.72392666e+01] [ 4.98831403e-03 3.73309268e-04 9.99987489e-01 -1.38167857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.261400513 meters 0.08358106723199607 Centerline is valid? [True, True] Translation: X:300.18, Y:27.25, Z:-1.38 [[ 9.99525325e-01 -3.04123631e-02 -4.92060147e-03 3.00184800e+02] [ 3.04102656e-02 9.99537376e-01 -5.00547273e-04 2.72481418e+01] [ 4.93354790e-03 3.50672879e-04 9.99987768e-01 -1.38312729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.321400513 meters 0.07808133955322878 Centerline is valid? [True, True] Translation: X:300.25, Y:27.24, Z:-1.38 [[ 9.99430030e-01 -3.32379110e-02 -5.90387975e-03 3.00246154e+02] [ 3.32349404e-02 9.99447386e-01 -6.00593376e-04 2.72432498e+01] [ 5.92057966e-03 4.04035965e-04 9.99982392e-01 -1.38362357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.381400513 meters 0.08402190206146624 Centerline is valid? [True, True] Translation: X:300.30, Y:27.25, Z:-1.39 [[ 9.99452801e-01 -3.20639374e-02 -8.12418082e-03 3.00304079e+02] [ 3.20582715e-02 9.99485660e-01 -8.26718983e-04 2.72549151e+01] [ 8.14651009e-03 5.65819410e-04 9.99966657e-01 -1.38859645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.441400513 meters 0.07417416280497656 Centerline is valid? [True, True] Translation: X:300.36, Y:27.25, Z:-1.39 [[ 9.99470198e-01 -3.11744589e-02 -9.35289001e-03 3.00364625e+02] [ 3.11669076e-02 9.99513740e-01 -9.52084708e-04 2.72467180e+01] [ 9.37802280e-03 6.60079634e-04 9.99955808e-01 -1.38974541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.501400513 meters 0.07703188863105445 Centerline is valid? [True, True] Translation: X:300.42, Y:27.25, Z:-1.38 [[ 9.99414335e-01 -3.37894839e-02 -5.40901812e-03 3.00423855e+02] [ 3.37869960e-02 9.99428905e-01 -5.50692206e-04 2.72502927e+01] [ 5.42453667e-03 3.67615211e-04 9.99985220e-01 -1.38313749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.561400513 meters 0.07494657007737499 Centerline is valid? [True, True] Translation: X:300.48, Y:27.25, Z:-1.38 [[ 9.99290996e-01 -3.73868500e-02 -4.44163314e-03 3.00483101e+02] [ 3.73852073e-02 9.99300826e-01 -4.52324139e-04 2.72489637e+01] [ 4.45543864e-03 2.85952064e-04 9.99990034e-01 -1.38153287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.621400513 meters 0.07059736405841242 Centerline is valid? [True, True] Translation: X:300.54, Y:27.24, Z:-1.39 [[ 9.99173156e-01 -3.97705127e-02 -8.44451341e-03 3.00544619e+02] [ 3.97646586e-02 9.99208703e-01 -8.60084436e-04 2.72416293e+01] [ 8.47203730e-03 5.23580088e-04 9.99963975e-01 -1.38916880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.681400513 meters 0.07077766172365973 Centerline is valid? [True, True] Translation: X:300.60, Y:27.25, Z:-1.39 [[ 9.99180614e-01 -3.96032346e-02 -8.34770639e-03 3.00603471e+02] [ 3.95974976e-02 9.99215349e-01 -8.51483764e-04 2.72458877e+01] [ 8.37487786e-03 5.20237787e-04 9.99964795e-01 -1.38896111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74140051300003 meters 0.06857059154779388 Centerline is valid? [True, True] Translation: X:300.66, Y:27.25, Z:-1.39 [[ 9.99269018e-01 -3.73954222e-02 -7.93806006e-03 3.00664251e+02] [ 3.73901644e-02 9.99300415e-01 -8.09773161e-04 2.72468333e+01] [ 7.96278852e-03 5.12375861e-04 9.99968165e-01 -1.38661571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80140051300003 meters 0.07674384940751532 Centerline is valid? [True, True] Translation: X:300.72, Y:27.26, Z:-1.39 [[ 9.99404099e-01 -3.36841431e-02 -7.53827071e-03 3.00722379e+02] [ 3.36792959e-02 9.99432396e-01 -7.69065080e-04 2.72627921e+01] [ 7.55989725e-03 5.14723143e-04 9.99971291e-01 -1.38614142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86140051300004 meters 0.07848174672686709 Centerline is valid? [True, True] Translation: X:300.78, Y:27.27, Z:-1.38 [[ 9.99424738e-01 -3.34923191e-02 -5.33463221e-03 3.00780365e+02] [ 3.34898848e-02 9.99438908e-01 -5.45010315e-04 2.72716078e+01] [ 5.34989265e-03 3.66040573e-04 9.99985622e-01 -1.38404106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92140051300004 meters 0.0716851658908023 Centerline is valid? [True, True] Translation: X:300.84, Y:27.26, Z:-1.38 [[ 9.99304248e-01 -3.70893018e-02 -3.92481549e-03 3.00841133e+02] [ 3.70880113e-02 9.99311923e-01 -4.01096695e-04 2.72642137e+01] [ 3.93699131e-03 2.55254029e-04 9.99992217e-01 -1.38131821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.981400513 meters 0.06005408043941009 Centerline is valid? [True, True] Translation: X:300.90, Y:27.25, Z:-1.38 [[ 9.99059801e-01 -4.33065687e-02 -2.01370729e-03 3.00903026e+02] [ 4.33062415e-02 9.99061823e-01 -2.05799882e-04 2.72522400e+01] [ 2.02073056e-03 1.18400295e-04 9.99997951e-01 -1.37801315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.041400513 meters 0.057099835246666675 Centerline is valid? [True, True] Translation: X:300.96, Y:27.25, Z:-1.38 [[ 9.98921898e-01 -4.63740193e-02 -2.11925066e-03 3.00964367e+02] [ 4.63736638e-02 9.98924139e-01 -2.16591407e-04 2.72488761e+01] [ 2.12701486e-03 1.18080481e-04 9.99997731e-01 -1.37822263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.101400513 meters 0.05491685690871012 Centerline is valid? [True, True] Translation: X:301.03, Y:27.24, Z:-1.38 [[ 9.98800197e-01 -4.86940882e-02 -5.20116091e-03 3.01025205e+02] [ 4.86919779e-02 9.98813701e-01 -5.31683450e-04 2.72415976e+01] [ 5.22088062e-03 2.77790722e-04 9.99986333e-01 -1.38234059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.161400513 meters 0.05351277147711191 Centerline is valid? [True, True] Translation: X:301.08, Y:27.24, Z:-1.38 [[ 9.98744224e-01 -4.98105113e-02 -5.37470013e-03 3.01084969e+02] [ 4.98082725e-02 9.98758646e-01 -5.49669206e-04 2.72385317e+01] [ 5.39540753e-03 2.81274416e-04 9.99985405e-01 -1.38236013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.221400513 meters 0.05940367959209584 Centerline is valid? [True, True] Translation: X:301.14, Y:27.24, Z:-1.38 [[ 9.98872400e-01 -4.72020389e-02 -5.08876266e-03 3.01144537e+02] [ 4.71999978e-02 9.98885323e-01 -5.20501528e-04 2.72389726e+01] [ 5.10765907e-03 2.79725024e-04 9.99986917e-01 -1.38218474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.281400513 meters 0.06283211674999772 Centerline is valid? [True, True] Translation: X:301.20, Y:27.24, Z:-1.39 [[ 9.99041760e-01 -4.30136707e-02 -8.08615271e-03 3.01204810e+02] [ 4.30083798e-02 9.99074369e-01 -8.27150072e-04 2.72416748e+01] [ 8.11424668e-03 4.78585137e-04 9.99966964e-01 -1.38694098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.341400513 meters 0.06757201502012859 Centerline is valid? [True, True] Translation: X:301.27, Y:27.25, Z:-1.39 [[ 9.99321942e-01 -3.56409040e-02 -9.24026035e-03 3.01265412e+02] [ 3.56336810e-02 9.99364472e-01 -9.45192237e-04 2.72458620e+01] [ 9.26807541e-03 6.15286852e-04 9.99956861e-01 -1.38778487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.401400513 meters 0.08731372568229347 Centerline is valid? [True, True] Translation: X:301.32, Y:27.27, Z:-1.38 [[ 9.99699823e-01 -2.35269522e-02 -6.83711203e-03 3.01322485e+02] [ 2.35227160e-02 9.99723058e-01 -6.99358550e-04 2.72729563e+01] [ 6.85167232e-03 5.38321174e-04 9.99976382e-01 -1.38440167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.461400513 meters 0.08644917334562907 Centerline is valid? [True, True] Translation: X:301.38, Y:27.27, Z:-1.39 [[ 9.99810866e-01 -1.81179308e-02 -7.06912052e-03 3.01383189e+02] [ 1.81132680e-02 9.99835680e-01 -7.23078680e-04 2.72747674e+01] [ 7.08105961e-03 5.94897047e-04 9.99974752e-01 -1.38569803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.521400513 meters 0.08849508062114878 Centerline is valid? [True, True] Translation: X:301.44, Y:27.28, Z:-1.38 [[ 9.99798678e-01 -1.99135783e-02 -2.46039503e-03 3.01442755e+02] [ 1.99130188e-02 9.99801685e-01 -2.51692843e-04 2.72785487e+01] [ 2.46491920e-03 2.02648279e-04 9.99996942e-01 -1.37961696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.581400513 meters 0.08234469713482982 Centerline is valid? [True, True] Translation: X:301.50, Y:27.27, Z:-1.38 [[ 9.99611055e-01 -2.77517105e-02 -2.75328128e-03 3.01503660e+02] [ 2.77510394e-02 9.99614826e-01 -2.81667751e-04 2.72730322e+01] [ 2.76003755e-03 2.05151781e-04 9.99996170e-01 -1.37935000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.641400513 meters 0.0673345395903845 Centerline is valid? [True, True] Translation: X:301.57, Y:27.26, Z:-1.38 [[ 9.99317328e-01 -3.67415914e-02 -3.86437362e-03 3.01565677e+02] [ 3.67403362e-02 9.99324768e-01 -3.95332556e-04 2.72607458e+01] [ 3.87628941e-03 2.53084287e-04 9.99992455e-01 -1.38155739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.701400513 meters 0.06945543730818143 Centerline is valid? [True, True] Translation: X:301.62, Y:27.27, Z:-1.38 [[ 9.99267794e-01 -3.80962338e-02 -3.54303603e-03 3.01623511e+02] [ 3.80951868e-02 9.99274049e-01 -3.62542149e-04 2.72701927e+01] [ 3.55427545e-03 2.27304074e-04 9.99993658e-01 -1.38072343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.761400513 meters 0.06385180347030979 Centerline is valid? [True, True] Translation: X:301.68, Y:27.27, Z:-1.38 [[ 9.99219587e-01 -3.93123316e-02 -3.84153378e-03 3.01682886e+02] [ 3.93111077e-02 9.99226942e-01 -3.93609845e-04 2.72718091e+01] [ 3.85403777e-03 2.42287718e-04 9.99992544e-01 -1.37997242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.821400513 meters 0.06457717715541215 Centerline is valid? [True, True] Translation: X:301.74, Y:27.28, Z:-1.39 [[ 9.98970990e-01 -4.48228044e-02 -6.91939848e-03 3.01741671e+02] [ 4.48189639e-02 9.98994874e-01 -7.09184725e-04 2.72798540e+01] [ 6.94423125e-03 3.98334696e-04 9.99975809e-01 -1.38549599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.881400513 meters 0.05833626925325088 Centerline is valid? [True, True] Translation: X:301.80, Y:27.28, Z:-1.38 [[ 9.98681019e-01 -5.09731722e-02 -6.16093288e-03 3.01802168e+02] [ 5.09702439e-02 9.98699973e-01 -6.31473995e-04 2.72789435e+01] [ 6.18511173e-03 3.16616842e-04 9.99980822e-01 -1.38433787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.941400513 meters 0.0423360476276155 Centerline is valid? [True, True] Translation: X:301.86, Y:27.26, Z:-1.38 [[ 9.98043325e-01 -6.23569202e-02 -4.59727780e-03 3.01864524e+02] [ 6.23554101e-02 9.98053897e-01 -4.71213670e-04 2.72645744e+01] [ 4.61771445e-03 1.83626515e-04 9.99989321e-01 -1.38080044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.001400513 meters 0.03271868687597639 Centerline is valid? [True, True] Translation: X:301.93, Y:27.26, Z:-1.38 [[ 9.97470346e-01 -7.09380969e-02 -4.54917224e-03 3.01925648e+02] [ 7.09367071e-02 9.97480710e-01 -4.66339032e-04 2.72561497e+01] [ 4.57079276e-03 1.42456057e-04 9.99989544e-01 -1.38097241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.061400513 meters 0.025662756624925915 Centerline is valid? [True, True] Translation: X:301.99, Y:27.25, Z:-1.38 [[ 9.96778197e-01 -8.01817272e-02 -2.02883006e-03 3.01986088e+02] [ 8.01814698e-02 9.96780261e-01 -2.08009061e-04 2.72492321e+01] [ 2.03897628e-03 4.46643205e-05 9.99997920e-01 -1.37771438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.121400513 meters 0.0209271374579576 Centerline is valid? [True, True] Translation: X:302.05, Y:27.23, Z:-1.37 [[ 9.95881569e-01 -9.06609146e-02 7.06594283e-04 3.02048764e+02] [ 9.06608860e-02 9.95881820e-01 7.24513085e-05 2.72304360e+01] [-7.10252903e-04 -8.09245902e-06 9.99999748e-01 -1.37340340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.181400513 meters 0.012825325327993157 Centerline is valid? [True, True] Translation: X:302.11, Y:27.23, Z:-1.37 [[ 9.95712974e-01 -9.24964397e-02 -2.86748441e-04 3.02108680e+02] [ 9.24964351e-02 9.95713015e-01 -2.93705085e-05 2.72272923e+01] [ 2.88235823e-04 2.72138777e-06 9.99999958e-01 -1.37330086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24140051300003 meters 0.01564201389280656 Centerline is valid? [True, True] Translation: X:302.17, Y:27.23, Z:-1.38 [[ 9.96048096e-01 -8.87779811e-02 -2.58093167e-03 3.02167889e+02] [ 8.87775914e-02 9.96051439e-01 -2.65385649e-04 2.72304473e+01] [ 2.59430110e-03 3.52079730e-05 9.99996634e-01 -1.37649637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30140051300003 meters 0.027367769222886706 Centerline is valid? [True, True] Translation: X:302.23, Y:27.24, Z:-1.38 [[ 9.96902384e-01 -7.84708640e-02 -5.28768777e-03 3.02225932e+02] [ 7.84690823e-02 9.96916399e-01 -5.43882318e-04 2.72438531e+01] [ 5.31406157e-03 1.27277573e-04 9.99985872e-01 -1.38214242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36140051300004 meters 0.029592050191912855 Centerline is valid? [True, True] Translation: X:302.29, Y:27.25, Z:-1.38 [[ 9.97322145e-01 -7.28941761e-02 -5.91416173e-03 3.02285703e+02] [ 7.28918488e-02 9.97339665e-01 -6.08411894e-04 2.72491759e+01] [ 5.94277777e-03 1.75688473e-04 9.99982326e-01 -1.38159766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42140051300004 meters 0.033947485138851596 Centerline is valid? [True, True] Translation: X:302.34, Y:27.25, Z:-1.38 [[ 9.97553449e-01 -6.96647795e-02 -5.82534468e-03 3.02344304e+02] [ 6.96624649e-02 9.97570439e-01 -5.99542796e-04 2.72500067e+01] [ 5.85295867e-03 1.92268115e-04 9.99982853e-01 -1.38232156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.481400513 meters 0.03427777377416596 Centerline is valid? [True, True] Translation: X:302.40, Y:27.25, Z:-1.38 [[ 9.97624127e-01 -6.87508408e-02 -4.40715918e-03 3.02402951e+02] [ 6.87495040e-02 9.97633850e-01 -4.54267844e-04 2.72519572e+01] [ 4.42796248e-03 1.50198554e-04 9.99990185e-01 -1.38153664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.541400513 meters 0.03939231232891053 Centerline is valid? [True, True] Translation: X:302.46, Y:27.26, Z:-1.38 [[ 9.97671628e-01 -6.80401828e-02 -4.67511970e-03 3.02459552e+02] [ 6.80386683e-02 9.97682568e-01 -4.82416016e-04 2.72617358e+01] [ 4.69710910e-03 1.63203853e-04 9.99988955e-01 -1.38303044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.601400513 meters 0.04766878895352504 Centerline is valid? [True, True] Translation: X:302.52, Y:27.27, Z:-1.39 [[ 9.98027407e-01 -6.24226038e-02 -6.68675128e-03 3.02519758e+02] [ 6.24193790e-02 9.98049771e-01 -6.90088890e-04 2.72666842e+01] [ 6.71678773e-03 2.71344763e-04 9.99977405e-01 -1.38605352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.661400513 meters 0.049130115096667426 Centerline is valid? [True, True] Translation: X:302.58, Y:27.28, Z:-1.38 [[ 9.98332086e-01 -5.74523495e-02 -5.68104651e-03 3.02578691e+02] [ 5.74499411e-02 9.98348216e-01 -5.86359497e-04 2.72804192e+01] [ 5.70535038e-03 2.59005713e-04 9.99983691e-01 -1.38405538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.721400513 meters 0.05383026971938071 Centerline is valid? [True, True] Translation: X:302.64, Y:27.29, Z:-1.38 [[ 9.98598815e-01 -5.26989010e-02 -4.82009873e-03 3.02638463e+02] [ 5.26971119e-02 9.98610418e-01 -4.97500508e-04 2.72931263e+01] [ 4.83961854e-03 2.42798135e-04 9.99988260e-01 -1.38246749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.781400513 meters 0.05983801964149094 Centerline is valid? [True, True] Translation: X:302.70, Y:27.31, Z:-1.38 [[ 9.98849979e-01 -4.77716191e-02 -4.07341694e-03 3.02696911e+02] [ 4.77703004e-02 9.98858259e-01 -4.20469868e-04 2.73062621e+01] [ 4.08885268e-03 2.25397967e-04 9.99991615e-01 -1.38145640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.841400513 meters 0.05905165046800043 Centerline is valid? [True, True] Translation: X:302.76, Y:27.31, Z:-1.38 [[ 9.98831416e-01 -4.81882545e-02 -3.70055453e-03 3.02756033e+02] [ 4.81871671e-02 9.98838250e-01 -3.82499525e-04 2.73096086e+01] [ 3.71468739e-03 2.03733303e-04 9.99993080e-01 -1.38092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.901400513 meters 0.057751814833597745 Centerline is valid? [True, True] Translation: X:302.82, Y:27.31, Z:-1.38 [[ 9.98727119e-01 -5.02528135e-02 -4.33551268e-03 3.02815763e+02] [ 5.02513396e-02 9.98736503e-01 -4.48309404e-04 2.73104683e+01] [ 4.35256358e-03 2.29873440e-04 9.99990501e-01 -1.38221757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.961400513 meters 0.056959682197451324 Centerline is valid? [True, True] Translation: X:302.88, Y:27.31, Z:-1.38 [[ 9.98671819e-01 -5.13665137e-02 -4.00989894e-03 3.02875203e+02] [ 5.13652597e-02 9.98679847e-01 -4.15171037e-04 2.73114011e+01] [ 4.02593115e-03 2.08650115e-04 9.99991874e-01 -1.38026212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.021400513 meters 0.05891899536357318 Centerline is valid? [True, True] Translation: X:302.94, Y:27.32, Z:-1.38 [[ 9.98823569e-01 -4.82503780e-02 -4.83510610e-03 3.02935769e+02] [ 4.82485178e-02 9.98835237e-01 -5.00709624e-04 2.73163580e+01] [ 4.85363378e-03 2.66833871e-04 9.99988185e-01 -1.38027899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.081400513 meters 0.06111455435068544 Centerline is valid? [True, True] Translation: X:303.00, Y:27.32, Z:-1.38 [[ 9.98990037e-01 -4.46494973e-02 -5.03282148e-03 3.02996450e+02] [ 4.46474363e-02 9.99002670e-01 -5.21184988e-04 2.73214156e+01] [ 5.05107275e-03 2.95956033e-04 9.99987199e-01 -1.38045345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.141400513 meters 0.07294867666873993 Centerline is valid? [True, True] Translation: X:303.05, Y:27.34, Z:-1.38 [[ 9.99153107e-01 -4.09493544e-02 -4.02730839e-03 3.03054507e+02] [ 4.09480047e-02 9.99161192e-01 -4.17064977e-04 2.73383239e+01] [ 4.04100879e-03 2.51801525e-04 9.99991803e-01 -1.37857280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.201400513 meters 0.06315581084062566 Centerline is valid? [True, True] Translation: X:303.11, Y:27.33, Z:-1.38 [[ 9.99141183e-01 -4.11639521e-02 -4.73560148e-03 3.03113562e+02] [ 4.11620845e-02 9.99152362e-01 -4.91206983e-04 2.73306287e+01] [ 4.75180742e-03 2.95857897e-04 9.99988666e-01 -1.37850353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.261400513 meters 0.05848211650813008 Centerline is valid? [True, True] Translation: X:303.17, Y:27.33, Z:-1.38 [[ 9.99014874e-01 -4.39011996e-02 -6.47811207e-03 3.03174241e+02] [ 4.38977609e-02 9.99035803e-01 -6.72126621e-04 2.73319593e+01] [ 6.50137305e-03 3.87089877e-04 9.99978791e-01 -1.38099655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.321400513 meters 0.059050068081528836 Centerline is valid? [True, True] Translation: X:303.23, Y:27.34, Z:-1.38 [[ 9.98827676e-01 -4.81299353e-02 -5.17519126e-03 3.03232926e+02] [ 4.81277966e-02 9.98841042e-01 -5.37089621e-04 2.73369002e+01] [ 5.19504352e-03 2.87389426e-04 9.99986464e-01 -1.37944237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.381400513 meters 0.04731558653133167 Centerline is valid? [True, True] Translation: X:303.30, Y:27.33, Z:-1.38 [[ 9.98417313e-01 -5.59481747e-02 -5.71590534e-03 3.03295046e+02] [ 5.59456932e-02 9.98433637e-01 -5.93226704e-04 2.73252801e+01] [ 5.74014211e-03 2.72507524e-04 9.99983488e-01 -1.37958346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.441400513 meters 0.04866786230495285 Centerline is valid? [True, True] Translation: X:303.35, Y:27.33, Z:-1.38 [[ 9.98345981e-01 -5.70563331e-02 -7.06233497e-03 3.03352709e+02] [ 5.70525698e-02 9.98370906e-01 -7.33351920e-04 2.73319592e+01] [ 7.09267214e-03 3.29214583e-04 9.99974792e-01 -1.38098960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.501400513 meters 0.052520487894371415 Centerline is valid? [True, True] Translation: X:303.41, Y:27.34, Z:-1.38 [[ 9.98451210e-01 -5.52632252e-02 -6.41542232e-03 3.03410729e+02] [ 5.52600814e-02 9.98471772e-01 -6.66407517e-04 2.73441266e+01] [ 6.44244592e-03 3.10858632e-04 9.99979199e-01 -1.37988354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.561400513 meters 0.053607184163344306 Centerline is valid? [True, True] Translation: X:303.47, Y:27.35, Z:-1.38 [[ 9.98625315e-01 -5.21284405e-02 -5.48682776e-03 3.03470674e+02] [ 5.21260932e-02 9.98640348e-01 -5.70044742e-04 2.73479358e+01] [ 5.50908313e-03 2.83254215e-04 9.99984785e-01 -1.37904791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.621400513 meters 0.05292376930616673 Centerline is valid? [True, True] Translation: X:303.53, Y:27.35, Z:-1.38 [[ 9.98546359e-01 -5.34251918e-02 -7.13560871e-03 3.03529976e+02] [ 5.34212525e-02 9.98571790e-01 -7.41658086e-04 2.73491993e+01] [ 7.16504079e-03 3.59386826e-04 9.99974266e-01 -1.38135078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.681400513 meters 0.0475391412585195 Centerline is valid? [True, True] Translation: X:303.59, Y:27.35, Z:-1.38 [[ 9.98420596e-01 -5.57050846e-02 -7.29779794e-03 3.03590225e+02] [ 5.57010236e-02 9.98447205e-01 -7.58700406e-04 2.73475117e+01] [ 7.32872942e-03 3.51007296e-04 9.99973083e-01 -1.38039337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74140051300003 meters 0.05055264508711703 Centerline is valid? [True, True] Translation: X:303.65, Y:27.35, Z:-1.37 [[ 9.98574745e-01 -5.31798992e-02 -4.51405385e-03 3.03650737e+02] [ 5.31783195e-02 9.98584922e-01 -4.69354705e-04 2.73485809e+01] [ 4.53262635e-03 2.28635957e-04 9.99989701e-01 -1.37403023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80140051300003 meters 0.05385772322067604 Centerline is valid? [True, True] Translation: X:303.71, Y:27.36, Z:-1.37 [[ 9.98865221e-01 -4.74116707e-02 -4.51700403e-03 3.03710073e+02] [ 4.74100298e-02 9.98875402e-01 -4.69711238e-04 2.73585405e+01] [ 4.53419401e-03 2.55026924e-04 9.99989688e-01 -1.37419497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86140051300004 meters 0.06710320337614234 Centerline is valid? [True, True] Translation: X:303.77, Y:27.38, Z:-1.37 [[ 9.99145293e-01 -4.11894565e-02 -3.48022430e-03 3.03767558e+02] [ 4.11884448e-02 9.99151330e-01 -3.61898521e-04 2.73795827e+01] [ 3.49217715e-03 2.18244178e-04 9.99993879e-01 -1.37423643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92140051300004 meters 0.07054705827734567 Centerline is valid? [True, True] Translation: X:303.83, Y:27.38, Z:-1.38 [[ 9.99320906e-01 -3.65272233e-02 -4.84653449e-03 3.03827773e+02] [ 3.65252065e-02 9.99332605e-01 -5.04020389e-04 2.73847838e+01] [ 4.86171041e-03 3.26657438e-04 9.99988128e-01 -1.37683120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.981400513 meters 0.07188499583433676 Centerline is valid? [True, True] Translation: X:303.89, Y:27.39, Z:-1.38 [[ 9.99422430e-01 -3.35481071e-02 -5.41571762e-03 3.03887858e+02] [ 3.35455451e-02 9.99437031e-01 -5.63236560e-04 2.73893584e+01] [ 5.43156426e-03 3.81238051e-04 9.99985176e-01 -1.37670924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.041400513 meters 0.08039337767610487 Centerline is valid? [True, True] Translation: X:303.95, Y:27.40, Z:-1.37 [[ 9.99696883e-01 -2.45046741e-02 -2.37979600e-03 3.03946761e+02] [ 2.45041539e-02 9.99699698e-01 -2.47509727e-04 2.74048206e+01] [ 2.38514648e-03 1.89119815e-04 9.99997138e-01 -1.37138872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.101400513 meters 0.08827237760117085 Centerline is valid? [True, True] Translation: X:304.01, Y:27.42, Z:-1.37 [[ 9.99839818e-01 -1.78093967e-02 -1.77842085e-03 3.04005441e+02] [ 1.78090957e-02 9.99841388e-01 -1.84964821e-04 2.74226260e+01] [ 1.78143289e-03 1.53263126e-04 9.99998402e-01 -1.37130892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.161400513 meters 0.09152372191545984 Centerline is valid? [True, True] Translation: X:304.06, Y:27.43, Z:-1.38 [[ 9.99917777e-01 -1.22091147e-02 -3.92120200e-03 3.04064812e+02] [ 1.22076084e-02 9.99925401e-01 -4.07839121e-04 2.74347205e+01] [ 3.92588883e-03 3.59937089e-04 9.99992229e-01 -1.37534447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.221400513 meters 0.09654567071576683 Centerline is valid? [True, True] Translation: X:304.12, Y:27.45, Z:-1.38 [[ 9.99922821e-01 -1.10407174e-02 -5.69680751e-03 3.04122300e+02] [ 1.10375191e-02 9.99938909e-01 -5.92553793e-04 2.74521503e+01] [ 5.70300170e-03 5.29629439e-04 9.99983597e-01 -1.37825501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.281400513 meters 0.09150614544769638 Centerline is valid? [True, True] Translation: X:304.18, Y:27.46, Z:-1.38 [[ 9.99885333e-01 -1.43582251e-02 -4.81268208e-03 3.04182185e+02] [ 1.43559803e-02 9.99896822e-01 -5.00645630e-04 2.74566347e+01] [ 4.81937390e-03 4.31497453e-04 9.99988294e-01 -1.37722617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.341400513 meters 0.08372276801825132 Centerline is valid? [True, True] Translation: X:304.24, Y:27.46, Z:-1.38 [[ 9.99817318e-01 -1.81265954e-02 -6.06276423e-03 3.04242626e+02] [ 1.81231017e-02 9.99835564e-01 -6.30702104e-04 2.74564172e+01] [ 6.07319978e-03 5.20710794e-04 9.99981422e-01 -1.37879517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.401400513 meters 0.08516979770594367 Centerline is valid? [True, True] Translation: X:304.30, Y:27.46, Z:-1.38 [[ 9.99727326e-01 -2.20906020e-02 -7.56824106e-03 3.04301719e+02] [ 2.20852698e-02 9.99755781e-01 -7.87406819e-04 2.74639756e+01] [ 7.58378703e-03 6.20045468e-04 9.99971050e-01 -1.38208762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.461400513 meters 0.07653578078516966 Centerline is valid? [True, True] Translation: X:304.36, Y:27.46, Z:-1.38 [[ 9.99720161e-01 -2.26703480e-02 -6.75684679e-03 3.04361913e+02] [ 2.26661046e-02 9.99742843e-01 -7.03943411e-04 2.74586251e+01] [ 6.77106786e-03 5.50595024e-04 9.99976924e-01 -1.37935359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.521400513 meters 0.08536010172858202 Centerline is valid? [True, True] Translation: X:304.42, Y:27.47, Z:-1.38 [[ 9.99746810e-01 -2.19874353e-02 -4.78216277e-03 3.04418686e+02] [ 2.19853005e-02 9.99758170e-01 -4.98515993e-04 2.74747912e+01] [ 4.79196738e-03 3.93252488e-04 9.99988441e-01 -1.37694098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.581400513 meters 0.09236024952255112 Centerline is valid? [True, True] Translation: X:304.48, Y:27.49, Z:-1.38 [[ 9.99783068e-01 -2.03487442e-02 -4.44363740e-03 3.04476717e+02] [ 2.03468845e-02 9.99792873e-01 -4.63313444e-04 2.74930649e+01] [ 4.45214485e-03 3.72798760e-04 9.99990020e-01 -1.37721326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.641400513 meters 0.08137312515305088 Centerline is valid? [True, True] Translation: X:304.54, Y:27.49, Z:-1.38 [[ 9.99866952e-01 -1.53181349e-02 -5.60653296e-03 3.04537794e+02] [ 1.53150958e-02 9.99882546e-01 -5.84599923e-04 2.74898855e+01] [ 5.61482943e-03 4.98657554e-04 9.99984112e-01 -1.37709377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.701400513 meters 0.0882011309856355 Centerline is valid? [True, True] Translation: X:304.60, Y:27.51, Z:-1.38 [[ 9.99884896e-01 -1.35368276e-02 -6.85196316e-03 3.04595144e+02] [ 1.35322461e-02 9.99908180e-01 -7.14563489e-04 2.75132325e+01] [ 6.86100693e-03 6.21758788e-04 9.99976270e-01 -1.38055220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.761400513 meters 0.08625724327836673 Centerline is valid? [True, True] Translation: X:304.66, Y:27.52, Z:-1.38 [[ 9.99868834e-01 -1.57325399e-02 -3.84739030e-03 3.04655580e+02] [ 1.57311115e-02 9.99876178e-01 -4.01239493e-04 2.75196075e+01] [ 3.85322643e-03 3.40663138e-04 9.99992518e-01 -1.37622635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.821400513 meters 0.09390656127277301 Centerline is valid? [True, True] Translation: X:304.71, Y:27.54, Z:-1.37 [[ 9.99793300e-01 -2.02969298e-02 -1.17939122e-03 3.04713852e+02] [ 2.02967987e-02 9.99793991e-01 -1.23000211e-04 2.75350681e+01] [ 1.18164478e-03 9.90369211e-05 9.99999297e-01 -1.36996190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.881400513 meters 0.0788758491430331 Centerline is valid? [True, True] Translation: X:304.78, Y:27.52, Z:-1.38 [[ 9.99551138e-01 -2.96218214e-02 -4.48002236e-03 3.04775649e+02] [ 2.96200231e-02 9.99561122e-01 -4.67237612e-04 2.75224467e+01] [ 4.49189661e-03 3.34329521e-04 9.99989855e-01 -1.37596711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.941400513 meters 0.08139212474750114 Centerline is valid? [True, True] Translation: X:304.83, Y:27.53, Z:-1.38 [[ 9.99388757e-01 -3.45655870e-02 -5.22801505e-03 3.04834403e+02] [ 3.45632050e-02 9.99402365e-01 -5.45313347e-04 2.75278093e+01] [ 5.24373968e-03 3.64283072e-04 9.99986185e-01 -1.37871887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.001400513 meters 0.05716260790398449 Centerline is valid? [True, True] Translation: X:304.90, Y:27.50, Z:-1.37 [[ 9.99346065e-01 -3.59799960e-02 -3.58908271e-03 3.04897210e+02] [ 3.59788822e-02 9.99352480e-01 -3.74444525e-04 2.75011236e+01] [ 3.60023122e-03 2.45068479e-04 9.99993489e-01 -1.37392856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.061400513 meters 0.06825050526692193 Centerline is valid? [True, True] Translation: X:304.96, Y:27.52, Z:-1.37 [[ 9.99409200e-01 -3.41946042e-02 -3.46128239e-03 3.04955423e+02] [ 3.41935575e-02 9.99415164e-01 -3.61159540e-04 2.75163297e+01] [ 3.47160782e-03 2.42592609e-04 9.99993945e-01 -1.37467132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.121400513 meters 0.07121400922091302 Centerline is valid? [True, True] Translation: X:305.01, Y:27.52, Z:-1.37 [[ 9.99535648e-01 -3.03615258e-02 -2.58176708e-03 3.05014735e+02] [ 3.03609306e-02 9.99538964e-01 -2.69415294e-04 2.75247895e+01] [ 2.58875665e-03 1.90905339e-04 9.99996631e-01 -1.37377798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.181400513 meters 0.0809972988984022 Centerline is valid? [True, True] Translation: X:305.07, Y:27.54, Z:-1.37 [[ 9.99717195e-01 -2.36405194e-02 -2.57993711e-03 3.05072448e+02] [ 2.36399029e-02 9.99720502e-01 -2.69226835e-04 2.75424955e+01] [ 2.58558068e-03 2.08161234e-04 9.99996636e-01 -1.37343052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24140051300003 meters 0.07839655611726444 Centerline is valid? [True, True] Translation: X:305.13, Y:27.55, Z:-1.38 [[ 9.99764648e-01 -2.12923239e-02 -4.15760774e-03 3.05132749e+02] [ 2.12907025e-02 9.99773233e-01 -4.33863572e-04 2.75472329e+01] [ 4.16590290e-03 3.45243071e-04 9.99991263e-01 -1.37582242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30140051300003 meters 0.08184599439129082 Centerline is valid? [True, True] Translation: X:305.19, Y:27.56, Z:-1.38 [[ 9.99674245e-01 -2.48976258e-02 -5.61354415e-03 3.05191527e+02] [ 2.48947261e-02 9.99689907e-01 -5.85848642e-04 2.75576988e+01] [ 5.62638967e-03 4.45910154e-04 9.99984072e-01 -1.37802177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36140051300004 meters 0.07648413989143352 Centerline is valid? [True, True] Translation: X:305.25, Y:27.56, Z:-1.38 [[ 9.99569330e-01 -2.90544506e-02 -4.12220861e-03 3.05251899e+02] [ 2.90529221e-02 9.99577782e-01 -4.30216677e-04 2.75574053e+01] [ 4.13296785e-03 3.10269190e-04 9.99991411e-01 -1.37588400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42140051300004 meters 0.06845770755811975 Centerline is valid? [True, True] Translation: X:305.31, Y:27.55, Z:-1.37 [[ 9.99489588e-01 -3.18833308e-02 -2.00414315e-03 3.05313553e+02] [ 3.18829751e-02 9.99491587e-01 -2.09167098e-04 2.75513418e+01] [ 2.00979316e-03 1.45162290e-04 9.99997970e-01 -1.37220819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.481400513 meters 0.07000159088934024 Centerline is valid? [True, True] Translation: X:305.37, Y:27.56, Z:-1.37 [[ 9.99367905e-01 -3.54113462e-02 -3.13481248e-03 3.05372337e+02] [ 3.54104931e-02 9.99372798e-01 -3.27253251e-04 2.75572745e+01] [ 3.14443480e-03 2.16041140e-04 9.99995033e-01 -1.37303763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.541400513 meters 0.06794015914151856 Centerline is valid? [True, True] Translation: X:305.43, Y:27.56, Z:-1.37 [[ 9.99318101e-01 -3.68064122e-02 -2.93629577e-03 3.05432294e+02] [ 3.68056695e-02 9.99322395e-01 -3.06599502e-04 2.75573545e+01] [ 2.94559094e-03 1.98318100e-04 9.99995642e-01 -1.37287406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.601400513 meters 0.07206264545993105 Centerline is valid? [True, True] Translation: X:305.49, Y:27.56, Z:-1.37 [[ 9.99269865e-01 -3.81943249e-02 -9.64180926e-04 3.05491171e+02] [ 3.81942454e-02 9.99270329e-01 -1.00691502e-04 2.75631903e+01] [ 9.67323235e-04 6.37918204e-05 9.99999530e-01 -1.36984736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.661400513 meters 0.06195405526053619 Centerline is valid? [True, True] Translation: X:305.55, Y:27.55, Z:-1.37 [[ 9.99213264e-01 -3.95789858e-02 -2.52137496e-03 3.05553439e+02] [ 3.95784467e-02 9.99216432e-01 -2.63365699e-04 2.75464931e+01] [ 2.52982303e-03 1.63366396e-04 9.99996787e-01 -1.37292472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.721400513 meters 0.062320764419300005 Centerline is valid? [True, True] Translation: X:305.61, Y:27.55, Z:-1.37 [[ 9.99211699e-01 -3.96874725e-02 -9.40626729e-04 3.05611546e+02] [ 3.96873974e-02 9.99212140e-01 -9.83386208e-05 2.75468028e+01] [ 9.43788458e-04 6.09300735e-05 9.99999553e-01 -1.37067300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.781400513 meters 0.06835273685873125 Centerline is valid? [True, True] Translation: X:305.67, Y:27.55, Z:-1.37 [[ 9.99312781e-01 -3.70162720e-02 1.93917942e-03 3.05670654e+02] [ 3.70159475e-02 9.99314654e-01 2.02954959e-04 2.75496446e+01] [-1.94536304e-03 -1.31034921e-04 9.99998099e-01 -1.36508184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.841400513 meters 0.07669643224046929 Centerline is valid? [True, True] Translation: X:305.73, Y:27.56, Z:-1.37 [[ 9.99393580e-01 -3.48081791e-02 -9.28979742e-04 3.05729453e+02] [ 3.48081037e-02 9.99394010e-01 -9.72338903e-05 2.75580910e+01] [ 9.31801324e-04 6.48389025e-05 9.99999564e-01 -1.37052645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.901400513 meters 0.07385649029558078 Centerline is valid? [True, True] Translation: X:305.79, Y:27.55, Z:-1.38 [[ 9.99445536e-01 -3.31059371e-02 -3.55204661e-03 3.05790227e+02] [ 3.31048235e-02 9.99451816e-01 -3.71859243e-04 2.75515737e+01] [ 3.56241019e-03 2.54063185e-04 9.99993622e-01 -1.37532161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.961400513 meters 0.06509003616985339 Centerline is valid? [True, True] Translation: X:305.85, Y:27.53, Z:-1.38 [[ 9.99386955e-01 -3.45433938e-02 -5.69804129e-03 3.05851807e+02] [ 3.45405469e-02 9.99403119e-01 -5.97320834e-04 2.75335394e+01] [ 5.71527372e-03 4.00141187e-04 9.99983588e-01 -1.37841215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.021400513 meters 0.068942184736897 Centerline is valid? [True, True] Translation: X:305.91, Y:27.54, Z:-1.38 [[ 9.99389224e-01 -3.43049483e-02 -6.65960811e-03 3.05909631e+02] [ 3.43010511e-02 9.99411302e-01 -6.98566020e-04 2.75356524e+01] [ 6.67965188e-03 4.69707794e-04 9.99977581e-01 -1.38002427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.081400513 meters 0.07224287991915562 Centerline is valid? [True, True] Translation: X:305.97, Y:27.54, Z:-1.38 [[ 9.99477412e-01 -3.18921748e-02 -5.27182458e-03 3.05969653e+02] [ 3.18896991e-02 9.99491241e-01 -5.53040916e-04 2.75409453e+01] [ 5.28678017e-03 3.84635005e-04 9.99985951e-01 -1.37759845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.141400513 meters 0.07978860991556544 Centerline is valid? [True, True] Translation: X:306.03, Y:27.55, Z:-1.38 [[ 9.99659018e-01 -2.56811425e-02 -4.72511759e-03 3.06028235e+02] [ 2.56790845e-02 9.99670115e-01 -4.95706383e-04 2.75491432e+01] [ 4.73628915e-03 3.74200662e-04 9.99988714e-01 -1.37698352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.201400513 meters 0.08467399058561521 Centerline is valid? [True, True] Translation: X:306.09, Y:27.56, Z:-1.38 [[ 9.99735951e-01 -2.25848522e-02 -4.23715270e-03 3.06086471e+02] [ 2.25831698e-02 9.99744869e-01 -4.44487567e-04 2.75583828e+01] [ 4.24611035e-03 3.48681861e-04 9.99990924e-01 -1.37544430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.261400513 meters 0.08883796330530276 Centerline is valid? [True, True] Translation: X:306.14, Y:27.57, Z:-1.37 [[ 9.99733138e-01 -2.30028937e-02 -2.12582115e-03 3.06143404e+02] [ 2.30024710e-02 9.99735383e-01 -2.23091368e-04 2.75721891e+01] [ 2.13039037e-03 1.74132694e-04 9.99997716e-01 -1.37291396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.321400513 meters 0.09001706318610425 Centerline is valid? [True, True] Translation: X:306.20, Y:27.58, Z:-1.37 [[ 9.99652582e-01 -2.61760794e-02 -3.08667066e-03 3.06202941e+02] [ 2.61752029e-02 9.99657318e-01 -3.24014323e-04 2.75758525e+01] [ 3.09409434e-03 2.43107523e-04 9.99995184e-01 -1.37435785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.381400513 meters 0.07189452582481781 Centerline is valid? [True, True] Translation: X:306.26, Y:27.56, Z:-1.37 [[ 9.99613231e-01 -2.75651340e-02 -3.68137817e-03 3.06264996e+02] [ 2.75638962e-02 9.99619969e-01 -3.86546686e-04 2.75632495e+01] [ 3.69063434e-03 2.84924055e-04 9.99993149e-01 -1.37481349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.441400513 meters 0.07570011651810105 Centerline is valid? [True, True] Translation: X:306.32, Y:27.57, Z:-1.38 [[ 9.99482919e-01 -3.17775516e-02 -4.90728939e-03 3.06323163e+02] [ 3.17754021e-02 9.99494902e-01 -5.15391677e-04 2.75738924e+01] [ 4.92118861e-03 3.59194085e-04 9.99987826e-01 -1.37653678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.501400513 meters 0.07082093937191537 Centerline is valid? [True, True] Translation: X:306.38, Y:27.57, Z:-1.37 [[ 9.99429793e-01 -3.34122110e-02 -4.86966366e-03 3.06383110e+02] [ 3.34101131e-02 9.99441595e-01 -5.11550806e-04 2.75741587e+01] [ 4.88403646e-03 3.48563102e-04 9.99988012e-01 -1.37369216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.561400513 meters 0.07136200345534174 Centerline is valid? [True, True] Translation: X:306.44, Y:27.59, Z:-1.38 [[ 9.99429977e-01 -3.33344026e-02 -5.34219562e-03 3.06441090e+02] [ 3.33318725e-02 9.99444181e-01 -5.61972654e-04 2.75853588e+01] [ 5.35795935e-03 3.83586934e-04 9.99985572e-01 -1.37506974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.621400513 meters 0.07542686566312805 Centerline is valid? [True, True] Translation: X:306.50, Y:27.60, Z:-1.37 [[ 9.99530980e-01 -3.06143355e-02 -7.63795272e-04 3.06500105e+02] [ 3.06142830e-02 9.99531270e-01 -8.03618701e-05 2.75981699e+01] [ 7.65897483e-04 5.69411342e-05 9.99999705e-01 -1.36782726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.681400513 meters 0.07568671797064865 Centerline is valid? [True, True] Translation: X:306.56, Y:27.61, Z:-1.37 [[ 9.99609181e-01 -2.79537004e-02 -2.76855551e-04 3.06559823e+02] [ 2.79536934e-02 9.99609219e-01 -2.91311396e-05 2.76079824e+01] [ 2.77561684e-04 2.13806194e-05 9.99999961e-01 -1.36700166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74140051300003 meters 0.0735634954337481 Centerline is valid? [True, True] Translation: X:306.62, Y:27.62, Z:-1.37 [[ 9.99674287e-01 -2.54698565e-02 -1.61422242e-03 3.06619368e+02] [ 2.54696152e-02 9.99675582e-01 -1.69851499e-04 2.76198652e+01] [ 1.61802483e-03 1.28682552e-04 9.99998683e-01 -1.37051094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80140051300003 meters 0.08646347129176939 Centerline is valid? [True, True] Translation: X:306.68, Y:27.65, Z:-1.37 [[ 9.99638540e-01 -2.68487665e-02 -1.39060141e-03 3.06676282e+02] [ 2.68485887e-02 9.99639501e-01 -1.46342644e-04 2.76467434e+01] [ 1.39402922e-03 1.08954061e-04 9.99999022e-01 -1.37078193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86140051300004 meters 0.07652899716043281 Centerline is valid? [True, True] Translation: X:306.74, Y:27.64, Z:-1.37 [[ 9.99506644e-01 -3.14079247e-02 -1.05656615e-04 3.06737292e+02] [ 3.14079237e-02 9.99506649e-01 -1.11186063e-05 2.76439222e+01] [ 1.05953702e-04 7.79466601e-06 9.99999994e-01 -1.36819571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92140051300004 meters 0.06138148147035337 Centerline is valid? [True, True] Translation: X:306.80, Y:27.63, Z:-1.37 [[ 9.99062978e-01 -4.32773404e-02 -4.87411410e-04 3.06798955e+02] [ 4.32773205e-02 9.99063097e-01 -5.12991973e-05 2.76347395e+01] [ 4.89174846e-04 3.01572690e-05 9.99999880e-01 -1.36832606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.981400513 meters 0.05605499555442334 Centerline is valid? [True, True] Translation: X:306.86, Y:27.64, Z:-1.37 [[ 9.98653383e-01 -5.18763563e-02 -5.14753018e-04 3.06857890e+02] [ 5.18763352e-02 9.98653515e-01 -5.41785298e-05 2.76389846e+01] [ 5.16870495e-04 2.74020719e-05 9.99999866e-01 -1.36913504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.041400513 meters 0.049375465924422275 Centerline is valid? [True, True] Translation: X:306.92, Y:27.64, Z:-1.37 [[ 9.98210442e-01 -5.97519276e-02 -2.37059125e-03 3.06918975e+02] [ 5.97515032e-02 9.98213252e-01 -2.49521179e-04 2.76395582e+01] [ 2.38126497e-03 1.07428255e-04 9.99997159e-01 -1.37021034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.101400513 meters 0.046833650231732006 Centerline is valid? [True, True] Translation: X:306.98, Y:27.65, Z:-1.37 [[ 9.98098118e-01 -6.15961266e-02 -2.46242648e-03 3.06978354e+02] [ 6.15956742e-02 9.98101150e-01 -2.59228388e-04 2.76473876e+01] [ 2.47371816e-03 1.07060548e-04 9.99996935e-01 -1.36929397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.161400513 meters 0.04771696701130545 Centerline is valid? [True, True] Translation: X:307.04, Y:27.66, Z:-1.37 [[ 9.98110083e-01 -6.14486805e-02 -5.67474790e-04 3.07036039e+02] [ 6.14486564e-02 9.98110244e-01 -5.97551487e-05 2.76591704e+01] [ 5.70074276e-04 2.47716531e-05 9.99999837e-01 -1.36648231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.221400513 meters 0.04682087816580245 Centerline is valid? [True, True] Translation: X:307.09, Y:27.67, Z:-1.37 [[ 9.98047371e-01 -6.24603335e-02 -3.90989439e-04 3.07093724e+02] [ 6.24603221e-02 9.98047447e-01 -4.12092473e-05 2.76702511e+01] [ 3.92799955e-04 1.67074546e-05 9.99999923e-01 -1.36718316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.281400513 meters 0.04549273981063597 Centerline is valid? [True, True] Translation: X:307.15, Y:27.68, Z:-1.37 [[ 9.97983782e-01 -6.34025429e-02 -2.91354314e-03 3.07151427e+02] [ 6.34019133e-02 9.97988027e-01 -3.08045108e-04 2.76815537e+01] [ 2.92721201e-03 1.22699812e-04 9.99995708e-01 -1.37134447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.341400513 meters 0.03993072805291379 Centerline is valid? [True, True] Translation: X:307.21, Y:27.69, Z:-1.38 [[ 9.97634005e-01 -6.84979332e-02 -5.86731670e-03 3.07211064e+02] [ 6.84954668e-02 9.97651235e-01 -6.20514362e-04 2.76879036e+01] [ 5.89603970e-03 2.17161632e-04 9.99982595e-01 -1.37588858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.401400513 meters 0.036797143544022935 Centerline is valid? [True, True] Translation: X:307.27, Y:27.69, Z:-1.37 [[ 9.97200605e-01 -7.46730052e-02 -3.85942672e-03 3.07270088e+02] [ 7.46719840e-02 9.97208067e-01 -4.08232160e-04 2.76943042e+01] [ 3.87913538e-03 1.18898307e-04 9.99992469e-01 -1.37283108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.461400513 meters 0.025132668988917688 Centerline is valid? [True, True] Translation: X:307.33, Y:27.69, Z:-1.37 [[ 9.96507190e-01 -8.34865882e-02 -1.84661740e-03 3.07330462e+02] [ 8.34863695e-02 9.96508900e-01 -1.95355303e-04 2.76894311e+01] [ 1.85648022e-03 4.05055813e-05 9.99998276e-01 -1.36941357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.521400513 meters 0.022927478473386716 Centerline is valid? [True, True] Translation: X:307.39, Y:27.70, Z:-1.37 [[ 9.96219113e-01 -8.68179957e-02 -3.18041264e-03 3.07387937e+02] [ 8.68173633e-02 9.96224188e-01 -3.36626770e-04 2.76967935e+01] [ 3.19762926e-03 5.92389824e-05 9.99994886e-01 -1.37206538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.581400513 meters 0.018935547930941595 Centerline is valid? [True, True] Translation: X:307.45, Y:27.70, Z:-1.37 [[ 9.96075269e-01 -8.83468206e-02 -5.37568487e-03 3.07446505e+02] [ 8.83450314e-02 9.96089770e-01 -5.69855306e-04 2.77033262e+01] [ 5.40500961e-03 9.27037290e-05 9.99985389e-01 -1.37457726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.641400513 meters 0.01599842923782408 Centerline is valid? [True, True] Translation: X:307.50, Y:27.72, Z:-1.37 [[ 9.95822529e-01 -9.12111876e-02 -4.24377122e-03 3.07504382e+02] [ 9.12100955e-02 9.95831570e-01 -4.50578738e-04 2.77169669e+01] [ 4.26717918e-03 6.16216800e-05 9.99990894e-01 -1.37181075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.701400513 meters 0.01344645630901191 Centerline is valid? [True, True] Translation: X:307.56, Y:27.73, Z:-1.37 [[ 9.95409605e-01 -9.56932673e-02 -1.58632514e-03 3.07561736e+02] [ 9.56931202e-02 9.95410869e-01 -1.68525258e-04 2.77267551e+01] [ 1.59517202e-03 1.59512582e-05 9.99998728e-01 -1.36745461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.761400513 meters 0.008226710500215862 Centerline is valid? [True, True] Translation: X:307.62, Y:27.73, Z:-1.37 [[ 9.94705174e-01 -1.02760836e-01 -1.35202668e-03 3.07620690e+02] [ 1.02760735e-01 9.94706093e-01 -1.43806686e-04 2.77306930e+01] [ 1.35964687e-03 4.10999932e-06 9.99999076e-01 -1.36710147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.821400513 meters 0.011535085319892505 Centerline is valid? [True, True] Translation: X:307.68, Y:27.73, Z:-1.37 [[ 9.93467228e-01 -1.14092646e-01 -2.39495694e-03 3.07679286e+02] [ 1.14092363e-01 9.93470114e-01 -2.55000029e-04 2.77323088e+01] [ 2.40841177e-03 -1.99121251e-05 9.99997100e-01 -1.36861889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.881400513 meters 0.014142671483865136 Centerline is valid? [True, True] Translation: X:307.74, Y:27.74, Z:-1.37 [[ 9.92975024e-01 -1.18276225e-01 -3.36692983e-03 3.07737905e+02] [ 1.18275687e-01 9.92980731e-01 -3.59047402e-04 2.77373062e+01] [ 3.38576322e-03 -4.17008363e-05 9.99994267e-01 -1.36874849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.941400513 meters 0.017660209531654963 Centerline is valid? [True, True] Translation: X:307.79, Y:27.75, Z:-1.37 [[ 9.92792124e-01 -1.19805705e-01 -3.22370333e-03 3.07794618e+02] [ 1.19805219e-01 9.92797356e-01 -3.44031450e-04 2.77469138e+01] [ 3.24170108e-03 -4.46647705e-05 9.99994745e-01 -1.36880463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.001400513 meters 0.014974648732711275 Centerline is valid? [True, True] Translation: X:307.85, Y:27.76, Z:-1.37 [[ 9.92963890e-01 -1.18339943e-01 -4.28603837e-03 3.07852735e+02] [ 1.18339068e-01 9.92973139e-01 -4.58102527e-04 2.77593272e+01] [ 4.31013280e-03 -5.23265187e-05 9.99990710e-01 -1.37087107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.061400513 meters 0.015323094379837796 Centerline is valid? [True, True] Translation: X:307.91, Y:27.77, Z:-1.37 [[ 9.93014303e-01 -1.17943104e-01 -3.46661873e-03 3.07910038e+02] [ 1.17942528e-01 9.93020354e-01 -3.70771313e-04 2.77650630e+01] [ 3.48615288e-03 -4.06805620e-05 9.99993923e-01 -1.36978779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.121400513 meters 0.014840868914820322 Centerline is valid? [True, True] Translation: X:307.97, Y:27.78, Z:-1.37 [[ 9.93019452e-01 -1.17865738e-01 -4.47619970e-03 3.07966878e+02] [ 1.17864774e-01 9.93029539e-01 -4.79562463e-04 2.77766643e+01] [ 4.50152251e-03 -5.13714121e-05 9.99989867e-01 -1.36907351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.181400513 meters 0.019352464307744476 Centerline is valid? [True, True] Translation: X:308.02, Y:27.80, Z:-1.37 [[ 9.93011275e-01 -1.17883085e-01 -5.67335696e-03 3.08022841e+02] [ 1.17881529e-01 9.93027479e-01 -6.08984810e-04 2.77960535e+01] [ 5.70558837e-03 -6.40552118e-05 9.99983721e-01 -1.36941050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24140051300003 meters 0.014285736020896087 Centerline is valid? [True, True] Translation: X:308.08, Y:27.81, Z:-1.37 [[ 9.93101152e-01 -1.17221129e-01 -3.05090407e-03 3.08079463e+02] [ 1.17220675e-01 9.93105838e-01 -3.27699291e-04 2.78098036e+01] [ 3.06828392e-03 -3.21904915e-05 9.99995292e-01 -1.36668535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30140051300003 meters 0.014609248944096993 Centerline is valid? [True, True] Translation: X:308.14, Y:27.82, Z:-1.37 [[ 9.93001806e-01 -1.18079951e-01 -2.13045263e-03 3.08137291e+02] [ 1.18079731e-01 9.93004091e-01 -2.29170759e-04 2.78181426e+01] [ 2.14260865e-03 -2.39962964e-05 9.99997704e-01 -1.36527791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36140051300004 meters 0.020019443581035752 Centerline is valid? [True, True] Translation: X:308.20, Y:27.82, Z:-1.37 [[ 9.92494680e-01 -1.22258786e-01 -2.66446816e-03 3.08195846e+02] [ 1.22258457e-01 9.92498256e-01 -2.86809896e-04 2.78239317e+01] [ 2.67954503e-03 -4.10964686e-05 9.99996409e-01 -1.36634024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42140051300004 meters 0.030774420961810434 Centerline is valid? [True, True] Translation: X:308.26, Y:27.83, Z:-1.37 [[ 9.91102084e-01 -1.32942096e-01 -6.56180510e-03 3.08256054e+02] [ 1.32940331e-01 9.91123791e-01 -7.06374948e-04 2.78281439e+01] [ 6.59746812e-03 -1.72238857e-04 9.99978222e-01 -1.37300159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.481400513 meters 0.03749217986069747 Centerline is valid? [True, True] Translation: X:308.32, Y:27.83, Z:-1.37 [[ 9.90223860e-01 -1.39310565e-01 -7.01951783e-03 3.08315928e+02] [ 1.39308704e-01 9.90248713e-01 -7.55761421e-04 2.78309600e+01] [ 7.05635404e-03 -2.29506939e-04 9.99975077e-01 -1.37307580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.541400513 meters 0.03708878913086786 Centerline is valid? [True, True] Translation: X:308.37, Y:27.84, Z:-1.37 [[ 9.90261819e-01 -1.39076435e-01 -6.26692603e-03 3.08373945e+02] [ 1.39074941e-01 9.90281629e-01 -6.75705044e-04 2.78446856e+01] [ 6.29999637e-03 -2.02447464e-04 9.99980134e-01 -1.37047192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.601400513 meters 0.031191116256964448 Centerline is valid? [True, True] Translation: X:308.43, Y:27.87, Z:-1.37 [[ 9.91015050e-01 -1.33691000e-01 -3.98588578e-03 3.08431725e+02] [ 1.33690351e-01 9.91023060e-01 -4.29840591e-04 2.78666808e+01] [ 4.00757054e-03 -1.06895976e-04 9.99991964e-01 -1.36664030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.661400513 meters 0.020788689225495354 Centerline is valid? [True, True] Translation: X:308.49, Y:27.90, Z:-1.37 [[ 9.92226627e-01 -1.24386272e-01 -3.79151731e-03 3.08489047e+02] [ 1.24385617e-01 9.92233869e-01 -4.08912022e-04 2.78965119e+01] [ 3.81293493e-03 -6.58768232e-05 9.99992729e-01 -1.36644057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.721400513 meters 0.00867225452283913 Centerline is valid? [True, True] Translation: X:308.54, Y:27.94, Z:-1.37 [[ 9.93874746e-01 -1.10395664e-01 -5.07807723e-03 3.08544876e+02] [ 1.10394306e-01 9.93887719e-01 -5.47728835e-04 2.79363454e+01] [ 5.10750548e-03 -1.62169559e-05 9.99986956e-01 -1.36938685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.781400513 meters 0.007788723250335915 Centerline is valid? [True, True] Translation: X:308.60, Y:27.95, Z:-1.37 [[ 9.94054797e-01 -1.08836554e-01 -3.10894460e-03 3.08602596e+02] [ 1.08836036e-01 9.94059658e-01 -3.35795654e-04 2.79526305e+01] [ 3.12702325e-03 -4.56592720e-06 9.99995111e-01 -1.36575985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.841400513 meters 0.010352677167201218 Centerline is valid? [True, True] Translation: X:308.66, Y:27.96, Z:-1.37 [[ 9.93622333e-01 -1.12671012e-01 -4.46122322e-03 3.08660319e+02] [ 1.12669982e-01 9.93632348e-01 -4.82220538e-04 2.79554803e+01] [ 4.48714797e-03 -2.35008437e-05 9.99989932e-01 -1.36761764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.901400513 meters 0.010255761874818805 Centerline is valid? [True, True] Translation: X:308.72, Y:27.96, Z:-1.37 [[ 9.93577015e-01 -1.13047451e-01 -4.99897173e-03 3.08717912e+02] [ 1.13046158e-01 9.93589590e-01 -5.41238700e-04 2.79637721e+01] [ 5.02811193e-03 -2.73522183e-05 9.99987359e-01 -1.36908875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.961400513 meters 0.008021403911679098 Centerline is valid? [True, True] Translation: X:308.78, Y:27.98, Z:-1.36 [[ 9.94372692e-01 -1.05885416e-01 -3.35089752e-03 3.08775569e+02] [ 1.05884793e-01 9.94378338e-01 -3.63359501e-04 2.79811708e+01] [ 3.37053438e-03 6.50567595e-06 9.99994320e-01 -1.36447538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.021400513 meters 0.013514209365513317 Centerline is valid? [True, True] Translation: X:308.83, Y:28.00, Z:-1.37 [[ 9.95117860e-01 -9.85765276e-02 -4.80765507e-03 3.08831659e+02] [ 9.85751575e-02 9.95129472e-01 -5.21708803e-04 2.79976481e+01] [ 4.83566749e-03 4.52463922e-05 9.99988307e-01 -1.36720982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.081400513 meters 0.021546662463670107 Centerline is valid? [True, True] Translation: X:308.89, Y:28.01, Z:-1.37 [[ 9.95854192e-01 -9.07705940e-02 -5.92689445e-03 3.08890562e+02] [ 9.07683727e-02 9.95871823e-01 -6.43272534e-04 2.80135512e+01] [ 5.96081741e-03 1.02631085e-04 9.99982229e-01 -1.36959968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.141400513 meters 0.031998611418163014 Centerline is valid? [True, True] Translation: X:308.95, Y:28.03, Z:-1.37 [[ 9.96856955e-01 -7.90862257e-02 -4.64541934e-03 3.08949461e+02] [ 7.90847341e-02 9.96867770e-01 -5.04189700e-04 2.80345357e+01] [ 4.67074328e-03 1.35223256e-04 9.99989083e-01 -1.36864502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.201400513 meters 0.039792704076045946 Centerline is valid? [True, True] Translation: X:309.01, Y:28.05, Z:-1.37 [[ 9.97262122e-01 -7.37794085e-02 -4.98593836e-03 3.09007465e+02] [ 7.37776236e-02 9.97274571e-01 -5.41221619e-04 2.80527588e+01] [ 5.01228055e-03 1.71889136e-04 9.99987424e-01 -1.36882874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.261400513 meters 0.045727571274932655 Centerline is valid? [True, True] Translation: X:309.07, Y:28.07, Z:-1.37 [[ 9.97589632e-01 -6.92339605e-02 -4.64597073e-03 3.09065759e+02] [ 6.92323611e-02 9.97600434e-01 -5.04391115e-04 2.80656954e+01] [ 4.66974341e-03 1.81523823e-04 9.99989080e-01 -1.36717791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.321400513 meters 0.04288623876933891 Centerline is valid? [True, True] Translation: X:309.13, Y:28.07, Z:-1.36 [[ 9.97626771e-01 -6.87890202e-02 -2.98275477e-03 3.09125008e+02] [ 6.87883577e-02 9.97631223e-01 -3.24242261e-04 2.80662276e+01] [ 2.99799360e-03 1.18293958e-04 9.99995499e-01 -1.36476273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.381400513 meters 0.044737749381474345 Centerline is valid? [True, True] Translation: X:309.18, Y:28.07, Z:-1.37 [[ 9.97578751e-01 -6.94879934e-02 -2.83784864e-03 3.09182860e+02] [ 6.94873960e-02 9.97582782e-01 -3.08704979e-04 2.80715331e+01] [ 2.85244023e-03 1.10762816e-04 9.99995926e-01 -1.36535802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.441400513 meters 0.04274820004905842 Centerline is valid? [True, True] Translation: X:309.24, Y:28.07, Z:-1.37 [[ 9.97563976e-01 -6.95689049e-02 -5.12646955e-03 3.09241698e+02] [ 6.95669521e-02 9.97577128e-01 -5.58481698e-04 2.80727411e+01] [ 5.15290174e-03 2.00488362e-04 9.99986704e-01 -1.36907575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.501400513 meters 0.04218803883516517 Centerline is valid? [True, True] Translation: X:309.30, Y:28.07, Z:-1.37 [[ 9.97586802e-01 -6.92802322e-02 -4.56309356e-03 3.09300405e+02] [ 6.92786785e-02 9.97597222e-01 -4.97861129e-04 2.80749013e+01] [ 4.58662139e-03 1.80534600e-04 9.99989465e-01 -1.36832658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.561400513 meters 0.04460383738057849 Centerline is valid? [True, True] Translation: X:309.36, Y:28.08, Z:-1.37 [[ 9.97740596e-01 -6.69006710e-02 -6.16464033e-03 3.09359836e+02] [ 6.68977884e-02 9.97759607e-01 -6.72843056e-04 2.80794256e+01] [ 6.19584276e-03 2.58922027e-04 9.99980772e-01 -1.37122105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.621400513 meters 0.04269763145612215 Centerline is valid? [True, True] Translation: X:309.42, Y:28.08, Z:-1.37 [[ 9.97640026e-01 -6.82762780e-02 -7.26138086e-03 3.09418791e+02] [ 6.82723065e-02 9.97666408e-01 -7.93698424e-04 2.80840489e+01] [ 7.29862654e-03 2.96074096e-04 9.99973321e-01 -1.37382638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.681400513 meters 0.04275153948435395 Centerline is valid? [True, True] Translation: X:309.48, Y:28.09, Z:-1.37 [[ 9.97448394e-01 -7.10866923e-02 -6.58656732e-03 3.09477799e+02] [ 7.10834844e-02 9.97470110e-01 -7.20157361e-04 2.80894452e+01] [ 6.62109763e-03 2.50123648e-04 9.99978049e-01 -1.37348786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74140051300003 meters 0.03923935849657666 Centerline is valid? [True, True] Translation: X:309.54, Y:28.09, Z:-1.38 [[ 9.97144907e-01 -7.50418156e-02 -8.41188518e-03 3.09538154e+02] [ 7.50367222e-02 9.97180347e-01 -9.19929881e-04 2.80866662e+01] [ 8.45719979e-03 2.86103105e-04 9.99964196e-01 -1.37583569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80140051300003 meters 0.03485047415380695 Centerline is valid? [True, True] Translation: X:309.60, Y:28.08, Z:-1.37 [[ 9.96962887e-01 -7.75277629e-02 -7.37890153e-03 3.09598817e+02] [ 7.75239103e-02 9.96990166e-01 -8.07134960e-04 2.80817587e+01] [ 7.41926763e-03 2.32642300e-04 9.99972450e-01 -1.37215229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86140051300004 meters 0.037826246821011315 Centerline is valid? [True, True] Translation: X:309.66, Y:28.09, Z:-1.37 [[ 9.97148647e-01 -7.51999428e-02 -6.28847742e-03 3.09658183e+02] [ 7.51970976e-02 9.97168453e-01 -6.88005879e-04 2.80872545e+01] [ 6.32240931e-03 2.13168880e-04 9.99979991e-01 -1.36908104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92140051300004 meters 0.04719030621712235 Centerline is valid? [True, True] Translation: X:309.72, Y:28.10, Z:-1.37 [[ 9.97429801e-01 -7.13787462e-02 -6.23431216e-03 3.09715664e+02] [ 7.13758743e-02 9.97449256e-01 -6.82224646e-04 2.81022392e+01] [ 6.26710637e-03 2.35491711e-04 9.99980334e-01 -1.36955868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.981400513 meters 0.04757168906909526 Centerline is valid? [True, True] Translation: X:309.78, Y:28.10, Z:-1.36 [[ 9.97832241e-01 -6.57418134e-02 -2.97201170e-03 3.09776128e+02] [ 6.57411358e-02 9.97836659e-01 -3.25234182e-04 2.81039810e+01] [ 2.98696371e-03 1.29145728e-04 9.99995531e-01 -1.36369075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.041400513 meters 0.04820228597199608 Centerline is valid? [True, True] Translation: X:309.84, Y:28.11, Z:-1.36 [[ 9.98138838e-01 -6.09733767e-02 -1.05250409e-03 3.09836790e+02] [ 6.09732891e-02 9.98139391e-01 -1.15179898e-04 2.81062995e+01] [ 1.05756870e-03 5.07908932e-05 9.99999439e-01 -1.36044546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.101400513 meters 0.06299101326502658 Centerline is valid? [True, True] Translation: X:309.89, Y:28.13, Z:-1.36 [[ 9.98595324e-01 -5.29003835e-02 -2.98786504e-03 3.09894763e+02] [ 5.28996412e-02 9.98599780e-01 -3.26989389e-04 2.81269739e+01] [ 3.00097924e-03 1.68473087e-04 9.99995483e-01 -1.36457936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.161400513 meters 0.06285462873243007 Centerline is valid? [True, True] Translation: X:309.96, Y:28.13, Z:-1.37 [[ 9.98753007e-01 -4.97851617e-02 -3.72405942e-03 3.09955312e+02] [ 4.97839868e-02 9.98759925e-01 -4.07564644e-04 2.81320585e+01] [ 3.73973198e-03 2.21657889e-04 9.99992983e-01 -1.36510724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.221400513 meters 0.06668575708813228 Centerline is valid? [True, True] Translation: X:310.02, Y:28.14, Z:-1.37 [[ 9.99022879e-01 -4.39505786e-02 -4.65116233e-03 3.10015304e+02] [ 4.39486829e-02 9.99033660e-01 -5.09041325e-04 2.81404867e+01] [ 4.66904039e-03 3.04131471e-04 9.99989054e-01 -1.36555499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.281400513 meters 0.06672060479754144 Centerline is valid? [True, True] Translation: X:310.07, Y:28.14, Z:-1.37 [[ 9.99217536e-01 -3.91489973e-02 -5.62775815e-03 3.10073165e+02] [ 3.91561360e-02 9.99232427e-01 1.16390776e-03 2.81415056e+01] [ 5.57787261e-03 -1.38335831e-03 9.99983487e-01 -1.36851534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.341400513 meters 0.07076658978005416 Centerline is valid? [True, True] Translation: X:310.13, Y:28.15, Z:-1.37 [[ 9.99084895e-01 -4.20688528e-02 -7.71901809e-03 3.10133459e+02] [ 4.20495892e-02 9.99112034e-01 -2.64121579e-03 2.81505417e+01] [ 7.82327678e-03 2.31421726e-03 9.99966720e-01 -1.37126028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.401400513 meters 0.0691598200606619 Centerline is valid? [True, True] Translation: X:310.19, Y:28.15, Z:-1.37 [[ 9.98911351e-01 -4.59591230e-02 -7.99194013e-03 3.10192782e+02] [ 4.59535868e-02 9.98943193e-01 -8.75076124e-04 2.81471915e+01] [ 8.02371192e-03 5.06865159e-04 9.99967681e-01 -1.37146206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.461400513 meters 0.06349064093974277 Centerline is valid? [True, True] Translation: X:310.25, Y:28.14, Z:-1.37 [[ 9.98913020e-01 -4.59884914e-02 -7.60506270e-03 3.10252889e+02] [ 4.59834700e-02 9.98941853e-01 -8.33906776e-04 2.81402127e+01] [ 7.63536554e-03 4.83293163e-04 9.99970733e-01 -1.36929360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.521400513 meters 0.07232596887381477 Centerline is valid? [True, True] Translation: X:310.31, Y:28.15, Z:-1.37 [[ 9.99115022e-01 -4.11714972e-02 -8.60697522e-03 3.10311488e+02] [ 4.11648855e-02 9.99151921e-01 -9.44010241e-04 2.81523389e+01] [ 8.63854214e-03 5.88869664e-04 9.99962514e-01 -1.37066179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.581400513 meters 0.08445464684484338 Centerline is valid? [True, True] Translation: X:310.37, Y:28.17, Z:-1.37 [[ 9.99440071e-01 -3.29592743e-02 -5.76464164e-03 3.10369090e+02] [ 3.29561723e-02 9.99456598e-01 -6.32290107e-04 2.81744006e+01] [ 5.78234894e-03 4.41955546e-04 9.99983184e-01 -1.36821400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.641400513 meters 0.07977484512668342 Centerline is valid? [True, True] Translation: X:310.43, Y:28.17, Z:-1.36 [[ 9.99581077e-01 -2.88021506e-02 -2.84717975e-03 3.10429301e+02] [ 2.88013770e-02 9.99585106e-01 -3.12316302e-04 2.81740188e+01] [ 2.85499385e-03 2.30182768e-04 9.99995898e-01 -1.36141993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.701400513 meters 0.08594229515482596 Centerline is valid? [True, True] Translation: X:310.49, Y:28.19, Z:-1.37 [[ 9.99632848e-01 -2.61802828e-02 -6.98294675e-03 3.10487302e+02] [ 2.61755657e-02 9.99657068e-01 -7.66064374e-04 2.81888221e+01] [ 7.00060786e-03 5.83000530e-04 9.99975325e-01 -1.36698413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.761400513 meters 0.07893439022731229 Centerline is valid? [True, True] Translation: X:310.55, Y:28.19, Z:-1.37 [[ 9.99590480e-01 -2.78052484e-02 -6.76313002e-03 3.10548077e+02] [ 2.78008601e-02 9.99613206e-01 -7.42027896e-04 2.81858014e+01] [ 6.78114635e-03 5.53703190e-04 9.99976854e-01 -1.36557125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.821400513 meters 0.07997168005075035 Centerline is valid? [True, True] Translation: X:310.61, Y:28.19, Z:-1.36 [[ 9.99420433e-01 -3.38041717e-02 -4.00947454e-03 3.10607256e+02] [ 3.38026772e-02 9.99428429e-01 -4.39948203e-04 2.81908817e+01] [ 4.02205493e-03 3.04162250e-04 9.99991865e-01 -1.36019208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.881400513 meters 0.07024033844279445 Centerline is valid? [True, True] Translation: X:310.67, Y:28.18, Z:-1.36 [[ 9.99250528e-01 -3.84620062e-02 -4.36533998e-03 3.10668960e+02] [ 3.84602787e-02 9.99260015e-01 -4.79020818e-04 2.81826459e+01] [ 4.38053379e-03 3.10769613e-04 9.99990357e-01 -1.35960113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.941400513 meters 0.064826863848096 Centerline is valid? [True, True] Translation: X:310.73, Y:28.18, Z:-1.36 [[ 9.99072166e-01 -4.28857950e-02 -3.95162938e-03 3.10730140e+02] [ 4.28844138e-02 9.99079946e-01 -4.33647922e-04 2.81816996e+01] [ 3.96659100e-03 2.63782259e-04 9.99992098e-01 -1.35996806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.001400513 meters 0.06174047114394832 Centerline is valid? [True, True] Translation: X:310.79, Y:28.18, Z:-1.36 [[ 9.98770121e-01 -4.95451039e-02 -1.87806383e-03 3.10790346e+02] [ 4.95448036e-02 9.98771881e-01 -2.06097039e-04 2.81805459e+01] [ 1.88596844e-03 1.12795261e-04 9.99998215e-01 -1.35830534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.061400513 meters 0.06227225517788838 Centerline is valid? [True, True] Translation: X:310.85, Y:28.18, Z:-1.36 [[ 9.98573208e-01 -5.31873340e-02 -4.75982171e-03 3.10850395e+02] [ 5.31854464e-02 9.98584516e-01 -5.22345210e-04 2.81825801e+01] [ 4.78086641e-03 2.68446689e-04 9.99988536e-01 -1.36190006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.121400513 meters 0.06465066714134841 Centerline is valid? [True, True] Translation: X:310.91, Y:28.19, Z:-1.37 [[ 9.98664364e-01 -5.12516015e-02 -6.53921540e-03 3.10910489e+02] [ 5.12479971e-02 9.98685700e-01 -7.17686253e-04 2.81875606e+01] [ 6.56740348e-03 3.81605994e-04 9.99978362e-01 -1.36550509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.181400513 meters 0.06926513119350056 Centerline is valid? [True, True] Translation: X:310.97, Y:28.20, Z:-1.37 [[ 9.98877383e-01 -4.67887996e-02 -7.40142418e-03 3.10969739e+02] [ 4.67840594e-02 9.98904696e-01 -8.12386502e-04 2.81986488e+01] [ 7.43132796e-03 4.65205835e-04 9.99972279e-01 -1.36675671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24140051300003 meters 0.07425638631782276 Centerline is valid? [True, True] Translation: X:311.03, Y:28.20, Z:-1.37 [[ 9.99214485e-01 -3.89444721e-02 -7.33076912e-03 3.11026799e+02] [ 3.89785894e-02 9.99229595e-01 4.57005490e-03 2.81998727e+01] [ 7.14714309e-03 -4.85220809e-03 9.99962687e-01 -1.36771041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30140051300003 meters 0.06640498824158819 Centerline is valid? [True, True] Translation: X:311.08, Y:28.20, Z:-1.37 [[ 9.99229112e-01 -3.88170543e-02 -5.86676482e-03 3.11085000e+02] [ 3.88160754e-02 9.99246333e-01 -2.80670118e-04 2.81959798e+01] [ 5.87323802e-03 5.27289666e-05 9.99982751e-01 -1.36572352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36140051300004 meters 0.07314224775350628 Centerline is valid? [True, True] Translation: X:311.14, Y:28.20, Z:-1.37 [[ 9.99275668e-01 -3.75998865e-02 -5.86413085e-03 3.11142779e+02] [ 3.75950153e-02 9.99292617e-01 -9.38742993e-04 2.82043079e+01] [ 5.89527929e-03 7.17600943e-04 9.99982365e-01 -1.36631124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42140051300004 meters 0.07734606652710191 Centerline is valid? [True, True] Translation: X:311.20, Y:28.22, Z:-1.37 [[ 9.99346514e-01 -3.52773983e-02 -7.87723545e-03 3.11204382e+02] [ 3.52309193e-02 9.99361407e-01 -5.96326412e-03 2.82220726e+01] [ 8.08257354e-03 5.68184497e-03 9.99951193e-01 -1.36595896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.481400513 meters 0.0824863249950785 Centerline is valid? [True, True] Translation: X:311.26, Y:28.23, Z:-1.36 [[ 9.99534286e-01 -2.96465437e-02 -7.23139770e-03 3.11263926e+02] [ 2.96415721e-02 9.99560277e-01 -7.93732646e-04 2.82315467e+01] [ 7.25174931e-03 5.79012998e-04 9.99973538e-01 -1.36406983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.541400513 meters 0.08148364547493886 Centerline is valid? [True, True] Translation: X:311.32, Y:28.23, Z:-1.36 [[ 9.99655399e-01 -2.56032646e-02 -5.79275593e-03 3.11320943e+02] [ 2.56043597e-02 9.99672148e-01 1.14963956e-04 2.82307753e+01] [ 5.78791331e-03 -2.63244146e-04 9.99983215e-01 -1.36025535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.601400513 meters 0.07431286255459174 Centerline is valid? [True, True] Translation: X:311.38, Y:28.23, Z:-1.36 [[ 9.99552558e-01 -2.97245299e-02 -3.33695901e-03 3.11381199e+02] [ 2.97312809e-02 9.99555943e-01 1.99203258e-03 2.82286206e+01] [ 3.27626498e-03 -2.09035333e-03 9.99992448e-01 -1.35845771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.661400513 meters 0.07820475947398382 Centerline is valid? [True, True] Translation: X:311.44, Y:28.25, Z:-1.36 [[ 9.99466867e-01 -3.25092679e-02 -3.02151651e-03 3.11441251e+02] [ 3.24996992e-02 9.99466738e-01 -3.16377143e-03 2.82464511e+01] [ 3.12275714e-03 3.06388634e-03 9.99990430e-01 -1.35925749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.721400513 meters 0.07639912605939128 Centerline is valid? [True, True] Translation: X:311.50, Y:28.25, Z:-1.36 [[ 9.99504538e-01 -3.09634196e-02 -5.65204786e-03 3.11501540e+02] [ 3.09604044e-02 9.99520419e-01 -6.20204787e-04 2.82496962e+01] [ 5.66854091e-03 4.44907811e-04 9.99983835e-01 -1.36088876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.781400513 meters 0.08172235057309125 Centerline is valid? [True, True] Translation: X:311.56, Y:28.26, Z:-1.36 [[ 9.99546377e-01 -2.97721469e-02 -4.54519393e-03 3.11558312e+02] [ 2.97701838e-02 9.99556645e-01 -4.98952410e-04 2.82647889e+01] [ 4.55803369e-03 3.63414815e-04 9.99989546e-01 -1.36008564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.841400513 meters 0.07465517495566348 Centerline is valid? [True, True] Translation: X:311.62, Y:28.26, Z:-1.36 [[ 9.99498100e-01 -3.13995415e-02 -4.19721396e-03 3.11619476e+02] [ 3.13978816e-02 9.99506859e-01 -4.60808189e-04 2.82611991e+01] [ 4.20961331e-03 3.28793282e-04 9.99991085e-01 -1.35980699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.901400513 meters 0.07751221631200868 Centerline is valid? [True, True] Translation: X:311.68, Y:28.27, Z:-1.36 [[ 9.99350113e-01 -3.53284357e-02 -7.15914181e-03 3.11678179e+02] [ 3.53237053e-02 9.99375614e-01 -7.86160360e-04 2.82678469e+01] [ 7.18244555e-03 5.32762029e-04 9.99974064e-01 -1.36403850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.961400513 meters 0.07732104751293896 Centerline is valid? [True, True] Translation: X:311.74, Y:28.27, Z:-1.36 [[ 9.99345201e-01 -3.57126737e-02 -5.81150607e-03 3.11736551e+02] [ 3.57095578e-02 9.99362006e-01 -6.39071766e-04 2.82733227e+01] [ 5.83062132e-03 4.31126990e-04 9.99982909e-01 -1.36139606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.021400513 meters 0.08035381613465249 Centerline is valid? [True, True] Translation: X:311.79, Y:28.28, Z:-1.36 [[ 9.99394815e-01 -3.45099277e-02 -4.36670219e-03 3.11794304e+02] [ 3.45081561e-02 9.99404301e-01 -4.80419341e-04 2.82845783e+01] [ 4.38068019e-03 3.29441758e-04 9.99990351e-01 -1.36003284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.081400513 meters 0.0775375490767619 Centerline is valid? [True, True] Translation: X:311.85, Y:28.29, Z:-1.36 [[ 9.99410561e-01 -3.39864132e-02 -4.84293186e-03 3.11852733e+02] [ 3.39842261e-02 9.99422227e-01 -5.33221495e-04 2.82875709e+01] [ 4.85825603e-03 3.68323902e-04 9.99988131e-01 -1.36135163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.141400513 meters 0.07464555397007885 Centerline is valid? [True, True] Translation: X:311.91, Y:28.28, Z:-1.36 [[ 9.99393747e-01 -3.43148934e-02 -5.88444745e-03 3.11911405e+02] [ 3.43116637e-02 9.99410971e-01 -6.48972218e-04 2.82831640e+01] [ 5.90325075e-03 4.46673595e-04 9.99982476e-01 -1.36249828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.201400513 meters 0.07121098389316806 Centerline is valid? [True, True] Translation: X:311.97, Y:28.28, Z:-1.36 [[ 9.99356931e-01 -3.54078978e-02 -5.65725756e-03 3.11971677e+02] [ 3.54049291e-02 9.99372854e-01 -6.24081017e-04 2.82810023e+01] [ 5.67580703e-03 4.23384887e-04 9.99983803e-01 -1.36092555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.261400513 meters 0.07645043292341336 Centerline is valid? [True, True] Translation: X:312.03, Y:28.29, Z:-1.36 [[ 9.99390390e-01 -3.44284057e-02 -5.79077523e-03 3.12029637e+02] [ 3.44252774e-02 9.99407070e-01 -6.39074260e-04 2.82881937e+01] [ 5.80934401e-03 4.39335630e-04 9.99983029e-01 -1.36200025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.321400513 meters 0.083554255205386 Centerline is valid? [True, True] Translation: X:312.09, Y:28.29, Z:-1.36 [[ 9.99526617e-01 -3.07223260e-02 -1.63741881e-03 3.12088944e+02] [ 3.07220709e-02 9.99527949e-01 -1.80721998e-04 2.82936955e+01] [ 1.64219807e-03 1.30331550e-04 9.99998643e-01 -1.35687958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.381400513 meters 0.0804774683648636 Centerline is valid? [True, True] Translation: X:312.15, Y:28.29, Z:-1.36 [[ 9.99675374e-01 -2.53721759e-02 -2.32373509e-03 3.12149785e+02] [ 2.53716477e-02 9.99678055e-01 -2.56494988e-04 2.82910866e+01] [ 2.32949481e-03 1.97454735e-04 9.99997267e-01 -1.35848687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.441400513 meters 0.09241719288198193 Centerline is valid? [True, True] Translation: X:312.21, Y:28.31, Z:-1.36 [[ 9.99820797e-01 -1.78983999e-02 -6.16613395e-03 3.12207497e+02] [ 1.78945398e-02 9.99839648e-01 -6.80616377e-04 2.83100537e+01] [ 6.17732714e-03 5.70154279e-04 9.99980758e-01 -1.36442631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.501400513 meters 0.09304468640833646 Centerline is valid? [True, True] Translation: X:312.27, Y:28.32, Z:-1.36 [[ 9.99861286e-01 -1.59174780e-02 -4.90333654e-03 3.12267571e+02] [ 1.59150135e-02 9.99873202e-01 -5.41234766e-04 2.83184977e+01] [ 4.91132989e-03 4.63123023e-04 9.99987832e-01 -1.36286348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.561400513 meters 0.10069496088491986 Centerline is valid? [True, False] Translation: X:312.29, Y:28.33, Z:-1.37 [[ 9.99891812e-01 -1.46962982e-02 6.18205195e-04 3.12287902e+02] [ 1.47020494e-02 9.99835229e-01 -1.06472626e-02 2.83269489e+01] [-4.61627987e-04 1.06551996e-02 9.99943125e-01 -1.36825647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.621400513 meters 0.08674390609525325 Centerline is valid? [False, True] Translation: X:312.27, Y:28.33, Z:-1.37 [[ 9.99907669e-01 -1.29141870e-02 -4.22823013e-03 3.12269173e+02] [ 1.28322039e-02 9.99739518e-01 -1.88740807e-02 2.83311888e+01] [ 4.47087216e-03 1.88180805e-02 9.99812928e-01 -1.36607048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.681400513 meters 0.09331971776876277 Centerline is valid? [True, True] Translation: X:312.33, Y:28.33, Z:-1.36 [[ 9.99831413e-01 -1.71756999e-02 -6.49153107e-03 3.12328304e+02] [ 1.71716374e-02 9.99852325e-01 -6.81031465e-04 2.83330726e+01] [ 6.50226962e-03 5.69446434e-04 9.99978698e-01 -1.36446087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74140051300003 meters 0.08551073225685683 Centerline is valid? [True, True] Translation: X:312.39, Y:28.33, Z:-1.36 [[ 9.99669274e-01 -2.47222487e-02 -7.08182325e-03 3.12389664e+02] [ 2.47176016e-02 9.99694197e-01 -7.42984526e-04 2.83309986e+01] [ 7.09802586e-03 5.67693117e-04 9.99974648e-01 -1.36474225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80140051300003 meters 0.08471649584948229 Centerline is valid? [True, True] Translation: X:312.45, Y:28.34, Z:-1.37 [[ 9.99633863e-01 -2.61954873e-02 -6.77757232e-03 3.12449902e+02] [ 2.61912641e-02 9.99656697e-01 -7.11140888e-04 2.83356199e+01] [ 6.79387424e-03 5.33367326e-04 9.99976779e-01 -1.36515367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86140051300004 meters 0.08369454592998292 Centerline is valid? [True, True] Translation: X:312.51, Y:28.34, Z:-1.36 [[ 9.99659764e-01 -2.52691142e-02 -6.46739310e-03 3.12508765e+02] [ 2.52652480e-02 9.99680552e-01 -6.78816903e-04 2.83410585e+01] [ 6.48248020e-03 5.15185655e-04 9.99978856e-01 -1.36422768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92140051300004 meters 0.0865153849206014 Centerline is valid? [True, True] Translation: X:312.57, Y:28.35, Z:-1.36 [[ 9.99766528e-01 -2.07696888e-02 -5.95892800e-03 3.12567873e+02] [ 2.07663273e-02 9.99784161e-01 -6.25441976e-04 2.83534286e+01] [ 5.97063207e-03 5.01550904e-04 9.99982050e-01 -1.36232933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.981400513 meters 0.08928859263870947 Centerline is valid? [True, True] Translation: X:312.63, Y:28.37, Z:-1.36 [[ 9.99840753e-01 -1.71018494e-02 -5.09863948e-03 3.12626915e+02] [ 1.70993409e-02 9.99853652e-01 -5.35193571e-04 2.83666770e+01] [ 5.10704610e-03 4.47924968e-04 9.99986859e-01 -1.36155763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.041400513 meters 0.09332769592155615 Centerline is valid? [True, True] Translation: X:312.69, Y:28.38, Z:-1.36 [[ 9.99877691e-01 -1.52283048e-02 -3.56381838e-03 3.12686424e+02] [ 1.52270673e-02 9.99883992e-01 -3.74102623e-04 2.83779487e+01] [ 3.56910189e-03 3.19790364e-04 9.99993580e-01 -1.35935683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.101400513 meters 0.09193180071251653 Centerline is valid? [True, True] Translation: X:312.75, Y:28.38, Z:-1.36 [[ 9.99843742e-01 -1.74579735e-02 -2.77665024e-03 3.12747160e+02] [ 1.74572308e-02 9.99847568e-01 -2.91485415e-04 2.83824230e+01] [ 2.78131573e-03 2.42967244e-04 9.99996103e-01 -1.35705994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.161400513 meters 0.08434732704538485 Centerline is valid? [True, True] Translation: X:312.81, Y:28.38, Z:-1.36 [[ 9.99766473e-01 -2.15399847e-02 -1.74010232e-03 3.12807950e+02] [ 2.15396992e-02 9.99767977e-01 -1.82676983e-04 2.83798509e+01] [ 1.74363344e-03 1.45153042e-04 9.99998469e-01 -1.35547803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.221400513 meters 0.08861900516728449 Centerline is valid? [True, True] Translation: X:312.86, Y:28.39, Z:-1.36 [[ 9.99745113e-01 -2.24407448e-02 -2.47417932e-03 3.12864885e+02] [ 2.24401699e-02 9.99748154e-01 -2.59891577e-04 2.83900386e+01] [ 2.47938837e-03 2.04304330e-04 9.99996905e-01 -1.35664834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.281400513 meters 0.08500948993478462 Centerline is valid? [True, True] Translation: X:312.93, Y:28.39, Z:-1.36 [[ 9.99771443e-01 -2.11523835e-02 -3.10471607e-03 3.12925683e+02] [ 2.11514721e-02 9.99776229e-01 -3.26107382e-04 2.83921153e+01] [ 3.11091927e-03 2.60363532e-04 9.99995127e-01 -1.35691207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.341400513 meters 0.08937337903155869 Centerline is valid? [True, True] Translation: X:312.98, Y:28.41, Z:-1.36 [[ 9.99793000e-01 -1.99776132e-02 -3.85390959e-03 3.12983569e+02] [ 1.99762001e-02 9.99800374e-01 -4.04816916e-04 2.84055394e+01] [ 3.86122753e-03 3.27746649e-04 9.99992492e-01 -1.35851548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.401400513 meters 0.09011858183699478 Centerline is valid? [True, True] Translation: X:313.04, Y:28.42, Z:-1.36 [[ 9.99802310e-01 -1.92841291e-02 -4.84395456e-03 3.13042144e+02] [ 1.92818878e-02 9.99813958e-01 -5.08980398e-04 2.84150320e+01] [ 4.85286863e-03 4.15479189e-04 9.99988138e-01 -1.36117066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.461400513 meters 0.08166140759804248 Centerline is valid? [True, True] Translation: X:313.10, Y:28.41, Z:-1.36 [[ 9.99771197e-01 -2.07397330e-02 -5.23610982e-03 3.13102956e+02] [ 2.07371336e-02 9.99784811e-01 -5.50241694e-04 2.84122167e+01] [ 5.24639493e-03 4.41533888e-04 9.99986140e-01 -1.36239519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.521400513 meters 0.08278694626742916 Centerline is valid? [True, True] Translation: X:313.16, Y:28.42, Z:-1.36 [[ 9.99664647e-01 -2.51056112e-02 -6.34834815e-03 3.13161519e+02] [ 2.51018771e-02 9.99684676e-01 -6.67211181e-04 2.84223802e+01] [ 6.36309710e-03 5.07631975e-04 9.99979626e-01 -1.36353261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.581400513 meters 0.08215393856100961 Centerline is valid? [True, True] Translation: X:313.22, Y:28.43, Z:-1.36 [[ 9.99601389e-01 -2.73739716e-02 -6.90861559e-03 3.13220360e+02] [ 2.73696025e-02 9.99625118e-01 -7.26188432e-04 2.84297420e+01] [ 6.92590434e-03 5.36812902e-04 9.99975872e-01 -1.36418173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.641400513 meters 0.08781954449013421 Centerline is valid? [True, True] Translation: X:313.28, Y:28.44, Z:-1.36 [[ 9.99522008e-01 -3.04557410e-02 -5.31059672e-03 3.13278485e+02] [ 3.04532020e-02 9.99536038e-01 -5.58322364e-04 2.84426172e+01] [ 5.32513693e-03 3.96330816e-04 9.99985743e-01 -1.36227366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.701400513 meters 0.0666969685027982 Centerline is valid? [True, True] Translation: X:313.34, Y:28.42, Z:-1.36 [[ 9.99398986e-01 -3.41811440e-02 -5.77197410e-03 3.13339771e+02] [ 3.41660979e-02 9.99412560e-01 -2.68556801e-03 2.84167028e+01] [ 5.86037920e-03 2.48674812e-03 9.99979736e-01 -1.36153301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.761400513 meters 0.06532222379152455 Centerline is valid? [True, True] Translation: X:313.40, Y:28.42, Z:-1.36 [[ 9.99273647e-01 -3.78593287e-02 -4.34151349e-03 3.13401258e+02] [ 3.78667094e-02 9.99281469e-01 1.63058739e-03 2.84155290e+01] [ 4.27666103e-03 -1.79380184e-03 9.99989246e-01 -1.35866940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.821400513 meters 0.07469452060405934 Centerline is valid? [True, True] Translation: X:313.46, Y:28.43, Z:-1.35 [[ 9.99382586e-01 -3.51334871e-02 2.90181999e-04 3.13458663e+02] [ 3.51334797e-02 9.99382628e-01 3.05189104e-05 2.84332330e+01] [-2.91075085e-04 -2.03049642e-05 9.99999957e-01 -1.35301273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.881400513 meters 0.07245416197082316 Centerline is valid? [True, True] Translation: X:313.52, Y:28.43, Z:-1.35 [[ 9.99464741e-01 -3.26872506e-02 1.33214256e-03 3.13519407e+02] [ 3.26870928e-02 9.99465624e-01 1.40106724e-04 2.84312339e+01] [-1.33601040e-03 -9.64878636e-05 9.99999103e-01 -1.35132528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.941400513 meters 0.07164736104146732 Centerline is valid? [True, True] Translation: X:313.58, Y:28.43, Z:-1.35 [[ 9.99514815e-01 -3.11466191e-02 -1.50507803e-04 3.13579683e+02] [ 3.11466170e-02 9.99514826e-01 -1.58339414e-05 2.84301228e+01] [ 1.50927955e-04 1.11384501e-05 9.99999989e-01 -1.35242803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.001400513 meters 0.08345701802997381 Centerline is valid? [True, True] Translation: X:313.64, Y:28.45, Z:-1.35 [[ 9.99532453e-01 -3.05496431e-02 -1.26251651e-03 3.13635863e+02] [ 3.05494995e-02 9.99533246e-01 -1.32884675e-04 2.84482561e+01] [ 1.26598681e-03 9.42532978e-05 9.99999194e-01 -1.35416137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.061400513 meters 0.08072106248131668 Centerline is valid? [True, True] Translation: X:313.70, Y:28.44, Z:-1.35 [[ 9.99595452e-01 -2.84366245e-02 5.39143146e-04 3.13696799e+02] [ 2.84365980e-02 9.99595597e-01 5.67428413e-05 2.84434285e+01] [-5.40538689e-04 -4.13884892e-05 9.99999853e-01 -1.35209607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.121400513 meters 0.08507088725334958 Centerline is valid? [True, True] Translation: X:313.76, Y:28.45, Z:-1.35 [[ 9.99666056e-01 -2.58186469e-02 1.08313231e-03 3.13755697e+02] [ 2.58185384e-02 9.99666639e-01 1.14016497e-04 2.84487467e+01] [-1.08571499e-03 -8.60135288e-05 9.99999407e-01 -1.35196425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.181400513 meters 0.08816153158951585 Centerline is valid? [True, True] Translation: X:313.82, Y:28.45, Z:-1.36 [[ 9.99780777e-01 -2.08653262e-02 -1.74232749e-03 3.13816053e+02] [ 2.08650381e-02 9.99782285e-01 -1.83412487e-04 2.84518101e+01] [ 1.74577512e-03 1.47018550e-04 9.99998465e-01 -1.35739705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24140051300003 meters 0.08341749901242473 Centerline is valid? [True, True] Translation: X:313.88, Y:28.45, Z:-1.36 [[ 9.99836067e-01 -1.80908606e-02 -7.47836357e-04 3.13876962e+02] [ 1.80908068e-02 9.99836345e-01 -7.87286938e-05 2.84496523e+01] [ 7.49138240e-04 6.51868246e-05 9.99999717e-01 -1.35569614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30140051300003 meters 0.09055378544641281 Centerline is valid? [True, True] Translation: X:313.94, Y:28.46, Z:-1.36 [[ 9.99899488e-01 -1.41535657e-02 -8.30694545e-04 3.13935238e+02] [ 1.41534979e-02 9.99899830e-01 -8.74490005e-05 2.84641514e+01] [ 8.31849050e-04 7.56829773e-05 9.99999651e-01 -1.35626803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36140051300004 meters 0.09704784849938312 Centerline is valid? [True, True] Translation: X:313.99, Y:28.48, Z:-1.36 [[ 9.99940666e-01 -1.08821829e-02 -4.92965574e-04 3.13992747e+02] [ 1.08821586e-02 9.99940786e-01 -5.19106095e-05 2.84843513e+01] [ 4.93501284e-04 4.65429998e-05 9.99999877e-01 -1.35716485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42140051300004 meters 0.09704808408250823 Centerline is valid? [True, True] Translation: X:314.05, Y:28.49, Z:-1.36 [[ 9.99916013e-01 -1.28675745e-02 -1.54671328e-03 3.14052630e+02] [ 1.28673378e-02 9.99917199e-01 -1.62861892e-04 2.84934204e+01] [ 1.54868084e-03 1.42946132e-04 9.99998791e-01 -1.35783572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.481400513 meters 0.09484980782778053 Centerline is valid? [True, True] Translation: X:314.11, Y:28.49, Z:-1.36 [[ 9.99911208e-01 -1.29474167e-02 -3.15301215e-03 3.14107197e+02] [ 1.29531907e-02 9.99914452e-01 1.81778285e-03 2.84941373e+01] [ 3.12920683e-03 -1.85846302e-03 9.99993377e-01 -1.35877870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.541400513 meters 0.0839199705712924 Centerline is valid? [True, True] Translation: X:314.17, Y:28.50, Z:-1.36 [[ 9.99699865e-01 -2.43846242e-02 -2.36021530e-03 3.14173876e+02] [ 2.43790176e-02 9.99699965e-01 -2.37577511e-03 2.84975261e+01] [ 2.41743953e-03 2.31752232e-03 9.99994393e-01 -1.35869785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.601400513 meters 0.07315259727530057 Centerline is valid? [True, True] Translation: X:314.24, Y:28.49, Z:-1.36 [[ 9.99608138e-01 -2.79730315e-02 -1.03930713e-03 3.14235700e+02] [ 2.79729328e-02 9.99608675e-01 -1.09388580e-04 2.84897513e+01] [ 1.04196036e-03 8.02732462e-05 9.99999454e-01 -1.35744677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.661400513 meters 0.0772504090688718 Centerline is valid? [True, True] Translation: X:314.29, Y:28.51, Z:-1.36 [[ 9.99558196e-01 -2.97076794e-02 -9.30425925e-04 3.14293159e+02] [ 2.97076010e-02 9.99558627e-01 -9.79557647e-05 2.85060523e+01] [ 9.32925298e-04 7.02717653e-05 9.99999562e-01 -1.35602536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.721400513 meters 0.07867353627285081 Centerline is valid? [True, True] Translation: X:314.35, Y:28.52, Z:-1.36 [[ 9.99596628e-01 -2.83433454e-02 -1.79874031e-03 3.14353096e+02] [ 2.83430503e-02 9.99598237e-01 -1.89362103e-04 2.85158708e+01] [ 1.80338480e-03 1.38303933e-04 9.99998364e-01 -1.35745015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.781400513 meters 0.09205584216981956 Centerline is valid? [True, True] Translation: X:314.41, Y:28.54, Z:-1.36 [[ 9.99648358e-01 -2.64359581e-02 -2.07383897e-03 3.14409750e+02] [ 2.64355616e-02 9.99650496e-01 -2.18351326e-04 2.85387771e+01] [ 2.07888648e-03 1.63451446e-04 9.99997826e-01 -1.35983748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.841400513 meters 0.08245693239337805 Centerline is valid? [True, True] Translation: X:314.47, Y:28.54, Z:-1.36 [[ 9.99711927e-01 -2.39333289e-02 -1.80516591e-03 3.14470475e+02] [ 2.39330244e-02 9.99713546e-01 -1.90067991e-04 2.85361760e+01] [ 1.80919777e-03 1.46810158e-04 9.99998353e-01 -1.35945442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.901400513 meters 0.0883248668357839 Centerline is valid? [True, True] Translation: X:314.53, Y:28.55, Z:-1.36 [[ 9.99769536e-01 -2.14499755e-02 -8.80019811e-04 3.14528489e+02] [ 2.14499022e-02 9.99769920e-01 -9.26274534e-05 2.85490247e+01] [ 8.81804192e-04 7.37297672e-05 9.99999608e-01 -1.35734397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.961400513 meters 0.09412447845662272 Centerline is valid? [True, True] Translation: X:314.59, Y:28.57, Z:-1.35 [[ 9.99883499e-01 -1.52119858e-02 1.25829592e-03 3.14587424e+02] [ 1.52118311e-02 9.99884285e-01 1.32455970e-04 2.85679400e+01] [-1.26016523e-03 -1.13299553e-04 9.99999200e-01 -1.35443957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.021400513 meters 0.09883266272789053 Centerline is valid? [True, True] Translation: X:314.65, Y:28.59, Z:-1.36 [[ 9.99959518e-01 -8.94267030e-03 9.95148681e-04 3.14646422e+02] [ 8.94257043e-03 9.99960009e-01 1.04760031e-04 2.85859244e+01] [-9.96045718e-04 -9.58566026e-05 9.99999499e-01 -1.35555975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.081400513 meters 0.1020032618347821 Centerline is valid? [True, False] Translation: X:314.65, Y:28.59, Z:-1.36 [[ 9.99987129e-01 -4.97447044e-03 9.97925763e-04 3.14646556e+02] [ 4.97098195e-03 9.99981630e-01 3.46828086e-03 2.85902528e+01] [-1.01516029e-03 -3.46327555e-03 9.99993488e-01 -1.35622938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.141400513 meters 0.10029211755552875 Centerline is valid? [False, False] Translation: X:314.65, Y:28.60, Z:-1.36 [[ 9.99980346e-01 -6.16110968e-03 1.16105907e-03 3.14646579e+02] [ 6.16060774e-03 9.99980928e-01 4.35395912e-04 2.86034239e+01] [-1.16371945e-03 -4.28234526e-04 9.99999231e-01 -1.35751705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.201400513 meters 0.09637493185948191 Centerline is valid? [False, True] Translation: X:314.65, Y:28.61, Z:-1.36 [[ 9.99977975e-01 -6.53702510e-03 1.14785117e-03 3.14646479e+02] [ 6.53769758e-03 9.99978459e-01 -5.83085411e-04 2.86079485e+01] [-1.14401480e-03 5.90576872e-04 9.99999171e-01 -1.35736392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.261400513 meters 0.08420331745759724 Centerline is valid? [True, True] Translation: X:314.71, Y:28.61, Z:-1.36 [[ 9.99920825e-01 -1.25116487e-02 1.34283603e-03 3.14707746e+02] [ 1.25114801e-02 9.99921719e-01 1.33832259e-04 2.86069101e+01] [-1.34440538e-03 -1.17020797e-04 9.99999089e-01 -1.35633496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.321400513 meters 0.08268766733070516 Centerline is valid? [True, True] Translation: X:314.77, Y:28.63, Z:-1.36 [[ 9.99850997e-01 -1.72599275e-02 2.78862085e-04 3.14765734e+02] [ 1.72599204e-02 9.99851036e-01 2.77892893e-05 2.86285858e+01] [-2.79300185e-04 -2.29720113e-05 9.99999961e-01 -1.35877156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.381400513 meters 0.08099182322972305 Centerline is valid? [True, True] Translation: X:314.82, Y:28.64, Z:-1.36 [[ 9.99791148e-01 -2.04337106e-02 -3.52386194e-04 3.14824799e+02] [ 2.04336995e-02 9.99791210e-01 -3.51576903e-05 2.86393709e+01] [ 3.53031021e-04 2.79497939e-05 9.99999937e-01 -1.35979428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.441400513 meters 0.07344558870775139 Centerline is valid? [True, True] Translation: X:314.89, Y:28.64, Z:-1.36 [[ 9.99549468e-01 -2.99719234e-02 1.59513308e-03 3.14885525e+02] [ 2.99717077e-02 9.99550735e-01 1.59001157e-04 2.86409282e+01] [-1.59918202e-03 -1.11120660e-04 9.99998715e-01 -1.35527972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.501400513 meters 0.062906230910669 Centerline is valid? [True, True] Translation: X:314.95, Y:28.63, Z:-1.35 [[ 9.99297128e-01 -3.73445388e-02 3.26126118e-03 3.14946712e+02] [ 3.73436759e-02 9.99302429e-01 3.25094760e-04 2.86328117e+01] [-3.27112673e-03 -2.03078779e-04 9.99994629e-01 -1.35348828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.561400513 meters 0.055516558590661534 Centerline is valid? [True, True] Translation: X:315.01, Y:28.62, Z:-1.36 [[ 9.99029440e-01 -4.39653010e-02 2.68897144e-03 3.15008767e+02] [ 4.39647383e-02 9.99033047e-01 2.68055935e-04 2.86224224e+01] [-2.69815649e-03 -1.49575845e-04 9.99996349e-01 -1.35567161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.621400513 meters 0.05441814186004315 Centerline is valid? [True, True] Translation: X:315.07, Y:28.62, Z:-1.36 [[ 9.98983557e-01 -4.50601317e-02 1.19882728e-03 3.15068406e+02] [ 4.50600207e-02 9.98984274e-01 1.19433571e-04 2.86212597e+01] [-1.20299129e-03 -6.52929915e-05 9.99999274e-01 -1.35748943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.681400513 meters 0.05927523760773127 Centerline is valid? [True, True] Translation: X:315.13, Y:28.63, Z:-1.35 [[ 9.99057884e-01 -4.33377421e-02 2.27685510e-03 3.15126464e+02] [ 4.33373361e-02 9.99060470e-01 2.27354080e-04 2.86275037e+01] [-2.28456894e-03 -1.28467051e-04 9.99997382e-01 -1.35483246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74140051300003 meters 0.06271958285400152 Centerline is valid? [True, True] Translation: X:315.19, Y:28.63, Z:-1.35 [[ 9.99323212e-01 -3.65786242e-02 3.88875725e-03 3.15187354e+02] [ 3.65773884e-02 9.99330748e-01 3.88453487e-04 2.86290786e+01] [-3.90036379e-03 -2.45950001e-04 9.99992363e-01 -1.35289482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80140051300003 meters 0.06619573919551566 Centerline is valid? [True, True] Translation: X:315.25, Y:28.64, Z:-1.35 [[ 9.99473258e-01 -3.21991878e-02 4.05207721e-03 3.15247187e+02] [ 3.21978100e-02 9.99481434e-01 4.04797438e-04 2.86366396e+01] [-4.06301009e-03 -2.74116202e-04 9.99991708e-01 -1.35404597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86140051300004 meters 0.06996592507240916 Centerline is valid? [True, True] Translation: X:315.31, Y:28.65, Z:-1.35 [[ 9.99531670e-01 -3.01178020e-02 5.41840058e-03 3.15306065e+02] [ 3.01153077e-02 9.99546285e-01 5.41356347e-04 2.86460978e+01] [-5.43224663e-03 -3.77926013e-04 9.99985174e-01 -1.35188730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92140051300004 meters 0.07386377354561945 Centerline is valid? [True, True] Translation: X:315.36, Y:28.66, Z:-1.35 [[ 9.99543219e-01 -2.98352083e-02 4.81811457e-03 3.15364475e+02] [ 2.98332325e-02 9.99554774e-01 4.81434344e-04 2.86558173e+01] [-4.83033312e-03 -3.37474501e-04 9.99988277e-01 -1.35236174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.981400513 meters 0.07118793315596303 Centerline is valid? [True, True] Translation: X:315.43, Y:28.66, Z:-1.36 [[ 9.99489705e-01 -3.19417250e-02 2.34203782e-04 3.15425551e+02] [ 3.19417204e-02 9.99489733e-01 2.33969357e-05 2.86555617e+01] [-2.34831614e-04 -1.59041247e-05 9.99999972e-01 -1.36068973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.041400513 meters 0.06107301122469857 Centerline is valid? [True, True] Translation: X:315.49, Y:28.65, Z:-1.36 [[ 9.99350067e-01 -3.60085407e-02 1.68179108e-03 3.15486341e+02] [ 3.60083086e-02 9.99351476e-01 1.68060930e-04 2.86494871e+01] [-1.68675203e-03 -1.07393250e-04 9.99998572e-01 -1.35886041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.101400513 meters 0.0629983513732091 Centerline is valid? [True, True] Translation: X:315.55, Y:28.65, Z:-1.36 [[ 9.99116627e-01 -4.20047813e-02 1.25035766e-03 3.15545706e+02] [ 4.20046577e-02 9.99117407e-01 1.24966457e-04 2.86534078e+01] [-1.25450329e-03 -7.23352196e-05 9.99999210e-01 -1.35831339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.161400513 meters 0.06979275373395752 Centerline is valid? [True, True] Translation: X:315.60, Y:28.66, Z:-1.36 [[ 9.99042919e-01 -4.37289140e-02 1.01345538e-03 3.15604135e+02] [ 4.37288336e-02 9.99043432e-01 1.01294077e-04 2.86648005e+01] [-1.01691542e-03 -5.68799082e-05 9.99999481e-01 -1.35914480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.221400513 meters 0.06299086131587676 Centerline is valid? [True, True] Translation: X:315.66, Y:28.65, Z:-1.35 [[ 9.99109929e-01 -4.20728341e-02 3.03746573e-03 3.15664866e+02] [ 4.20721045e-02 9.99114531e-01 3.03750888e-04 2.86546804e+01] [-3.04755581e-03 -1.75687953e-04 9.99995341e-01 -1.35470268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.281400513 meters 0.06384478802812917 Centerline is valid? [True, True] Translation: X:315.72, Y:28.66, Z:-1.36 [[ 9.99206983e-01 -3.97972426e-02 1.25901833e-03 3.15724819e+02] [ 3.97971155e-02 9.99207773e-01 1.25922428e-04 2.86589575e+01] [-1.26303227e-03 -7.57172710e-05 9.99999200e-01 -1.35851870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.341400513 meters 0.07294535354996577 Centerline is valid? [True, True] Translation: X:315.78, Y:28.67, Z:-1.36 [[ 9.99504230e-01 -3.14638047e-02 1.15059994e-03 3.15784018e+02] [ 3.14636930e-02 9.99504889e-01 1.15096211e-04 2.86715976e+01] [-1.15365163e-03 -7.88370261e-05 9.99999331e-01 -1.35859934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.401400513 meters 0.08615706960385416 Centerline is valid? [True, True] Translation: X:315.84, Y:28.69, Z:-1.36 [[ 9.99711822e-01 -2.38140233e-02 3.02748101e-03 3.15841504e+02] [ 2.38132147e-02 9.99716379e-01 3.02849216e-04 2.86930705e+01] [-3.03383441e-03 -2.30667886e-04 9.99995371e-01 -1.35503914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.461400513 meters 0.09723580666853061 Centerline is valid? [True, True] Translation: X:315.90, Y:28.71, Z:-1.36 [[ 9.99867003e-01 -1.62004313e-02 1.87688078e-03 3.15899508e+02] [ 1.62001072e-02 9.99868752e-01 1.87755440e-04 2.87136835e+01] [-1.87967616e-03 -1.57324799e-04 9.99998221e-01 -1.35780706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.521400513 meters 0.0916841885624733 Centerline is valid? [True, True] Translation: X:315.96, Y:28.71, Z:-1.36 [[ 9.99935009e-01 -1.13970646e-02 2.89402429e-04 3.15960244e+02] [ 1.13970567e-02 9.99935051e-01 2.89548244e-05 2.87134389e+01] [-2.89713632e-04 -2.56546067e-05 9.99999958e-01 -1.36120438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.581400513 meters 0.09057738806175984 Centerline is valid? [True, True] Translation: X:316.02, Y:28.72, Z:-1.36 [[ 9.99912775e-01 -1.31585816e-02 1.13801268e-03 3.16020378e+02] [ 1.31584605e-02 9.99913417e-01 1.13848700e-04 2.87193543e+01] [-1.13941224e-03 -9.88642743e-05 9.99999346e-01 -1.36022669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.641400513 meters 0.08310579592327258 Centerline is valid? [True, True] Translation: X:316.08, Y:28.72, Z:-1.36 [[ 9.99845420e-01 -1.75190009e-02 1.49003614e-03 3.16081358e+02] [ 1.75187981e-02 9.99846523e-01 1.49070868e-04 2.87177093e+01] [-1.49241903e-03 -1.22944183e-04 9.99998879e-01 -1.35999982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.701400513 meters 0.08301471571774878 Centerline is valid? [True, True] Translation: X:316.14, Y:28.72, Z:-1.36 [[ 9.99809178e-01 -1.95004652e-02 1.15718572e-03 3.16141026e+02] [ 1.95003442e-02 9.99809844e-01 1.15773124e-04 2.87240941e+01] [-1.15922330e-03 -9.31855124e-05 9.99999324e-01 -1.36029311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.761400513 meters 0.08233911781062324 Centerline is valid? [True, True] Translation: X:316.20, Y:28.73, Z:-1.36 [[ 9.99780722e-01 -2.08891140e-02 1.46709909e-03 3.16201172e+02] [ 2.08889209e-02 9.99781792e-01 1.46781440e-04 2.87252739e+01] [-1.46984510e-03 -1.16103137e-04 9.99998913e-01 -1.36035024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.821400513 meters 0.0788566615770937 Centerline is valid? [True, True] Translation: X:316.26, Y:28.72, Z:-1.36 [[ 9.99655431e-01 -2.61273350e-02 2.52611198e-03 3.16263070e+02] [ 2.61267792e-02 9.99658605e-01 2.52768248e-04 2.87175259e+01] [-2.53185374e-03 -1.86681983e-04 9.99996777e-01 -1.35860194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.881400513 meters 0.07383310450515601 Centerline is valid? [True, True] Translation: X:316.32, Y:28.71, Z:-1.36 [[ 9.99597995e-01 -2.83228275e-02 1.29048580e-03 3.16324873e+02] [ 2.83226842e-02 9.99598824e-01 1.29129002e-04 2.87085573e+01] [-1.29362539e-03 -9.25270700e-05 9.99999159e-01 -1.36020982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.941400513 meters 0.07437418834635799 Centerline is valid? [True, True] Translation: X:316.38, Y:28.71, Z:-1.36 [[ 9.99590941e-01 -2.85897090e-02 7.61250308e-04 3.16384135e+02] [ 2.85896594e-02 9.99591229e-01 7.60280737e-05 2.87076817e+01] [-7.63112751e-04 -5.42330868e-05 9.99999707e-01 -1.36182838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.001400513 meters 0.07398597368338602 Centerline is valid? [True, True] Translation: X:316.45, Y:28.70, Z:-1.36 [[ 9.99660218e-01 -2.60487276e-02 9.55263039e-04 3.16445443e+02] [ 2.60486480e-02 9.99660672e-01 9.57387432e-05 2.87030941e+01] [-9.57432763e-04 -7.08229023e-05 9.99999539e-01 -1.36169670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.061400513 meters 0.07693818610119267 Centerline is valid? [True, True] Translation: X:316.50, Y:28.71, Z:-1.36 [[ 9.99682843e-01 -2.51360463e-02 -1.54682794e-03 3.16503805e+02] [ 2.51358361e-02 9.99684033e-01 -1.55175903e-04 2.87055140e+01] [ 1.55023970e-03 1.16245875e-04 9.99998792e-01 -1.36408519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.121400513 meters 0.07889141434443477 Centerline is valid? [True, True] Translation: X:316.56, Y:28.70, Z:-1.36 [[ 9.99744864e-01 -2.25864320e-02 -2.45082537e-04 3.16564741e+02] [ 2.25864267e-02 9.99744894e-01 -2.45745924e-05 2.87033259e+01] [ 2.45575067e-04 1.90327838e-05 9.99999970e-01 -1.36276414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.181400513 meters 0.08900931106937836 Centerline is valid? [True, True] Translation: X:316.62, Y:28.72, Z:-1.36 [[ 9.99788512e-01 -2.04426230e-02 2.24276984e-03 3.16622890e+02] [ 2.04421697e-02 9.99791012e-01 2.24880358e-04 2.87156402e+01] [-2.24689827e-03 -1.78985717e-04 9.99997460e-01 -1.35877363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24140051300003 meters 0.0834947350232774 Centerline is valid? [True, True] Translation: X:316.68, Y:28.71, Z:-1.36 [[ 9.99826299e-01 -1.86280768e-02 6.05390414e-04 3.16683007e+02] [ 1.86280435e-02 9.99826481e-01 6.06896033e-05 2.87140152e+01] [-6.06415898e-04 -4.94018225e-05 9.99999815e-01 -1.36215122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30140051300003 meters 0.08982275939774399 Centerline is valid? [True, True] Translation: X:316.74, Y:28.73, Z:-1.36 [[ 9.99870735e-01 -1.60608684e-02 7.49450626e-04 3.16741980e+02] [ 1.60608165e-02 9.99871014e-01 7.51439813e-05 2.87251315e+01] [-7.50560835e-04 -6.30974788e-05 9.99999716e-01 -1.36246591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36140051300004 meters 0.09407946726495063 Centerline is valid? [True, True] Translation: X:316.80, Y:28.74, Z:-1.36 [[ 9.99883194e-01 -1.52225051e-02 1.36909621e-03 3.16799772e+02] [ 1.52223312e-02 9.99884124e-01 1.37295649e-04 2.87374280e+01] [-1.37102755e-03 -1.16438776e-04 9.99999053e-01 -1.36078942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42140051300004 meters 0.08436953776408962 Centerline is valid? [True, True] Translation: X:316.86, Y:28.74, Z:-1.36 [[ 9.99905437e-01 -1.37276661e-02 8.17418941e-04 3.16860408e+02] [ 1.37276037e-02 9.99905769e-01 8.19952967e-05 2.87372575e+01] [-8.18467518e-04 -7.07663398e-05 9.99999663e-01 -1.36231660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.481400513 meters 0.10177728300079028 Centerline is valid? [True, False] Translation: X:316.88, Y:28.75, Z:-1.37 [[ 9.99960938e-01 -6.29231480e-03 6.20723299e-03 3.16878340e+02] [ 6.31939560e-03 9.99970558e-01 -4.35285879e-03 2.87477762e+01] [-6.17966068e-03 4.39191472e-03 9.99971261e-01 -1.36608565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.541400513 meters 0.10132475713276354 Centerline is valid? [False, False] Translation: X:316.86, Y:28.76, Z:-1.36 [[ 9.99991681e-01 -3.98816840e-03 8.55315695e-04 3.16859688e+02] [ 3.99858513e-03 9.99913325e-01 -1.25440693e-02 2.87582460e+01] [-8.05213700e-04 1.25473850e-02 9.99920954e-01 -1.36346593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.601400513 meters 0.09043090788989606 Centerline is valid? [False, True] Translation: X:316.86, Y:28.76, Z:-1.36 [[ 9.99999657e-01 4.94578607e-04 6.64635925e-04 3.16860052e+02] [-4.89433449e-04 9.99970086e-01 -7.71931059e-03 2.87561669e+01] [-6.68433849e-04 7.71898265e-03 9.99969985e-01 -1.36291962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.661400513 meters 0.08753569457180306 Centerline is valid? [True, True] Translation: X:316.92, Y:28.76, Z:-1.36 [[ 9.99999989e-01 3.36791743e-05 -1.47687070e-04 3.16921122e+02] [-3.36811210e-05 9.99999999e-01 -1.31791462e-05 2.87555825e+01] [ 1.47686626e-04 1.31841203e-05 9.99999989e-01 -1.36214824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.721400513 meters 0.09256796803550799 Centerline is valid? [True, True] Translation: X:316.98, Y:28.78, Z:-1.36 [[ 9.99999969e-01 -2.49924074e-04 7.19822846e-06 3.16979245e+02] [ 2.49924070e-04 9.99999969e-01 6.01670112e-07 2.87751487e+01] [-7.19837861e-06 -5.99871083e-07 1.00000000e+00 -1.36295967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.781400513 meters 0.0922273322283104 Centerline is valid? [True, True] Translation: X:317.04, Y:28.78, Z:-1.36 [[ 9.99998872e-01 -1.43101249e-03 -4.57213936e-04 3.17039404e+02] [ 1.43099399e-03 9.99998975e-01 -4.08054969e-05 2.87823740e+01] [ 4.57271861e-04 4.01511804e-05 9.99999895e-01 -1.36406817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.841400513 meters 0.0827952721359082 Centerline is valid? [True, True] Translation: X:317.10, Y:28.78, Z:-1.36 [[ 9.99978557e-01 -6.54677857e-03 1.59947475e-04 3.17100031e+02] [ 6.54677637e-03 9.99978570e-01 1.42647600e-05 2.87821389e+01] [-1.60037435e-04 -1.32173137e-05 9.99999987e-01 -1.36307914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.901400513 meters 0.08116554025429798 Centerline is valid? [True, True] Translation: X:317.16, Y:28.79, Z:-1.36 [[ 9.99936685e-01 -1.11214422e-02 1.71475705e-03 3.17160345e+02] [ 1.11211960e-02 9.99938146e-01 1.53038894e-04 2.87881698e+01] [-1.71635300e-03 -1.33959055e-04 9.99998518e-01 -1.35985550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.961400513 meters 0.07286888835843915 Centerline is valid? [True, True] Translation: X:317.22, Y:28.78, Z:-1.36 [[ 9.99812340e-01 -1.93139631e-02 1.50207261e-03 3.17221444e+02] [ 1.93137833e-02 9.99813463e-01 1.34078765e-04 2.87848124e+01] [-1.50438201e-03 -1.05042899e-04 9.99998863e-01 -1.36067465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.021400513 meters 0.06600593329406018 Centerline is valid? [True, True] Translation: X:317.28, Y:28.78, Z:-1.36 [[ 9.99659242e-01 -2.56696272e-02 4.74022385e-03 3.17282787e+02] [ 2.56679086e-02 9.99670435e-01 4.23051266e-04 2.87810900e+01] [-4.74952121e-03 -3.01235476e-04 9.99988676e-01 -1.35625135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.081400513 meters 0.06923408638953245 Centerline is valid? [True, True] Translation: X:317.34, Y:28.79, Z:-1.35 [[ 9.99466252e-01 -3.17738366e-02 7.59172953e-03 3.17341611e+02] [ 3.17696034e-02 9.99494989e-01 6.77584777e-04 2.87885269e+01] [-7.60942509e-03 -4.36036881e-04 9.99970953e-01 -1.35165355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.141400513 meters 0.05594476659925479 Centerline is valid? [True, True] Translation: X:317.40, Y:28.78, Z:-1.36 [[ 9.99341954e-01 -3.59318765e-02 4.95571348e-03 3.17403170e+02] [ 3.59301234e-02 9.99354207e-01 4.42354001e-04 2.87755216e+01] [-4.96840772e-03 -2.64003515e-04 9.99987623e-01 -1.35732479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.201400513 meters 0.06114479843248119 Centerline is valid? [True, True] Translation: X:317.46, Y:28.79, Z:-1.36 [[ 9.99406116e-01 -3.43775642e-02 2.36613441e-03 3.17461204e+02] [ 3.43771603e-02 9.99408908e-01 2.11171729e-04 2.87857136e+01] [-2.37199538e-03 -1.29705336e-04 9.99997178e-01 -1.36048435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.261400513 meters 0.06859274541767893 Centerline is valid? [True, True] Translation: X:317.52, Y:28.80, Z:-1.36 [[ 9.99593193e-01 -2.84170616e-02 2.43309927e-03 3.17520009e+02] [ 2.84166166e-02 9.99596143e-01 2.17274078e-04 2.88028876e+01] [-2.43829093e-03 -1.48045240e-04 9.99997016e-01 -1.36034144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.321400513 meters 0.0754624453670458 Centerline is valid? [True, True] Translation: X:317.58, Y:28.82, Z:-1.36 [[ 9.99688683e-01 -2.49431387e-02 6.13453054e-04 3.17578072e+02] [ 2.49431097e-02 9.99688871e-01 5.48307466e-05 2.88181148e+01] [-6.14629842e-04 -3.95122500e-05 9.99999810e-01 -1.36404971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.381400513 meters 0.06930306996715012 Centerline is valid? [True, True] Translation: X:317.64, Y:28.82, Z:-1.37 [[ 9.99716157e-01 -2.38191669e-02 5.01783340e-04 3.17637524e+02] [ 2.38191475e-02 9.99716283e-01 4.46955673e-05 2.88203682e+01] [-5.02705586e-04 -3.27308294e-05 9.99999873e-01 -1.36524363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.441400513 meters 0.06710394970806847 Centerline is valid? [True, True] Translation: X:317.70, Y:28.82, Z:-1.36 [[ 9.99664048e-01 -2.57016448e-02 3.34912309e-03 3.17697897e+02] [ 2.57007863e-02 9.99669635e-01 2.99133480e-04 2.88219362e+01] [-3.35570488e-03 -2.12957889e-04 9.99994347e-01 -1.36054758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.501400513 meters 0.07009480893196923 Centerline is valid? [True, True] Translation: X:317.76, Y:28.83, Z:-1.36 [[ 9.99573219e-01 -2.91711922e-02 1.55612116e-03 3.17756859e+02] [ 2.91710110e-02 9.99574426e-01 1.39002033e-04 2.88313624e+01] [-1.55951377e-03 -9.35490818e-05 9.99998780e-01 -1.36375696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.561400513 meters 0.06563677190355337 Centerline is valid? [True, True] Translation: X:317.82, Y:28.83, Z:-1.36 [[ 9.99547611e-01 -2.98761131e-02 3.46274156e-03 3.17816639e+02] [ 2.98752199e-02 9.99553588e-01 3.09392882e-04 2.88287843e+01] [-3.47043920e-03 -2.05802750e-04 9.99993957e-01 -1.36018058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.621400513 meters 0.07131345864916248 Centerline is valid? [True, True] Translation: X:317.88, Y:28.84, Z:-1.36 [[ 9.99601800e-01 -2.78447442e-02 4.57292668e-03 3.17875458e+02] [ 2.78431620e-02 9.99612220e-01 4.09298309e-04 2.88386772e+01] [-4.58255020e-03 -2.81810588e-04 9.99989460e-01 -1.35792314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.681400513 meters 0.06398359158627745 Centerline is valid? [True, True] Translation: X:317.94, Y:28.84, Z:-1.36 [[ 9.99734873e-01 -2.26082065e-02 4.36502309e-03 3.17935960e+02] [ 2.26067149e-02 9.99744359e-01 3.90743914e-04 2.88354333e+01] [-4.37274123e-03 -2.91961484e-04 9.99990397e-01 -1.36028904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74140051300003 meters 0.072176603496582 Centerline is valid? [True, True] Translation: X:317.99, Y:28.85, Z:-1.36 [[ 9.99816882e-01 -1.86629040e-02 4.23077046e-03 3.17993923e+02] [ 1.86614675e-02 9.99825788e-01 3.78757922e-04 2.88527560e+01] [-4.23710213e-03 -2.99736179e-04 9.99990979e-01 -1.36098558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80140051300003 meters 0.07615109806287038 Centerline is valid? [True, True] Translation: X:318.05, Y:28.87, Z:-1.37 [[ 9.99872392e-01 -1.59385319e-02 1.07877362e-03 3.18053273e+02] [ 1.59384369e-02 9.99872970e-01 9.65977382e-05 2.88669172e+01] [-1.08017621e-03 -7.93914462e-05 9.99999413e-01 -1.36546227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86140051300004 meters 0.07749447793966652 Centerline is valid? [True, True] Translation: X:318.11, Y:28.87, Z:-1.36 [[ 9.99869320e-01 -1.61372506e-02 9.65879301e-04 3.18112194e+02] [ 1.61371746e-02 9.99869784e-01 8.64283305e-05 2.88739186e+01] [-9.67148243e-04 -7.08304730e-05 9.99999530e-01 -1.36472367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92140051300004 meters 0.07449932793924592 Centerline is valid? [True, True] Translation: X:318.17, Y:28.88, Z:-1.36 [[ 9.99847613e-01 -1.72253418e-02 2.83520815e-03 3.18171598e+02] [ 1.72246906e-02 9.99851612e-01 2.53919036e-04 2.88775116e+01] [-2.83916128e-03 -2.05044759e-04 9.99995949e-01 -1.36190102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.981400513 meters 0.07569488678431419 Centerline is valid? [True, True] Translation: X:318.23, Y:28.89, Z:-1.37 [[ 9.99863788e-01 -1.63395624e-02 2.32906312e-03 3.18230957e+02] [ 1.63391205e-02 9.99866486e-01 2.08641749e-04 2.88869951e+01] [-2.33216127e-03 -1.70558486e-04 9.99997266e-01 -1.36515351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.041400513 meters 0.08631956146476007 Centerline is valid? [True, True] Translation: X:318.29, Y:28.90, Z:-1.37 [[ 9.99890949e-01 -1.47636245e-02 -3.53267569e-04 3.18288814e+02] [ 1.47636142e-02 9.99891011e-01 -3.17417632e-05 2.89046930e+01] [ 3.53697690e-04 2.65227957e-05 9.99999937e-01 -1.36980870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.101400513 meters 0.08408477295105242 Centerline is valid? [True, True] Translation: X:318.35, Y:28.91, Z:-1.37 [[ 9.99908755e-01 -1.35024059e-02 4.07777754e-04 3.18348175e+02] [ 1.35023921e-02 9.99908838e-01 3.64393785e-05 2.89072565e+01] [-4.08232599e-04 -3.09300785e-05 9.99999916e-01 -1.36726579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.161400513 meters 0.07797507742652805 Centerline is valid? [True, True] Translation: X:318.41, Y:28.90, Z:-1.37 [[ 9.99924167e-01 -1.22514583e-02 1.25008237e-03 3.18408419e+02] [ 1.22513277e-02 9.99924943e-01 1.12021152e-04 2.89036235e+01] [-1.25136097e-03 -9.66974879e-05 9.99999212e-01 -1.36558327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.221400513 meters 0.08286673815443693 Centerline is valid? [True, True] Translation: X:318.47, Y:28.91, Z:-1.36 [[ 9.99940395e-01 -1.05913385e-02 2.65138268e-03 3.18466389e+02] [ 1.05907451e-02 9.99943888e-01 2.37746716e-04 2.89145282e+01] [-2.65375196e-03 -2.09652427e-04 9.99996457e-01 -1.36459106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.281400513 meters 0.0868945826436619 Centerline is valid? [True, True] Translation: X:318.53, Y:28.92, Z:-1.37 [[ 9.99963694e-01 -8.28098968e-03 2.00909096e-03 3.18525859e+02] [ 8.28064423e-03 9.99965699e-01 1.80199674e-04 2.89220072e+01] [-2.01051428e-03 -1.63556564e-04 9.99997966e-01 -1.36583931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.341400513 meters 0.08640604774192853 Centerline is valid? [True, True] Translation: X:318.59, Y:28.93, Z:-1.37 [[ 9.99983657e-01 -5.59603680e-03 -1.17029091e-03 3.18586343e+02] [ 5.59591768e-03 9.99984337e-01 -1.05029369e-04 2.89282735e+01] [ 1.17086033e-03 9.84788010e-05 9.99999310e-01 -1.37158778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.401400513 meters 0.08633106782405862 Centerline is valid? [True, True] Translation: X:318.65, Y:28.93, Z:-1.37 [[ 9.99973649e-01 -7.25812514e-03 -1.43220192e-04 3.18646093e+02] [ 7.25812337e-03 9.99973659e-01 -1.28861065e-05 2.89309921e+01] [ 1.43309949e-04 1.18462571e-05 9.99999990e-01 -1.36986139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.461400513 meters 0.08079908307245975 Centerline is valid? [True, True] Translation: X:318.71, Y:28.93, Z:-1.37 [[ 9.99928803e-01 -1.16988703e-02 2.35052795e-03 3.18706548e+02] [ 1.16984067e-02 9.99931549e-01 2.10904888e-04 2.89284352e+01] [-2.35283440e-03 -1.83392441e-04 9.99997215e-01 -1.36578913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.521400513 meters 0.08166463821890822 Centerline is valid? [True, True] Translation: X:318.77, Y:28.94, Z:-1.36 [[ 9.99911982e-01 -1.21923801e-02 5.23208094e-03 3.18766989e+02] [ 1.21900895e-02 9.99925588e-01 4.69474557e-04 2.89358005e+01] [-5.23741562e-03 -4.05653700e-04 9.99986202e-01 -1.36186005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.581400513 meters 0.08420402787874258 Centerline is valid? [True, True] Translation: X:318.83, Y:28.94, Z:-1.36 [[ 9.99920232e-01 -1.13341076e-02 5.57379529e-03 3.18827201e+02] [ 1.13314949e-02 9.99935671e-01 5.00115315e-04 2.89439185e+01] [-5.57910509e-03 -4.36915989e-04 9.99984341e-01 -1.36042922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.641400513 meters 0.09905056676434017 Centerline is valid? [True, True] Translation: X:318.89, Y:28.97, Z:-1.37 [[ 9.99941039e-01 -1.04768963e-02 2.85534632e-03 3.18886260e+02] [ 1.04762071e-02 9.99945090e-01 2.56222730e-04 2.89695160e+01] [-2.85787395e-03 -2.26294423e-04 9.99995891e-01 -1.36635291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.701400513 meters 0.0777112578596753 Centerline is valid? [True, True] Translation: X:318.95, Y:28.95, Z:-1.37 [[ 9.99943731e-01 -1.02897211e-02 2.57995006e-03 3.18949650e+02] [ 1.02891583e-02 9.99947038e-01 2.31351066e-04 2.89490450e+01] [-2.58219396e-03 -2.04792534e-04 9.99996645e-01 -1.36723338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.761400513 meters 0.08945583573870458 Centerline is valid? [True, True] Translation: X:319.01, Y:28.97, Z:-1.37 [[ 9.99951127e-01 -9.57901934e-03 2.44643943e-03 3.19008974e+02] [ 9.57851126e-03 9.99954101e-01 2.19313163e-04 2.89666906e+01] [-2.44842795e-03 -1.95869197e-04 9.99996983e-01 -1.36702387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.821400513 meters 0.0932870636706277 Centerline is valid? [True, True] Translation: X:319.07, Y:28.98, Z:-1.37 [[ 9.99985476e-01 -5.38877025e-03 9.93439099e-05 3.19068602e+02] [ 5.38876939e-03 9.99985480e-01 8.89218724e-06 2.89798588e+01] [-9.93903855e-05 -8.35671667e-06 9.99999995e-01 -1.37150847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.881400513 meters 0.09557088009405658 Centerline is valid? [True, True] Translation: X:319.13, Y:28.99, Z:-1.37 [[ 9.99999350e-01 1.05203011e-03 4.40300476e-04 3.19128291e+02] [-1.05204758e-03 9.99999446e-01 3.94513118e-05 2.89918624e+01] [-4.40258728e-04 -3.99145032e-05 9.99999902e-01 -1.37081040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.941400513 meters 0.09214538349330839 Centerline is valid? [True, True] Translation: X:319.19, Y:29.00, Z:-1.37 [[ 9.99996537e-01 2.57803052e-03 -5.28316533e-04 3.19189021e+02] [-2.57805588e-03 9.99996676e-01 -4.73216749e-05 2.89971265e+01] [ 5.28192780e-04 4.86835405e-05 9.99999859e-01 -1.37290187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.001400513 meters 0.09127312625468154 Centerline is valid? [True, True] Translation: X:319.25, Y:29.00, Z:-1.37 [[ 9.99999425e-01 -4.48884531e-04 -9.74357099e-04 3.19248686e+02] [ 4.48799647e-04 9.99999895e-01 -8.73357268e-05 2.90043386e+01] [ 9.74396201e-04 8.68983854e-05 9.99999522e-01 -1.37430508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.061400513 meters 0.08205232027644023 Centerline is valid? [True, True] Translation: X:319.31, Y:29.00, Z:-1.37 [[ 9.99950447e-01 -9.73335389e-03 2.08949692e-03 3.19309596e+02] [ 9.73298366e-03 9.99952616e-01 1.87279681e-04 2.90034668e+01] [-2.09122077e-03 -1.66933361e-04 9.99997799e-01 -1.37078207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.121400513 meters 0.06949790399191741 Centerline is valid? [True, True] Translation: X:319.37, Y:28.99, Z:-1.37 [[ 9.99891750e-01 -1.43705864e-02 3.15824913e-03 3.19371542e+02] [ 1.43697636e-02 9.99896710e-01 2.83076262e-04 2.89949585e+01] [-3.16199089e-03 -2.37662325e-04 9.99994973e-01 -1.36865354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.181400513 meters 0.07046704547020127 Centerline is valid? [True, True] Translation: X:319.43, Y:29.01, Z:-1.37 [[ 9.99861316e-01 -1.65800875e-02 1.56515958e-03 3.19430794e+02] [ 1.65798881e-02 9.99862534e-01 1.40271187e-04 2.90060023e+01] [-1.56727014e-03 -1.14301563e-04 9.99998765e-01 -1.37047494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24140051300003 meters 0.07497652809921582 Centerline is valid? [True, True] Translation: X:319.49, Y:29.01, Z:-1.37 [[ 9.99839244e-01 -1.74963305e-02 3.91984980e-03 3.19489518e+02] [ 1.74950869e-02 9.99846888e-01 3.51345594e-04 2.90133533e+01] [-3.92539689e-03 -2.82711000e-04 9.99992256e-01 -1.36685563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30140051300003 meters 0.07035447803026829 Centerline is valid? [True, True] Translation: X:319.55, Y:29.01, Z:-1.37 [[ 9.99814142e-01 -1.88021376e-02 4.26154660e-03 3.19550669e+02] [ 1.88006791e-02 9.99823179e-01 3.82057206e-04 2.90126818e+01] [-4.26797656e-03 -3.01866228e-04 9.99990847e-01 -1.36609185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36140051300004 meters 0.0711812125491414 Centerline is valid? [True, True] Translation: X:319.61, Y:29.02, Z:-1.37 [[ 9.99821229e-01 -1.87352018e-02 2.54987214e-03 3.19612253e+02] [ 1.87346794e-02 9.99824464e-01 2.28601631e-04 2.90173378e+01] [-2.55370744e-03 -1.80789727e-04 9.99996723e-01 -1.36963917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42140051300004 meters 0.07600606279765623 Centerline is valid? [True, True] Translation: X:319.67, Y:29.03, Z:-1.37 [[ 9.99877322e-01 -1.54213386e-02 2.74273940e-03 3.19671373e+02] [ 1.54207220e-02 9.99881063e-01 2.45793329e-04 2.90283629e+01] [-2.74620365e-03 -2.03468153e-04 9.99996208e-01 -1.37011672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.481400513 meters 0.08178226234392146 Centerline is valid? [True, True] Translation: X:319.73, Y:29.04, Z:-1.37 [[ 9.99979670e-01 -6.36736924e-03 -3.40917496e-04 3.19730917e+02] [ 6.36735919e-03 9.99979728e-01 -3.05711421e-05 2.90395184e+01] [ 3.41105243e-04 2.83997765e-05 9.99999941e-01 -1.37490862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.541400513 meters 0.09403738265426204 Centerline is valid? [True, True] Translation: X:319.79, Y:29.06, Z:-1.38 [[ 9.99997314e-01 -2.26189523e-03 -5.06017678e-04 3.19789102e+02] [ 2.26187254e-03 9.99997441e-01 -4.54086086e-05 2.90610215e+01] [ 5.06119092e-04 4.42639391e-05 9.99999871e-01 -1.37607791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.601400513 meters 0.08985846618007227 Centerline is valid? [True, True] Translation: X:319.85, Y:29.06, Z:-1.37 [[ 9.99997437e-01 -1.86597023e-03 1.28212345e-03 3.19848510e+02] [ 1.86582446e-03 9.99998253e-01 1.14884699e-04 2.90645281e+01] [-1.28233558e-03 -1.12492187e-04 9.99999171e-01 -1.37283573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.661400513 meters 0.07926418935729929 Centerline is valid? [True, True] Translation: X:319.91, Y:29.06, Z:-1.37 [[ 9.99988062e-01 -4.85366182e-03 5.63551197e-04 3.19910238e+02] [ 4.85363408e-03 9.99988220e-01 5.05660981e-05 2.90581025e+01] [-5.63789989e-04 -4.78302231e-05 9.99999840e-01 -1.37333524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.721400513 meters 0.0782552877993427 Centerline is valid? [True, True] Translation: X:319.97, Y:29.07, Z:-1.37 [[ 9.99961585e-01 -8.71948618e-03 8.94099036e-04 3.19970009e+02] [ 8.71941797e-03 9.99961982e-01 8.01541495e-05 2.90653671e+01] [-8.94763947e-04 -7.23550472e-05 9.99999597e-01 -1.37378515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.781400513 meters 0.07260581128934149 Centerline is valid? [True, True] Translation: X:320.03, Y:29.07, Z:-1.37 [[ 9.99865756e-01 -1.62932630e-02 1.73187539e-03 3.20031040e+02] [ 1.62930184e-02 9.99867248e-01 1.55279572e-04 2.90662730e+01] [-1.73417549e-03 -1.27041250e-04 9.99998488e-01 -1.37334908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.841400513 meters 0.07038864492151499 Centerline is valid? [True, True] Translation: X:320.09, Y:29.07, Z:-1.37 [[ 9.99726330e-01 -2.33674343e-02 1.10816490e-03 3.20090098e+02] [ 2.33673385e-02 9.99726942e-01 9.93157069e-05 2.90702199e+01] [-1.11018306e-03 -7.33936629e-05 9.99999381e-01 -1.37353678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.901400513 meters 0.05581350282425851 Centerline is valid? [True, True] Translation: X:320.15, Y:29.06, Z:-1.37 [[ 9.99459278e-01 -3.28731891e-02 7.10934388e-04 3.20151979e+02] [ 3.28731521e-02 9.99459530e-01 6.37465012e-05 2.90582201e+01] [-7.12645700e-04 -4.03413778e-05 9.99999745e-01 -1.37468118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.961400513 meters 0.05537825796214045 Centerline is valid? [True, True] Translation: X:320.21, Y:29.06, Z:-1.37 [[ 9.99257983e-01 -3.84900122e-02 1.41483195e-03 3.20210931e+02] [ 3.84898711e-02 9.99258982e-01 1.26838900e-04 2.90611835e+01] [-1.41866557e-03 -7.22880845e-05 9.99998991e-01 -1.37440002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.021400513 meters 0.04479347289043871 Centerline is valid? [True, True] Translation: X:320.27, Y:29.05, Z:-1.37 [[ 9.99001480e-01 -4.45893723e-02 2.79826603e-03 3.20272807e+02] [ 4.45888437e-02 9.99005391e-01 2.51020123e-04 2.90525502e+01] [-2.80667568e-03 -1.25998028e-04 9.99996053e-01 -1.37174711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.081400513 meters 0.042107512649280185 Centerline is valid? [True, True] Translation: X:320.33, Y:29.05, Z:-1.37 [[ 9.98914135e-01 -4.65169435e-02 2.59305808e-03 3.20332406e+02] [ 4.65164961e-02 9.98917495e-01 2.32581173e-04 2.90539050e+01] [-2.60107004e-03 -1.11708646e-04 9.99996611e-01 -1.37227106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.141400513 meters 0.03990033011971624 Centerline is valid? [True, True] Translation: X:320.39, Y:29.06, Z:-1.38 [[ 9.98802674e-01 -4.89068903e-02 1.15496121e-03 3.20392122e+02] [ 4.89068032e-02 9.98803341e-01 1.03571910e-04 2.90575671e+01] [-1.15864450e-03 -4.69624397e-05 9.99999328e-01 -1.37514061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.201400513 meters 0.03569958024093086 Centerline is valid? [True, True] Translation: X:320.45, Y:29.06, Z:-1.38 [[ 9.98565673e-01 -5.35405936e-02 4.06626387e-05 3.20452198e+02] [ 5.35405935e-02 9.98565674e-01 3.64038970e-06 2.90590600e+01] [-4.07992239e-05 -1.45806638e-06 9.99999999e-01 -1.37622138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.261400513 meters 0.03662980764035574 Centerline is valid? [True, True] Translation: X:320.51, Y:29.07, Z:-1.37 [[ 9.98327095e-01 -5.77878114e-02 1.89229322e-03 3.20510205e+02] [ 5.77875933e-02 9.98328886e-01 1.69778590e-04 2.90684075e+01] [-1.89894212e-03 -6.01434953e-05 9.99998195e-01 -1.37386668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.321400513 meters 0.02866739308860727 Centerline is valid? [True, True] Translation: X:320.57, Y:29.07, Z:-1.37 [[ 9.98016090e-01 -6.28282752e-02 4.06101618e-03 3.20570570e+02] [ 6.28273112e-02 9.98024346e-01 3.64646435e-04 2.90694979e+01] [-4.07590312e-03 -1.08780282e-04 9.99991688e-01 -1.37046577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.381400513 meters 0.026668995106289395 Centerline is valid? [True, True] Translation: X:320.63, Y:29.07, Z:-1.37 [[ 9.97761248e-01 -6.68492993e-02 1.91405290e-03 3.20630430e+02] [ 6.68490926e-02 9.97763083e-01 1.71860774e-04 2.90707713e+01] [-1.92126010e-03 -4.35233202e-05 9.99998153e-01 -1.37338125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.441400513 meters 0.01922917334605681 Centerline is valid? [True, True] Translation: X:320.69, Y:29.08, Z:-1.37 [[ 9.97359688e-01 -7.25766331e-02 2.50687327e-03 3.20688623e+02] [ 7.25762963e-02 9.97362838e-01 2.25167740e-04 2.90792951e+01] [-2.51660416e-03 -4.26336492e-05 9.99996832e-01 -1.37354748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.501400513 meters 0.008660857176914836 Centerline is valid? [True, True] Translation: X:320.75, Y:29.08, Z:-1.37 [[ 9.96465649e-01 -8.39733334e-02 2.16541136e-03 3.20749131e+02] [ 8.39731087e-02 9.96468002e-01 1.94599036e-04 2.90752243e+01] [-2.17410426e-03 -1.20749309e-05 9.99997637e-01 -1.37335897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.561400513 meters 0.00841985789274348 Centerline is valid? [True, True] Translation: X:320.81, Y:29.08, Z:-1.37 [[ 9.95530550e-01 -9.44176237e-02 2.05837482e-03 3.20806013e+02] [ 9.44174432e-02 9.95532678e-01 1.84886621e-04 2.90761040e+01] [-2.06663595e-03 1.02862080e-05 9.99997864e-01 -1.37488394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.621400513 meters 0.011008801466256064 Centerline is valid? [True, True] Translation: X:320.86, Y:29.08, Z:-1.37 [[ 9.95288401e-01 -9.69168732e-02 2.84942023e-03 3.20863278e+02] [ 9.69165365e-02 9.95292479e-01 2.56313787e-04 2.90796409e+01] [-2.86084766e-03 2.10498003e-05 9.99995908e-01 -1.37426554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.681400513 meters 0.013197783810638613 Centerline is valid? [True, True] Translation: X:320.92, Y:29.09, Z:-1.38 [[ 9.94955343e-01 -1.00286543e-01 2.54468701e-03 3.20922027e+02] [ 1.00286285e-01 9.94958596e-01 2.28951026e-04 2.90869571e+01] [-2.55481892e-03 2.74011611e-05 9.99996736e-01 -1.37511058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74140051300003 meters 0.015731590760594494 Centerline is valid? [True, True] Translation: X:320.98, Y:29.10, Z:-1.38 [[ 9.94684407e-01 -1.02960517e-01 1.43638005e-03 3.20979646e+02] [ 1.02960437e-01 9.94685444e-01 1.29207084e-04 2.90989623e+01] [-1.44204956e-03 1.93700466e-05 9.99998960e-01 -1.37737684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80140051300003 meters 0.016718333842873533 Centerline is valid? [True, True] Translation: X:321.04, Y:29.11, Z:-1.38 [[ 9.94568844e-01 -1.04069754e-01 1.51681788e-03 3.21037346e+02] [ 1.04069667e-01 9.94570000e-01 1.36735944e-04 2.91092999e+01] [-1.52281164e-03 2.18614223e-05 9.99998840e-01 -1.37694326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86140051300004 meters 0.02268494570505714 Centerline is valid? [True, True] Translation: X:321.09, Y:29.12, Z:-1.38 [[ 9.94429681e-01 -1.05386074e-01 1.83994990e-03 3.21094908e+02] [ 1.05385946e-01 9.94431383e-01 1.66509449e-04 2.91185617e+01] [-1.84725170e-03 2.83229225e-05 9.99998293e-01 -1.37676408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92140051300004 meters 0.021929693838853438 Centerline is valid? [True, True] Translation: X:321.15, Y:29.12, Z:-1.38 [[ 9.94191468e-01 -1.07622752e-01 8.17176177e-04 3.21152148e+02] [ 1.07622728e-01 9.94191804e-01 7.38807801e-05 2.91236706e+01] [-8.20381111e-04 1.44950882e-05 9.99999663e-01 -1.38062752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.981400513 meters 0.019734461421862828 Centerline is valid? [True, True] Translation: X:321.21, Y:29.13, Z:-1.38 [[ 9.94195136e-01 -1.07589905e-01 -6.66664929e-04 3.21209140e+02] [ 1.07589888e-01 9.94195359e-01 -6.13042477e-05 2.91334860e+01] [ 6.69390896e-04 -1.07780199e-05 9.99999776e-01 -1.38244631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.041400513 meters 0.017428363771469266 Centerline is valid? [True, True] Translation: X:321.27, Y:29.14, Z:-1.38 [[ 9.94457571e-01 -1.05132456e-01 1.14306645e-03 3.21266871e+02] [ 1.05132406e-01 9.94458228e-01 1.03444327e-04 2.91438100e+01] [-1.14760719e-03 1.73023322e-05 9.99999341e-01 -1.37912175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.101400513 meters 0.009132235158695016 Centerline is valid? [True, True] Translation: X:321.33, Y:29.16, Z:-1.38 [[ 9.95345032e-01 -9.63239715e-02 3.15602200e-03 3.21325731e+02] [ 9.63235446e-02 9.95350035e-01 2.87335728e-04 2.91629276e+01] [-3.16902393e-03 1.80010371e-05 9.99994978e-01 -1.37614492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.161400513 meters 0.0066981887503482565 Centerline is valid? [True, True] Translation: X:321.38, Y:29.18, Z:-1.38 [[ 9.95927977e-01 -9.01391877e-02 1.54658130e-03 3.21383901e+02] [ 9.01390782e-02 9.95929178e-01 1.40494609e-04 2.91784329e+01] [-1.55294951e-03 -5.15098670e-07 9.99998794e-01 -1.38075273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.221400513 meters 0.011216388157522612 Centerline is valid? [True, True] Translation: X:321.44, Y:29.19, Z:-1.38 [[ 9.96627092e-01 -8.20395112e-02 1.98971604e-03 3.21442160e+02] [ 8.20393130e-02 9.96629078e-01 1.81204555e-04 2.91909511e+01] [-1.99787479e-03 -1.73584325e-05 9.99998004e-01 -1.37821942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.281400513 meters 0.0163808351435652 Centerline is valid? [True, True] Translation: X:321.50, Y:29.20, Z:-1.38 [[ 9.96952955e-01 -7.79836446e-02 1.83221020e-03 3.21498500e+02] [ 7.79834689e-02 9.96954638e-01 1.67253296e-04 2.92035714e+01] [-1.83967348e-03 -2.38615599e-05 9.99998308e-01 -1.37772348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.341400513 meters 0.028627932210439567 Centerline is valid? [True, True] Translation: X:321.56, Y:29.22, Z:-1.38 [[ 9.97638228e-01 -6.86625824e-02 1.84835130e-03 3.21557265e+02] [ 6.86623869e-02 9.97639939e-01 1.69111461e-04 2.92236010e+01] [-1.85560070e-03 -4.17998466e-05 9.99998277e-01 -1.37753267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.401400513 meters 0.031596030433160005 Centerline is valid? [True, True] Translation: X:321.62, Y:29.24, Z:-1.38 [[ 9.98163493e-01 -6.05375188e-02 2.20229704e-03 3.21615681e+02] [ 6.05372213e-02 9.98165920e-01 2.01523299e-04 2.92432606e+01] [-2.21045757e-03 -6.78322565e-05 9.99997555e-01 -1.37592806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.461400513 meters 0.045693202607551824 Centerline is valid? [True, True] Translation: X:321.67, Y:29.27, Z:-1.38 [[ 9.98585645e-01 -5.31546157e-02 1.13830747e-03 3.21672579e+02] [ 5.31545314e-02 9.98586293e-01 1.04192213e-04 2.92685487e+01] [-1.14223654e-03 -4.35386475e-05 9.99999347e-01 -1.37818645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.521400513 meters 0.05059351189959036 Centerline is valid? [True, True] Translation: X:321.73, Y:29.30, Z:-1.38 [[ 9.98936886e-01 -4.60965847e-02 4.49124178e-04 3.21730060e+02] [ 4.60965709e-02 9.98936987e-01 4.10590948e-05 2.92952170e+01] [-4.50539438e-04 -2.03123598e-05 9.99999898e-01 -1.37914550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.581400513 meters 0.05317493170237742 Centerline is valid? [True, True] Translation: X:321.79, Y:29.31, Z:-1.38 [[ 9.98942133e-01 -4.59403846e-02 2.02363284e-03 3.21786820e+02] [ 4.59401037e-02 9.98944179e-01 1.85082092e-04 2.93121586e+01] [-2.02999898e-03 -9.19203977e-05 9.99997935e-01 -1.37684362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.641400513 meters 0.0484060319136555 Centerline is valid? [True, True] Translation: X:321.85, Y:29.32, Z:-1.37 [[ 9.98817319e-01 -4.84405662e-02 4.18031229e-03 3.21846091e+02] [ 4.84393877e-02 9.98826051e-01 3.82765795e-04 2.93230417e+01] [-4.19394621e-03 -1.79821337e-04 9.99991189e-01 -1.37315314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.701400513 meters 0.04627147226821741 Centerline is valid? [True, True] Translation: X:321.91, Y:29.33, Z:-1.37 [[ 9.98813689e-01 -4.85940417e-02 3.13577178e-03 3.21905730e+02] [ 4.85933793e-02 9.98818603e-01 2.87154928e-04 2.93325936e+01] [-3.14602120e-03 -1.34436526e-04 9.99995042e-01 -1.37495956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.761400513 meters 0.04664845230565914 Centerline is valid? [True, True] Translation: X:321.96, Y:29.34, Z:-1.38 [[ 9.98836158e-01 -4.81730456e-02 2.38480713e-03 3.21964780e+02] [ 4.81726613e-02 9.98839000e-01 2.18356587e-04 2.93431456e+01] [-2.39255727e-03 -1.03219949e-04 9.99997133e-01 -1.37624458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.821400513 meters 0.04954325874391387 Centerline is valid? [True, True] Translation: X:322.02, Y:29.36, Z:-1.38 [[ 9.98982109e-01 -4.50345298e-02 2.57606762e-03 3.22024088e+02] [ 4.50340708e-02 9.98985424e-01 2.35948483e-04 2.93565710e+01] [-2.58407983e-03 -1.19697501e-04 9.99996654e-01 -1.37566465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.881400513 meters 0.05625853786998778 Centerline is valid? [True, True] Translation: X:322.08, Y:29.37, Z:-1.38 [[ 9.99279911e-01 -3.78536248e-02 2.60044984e-03 3.22083529e+02] [ 3.78531327e-02 9.99283285e-01 2.38221259e-04 2.93749064e+01] [-2.60760360e-03 -1.39614546e-04 9.99996590e-01 -1.37587477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.941400513 meters 0.058850410595883744 Centerline is valid? [True, True] Translation: X:322.14, Y:29.39, Z:-1.38 [[ 9.99451945e-01 -3.30844953e-02 1.10739776e-03 3.22142934e+02] [ 3.30844031e-02 9.99452556e-01 1.01455030e-04 2.93878631e+01] [-1.11014811e-03 -6.47618333e-05 9.99999382e-01 -1.37784818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.001400513 meters 0.06430514160262045 Centerline is valid? [True, True] Translation: X:322.20, Y:29.40, Z:-1.38 [[ 9.99565252e-01 -2.94830664e-02 -2.37534033e-04 3.22201578e+02] [ 2.94830621e-02 9.99565280e-01 -2.18052196e-05 2.94021331e+01] [ 2.38073657e-04 1.47925091e-05 9.99999972e-01 -1.38028012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.061400513 meters 0.06849319671640612 Centerline is valid? [True, True] Translation: X:322.26, Y:29.42, Z:-1.38 [[ 9.99548573e-01 -3.00147845e-02 1.32780774e-03 3.22260184e+02] [ 3.00146493e-02 9.99549452e-01 1.21630699e-04 2.94184856e+01] [-1.33086021e-03 -8.17221081e-05 9.99999111e-01 -1.37851688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.121400513 meters 0.06266988498721918 Centerline is valid? [True, True] Translation: X:322.32, Y:29.42, Z:-1.38 [[ 9.99496446e-01 -3.17036155e-02 1.31739720e-03 3.22321008e+02] [ 3.17034838e-02 9.99497311e-01 1.20746366e-04 2.94198630e+01] [-1.32056305e-03 -7.89194828e-05 9.99999125e-01 -1.37883526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.181400513 meters 0.06049525025967766 Centerline is valid? [True, True] Translation: X:322.38, Y:29.42, Z:-1.38 [[ 9.99388306e-01 -3.48830737e-02 2.48687753e-03 3.22381633e+02] [ 3.48826144e-02 9.99391390e-01 2.27853541e-04 2.94204183e+01] [-2.49331222e-03 -1.40965375e-04 9.99996882e-01 -1.37726068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24140051300003 meters 0.06029598032948472 Centerline is valid? [True, True] Translation: X:322.44, Y:29.42, Z:-1.38 [[ 9.99247448e-01 -3.86235713e-02 3.57173647e-03 3.22440890e+02] [ 3.86226476e-02 9.99253814e-01 3.27255289e-04 2.94233450e+01] [-3.58171106e-03 -1.89059093e-04 9.99993568e-01 -1.37573020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30140051300003 meters 0.05183661962046118 Centerline is valid? [True, True] Translation: X:322.50, Y:29.41, Z:-1.38 [[ 9.99065032e-01 -4.31692332e-02 2.34059989e-03 3.22502728e+02] [ 4.31688489e-02 9.99067768e-01 2.14481335e-04 2.94141781e+01] [-2.34767690e-03 -1.13239799e-04 9.99997238e-01 -1.37793424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36140051300004 meters 0.05111733571388207 Centerline is valid? [True, True] Translation: X:322.56, Y:29.41, Z:-1.38 [[ 9.98892940e-01 -4.70043801e-02 1.86621320e-03 3.22562902e+02] [ 4.70041425e-02 9.98894680e-01 1.70987757e-04 2.94108175e+01] [-1.87218761e-03 -8.30787121e-05 9.99998244e-01 -1.37809186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42140051300004 meters 0.04784923561543158 Centerline is valid? [True, True] Translation: X:322.62, Y:29.41, Z:-1.38 [[ 9.98939315e-01 -4.60356834e-02 9.80624389e-04 3.22622955e+02] [ 4.60356174e-02 9.98939795e-01 8.98112278e-05 2.94067661e+01] [-9.83719247e-04 -4.45723172e-05 9.99999515e-01 -1.37887383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.481400513 meters 0.04907455396004277 Centerline is valid? [True, True] Translation: X:322.68, Y:29.41, Z:-1.38 [[ 9.99037255e-01 -4.38656374e-02 6.07386044e-04 3.22682341e+02] [ 4.38656117e-02 9.99037439e-01 5.56087684e-05 2.94115280e+01] [-6.09240712e-04 -2.89118710e-05 9.99999814e-01 -1.37959340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.541400513 meters 0.060842181125756546 Centerline is valid? [True, True] Translation: X:322.74, Y:29.43, Z:-1.38 [[ 9.99297017e-01 -3.74695233e-02 1.22751180e-03 3.22740551e+02] [ 3.74694132e-02 9.99297769e-01 1.12541771e-04 2.94285350e+01] [-1.23086669e-03 -6.64685088e-05 9.99999240e-01 -1.37886312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.601400513 meters 0.06430081754405619 Centerline is valid? [True, True] Translation: X:322.80, Y:29.43, Z:-1.38 [[ 9.99586193e-01 -2.86469372e-02 2.60695372e-03 3.22800697e+02] [ 2.86464108e-02 9.99589579e-01 2.39066353e-04 2.94327938e+01] [-2.61273229e-03 -1.64287559e-04 9.99996573e-01 -1.37632273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.661400513 meters 0.0698463903245291 Centerline is valid? [True, True] Translation: X:322.86, Y:29.44, Z:-1.38 [[ 9.99729366e-01 -2.32272372e-02 1.30006843e-03 3.22860511e+02] [ 2.32271017e-02 9.99730207e-01 1.19222748e-04 2.94424287e+01] [-1.30248689e-03 -8.89936606e-05 9.99999148e-01 -1.37908610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.721400513 meters 0.07710670879568618 Centerline is valid? [True, True] Translation: X:322.92, Y:29.46, Z:-1.38 [[ 9.99839349e-01 -1.78870611e-02 1.15331874e-03 3.22918984e+02] [ 1.78869510e-02 9.99840010e-01 1.05749783e-04 2.94569098e+01] [-1.15502577e-03 -8.51034383e-05 9.99999329e-01 -1.38010236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.781400513 meters 0.0817327742191518 Centerline is valid? [True, True] Translation: X:322.98, Y:29.47, Z:-1.38 [[ 9.99940595e-01 -1.08515734e-02 1.02450653e-03 3.22978120e+02] [ 1.08514828e-02 9.99941117e-01 9.39729078e-05 2.94703205e+01] [-1.02546596e-03 -8.28499104e-05 9.99999471e-01 -1.38028839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.841400513 meters 0.08563154013218777 Centerline is valid? [True, True] Translation: X:323.04, Y:29.48, Z:-1.38 [[ 9.99962931e-01 -8.55178493e-03 -1.00213097e-03 3.23037731e+02] [ 8.55169709e-03 9.99963429e-01 -9.19098801e-05 2.94842853e+01] [ 1.00288032e-03 8.33365525e-05 9.99999494e-01 -1.38358730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.901400513 meters 0.09010999518491127 Centerline is valid? [True, True] Translation: X:323.10, Y:29.50, Z:-1.38 [[ 9.99956101e-01 -9.35154493e-03 5.87003822e-04 3.23095801e+02] [ 9.35151496e-03 9.99956272e-01 5.37718876e-05 2.94989505e+01] [-5.87481004e-04 -4.82801520e-05 9.99999826e-01 -1.38149791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.961400513 meters 0.0827462653174855 Centerline is valid? [True, True] Translation: X:323.16, Y:29.50, Z:-1.38 [[ 9.99951302e-01 -9.50342829e-03 2.66069609e-03 3.23157465e+02] [ 9.50281213e-03 9.99954817e-01 2.44126999e-04 2.94996275e+01] [-2.66289592e-03 -2.18831015e-04 9.99996431e-01 -1.37838534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.021400513 meters 0.08644980169518204 Centerline is valid? [True, True] Translation: X:323.22, Y:29.52, Z:-1.38 [[ 9.99984861e-01 -5.23142403e-03 1.70588149e-03 3.23216523e+02] [ 5.23116466e-03 9.99986305e-01 1.56470245e-04 2.95185331e+01] [-1.70667669e-03 -1.47544129e-04 9.99998533e-01 -1.37931423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.081400513 meters 0.09324051764359408 Centerline is valid? [True, True] Translation: X:323.28, Y:29.54, Z:-1.38 [[ 9.99997232e-01 -2.21733736e-03 7.86610869e-04 3.23275000e+02] [ 2.21728127e-03 9.99997539e-01 7.21702268e-05 2.95382527e+01] [-7.86768959e-04 -7.04258895e-05 9.99999688e-01 -1.38184286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.141400513 meters 0.09152436465338615 Centerline is valid? [True, True] Translation: X:323.34, Y:29.55, Z:-1.38 [[ 9.99997926e-01 -2.03436665e-03 9.71814568e-05 3.23335498e+02] [ 2.03436578e-03 9.99997931e-01 8.99399937e-06 2.95473917e+01] [-9.71995528e-05 -8.79627809e-06 9.99999995e-01 -1.38400500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.201400513 meters 0.08793153381233855 Centerline is valid? [True, True] Translation: X:323.40, Y:29.56, Z:-1.39 [[ 9.99992541e-01 -3.79782649e-03 -7.03109238e-04 3.23395693e+02] [ 3.79778213e-03 9.99992786e-01 -6.44117471e-05 2.95572913e+01] [ 7.03348791e-04 6.17410110e-05 9.99999751e-01 -1.38521339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.261400513 meters 0.08289646592368835 Centerline is valid? [True, True] Translation: X:323.46, Y:29.57, Z:-1.39 [[ 9.99987164e-01 -5.05709840e-03 3.12571327e-04 3.23455755e+02] [ 5.05708969e-03 9.99987212e-01 2.86551189e-05 2.95652771e+01] [-3.12712242e-04 -2.70740498e-05 9.99999951e-01 -1.38526581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.321400513 meters 0.09098017164496307 Centerline is valid? [True, True] Translation: X:323.51, Y:29.59, Z:-1.39 [[ 9.99983235e-01 -5.75656452e-03 6.26082020e-04 3.23514181e+02] [ 5.75652969e-03 9.99983429e-01 5.74316497e-05 2.95868438e+01] [-6.26402254e-04 -5.38266271e-05 9.99999802e-01 -1.38527378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.381400513 meters 0.08279872864089431 Centerline is valid? [True, True] Translation: X:323.57, Y:29.59, Z:-1.39 [[ 9.99968511e-01 -7.85386557e-03 -1.13785899e-03 3.23574859e+02] [ 7.85375196e-03 9.99969153e-01 -1.04283928e-04 2.95862878e+01] [ 1.13864292e-03 9.53441820e-05 9.99999347e-01 -1.38669539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.441400513 meters 0.07789019865284638 Centerline is valid? [True, True] Translation: X:323.64, Y:29.59, Z:-1.39 [[ 9.99902285e-01 -1.37246578e-02 -2.65591973e-03 3.23635599e+02] [ 1.37240593e-02 9.99905791e-01 -2.43413918e-04 2.95922596e+01] [ 2.65901029e-03 2.06940133e-04 9.99996443e-01 -1.39028920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.501400513 meters 0.07547420687833589 Centerline is valid? [True, True] Translation: X:323.69, Y:29.60, Z:-1.39 [[ 9.99827981e-01 -1.85120022e-02 -1.14653192e-03 3.23694522e+02] [ 1.85118937e-02 9.99828635e-01 -1.05115308e-04 2.95990147e+01] [ 1.14828134e-03 8.38727487e-05 9.99999337e-01 -1.38854904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.561400513 meters 0.06943167644844007 Centerline is valid? [True, True] Translation: X:323.76, Y:29.60, Z:-1.39 [[ 9.99646568e-01 -2.65814525e-02 4.07476897e-04 3.23755413e+02] [ 2.65814394e-02 9.99646650e-01 3.73446029e-05 2.95982847e+01] [-4.08325589e-04 -2.65000817e-05 9.99999916e-01 -1.38607177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.621400513 meters 0.061026469989715885 Centerline is valid? [True, True] Translation: X:323.82, Y:29.59, Z:-1.38 [[ 9.99509261e-01 -3.12576695e-02 2.04839730e-03 3.23816911e+02] [ 3.12573501e-02 9.99511352e-01 1.87761651e-04 2.95903066e+01] [-2.05326535e-03 -1.23642038e-04 9.99997884e-01 -1.38331760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.681400513 meters 0.06153645069699677 Centerline is valid? [True, True] Translation: X:323.88, Y:29.59, Z:-1.38 [[ 9.99442787e-01 -3.31239958e-02 4.11301739e-03 3.23876268e+02] [ 3.31227238e-02 9.99451221e-01 3.77023640e-04 2.95928676e+01] [-4.12324878e-03 -2.40579219e-04 9.99991470e-01 -1.38010898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74140051300003 meters 0.06803908824801769 Centerline is valid? [True, True] Translation: X:323.94, Y:29.60, Z:-1.38 [[ 9.99512953e-01 -3.09913963e-02 3.65931849e-03 3.23935606e+02] [ 3.09903750e-02 9.99519627e-01 3.35473434e-04 2.95989214e+01] [-3.66795744e-03 -2.21906390e-04 9.99993248e-01 -1.38250703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80140051300003 meters 0.07424044245213501 Centerline is valid? [True, True] Translation: X:324.00, Y:29.61, Z:-1.38 [[ 9.99651976e-01 -2.62506366e-02 2.61343161e-03 3.23996043e+02] [ 2.62500996e-02 9.99655378e-01 2.39599355e-04 2.96066785e+01] [-2.61882060e-03 -1.70913129e-04 9.99996556e-01 -1.38481597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86140051300004 meters 0.07543103586198686 Centerline is valid? [True, True] Translation: X:324.06, Y:29.61, Z:-1.38 [[ 9.99854829e-01 -1.69375303e-02 1.85510207e-03 3.24056935e+02] [ 1.69372437e-02 9.99856540e-01 1.70056168e-04 2.96060744e+01] [-1.85771627e-03 -1.38611165e-04 9.99998265e-01 -1.38471668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92140051300004 meters 0.07904979856575632 Centerline is valid? [True, True] Translation: X:324.12, Y:29.61, Z:-1.39 [[ 9.99928042e-01 -1.19272920e-02 1.28469551e-03 3.24116972e+02] [ 1.19271504e-02 9.99928862e-01 1.17767374e-04 2.96145507e+01] [-1.28600876e-03 -1.02436143e-04 9.99999168e-01 -1.38690798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.981400513 meters 0.08163865288167692 Centerline is valid? [True, True] Translation: X:324.18, Y:29.62, Z:-1.39 [[ 9.99967336e-01 -8.03496111e-03 8.75461742e-04 3.24176957e+02] [ 8.03489390e-03 9.99967716e-01 8.02592852e-05 2.96222335e+01] [-8.76078359e-04 -7.32224214e-05 9.99999614e-01 -1.38850049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.041400513 meters 0.08774216919413949 Centerline is valid? [True, True] Translation: X:324.24, Y:29.64, Z:-1.39 [[ 9.99989997e-01 -3.96897569e-03 -2.06242876e-03 3.24235655e+02] [ 3.96859431e-03 9.99992107e-01 -1.88978209e-04 2.96350737e+01] [ 2.06316253e-03 1.80791376e-04 9.99997855e-01 -1.39135115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.101400513 meters 0.0886065664800145 Centerline is valid? [True, True] Translation: X:324.29, Y:29.64, Z:-1.39 [[ 9.99987422e-01 -4.16847354e-03 -2.78911161e-03 3.24294252e+02] [ 4.16777374e-03 9.99991282e-01 -2.56668172e-04 2.96420912e+01] [ 2.79015721e-03 2.45040557e-04 9.99996077e-01 -1.39312152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.161400513 meters 0.086583435804905 Centerline is valid? [True, True] Translation: X:324.35, Y:29.65, Z:-1.39 [[ 9.99976251e-01 -6.83445398e-03 -8.87633747e-04 3.24353712e+02] [ 6.83438424e-03 9.99976642e-01 -8.15763473e-05 2.96459683e+01] [ 8.88170544e-04 7.55079798e-05 9.99999603e-01 -1.39102060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.221400513 meters 0.08593698140117931 Centerline is valid? [True, True] Translation: X:324.41, Y:29.65, Z:-1.39 [[ 9.99926378e-01 -1.21240079e-02 -4.96903704e-04 3.24413523e+02] [ 1.21239867e-02 9.99926501e-01 -4.55974517e-05 2.96500932e+01] [ 4.97420006e-04 3.95696408e-05 9.99999876e-01 -1.39004200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.281400513 meters 0.07059723171276286 Centerline is valid? [True, True] Translation: X:324.48, Y:29.63, Z:-1.39 [[ 9.99910774e-01 -1.32884687e-02 -1.36411454e-03 3.24475951e+02] [ 1.32883101e-02 9.99911699e-01 -1.25255288e-04 2.96343218e+01] [ 1.36565854e-03 1.07117335e-04 9.99999062e-01 -1.39053082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.341400513 meters 0.08318807700062573 Centerline is valid? [True, True] Translation: X:324.53, Y:29.66, Z:-1.39 [[ 9.99938318e-01 -1.10483933e-02 1.13749805e-03 3.24533822e+02] [ 1.10482816e-02 9.99938960e-01 1.04432498e-04 2.96552556e+01] [-1.13858242e-03 -9.18586575e-05 9.99999348e-01 -1.38945168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.401400513 meters 0.09018843946678935 Centerline is valid? [True, True] Translation: X:324.59, Y:29.67, Z:-1.39 [[ 9.99949008e-01 -9.92908575e-03 1.84246853e-03 3.24593331e+02] [ 9.92879067e-03 9.99950694e-01 1.69232869e-04 2.96691841e+01] [-1.84405801e-03 -1.50930755e-04 9.99998288e-01 -1.38850686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.461400513 meters 0.08482730350699638 Centerline is valid? [True, True] Translation: X:324.66, Y:29.67, Z:-1.39 [[ 9.99960982e-01 -8.83346689e-03 -7.29376674e-05 3.24655384e+02] [ 8.83346643e-03 9.99960984e-01 -6.60980024e-06 2.96663950e+01] [ 7.29932092e-05 5.96524990e-06 9.99999997e-01 -1.39066408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.521400513 meters 0.07921756935819528 Centerline is valid? [True, True] Translation: X:324.72, Y:29.66, Z:-1.39 [[ 9.99932072e-01 -1.16430716e-02 5.38676218e-04 3.24716533e+02] [ 1.16430466e-02 9.99932216e-01 4.94352717e-05 2.96625135e+01] [-5.39215283e-04 -4.31600813e-05 9.99999854e-01 -1.39047742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.581400513 meters 0.0852854140317144 Centerline is valid? [True, True] Translation: X:324.78, Y:29.67, Z:-1.39 [[ 9.99875037e-01 -1.55689912e-02 2.74173915e-03 3.24775612e+02] [ 1.55683593e-02 9.99878774e-01 2.51648908e-04 2.96721899e+01] [-2.74532470e-03 -2.08933081e-04 9.99996210e-01 -1.38678388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.641400513 meters 0.07660929835777135 Centerline is valid? [True, True] Translation: X:324.84, Y:29.66, Z:-1.39 [[ 9.99797097e-01 -2.00660251e-02 1.76614873e-03 3.24837529e+02] [ 2.00657699e-02 9.99798649e-01 1.62092572e-04 2.96624998e+01] [-1.76904567e-03 -1.26620549e-04 9.99998427e-01 -1.38793030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.701400513 meters 0.08035707311102272 Centerline is valid? [True, True] Translation: X:324.90, Y:29.67, Z:-1.39 [[ 9.99758384e-01 -2.18708615e-02 2.19989336e-03 3.24897046e+02] [ 2.18704700e-02 9.99760792e-01 2.01880173e-04 2.96673593e+01] [-2.20378242e-03 -1.53718694e-04 9.99997560e-01 -1.38773245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.761400513 meters 0.07043344263122923 Centerline is valid? [True, True] Translation: X:324.96, Y:29.66, Z:-1.39 [[ 9.99688280e-01 -2.48990962e-02 1.83780909e-03 3.24958711e+02] [ 2.48988280e-02 9.99689962e-01 1.68652336e-04 2.96551114e+01] [-1.84143859e-03 -1.22840471e-04 9.99998297e-01 -1.38811267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.821400513 meters 0.06986284324472954 Centerline is valid? [True, True] Translation: X:325.02, Y:29.65, Z:-1.39 [[ 9.99576501e-01 -2.90422390e-02 1.83478204e-03 3.25019032e+02] [ 2.90419787e-02 9.99578179e-01 1.68351871e-04 2.96490122e+01] [-1.83889740e-03 -1.14994873e-04 9.99998303e-01 -1.38825101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.881400513 meters 0.05727372911848539 Centerline is valid? [True, True] Translation: X:325.08, Y:29.63, Z:-1.39 [[ 9.99514801e-01 -3.11114206e-02 1.49729528e-03 3.25081298e+02] [ 3.11112495e-02 9.99515918e-01 1.37422873e-04 2.96326947e+01] [-1.50084589e-03 -9.07734684e-05 9.99998870e-01 -1.38866104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.941400513 meters 0.06223979408789511 Centerline is valid? [True, True] Translation: X:325.14, Y:29.64, Z:-1.39 [[ 9.99570561e-01 -2.92984753e-02 -5.41355113e-04 3.25140680e+02] [ 2.92984527e-02 9.99570707e-01 -4.97362624e-05 2.96356121e+01] [ 5.42579910e-04 3.38540366e-05 9.99999852e-01 -1.39186012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.001400513 meters 0.06733441029380301 Centerline is valid? [True, True] Translation: X:325.20, Y:29.64, Z:-1.39 [[ 9.99644943e-01 -2.66261616e-02 -1.01742415e-03 3.25199474e+02] [ 2.66260802e-02 9.99645459e-01 -9.34630800e-05 2.96447626e+01] [ 1.01955199e-03 6.63398783e-05 9.99999478e-01 -1.39279322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.061400513 meters 0.06486781342729724 Centerline is valid? [True, True] Translation: X:325.26, Y:29.65, Z:-1.39 [[ 9.99693970e-01 -2.47257210e-02 -7.77266688e-04 3.25259556e+02] [ 2.47256729e-02 9.99694271e-01 -7.14283007e-05 2.96463737e+01] [ 7.78795172e-04 5.21879996e-05 9.99999695e-01 -1.39386456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.121400513 meters 0.07000771327373584 Centerline is valid? [True, True] Translation: X:325.32, Y:29.65, Z:-1.39 [[ 9.99749689e-01 -2.23571677e-02 -8.46315726e-04 3.25318329e+02] [ 2.23571098e-02 9.99750046e-01 -7.78020920e-05 2.96533427e+01] [ 8.47843620e-04 5.88614437e-05 9.99999639e-01 -1.39473484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.181400513 meters 0.07194596938179924 Centerline is valid? [True, True] Translation: X:325.38, Y:29.66, Z:-1.40 [[ 9.99758922e-01 -2.18442470e-02 -2.21958658e-03 3.25376429e+02] [ 2.18438475e-02 9.99761374e-01 -2.04059376e-04 2.96602823e+01] [ 2.22351445e-03 1.55525871e-04 9.99997516e-01 -1.39595116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24140051300003 meters 0.0700834902410967 Centerline is valid? [True, True] Translation: X:325.44, Y:29.66, Z:-1.40 [[ 9.99747200e-01 -2.22779887e-02 -3.03781157e-03 3.25435332e+02] [ 2.22772396e-02 9.99751792e-01 -2.80208635e-04 2.96612352e+01] [ 3.04330004e-03 2.12463742e-04 9.99995347e-01 -1.39851861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30140051300003 meters 0.06920103827545034 Centerline is valid? [True, True] Translation: X:325.49, Y:29.66, Z:-1.40 [[ 9.99760643e-01 -2.17259821e-02 -2.57646788e-03 3.25494295e+02] [ 2.17254401e-02 9.99763946e-01 -2.38180111e-04 2.96637202e+01] [ 2.58103439e-03 1.82148203e-04 9.99996653e-01 -1.39862419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36140051300004 meters 0.07251961209610167 Centerline is valid? [True, True] Translation: X:325.55, Y:29.67, Z:-1.39 [[ 9.99791592e-01 -2.04149796e-02 3.83547785e-05 3.25552593e+02] [ 2.04149795e-02 9.99791593e-01 3.36757258e-06 2.96669792e+01] [-3.84155340e-05 -2.58385874e-06 9.99999999e-01 -1.39398940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42140051300004 meters 0.0707531464162401 Centerline is valid? [True, True] Translation: X:325.61, Y:29.67, Z:-1.39 [[ 9.99824662e-01 -1.87212512e-02 -4.00525347e-04 3.25612716e+02] [ 1.87212379e-02 9.99824742e-01 -3.69990850e-05 2.96665414e+01] [ 4.01147821e-04 2.94942673e-05 9.99999919e-01 -1.39466533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.481400513 meters 0.0783600551771395 Centerline is valid? [True, True] Translation: X:325.67, Y:29.67, Z:-1.40 [[ 9.99913043e-01 -1.31516225e-02 -9.69756198e-04 3.25672319e+02] [ 1.31515419e-02 9.99913511e-01 -8.95268688e-05 2.96737747e+01] [ 9.70849748e-04 7.67652946e-05 9.99999526e-01 -1.39691127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.541400513 meters 0.08916844271288957 Centerline is valid? [True, True] Translation: X:325.73, Y:29.69, Z:-1.39 [[ 9.99963790e-01 -8.50817473e-03 -1.72059628e-04 3.25729888e+02] [ 8.50817214e-03 9.99963805e-01 -1.57564683e-05 2.96922322e+01] [ 1.72187459e-04 1.42919849e-05 9.99999985e-01 -1.39485733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.601400513 meters 0.09864112011750037 Centerline is valid? [True, True] Translation: X:325.79, Y:29.71, Z:-1.39 [[ 9.99999997e-01 -5.53282952e-05 5.89394707e-05 3.25789019e+02] [ 5.53279745e-05 9.99999998e-01 5.44210111e-06 2.97096530e+01] [-5.89397717e-05 -5.43884010e-06 9.99999998e-01 -1.39469991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.661400513 meters 0.09420790212496541 Centerline is valid? [True, True] Translation: X:325.85, Y:29.71, Z:-1.40 [[ 9.99993695e-01 3.55058406e-03 -5.00706712e-05 3.25849858e+02] [-3.55058429e-03 9.99993697e-01 -4.62321621e-06 2.97126415e+01] [ 5.00539405e-05 4.80096720e-06 9.99999999e-01 -1.39521906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.721400513 meters 0.09560683234464978 Centerline is valid? [True, True] Translation: X:325.91, Y:29.73, Z:-1.40 [[ 9.99991216e-01 4.08776017e-03 -9.25940707e-04 3.25909288e+02] [-4.08784099e-03 9.99991641e-01 -8.54150850e-05 2.97256779e+01] [ 9.25583810e-04 8.91994332e-05 9.99999568e-01 -1.39714519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.781400513 meters 0.09120441435937476 Centerline is valid? [True, True] Translation: X:325.97, Y:29.73, Z:-1.40 [[ 9.99998771e-01 1.43184070e-03 -6.39247810e-04 3.25969215e+02] [-1.43187869e-03 9.99998973e-01 -5.89768974e-05 2.97334202e+01] [ 6.39162708e-04 5.98921502e-05 9.99999794e-01 -1.39525618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.841400513 meters 0.08863636125155687 Centerline is valid? [True, True] Translation: X:326.03, Y:29.74, Z:-1.40 [[ 9.99991848e-01 -3.68910124e-03 -1.64160028e-03 3.26028749e+02] [ 3.68885755e-03 9.99993185e-01 -1.51449810e-04 2.97418942e+01] [ 1.64214781e-03 1.45392945e-04 9.99998641e-01 -1.39570395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.901400513 meters 0.0847288625805706 Centerline is valid? [True, True] Translation: X:326.09, Y:29.75, Z:-1.40 [[ 9.99887987e-01 -1.45324742e-02 -3.58046810e-03 3.26088271e+02] [ 1.45313840e-02 9.99894359e-01 -3.30320230e-04 2.97475978e+01] [ 3.58489023e-03 2.78254073e-04 9.99993536e-01 -1.39898191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.961400513 meters 0.07211861581135921 Centerline is valid? [True, True] Translation: X:326.15, Y:29.74, Z:-1.39 [[ 9.99765552e-01 -2.16139291e-02 -1.29609011e-03 3.26149470e+02] [ 2.16137922e-02 9.99766388e-01 -1.19583331e-04 2.97415765e+01] [ 1.29837199e-03 9.15418722e-05 9.99999153e-01 -1.39434974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.021400513 meters 0.0649497736625882 Centerline is valid? [True, True] Translation: X:326.21, Y:29.74, Z:-1.39 [[ 9.99632267e-01 -2.70427852e-02 -2.00450772e-03 3.26210025e+02] [ 2.70424685e-02 9.99634268e-01 -1.84942907e-04 2.97412176e+01] [ 2.00877598e-03 1.30668061e-04 9.99997974e-01 -1.39451235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.081400513 meters 0.06505729546683608 Centerline is valid? [True, True] Translation: X:326.27, Y:29.75, Z:-1.39 [[ 9.99656813e-01 -2.61305607e-02 -1.85745473e-03 3.26268843e+02] [ 2.61302866e-02 9.99658531e-01 -1.71657779e-04 2.97488008e+01] [ 1.86130598e-03 1.23063044e-04 9.99998260e-01 -1.39387975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.141400513 meters 0.06924368634136627 Centerline is valid? [True, True] Translation: X:326.33, Y:29.76, Z:-1.39 [[ 9.99699790e-01 -2.44800776e-02 1.02704149e-03 3.26326202e+02] [ 2.44799932e-02 9.99700316e-01 9.46569429e-05 2.97626324e+01] [-1.02905091e-03 -6.94865574e-05 9.99999468e-01 -1.39068320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.201400513 meters 0.0678143290680117 Centerline is valid? [True, True] Translation: X:326.39, Y:29.77, Z:-1.39 [[ 9.99668383e-01 -2.56269801e-02 2.52608362e-03 3.26386367e+02] [ 2.56264719e-02 9.99671561e-01 2.33333568e-04 2.97663776e+01] [-2.53123359e-03 -1.68521580e-04 9.99996782e-01 -1.38912474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.261400513 meters 0.06656761807259039 Centerline is valid? [True, True] Translation: X:326.45, Y:29.77, Z:-1.39 [[ 9.99627494e-01 -2.72820600e-02 7.49791233e-04 3.26447688e+02] [ 2.72820157e-02 9.99627774e-01 6.92693726e-05 2.97667062e+01] [-7.51401952e-04 -4.87877531e-05 9.99999717e-01 -1.39228978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.321400513 meters 0.06329367765330136 Centerline is valid? [True, True] Translation: X:326.51, Y:29.76, Z:-1.40 [[ 9.99552944e-01 -2.98558771e-02 -1.59355373e-03 3.26509057e+02] [ 2.98556802e-02 9.99554209e-01 -1.47212900e-04 2.97623838e+01] [ 1.59723851e-03 9.95704570e-05 9.99998719e-01 -1.39589961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.381400513 meters 0.06239099733229368 Centerline is valid? [True, True] Translation: X:326.57, Y:29.76, Z:-1.39 [[ 9.99466383e-01 -3.26618018e-02 -3.94876978e-04 3.26568220e+02] [ 3.26617899e-02 9.99466461e-01 -3.65321807e-05 2.97627967e+01] [ 3.95859502e-04 2.36152977e-05 9.99999921e-01 -1.39491641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.441400513 meters 0.0600198874372597 Centerline is valid? [True, True] Translation: X:326.63, Y:29.76, Z:-1.40 [[ 9.99510037e-01 -3.11990876e-02 -2.51064542e-03 3.26628721e+02] [ 3.11986027e-02 9.99513178e-01 -2.32091599e-04 2.97554122e+01] [ 2.51666423e-03 1.53649254e-04 9.99996821e-01 -1.39873234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.501400513 meters 0.06537097625840899 Centerline is valid? [True, True] Translation: X:326.69, Y:29.76, Z:-1.40 [[ 9.99567488e-01 -2.91856571e-02 -3.61029308e-03 3.26687049e+02] [ 2.91846411e-02 9.99573982e-01 -3.33793517e-04 2.97628366e+01] [ 3.61849701e-03 2.28284040e-04 9.99993427e-01 -1.40133293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.561400513 meters 0.06373661648995194 Centerline is valid? [True, True] Translation: X:326.75, Y:29.76, Z:-1.40 [[ 9.99573551e-01 -2.90724656e-02 -2.74000492e-03 3.26746030e+02] [ 2.90718773e-02 9.99577291e-01 -2.54319356e-04 2.97595152e+01] [ 2.74624038e-03 1.74553815e-04 9.99996214e-01 -1.40023840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.621400513 meters 0.06980147823092869 Centerline is valid? [True, True] Translation: X:326.80, Y:29.77, Z:-1.40 [[ 9.99566224e-01 -2.93491751e-02 -2.44739494e-03 3.26802990e+02] [ 2.93487070e-02 9.99569208e-01 -2.26976265e-04 2.97683624e+01] [ 2.45300219e-03 1.55049931e-04 9.99996979e-01 -1.40015243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.681400513 meters 0.0671152695252477 Centerline is valid? [True, True] Translation: X:326.86, Y:29.77, Z:-1.40 [[ 9.99577112e-01 -2.88784545e-02 -3.41053236e-03 3.26862253e+02] [ 2.88775398e-02 9.99582907e-01 -3.17142118e-04 2.97678731e+01] [ 3.41826842e-03 2.18520219e-04 9.99994134e-01 -1.40094505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74140051300003 meters 0.06560658951944351 Centerline is valid? [True, True] Translation: X:326.92, Y:29.77, Z:-1.40 [[ 9.99637847e-01 -2.65154486e-02 -4.59413924e-03 3.26923152e+02] [ 2.65137674e-02 9.99648357e-01 -4.26473969e-04 2.97680893e+01] [ 4.60383189e-03 3.04511581e-04 9.99989356e-01 -1.40246324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80140051300003 meters 0.07182966051490011 Centerline is valid? [True, True] Translation: X:326.98, Y:29.78, Z:-1.40 [[ 9.99674855e-01 -2.50510945e-02 -4.75667625e-03 3.26980934e+02] [ 2.50492745e-02 9.99686120e-01 -4.41829353e-04 2.97791251e+01] [ 4.76625154e-03 3.22534405e-04 9.99988589e-01 -1.40251527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86140051300004 meters 0.07325940079973801 Centerline is valid? [True, True] Translation: X:327.04, Y:29.79, Z:-1.40 [[ 9.99804028e-01 -1.97846033e-02 -6.89785465e-04 3.27040595e+02] [ 1.97845637e-02 9.99804264e-01 -6.40738447e-05 2.97851737e+01] [ 6.90918125e-04 5.04141835e-05 9.99999760e-01 -1.39607059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92140051300004 meters 0.08020548526969633 Centerline is valid? [True, True] Translation: X:327.10, Y:29.80, Z:-1.40 [[ 9.99881301e-01 -1.54049589e-02 2.68109332e-04 3.27099182e+02] [ 1.54049528e-02 9.99881336e-01 2.48933666e-05 2.97979050e+01] [-2.68460998e-04 -2.07602002e-05 9.99999964e-01 -1.39502427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.981400513 meters 0.08136147151393262 Centerline is valid? [True, True] Translation: X:327.16, Y:29.80, Z:-1.40 [[ 9.99952845e-01 -9.68594863e-03 -7.00227284e-04 3.27159403e+02] [ 9.68590543e-03 9.99953088e-01 -6.50691969e-05 2.98000292e+01] [ 7.00824692e-04 5.82837933e-05 9.99999753e-01 -1.39629114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.041400513 meters 0.09931281220689357 Centerline is valid? [True, True] Translation: X:327.22, Y:29.83, Z:-1.40 [[ 9.99975044e-01 -7.01276275e-03 -8.56026450e-04 3.27216382e+02] [ 7.01269730e-03 9.99975408e-01 -7.94338066e-05 2.98260741e+01] [ 8.56562449e-04 7.34287699e-05 9.99999630e-01 -1.39747322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.101400513 meters 0.08548117472582034 Centerline is valid? [True, True] Translation: X:327.28, Y:29.81, Z:-1.40 [[ 9.99986762e-01 -4.61436878e-03 -2.27692985e-03 3.27278140e+02] [ 4.61389923e-03 9.99989334e-01 -2.11432473e-04 2.98149500e+01] [ 2.27788119e-03 2.00924149e-04 9.99997385e-01 -1.39906507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.161400513 meters 0.0925853093961347 Centerline is valid? [True, True] Translation: X:327.34, Y:29.83, Z:-1.40 [[ 9.99996601e-01 1.74932906e-03 -1.93355058e-03 3.27337321e+02] [-1.74967950e-03 9.99998453e-01 -1.79565003e-04 2.98288264e+01] [ 1.93323347e-03 1.82947486e-04 9.99998115e-01 -1.39904802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.221400513 meters 0.09810215843674361 Centerline is valid? [True, True] Translation: X:327.39, Y:29.85, Z:-1.40 [[ 9.99980662e-01 5.43449923e-03 -3.02354465e-03 3.27394973e+02] [-5.43537210e-03 9.99985189e-01 -2.80548647e-04 2.98461628e+01] [ 3.02197523e-03 2.96977312e-04 9.99995390e-01 -1.40214122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.281400513 meters 0.09327400863536098 Centerline is valid? [True, True] Translation: X:327.45, Y:29.85, Z:-1.40 [[ 9.99986266e-01 4.07070069e-03 -3.30100369e-03 3.27454261e+02] [-4.07173472e-03 9.99991663e-01 -3.06587649e-04 2.98533491e+01] [ 3.29972814e-03 3.20024250e-04 9.99994505e-01 -1.40326471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.341400513 meters 0.09719645487086236 Centerline is valid? [True, True] Translation: X:327.51, Y:29.87, Z:-1.41 [[ 9.99988995e-01 -1.09601480e-04 -4.69015466e-03 3.27512290e+02] [ 1.07559584e-04 9.99999899e-01 -4.35608010e-04 2.98672039e+01] [ 4.69020193e-03 4.35098745e-04 9.99988906e-01 -1.40597684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.401400513 meters 0.09361893061562188 Centerline is valid? [True, True] Translation: X:327.57, Y:29.87, Z:-1.41 [[ 9.99967499e-01 -5.88135868e-03 -5.51461420e-03 3.27572496e+02] [ 5.87862301e-03 9.99982590e-01 -5.12153567e-04 2.98709630e+01] [ 5.51753035e-03 4.79718583e-04 9.99984663e-01 -1.40861742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.461400513 meters 0.07606516657340168 Centerline is valid? [True, True] Translation: X:327.63, Y:29.86, Z:-1.40 [[ 9.99849643e-01 -1.71875684e-02 -2.29775800e-03 3.27634377e+02] [ 1.71871231e-02 9.99852268e-01 -2.13398101e-04 2.98573512e+01] [ 2.30108634e-03 1.73874166e-04 9.99997337e-01 -1.40309931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.521400513 meters 0.07133136237282008 Centerline is valid? [True, True] Translation: X:327.70, Y:29.85, Z:-1.41 [[ 9.99700292e-01 -2.42014860e-02 -3.68961960e-03 3.27695389e+02] [ 2.42003853e-02 9.99707069e-01 -3.42689138e-04 2.98537724e+01] [ 3.69683238e-03 2.53296216e-04 9.99993135e-01 -1.40505695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.581400513 meters 0.06834510274307735 Centerline is valid? [True, True] Translation: X:327.75, Y:29.86, Z:-1.41 [[ 9.99549035e-01 -2.96744702e-02 -4.59928567e-03 3.27754940e+02] [ 2.96728173e-02 9.99559574e-01 -4.27212362e-04 2.98552964e+01] [ 4.60993733e-03 2.90545940e-04 9.99989332e-01 -1.40542592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.641400513 meters 0.06331430357878537 Centerline is valid? [True, True] Translation: X:327.82, Y:29.85, Z:-1.40 [[ 9.99501910e-01 -3.14981601e-02 -1.94884682e-03 3.27815644e+02] [ 3.14978666e-02 9.99503803e-01 -1.81076955e-04 2.98523019e+01] [ 1.95358340e-03 1.19602245e-04 9.99998085e-01 -1.39982657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.701400513 meters 0.05774249990973889 Centerline is valid? [True, True] Translation: X:327.88, Y:29.84, Z:-1.40 [[ 9.99372402e-01 -3.53661313e-02 -2.00952790e-03 3.27876468e+02] [ 3.53658270e-02 9.99374416e-01 -1.86767042e-04 2.98436616e+01] [ 2.01487600e-03 1.15581212e-04 9.99997963e-01 -1.39900886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.761400513 meters 0.057631550313618676 Centerline is valid? [True, True] Translation: X:327.94, Y:29.84, Z:-1.40 [[ 9.99285630e-01 -3.76804381e-02 -2.90057807e-03 3.27937469e+02] [ 3.76798136e-02 9.99289827e-01 -2.69667673e-04 2.98372121e+01] [ 2.90867936e-03 1.60181790e-04 9.99995757e-01 -1.40073980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.821400513 meters 0.0599289646149961 Centerline is valid? [True, True] Translation: X:328.00, Y:29.84, Z:-1.40 [[ 9.99266267e-01 -3.82998355e-02 -2.23868752e-04 3.27995633e+02] [ 3.82998318e-02 9.99266292e-01 -2.11263206e-05 2.98364914e+01] [ 2.24513633e-04 1.25366839e-05 9.99999975e-01 -1.39893036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.881400513 meters 0.06111651120031197 Centerline is valid? [True, True] Translation: X:328.06, Y:29.84, Z:-1.40 [[ 9.99347060e-01 -3.61305345e-02 1.95753233e-04 3.28055966e+02] [ 3.61305316e-02 9.99347079e-01 1.81691998e-05 2.98367455e+01] [-1.96281884e-04 -1.10846680e-05 9.99999981e-01 -1.39853146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.941400513 meters 0.06387331460762197 Centerline is valid? [True, True] Translation: X:328.12, Y:29.84, Z:-1.40 [[ 9.99615062e-01 -2.76324390e-02 -2.48536134e-03 3.28116376e+02] [ 2.76319492e-02 9.99618138e-01 -2.31236474e-04 2.98368974e+01] [ 2.49080190e-03 1.62472084e-04 9.99996885e-01 -1.40104966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.001400513 meters 0.07589136383814668 Centerline is valid? [True, True] Translation: X:328.17, Y:29.85, Z:-1.40 [[ 9.99768985e-01 -2.14664465e-02 -1.08055281e-03 3.28174395e+02] [ 2.14663505e-02 9.99769566e-01 -1.00434918e-04 2.98508759e+01] [ 1.08245980e-03 7.72161905e-05 9.99999411e-01 -1.40137528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.061400513 meters 0.07115084173688176 Centerline is valid? [True, True] Translation: X:328.24, Y:29.84, Z:-1.40 [[ 9.99818966e-01 -1.89591308e-02 -1.60855486e-03 3.28235565e+02] [ 1.89589145e-02 9.99820252e-01 -1.49626988e-04 2.98439109e+01] [ 1.61110253e-03 1.19103446e-04 9.99998695e-01 -1.40090223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.121400513 meters 0.06963587085635792 Centerline is valid? [True, True] Translation: X:328.30, Y:29.84, Z:-1.40 [[ 9.99777313e-01 -2.08707363e-02 -3.12045427e-03 3.28295864e+02] [ 2.08699313e-02 9.99782157e-01 -2.90332210e-04 2.98435597e+01] [ 3.12583395e-03 2.25143891e-04 9.99995089e-01 -1.40269624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.181400513 meters 0.07447245213674257 Centerline is valid? [True, True] Translation: X:328.35, Y:29.85, Z:-1.40 [[ 9.99793408e-01 -2.02310949e-02 -1.96053014e-03 3.28352344e+02] [ 2.02307752e-02 9.99795320e-01 -1.82774965e-04 2.98549483e+01] [ 1.96382659e-03 1.43074161e-04 9.99998061e-01 -1.40069147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24140051300003 meters 0.07672100437409961 Centerline is valid? [True, True] Translation: X:328.41, Y:29.86, Z:-1.40 [[ 9.99874057e-01 -1.58386807e-02 -1.00332948e-03 3.28411705e+02] [ 1.58385949e-02 9.99874557e-01 -9.34408653e-05 2.98636775e+01] [ 1.00468360e-03 7.75377679e-05 9.99999492e-01 -1.39865479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30140051300003 meters 0.0967097437911601 Centerline is valid? [True, True] Translation: X:328.47, Y:29.89, Z:-1.40 [[ 9.99950099e-01 -9.79833042e-03 -1.94716485e-03 3.28468505e+02] [ 9.79799585e-03 9.99951982e-01 -1.81290286e-04 2.98940663e+01] [ 1.94884770e-03 1.62202927e-04 9.99998088e-01 -1.40168003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36140051300004 meters 0.09034609437653608 Centerline is valid? [True, True] Translation: X:328.53, Y:29.89, Z:-1.41 [[ 9.99966890e-01 -6.64826374e-03 -4.69239519e-03 3.28529220e+02] [ 6.64628589e-03 9.99977818e-01 -4.36969374e-04 2.98919477e+01] [ 4.69519619e-03 4.05767906e-04 9.99988895e-01 -1.40605945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42140051300004 meters 0.09073850992463268 Centerline is valid? [True, True] Translation: X:328.59, Y:29.90, Z:-1.41 [[ 9.99946107e-01 -8.81932796e-03 -5.47748474e-03 3.28588640e+02] [ 8.81666481e-03 9.99961002e-01 -5.10155756e-04 2.98996726e+01] [ 5.48177036e-03 4.61835116e-04 9.99984868e-01 -1.40708519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.481400513 meters 0.07994693759381254 Centerline is valid? [True, True] Translation: X:328.65, Y:29.90, Z:-1.40 [[ 9.99930317e-01 -1.17245688e-02 -1.37703973e-03 3.28648983e+02] [ 1.17244031e-02 9.99931259e-01 -1.28340134e-04 2.98959415e+01] [ 1.37844981e-03 1.12186222e-04 9.99999044e-01 -1.40019070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.541400513 meters 0.08336913632910624 Centerline is valid? [True, True] Translation: X:328.71, Y:29.91, Z:-1.40 [[ 9.99943455e-01 -1.06068940e-02 7.62328868e-04 3.28706664e+02] [ 1.06068430e-02 9.99943743e-01 7.09106917e-05 2.99087673e+01] [-7.63038124e-04 -6.28207795e-05 9.99999707e-01 -1.39798714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.601400513 meters 0.07732912885070689 Centerline is valid? [True, True] Translation: X:328.77, Y:29.91, Z:-1.40 [[ 9.99941736e-01 -1.07921984e-02 2.28840242e-04 3.28767989e+02] [ 1.07921938e-02 9.99941762e-01 2.13238032e-05 2.99074133e+01] [-2.29057046e-04 -1.88528725e-05 9.99999974e-01 -1.39732400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.661400513 meters 0.08749304462073403 Centerline is valid? [True, True] Translation: X:328.83, Y:29.93, Z:-1.40 [[ 9.99923134e-01 -1.23983987e-02 7.04977280e-05 3.28826106e+02] [ 1.23983983e-02 9.99923137e-01 6.52753080e-06 2.99256308e+01] [-7.05732403e-05 -5.65297015e-06 9.99999997e-01 -1.39749472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.721400513 meters 0.07833070390307542 Centerline is valid? [True, True] Translation: X:328.89, Y:29.92, Z:-1.40 [[ 9.99921005e-01 -1.25628078e-02 -3.99882012e-04 3.28886706e+02] [ 1.25627938e-02 9.99921084e-01 -3.73603853e-05 2.99229893e+01] [ 4.00319807e-04 3.23337987e-05 9.99999919e-01 -1.39887467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.781400513 meters 0.08842119814561315 Centerline is valid? [True, True] Translation: X:328.94, Y:29.94, Z:-1.40 [[ 9.99937573e-01 -1.07374841e-02 -3.09150662e-03 3.28944535e+02] [ 1.07366437e-02 9.99942319e-01 -2.88287974e-04 2.99431836e+01] [ 3.09442378e-03 2.55077572e-04 9.99995180e-01 -1.40300500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.841400513 meters 0.08785889016279662 Centerline is valid? [True, True] Translation: X:329.00, Y:29.95, Z:-1.40 [[ 9.99946464e-01 -9.44125130e-03 -4.23462634e-03 3.29004622e+02] [ 9.43966341e-03 9.99955367e-01 -3.94806230e-04 2.99495870e+01] [ 4.23816480e-03 3.54811646e-04 9.99990956e-01 -1.40376242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.901400513 meters 0.08663250511220076 Centerline is valid? [True, True] Translation: X:329.06, Y:29.96, Z:-1.40 [[ 9.99944944e-01 -9.60848710e-03 -4.21730336e-03 3.29061717e+02] [ 9.60690767e-03 9.99953775e-01 -3.94610199e-04 2.99571044e+01] [ 4.22090002e-03 3.54073229e-04 9.99991029e-01 -1.40452871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.961400513 meters 0.08662679194480838 Centerline is valid? [True, True] Translation: X:329.12, Y:29.96, Z:-1.41 [[ 9.99930150e-01 -1.10536567e-02 -4.18461606e-03 3.29121494e+02] [ 1.10521166e-02 9.99938847e-01 -3.90986712e-04 2.99638080e+01] [ 4.18868199e-03 3.44710537e-04 9.99991168e-01 -1.40514697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.021400513 meters 0.0854157468102308 Centerline is valid? [True, True] Translation: X:329.18, Y:29.97, Z:-1.40 [[ 9.99886165e-01 -1.48621543e-02 -2.60251496e-03 3.29180405e+02] [ 1.48615712e-02 9.99889531e-01 -2.43217916e-04 2.99698207e+01] [ 2.60584221e-03 2.04512767e-04 9.99996584e-01 -1.40297131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.081400513 meters 0.07296706795054635 Centerline is valid? [True, True] Translation: X:329.24, Y:29.96, Z:-1.40 [[ 9.99828980e-01 -1.82466968e-02 -3.01130687e-03 3.29241794e+02] [ 1.82459313e-02 9.99833490e-01 -2.81495256e-04 2.99583000e+01] [ 3.01594182e-03 2.26503017e-04 9.99995426e-01 -1.40190477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.141400513 meters 0.07200175544280929 Centerline is valid? [True, True] Translation: X:329.30, Y:29.96, Z:-1.40 [[ 9.99784341e-01 -2.06484401e-02 -2.21667943e-03 3.29302988e+02] [ 2.06480314e-02 9.99786785e-01 -2.07107144e-04 2.99583187e+01] [ 2.22048324e-03 1.61292413e-04 9.99997522e-01 -1.40035229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.201400513 meters 0.06996372566319328 Centerline is valid? [True, True] Translation: X:329.36, Y:29.96, Z:-1.40 [[ 9.99809066e-01 -1.93541883e-02 -2.69193762e-03 3.29362601e+02] [ 1.93535802e-02 9.99812670e-01 -2.51778749e-04 2.99579614e+01] [ 2.69630631e-03 1.99632045e-04 9.99996345e-01 -1.40086801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.261400513 meters 0.08185342873022305 Centerline is valid? [True, True] Translation: X:329.42, Y:29.98, Z:-1.40 [[ 9.99890606e-01 -1.46939354e-02 -1.69226335e-03 3.29420439e+02] [ 1.46936886e-02 9.99892029e-01 -1.58187415e-04 2.99751806e+01] [ 1.69440503e-03 1.33304519e-04 9.99998556e-01 -1.40043236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.321400513 meters 0.08891088477592385 Centerline is valid? [True, True] Translation: X:329.48, Y:29.99, Z:-1.40 [[ 9.99968772e-01 -7.60790793e-03 -2.13877693e-03 3.29479788e+02] [ 7.60749752e-03 9.99971043e-01 -1.99960733e-04 2.99890180e+01] [ 2.14023628e-03 1.83683748e-04 9.99997693e-01 -1.40099114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.381400513 meters 0.09594086903112278 Centerline is valid? [True, True] Translation: X:329.54, Y:30.01, Z:-1.40 [[ 9.99993554e-01 -9.00469564e-04 -3.47578880e-03 3.29538947e+02] [ 8.99345404e-04 9.99999543e-01 -3.24975321e-04 3.00056708e+01] [ 3.47607984e-03 3.21847291e-04 9.99993907e-01 -1.40342242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.441400513 meters 0.08786385631266612 Centerline is valid? [True, True] Translation: X:329.60, Y:30.00, Z:-1.40 [[ 9.99999548e-01 -2.52540314e-04 -9.17067763e-04 3.29597861e+02] [ 2.52461548e-04 9.99999964e-01 -8.60037395e-05 3.00030205e+01] [ 9.17089450e-04 8.57721762e-05 9.99999576e-01 -1.39851167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.501400513 meters 0.08983455319603062 Centerline is valid? [True, True] Translation: X:329.66, Y:30.01, Z:-1.40 [[ 9.99951406e-01 -9.74376443e-03 -1.49849630e-03 3.29657071e+02] [ 9.74356525e-03 9.99952521e-01 -1.40159486e-04 3.00125644e+01] [ 1.49979083e-03 1.25551978e-04 9.99998867e-01 -1.40141628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.561400513 meters 0.07466055287031638 Centerline is valid? [True, True] Translation: X:329.72, Y:30.00, Z:-1.40 [[ 9.99809577e-01 -1.92077620e-02 -3.44548544e-03 3.29719696e+02] [ 1.92067646e-02 9.99815481e-01 -3.22349631e-04 2.99958131e+01] [ 3.45104129e-03 2.56111621e-04 9.99994012e-01 -1.40462722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.621400513 meters 0.06557903259388165 Centerline is valid? [True, True] Translation: X:329.78, Y:29.99, Z:-1.41 [[ 9.99598077e-01 -2.81728372e-02 -3.15842481e-03 3.29781760e+02] [ 2.81720436e-02 9.99603046e-01 -2.95467659e-04 2.99870427e+01] [ 3.16549522e-03 2.06369622e-04 9.99994969e-01 -1.40524861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.681400513 meters 0.05521906404331164 Centerline is valid? [True, True] Translation: X:329.84, Y:29.98, Z:-1.40 [[ 9.99242633e-01 -3.87967537e-02 -2.99548990e-03 3.29843285e+02] [ 3.87960874e-02 9.99247109e-01 -2.80233608e-04 2.99753059e+01] [ 3.00410678e-03 1.63808080e-04 9.99995474e-01 -1.40441394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74140051300003 meters 0.05017085396177642 Centerline is valid? [True, True] Translation: X:329.90, Y:29.97, Z:-1.40 [[ 9.99051479e-01 -4.34674983e-02 -2.59227660e-03 3.29903940e+02] [ 4.34670147e-02 9.99054833e-01 -2.42624919e-04 2.99693375e+01] [ 2.60037276e-03 1.29716259e-04 9.99996611e-01 -1.40312349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80140051300003 meters 0.04855484695549662 Centerline is valid? [True, True] Translation: X:329.96, Y:29.97, Z:-1.40 [[ 9.98700058e-01 -5.09646919e-02 -8.91045220e-04 3.29963477e+02] [ 5.09646377e-02 9.98700455e-01 -8.34385461e-05 2.99667025e+01] [ 8.94139686e-04 3.79182841e-05 9.99999600e-01 -1.40381435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86140051300004 meters 0.04655289155572154 Centerline is valid? [True, True] Translation: X:330.02, Y:29.96, Z:-1.41 [[ 9.98463390e-01 -5.53477227e-02 -2.73644882e-03 3.30023794e+02] [ 5.53472282e-02 9.98467135e-01 -2.56174813e-04 2.99641742e+01] [ 2.74643290e-03 1.04326315e-04 9.99996223e-01 -1.40698094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.921400513 meters 0.036410651773639426 Centerline is valid? [True, True] Translation: X:330.09, Y:29.95, Z:-1.40 [[ 9.98082327e-01 -6.18850139e-02 -1.38366044e-03 3.30085328e+02] [ 6.18848937e-02 9.98083285e-01 -1.29534775e-04 2.99538956e+01] [ 1.38902462e-03 4.36586900e-05 9.99999034e-01 -1.40183606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.981400513 meters 0.03712845261949844 Centerline is valid? [True, True] Translation: X:330.15, Y:29.95, Z:-1.40 [[ 9.97889603e-01 -6.49295237e-02 7.05512134e-04 3.30145401e+02] [ 6.49294933e-02 9.97889852e-01 6.59666765e-05 2.99536006e+01] [-7.08306584e-04 -2.00189152e-05 9.99999749e-01 -1.39942642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.041400513 meters 0.03385426575483439 Centerline is valid? [True, True] Translation: X:330.20, Y:29.96, Z:-1.40 [[ 9.97862842e-01 -6.53124518e-02 2.00812106e-03 3.30204209e+02] [ 6.53122061e-02 9.97864861e-01 1.87738991e-04 2.99567971e+01] [-2.01609514e-03 -5.61829466e-05 9.99997966e-01 -1.39625770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.101400513 meters 0.032469638915831635 Centerline is valid? [True, True] Translation: X:330.26, Y:29.96, Z:-1.40 [[ 9.97841299e-01 -6.56416085e-02 1.98038553e-03 3.30262373e+02] [ 6.56413697e-02 9.97843262e-01 1.85431018e-04 2.99629268e+01] [-1.98828635e-03 -5.50355088e-05 9.99998022e-01 -1.39646809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.161400513 meters 0.03445761145902663 Centerline is valid? [True, True] Translation: X:330.32, Y:29.97, Z:-1.40 [[ 9.97755887e-01 -6.69179432e-02 2.27580328e-03 3.30321386e+02] [ 6.69176297e-02 9.97758480e-01 2.13685118e-04 2.99690634e+01] [-2.28500140e-03 -6.09142227e-05 9.99997388e-01 -1.39711124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.221400513 meters 0.022901218014891395 Centerline is valid? [True, True] Translation: X:330.38, Y:29.96, Z:-1.40 [[ 9.97339397e-01 -7.28895491e-02 1.11411518e-03 3.30382038e+02] [ 7.28894774e-02 9.97340019e-01 1.04856981e-04 2.99634580e+01] [-1.11879463e-03 -2.33707248e-05 9.99999374e-01 -1.39878544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.281400513 meters 0.02869273158823131 Centerline is valid? [True, True] Translation: X:330.44, Y:29.96, Z:-1.40 [[ 9.96870252e-01 -7.90545555e-02 2.79421618e-04 3.30443159e+02] [ 7.90545513e-02 9.96870291e-01 2.62681796e-05 2.99582348e+01] [-2.80623729e-04 -4.09641616e-06 9.99999961e-01 -1.40217289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.341400513 meters 0.020993389012221315 Centerline is valid? [True, True] Translation: X:330.50, Y:29.95, Z:-1.40 [[ 9.96405841e-01 -8.46967790e-02 1.36248661e-03 3.30502380e+02] [ 8.46966829e-02 9.96406772e-01 1.28192558e-04 2.99529639e+01] [-1.36844838e-03 -1.23337169e-05 9.99999064e-01 -1.40030679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.401400513 meters 0.020463518419839805 Centerline is valid? [True, True] Translation: X:330.56, Y:29.96, Z:-1.40 [[ 9.96300442e-01 -8.59311457e-02 1.12542636e-03 3.30560913e+02] [ 8.59310812e-02 9.96301078e-01 1.05620120e-04 2.99578122e+01] [-1.13033956e-03 -8.52026859e-06 9.99999361e-01 -1.40149377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.461400513 meters 0.02903350806796322 Centerline is valid? [True, True] Translation: X:330.62, Y:29.96, Z:-1.40 [[ 9.96263882e-01 -8.63597280e-02 -5.24081396e-04 3.30618976e+02] [ 8.63597135e-02 9.96264020e-01 -5.02814558e-05 2.99637860e+01] [ 5.26465732e-04 4.83407915e-06 9.99999861e-01 -1.40427371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.521400513 meters 0.026510110458895692 Centerline is valid? [True, True] Translation: X:330.68, Y:29.97, Z:-1.40 [[ 9.95904749e-01 -9.04082325e-02 2.86350367e-04 3.30676406e+02] [ 9.04082286e-02 9.95904790e-01 2.67805608e-05 2.99673956e+01] [-2.87598885e-04 -7.82458286e-07 9.99999959e-01 -1.40207139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.581400513 meters 0.027755350354024638 Centerline is valid? [True, True] Translation: X:330.73, Y:29.97, Z:-1.40 [[ 9.95401125e-01 -9.57945591e-02 -4.26402015e-05 3.30734404e+02] [ 9.57945591e-02 9.95401126e-01 -4.25525783e-06 2.99695519e+01] [ 4.28517352e-05 1.50989133e-07 9.99999999e-01 -1.40343909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.641400513 meters 0.01917591952166925 Centerline is valid? [True, True] Translation: X:330.79, Y:29.97, Z:-1.40 [[ 9.94555295e-01 -1.04202598e-01 -1.25880384e-03 3.30792999e+02] [ 1.04202530e-01 9.94556091e-01 -1.19541620e-04 2.99699680e+01] [ 1.26440757e-03 -1.22797936e-05 9.99999201e-01 -1.40446470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.701400513 meters 0.026189559339801407 Centerline is valid? [True, True] Translation: X:330.85, Y:29.98, Z:-1.40 [[ 9.94268517e-01 -1.06911608e-01 -1.55708324e-04 3.30850657e+02] [ 1.06911607e-01 9.94268529e-01 -1.49898032e-05 2.99777500e+01] [ 1.56418470e-04 -1.74313782e-06 9.99999988e-01 -1.40447013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.761400513 meters 0.029083054204458753 Centerline is valid? [True, True] Translation: X:330.91, Y:29.99, Z:-1.40 [[ 9.93999945e-01 -1.09376916e-01 8.93985134e-04 3.30909016e+02] [ 1.09376884e-01 9.94000347e-01 8.43237331e-05 2.99893411e+01] [-8.97844603e-04 1.39635224e-05 9.99999597e-01 -1.40250711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.821400513 meters 0.02595849719584918 Centerline is valid? [True, True] Translation: X:330.97, Y:29.99, Z:-1.40 [[ 9.93611200e-01 -1.12826924e-01 2.62077845e-03 3.30966355e+02] [ 1.12826659e-01 9.93614655e-01 2.48962142e-04 2.99944006e+01] [-2.63213351e-03 4.83221049e-05 9.99996535e-01 -1.40106762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.881400513 meters 0.02712592542101822 Centerline is valid? [True, True] Translation: X:331.03, Y:30.00, Z:-1.40 [[ 9.92988895e-01 -1.18191053e-01 1.98235881e-03 3.31026317e+02] [ 1.18190912e-01 9.92990872e-01 1.88460886e-04 2.99969235e+01] [-1.99073860e-03 4.71572293e-05 9.99998017e-01 -1.40038766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.941400513 meters 0.03648042195553232 Centerline is valid? [True, True] Translation: X:331.08, Y:30.01, Z:-1.40 [[ 9.92848100e-01 -1.19384120e-01 2.86187072e-04 3.31084286e+02] [ 1.19384117e-01 9.92848141e-01 2.66261173e-05 3.00059304e+01] [-2.87319039e-04 7.73050094e-06 9.99999959e-01 -1.40401753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.001400513 meters 0.03084751482686624 Centerline is valid? [True, True] Translation: X:331.14, Y:30.02, Z:-1.40 [[ 9.93348263e-01 -1.15112795e-01 2.87612521e-03 3.31143162e+02] [ 1.15112484e-01 9.93352425e-01 2.73989172e-04 3.00202080e+01] [-2.88854561e-03 5.89112496e-05 9.99995826e-01 -1.40109128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.061400513 meters 0.02914373564934725 Centerline is valid? [True, True] Translation: X:331.20, Y:30.03, Z:-1.40 [[ 9.93920023e-01 -1.10068299e-01 2.82073281e-03 3.31202290e+02] [ 1.10067979e-01 9.93924025e-01 2.68746852e-04 3.00343360e+01] [-2.83317462e-03 4.33594830e-05 9.99995986e-01 -1.40134294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.121400513 meters 0.016341596746213452 Centerline is valid? [True, True] Translation: X:331.26, Y:30.05, Z:-1.41 [[ 9.94569068e-01 -1.04074345e-01 -9.48774885e-04 3.31259933e+02] [ 1.04074306e-01 9.94569520e-01 -9.06388153e-05 3.00473616e+01] [ 9.53055757e-04 -8.59652530e-06 9.99999546e-01 -1.40664300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.181400513 meters 0.03064540058072029 Centerline is valid? [True, True] Translation: X:331.32, Y:30.05, Z:-1.41 [[ 9.94647379e-01 -1.03325827e-01 -6.03625065e-04 3.31317728e+02] [ 1.03325811e-01 9.94647562e-01 -5.78113470e-05 3.00540137e+01] [ 6.06367605e-04 -4.86814469e-06 9.99999816e-01 -1.40727088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24140051300003 meters 0.02678341796944587 Centerline is valid? [True, True] Translation: X:331.38, Y:30.06, Z:-1.41 [[ 9.94941909e-01 -1.00450059e-01 -6.18418994e-04 3.31376054e+02] [ 1.00450042e-01 9.94942102e-01 -5.97419031e-05 3.00595256e+01] [ 6.21292172e-04 -2.68049056e-06 9.99999807e-01 -1.40648577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30140051300003 meters 0.030768612054031256 Centerline is valid? [True, True] Translation: X:331.43, Y:30.07, Z:-1.41 [[ 9.95344806e-01 -9.63763106e-02 -5.68690823e-04 3.31433063e+02] [ 9.63762952e-02 9.95344969e-01 -5.46128466e-05 3.00673338e+01] [ 5.71306934e-04 -4.49701372e-07 9.99999837e-01 -1.40625397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36140051300004 meters 0.020714759100590573 Centerline is valid? [True, True] Translation: X:331.49, Y:30.09, Z:-1.40 [[ 9.96191447e-01 -8.71928833e-02 -5.15124549e-05 3.31489265e+02] [ 8.71928832e-02 9.96191448e-01 -5.14882518e-06 3.00850348e+01] [ 5.17652080e-05 6.37696140e-07 9.99999999e-01 -1.40392152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.421400513 meters 0.029990151656664098 Centerline is valid? [True, True] Translation: X:331.55, Y:30.10, Z:-1.40 [[ 9.96591567e-01 -8.24938294e-02 1.27084811e-04 3.31547206e+02] [ 8.24938286e-02 9.96591575e-01 1.15800917e-05 3.00961199e+01] [-1.27606938e-04 -1.05690920e-06 9.99999992e-01 -1.40378330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.481400513 meters 0.02146782700291817 Centerline is valid? [True, True] Translation: X:331.61, Y:30.10, Z:-1.40 [[ 9.96875291e-01 -7.89913094e-02 1.67488577e-04 3.31606019e+02] [ 7.89913079e-02 9.96875305e-01 1.54636657e-05 3.01026541e+01] [-1.68186722e-04 -2.18520449e-06 9.99999986e-01 -1.40248704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.541400513 meters 0.022432174251491667 Centerline is valid? [True, True] Translation: X:331.66, Y:30.11, Z:-1.40 [[ 9.97107272e-01 -7.59844592e-02 1.85763158e-03 3.31662653e+02] [ 7.59842590e-02 9.97109001e-01 1.78208166e-04 3.01117145e+01] [-1.86580222e-03 -3.65418993e-05 9.99998259e-01 -1.39947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.601400513 meters 0.02928857739367959 Centerline is valid? [True, True] Translation: X:331.72, Y:30.13, Z:-1.40 [[ 9.97666868e-01 -6.82580728e-02 1.28654382e-03 3.31721549e+02] [ 6.82579700e-02 9.97667697e-01 1.23683940e-04 3.01256601e+01] [-1.29198563e-03 -3.55785000e-05 9.99999165e-01 -1.40157687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.661400513 meters 0.03322451367710297 Centerline is valid? [True, True] Translation: X:331.78, Y:30.14, Z:-1.40 [[ 9.97962531e-01 -6.37871301e-02 1.41013128e-03 3.31780869e+02] [ 6.37870021e-02 9.97963526e-01 1.35546939e-04 3.01360016e+01] [-1.41590574e-03 -4.53227192e-05 9.99998997e-01 -1.40199705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.721400513 meters 0.04428780636160841 Centerline is valid? [True, True] Translation: X:331.84, Y:30.14, Z:-1.41 [[ 9.98300740e-01 -5.82641414e-02 -9.60771189e-04 3.31840851e+02] [ 5.82640795e-02 9.98301201e-01 -9.23858620e-05 3.01416506e+01] [ 9.64521816e-04 3.62504254e-05 9.99999534e-01 -1.40712313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.781400513 meters 0.045817269776574514 Centerline is valid? [True, True] Translation: X:331.90, Y:30.15, Z:-1.41 [[ 9.98484506e-01 -5.50322081e-02 -3.84299396e-04 3.31899380e+02] [ 5.50321979e-02 9.98484580e-01 -3.70488220e-05 3.01502316e+01] [ 3.85755899e-04 1.58438344e-05 9.99999925e-01 -1.40682293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.841400513 meters 0.0474989029470322 Centerline is valid? [True, True] Translation: X:331.96, Y:30.16, Z:-1.41 [[ 9.98755680e-01 -4.98698149e-02 3.05143005e-04 3.31959687e+02] [ 4.98698082e-02 9.98755727e-01 2.93491768e-05 3.01580294e+01] [-3.06226962e-04 -1.40952339e-05 9.99999953e-01 -1.40544050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.901400513 meters 0.05826951470390527 Centerline is valid? [True, True] Translation: X:332.02, Y:30.18, Z:-1.41 [[ 9.99178930e-01 -4.05149923e-02 3.78324074e-05 3.32017738e+02] [ 4.05149922e-02 9.99178931e-01 3.60270380e-06 3.01755860e+01] [-3.79473079e-05 -2.06696604e-06 9.99999999e-01 -1.40554171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.961400513 meters 0.060745900284227494 Centerline is valid? [True, True] Translation: X:332.08, Y:30.18, Z:-1.41 [[ 9.99441910e-01 -3.34007725e-02 5.07021707e-04 3.32078050e+02] [ 3.34007520e-02 9.99442038e-01 4.87732786e-05 3.01831846e+01] [-5.08367873e-04 -3.18111524e-05 9.99999870e-01 -1.40558946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.021400513 meters 0.0646389017742831 Centerline is valid? [True, True] Translation: X:332.14, Y:30.19, Z:-1.41 [[ 9.99604272e-01 -2.81255417e-02 5.02949128e-04 3.32138096e+02] [ 2.81255209e-02 9.99604398e-01 4.83639198e-05 3.01925160e+01] [-5.04110422e-04 -3.41990747e-05 9.99999872e-01 -1.40584917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.081400513 meters 0.07053610126322457 Centerline is valid? [True, True] Translation: X:332.20, Y:30.21, Z:-1.41 [[ 9.99639473e-01 -2.68378699e-02 8.07422881e-04 3.32195461e+02] [ 2.68378160e-02 9.99639798e-01 7.75206522e-05 3.02054828e+01] [-8.09212535e-04 -5.58232372e-05 9.99999671e-01 -1.40607244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.141400513 meters 0.0695866295890418 Centerline is valid? [True, True] Translation: X:332.26, Y:30.21, Z:-1.41 [[ 9.99574723e-01 -2.91495466e-02 8.22584314e-04 3.32255309e+02] [ 2.91494913e-02 9.99575060e-01 7.91278622e-05 3.02090374e+01] [-8.24541306e-04 -5.51162967e-05 9.99999659e-01 -1.40524838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.201400513 meters 0.06263548091223921 Centerline is valid? [True, True] Translation: X:332.32, Y:30.21, Z:-1.40 [[ 9.99463011e-01 -3.26239591e-02 3.06060095e-03 3.32315459e+02] [ 3.26232094e-02 9.99467678e-01 2.94600498e-04 3.02064053e+01] [-3.06858276e-03 -1.94595676e-04 9.99995273e-01 -1.40142552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.261400513 meters 0.061835720939796064 Centerline is valid? [True, True] Translation: X:332.37, Y:30.21, Z:-1.40 [[ 9.99476127e-01 -3.23107657e-02 1.86700583e-03 3.32374074e+02] [ 3.23104866e-02 9.99477864e-01 1.79454287e-04 3.02128818e+01] [-1.87182930e-03 -1.19036409e-04 9.99998241e-01 -1.40360890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.321400513 meters 0.06788331833130504 Centerline is valid? [True, True] Translation: X:332.43, Y:30.23, Z:-1.41 [[ 9.99521128e-01 -3.09437273e-02 -3.52692600e-05 3.32430804e+02] [ 3.09437271e-02 9.99521128e-01 -3.59720275e-06 3.02322530e+01] [ 3.53636814e-05 2.50411779e-06 9.99999999e-01 -1.40792712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.381400513 meters 0.06576032601116014 Centerline is valid? [True, True] Translation: X:332.49, Y:30.24, Z:-1.41 [[ 9.99605897e-01 -2.80719357e-02 -1.27084583e-04 3.32490375e+02] [ 2.80719344e-02 9.99605906e-01 -1.22659752e-05 3.02399456e+01] [ 1.27378830e-04 8.69363108e-06 9.99999992e-01 -1.40756408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.441400513 meters 0.07661656573113068 Centerline is valid? [True, True] Translation: X:332.55, Y:30.26, Z:-1.41 [[ 9.99662070e-01 -2.59849731e-02 7.25591124e-04 3.32547004e+02] [ 2.59849291e-02 9.99662332e-01 6.99785693e-05 3.02648891e+01] [-7.27164507e-04 -5.11004876e-05 9.99999734e-01 -1.40638037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.501400513 meters 0.08548972179061802 Centerline is valid? [True, True] Translation: X:332.60, Y:30.29, Z:-1.41 [[ 9.99718205e-01 -2.37271824e-02 7.28734310e-04 3.32603848e+02] [ 2.37271375e-02 9.99718469e-01 7.02870727e-05 3.02910974e+01] [-7.30196863e-04 -5.29764870e-05 9.99999732e-01 -1.40781800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.561400513 meters 0.0778764297166185 Centerline is valid? [True, True] Translation: X:332.66, Y:30.29, Z:-1.41 [[ 9.99728111e-01 -2.31783600e-02 2.54302949e-03 3.32663854e+02] [ 2.31778102e-02 9.99731328e-01 2.45437087e-04 3.02903485e+01] [-2.54803508e-03 -1.86428500e-04 9.99996736e-01 -1.40726852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.621400513 meters 0.07222802647053302 Centerline is valid? [True, True] Translation: X:332.72, Y:30.29, Z:-1.41 [[ 9.99734741e-01 -2.29977223e-02 1.24603734e-03 3.32724012e+02] [ 2.29975902e-02 9.99735513e-01 1.20300208e-04 3.02931556e+01] [-1.24847441e-03 -9.16124416e-05 9.99999216e-01 -1.40949363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.681400513 meters 0.07863664302972352 Centerline is valid? [True, True] Translation: X:332.78, Y:30.31, Z:-1.41 [[ 9.99712585e-01 -2.39236356e-02 -1.55145751e-03 3.32782476e+02] [ 2.39234317e-02 9.99713783e-01 -1.49847906e-04 3.03077788e+01] [ 1.55459836e-03 1.12688649e-04 9.99998785e-01 -1.41252633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74140051300003 meters 0.06804416960140475 Centerline is valid? [True, True] Translation: X:332.84, Y:30.30, Z:-1.41 [[ 9.99712631e-01 -2.39665079e-02 5.12193878e-04 3.32841259e+02] [ 2.39664860e-02 9.99712761e-01 4.88543423e-05 3.03010493e+01] [-5.13217624e-04 -3.65648157e-05 9.99999868e-01 -1.40936865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80140051300003 meters 0.07642507703513818 Centerline is valid? [True, True] Translation: X:332.90, Y:30.31, Z:-1.41 [[ 9.99787670e-01 -2.05667177e-02 1.27503208e-03 3.32899250e+02] [ 2.05665770e-02 9.99788478e-01 1.23304888e-04 3.03144602e+01] [-1.27729836e-03 -9.70556613e-05 9.99999180e-01 -1.40922554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86140051300004 meters 0.08400367329378511 Centerline is valid? [True, True] Translation: X:332.96, Y:30.33, Z:-1.41 [[ 9.99852937e-01 -1.71367271e-02 -6.61628920e-04 3.32957251e+02] [ 1.71366885e-02 9.99853154e-01 -6.40336149e-05 3.03312565e+01] [ 6.62629090e-04 5.26860692e-05 9.99999779e-01 -1.41376418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.921400513 meters 0.0830330443959753 Centerline is valid? [True, True] Translation: X:333.02, Y:30.34, Z:-1.41 [[ 9.99917568e-01 -1.27875144e-02 1.15594231e-03 3.33017816e+02] [ 1.27873936e-02 9.99918232e-01 1.11860798e-04 3.03378821e+01] [-1.15727822e-03 -9.70700883e-05 9.99999326e-01 -1.41042241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.981400513 meters 0.08018172179677407 Centerline is valid? [True, True] Translation: X:333.08, Y:30.34, Z:-1.41 [[ 9.99892666e-01 -1.46511264e-02 -8.73920466e-06 3.33078410e+02] [ 1.46511264e-02 9.99892666e-01 -8.49276673e-07 3.03436183e+01] [ 8.75070950e-06 7.21146325e-07 1.00000000e+00 -1.41117542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.041400513 meters 0.08259903270694574 Centerline is valid? [True, True] Translation: X:333.14, Y:30.35, Z:-1.42 [[ 9.99783758e-01 -2.07657672e-02 -1.10438797e-03 3.33137164e+02] [ 2.07656617e-02 9.99784365e-01 -1.06928173e-04 3.03497219e+01] [ 1.10637027e-03 8.39717038e-05 9.99999384e-01 -1.41528859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.101400513 meters 0.0777483519992965 Centerline is valid? [True, True] Translation: X:333.20, Y:30.35, Z:-1.41 [[ 9.99727446e-01 -2.32644680e-02 1.94891476e-03 3.33198165e+02] [ 2.32641442e-02 9.99729335e-01 1.88627509e-04 3.03471309e+01] [-1.95277558e-03 -1.43236264e-04 9.99998083e-01 -1.41068660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.161400513 meters 0.08005074052302776 Centerline is valid? [True, True] Translation: X:333.26, Y:30.36, Z:-1.41 [[ 9.99740233e-01 -2.26839799e-02 2.21452739e-03 3.33257403e+02] [ 2.26835605e-02 9.99742672e-01 2.14327566e-04 3.03555778e+01] [-2.21881933e-03 -1.64038525e-04 9.99997525e-01 -1.41034517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.221400513 meters 0.0848969488074536 Centerline is valid? [True, True] Translation: X:333.32, Y:30.37, Z:-1.42 [[ 9.99848529e-01 -1.73191856e-02 -1.72192878e-03 3.33316447e+02] [ 1.73189240e-02 9.99850002e-01 -1.66741251e-04 3.03667945e+01] [ 1.72455832e-03 1.36894041e-04 9.99998504e-01 -1.41728501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.281400513 meters 0.08680348237935429 Centerline is valid? [True, True] Translation: X:333.38, Y:30.38, Z:-1.41 [[ 9.99921088e-01 -1.25383445e-02 7.79100368e-04 3.33376625e+02] [ 1.25382895e-02 9.99921390e-01 7.54264285e-05 3.03767592e+01] [-7.79984845e-04 -6.56518905e-05 9.99999694e-01 -1.41379884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.341400513 meters 0.09480530360029807 Centerline is valid? [True, True] Translation: X:333.43, Y:30.39, Z:-1.41 [[ 9.99964966e-01 -7.70132320e-03 3.27959944e-03 3.33434972e+02] [ 7.70032298e-03 9.99970302e-01 3.17499784e-04 3.03914953e+01] [-3.28194721e-03 -2.92234686e-04 9.99994572e-01 -1.40995304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.401400513 meters 0.085515359263575 Centerline is valid? [True, True] Translation: X:333.50, Y:30.39, Z:-1.41 [[ 9.99977314e-01 -6.49680333e-03 1.77858766e-03 3.33496328e+02] [ 6.49650720e-03 9.99978883e-01 1.72223483e-04 3.03873385e+01] [-1.77966900e-03 -1.60664968e-04 9.99998403e-01 -1.41428579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.461400513 meters 0.09679043829373365 Centerline is valid? [True, True] Translation: X:333.55, Y:30.41, Z:-1.42 [[ 9.99986366e-01 -5.05254702e-03 1.31898117e-03 3.33554782e+02] [ 5.05238296e-03 9.99987228e-01 1.27687574e-04 3.04084474e+01] [-1.31960947e-03 -1.21021835e-04 9.99999122e-01 -1.41571153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.521400513 meters 0.08840126352914439 Centerline is valid? [True, True] Translation: X:333.62, Y:30.40, Z:-1.41 [[ 9.99988862e-01 -4.58493011e-03 1.11987725e-03 3.33616673e+02] [ 4.58481149e-03 9.99989484e-01 1.08471285e-04 3.04027512e+01] [-1.12036281e-03 -1.03335651e-04 9.99999367e-01 -1.41428890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.581400513 meters 0.09378532197102127 Centerline is valid? [True, True] Translation: X:333.68, Y:30.41, Z:-1.42 [[ 9.99959288e-01 -8.71554739e-03 2.33715066e-03 3.33675166e+02] [ 8.71504236e-03 9.99961998e-01 2.26185359e-04 3.04124361e+01] [-2.33903317e-03 -2.05807783e-04 9.99997243e-01 -1.41594504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.641400513 meters 0.0839314129915132 Centerline is valid? [True, True] Translation: X:333.74, Y:30.40, Z:-1.41 [[ 9.99920898e-01 -1.22003250e-02 3.05766800e-03 3.33737359e+02] [ 1.21994765e-02 9.99925540e-01 2.95976076e-04 3.04018140e+01] [-3.06105133e-03 -2.58650715e-04 9.99995282e-01 -1.41420933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.701400513 meters 0.08325123560759169 Centerline is valid? [True, True] Translation: X:333.80, Y:30.40, Z:-1.41 [[ 9.99913091e-01 -1.30481486e-02 1.88578817e-03 3.33798579e+02] [ 1.30478273e-02 9.99914857e-01 1.82555479e-04 3.04036899e+01] [-1.88800962e-03 -1.57934175e-04 9.99998205e-01 -1.41374927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.761400513 meters 0.09305386085853151 Centerline is valid? [True, True] Translation: X:333.86, Y:30.42, Z:-1.42 [[ 9.99932553e-01 -1.15532302e-02 1.18858374e-03 3.33857589e+02] [ 1.15531016e-02 9.99933254e-01 1.15077325e-04 3.04173365e+01] [-1.18983393e-03 -1.01337735e-04 9.99999287e-01 -1.41653797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.821400513 meters 0.08387189890233969 Centerline is valid? [True, True] Translation: X:333.92, Y:30.41, Z:-1.42 [[ 9.99958681e-01 -9.09013956e-03 7.03550674e-05 3.33918966e+02] [ 9.09013911e-03 9.99958684e-01 6.76652474e-06 3.04068404e+01] [-7.04136693e-05 -6.12670781e-06 9.99999998e-01 -1.42023977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.881400513 meters 0.08037846975386588 Centerline is valid? [True, True] Translation: X:333.98, Y:30.41, Z:-1.42 [[ 9.99943083e-01 -1.06638150e-02 -3.36874779e-04 3.33979505e+02] [ 1.06638045e-02 9.99943139e-01 -3.27051493e-05 3.04057607e+01] [ 3.37204385e-04 2.91109210e-05 9.99999943e-01 -1.42046054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.941400513 meters 0.08521585288133356 Centerline is valid? [True, True] Translation: X:334.04, Y:30.41, Z:-1.42 [[ 9.99892079e-01 -1.46289711e-02 1.35039593e-03 3.34038004e+02] [ 1.46288080e-02 9.99892985e-01 1.30623805e-04 3.04135837e+01] [-1.35216231e-03 -1.10855026e-04 9.99999080e-01 -1.41877371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.001400513 meters 0.08008671110580463 Centerline is valid? [True, True] Translation: X:334.10, Y:30.41, Z:-1.42 [[ 9.99804172e-01 -1.93835990e-02 3.98658032e-03 3.34101179e+02] [ 1.93947345e-02 9.99808057e-01 -2.77379667e-03 3.04110040e+01] [-3.93204896e-03 2.85057215e-03 9.99988207e-01 -1.41608647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.061400513 meters 0.07546622833001836 Centerline is valid? [True, True] Translation: X:334.16, Y:30.40, Z:-1.42 [[ 9.99797476e-01 -1.99208417e-02 2.85780678e-03 3.34160232e+02] [ 1.99110297e-02 9.99795900e-01 3.42173697e-03 3.03967606e+01] [-2.92538738e-03 -3.36414211e-03 9.99990062e-01 -1.41694797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.121400513 meters 0.08200734808619863 Centerline is valid? [True, True] Translation: X:334.22, Y:30.41, Z:-1.42 [[ 9.99830717e-01 -1.81981363e-02 2.71372444e-03 3.34218792e+02] [ 1.81974892e-02 9.99834377e-01 2.62948355e-04 3.04093585e+01] [-2.71806016e-03 -2.13520871e-04 9.99996283e-01 -1.41794326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.181400513 meters 0.09439825115740771 Centerline is valid? [True, True] Translation: X:334.28, Y:30.43, Z:-1.42 [[ 9.99891283e-01 -1.47340883e-02 5.73815562e-04 3.34276485e+02] [ 1.47340588e-02 9.99891446e-01 5.55459426e-05 3.04267461e+01] [-5.74571691e-04 -4.70852716e-05 9.99999834e-01 -1.42242424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24140051300003 meters 0.09141135511044277 Centerline is valid? [True, True] Translation: X:334.34, Y:30.42, Z:-1.42 [[ 9.99972352e-01 -7.23994268e-03 1.69667655e-03 3.34337826e+02] [ 7.23967399e-03 9.99973780e-01 1.64451400e-04 3.04226082e+01] [-1.69782268e-03 -1.52163468e-04 9.99998547e-01 -1.41894839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30140051300003 meters 0.10744623644121844 Centerline is valid? [True, False] Translation: X:334.36, Y:30.42, Z:-1.41 [[ 9.99999214e-01 1.16287678e-03 -4.68756820e-04 3.34357596e+02] [-1.16405584e-03 9.99996140e-01 -2.52290221e-03 3.04241470e+01] [ 4.65821186e-04 2.52344588e-03 9.99996708e-01 -1.41389719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36140051300004 meters 0.1092183518183216 Centerline is valid? [False, False] Translation: X:334.36, Y:30.42, Z:-1.41 [[ 9.99983149e-01 5.78160287e-03 -5.23953706e-04 3.34358039e+02] [-5.78027357e-03 9.99980159e-01 2.50402925e-03 3.04209666e+01] [ 5.38420613e-04 -2.50095846e-03 9.99996728e-01 -1.41430346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.421400513 meters 0.10479545523768592 Centerline is valid? [False, False] Translation: X:334.32, Y:30.42, Z:-1.41 [[ 9.99990450e-01 3.70995785e-03 -2.31014148e-03 3.34316976e+02] [-3.70613407e-03 9.99991759e-01 1.65730000e-03 3.04210210e+01] [ 2.31627096e-03 -1.64872248e-03 9.99995958e-01 -1.41455519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.481400513 meters 0.10468282217617074 Centerline is valid? [False, False] Translation: X:334.32, Y:30.43, Z:-1.41 [[ 9.99992152e-01 3.29425229e-03 -2.20104877e-03 3.34316681e+02] [-3.29293922e-03 9.99994398e-01 5.99921322e-04 3.04258136e+01] [ 2.20301274e-03 -5.92668694e-04 9.99997398e-01 -1.41473039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.541400513 meters 0.09987599330270358 Centerline is valid? [False, True] Translation: X:334.32, Y:30.43, Z:-1.41 [[ 9.99993058e-01 3.03231412e-03 -2.16551802e-03 3.34316663e+02] [-3.03243935e-03 9.99995401e-01 -5.45452806e-05 3.04287654e+01] [ 2.16534266e-03 6.11117040e-05 9.99997654e-01 -1.41499059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.601400513 meters 0.10021043156557913 Centerline is valid? [True, False] Translation: X:334.32, Y:30.43, Z:-1.41 [[ 9.99994127e-01 2.72862271e-03 -2.07371556e-03 3.34316241e+02] [-2.73034070e-03 9.99995931e-01 -8.26080026e-04 3.04322979e+01] [ 2.07145307e-03 8.31737124e-04 9.99997509e-01 -1.41477945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.661400513 meters 0.09528862160997352 Centerline is valid? [False, True] Translation: X:334.32, Y:30.44, Z:-1.42 [[ 9.99995490e-01 2.30640455e-03 -1.92355571e-03 3.34315835e+02] [-2.31015752e-03 9.99995428e-01 -1.95112257e-03 3.04373547e+01] [ 1.91904684e-03 1.95555749e-03 9.99996247e-01 -1.41502667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.721400513 meters 0.11403616523463461 Centerline is valid? [True, False] Translation: X:334.32, Y:30.44, Z:-1.42 [[ 9.99996046e-01 2.04444230e-03 -1.93085245e-03 3.34316114e+02] [-2.04951765e-03 9.99994441e-01 -2.63024286e-03 3.04403739e+01] [ 1.92546434e-03 2.63418977e-03 9.99994677e-01 -1.41567625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.781400513 meters 0.10400262981012898 Centerline is valid? [False, False] Translation: X:334.33, Y:30.44, Z:-1.41 [[ 9.99979479e-01 2.17300268e-03 -6.02664450e-03 3.34332858e+02] [-2.14770518e-03 9.99988870e-01 4.20090929e-03 3.04391723e+01] [ 6.03570601e-03 -4.18787963e-03 9.99973016e-01 -1.40789542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.841400513 meters 0.09378854409506722 Centerline is valid? [False, True] Translation: X:334.33, Y:30.44, Z:-1.41 [[ 9.99980560e-01 1.84873831e-03 -5.95504771e-03 3.34332794e+02] [-1.82879256e-03 9.99992706e-01 3.35309216e-03 3.04429624e+01] [ 5.96120327e-03 -3.34213643e-03 9.99976647e-01 -1.40836719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.901400513 meters 0.10485308411372667 Centerline is valid? [True, False] Translation: X:334.33, Y:30.45, Z:-1.41 [[ 9.99981520e-01 1.42415511e-03 -5.91024879e-03 3.34332919e+02] [-1.41098694e-03 9.99996515e-01 2.23159545e-03 3.04479525e+01] [ 5.91340633e-03 -2.22321493e-03 9.99980044e-01 -1.40908990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.961400513 meters 0.10238399291664915 Centerline is valid? [False, False] Translation: X:334.33, Y:30.45, Z:-1.41 [[ 9.99981571e-01 1.27452325e-03 -5.93568855e-03 3.34332939e+02] [-1.26352967e-03 9.99997480e-01 1.85549715e-03 3.04496643e+01] [ 5.93803846e-03 -1.84796304e-03 9.99980662e-01 -1.40898040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.021400513 meters 0.10341010598045568 Centerline is valid? [False, False] Translation: X:334.37, Y:30.46, Z:-1.41 [[ 9.99991116e-01 8.12077627e-04 -4.13625521e-03 3.34373653e+02] [-8.14918686e-04 9.99999433e-01 -6.85228307e-04 3.04570735e+01] [ 4.13569640e-03 6.88592931e-04 9.99991211e-01 -1.40879886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.081400513 meters 0.08410787402960875 Centerline is valid? [False, True] Translation: X:334.33, Y:30.45, Z:-1.41 [[ 9.99977386e-01 -2.80129568e-03 -6.11395408e-03 3.34333658e+02] [ 2.78829680e-03 9.99993837e-01 -2.13359004e-03 3.04517196e+01] [ 6.11989322e-03 2.11649427e-03 9.99979033e-01 -1.40931755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.141400513 meters 0.09522454211917081 Centerline is valid? [True, True] Translation: X:334.39, Y:30.47, Z:-1.41 [[ 9.99940527e-01 -9.60536121e-03 -5.16512417e-03 3.34392342e+02] [ 9.60300443e-03 9.99953774e-01 -4.80895103e-04 3.04685757e+01] [ 5.16950458e-03 4.31265793e-04 9.99986545e-01 -1.40895580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.201400513 meters 0.08345991708607231 Centerline is valid? [True, True] Translation: X:334.45, Y:30.46, Z:-1.41 [[ 9.99923119e-01 -1.09306909e-02 -5.85460223e-03 3.34453775e+02] [ 1.09276852e-02 9.99940142e-01 -5.45135884e-04 3.04597683e+01] [ 5.86021050e-03 4.81116723e-04 9.99982713e-01 -1.40973136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.261400513 meters 0.07886132213278722 Centerline is valid? [True, True] Translation: X:334.51, Y:30.46, Z:-1.41 [[ 9.99921028e-01 -1.01715063e-02 -7.38097093e-03 3.34513206e+02] [ 1.01667068e-02 9.99948081e-01 -6.87487252e-04 3.04597258e+01] [ 7.38758050e-03 6.12392792e-04 9.99972524e-01 -1.41187516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.321400513 meters 0.09570091401322728 Centerline is valid? [True, True] Translation: X:334.57, Y:30.50, Z:-1.41 [[ 9.99949559e-01 -7.93280571e-03 -6.16029508e-03 3.34569139e+02] [ 7.92942002e-03 9.99968397e-01 -5.73828975e-04 3.04963693e+01] [ 6.16465247e-03 5.24952463e-04 9.99980861e-01 -1.40885686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.381400513 meters 0.08611835609594785 Centerline is valid? [True, True] Translation: X:334.63, Y:30.49, Z:-1.40 [[ 9.99967072e-01 -7.52221308e-03 -3.04501388e-03 3.34628434e+02] [ 7.52138329e-03 9.99971674e-01 -2.83867718e-04 3.04934158e+01] [ 3.04706293e-03 2.60955654e-04 9.99995324e-01 -1.40326677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.441400513 meters 0.08112928779923538 Centerline is valid? [True, True] Translation: X:334.69, Y:30.50, Z:-1.40 [[ 9.99954263e-01 -9.09301171e-03 -2.96467481e-03 3.34687835e+02] [ 9.09223114e-03 9.99958627e-01 -2.76663054e-04 3.04983754e+01] [ 2.96706785e-03 2.49694892e-04 9.99995567e-01 -1.40288921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.501400513 meters 0.07803349452744757 Centerline is valid? [True, True] Translation: X:334.75, Y:30.51, Z:-1.40 [[ 9.99884207e-01 -1.49462908e-02 -2.86009210e-03 3.34747353e+02] [ 1.49455880e-02 9.99888273e-01 -2.66950932e-04 3.05082138e+01] [ 2.86376248e-03 2.24174263e-04 9.99995874e-01 -1.40293114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.561400513 meters 0.07614329260092266 Centerline is valid? [True, True] Translation: X:334.81, Y:30.51, Z:-1.40 [[ 9.99832351e-01 -1.81156029e-02 -2.66349824e-03 3.34806675e+02] [ 1.81150045e-02 9.99835879e-01 -2.48633899e-04 3.05129756e+01] [ 2.66756526e-03 2.00342933e-04 9.99996422e-01 -1.40224171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.621400513 meters 0.0710516962376931 Centerline is valid? [True, True] Translation: X:334.87, Y:30.52, Z:-1.41 [[ 9.99778103e-01 -2.03876307e-02 -5.29995151e-03 3.34867195e+02] [ 2.03852926e-02 9.99792076e-01 -4.94813030e-04 3.05151626e+01] [ 5.30893759e-03 3.86662171e-04 9.99985833e-01 -1.40670213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.681400513 meters 0.07336280711543272 Centerline is valid? [True, True] Translation: X:334.93, Y:30.52, Z:-1.41 [[ 9.99808683e-01 -1.87830716e-02 -5.45835110e-03 3.34927552e+02] [ 1.87805678e-02 9.99823500e-01 -5.09606402e-04 3.05213832e+01] [ 5.46695967e-03 4.06997973e-04 9.99984973e-01 -1.40661193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74140051300003 meters 0.08312361540866745 Centerline is valid? [True, True] Translation: X:334.99, Y:30.54, Z:-1.40 [[ 9.99904935e-01 -1.34028703e-02 -3.23784775e-03 3.34985288e+02] [ 1.34019613e-02 9.99910144e-01 -3.02262738e-04 3.05373997e+01] [ 3.24160800e-03 2.58840493e-04 9.99994712e-01 -1.40333349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80140051300003 meters 0.08258275644736171 Centerline is valid? [True, True] Translation: X:335.05, Y:30.54, Z:-1.40 [[ 9.99947382e-01 -9.67244768e-03 -3.41721851e-03 3.35045962e+02] [ 9.67141371e-03 9.99953180e-01 -3.18971667e-04 3.05407601e+01] [ 3.42014375e-03 2.85905549e-04 9.99994110e-01 -1.40359606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86140051300004 meters 0.09078447772777772 Centerline is valid? [True, True] Translation: X:335.10, Y:30.55, Z:-1.41 [[ 9.99954211e-01 -8.71584807e-03 -3.95101756e-03 3.35103683e+02] [ 8.71445812e-03 9.99961960e-01 -3.68875190e-04 3.05543635e+01] [ 3.95408232e-03 3.34427322e-04 9.99992127e-01 -1.40500245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.921400513 meters 0.08983462504377016 Centerline is valid? [True, True] Translation: X:335.16, Y:30.55, Z:-1.41 [[ 9.99934001e-01 -1.00209688e-02 -5.61906149e-03 3.35163944e+02] [ 1.00181773e-02 9.99949679e-01 -5.24731077e-04 3.05525562e+01] [ 5.62403705e-03 4.68403691e-04 9.99984075e-01 -1.40819354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.981400513 meters 0.08238412613487929 Centerline is valid? [True, True] Translation: X:335.23, Y:30.54, Z:-1.41 [[ 9.99925715e-01 -1.10393841e-02 -5.16680256e-03 3.35225332e+02] [ 1.10370370e-02 9.99938974e-01 -4.82554614e-04 3.05436055e+01] [ 5.17181436e-03 4.25492577e-04 9.99986536e-01 -1.40637006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.041400513 meters 0.08683571690644067 Centerline is valid? [True, True] Translation: X:335.28, Y:30.55, Z:-1.41 [[ 9.99921364e-01 -1.15717306e-02 -4.83335240e-03 3.35283260e+02] [ 1.15696804e-02 9.99932967e-01 -4.51940842e-04 3.05509180e+01] [ 4.83825814e-03 3.95984961e-04 9.99988217e-01 -1.40545356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.101400513 meters 0.08456564665559532 Centerline is valid? [True, True] Translation: X:335.34, Y:30.55, Z:-1.41 [[ 9.99932277e-01 -1.09534470e-02 -3.93226373e-03 3.35341864e+02] [ 1.09520838e-02 9.99939956e-01 -3.68028017e-04 3.05503219e+01] [ 3.93605880e-03 3.24936611e-04 9.99992201e-01 -1.40540815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.161400513 meters 0.08850879108081859 Centerline is valid? [True, True] Translation: X:335.40, Y:30.56, Z:-1.41 [[ 9.99918605e-01 -1.16117521e-02 -5.28682670e-03 3.35398540e+02] [ 1.16092949e-02 9.99932487e-01 -4.95238476e-04 3.05631955e+01] [ 5.29222036e-03 4.33821836e-04 9.99985902e-01 -1.40639284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.221400513 meters 0.08303525094477598 Centerline is valid? [True, True] Translation: X:335.46, Y:30.56, Z:-1.41 [[ 9.99828372e-01 -1.74249579e-02 -6.29259887e-03 3.35460125e+02] [ 1.74215901e-02 9.99848059e-01 -5.89625699e-04 3.05589313e+01] [ 6.30191696e-03 4.79897425e-04 9.99980028e-01 -1.40650190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.281400513 meters 0.07791037865104249 Centerline is valid? [True, True] Translation: X:335.52, Y:30.56, Z:-1.40 [[ 9.99729506e-01 -2.31836365e-02 -1.85283683e-03 3.35520645e+02] [ 2.31833543e-02 9.99731215e-01 -1.73614487e-04 3.05582422e+01] [ 1.85636383e-03 1.30612552e-04 9.99998268e-01 -1.40053440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.341400513 meters 0.07235837125785041 Centerline is valid? [True, True] Translation: X:335.58, Y:30.55, Z:-1.40 [[ 9.99612630e-01 -2.78312660e-02 1.02379556e-04 3.35582126e+02] [ 2.78312652e-02 9.99612635e-01 9.59476672e-06 3.05544962e+01] [-1.02606932e-04 -6.74169742e-06 9.99999995e-01 -1.39771848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.401400513 meters 0.06479018255282802 Centerline is valid? [True, True] Translation: X:335.64, Y:30.55, Z:-1.40 [[ 9.99610646e-01 -2.76515078e-02 -3.73515460e-03 3.35641570e+02] [ 2.76503909e-02 9.99617593e-01 -3.50344153e-04 3.05506091e+01] [ 3.74341380e-03 2.46929260e-04 9.99992963e-01 -1.40266564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.461400513 meters 0.07020401056395523 Centerline is valid? [True, True] Translation: X:335.70, Y:30.56, Z:-1.40 [[ 9.99768811e-01 -2.12565106e-02 -3.23801121e-03 3.35701755e+02] [ 2.12556371e-02 9.99774027e-01 -3.03955898e-04 3.05599897e+01] [ 3.24374054e-03 2.35059636e-04 9.99994711e-01 -1.40081579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.521400513 meters 0.07650363385391133 Centerline is valid? [True, True] Translation: X:335.76, Y:30.57, Z:-1.40 [[ 9.99873301e-01 -1.55658140e-02 -3.32988185e-03 3.35760729e+02] [ 1.55648588e-02 9.99878811e-01 -3.12596902e-04 3.05725619e+01] [ 3.33434413e-03 2.60728155e-04 9.99994407e-01 -1.40179082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.581400513 meters 0.09250466864689409 Centerline is valid? [True, True] Translation: X:335.82, Y:30.61, Z:-1.40 [[ 9.99965468e-01 -6.97936713e-03 -4.51116259e-03 3.35817415e+02] [ 6.97752709e-03 9.99975567e-01 -4.23496161e-04 3.06051380e+01] [ 4.51400810e-03 3.92004778e-04 9.99989735e-01 -1.40369932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.641400513 meters 0.09724960068984628 Centerline is valid? [True, True] Translation: X:335.88, Y:30.62, Z:-1.40 [[ 9.99987089e-01 -2.56519607e-03 -4.38662935e-03 3.35876953e+02] [ 2.56341405e-03 9.99996630e-01 -4.11813577e-04 3.06216241e+01] [ 4.38767095e-03 4.00563513e-04 9.99990294e-01 -1.40305909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.701400513 meters 0.09507607743001557 Centerline is valid? [True, True] Translation: X:335.94, Y:30.63, Z:-1.41 [[ 9.99975077e-01 -3.49313040e-03 -6.13542125e-03 3.35935856e+02] [ 3.48965751e-03 9.99993745e-01 -5.76652555e-04 3.06293523e+01] [ 6.13739720e-03 5.55227665e-04 9.99981012e-01 -1.40520573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.761400513 meters 0.09316897865503022 Centerline is valid? [True, True] Translation: X:336.00, Y:30.64, Z:-1.41 [[ 9.99953032e-01 -7.51569003e-03 -6.11954155e-03 3.35995489e+02] [ 7.51230832e-03 9.99971617e-01 -5.75407016e-04 3.06363999e+01] [ 6.12369244e-03 5.29408107e-04 9.99981110e-01 -1.40557147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.821400513 meters 0.08270378436386251 Centerline is valid? [True, True] Translation: X:336.06, Y:30.64, Z:-1.40 [[ 9.99928914e-01 -1.05992128e-02 -5.46112909e-03 3.36056095e+02] [ 1.05965648e-02 9.99943723e-01 -5.13593414e-04 3.06350491e+01] [ 5.46626544e-03 4.55687697e-04 9.99984956e-01 -1.40434949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.881400513 meters 0.07532748685663981 Centerline is valid? [True, True] Translation: X:336.12, Y:30.64, Z:-1.40 [[ 9.99894426e-01 -1.37412225e-02 -4.72385215e-03 3.36116762e+02] [ 1.37392755e-02 9.99905513e-01 -4.44368304e-04 3.06350138e+01] [ 4.72951197e-03 3.79419084e-04 9.99988744e-01 -1.40200584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.941400513 meters 0.08553708920658779 Centerline is valid? [True, True] Translation: X:336.17, Y:30.66, Z:-1.40 [[ 9.99874155e-01 -1.51625616e-02 -4.66586516e-03 3.36174514e+02] [ 1.51606770e-02 9.99884974e-01 -4.39025495e-04 3.06554158e+01] [ 4.67198521e-03 3.68232572e-04 9.99989018e-01 -1.40332133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.001400513 meters 0.0863485166379493 Centerline is valid? [True, True] Translation: X:336.23, Y:30.66, Z:-1.40 [[ 9.99888984e-01 -1.42241708e-02 -4.43752975e-03 3.36233424e+02] [ 1.42224564e-02 9.99898769e-01 -4.17671169e-04 3.06631026e+01] [ 4.44302156e-03 3.54512228e-04 9.99990067e-01 -1.40303541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.061400513 meters 0.09701866635424437 Centerline is valid? [True, True] Translation: X:336.29, Y:30.69, Z:-1.40 [[ 9.99941192e-01 -1.01374997e-02 -3.85279070e-03 3.36291189e+02] [ 1.01361768e-02 9.99948562e-01 -3.62711060e-04 3.06850013e+01] [ 3.85626951e-03 3.23637162e-04 9.99992512e-01 -1.40181675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.121400513 meters 0.09600382973634317 Centerline is valid? [True, True] Translation: X:336.35, Y:30.69, Z:-1.40 [[ 9.99987536e-01 -4.24611243e-03 -2.62655712e-03 3.36351521e+02] [ 4.24547743e-03 9.99990957e-01 -2.47288985e-04 3.06876163e+01] [ 2.62758339e-03 2.36134914e-04 9.99996520e-01 -1.40043224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.181400513 meters 0.08805321234992551 Centerline is valid? [True, True] Translation: X:336.41, Y:30.68, Z:-1.40 [[ 9.99983458e-01 -5.33232350e-03 -2.15630794e-03 3.36412245e+02] [ 5.33189801e-03 9.99985765e-01 -2.03026373e-04 3.06815015e+01] [ 2.15735985e-03 1.91525801e-04 9.99997655e-01 -1.40012852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24140051300003 meters 0.10600014518449775 Centerline is valid? [True, False] Translation: X:336.41, Y:30.68, Z:-1.40 [[ 9.99953900e-01 -9.30931825e-03 -2.35258984e-03 3.36413069e+02] [ 9.30119960e-03 9.99950831e-01 -3.43863541e-03 3.06765472e+01] [ 2.38448551e-03 3.41659498e-03 9.99991321e-01 -1.40040521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30140051300003 meters 0.08403620305522186 Centerline is valid? [False, True] Translation: X:336.41, Y:30.67, Z:-1.40 [[ 9.99957055e-01 -8.93447194e-03 -2.46224444e-03 3.36413275e+02] [ 8.92916828e-03 9.99957809e-01 -2.15663389e-03 3.06709889e+01] [ 2.48140894e-03 2.13455548e-03 9.99994643e-01 -1.39994535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36140051300004 meters 0.08208918101960112 Centerline is valid? [True, True] Translation: X:336.47, Y:30.67, Z:-1.40 [[ 9.99935671e-01 -1.06004317e-02 -4.03542236e-03 3.36473671e+02] [ 1.05990840e-02 9.99943765e-01 -3.55209183e-04 3.06679114e+01] [ 4.03896080e-03 3.12414552e-04 9.99991795e-01 -1.40224730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.421400513 meters 0.08420271158856724 Centerline is valid? [True, True] Translation: X:336.53, Y:30.67, Z:-1.40 [[ 9.99948339e-01 -9.63171482e-03 -3.24807851e-03 3.36533585e+02] [ 9.63083639e-03 9.99953582e-01 -2.85979421e-04 3.06690016e+01] [ 3.25068222e-03 2.54682934e-04 9.99994684e-01 -1.39977941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.481400513 meters 0.08204675613020335 Centerline is valid? [True, True] Translation: X:336.59, Y:30.67, Z:-1.40 [[ 9.99955857e-01 -8.79540587e-03 -3.30519186e-03 3.36592833e+02] [ 8.79449134e-03 9.99961285e-01 -2.91127965e-04 3.06721624e+01] [ 3.30762449e-03 2.62047632e-04 9.99994495e-01 -1.40103474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.541400513 meters 0.08029355419801706 Centerline is valid? [True, True] Translation: X:336.65, Y:30.67, Z:-1.40 [[ 9.99954455e-01 -9.06925610e-03 -2.97254108e-03 3.36652588e+02] [ 9.06851605e-03 9.99958846e-01 -2.62346964e-04 3.06701091e+01] [ 2.97479804e-03 2.35378479e-04 9.99995548e-01 -1.40147503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.601400513 meters 0.08324773275511488 Centerline is valid? [True, True] Translation: X:336.71, Y:30.68, Z:-1.40 [[ 9.99931021e-01 -1.14966497e-02 -2.40417394e-03 3.36711125e+02] [ 1.14961726e-02 9.99933894e-01 -2.12146782e-04 3.06814002e+01] [ 2.40645398e-03 1.84493350e-04 9.99997087e-01 -1.40052172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.661400513 meters 0.07968988797686938 Centerline is valid? [True, True] Translation: X:336.77, Y:30.68, Z:-1.40 [[ 9.99883525e-01 -1.48769208e-02 -3.40798384e-03 3.36771131e+02] [ 1.48759816e-02 9.99889301e-01 -3.00786320e-04 3.06834297e+01] [ 3.41208136e-03 2.50054181e-04 9.99994148e-01 -1.40110097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.721400513 meters 0.07786345387677271 Centerline is valid? [True, True] Translation: X:336.83, Y:30.69, Z:-1.40 [[ 9.99881229e-01 -1.52294073e-02 -2.36504372e-03 3.36829562e+02] [ 1.52289549e-02 9.99884011e-01 -2.09204004e-04 3.06872679e+01] [ 2.36795546e-03 1.73162013e-04 9.99997181e-01 -1.39949229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.781400513 meters 0.08633993003564928 Centerline is valid? [True, True] Translation: X:336.89, Y:30.71, Z:-1.40 [[ 9.99904291e-01 -1.37743603e-02 -1.29418800e-03 3.36887765e+02] [ 1.37742236e-02 9.99905124e-01 -1.14444802e-04 3.07063198e+01] [ 1.29564162e-03 9.66074138e-05 9.99999156e-01 -1.39779438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.841400513 meters 0.08410442557287491 Centerline is valid? [True, True] Translation: X:336.95, Y:30.71, Z:-1.40 [[ 9.99945626e-01 -1.01432849e-02 -2.42061595e-03 3.36947146e+02] [ 1.01427963e-02 9.99948538e-01 -2.14071836e-04 3.07145817e+01] [ 2.42266278e-03 1.89508382e-04 9.99997047e-01 -1.39988651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.901400513 meters 0.08432751623192196 Centerline is valid? [True, True] Translation: X:337.01, Y:30.72, Z:-1.40 [[ 9.99963133e-01 -8.22287302e-03 -2.47345020e-03 3.37007042e+02] [ 8.22235688e-03 9.99966172e-01 -2.18768125e-04 3.07230532e+01] [ 2.47516543e-03 1.98422469e-04 9.99996917e-01 -1.40007874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.961400513 meters 0.08601504323629089 Centerline is valid? [True, True] Translation: X:337.07, Y:30.73, Z:-1.40 [[ 9.99963665e-01 -7.97848799e-03 -3.00206840e-03 3.37065344e+02] [ 7.97772487e-03 9.99968142e-01 -2.66087527e-04 3.07340606e+01] [ 3.00409573e-03 2.42128183e-04 9.99995458e-01 -1.39973609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.021400513 meters 0.0850449177375558 Centerline is valid? [True, True] Translation: X:337.12, Y:30.74, Z:-1.40 [[ 9.99960890e-01 -8.41505828e-03 -2.72110713e-03 3.37124267e+02] [ 8.41443183e-03 9.99964569e-01 -2.41584551e-04 3.07411273e+01] [ 2.72304366e-03 2.18678532e-04 9.99996269e-01 -1.39981929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.081400513 meters 0.07817706548856695 Centerline is valid? [True, True] Translation: X:337.18, Y:30.74, Z:-1.40 [[ 9.99965502e-01 -8.19601345e-03 -1.34885306e-03 3.37183822e+02] [ 8.19585894e-03 9.99966406e-01 -1.20034672e-04 3.07389097e+01] [ 1.34979156e-03 1.08975521e-04 9.99999083e-01 -1.39738193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.141400513 meters 0.08007055018635333 Centerline is valid? [True, True] Translation: X:337.24, Y:30.75, Z:-1.40 [[ 9.99950104e-01 -9.30786626e-03 -3.62668213e-03 3.37241774e+02] [ 9.30675707e-03 9.99956639e-01 -3.22598882e-04 3.07476047e+01] [ 3.62952758e-03 2.88830136e-04 9.99993372e-01 -1.40123180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.201400513 meters 0.0836091922460337 Centerline is valid? [True, True] Translation: X:337.30, Y:30.76, Z:-1.40 [[ 9.99924795e-01 -1.21363466e-02 -1.76455313e-03 3.37299967e+02] [ 1.21360883e-02 9.99926343e-01 -1.57016953e-04 3.07553598e+01] [ 1.76632877e-03 1.35590372e-04 9.99998431e-01 -1.39774801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.261400513 meters 0.07229692339965778 Centerline is valid? [True, True] Translation: X:337.36, Y:30.74, Z:-1.40 [[ 9.99879452e-01 -1.55053179e-02 -8.16678817e-04 3.37361450e+02] [ 1.55052636e-02 9.99879784e-01 -7.26905255e-05 3.07421129e+01] [ 8.17707729e-04 6.00189424e-05 9.99999664e-01 -1.39585700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.321400513 meters 0.07078440584895841 Centerline is valid? [True, True] Translation: X:337.42, Y:30.74, Z:-1.40 [[ 9.99853193e-01 -1.68827796e-02 -2.92648594e-03 3.37421418e+02] [ 1.68820890e-02 9.99857453e-01 -2.60518390e-04 3.07409159e+01] [ 2.93046705e-03 2.11074948e-04 9.99995684e-01 -1.39977194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.381400513 meters 0.07326789613843994 Centerline is valid? [True, True] Translation: X:337.48, Y:30.75, Z:-1.40 [[ 9.99879061e-01 -1.52930394e-02 -2.82587825e-03 3.37481161e+02] [ 1.52923890e-02 9.99883033e-01 -2.51594657e-04 3.07472779e+01] [ 2.82939536e-03 2.08349800e-04 9.99995976e-01 -1.39949812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.441400513 meters 0.0833409090575913 Centerline is valid? [True, True] Translation: X:337.54, Y:30.76, Z:-1.40 [[ 9.99932334e-01 -1.13906213e-02 -2.36266034e-03 3.37539331e+02] [ 1.13901559e-02 9.99935108e-01 -2.10351857e-04 3.07610956e+01] [ 2.36490306e-03 1.83426554e-04 9.99997187e-01 -1.39830407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.501400513 meters 0.08671771910778238 Centerline is valid? [True, True] Translation: X:337.60, Y:30.77, Z:-1.40 [[ 9.99972738e-01 -6.89611085e-03 -2.63932434e-03 3.37599205e+02] [ 6.89551449e-03 9.99976198e-01 -2.34983855e-04 3.07700893e+01] [ 2.64088200e-03 2.16777949e-04 9.99996489e-01 -1.39940799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.561400513 meters 0.09068720863247186 Centerline is valid? [True, True] Translation: X:337.66, Y:30.78, Z:-1.40 [[ 9.99999024e-01 5.06761572e-04 -1.30228586e-03 3.37658419e+02] [-5.06913014e-04 9.99999865e-01 -1.15962209e-04 3.07807398e+01] [ 1.30222692e-03 1.16622242e-04 9.99999145e-01 -1.39717544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.621400513 meters 0.10646045964916594 Centerline is valid? [True, False] Translation: X:337.66, Y:30.78, Z:-1.40 [[ 9.99999257e-01 2.04574287e-04 -1.20196164e-03 3.37658419e+02] [-2.05824329e-04 9.99999438e-01 -1.03996987e-03 3.07847518e+01] [ 1.20174821e-03 1.04021649e-03 9.99998737e-01 -1.39813035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.681400513 meters 0.0981028064753569 Centerline is valid? [False, True] Translation: X:337.66, Y:30.79, Z:-1.40 [[ 9.99999267e-01 9.60309175e-06 -1.21091367e-03 3.37658735e+02] [-1.15299596e-05 9.99998734e-01 -1.59125430e-03 3.07871475e+01] [ 1.21089685e-03 1.59126709e-03 9.99998001e-01 -1.39891437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74140051300003 meters 0.09669326925729607 Centerline is valid? [True, True] Translation: X:337.72, Y:30.79, Z:-1.40 [[ 9.99991426e-01 -4.02416484e-03 9.76906378e-04 3.37719138e+02] [ 4.02407638e-03 9.99991899e-01 9.25082511e-05 3.07885722e+01] [-9.77270733e-04 -8.85763121e-05 9.99999519e-01 -1.39503233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80140051300003 meters 0.09005595477933558 Centerline is valid? [True, True] Translation: X:337.78, Y:30.79, Z:-1.39 [[ 9.99939892e-01 -1.07590099e-02 2.11098808e-03 3.37780095e+02] [ 1.07586117e-02 9.99942104e-01 1.99913674e-04 3.07856500e+01] [-2.11301674e-03 -1.77190356e-04 9.99997752e-01 -1.39376840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86140051300004 meters 0.08097033236091601 Centerline is valid? [True, True] Translation: X:337.84, Y:30.78, Z:-1.39 [[ 9.99826340e-01 -1.84322831e-02 2.74588678e-03 3.37841824e+02] [ 1.84316381e-02 9.99830089e-01 2.60024580e-04 3.07776794e+01] [-2.75021307e-03 -2.09368233e-04 9.99996196e-01 -1.39296933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.921400513 meters 0.08179893364354486 Centerline is valid? [True, True] Translation: X:337.90, Y:30.79, Z:-1.39 [[ 9.99800117e-01 -1.99271981e-02 1.62242508e-03 3.37901595e+02] [ 1.99269749e-02 9.99801426e-01 1.53615678e-04 3.07856469e+01] [-1.62516404e-03 -1.21254949e-04 9.99998672e-01 -1.39492118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.981400513 meters 0.07209437380671496 Centerline is valid? [True, True] Translation: X:337.96, Y:30.78, Z:-1.40 [[ 9.99807950e-01 -1.95708636e-02 -1.02220177e-03 3.37963086e+02] [ 1.95707748e-02 9.99808469e-01 -9.67848809e-05 3.07809535e+01] [ 1.02390015e-03 7.67610126e-05 9.99999473e-01 -1.39908404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.041400513 meters 0.07329565512983961 Centerline is valid? [True, True] Translation: X:338.02, Y:30.79, Z:-1.40 [[ 9.99797243e-01 -2.01104156e-02 -1.02193915e-03 3.38021260e+02] [ 2.01103263e-02 9.99797762e-01 -9.75944341e-05 3.07884003e+01] [ 1.02369514e-03 7.70231163e-05 9.99999473e-01 -1.39920621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.101400513 meters 0.06846696544270864 Centerline is valid? [True, True] Translation: X:338.08, Y:30.79, Z:-1.40 [[ 9.99719292e-01 -2.36685470e-02 1.06666224e-03 3.38081967e+02] [ 2.36684525e-02 9.99719858e-01 1.01144690e-04 3.07870289e+01] [-1.06875737e-03 -7.58700536e-05 9.99999426e-01 -1.39643713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.161400513 meters 0.0698992801656917 Centerline is valid? [True, True] Translation: X:338.14, Y:30.80, Z:-1.40 [[ 9.99673587e-01 -2.55023649e-02 1.53241703e-03 3.38140091e+02] [ 2.55021720e-02 9.99674756e-01 1.45266073e-04 3.07952538e+01] [-1.53562325e-03 -1.06138694e-04 9.99998815e-01 -1.39640262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.221400513 meters 0.067912738771365 Centerline is valid? [True, True] Translation: X:338.20, Y:30.80, Z:-1.40 [[ 9.99678216e-01 -2.53666054e-02 -9.20359072e-06 3.38200004e+02] [ 2.53666054e-02 9.99678216e-01 -9.69837711e-07 3.07974822e+01] [ 9.22523064e-06 7.36061779e-07 1.00000000e+00 -1.39817819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.281400513 meters 0.07046417866296494 Centerline is valid? [True, True] Translation: X:338.26, Y:30.81, Z:-1.40 [[ 9.99758625e-01 -2.19699615e-02 1.13939710e-04 3.38259035e+02] [ 2.19699605e-02 9.99758631e-01 1.07704913e-05 3.08094763e+01] [-1.14148836e-04 -8.26464062e-06 9.99999993e-01 -1.39814575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.341400513 meters 0.08401989878003943 Centerline is valid? [True, True] Translation: X:338.32, Y:30.83, Z:-1.39 [[ 9.99890659e-01 -1.47078279e-02 1.53323028e-03 3.38316281e+02] [ 1.47076218e-02 9.99891826e-01 1.45627712e-04 3.08314079e+01] [-1.53520630e-03 -1.23061617e-04 9.99998814e-01 -1.39475443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.401400513 meters 0.08085665596463226 Centerline is valid? [True, True] Translation: X:338.38, Y:30.83, Z:-1.40 [[ 9.99944536e-01 -1.05315337e-02 1.07978083e-04 3.38376987e+02] [ 1.05315326e-02 9.99944542e-01 1.02253285e-05 3.08326609e+01] [-1.08079783e-04 -9.08758668e-06 9.99999994e-01 -1.39696315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.461400513 meters 0.0932254445764248 Centerline is valid? [True, True] Translation: X:338.43, Y:30.85, Z:-1.40 [[ 9.99988054e-01 -4.86072606e-03 5.15842302e-04 3.38434277e+02] [ 4.86070146e-03 9.99988186e-01 4.89417253e-05 3.08545717e+01] [-5.16074100e-04 -4.64337852e-05 9.99999866e-01 -1.39774335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.521400513 meters 0.09911731836782399 Centerline is valid? [True, True] Translation: X:338.49, Y:30.87, Z:-1.40 [[ 9.99997011e-01 -2.17576648e-03 1.11524454e-03 3.38492745e+02] [ 2.17564982e-03 9.99997628e-01 1.05810688e-04 3.08674781e+01] [-1.11547212e-03 -1.03383990e-04 9.99999373e-01 -1.39668790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.581400513 meters 0.09354535114471262 Centerline is valid? [True, True] Translation: X:338.55, Y:30.87, Z:-1.40 [[ 9.99996280e-01 -2.71006771e-03 -3.07762052e-04 3.38554406e+02] [ 2.71005887e-03 9.99996327e-01 -2.91080874e-05 3.08663847e+01] [ 3.07839807e-04 2.82739259e-05 9.99999952e-01 -1.39994730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.641400513 meters 0.09678619306028038 Centerline is valid? [True, True] Translation: X:338.61, Y:30.88, Z:-1.40 [[ 9.99991240e-01 -4.00901662e-03 -1.20361467e-03 3.38613337e+02] [ 4.00888197e-03 9.99991958e-01 -1.14259213e-04 3.08750385e+01] [ 1.20406306e-03 1.09433063e-04 9.99999269e-01 -1.40198359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.701400513 meters 0.09091152955457561 Centerline is valid? [True, True] Translation: X:338.67, Y:30.87, Z:-1.40 [[ 9.99967254e-01 -7.69414992e-03 -2.50827572e-03 3.38674241e+02] [ 7.69357683e-03 9.99970376e-01 -2.38047099e-04 3.08709607e+01] [ 2.51003299e-03 2.18741692e-04 9.99996826e-01 -1.40397445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.761400513 meters 0.07991001641267137 Centerline is valid? [True, True] Translation: X:338.74, Y:30.86, Z:-1.40 [[ 9.99881580e-01 -1.53872820e-02 -2.40763341e-04 3.38735799e+02] [ 1.53872770e-02 9.99881609e-01 -2.28948687e-05 3.08584829e+01] [ 2.41087127e-04 1.91874653e-05 9.99999971e-01 -1.40101871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.821400513 meters 0.07500379192591719 Centerline is valid? [True, True] Translation: X:338.80, Y:30.86, Z:-1.40 [[ 9.99840764e-01 -1.77881594e-02 1.42442076e-03 3.38797127e+02] [ 1.77879848e-02 9.99841772e-01 1.35183200e-04 3.08566869e+01] [-1.42660003e-03 -1.09824100e-04 9.99998976e-01 -1.39791930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.881400513 meters 0.0926348060617333 Centerline is valid? [True, True] Translation: X:338.85, Y:30.88, Z:-1.40 [[ 9.99879724e-01 -1.54908542e-02 -7.55045227e-04 3.38853952e+02] [ 1.54908044e-02 9.99880008e-01 -7.17219530e-05 3.08839459e+01] [ 7.56065662e-04 6.00170687e-05 9.99999712e-01 -1.40298540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.941400513 meters 0.08356190338302831 Centerline is valid? [True, True] Translation: X:338.91, Y:30.88, Z:-1.40 [[ 9.99894085e-01 -1.45533999e-02 1.30040279e-04 3.38914422e+02] [ 1.45533985e-02 9.99894094e-01 1.22542611e-05 3.08778665e+01] [-1.30204849e-04 -1.03604352e-05 9.99999991e-01 -1.40118730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.001400513 meters 0.08768802473183294 Centerline is valid? [True, True] Translation: X:338.97, Y:30.89, Z:-1.39 [[ 9.99851545e-01 -1.67628787e-02 3.98683225e-03 3.38973013e+02] [ 1.67615018e-02 9.99859445e-01 3.78527411e-04 3.08865095e+01] [-3.99261709e-03 -3.11645920e-04 9.99991981e-01 -1.39429972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.061400513 meters 0.07898970763326423 Centerline is valid? [True, True] Translation: X:339.03, Y:30.88, Z:-1.40 [[ 9.99780168e-01 -2.07783627e-02 2.80619849e-03 3.39034461e+02] [ 2.07776961e-02 9.99784085e-01 2.66483411e-04 3.08810045e+01] [-2.81112968e-03 -2.08118490e-04 9.99996027e-01 -1.39754889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.121400513 meters 0.07445410836908171 Centerline is valid? [True, True] Translation: X:339.10, Y:30.88, Z:-1.40 [[ 9.99651399e-01 -2.61757760e-02 3.45095262e-03 3.39095766e+02] [ 2.61748001e-02 9.99657328e-01 3.27659092e-04 3.08769786e+01] [-3.45834681e-03 -2.37216874e-04 9.99993992e-01 -1.39607557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.181400513 meters 0.06467321627929226 Centerline is valid? [True, True] Translation: X:339.16, Y:30.87, Z:-1.40 [[ 9.99593974e-01 -2.83870043e-02 2.46294338e-03 3.39156875e+02] [ 2.83865140e-02 9.99596994e-01 2.33838698e-04 3.08690148e+01] [-2.46858878e-03 -1.63829376e-04 9.99996940e-01 -1.39684304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24140051300003 meters 0.0712352786073993 Centerline is valid? [True, True] Translation: X:339.21, Y:30.88, Z:-1.40 [[ 9.99546962e-01 -3.00877732e-02 7.71926060e-04 3.39214354e+02] [ 3.00877256e-02 9.99547259e-01 7.31867372e-05 3.08831416e+01] [-7.73778603e-04 -4.99280814e-05 9.99999699e-01 -1.40182410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30140051300003 meters 0.0743325950939276 Centerline is valid? [True, True] Translation: X:339.27, Y:30.89, Z:-1.40 [[ 9.99529015e-01 -3.06412852e-02 1.69090133e-03 3.39271827e+02] [ 3.06410574e-02 9.99530440e-01 1.60442782e-04 3.08892485e+01] [-1.69502352e-03 -1.08556211e-04 9.99998558e-01 -1.39999414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36140051300004 meters 0.06408950471915859 Centerline is valid? [True, True] Translation: X:339.33, Y:30.88, Z:-1.40 [[ 9.99459757e-01 -3.28584828e-02 7.17013538e-04 3.39332967e+02] [ 3.28584423e-02 9.99460013e-01 6.81315185e-05 3.08788690e+01] [-7.18865059e-04 -4.45347629e-05 9.99999741e-01 -1.40069041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.421400513 meters 0.06628959658329812 Centerline is valid? [True, True] Translation: X:339.39, Y:30.88, Z:-1.40 [[ 9.99446982e-01 -3.32505683e-02 3.59650322e-04 3.39390800e+02] [ 3.32505582e-02 9.99447047e-01 3.38786213e-05 3.08835319e+01] [-3.60577935e-04 -2.19013118e-05 9.99999935e-01 -1.40248179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.481400513 meters 0.06960080182381317 Centerline is valid? [True, True] Translation: X:339.45, Y:30.89, Z:-1.40 [[ 9.99520134e-01 -3.09572556e-02 1.07234999e-03 3.39450956e+02] [ 3.09571639e-02 9.99520707e-01 1.02058161e-04 3.08900157e+01] [-1.07499546e-03 -6.88122725e-05 9.99999420e-01 -1.40207199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.541400513 meters 0.07172004904318917 Centerline is valid? [True, True] Translation: X:339.51, Y:30.90, Z:-1.40 [[ 9.99691521e-01 -2.48209037e-02 8.86167946e-04 3.39510932e+02] [ 2.48208387e-02 9.99691912e-01 8.43236654e-05 3.08969905e+01] [-8.87987917e-04 -6.23022218e-05 9.99999604e-01 -1.40135381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.601400513 meters 0.08088327220087344 Centerline is valid? [True, True] Translation: X:339.57, Y:30.92, Z:-1.40 [[ 9.99822852e-01 -1.88190480e-02 3.29749709e-04 3.39568196e+02] [ 1.88190386e-02 9.99822906e-01 3.14044727e-05 3.09166388e+01] [-3.30282315e-04 -2.51933370e-05 9.99999945e-01 -1.40446240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.661400513 meters 0.0910058227056944 Centerline is valid? [True, True] Translation: X:339.63, Y:30.93, Z:-1.40 [[ 9.99859119e-01 -1.67289076e-02 1.37326484e-03 3.39626026e+02] [ 1.67287438e-02 9.99860056e-01 1.30653706e-04 3.09345016e+01] [-1.37525836e-03 -1.07662303e-04 9.99999049e-01 -1.40292019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.721400513 meters 0.07970638209213075 Centerline is valid? [True, True] Translation: X:339.69, Y:30.93, Z:-1.40 [[ 9.99825087e-01 -1.86225906e-02 1.73053022e-03 3.39686899e+02] [ 1.86223333e-02 9.99826576e-01 1.64680063e-04 3.09255412e+01] [-1.73329687e-03 -1.32424747e-04 9.99998489e-01 -1.40099825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.781400513 meters 0.0736207092163147 Centerline is valid? [True, True] Translation: X:339.75, Y:30.92, Z:-1.40 [[ 9.99673258e-01 -2.55608608e-02 1.39005370e-04 3.39747918e+02] [ 2.55608592e-02 9.99673268e-01 1.32173115e-05 3.09224785e+01] [-1.39297798e-04 -9.65989614e-06 9.99999990e-01 -1.40445224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.841400513 meters 0.06806547273463799 Centerline is valid? [True, True] Translation: X:339.81, Y:30.91, Z:-1.40 [[ 9.99525288e-01 -3.07681628e-02 1.58688518e-03 3.39809607e+02] [ 3.07679616e-02 9.99526543e-01 1.51081690e-04 3.09143894e+01] [-1.59078236e-03 -1.02184748e-04 9.99998729e-01 -1.40189345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.901400513 meters 0.0708116908444605 Centerline is valid? [True, True] Translation: X:339.87, Y:30.92, Z:-1.40 [[ 9.99579707e-01 -2.87028435e-02 4.06890761e-03 3.39868990e+02] [ 2.87015032e-02 9.99587952e-01 3.87414273e-04 3.09210563e+01] [-4.07835091e-03 -2.70467681e-04 9.99991647e-01 -1.39789814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.961400513 meters 0.08512799689073922 Centerline is valid? [True, True] Translation: X:339.93, Y:30.94, Z:-1.40 [[ 9.99793362e-01 -2.01007824e-02 3.03192767e-03 3.39926533e+02] [ 2.00999987e-02 9.99797933e-01 2.88712724e-04 3.09395505e+01] [-3.03711837e-03 -2.27711322e-04 9.99995362e-01 -1.40095155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.021400513 meters 0.07323503404681883 Centerline is valid? [True, True] Translation: X:339.99, Y:30.93, Z:-1.40 [[ 9.99866707e-01 -1.59538480e-02 3.47036714e-03 3.39988430e+02] [ 1.59527965e-02 9.99872691e-01 3.30470555e-04 3.09283362e+01] [-3.47519761e-03 -2.75064445e-04 9.99993924e-01 -1.40042029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.081400513 meters 0.08490597669239898 Centerline is valid? [True, True] Translation: X:340.05, Y:30.95, Z:-1.40 [[ 9.99899956e-01 -1.36769412e-02 3.60809738e-03 3.40046830e+02] [ 1.36757899e-02 9.99906423e-01 3.43584636e-04 3.09450514e+01] [-3.61245893e-03 -2.94206681e-04 9.99993432e-01 -1.40013558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.141400513 meters 0.08615495976592906 Centerline is valid? [True, True] Translation: X:340.11, Y:30.95, Z:-1.40 [[ 9.99911917e-01 -1.31761443e-02 1.59587079e-03 3.40107968e+02] [ 1.31759183e-02 9.99913182e-01 1.52007339e-04 3.09513543e+01] [-1.59773511e-03 -1.30966886e-04 9.99998715e-01 -1.40328679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.201400513 meters 0.08625979742717056 Centerline is valid? [True, True] Translation: X:340.17, Y:30.96, Z:-1.40 [[ 9.99882350e-01 -1.50951694e-02 2.72431431e-03 3.40168468e+02] [ 1.50945185e-02 9.99886038e-01 2.59333052e-04 3.09567385e+01] [-2.72791851e-03 -2.18180329e-04 9.99996255e-01 -1.40260772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.261400513 meters 0.07861876789650649 Centerline is valid? [True, True] Translation: X:340.23, Y:30.95, Z:-1.40 [[ 9.99798183e-01 -2.00183014e-02 1.69121360e-03 3.40230058e+02] [ 2.00180576e-02 9.99799606e-01 1.60994600e-04 3.09478904e+01] [-1.69409753e-03 -1.27107297e-04 9.99998557e-01 -1.40324970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.321400513 meters 0.07117023991950966 Centerline is valid? [True, True] Translation: X:340.29, Y:30.95, Z:-1.40 [[ 9.99700072e-01 -2.44404297e-02 1.55939248e-03 3.40290983e+02] [ 2.44402277e-02 9.99701282e-01 1.48435063e-04 3.09455429e+01] [-1.56255448e-03 -1.10278636e-04 9.99998773e-01 -1.40391584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.381400513 meters 0.07088868101945517 Centerline is valid? [True, True] Translation: X:340.35, Y:30.95, Z:-1.41 [[ 9.99690099e-01 -2.48570499e-02 1.35406886e-03 3.40349573e+02] [ 2.48568986e-02 9.99691011e-01 1.28469666e-04 3.09502352e+01] [-1.35684385e-03 -9.47719005e-05 9.99999075e-01 -1.40526698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.441400513 meters 0.07618732195215136 Centerline is valid? [True, True] Translation: X:340.41, Y:30.96, Z:-1.41 [[ 9.99729196e-01 -2.32320791e-02 1.34323274e-03 3.40408147e+02] [ 2.32319279e-02 9.99730094e-01 1.28062638e-04 3.09618998e+01] [-1.34584536e-03 -9.68220717e-05 9.99999090e-01 -1.40583684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.501400513 meters 0.07199254270767604 Centerline is valid? [True, True] Translation: X:340.47, Y:30.96, Z:-1.41 [[ 9.99798539e-01 -2.00434952e-02 1.06798182e-03 3.40468983e+02] [ 2.00433978e-02 9.99799106e-01 1.01859468e-04 3.09636026e+01] [-1.06980889e-03 -8.04329628e-05 9.99999425e-01 -1.40592502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.561400513 meters 0.08035868883628039 Centerline is valid? [True, True] Translation: X:340.53, Y:30.98, Z:-1.41 [[ 9.99815979e-01 -1.91180527e-02 1.58396289e-03 3.40526302e+02] [ 1.91178374e-02 9.99817226e-01 1.50943217e-04 3.09792463e+01] [-1.58655912e-03 -1.20633495e-04 9.99998734e-01 -1.40610286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.621400513 meters 0.07915678954897815 Centerline is valid? [True, True] Translation: X:340.59, Y:30.98, Z:-1.40 [[ 9.99885823e-01 -1.49599502e-02 2.13090894e-03 3.40586567e+02] [ 1.49595506e-02 9.99888079e-01 2.03325330e-04 3.09841411e+01] [-2.13371218e-03 -1.71424674e-04 9.99997709e-01 -1.40481726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.681400513 meters 0.08235006393017565 Centerline is valid? [True, True] Translation: X:340.65, Y:31.00, Z:-1.41 [[ 9.99909536e-01 -1.33839941e-02 1.33729978e-03 3.40646307e+02] [ 1.33838353e-02 9.99910424e-01 1.27616670e-04 3.09961083e+01] [-1.33888802e-03 -1.09706925e-04 9.99999098e-01 -1.40596522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74140051300003 meters 0.08683153342558698 Centerline is valid? [True, True] Translation: X:340.70, Y:31.01, Z:-1.41 [[ 9.99924668e-01 -1.22740968e-02 6.60313062e-05 3.40704839e+02] [ 1.22740964e-02 9.99924670e-01 6.28848231e-06 3.10058674e+01] [-6.61035175e-05 -5.47753397e-06 9.99999998e-01 -1.40853729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80140051300003 meters 0.08647915538515803 Centerline is valid? [True, True] Translation: X:340.76, Y:31.01, Z:-1.41 [[ 9.99922538e-01 -1.23004644e-02 1.90186679e-03 3.40764357e+02] [ 1.23001414e-02 9.99924334e-01 1.81449917e-04 3.10084648e+01] [-1.90395481e-03 -1.58042631e-04 9.99998175e-01 -1.40619081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86140051300004 meters 0.08320102126320497 Centerline is valid? [True, True] Translation: X:340.83, Y:31.01, Z:-1.41 [[ 9.99906552e-01 -1.33545261e-02 2.92289633e-03 3.40825016e+02] [ 1.33537672e-02 9.99910796e-01 2.78988997e-04 3.10079668e+01] [-2.92636136e-03 -2.39931249e-04 9.99995689e-01 -1.40560926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.921400513 meters 0.07955627103582723 Centerline is valid? [True, True] Translation: X:340.89, Y:31.01, Z:-1.40 [[ 9.99930541e-01 -1.13385552e-02 3.21711066e-03 3.40885915e+02] [ 1.13376254e-02 9.99935680e-01 3.07123180e-04 3.10107447e+01] [-3.22038607e-03 -2.70627452e-04 9.99994778e-01 -1.40462004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.981400513 meters 0.0875924738036909 Centerline is valid? [True, True] Translation: X:340.94, Y:31.03, Z:-1.40 [[ 9.99980091e-01 -5.89916441e-03 2.24007397e-03 3.40944120e+02] [ 5.89870004e-03 9.99982580e-01 2.13851518e-04 3.10311040e+01] [-2.24129649e-03 -2.00633736e-04 9.99997468e-01 -1.40485009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.041400513 meters 0.0942984412135066 Centerline is valid? [True, True] Translation: X:341.00, Y:31.05, Z:-1.41 [[ 9.99988226e-01 -4.54369488e-03 1.70398779e-03 3.41002489e+02] [ 4.54342424e-03 9.99989665e-01 1.62664743e-04 3.10481731e+01] [-1.70470928e-03 -1.54920889e-04 9.99998535e-01 -1.40626584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.101400513 meters 0.08492003886672109 Centerline is valid? [True, True] Translation: X:341.06, Y:31.05, Z:-1.40 [[ 9.99945456e-01 -7.06400963e-03 7.69310732e-03 3.41063638e+02] [ 7.05856697e-03 9.99974818e-01 7.34394608e-04 3.10472143e+01] [-7.69810137e-03 -6.80052239e-04 9.99970138e-01 -1.39692908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.161400513 meters 0.08744151690600081 Centerline is valid? [True, True] Translation: X:341.12, Y:31.06, Z:-1.40 [[ 9.99919876e-01 -1.00664557e-02 7.67518774e-03 3.41122379e+02] [ 1.00611258e-02 9.99949117e-01 7.32729990e-04 3.10585698e+01] [-7.68217320e-03 -6.55450252e-04 9.99970277e-01 -1.39644321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.221400513 meters 0.0864321576211601 Centerline is valid? [True, True] Translation: X:341.18, Y:31.07, Z:-1.40 [[ 9.99897040e-01 -1.23700540e-02 7.27257951e-03 3.41182559e+02] [ 1.23653287e-02 9.99923305e-01 6.94342214e-04 3.10667291e+01] [-7.28061080e-03 -6.04342888e-04 9.99973313e-01 -1.39774713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.281400513 meters 0.08535210918232077 Centerline is valid? [True, True] Translation: X:341.24, Y:31.07, Z:-1.40 [[ 9.99889143e-01 -1.32612189e-02 6.77065411e-03 3.41244197e+02] [ 1.32571443e-02 9.99911911e-01 6.46331600e-04 3.10734837e+01] [-6.77862883e-03 -5.56500411e-04 9.99976870e-01 -1.39768527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.341400513 meters 0.09408174745757822 Centerline is valid? [True, True] Translation: X:341.30, Y:31.09, Z:-1.40 [[ 9.99899219e-01 -1.35609570e-02 4.20139649e-03 3.41304216e+02] [ 1.35593911e-02 9.99907987e-01 4.00979758e-04 3.10902094e+01] [-4.20644757e-03 -3.43970969e-04 9.99991094e-01 -1.40298469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.401400513 meters 0.08044229435049206 Centerline is valid? [True, True] Translation: X:341.37, Y:31.08, Z:-1.41 [[ 9.99849460e-01 -1.70520375e-02 3.20711657e-03 3.41365990e+02] [ 1.70511432e-02 9.99854572e-01 3.05981359e-04 3.10795418e+01] [-3.21186777e-03 -2.51250292e-04 9.99994810e-01 -1.40596713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.461400513 meters 0.07479530015527161 Centerline is valid? [True, True] Translation: X:341.43, Y:31.07, Z:-1.41 [[ 9.99789475e-01 -2.03987852e-02 2.21230071e-03 3.41427904e+02] [ 2.03983678e-02 9.99791909e-01 2.11091169e-04 3.10702214e+01] [-2.21614636e-03 -1.65919406e-04 9.99997531e-01 -1.40713127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.521400513 meters 0.08274555989190246 Centerline is valid? [True, True] Translation: X:341.49, Y:31.08, Z:-1.41 [[ 9.99745228e-01 -2.25422247e-02 1.15240411e-03 3.41486567e+02] [ 2.25421129e-02 9.99745888e-01 1.09890423e-04 3.10833664e+01] [-1.15458845e-03 -8.38848021e-05 9.99999330e-01 -1.40946236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.581400513 meters 0.07315017190874008 Centerline is valid? [True, True] Translation: X:341.55, Y:31.07, Z:-1.41 [[ 9.99722082e-01 -2.35438932e-02 1.20139861e-03 3.41546710e+02] [ 2.35437725e-02 9.99722800e-01 1.14499284e-04 3.10700025e+01] [-1.20376134e-03 -8.61820069e-05 9.99999272e-01 -1.41082151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.641400513 meters 0.07724787123390026 Centerline is valid? [True, True] Translation: X:341.61, Y:31.07, Z:-1.41 [[ 9.99739053e-01 -2.27818808e-02 1.67661020e-03 3.41605017e+02] [ 2.27816444e-02 9.99740452e-01 1.59937891e-04 3.10738177e+01] [-1.67981872e-03 -1.21700219e-04 9.99998582e-01 -1.40997567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.701400513 meters 0.08229564387884244 Centerline is valid? [True, True] Translation: X:341.66, Y:31.08, Z:-1.41 [[ 9.99812148e-01 -1.93317733e-02 1.39680401e-03 3.41664614e+02] [ 1.93316057e-02 9.99813118e-01 1.33376664e-04 3.10842677e+01] [-1.39912138e-03 -1.06349145e-04 9.99999016e-01 -1.41049385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.761400513 meters 0.09266819754392905 Centerline is valid? [True, True] Translation: X:341.72, Y:31.10, Z:-1.41 [[ 9.99877564e-01 -1.56454955e-02 2.75770307e-04 3.41722319e+02] [ 1.56454889e-02 9.99877602e-01 2.63070090e-05 3.11014919e+01] [-2.76148139e-04 -2.19892268e-05 9.99999962e-01 -1.41266023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.821400513 meters 0.07653163550470427 Centerline is valid? [True, True] Translation: X:341.78, Y:31.09, Z:-1.41 [[ 9.99923774e-01 -1.19632184e-02 3.05396395e-03 3.41784225e+02] [ 1.19623828e-02 9.99928406e-01 2.91721505e-04 3.10895070e+01] [-3.05723523e-03 -2.55166582e-04 9.99995294e-01 -1.40743223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.881400513 meters 0.0875533866187399 Centerline is valid? [True, True] Translation: X:341.84, Y:31.11, Z:-1.41 [[ 9.99941515e-01 -1.06475324e-02 1.89666152e-03 3.41842517e+02] [ 1.06472078e-02 9.99943300e-01 1.81193962e-04 3.11096155e+01] [-1.89848325e-03 -1.60989216e-04 9.99998185e-01 -1.40982671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.941400513 meters 0.08421828100993636 Centerline is valid? [True, True] Translation: X:341.90, Y:31.11, Z:-1.41 [[ 9.99909648e-01 -1.32467612e-02 2.28447864e-03 3.41903641e+02] [ 1.32462968e-02 9.99912240e-01 2.18260478e-04 3.11113365e+01] [-2.28716940e-03 -1.87979876e-04 9.99997367e-01 -1.40971432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.001400513 meters 0.07964608537732411 Centerline is valid? [True, True] Translation: X:341.96, Y:31.11, Z:-1.41 [[ 9.99903068e-01 -1.29228352e-02 5.18225349e-03 3.41964476e+02] [ 1.29204420e-02 9.99916405e-01 4.95027648e-04 3.11135822e+01] [-5.18821744e-03 -4.28022658e-04 9.99986450e-01 -1.40734511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.061400513 meters 0.0888680874922378 Centerline is valid? [True, True] Translation: X:342.02, Y:31.13, Z:-1.41 [[ 9.99963140e-01 -8.19752559e-03 2.55343200e-03 3.42022212e+02] [ 8.19692927e-03 9.99966375e-01 2.43916176e-04 3.11329683e+01] [-2.55534565e-03 -2.22976883e-04 9.99996710e-01 -1.41166407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.121400513 meters 0.0923703999503196 Centerline is valid? [True, True] Translation: X:342.08, Y:31.15, Z:-1.41 [[ 9.99982570e-01 -5.53993183e-03 2.04174514e-03 3.42081754e+02] [ 5.53954508e-03 9.99984638e-01 1.95025255e-04 3.11467111e+01] [-2.04279420e-03 -1.83711516e-04 9.99997897e-01 -1.41298248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.181400513 meters 0.09948848412893195 Centerline is valid? [True, True] Translation: X:342.14, Y:31.16, Z:-1.41 [[ 9.99975076e-01 -6.45175238e-03 2.86728816e-03 3.42141363e+02] [ 6.45099326e-03 9.99979155e-01 2.73922949e-04 3.11637330e+01] [-2.86899567e-03 -2.55419265e-04 9.99995852e-01 -1.41290951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24140051300003 meters 0.08752475387190028 Centerline is valid? [True, True] Translation: X:342.20, Y:31.16, Z:-1.41 [[ 9.99935889e-01 -1.10697489e-02 2.38309314e-03 3.42203221e+02] [ 1.10692377e-02 9.99938708e-01 2.27597060e-04 3.11569902e+01] [-2.38546652e-03 -2.01203444e-04 9.99997135e-01 -1.41450164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30140051300003 meters 0.08889953144167126 Centerline is valid? [True, True] Translation: X:342.26, Y:31.16, Z:-1.42 [[ 9.99869518e-01 -1.60281137e-02 2.01183153e-03 3.42262201e+02] [ 1.60277594e-02 9.99871529e-01 1.92125459e-04 3.11629384e+01] [-2.01465248e-03 -1.59855238e-04 9.99997958e-01 -1.41527277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36140051300004 meters 0.08585806958526915 Centerline is valid? [True, True] Translation: X:342.32, Y:31.16, Z:-1.42 [[ 9.99798474e-01 -1.99315790e-02 2.39674063e-03 3.42322926e+02] [ 1.99310873e-02 9.99801330e-01 2.28884171e-04 3.11618913e+01] [-2.40082650e-03 -1.81068398e-04 9.99997102e-01 -1.41520064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.421400513 meters 0.0804961997091633 Centerline is valid? [True, True] Translation: X:342.38, Y:31.16, Z:-1.41 [[ 9.99881440e-01 -1.52466466e-02 2.15530675e-03 3.42384389e+02] [ 1.52462382e-02 9.99883748e-01 2.05831079e-04 3.11589315e+01] [-2.15819442e-03 -1.72946356e-04 9.99997656e-01 -1.41452576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.481400513 meters 0.08167289380635649 Centerline is valid? [True, True] Translation: X:342.44, Y:31.17, Z:-1.41 [[ 9.99916145e-01 -1.28128777e-02 1.87975533e-03 3.42444155e+02] [ 1.28125627e-02 9.99917900e-01 1.79517201e-04 3.11653667e+01] [-1.88190113e-03 -1.55417665e-04 9.99998217e-01 -1.41472524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.541400513 meters 0.08100727175457516 Centerline is valid? [True, True] Translation: X:342.50, Y:31.17, Z:-1.41 [[ 9.99956544e-01 -8.91127633e-03 2.73856792e-03 3.42503216e+02] [ 8.90420252e-03 9.99957017e-01 2.58446208e-03 3.11668844e+01] [-2.76148106e-03 -2.55996501e-03 9.99992910e-01 -1.41480134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.601400513 meters 0.08937300183085632 Centerline is valid? [True, True] Translation: X:342.56, Y:31.19, Z:-1.42 [[ 9.99975463e-01 -6.79403996e-03 1.70694625e-03 3.42562505e+02] [ 6.79766388e-03 9.99974635e-01 -2.12628744e-03 3.11866968e+01] [-1.69245687e-03 2.13783852e-03 9.99996283e-01 -1.41808601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.661400513 meters 0.08993438273291969 Centerline is valid? [True, True] Translation: X:342.62, Y:31.19, Z:-1.42 [[ 9.99986093e-01 -5.15106351e-03 1.13127819e-03 3.42623355e+02] [ 5.15094457e-03 9.99986728e-01 1.08020793e-04 3.11900479e+01] [-1.13181960e-03 -1.02192140e-04 9.99999354e-01 -1.41842012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.721400513 meters 0.09760242412331342 Centerline is valid? [True, True] Translation: X:342.68, Y:31.21, Z:-1.42 [[ 9.99985075e-01 -4.74209190e-03 2.71342096e-03 3.42682549e+02] [ 4.74140616e-03 9.99988726e-01 2.59097956e-04 3.12060501e+01] [-2.71461904e-03 -2.46228658e-04 9.99996285e-01 -1.41752764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.781400513 meters 0.09423163033172624 Centerline is valid? [True, True] Translation: X:342.74, Y:31.21, Z:-1.42 [[ 9.99988085e-01 -4.16901072e-03 2.53939137e-03 3.42743312e+02] [ 4.16840831e-03 9.99991283e-01 2.42471954e-04 3.12115844e+01] [-2.54038011e-03 -2.31883845e-04 9.99996746e-01 -1.41875495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.841400513 meters 0.08751147515279677 Centerline is valid? [True, True] Translation: X:342.80, Y:31.21, Z:-1.42 [[ 9.99975724e-01 -6.35450454e-03 2.85845677e-03 3.42803686e+02] [ 6.35375038e-03 9.99979778e-01 2.72836255e-04 3.12119610e+01] [-2.86013271e-03 -2.54667711e-04 9.99995877e-01 -1.41793399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.901400513 meters 0.08414693029144901 Centerline is valid? [True, True] Translation: X:342.86, Y:31.22, Z:-1.42 [[ 9.99892466e-01 -1.41101032e-02 3.99511148e-03 3.42863080e+02] [ 1.41086914e-02 9.99900395e-01 3.81327759e-04 3.12160316e+01] [-4.00009412e-03 -3.24920958e-04 9.99991947e-01 -1.41615595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.961400513 meters 0.08007347802084487 Centerline is valid? [True, True] Translation: X:342.92, Y:31.22, Z:-1.42 [[ 9.99783482e-01 -2.05448768e-02 3.30111413e-03 3.42924139e+02] [ 2.05439479e-02 9.99788901e-01 3.15084101e-04 3.12169490e+01] [-3.30689063e-03 -2.47197964e-04 9.99994502e-01 -1.41759283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.021400513 meters 0.07611742275893009 Centerline is valid? [True, True] Translation: X:342.98, Y:31.22, Z:-1.41 [[ 9.99522251e-01 -3.05563164e-02 4.64565431e-03 3.42984306e+02] [ 3.05545843e-02 9.99533001e-01 4.43394779e-04 3.12179542e+01] [-4.65703331e-03 -3.01236911e-04 9.99989111e-01 -1.41476143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.081400513 meters 0.058090092582037525 Centerline is valid? [True, True] Translation: X:343.05, Y:31.20, Z:-1.41 [[ 9.99345257e-01 -3.58608398e-02 4.80181134e-03 3.43046248e+02] [ 3.58590503e-02 9.99356752e-01 4.58286240e-04 3.12039077e+01] [-4.81515712e-03 -2.85797786e-04 9.99988366e-01 -1.41458676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.141400513 meters 0.05678142040952188 Centerline is valid? [True, True] Translation: X:343.11, Y:31.21, Z:-1.42 [[ 9.99167180e-01 -4.06962140e-02 2.96039727e-03 3.43105058e+02] [ 4.06955550e-02 9.99171553e-01 2.82531138e-04 3.12091773e+01] [-2.96944269e-03 -1.61820831e-04 9.99995578e-01 -1.41724857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.201400513 meters 0.05617354977059287 Centerline is valid? [True, True] Translation: X:343.16, Y:31.22, Z:-1.42 [[ 9.98764570e-01 -4.95647251e-02 3.55984306e-03 3.43164532e+02] [ 4.95638280e-02 9.98770900e-01 3.39839176e-04 3.12165517e+01] [-3.57231169e-03 -1.62979879e-04 9.99993606e-01 -1.41682653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.261400513 meters 0.038208335562433075 Centerline is valid? [True, True] Translation: X:343.23, Y:31.20, Z:-1.42 [[ 9.98358403e-01 -5.71671910e-02 3.52310784e-03 3.43226238e+02] [ 5.71663596e-02 9.98364610e-01 3.36321841e-04 3.12028266e+01] [-3.53657276e-03 -1.34366486e-04 9.99993737e-01 -1.41619984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.321400513 meters 0.035874166858663986 Centerline is valid? [True, True] Translation: X:343.29, Y:31.21, Z:-1.42 [[ 9.98215294e-01 -5.96747688e-02 2.26891497e-03 3.43285771e+02] [ 5.96744304e-02 9.98217870e-01 2.16603246e-04 3.12096849e+01] [-2.27779721e-03 -8.08204642e-05 9.99997403e-01 -1.41774820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.381400513 meters 0.02949317344110549 Centerline is valid? [True, True] Translation: X:343.35, Y:31.21, Z:-1.42 [[ 9.97858641e-01 -6.53825610e-02 1.80353020e-03 3.43345776e+02] [ 6.53823564e-02 9.97860270e-01 1.72205322e-04 3.12134859e+01] [-1.81093036e-03 -5.39175137e-05 9.99998359e-01 -1.41813178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.441400513 meters 0.025930602521574978 Centerline is valid? [True, True] Translation: X:343.40, Y:31.22, Z:-1.42 [[ 9.97469878e-01 -7.10862259e-02 7.69103748e-04 3.43404852e+02] [ 7.10861904e-02 9.97470174e-01 7.33623805e-05 3.12175561e+01] [-7.72373104e-04 -1.85041092e-05 9.99999702e-01 -1.42068768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.501400513 meters 0.020211520860072985 Centerline is valid? [True, True] Translation: X:343.47, Y:31.22, Z:-1.42 [[ 9.97048586e-01 -7.67587214e-02 1.48823545e-03 3.43465435e+02] [ 7.67585949e-02 9.97049697e-01 1.42075045e-04 3.12189157e+01] [-1.49475020e-03 -2.74208605e-05 9.99998882e-01 -1.41849732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.561400513 meters 0.017906159932509134 Centerline is valid? [True, True] Translation: X:343.52, Y:31.23, Z:-1.42 [[ 9.96876256e-01 -7.89290233e-02 2.81786810e-03 3.43523563e+02] [ 7.89285781e-02 9.96880237e-01 2.69011472e-04 3.12259458e+01] [-2.83030983e-03 -4.57608260e-05 9.99995994e-01 -1.41775809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.621400513 meters 0.01602300897567753 Centerline is valid? [True, True] Translation: X:343.58, Y:31.23, Z:-1.42 [[ 9.96668605e-01 -8.14098144e-02 4.91260970e-03 3.43582339e+02] [ 8.14084848e-02 9.96680710e-01 4.70347240e-04 3.12328327e+01] [-4.93459421e-03 -6.88522147e-05 9.99987822e-01 -1.41591378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.681400513 meters 0.012597945768939757 Centerline is valid? [True, True] Translation: X:343.64, Y:31.24, Z:-1.42 [[ 9.96302953e-01 -8.58840968e-02 2.08498071e-03 3.43640573e+02] [ 8.58838671e-02 9.96305135e-01 1.99583260e-04 3.12388261e+01] [-2.09441802e-03 -1.97791845e-05 9.99997807e-01 -1.41998553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74140051300003 meters 0.008897837865122292 Centerline is valid? [True, True] Translation: X:343.70, Y:31.24, Z:-1.42 [[ 9.95793197e-01 -9.16290949e-02 1.30309382e-04 3.43699487e+02] [ 9.16290942e-02 9.95793206e-01 1.18453991e-05 3.12369191e+01] [-1.30846581e-04 1.44562780e-07 9.99999991e-01 -1.42362513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80140051300003 meters 0.010671043592100827 Centerline is valid? [True, True] Translation: X:343.76, Y:31.23, Z:-1.42 [[ 9.94839784e-01 -1.01444326e-01 1.68880983e-03 3.43757978e+02] [ 1.01444197e-01 9.94841218e-01 1.62296456e-04 3.12275958e+01] [-1.69656168e-03 9.86098509e-06 9.99998561e-01 -1.42191818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86140051300004 meters 0.011999004883965944 Centerline is valid? [True, True] Translation: X:343.82, Y:31.23, Z:-1.42 [[ 9.94512603e-01 -1.04613926e-01 7.80363695e-04 3.43816884e+02] [ 1.04613900e-01 9.94512909e-01 7.45789316e-05 3.12300333e+01] [-7.83883763e-04 7.46720219e-06 9.99999693e-01 -1.42318719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.921400513 meters 0.012268690382834492 Centerline is valid? [True, True] Translation: X:343.87, Y:31.24, Z:-1.42 [[ 9.94516976e-01 -1.04573541e-01 5.99799117e-04 3.43873768e+02] [ 1.04573525e-01 9.94517156e-01 5.75680828e-05 3.12364524e+01] [-6.02530611e-04 5.47067269e-06 9.99999818e-01 -1.42308607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.981400513 meters 0.01183486226361194 Centerline is valid? [True, True] Translation: X:343.93, Y:31.25, Z:-1.42 [[ 9.94582359e-01 -1.03951535e-01 9.42282435e-05 3.43930498e+02] [ 1.03951534e-01 9.94582364e-01 8.33176797e-06 3.12472620e+01] [-9.45838492e-05 1.50854103e-06 9.99999996e-01 -1.42397781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.041400513 meters 0.012147768392310042 Centerline is valid? [True, True] Translation: X:343.99, Y:31.26, Z:-1.42 [[ 9.94473784e-01 -1.04949135e-01 2.75154834e-03 3.43987423e+02] [ 1.04948801e-01 9.94477591e-01 2.65966378e-04 3.12570421e+01] [-2.76426611e-03 2.42751091e-05 9.99996179e-01 -1.42020597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.101400513 meters 0.01368908827887464 Centerline is valid? [True, True] Translation: X:344.05, Y:31.27, Z:-1.42 [[ 9.94191456e-01 -1.07547045e-01 4.12099316e-03 3.44045822e+02] [ 1.07546313e-01 9.94199995e-01 3.99531903e-04 3.12655048e+01] [-4.14005986e-03 4.59864168e-05 9.99991429e-01 -1.41873132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.161400513 meters 0.01803128574000128 Centerline is valid? [True, True] Translation: X:344.10, Y:31.27, Z:-1.42 [[ 9.93731242e-01 -1.11720438e-01 4.09416732e-03 3.44103385e+02] [ 1.11719748e-01 9.93739674e-01 3.97638862e-04 3.12692501e+01] [-4.11296089e-03 6.22531808e-05 9.99991540e-01 -1.41906193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.221400513 meters 0.03163042328880511 Centerline is valid? [True, True] Translation: X:344.16, Y:31.27, Z:-1.42 [[ 9.93539198e-01 -1.13424105e-01 3.85159783e-03 3.44161742e+02] [ 1.13416505e-01 9.93545230e-01 2.13820159e-03 3.12730603e+01] [-4.06926025e-03 -1.68755233e-03 9.99990297e-01 -1.41962100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.281400513 meters 0.017613337970929243 Centerline is valid? [True, True] Translation: X:344.22, Y:31.29, Z:-1.42 [[ 9.93844512e-01 -1.10756955e-01 2.44611287e-03 3.44218706e+02] [ 1.10760857e-01 9.93845922e-01 -1.52178734e-03 3.12862979e+01] [-2.26251077e-03 1.78335355e-03 9.99995850e-01 -1.42208487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.341400513 meters 0.014615769882081334 Centerline is valid? [True, True] Translation: X:344.28, Y:31.29, Z:-1.42 [[ 9.94105771e-01 -1.08403590e-01 1.54230357e-03 3.44277218e+02] [ 1.08403488e-01 9.94106967e-01 1.49711198e-04 3.12949499e+01] [-1.54944396e-03 1.83623212e-05 9.99998799e-01 -1.42338689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.401400513 meters 0.022211861885115144 Centerline is valid? [True, True] Translation: X:344.33, Y:31.32, Z:-1.42 [[ 9.95353583e-01 -9.62837455e-02 8.27617007e-04 3.44333977e+02] [ 9.62837118e-02 9.95353927e-01 8.05520442e-05 3.13166685e+01] [-8.31527690e-04 -4.91728502e-07 9.99999654e-01 -1.42402484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.461400513 meters 0.029026045669378477 Centerline is valid? [True, True] Translation: X:344.39, Y:31.33, Z:-1.42 [[ 9.96148218e-01 -8.76094944e-02 3.64753448e-03 3.44391548e+02] [ 8.76024805e-02 9.96153423e-01 2.04050399e-03 3.13340161e+01] [-3.81227148e-03 -1.71311134e-03 9.99991266e-01 -1.42090883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.521400513 meters 0.020601150344154592 Centerline is valid? [True, True] Translation: X:344.45, Y:31.36, Z:-1.43 [[ 9.96999614e-01 -7.73935947e-02 1.41466724e-03 3.44449927e+02] [ 7.73956970e-02 9.96999330e-01 -1.49712921e-03 3.13573890e+01] [-1.29455408e-03 1.60212640e-03 9.99997879e-01 -1.42512373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.581400513 meters 0.029011553713949798 Centerline is valid? [True, True] Translation: X:344.51, Y:31.37, Z:-1.42 [[ 9.97275970e-01 -7.37425450e-02 1.63613293e-03 3.44508757e+02] [ 7.37423822e-02 9.97277311e-01 1.59676310e-04 3.13692186e+01] [-1.64345319e-03 -3.85890064e-05 9.99998649e-01 -1.42373222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.641400513 meters 0.03016064257193898 Centerline is valid? [True, True] Translation: X:344.57, Y:31.37, Z:-1.42 [[ 9.97166269e-01 -7.52090905e-02 1.73926669e-03 3.44567074e+02] [ 7.52089093e-02 9.97167785e-01 1.69428847e-04 3.13736513e+01] [-1.74708330e-03 -3.81403805e-05 9.99998473e-01 -1.42341257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.701400513 meters 0.02170712545488741 Centerline is valid? [True, True] Translation: X:344.63, Y:31.38, Z:-1.42 [[ 9.96955230e-01 -7.79559249e-02 1.77270082e-03 3.44625236e+02] [ 7.79557399e-02 9.96956806e-01 1.73280470e-04 3.13759730e+01] [-1.78081438e-03 -3.45606669e-05 9.99998414e-01 -1.42423624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.761400513 meters 0.020155380048396062 Centerline is valid? [True, True] Translation: X:344.68, Y:31.37, Z:-1.42 [[ 9.96823419e-01 -7.96268253e-02 1.62509612e-03 3.44684970e+02] [ 7.96266723e-02 9.96824743e-01 1.58691527e-04 3.13746862e+01] [-1.63257212e-03 -2.87864339e-05 9.99998667e-01 -1.42450678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.821400513 meters 0.022042770043930064 Centerline is valid? [True, True] Translation: X:344.74, Y:31.38, Z:-1.42 [[ 9.97021362e-01 -7.70959437e-02 2.14940847e-03 3.44743657e+02] [ 7.70956692e-02 9.97023678e-01 2.10409510e-04 3.13806505e+01] [-2.15923285e-03 -4.40726918e-05 9.99997668e-01 -1.42357727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.881400513 meters 0.029429124849739426 Centerline is valid? [True, True] Translation: X:344.80, Y:31.39, Z:-1.42 [[ 9.97526333e-01 -7.02775645e-02 1.50954897e-03 3.44801474e+02] [ 7.02774205e-02 9.97527474e-01 1.48262010e-04 3.13940235e+01] [-1.51623606e-03 -4.18080512e-05 9.99998850e-01 -1.42407562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.941400513 meters 0.03571386650016385 Centerline is valid? [True, True] Translation: X:344.86, Y:31.41, Z:-1.43 [[ 9.97782506e-01 -6.65467314e-02 -1.26590741e-03 3.44859506e+02] [ 6.65466270e-02 9.97783309e-01 -1.24476179e-04 3.14051687e+01] [ 1.27138476e-03 3.99582858e-05 9.99999191e-01 -1.42940112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.001400513 meters 0.04442947074929809 Centerline is valid? [True, True] Translation: X:344.92, Y:31.42, Z:-1.42 [[ 9.98180250e-01 -6.02787915e-02 1.62992680e-03 3.44917296e+02] [ 6.02786101e-02 9.98181578e-01 1.60213847e-04 3.14204742e+01] [-1.63662040e-03 -6.16725757e-05 9.99998659e-01 -1.42491613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.061400513 meters 0.04059208906601493 Centerline is valid? [True, True] Translation: X:344.98, Y:31.42, Z:-1.42 [[ 9.98352580e-01 -5.73024201e-02 2.92568656e-03 3.44978209e+02] [ 5.73018236e-02 9.98356859e-01 2.87371858e-04 3.14213141e+01] [-2.93734635e-03 -1.19251260e-04 9.99995679e-01 -1.42148499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.121400513 meters 0.043721978760652695 Centerline is valid? [True, True] Translation: X:345.04, Y:31.43, Z:-1.42 [[ 9.98500946e-01 -5.46795985e-02 2.45010149e-03 3.45037821e+02] [ 5.46791723e-02 9.98503946e-01 2.40637726e-04 3.14301096e+01] [-2.45959398e-03 -1.06307476e-04 9.99996970e-01 -1.42441327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.181400513 meters 0.04811553383514699 Centerline is valid? [True, True] Translation: X:345.10, Y:31.44, Z:-1.42 [[ 9.98587427e-01 -5.30801369e-02 2.37688756e-03 3.45095934e+02] [ 5.30797313e-02 9.98590250e-01 2.33432114e-04 3.14381655e+01] [-2.38592735e-03 -1.06937821e-04 9.99997148e-01 -1.42482102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24140051300003 meters 0.05098041775218482 Centerline is valid? [True, True] Translation: X:345.15, Y:31.44, Z:-1.43 [[ 9.98652411e-01 -5.18734529e-02 1.58335480e-03 3.45154961e+02] [ 5.18732714e-02 9.98653663e-01 1.55507409e-04 3.14428973e+01] [-1.58928978e-03 -7.31640559e-05 9.99998734e-01 -1.42591766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30140051300003 meters 0.05093367489150086 Centerline is valid? [True, True] Translation: X:345.21, Y:31.45, Z:-1.43 [[ 9.98876610e-01 -4.73603940e-02 1.58464504e-03 3.45214577e+02] [ 4.73602063e-02 9.98877864e-01 1.55772329e-04 3.14541455e+01] [-1.59024429e-03 -8.05482195e-05 9.99998732e-01 -1.42553403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36140051300004 meters 0.057734384449021584 Centerline is valid? [True, True] Translation: X:345.27, Y:31.47, Z:-1.43 [[ 9.99231842e-01 -3.91852726e-02 4.90164911e-04 3.45273816e+02] [ 3.91852537e-02 9.99231962e-01 4.81946771e-05 3.14706051e+01] [-4.91676967e-04 -2.89504195e-05 9.99999879e-01 -1.42705082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.421400513 meters 0.059959748355284594 Centerline is valid? [True, True] Translation: X:345.33, Y:31.48, Z:-1.43 [[ 9.99363126e-01 -3.56732812e-02 8.71520293e-04 3.45334070e+02] [ 3.56732200e-02 9.99363504e-01 8.56787052e-05 3.14803078e+01] [-8.74022015e-04 -5.45342035e-05 9.99999617e-01 -1.42579290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.481400513 meters 0.06946957350346221 Centerline is valid? [True, True] Translation: X:345.39, Y:31.50, Z:-1.43 [[ 9.99357824e-01 -3.58040808e-02 1.41716856e-03 3.45390066e+02] [ 3.58039193e-02 9.99358824e-01 1.39159065e-04 3.14992515e+01] [-1.42124237e-03 -8.83295118e-05 9.99998986e-01 -1.42585201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.541400513 meters 0.06366566435542688 Centerline is valid? [True, True] Translation: X:345.45, Y:31.50, Z:-1.43 [[ 9.99196299e-01 -4.00529552e-02 1.58629506e-03 3.45450826e+02] [ 4.00527578e-02 9.99197554e-01 1.55980003e-04 3.14953125e+01] [-1.59126960e-03 -9.23191499e-05 9.99998730e-01 -1.42608492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.601400513 meters 0.06202801392002102 Centerline is valid? [True, True] Translation: X:345.51, Y:31.49, Z:-1.42 [[ 9.99064005e-01 -4.31880115e-02 2.43079890e-03 3.45510759e+02] [ 4.31875571e-02 9.99066954e-01 2.39146610e-04 3.14925112e+01] [-2.43885912e-03 -1.33942504e-04 9.99997017e-01 -1.42438073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.661400513 meters 0.05225595479910277 Centerline is valid? [True, True] Translation: X:345.57, Y:31.48, Z:-1.42 [[ 9.98989791e-01 -4.48532009e-02 2.75467079e-03 3.45571452e+02] [ 4.48526241e-02 9.98993578e-01 2.70857546e-04 3.14816633e+01] [-2.76404725e-03 -1.47029710e-04 9.99996169e-01 -1.42398873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.721400513 meters 0.05696251162279475 Centerline is valid? [True, True] Translation: X:345.63, Y:31.48, Z:-1.43 [[ 9.99009879e-01 -4.43915288e-02 2.94176744e-03 3.45630851e+02] [ 4.43908675e-02 9.99014198e-01 2.89738201e-04 3.14777817e+01] [-2.95172936e-03 -1.58863716e-04 9.99995631e-01 -1.42609487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.781400513 meters 0.058306541535721075 Centerline is valid? [True, True] Translation: X:345.69, Y:31.49, Z:-1.43 [[ 9.99141998e-01 -4.13235979e-02 2.76206934e-03 3.45690173e+02] [ 4.13230014e-02 9.99145803e-01 2.72691998e-04 3.14854577e+01] [-2.77097861e-03 -1.58321032e-04 9.99996148e-01 -1.42611283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.841400513 meters 0.06147455504017534 Centerline is valid? [True, True] Translation: X:345.75, Y:31.49, Z:-1.43 [[ 9.99341379e-01 -3.62628501e-02 1.34689273e-03 3.45749828e+02] [ 3.62627037e-02 9.99342283e-01 1.32940599e-04 3.14910779e+01] [-1.35082766e-03 -8.40110691e-05 9.99999084e-01 -1.42784373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.901400513 meters 0.06781798403080175 Centerline is valid? [True, True] Translation: X:345.81, Y:31.50, Z:-1.43 [[ 9.99595658e-01 -2.84112594e-02 -1.14968090e-03 3.45809256e+02] [ 2.84111475e-02 9.99596315e-01 -1.13534550e-04 3.15009210e+01] [ 1.15244245e-03 8.08248893e-05 9.99999333e-01 -1.43186227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.961400513 meters 0.07208315621732099 Centerline is valid? [True, True] Translation: X:345.87, Y:31.51, Z:-1.43 [[ 9.99706530e-01 -2.41756057e-02 -1.54695055e-03 3.45868380e+02] [ 2.41753980e-02 9.99707721e-01 -1.52809292e-04 3.15109558e+01] [ 1.55019267e-03 1.15366302e-04 9.99998792e-01 -1.43435950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.021400513 meters 0.07943986287575858 Centerline is valid? [True, True] Translation: X:345.93, Y:31.53, Z:-1.43 [[ 9.99698017e-01 -2.45659226e-02 -6.24567710e-04 3.45925064e+02] [ 2.45658886e-02 9.99698211e-01 -6.19532691e-05 3.15254307e+01] [ 6.25901161e-04 4.65914995e-05 9.99999803e-01 -1.43325865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.081400513 meters 0.07102483048855883 Centerline is valid? [True, True] Translation: X:345.99, Y:31.52, Z:-1.43 [[ 9.99657523e-01 -2.61666229e-02 -3.80712913e-04 3.45985623e+02] [ 2.61666104e-02 9.99657595e-01 -3.77413013e-05 3.15227985e+01] [ 3.81570117e-04 2.77664093e-05 9.99999927e-01 -1.43190774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.141400513 meters 0.07726964860738962 Centerline is valid? [True, True] Translation: X:346.04, Y:31.54, Z:-1.44 [[ 9.99690268e-01 -2.46401548e-02 -3.49713085e-03 3.46043833e+02] [ 2.46390954e-02 9.99696352e-01 -3.45719117e-04 3.15373173e+01] [ 3.50458753e-03 2.59445897e-04 9.99993825e-01 -1.43681740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.201400513 meters 0.08059854371230346 Centerline is valid? [True, True] Translation: X:346.10, Y:31.55, Z:-1.43 [[ 9.99753621e-01 -2.21848360e-02 -7.28354258e-04 3.46102711e+02] [ 2.21847894e-02 9.99753885e-01 -7.20105136e-05 3.15512288e+01] [ 7.29772541e-04 5.58343859e-05 9.99999732e-01 -1.43448346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.261400513 meters 0.08614239702807623 Centerline is valid? [True, True] Translation: X:346.16, Y:31.57, Z:-1.43 [[ 9.99802194e-01 -1.94693848e-02 4.06409294e-03 3.46160451e+02] [ 1.94679117e-02 9.99810402e-01 4.01735692e-04 3.15684752e+01] [-4.07114394e-03 -3.22536823e-04 9.99991661e-01 -1.42608834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.321400513 meters 0.08367226196780087 Centerline is valid? [True, True] Translation: X:346.22, Y:31.57, Z:-1.43 [[ 9.99811038e-01 -1.91716026e-02 3.21518021e-03 3.46221235e+02] [ 1.91706790e-02 9.99816175e-01 3.17852127e-04 3.15717079e+01] [-3.22068291e-03 -2.56154877e-04 9.99994781e-01 -1.42729745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.381400513 meters 0.07989149636705345 Centerline is valid? [True, True] Translation: X:346.28, Y:31.57, Z:-1.43 [[ 9.99845649e-01 -1.74799987e-02 1.76846045e-03 3.46281905e+02] [ 1.74797168e-02 9.99847203e-01 1.74759304e-04 3.15731459e+01] [-1.77124503e-03 -1.43820142e-04 9.99998421e-01 -1.42937740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.441400513 meters 0.08681035334653929 Centerline is valid? [True, True] Translation: X:346.34, Y:31.59, Z:-1.43 [[ 9.99870919e-01 -1.58467022e-02 2.65105189e-03 3.46339394e+02] [ 1.58460630e-02 9.99874409e-01 2.61942961e-04 3.15887904e+01] [-2.65486988e-03 -2.19900413e-04 9.99996452e-01 -1.42911263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.501400513 meters 0.08749468591785607 Centerline is valid? [True, True] Translation: X:346.40, Y:31.60, Z:-1.43 [[ 9.99871588e-01 -1.56074675e-02 3.63504351e-03 3.46400372e+02] [ 1.56062636e-02 9.99878150e-01 3.59309233e-04 3.15952021e+01] [-3.64020849e-03 -3.02533646e-04 9.99993329e-01 -1.42872242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.561400513 meters 0.07933623934661034 Centerline is valid? [True, True] Translation: X:346.46, Y:31.58, Z:-1.43 [[ 9.99776716e-01 -2.10489363e-02 1.85999884e-03 3.46462374e+02] [ 2.10486306e-02 9.99778436e-01 1.83802659e-04 3.15816249e+01] [-1.86345558e-03 -1.44611190e-04 9.99998253e-01 -1.43066911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.621400513 meters 0.0798275059848807 Centerline is valid? [True, True] Translation: X:346.52, Y:31.58, Z:-1.43 [[ 9.99677656e-01 -2.53295793e-02 1.73111283e-03 3.46521965e+02] [ 2.53293209e-02 9.99679147e-01 1.71040987e-04 3.15836935e+01] [-1.73488980e-03 -1.27137940e-04 9.99998487e-01 -1.43240317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.681400513 meters 0.07838404064844998 Centerline is valid? [True, True] Translation: X:346.58, Y:31.58, Z:-1.43 [[ 9.99699273e-01 -2.45032227e-02 9.77944206e-04 3.46581527e+02] [ 2.45031399e-02 9.99699748e-01 9.65479618e-05 3.15812398e+01] [-9.80016313e-04 -7.25562235e-05 9.99999517e-01 -1.43409455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74140051300003 meters 0.07273141014246153 Centerline is valid? [True, True] Translation: X:346.64, Y:31.57, Z:-1.44 [[ 9.99758653e-01 -2.18755019e-02 -2.02455887e-03 3.46642542e+02] [ 2.18751412e-02 9.99760690e-01 -2.00165299e-04 3.15749862e+01] [ 2.02845309e-03 1.55829478e-04 9.99997931e-01 -1.43785480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80140051300003 meters 0.08129550625568378 Centerline is valid? [True, True] Translation: X:346.70, Y:31.59, Z:-1.44 [[ 9.99825906e-01 -1.86032236e-02 -1.44137515e-03 3.46700672e+02] [ 1.86030374e-02 9.99826938e-01 -1.42445429e-04 3.15876246e+01] [ 1.44377564e-03 1.15606675e-04 9.99998951e-01 -1.43823837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86140051300004 meters 0.07768657677023219 Centerline is valid? [True, True] Translation: X:346.76, Y:31.59, Z:-1.43 [[ 9.99812690e-01 -1.92877138e-02 1.60266526e-03 3.46760436e+02] [ 1.92874848e-02 9.99813967e-01 1.58229382e-04 3.15858645e+01] [-1.60541900e-03 -1.27288362e-04 9.99998703e-01 -1.43279147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.921400513 meters 0.08203338503561258 Centerline is valid? [True, True] Translation: X:346.82, Y:31.60, Z:-1.43 [[ 9.99797378e-01 -2.01196368e-02 6.35372279e-04 3.46818625e+02] [ 2.01196009e-02 9.99797578e-01 6.27449134e-05 3.15951800e+01] [-6.36506071e-04 -4.99487632e-05 9.99999796e-01 -1.43492172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.981400513 meters 0.08136474882051216 Centerline is valid? [True, True] Translation: X:346.88, Y:31.60, Z:-1.44 [[ 9.99828455e-01 -1.85015659e-02 -8.67520639e-04 3.46878609e+02] [ 1.85014983e-02 9.99828829e-01 -8.59172571e-05 3.15972617e+01] [ 8.68961749e-04 6.98520868e-05 9.99999620e-01 -1.43750719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.041400513 meters 0.08713096708172426 Centerline is valid? [True, True] Translation: X:346.94, Y:31.61, Z:-1.44 [[ 9.99902224e-01 -1.39621868e-02 -7.74619157e-04 3.46937524e+02] [ 1.39621316e-02 9.99902522e-01 -7.66906405e-05 3.16133177e+01] [ 7.75614417e-04 6.58678074e-05 9.99999697e-01 -1.43741722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.101400513 meters 0.08137184585271195 Centerline is valid? [True, True] Translation: X:347.00, Y:31.61, Z:-1.44 [[ 9.99917831e-01 -1.27928740e-02 -8.21334488e-04 3.46997421e+02] [ 1.27928114e-02 9.99918165e-01 -8.14162266e-05 3.16130816e+01] [ 8.22308821e-04 7.09023594e-05 9.99999659e-01 -1.43730050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.161400513 meters 0.08360268710549601 Centerline is valid? [True, True] Translation: X:347.06, Y:31.62, Z:-1.43 [[ 9.99911114e-01 -1.31588558e-02 2.14672394e-03 3.47055312e+02] [ 1.31584302e-02 9.99913402e-01 2.12224273e-04 3.16196727e+01] [-2.14933067e-03 -1.83957892e-04 9.99997673e-01 -1.43329668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.221400513 meters 0.08778051694256375 Centerline is valid? [True, True] Translation: X:347.12, Y:31.63, Z:-1.43 [[ 9.99911997e-01 -1.22168546e-02 5.17163558e-03 3.47115214e+02] [ 1.22143641e-02 9.99925270e-01 5.12878029e-04 3.16318970e+01] [-5.17751486e-03 -4.49664655e-04 9.99986495e-01 -1.42916099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.281400513 meters 0.09706588018372193 Centerline is valid? [True, True] Translation: X:347.17, Y:31.66, Z:-1.43 [[ 9.99963435e-01 -6.87154857e-03 5.09019946e-03 3.47172360e+02] [ 6.86906728e-03 9.99976280e-01 5.04786744e-04 3.16554089e+01] [-5.09354739e-03 -4.69803364e-04 9.99986917e-01 -1.42964265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.341400513 meters 0.10648926733042925 Centerline is valid? [True, False] Translation: X:347.19, Y:31.66, Z:-1.43 [[ 9.99987138e-01 2.72949557e-03 4.27485387e-03 3.47191522e+02] [-2.72068430e-03 9.99994165e-01 -2.06564724e-03 3.16619031e+01] [-4.28046710e-03 2.05399015e-03 9.99988729e-01 -1.42584431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.401400513 meters 0.10217300662139261 Centerline is valid? [False, False] Translation: X:347.17, Y:31.65, Z:-1.42 [[ 9.99997984e-01 1.56237641e-03 -1.26139879e-03 3.47171908e+02] [-1.55222533e-03 9.99966725e-01 8.00874370e-03 3.16542304e+01] [ 1.27386949e-03 -8.00676958e-03 9.99967134e-01 -1.42106168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.461400513 meters 0.09702604282345584 Centerline is valid? [False, True] Translation: X:347.17, Y:31.66, Z:-1.42 [[ 9.99998485e-01 1.26512151e-03 -1.19519445e-03 3.47171753e+02] [-1.25641307e-03 9.99972863e-01 7.25907345e-03 3.16576423e+01] [ 1.20434562e-03 -7.25756080e-03 9.99972938e-01 -1.42128835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.521400513 meters 0.10118512646563471 Centerline is valid? [True, False] Translation: X:347.17, Y:31.67, Z:-1.42 [[ 9.99993167e-01 -3.57841343e-03 -9.27662126e-04 3.47171249e+02] [ 3.57949131e-03 9.99992917e-01 1.16288460e-03 3.16652088e+01] [ 9.23494274e-04 -1.16619721e-03 9.99998894e-01 -1.42228103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.581400513 meters 0.09632172750637265 Centerline is valid? [False, True] Translation: X:347.17, Y:31.67, Z:-1.42 [[ 9.99992694e-01 -3.70199488e-03 -9.52517507e-04 3.47171434e+02] [ 3.70279259e-03 9.99992794e-01 8.37082944e-04 3.16666563e+01] [ 9.49411767e-04 -8.40603803e-04 9.99999196e-01 -1.42255501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.641400513 meters 0.09029872675963857 Centerline is valid? [True, True] Translation: X:347.23, Y:31.67, Z:-1.42 [[ 9.99969918e-01 -7.63900456e-03 -1.34482931e-03 3.47231814e+02] [ 7.63883184e-03 9.99970815e-01 -1.33519684e-04 3.16700889e+01] [ 1.34581002e-03 1.23242743e-04 9.99999087e-01 -1.42351878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.701400513 meters 0.08934203338085261 Centerline is valid? [True, True] Translation: X:347.29, Y:31.68, Z:-1.43 [[ 9.99901371e-01 -1.35414078e-02 -3.72529075e-03 3.47290943e+02] [ 1.35401229e-02 9.99908260e-01 -3.69924477e-04 3.16757926e+01] [ 3.72995829e-03 3.19447097e-04 9.99992993e-01 -1.42695423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.761400513 meters 0.08616127430509467 Centerline is valid? [True, True] Translation: X:347.35, Y:31.68, Z:-1.42 [[ 9.99830845e-01 -1.83489310e-02 -1.26436006e-03 3.47351346e+02] [ 1.83487869e-02 9.99831639e-01 -1.25540076e-04 3.16790900e+01] [ 1.26645072e-03 1.02319367e-04 9.99999193e-01 -1.42329178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.821400513 meters 0.08316406092555252 Centerline is valid? [True, True] Translation: X:347.41, Y:31.69, Z:-1.42 [[ 9.99791609e-01 -2.02876362e-02 2.26945986e-03 3.47411887e+02] [ 2.02871766e-02 9.99794169e-01 2.25346482e-04 3.16851604e+01] [-2.27356448e-03 -1.79258589e-04 9.99997399e-01 -1.41810564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.881400513 meters 0.08967941254184356 Centerline is valid? [True, True] Translation: X:347.47, Y:31.70, Z:-1.42 [[ 9.99837535e-01 -1.80068039e-02 8.11438954e-04 3.47469813e+02] [ 1.80067444e-02 9.99837862e-01 8.05663660e-05 3.16992324e+01] [-8.12758132e-04 -6.59419030e-05 9.99999668e-01 -1.41999143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.941400513 meters 0.0877630250249367 Centerline is valid? [True, True] Translation: X:347.53, Y:31.70, Z:-1.42 [[ 9.99877374e-01 -1.56166941e-02 1.16434563e-03 3.47529921e+02] [ 1.56165700e-02 9.99878047e-01 1.15631671e-04 3.17037288e+01] [-1.16600942e-03 -9.74344068e-05 9.99999315e-01 -1.41979063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.001400513 meters 0.09775296768101181 Centerline is valid? [True, True] Translation: X:347.59, Y:31.72, Z:-1.42 [[ 9.99915558e-01 -1.28271591e-02 2.08332006e-03 3.47588142e+02] [ 1.28267557e-02 9.99917712e-01 2.06900328e-04 3.17214988e+01] [-2.08580258e-03 -1.80160620e-04 9.99997808e-01 -1.41801153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.061400513 meters 0.09056099519941267 Centerline is valid? [True, True] Translation: X:347.65, Y:31.72, Z:-1.42 [[ 9.99925116e-01 -1.20388569e-02 2.19753651e-03 3.47650165e+02] [ 1.20384061e-02 9.99927512e-01 2.18242053e-04 3.17199431e+01] [-2.20000460e-03 -1.91770874e-04 9.99997562e-01 -1.41866340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.121400513 meters 0.09138484761807872 Centerline is valid? [True, True] Translation: X:347.71, Y:31.73, Z:-1.42 [[ 9.99938687e-01 -1.08012222e-02 2.44047900e-03 3.47710282e+02] [ 1.08006627e-02 9.99941642e-01 2.42320905e-04 3.17310958e+01] [-2.44295394e-03 -2.15947257e-04 9.99996993e-01 -1.41929869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.181400513 meters 0.10383189372074206 Centerline is valid? [True, False] Translation: X:347.71, Y:31.73, Z:-1.42 [[ 9.99936131e-01 -1.10276441e-02 2.47488608e-03 3.47710230e+02] [ 1.10285523e-02 9.99939121e-01 -3.53611075e-04 3.17337841e+01] [-2.47083591e-03 3.80882901e-04 9.99996875e-01 -1.41949177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24140051300003 meters 0.0927255426161096 Centerline is valid? [False, True] Translation: X:347.71, Y:31.74, Z:-1.42 [[ 9.99929910e-01 -1.15797962e-02 2.46627810e-03 3.47710579e+02] [ 1.15844336e-02 9.99931141e-01 -1.87441381e-03 3.17405203e+01] [-2.44440294e-03 1.90285287e-03 9.99995202e-01 -1.42054087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30140051300003 meters 0.08969230829281336 Centerline is valid? [True, True] Translation: X:347.77, Y:31.75, Z:-1.42 [[ 9.99913896e-01 -1.31140357e-02 4.71868173e-04 3.47771039e+02] [ 1.31140146e-02 9.99914006e-01 4.76848429e-05 3.17494493e+01] [-4.72452936e-04 -4.14926509e-05 9.99999888e-01 -1.42441175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36140051300004 meters 0.09219144053211036 Centerline is valid? [True, True] Translation: X:347.83, Y:31.77, Z:-1.42 [[ 9.99882717e-01 -1.50207843e-02 2.98816272e-03 3.47829203e+02] [ 1.50199494e-02 9.99887149e-01 3.01630656e-04 3.17658107e+01] [-2.99235624e-03 -2.56713227e-04 9.99995490e-01 -1.42043603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.421400513 meters 0.08456775548418893 Centerline is valid? [True, True] Translation: X:347.89, Y:31.77, Z:-1.42 [[ 9.99832096e-01 -1.82554082e-02 1.58772329e-03 3.47890224e+02] [ 1.82551765e-02 9.99833348e-01 1.60318055e-04 3.17697406e+01] [-1.59038536e-03 -1.31306968e-04 9.99998727e-01 -1.42361455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.481400513 meters 0.08499111493290007 Centerline is valid? [True, True] Translation: X:347.95, Y:31.78, Z:-1.43 [[ 9.99802664e-01 -1.98355645e-02 1.08806910e-03 3.47950554e+02] [ 1.98354566e-02 9.99803252e-01 1.09882275e-04 3.17791226e+01] [-1.09003461e-03 -8.82782441e-05 9.99999402e-01 -1.42520490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.541400513 meters 0.08270060328429991 Centerline is valid? [True, True] Translation: X:348.01, Y:31.79, Z:-1.42 [[ 9.99771548e-01 -2.12972524e-02 1.81103323e-03 3.48010381e+02] [ 2.12969560e-02 9.99773177e-01 1.82778690e-04 3.17854763e+01] [-1.81451513e-03 -1.44167439e-04 9.99998343e-01 -1.42427939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.601400513 meters 0.0837321802616751 Centerline is valid? [True, True] Translation: X:348.07, Y:31.79, Z:-1.43 [[ 9.99682712e-01 -2.51857170e-02 3.94645840e-04 3.48069494e+02] [ 2.51857032e-02 9.99682789e-01 3.97895882e-05 3.17903292e+01] [-3.95522783e-04 -2.98375304e-05 9.99999921e-01 -1.42626715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.661400513 meters 0.07582414476193677 Centerline is valid? [True, True] Translation: X:348.13, Y:31.78, Z:-1.43 [[ 9.99578116e-01 -2.90436800e-02 -2.34088373e-04 3.48130619e+02] [ 2.90436753e-02 9.99578143e-01 -2.36507078e-05 3.17848729e+01] [ 2.34676525e-04 1.68419433e-05 9.99999972e-01 -1.42773963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.721400513 meters 0.08119662107859404 Centerline is valid? [True, True] Translation: X:348.19, Y:31.79, Z:-1.42 [[ 9.99445508e-01 -3.32430856e-02 1.89042505e-03 3.48189622e+02] [ 3.32427838e-02 9.99447288e-01 1.90848698e-04 3.17913299e+01] [-1.89572459e-03 -1.27899883e-04 9.99998195e-01 -1.42482241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.781400513 meters 0.07305485318464408 Centerline is valid? [True, True] Translation: X:348.25, Y:31.78, Z:-1.42 [[ 9.99429202e-01 -3.36804558e-02 2.62616981e-03 3.48250143e+02] [ 3.36798749e-02 9.99432637e-01 2.65145533e-04 3.17839055e+01] [-2.63361004e-03 -1.76545118e-04 9.99996516e-01 -1.42384273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.841400513 meters 0.0762798777020532 Centerline is valid? [True, True] Translation: X:348.31, Y:31.79, Z:-1.42 [[ 9.99508312e-01 -3.11318826e-02 3.73364171e-03 3.48310862e+02] [ 3.11306900e-02 9.99515251e-01 3.77101842e-04 3.17886878e+01] [-3.74357172e-03 -2.60685583e-04 9.99992959e-01 -1.42218019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.901400513 meters 0.07287473496456345 Centerline is valid? [True, True] Translation: X:348.37, Y:31.79, Z:-1.42 [[ 9.99588489e-01 -2.82766090e-02 4.82546820e-03 3.48371444e+02] [ 2.82745839e-02 9.99600075e-01 4.87391086e-04 3.17868025e+01] [-4.83732014e-03 -3.50752414e-04 9.99988239e-01 -1.42026812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.961400513 meters 0.08209034192521152 Centerline is valid? [True, True] Translation: X:348.43, Y:31.80, Z:-1.42 [[ 9.99659446e-01 -2.57643880e-02 4.14597210e-03 3.48429832e+02] [ 2.57628714e-02 9.99667994e-01 4.18806018e-04 3.17969942e+01] [-4.15538589e-03 -3.11851246e-04 9.99991318e-01 -1.42177589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.021400513 meters 0.07554000655304473 Centerline is valid? [True, True] Translation: X:348.49, Y:31.79, Z:-1.42 [[ 9.99659772e-01 -2.54961688e-02 5.50329224e-03 3.48491803e+02] [ 2.54934927e-02 9.99674834e-01 5.55878356e-04 3.17898413e+01] [-5.51567552e-03 -4.15391090e-04 9.99984702e-01 -1.41950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.081400513 meters 0.08161130901653817 Centerline is valid? [True, True] Translation: X:348.55, Y:31.80, Z:-1.42 [[ 9.99641371e-01 -2.56748377e-02 7.61126969e-03 3.48551985e+02] [ 2.56697243e-02 9.99670183e-01 7.68766045e-04 3.17988733e+01] [-7.62849730e-03 -5.73111149e-04 9.99970738e-01 -1.41751021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.141400513 meters 0.08194228991699283 Centerline is valid? [True, True] Translation: X:348.61, Y:31.80, Z:-1.42 [[ 9.99644989e-01 -2.54182099e-02 7.98808996e-03 3.48614152e+02] [ 2.54125712e-02 9.99676723e-01 8.06616815e-04 3.17997894e+01] [-8.00601035e-03 -6.03332552e-04 9.99967769e-01 -1.41802745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.201400513 meters 0.08042538153467334 Centerline is valid? [True, True] Translation: X:348.68, Y:31.80, Z:-1.42 [[ 9.99670973e-01 -2.52566879e-02 4.47731861e-03 3.48676989e+02] [ 2.52549154e-02 9.99680942e-01 4.51996721e-04 3.17981729e+01] [-4.48730603e-03 -3.38773699e-04 9.99989875e-01 -1.42380463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.261400513 meters 0.07930088716017114 Centerline is valid? [True, True] Translation: X:348.74, Y:31.80, Z:-1.43 [[ 9.99685592e-01 -2.49782656e-02 2.19176355e-03 3.48737820e+02] [ 2.49778404e-02 9.99687981e-01 2.21165264e-04 3.18001719e+01] [-2.19660400e-03 -1.66350208e-04 9.99997574e-01 -1.42702734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.321400513 meters 0.07797003888533688 Centerline is valid? [True, True] Translation: X:348.80, Y:31.80, Z:-1.43 [[ 9.99733980e-01 -2.29857597e-02 1.90376644e-03 3.48798389e+02] [ 2.29854353e-02 9.99735782e-01 1.92104624e-04 3.18029798e+01] [-1.90767910e-03 -1.48294619e-04 9.99998169e-01 -1.42803943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.381400513 meters 0.08703921965476097 Centerline is valid? [True, True] Translation: X:348.86, Y:31.82, Z:-1.43 [[ 9.99811191e-01 -1.93637632e-02 1.62093767e-03 3.48856619e+02] [ 1.93635234e-02 9.99812496e-01 1.63534722e-04 3.18207845e+01] [-1.62380039e-03 -1.32116781e-04 9.99998673e-01 -1.42972334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.441400513 meters 0.09282010374504564 Centerline is valid? [True, True] Translation: X:348.91, Y:31.83, Z:-1.43 [[ 9.99825852e-01 -1.85858164e-02 1.68339394e-03 3.48914764e+02] [ 1.85855566e-02 9.99827259e-01 1.69822114e-04 3.18339405e+01] [-1.68625943e-03 -1.38505726e-04 9.99998569e-01 -1.42965160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.501400513 meters 0.08061749853384476 Centerline is valid? [True, True] Translation: X:348.98, Y:31.82, Z:-1.43 [[ 9.99764915e-01 -2.15301264e-02 2.56281843e-03 3.48976375e+02] [ 2.15295336e-02 9.99768179e-01 2.58677361e-04 3.18230571e+01] [-2.56779368e-03 -2.03440264e-04 9.99996683e-01 -1.42802493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.561400513 meters 0.0800756494688824 Centerline is valid? [True, True] Translation: X:349.04, Y:31.82, Z:-1.43 [[ 9.99727041e-01 -2.31510358e-02 3.14204569e-03 3.49036274e+02] [ 2.31501526e-02 9.99731949e-01 3.17162445e-04 3.18248819e+01] [-3.14854610e-03 -2.44337036e-04 9.99995013e-01 -1.42809154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.621400513 meters 0.08177391052900455 Centerline is valid? [True, True] Translation: X:349.10, Y:31.83, Z:-1.43 [[ 9.99735988e-01 -2.27255101e-02 3.39211447e-03 3.49096783e+02] [ 2.27244781e-02 9.99741707e-01 3.42459607e-04 3.18303080e+01] [-3.39902088e-03 -2.65285163e-04 9.99994188e-01 -1.42833211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.681400513 meters 0.07784503086589745 Centerline is valid? [True, True] Translation: X:349.16, Y:31.83, Z:-1.42 [[ 9.99821197e-01 -1.79774807e-02 5.86373416e-03 3.49157914e+02] [ 1.79743159e-02 9.99838274e-01 5.91993253e-04 3.18283701e+01] [-5.87342838e-03 -4.86490793e-04 9.99982633e-01 -1.42409687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74140051300003 meters 0.09353800945747233 Centerline is valid? [True, True] Translation: X:349.22, Y:31.85, Z:-1.42 [[ 9.99908812e-01 -1.23131819e-02 5.54550087e-03 3.49215641e+02] [ 1.23102647e-02 9.99924069e-01 5.59881457e-04 3.18521947e+01] [-5.55197372e-03 -4.91563819e-04 9.99984467e-01 -1.42443202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80140051300003 meters 0.11179852647115711 Centerline is valid? [True, False] Translation: X:349.23, Y:31.85, Z:-1.41 [[ 9.99993904e-01 -3.22208285e-03 1.34522650e-03 3.49231436e+02] [ 3.22043954e-03 9.99994068e-01 1.22196918e-03 3.18531183e+01] [-1.34915581e-03 -1.21762951e-03 9.99998349e-01 -1.41492952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86140051300004 meters 0.09561167198843808 Centerline is valid? [False, True] Translation: X:349.23, Y:31.85, Z:-1.41 [[ 9.99993792e-01 -3.23226581e-03 1.40315680e-03 3.49231188e+02] [ 3.23059416e-03 9.99994071e-01 1.19198273e-03 3.18532701e+01] [-1.40700128e-03 -1.18744230e-03 9.99998305e-01 -1.41480907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.921400513 meters 0.10401735909373137 Centerline is valid? [True, False] Translation: X:349.23, Y:31.85, Z:-1.41 [[ 9.99993695e-01 -3.26833061e-03 1.38828866e-03 3.49231278e+02] [ 3.26681229e-03 9.99994065e-01 1.09452606e-03 3.18536931e+01] [-1.39185769e-03 -1.08998388e-03 9.99998437e-01 -1.41491935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.981400513 meters 0.09199852082607887 Centerline is valid? [False, True] Translation: X:349.23, Y:31.85, Z:-1.41 [[ 9.99994326e-01 -3.13571745e-03 1.23122391e-03 3.49231770e+02] [ 3.13384317e-03 9.99993932e-01 1.52127765e-03 3.18517926e+01] [-1.23598673e-03 -1.51741056e-03 9.99998085e-01 -1.41489536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.041400513 meters 0.0912352980501913 Centerline is valid? [True, True] Translation: X:349.29, Y:31.86, Z:-1.42 [[ 9.99968664e-01 -7.89269894e-03 6.13963674e-04 3.49290898e+02] [ 7.89266538e-03 9.99968851e-01 5.70657710e-05 3.18561333e+01] [-6.14394952e-04 -5.22181729e-05 9.99999810e-01 -1.41578744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.101400513 meters 0.0856216956601842 Centerline is valid? [True, True] Translation: X:349.35, Y:31.85, Z:-1.42 [[ 9.99917682e-01 -1.28213971e-02 4.91062697e-04 3.49351716e+02] [ 1.28213763e-02 9.99917802e-01 4.56561394e-05 3.18531705e+01] [-4.91607708e-04 -3.93562815e-05 9.99999878e-01 -1.41693418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.161400513 meters 0.08912033346975744 Centerline is valid? [True, True] Translation: X:349.41, Y:31.86, Z:-1.42 [[ 9.99870666e-01 -1.60609611e-02 8.35017615e-04 3.49410667e+02] [ 1.60609019e-02 9.99871012e-01 7.76321415e-05 3.18593970e+01] [-8.36156755e-04 -6.42109650e-05 9.99999648e-01 -1.41708722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.221400513 meters 0.08334125940745987 Centerline is valid? [True, True] Translation: X:349.47, Y:31.85, Z:-1.42 [[ 9.99903717e-01 -1.38589864e-02 -6.97255696e-04 3.49471993e+02] [ 1.38589446e-02 9.99903958e-01 -6.48504724e-05 3.18524598e+01] [ 6.98087492e-04 5.51810003e-05 9.99999755e-01 -1.41864408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.281400513 meters 0.09210470382721223 Centerline is valid? [True, True] Translation: X:349.53, Y:31.86, Z:-1.42 [[ 9.99959415e-01 -9.00463624e-03 -2.91783202e-04 3.49531613e+02] [ 9.00462870e-03 9.99959457e-01 -2.71446457e-05 3.18649057e+01] [ 2.92015800e-04 2.45161447e-05 9.99999957e-01 -1.41972521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.341400513 meters 0.10072983082801058 Centerline is valid? [True, False] Translation: X:349.55, Y:31.87, Z:-1.42 [[ 9.99999948e-01 8.25684722e-05 3.11509462e-04 3.49549290e+02] [-8.16972614e-05 9.99996089e-01 -2.79571614e-03 3.18679444e+01] [-3.11739082e-04 2.79569054e-03 9.99996043e-01 -1.41620987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.401400513 meters 0.09824023708315384 Centerline is valid? [False, True] Translation: X:349.55, Y:31.87, Z:-1.42 [[ 9.99989824e-01 4.50318888e-03 2.69729753e-04 3.49549565e+02] [-4.50365673e-03 9.99988310e-01 1.75976295e-03 3.18669304e+01] [-2.61802055e-04 -1.76095981e-03 9.99998415e-01 -1.41643544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.461400513 meters 0.09741333358854135 Centerline is valid? [True, True] Translation: X:349.61, Y:31.88, Z:-1.41 [[ 9.99954130e-01 9.29889996e-03 2.29533451e-03 3.49609148e+02] [-9.29939605e-03 9.99956739e-01 2.05547819e-04 3.18771633e+01] [-2.29332384e-03 -2.26883615e-04 9.99997345e-01 -1.41346176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.521400513 meters 0.09400521626231216 Centerline is valid? [True, True] Translation: X:349.67, Y:31.88, Z:-1.41 [[ 9.99949080e-01 9.29549978e-03 3.92820855e-03 3.49671018e+02] [-9.29695221e-03 9.99956721e-01 3.51643372e-04 3.18811088e+01] [-3.92476984e-03 -3.88145833e-04 9.99992223e-01 -1.41187603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.581400513 meters 0.09517080945915138 Centerline is valid? [True, True] Translation: X:349.73, Y:31.90, Z:-1.42 [[ 9.99994740e-01 2.86697120e-03 1.51660757e-03 3.49729650e+02] [-2.86718008e-03 9.99995880e-01 1.35574651e-04 3.18990499e+01] [-1.51621264e-03 -1.39922325e-04 9.99998841e-01 -1.41587093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.641400513 meters 0.09134992954580662 Centerline is valid? [True, True] Translation: X:349.79, Y:31.90, Z:-1.41 [[ 9.99986043e-01 -4.84551573e-03 2.10568683e-03 3.49789064e+02] [ 4.84513010e-03 9.99988245e-01 1.88198999e-04 3.19033501e+01] [-2.10657400e-03 -1.77994046e-04 9.99997765e-01 -1.41453849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.701400513 meters 0.0683197104902493 Centerline is valid? [True, True] Translation: X:349.85, Y:31.88, Z:-1.41 [[ 9.99861573e-01 -1.57295675e-02 5.42355146e-03 3.49851214e+02] [ 1.57271678e-02 9.99876203e-01 4.84836768e-04 3.18849181e+01] [-5.43050631e-03 -3.99472550e-04 9.99985175e-01 -1.40981697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.761400513 meters 0.06962676345045975 Centerline is valid? [True, True] Translation: X:349.91, Y:31.89, Z:-1.41 [[ 9.99816013e-01 -1.82504187e-02 5.90448803e-03 3.49910641e+02] [ 1.82476179e-02 9.99833359e-01 5.27877542e-04 3.18934799e+01] [-5.91313808e-03 -4.20037578e-04 9.99982429e-01 -1.40944199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.821400513 meters 0.0780291670863008 Centerline is valid? [True, True] Translation: X:349.97, Y:31.91, Z:-1.41 [[ 9.99851156e-01 -1.67654393e-02 4.07268226e-03 3.49968835e+02] [ 1.67640946e-02 9.99859406e-01 3.64095874e-04 3.19141021e+01] [-4.07821389e-03 -2.95766850e-04 9.99991640e-01 -1.41232924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.881400513 meters 0.0814954207331745 Centerline is valid? [True, True] Translation: X:350.03, Y:31.93, Z:-1.41 [[ 9.99910841e-01 -1.28595719e-02 3.59747087e-03 3.50027644e+02] [ 1.28584979e-02 9.99917274e-01 3.21500519e-04 3.19341474e+01] [-3.60130762e-03 -2.75213782e-04 9.99993477e-01 -1.41444341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.941400513 meters 0.07978103781280131 Centerline is valid? [True, True] Translation: X:350.09, Y:31.94, Z:-1.42 [[ 9.99884362e-01 -1.51631453e-02 1.15790601e-03 3.50087776e+02] [ 1.51630356e-02 9.99885029e-01 1.03487418e-04 3.19393804e+01] [-1.15934208e-03 -8.59180811e-05 9.99999324e-01 -1.41736320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.001400513 meters 0.08285493093735091 Centerline is valid? [True, True] Translation: X:350.15, Y:31.95, Z:-1.42 [[ 9.99846047e-01 -1.74453054e-02 1.88236627e-03 3.50145931e+02] [ 1.74450195e-02 9.99847810e-01 1.68211180e-04 3.19534107e+01] [-1.88501429e-03 -1.35347367e-04 9.99998214e-01 -1.41676399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.061400513 meters 0.07607009773913746 Centerline is valid? [True, True] Translation: X:350.21, Y:31.96, Z:-1.41 [[ 9.99860823e-01 -1.64155975e-02 2.97716238e-03 3.50206641e+02] [ 1.64148776e-02 9.99865231e-01 2.66104289e-04 3.19556688e+01] [-2.98112941e-03 -2.17197497e-04 9.99995533e-01 -1.41486173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.121400513 meters 0.08558177294500807 Centerline is valid? [True, True] Translation: X:350.26, Y:31.98, Z:-1.42 [[ 9.99971585e-01 -7.52702662e-03 -4.15928257e-04 3.50264943e+02] [ 7.52701181e-03 9.99971671e-01 -3.71692583e-05 3.19841178e+01] [ 4.16196248e-04 3.40375052e-05 9.99999913e-01 -1.41993836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.181400513 meters 0.09201404675941195 Centerline is valid? [True, True] Translation: X:350.32, Y:32.00, Z:-1.42 [[ 9.99995140e-01 -3.10321594e-03 -2.99188158e-04 3.50322685e+02] [ 3.10320806e-03 9.99995185e-01 -2.67798266e-05 3.20031841e+01] [ 2.99269821e-04 2.58512533e-05 9.99999955e-01 -1.41981218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24140051300003 meters 0.08938662892568638 Centerline is valid? [True, True] Translation: X:350.38, Y:32.01, Z:-1.42 [[ 9.99991623e-01 -3.75340765e-03 1.63257324e-03 3.50383024e+02] [ 3.75317436e-03 9.99992946e-01 1.45937145e-04 3.20108773e+01] [-1.63310948e-03 -1.39808591e-04 9.99998657e-01 -1.41664448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30140051300003 meters 0.08738932607260799 Centerline is valid? [True, True] Translation: X:350.44, Y:32.02, Z:-1.41 [[ 9.99956605e-01 -8.70091692e-03 3.32893475e-03 3.50441355e+02] [ 8.69997417e-03 9.99962110e-01 2.97576399e-04 3.20227770e+01] [-3.33139781e-03 -2.68601839e-04 9.99994415e-01 -1.41408098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36140051300004 meters 0.08198589920632732 Centerline is valid? [True, True] Translation: X:350.50, Y:32.03, Z:-1.41 [[ 9.99930051e-01 -1.15273184e-02 2.64840170e-03 3.50502137e+02] [ 1.15267315e-02 9.99933537e-01 2.36742962e-04 3.20253389e+01] [-2.65095469e-03 -2.06198986e-04 9.99996465e-01 -1.41478894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.421400513 meters 0.084036951964142 Centerline is valid? [True, True] Translation: X:350.56, Y:32.04, Z:-1.41 [[ 9.99876146e-01 -1.49619432e-02 4.88190364e-03 3.50560710e+02] [ 1.49599897e-02 9.99887998e-01 4.36421866e-04 3.20365526e+01] [-4.88788657e-03 -3.63334586e-04 9.99987988e-01 -1.41266087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.481400513 meters 0.07880395950641855 Centerline is valid? [True, True] Translation: X:350.62, Y:32.04, Z:-1.42 [[ 9.99828789e-01 -1.80475232e-02 4.08401809e-03 3.50621581e+02] [ 1.80461816e-02 9.99837088e-01 3.65122655e-04 3.20359785e+01] [-4.08994231e-03 -2.91359210e-04 9.99991594e-01 -1.41522162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.541400513 meters 0.07386532839739623 Centerline is valid? [True, True] Translation: X:350.68, Y:32.04, Z:-1.42 [[ 9.99762509e-01 -2.17479298e-02 1.39778020e-03 3.50683051e+02] [ 2.17477762e-02 9.99763481e-01 1.24973326e-04 3.20350856e+01] [-1.40016751e-03 -9.45450350e-05 9.99999015e-01 -1.42095283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.601400513 meters 0.06735582471947085 Centerline is valid? [True, True] Translation: X:350.74, Y:32.03, Z:-1.42 [[ 9.99689670e-01 -2.48630627e-02 1.54646537e-03 3.50744599e+02] [ 2.48628785e-02 9.99690861e-01 1.38238498e-04 3.20285447e+01] [-1.54942433e-03 -9.97460176e-05 9.99998795e-01 -1.41959328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.661400513 meters 0.06935492796316162 Centerline is valid? [True, True] Translation: X:350.80, Y:32.03, Z:-1.42 [[ 9.99705926e-01 -2.41846463e-02 1.77880828e-03 3.50803765e+02] [ 2.41844015e-02 9.99707502e-01 1.59006148e-04 3.20340857e+01] [-1.78213349e-03 -1.15939974e-04 9.99998405e-01 -1.41942383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.721400513 meters 0.07425756425059334 Centerline is valid? [True, True] Translation: X:350.86, Y:32.04, Z:-1.42 [[ 9.99755071e-01 -2.20766542e-02 1.55573270e-03 3.50862262e+02] [ 2.20764644e-02 9.99756275e-01 1.39058622e-04 3.20435982e+01] [-1.55842348e-03 -1.04679485e-04 9.99998780e-01 -1.42053677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.781400513 meters 0.07703592632997158 Centerline is valid? [True, True] Translation: X:350.92, Y:32.05, Z:-1.42 [[ 9.99839946e-01 -1.78643567e-02 9.73445370e-04 3.50921877e+02] [ 1.78642804e-02 9.99840417e-01 8.70192966e-05 3.20512488e+01] [-9.74844569e-04 -6.96154678e-05 9.99999522e-01 -1.42121270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.841400513 meters 0.07901851807964469 Centerline is valid? [True, True] Translation: X:350.98, Y:32.06, Z:-1.42 [[ 9.99892727e-01 -1.45595519e-02 1.59809972e-03 3.50982011e+02] [ 1.45593420e-02 9.99893997e-01 1.42913348e-04 3.20572853e+01] [-1.60001107e-03 -1.19630737e-04 9.99998713e-01 -1.41908104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.901400513 meters 0.07656394506076125 Centerline is valid? [True, True] Translation: X:351.04, Y:32.06, Z:-1.42 [[ 9.99948052e-01 -1.01573162e-02 -8.50268887e-04 3.51042159e+02] [ 1.01572552e-02 9.99948411e-01 -7.60640789e-05 3.20593290e+01] [ 8.50997629e-04 6.74237295e-05 9.99999636e-01 -1.42438961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.961400513 meters 0.08596989629337255 Centerline is valid? [True, True] Translation: X:351.10, Y:32.08, Z:-1.43 [[ 9.99945507e-01 -1.04006986e-02 -8.98761637e-04 3.51099920e+02] [ 1.04006304e-02 9.99945909e-01 -8.05198745e-05 3.20755880e+01] [ 8.99550485e-04 7.11677991e-05 9.99999593e-01 -1.42588214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.021400513 meters 0.08488847454775961 Centerline is valid? [True, True] Translation: X:351.16, Y:32.08, Z:-1.42 [[ 9.99922977e-01 -1.23913287e-02 7.03355538e-04 3.51160991e+02] [ 1.23912875e-02 9.99923223e-01 6.29213614e-05 3.20752917e+01] [-7.04081215e-04 -5.42010343e-05 9.99999751e-01 -1.42357324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.081400513 meters 0.07930576042437183 Centerline is valid? [True, True] Translation: X:351.22, Y:32.07, Z:-1.42 [[ 9.99881084e-01 -1.54210223e-02 9.95248715e-05 3.51222107e+02] [ 1.54210215e-02 9.99881089e-01 8.90601146e-06 3.20669145e+01] [-9.96503767e-05 -7.37017721e-06 9.99999995e-01 -1.42359088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.141400513 meters 0.07850690237736956 Centerline is valid? [True, True] Translation: X:351.28, Y:32.07, Z:-1.42 [[ 9.99883647e-01 -1.52516534e-02 2.82889736e-04 3.51281887e+02] [ 1.52516469e-02 9.99883687e-01 2.52440410e-05 3.20661836e+01] [-2.83241846e-04 -2.09265694e-05 9.99999960e-01 -1.42359500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.201400513 meters 0.08182878074195182 Centerline is valid? [True, True] Translation: X:351.34, Y:32.07, Z:-1.42 [[ 9.99906302e-01 -1.35918233e-02 1.62751311e-03 3.51341971e+02] [ 1.35916042e-02 9.99907619e-01 1.45630915e-04 3.20725744e+01] [-1.62934215e-03 -1.23496756e-04 9.99998665e-01 -1.42097525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.261400513 meters 0.09054740982228617 Centerline is valid? [True, True] Translation: X:351.40, Y:32.09, Z:-1.42 [[ 9.99917842e-01 -1.24145249e-02 3.19190866e-03 3.51400226e+02] [ 1.24136758e-02 9.99922907e-01 2.85684019e-04 3.20876937e+01] [-3.19520921e-03 -2.46037228e-04 9.99994865e-01 -1.41870886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.321400513 meters 0.08063842141887363 Centerline is valid? [True, True] Translation: X:351.46, Y:32.08, Z:-1.42 [[ 9.99892717e-01 -1.44041905e-02 2.65982367e-03 3.51461451e+02] [ 1.44036078e-02 9.99896234e-01 2.38089442e-04 3.20805784e+01] [-2.66297715e-03 -1.99752842e-04 9.99996434e-01 -1.41848225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.381400513 meters 0.07313774263346297 Centerline is valid? [True, True] Translation: X:351.52, Y:32.07, Z:-1.42 [[ 9.99789180e-01 -2.02839841e-02 3.18686707e-03 3.51523066e+02] [ 2.02831773e-02 9.99794234e-01 2.85274245e-04 3.20735275e+01] [-3.19199782e-03 -2.20574313e-04 9.99994881e-01 -1.41822492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.441400513 meters 0.06948902670807879 Centerline is valid? [True, True] Translation: X:351.58, Y:32.07, Z:-1.41 [[ 9.99668653e-01 -2.51036483e-02 5.69130805e-03 3.51583824e+02] [ 2.51011532e-02 9.99684787e-01 5.09415395e-04 3.20731956e+01] [-5.70230225e-03 -3.66388206e-04 9.99983675e-01 -1.41496448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.501400513 meters 0.06943816449031728 Centerline is valid? [True, True] Translation: X:351.64, Y:32.08, Z:-1.42 [[ 9.99636551e-01 -2.64363683e-02 5.28064193e-03 3.51644779e+02] [ 2.64342392e-02 9.99650443e-01 4.72598906e-04 3.20784626e+01] [-5.29128984e-03 -3.32837388e-04 9.99985946e-01 -1.41579058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.561400513 meters 0.0710181343897816 Centerline is valid? [True, True] Translation: X:351.71, Y:32.08, Z:-1.42 [[ 9.99770274e-01 -2.13803086e-02 1.51077797e-03 3.51705511e+02] [ 2.13801286e-02 9.99771410e-01 1.35194172e-04 3.20836913e+01] [-1.51332311e-03 -1.02862487e-04 9.99998850e-01 -1.42095744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.621400513 meters 0.07717747146700661 Centerline is valid? [True, True] Translation: X:351.77, Y:32.10, Z:-1.42 [[ 9.99866951e-01 -1.62922435e-02 8.01869354e-04 3.51765128e+02] [ 1.62921912e-02 9.99867271e-01 7.17521981e-05 3.20977126e+01] [-8.02931927e-04 -5.86784427e-05 9.99999676e-01 -1.42299333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.681400513 meters 0.08170131821796628 Centerline is valid? [True, True] Translation: X:351.82, Y:32.11, Z:-1.42 [[ 9.99909368e-01 -1.34241708e-02 1.02301954e-03 3.51824171e+02] [ 1.34240842e-02 9.99909889e-01 9.15200672e-05 3.21068876e+01] [-1.02415593e-03 -7.77786722e-05 9.99999473e-01 -1.42434925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74140051300003 meters 0.07851895785557447 Centerline is valid? [True, True] Translation: X:351.88, Y:32.11, Z:-1.42 [[ 9.99941581e-01 -1.06733079e-02 1.70716640e-03 3.51884631e+02] [ 1.06730625e-02 9.99943030e-01 1.52781804e-04 3.21104088e+01] [-1.70869983e-03 -1.34552185e-04 9.99998531e-01 -1.42218597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80140051300003 meters 0.0798518885055969 Centerline is valid? [True, True] Translation: X:351.94, Y:32.12, Z:-1.43 [[ 9.99974279e-01 -7.15478173e-03 -5.00482309e-04 3.51944189e+02] [ 7.15476018e-03 9.99974403e-01 -4.48257166e-05 3.21191925e+01] [ 5.00790217e-04 4.12437328e-05 9.99999874e-01 -1.42520639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86140051300004 meters 0.09250828774956117 Centerline is valid? [True, True] Translation: X:352.00, Y:32.14, Z:-1.43 [[ 9.99991174e-01 -3.58605372e-03 -2.18926660e-03 3.52001935e+02] [ 3.58563315e-03 9.99993552e-01 -1.96002157e-04 3.21428046e+01] [ 2.18995536e-03 1.88150520e-04 9.99997584e-01 -1.42857336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.921400513 meters 0.09275737706777923 Centerline is valid? [True, True] Translation: X:352.06, Y:32.15, Z:-1.43 [[ 9.99992202e-01 -3.02882837e-03 -2.53402094e-03 3.52060714e+02] [ 3.02826274e-03 9.99995389e-01 -2.27020069e-04 3.21504610e+01] [ 2.53469686e-03 2.19344617e-04 9.99996764e-01 -1.42853680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.981400513 meters 0.09075034206661768 Centerline is valid? [True, True] Translation: X:352.12, Y:32.16, Z:-1.42 [[ 9.99993727e-01 -3.31391568e-03 1.25054670e-03 3.52119005e+02] [ 3.31377859e-03 9.99994503e-01 1.11679250e-04 3.21582120e+01] [-1.25090992e-03 -1.07534514e-04 9.99999212e-01 -1.42338224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.041400513 meters 0.0858237239758389 Centerline is valid? [True, True] Translation: X:352.18, Y:32.16, Z:-1.42 [[ 9.99986662e-01 -3.02050877e-03 4.18966180e-03 3.52179703e+02] [ 3.01896057e-03 9.99995372e-01 3.75803745e-04 3.21642541e+01] [-4.19077753e-03 -3.63150308e-04 9.99991153e-01 -1.41916928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.101400513 meters 0.09351926716446314 Centerline is valid? [True, True] Translation: X:352.24, Y:32.18, Z:-1.42 [[ 9.99994034e-01 -3.29505583e-03 1.03692070e-03 3.52238852e+02] [ 3.29496109e-03 9.99994567e-01 9.30649676e-05 3.21849824e+01] [-1.03722172e-03 -8.96477990e-05 9.99999458e-01 -1.42378752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.161400513 meters 0.08933617265507941 Centerline is valid? [True, True] Translation: X:352.30, Y:32.19, Z:-1.42 [[ 9.99974719e-01 -7.04440293e-03 9.68129456e-04 3.52299681e+02] [ 7.04432218e-03 9.99975185e-01 8.68007127e-05 3.21890834e+01] [-9.68716891e-04 -7.99787025e-05 9.99999528e-01 -1.42430124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.221400513 meters 0.07775750937230017 Centerline is valid? [True, True] Translation: X:352.36, Y:32.18, Z:-1.42 [[ 9.99925231e-01 -1.12650371e-02 4.75730168e-03 3.52361453e+02] [ 1.12631349e-02 9.99936478e-01 4.26445142e-04 3.21841644e+01] [-4.76180341e-03 -3.72831126e-04 9.99988593e-01 -1.41843572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.281400513 meters 0.0783947266716562 Centerline is valid? [True, True] Translation: X:352.42, Y:32.19, Z:-1.42 [[ 9.99844694e-01 -1.70365957e-02 4.51032189e-03 3.52420493e+02] [ 1.70349442e-02 9.99854813e-01 4.04312954e-04 3.21906031e+01] [-4.51655517e-03 -3.27417080e-04 9.99989747e-01 -1.41800517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.341400513 meters 0.0688116445652962 Centerline is valid? [True, True] Translation: X:352.48, Y:32.19, Z:-1.43 [[ 9.99840503e-01 -1.78544372e-02 4.33432270e-04 3.52482670e+02] [ 1.78544220e-02 9.99840596e-01 3.89234457e-05 3.21870366e+01] [-4.34058136e-04 -3.11785548e-05 9.99999905e-01 -1.42508543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.401400513 meters 0.08091578304845827 Centerline is valid? [True, True] Translation: X:352.54, Y:32.21, Z:-1.43 [[ 9.99880083e-01 -1.54832828e-02 2.95546732e-04 3.52540601e+02] [ 1.54832756e-02 9.99880127e-01 2.64877437e-05 3.22107650e+01] [-2.95921421e-04 -2.19085359e-05 9.99999956e-01 -1.42602440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.461400513 meters 0.08252694818119397 Centerline is valid? [True, True] Translation: X:352.60, Y:32.22, Z:-1.43 [[ 9.99925389e-01 -1.22149220e-02 -1.08859525e-04 3.52599652e+02] [ 1.22149210e-02 9.99925395e-01 -9.79117979e-06 3.22238689e+01] [ 1.08971002e-04 8.46073878e-06 9.99999994e-01 -1.42510901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.521400513 meters 0.08504131828116021 Centerline is valid? [True, True] Translation: X:352.66, Y:32.24, Z:-1.42 [[ 9.99929687e-01 -1.18127674e-02 1.03877899e-03 3.52658430e+02] [ 1.18126770e-02 9.99930224e-01 9.30900260e-05 3.22394990e+01] [-1.03980616e-03 -8.08127199e-05 9.99999456e-01 -1.42467792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.581400513 meters 0.08308645042870615 Centerline is valid? [True, True] Translation: X:352.72, Y:32.24, Z:-1.42 [[ 9.99913383e-01 -1.26400344e-02 3.66835578e-03 3.52719264e+02] [ 1.26389124e-02 9.99920072e-01 3.28859617e-04 3.22448140e+01] [-3.67221937e-03 -2.82467105e-04 9.99993217e-01 -1.42216318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.641400513 meters 0.07557343685554047 Centerline is valid? [True, True] Translation: X:352.78, Y:32.24, Z:-1.42 [[ 9.99873070e-01 -1.52161537e-02 4.72360687e-03 3.52780416e+02] [ 1.52143222e-02 9.99884166e-01 4.23413368e-04 3.22387218e+01] [-4.72950244e-03 -3.51493147e-04 9.99988754e-01 -1.41998857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.701400513 meters 0.0795689450653072 Centerline is valid? [True, True] Translation: X:352.84, Y:32.24, Z:-1.43 [[ 9.99842323e-01 -1.77344854e-02 9.03856920e-04 3.52839626e+02] [ 1.77344194e-02 9.99842730e-01 8.09957640e-05 3.22449888e+01] [-9.05151188e-04 -6.49536152e-05 9.99999588e-01 -1.42502998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.761400513 meters 0.07251665202148942 Centerline is valid? [True, True] Translation: X:352.90, Y:32.24, Z:-1.43 [[ 9.99863403e-01 -1.65098370e-02 -7.74900154e-04 3.52900080e+02] [ 1.65097881e-02 9.99863702e-01 -6.95143807e-05 3.22406571e+01] [ 7.75942208e-04 5.67114479e-05 9.99999697e-01 -1.42820530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.821400513 meters 0.0758998785524033 Centerline is valid? [True, True] Translation: X:352.96, Y:32.25, Z:-1.43 [[ 9.99865244e-01 -1.64143379e-02 2.51951048e-04 3.52958010e+02] [ 1.64143328e-02 9.99865276e-01 2.24875709e-05 3.22474234e+01] [-2.52286222e-04 -1.83489322e-05 9.99999968e-01 -1.42699488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.881400513 meters 0.07601487546281468 Centerline is valid? [True, True] Translation: X:353.02, Y:32.25, Z:-1.42 [[ 9.99791485e-01 -2.03029252e-02 2.18566179e-03 3.53017532e+02] [ 2.03025450e-02 9.99793863e-01 1.96027588e-04 3.22499624e+01] [-2.18919117e-03 -1.51612217e-04 9.99997592e-01 -1.42486398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.941400513 meters 0.06965718293672245 Centerline is valid? [True, True] Translation: X:353.08, Y:32.25, Z:-1.42 [[ 9.99766936e-01 -2.14576394e-02 2.37547203e-03 3.53079234e+02] [ 2.14571934e-02 9.99769745e-01 2.13106350e-04 3.22468542e+01] [-2.37949782e-03 -1.62085720e-04 9.99997156e-01 -1.42491503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.001400513 meters 0.07419153038377628 Centerline is valid? [True, True] Translation: X:353.14, Y:32.26, Z:-1.43 [[ 9.99747134e-01 -2.24284708e-02 1.62205207e-03 3.53138636e+02] [ 2.24282641e-02 9.99748444e-01 1.45508939e-04 3.22563586e+01] [-1.62490757e-03 -1.09092333e-04 9.99998674e-01 -1.42636533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.061400513 meters 0.06861665030030752 Centerline is valid? [True, True] Translation: X:353.20, Y:32.25, Z:-1.43 [[ 9.99802757e-01 -1.98605571e-02 -7.80326368e-05 3.53200001e+02] [ 1.98605566e-02 9.99802760e-01 -7.00498745e-06 3.22533550e+01] [ 7.81563686e-05 5.45383416e-06 9.99999997e-01 -1.42922495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.121400513 meters 0.07827392186539889 Centerline is valid? [True, True] Translation: X:353.26, Y:32.27, Z:-1.43 [[ 9.99821503e-01 -1.88933942e-02 4.81242806e-05 3.53257833e+02] [ 1.88933941e-02 9.99821504e-01 4.20637427e-06 3.22677581e+01] [-4.81951633e-05 -3.29639245e-06 9.99999999e-01 -1.42935119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.181400513 meters 0.08154218214902938 Centerline is valid? [True, True] Translation: X:353.32, Y:32.27, Z:-1.43 [[ 9.99859476e-01 -1.67619429e-02 -2.54929378e-04 3.53318007e+02] [ 1.67619376e-02 9.99859509e-01 -2.28934622e-05 3.22740472e+01] [ 2.55277302e-04 1.86171348e-05 9.99999967e-01 -1.42994423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24140051300003 meters 0.08391018901097558 Centerline is valid? [True, True] Translation: X:353.38, Y:32.28, Z:-1.43 [[ 9.99895755e-01 -1.44323153e-02 -4.33219232e-04 3.53378619e+02] [ 1.44322998e-02 9.99895848e-01 -3.88770407e-05 3.22794738e+01] [ 4.33735197e-04 3.26206382e-05 9.99999905e-01 -1.43130170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30140051300003 meters 0.08530440623582954 Centerline is valid? [True, True] Translation: X:353.44, Y:32.28, Z:-1.43 [[ 9.99936530e-01 -1.10589175e-02 -2.15335301e-03 3.53438398e+02] [ 1.10585268e-02 9.99938834e-01 -1.93265956e-04 3.22835728e+01] [ 2.15535861e-03 1.69440778e-04 9.99997663e-01 -1.43478573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36140051300004 meters 0.07876367235422915 Centerline is valid? [True, True] Translation: X:353.50, Y:32.27, Z:-1.43 [[ 9.99941390e-01 -1.07083355e-02 -1.59627079e-03 3.53497897e+02] [ 1.07081199e-02 9.99942656e-01 -1.43523286e-04 3.22740406e+01] [ 1.59771614e-03 1.26421815e-04 9.99998716e-01 -1.43345562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.421400513 meters 0.08026467757331525 Centerline is valid? [True, True] Translation: X:353.56, Y:32.27, Z:-1.43 [[ 9.99882672e-01 -1.52684452e-02 -1.23170228e-03 3.53557315e+02] [ 1.52683204e-02 9.99883426e-01 -1.10628511e-04 3.22724074e+01] [ 1.23324782e-03 9.18095065e-05 9.99999235e-01 -1.43383376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.481400513 meters 0.07109942683136748 Centerline is valid? [True, True] Translation: X:353.62, Y:32.26, Z:-1.43 [[ 9.99885780e-01 -1.51096710e-02 -3.52238960e-04 3.53617289e+02] [ 1.51096605e-02 9.99885842e-01 -3.22182372e-05 3.22612511e+01] [ 3.52685556e-04 2.68923462e-05 9.99999937e-01 -1.43193253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.541400513 meters 0.08300040559519888 Centerline is valid? [True, True] Translation: X:353.67, Y:32.28, Z:-1.43 [[ 9.99915097e-01 -1.30300876e-02 1.28007950e-04 3.53674830e+02] [ 1.30300863e-02 9.99915105e-01 1.14479908e-05 3.22782987e+01] [-1.28146251e-04 -9.77906421e-06 9.99999992e-01 -1.43162601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.601400513 meters 0.07995521105747051 Centerline is valid? [True, True] Translation: X:353.73, Y:32.28, Z:-1.43 [[ 9.99921094e-01 -1.25619406e-02 -5.17430004e-05 3.53734395e+02] [ 1.25619404e-02 9.99921096e-01 -4.73023950e-06 3.22780933e+01] [ 5.17983387e-05 4.07987377e-06 9.99999999e-01 -1.43130983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.661400513 meters 0.07713445734164831 Centerline is valid? [True, True] Translation: X:353.79, Y:32.28, Z:-1.43 [[ 9.99897974e-01 -1.42811209e-02 3.02785032e-04 3.53794584e+02] [ 1.42811134e-02 9.99898019e-01 2.71885244e-05 3.22753042e+01] [-3.03142437e-04 -2.28616431e-05 9.99999954e-01 -1.43060485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.721400513 meters 0.07693927651934065 Centerline is valid? [True, True] Translation: X:353.85, Y:32.28, Z:-1.43 [[ 9.99830530e-01 -1.80079786e-02 3.82411118e-03 3.53854494e+02] [ 1.80067927e-02 9.99837805e-01 3.44306281e-04 3.22783565e+01] [-3.82969118e-03 -2.75387954e-04 9.99992629e-01 -1.42631267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.781400513 meters 0.07231295670657283 Centerline is valid? [True, True] Translation: X:353.92, Y:32.28, Z:-1.43 [[ 9.99828794e-01 -1.80615138e-02 4.02061063e-03 3.53915930e+02] [ 1.80602034e-02 9.99836836e-01 3.61985237e-04 3.22759156e+01] [-4.02649261e-03 -2.89310217e-04 9.99991852e-01 -1.42572884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.841400513 meters 0.0809314345185717 Centerline is valid? [True, True] Translation: X:353.98, Y:32.29, Z:-1.43 [[ 9.99888163e-01 -1.47827344e-02 2.26531027e-03 3.53975115e+02] [ 1.47823101e-02 9.99890715e-01 2.03927230e-04 3.22896636e+01] [-2.26807731e-03 -1.70417904e-04 9.99997413e-01 -1.42817852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.901400513 meters 0.07961495944998528 Centerline is valid? [True, True] Translation: X:354.04, Y:32.30, Z:-1.43 [[ 9.99950570e-01 -9.88985554e-03 1.02388659e-03 3.54035226e+02] [ 9.88976634e-03 9.99951091e-01 9.21461702e-05 3.22987124e+01] [-1.02474783e-03 -8.20156163e-05 9.99999472e-01 -1.43113236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.961400513 meters 0.07917373728002919 Centerline is valid? [True, True] Translation: X:354.10, Y:32.30, Z:-1.43 [[ 9.99951838e-01 -9.71485508e-03 1.39433918e-03 3.54095567e+02] [ 9.71468949e-03 9.99952803e-01 1.25483936e-04 3.23038188e+01] [-1.39549243e-03 -1.11932320e-04 9.99999020e-01 -1.43116233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.021400513 meters 0.08662191917543413 Centerline is valid? [True, True] Translation: X:354.15, Y:32.32, Z:-1.43 [[ 9.99931481e-01 -1.17006994e-02 -3.57417127e-04 3.54154435e+02] [ 1.17006886e-02 9.99931544e-01 -3.21671443e-05 3.23213937e+01] [ 3.57769037e-04 2.79829137e-05 9.99999936e-01 -1.43445435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.081400513 meters 0.07792711997617854 Centerline is valid? [True, True] Translation: X:354.22, Y:32.31, Z:-1.43 [[ 9.99871955e-01 -1.59781345e-02 -8.79454090e-04 3.54215244e+02] [ 1.59780710e-02 9.99872339e-01 -7.92002076e-05 3.23149516e+01] [ 8.80607290e-04 6.51380865e-05 9.99999610e-01 -1.43424710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.141400513 meters 0.06820594597163139 Centerline is valid? [True, True] Translation: X:354.28, Y:32.31, Z:-1.43 [[ 9.99763123e-01 -2.17642998e-02 -1.10582422e-04 3.54276396e+02] [ 2.17642989e-02 9.99763130e-01 -9.96339047e-06 3.23100652e+01] [ 1.10773075e-04 7.55428149e-06 9.99999994e-01 -1.43296304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.201400513 meters 0.07264083781038605 Centerline is valid? [True, True] Translation: X:354.33, Y:32.32, Z:-1.43 [[ 9.99571048e-01 -2.92839670e-02 4.10285778e-04 3.54334962e+02] [ 2.92839544e-02 9.99571132e-01 3.68667458e-05 3.23181800e+01] [-4.11189424e-04 -2.48361417e-05 9.99999915e-01 -1.43384913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.261400513 meters 0.05600961992490642 Centerline is valid? [True, True] Translation: X:354.40, Y:32.30, Z:-1.43 [[ 9.99454213e-01 -3.30336752e-02 -2.28358537e-04 3.54397745e+02] [ 3.30336713e-02 9.99454239e-01 -2.05671870e-05 3.22978767e+01] [ 2.28913317e-04 1.30124409e-05 9.99999974e-01 -1.43268306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.321400513 meters 0.06021487412374846 Centerline is valid? [True, True] Translation: X:354.46, Y:32.30, Z:-1.43 [[ 9.99403098e-01 -3.45446472e-02 -3.38189525e-04 3.54456057e+02] [ 3.45446389e-02 9.99403155e-01 -3.05730721e-05 3.23017066e+01] [ 3.39043815e-04 1.88721880e-05 9.99999942e-01 -1.43446647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.381400513 meters 0.06281962438207575 Centerline is valid? [True, True] Translation: X:354.52, Y:32.30, Z:-1.43 [[ 9.99494372e-01 -3.17624085e-02 1.46603433e-03 3.54516050e+02] [ 3.17622489e-02 9.99495444e-01 1.32029089e-04 3.23027262e+01] [-1.46948820e-03 -8.53977840e-05 9.99998917e-01 -1.43148034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.441400513 meters 0.07559550272209294 Centerline is valid? [True, True] Translation: X:354.57, Y:32.32, Z:-1.43 [[ 9.99748318e-01 -2.23421278e-02 2.03205036e-03 3.54573626e+02] [ 2.23418016e-02 9.99750374e-01 1.83067604e-04 3.23229121e+01] [-2.03563322e-03 -1.37621864e-04 9.99997919e-01 -1.42924442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.501400513 meters 0.07791635569076136 Centerline is valid? [True, True] Translation: X:354.63, Y:32.33, Z:-1.43 [[ 9.99888996e-01 -1.48528656e-02 1.17798014e-03 3.54633265e+02] [ 1.48527509e-02 9.99889686e-01 1.06094316e-04 3.23321555e+01] [-1.17942599e-03 -8.85862940e-05 9.99999301e-01 -1.43137093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.561400513 meters 0.0869404309362981 Centerline is valid? [True, True] Translation: X:354.69, Y:32.35, Z:-1.43 [[ 9.99958810e-01 -9.05912260e-03 5.57472027e-04 3.54691712e+02] [ 9.05909603e-03 9.99958964e-01 5.01810710e-05 3.23492708e+01] [-5.57903747e-04 -4.51288115e-05 9.99999843e-01 -1.43352783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.621400513 meters 0.08859845073991214 Centerline is valid? [True, True] Translation: X:354.75, Y:32.36, Z:-1.43 [[ 9.99984974e-01 -5.45506221e-03 5.41454300e-04 3.54751071e+02] [ 5.45503662e-03 9.99985120e-01 4.87370793e-05 3.23627043e+01] [-5.41712107e-04 -4.57826939e-05 9.99999852e-01 -1.43390748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.681400513 meters 0.0881455511174466 Centerline is valid? [True, True] Translation: X:354.81, Y:32.37, Z:-1.43 [[ 9.99976892e-01 -6.77178415e-03 -5.97993506e-04 3.54811243e+02] [ 6.77175316e-03 9.99977070e-01 -5.38376521e-05 3.23722973e+01] [ 5.98344371e-04 4.97869436e-05 9.99999820e-01 -1.43494044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74140051300003 meters 0.08561462788271629 Centerline is valid? [True, True] Translation: X:354.87, Y:32.38, Z:-1.44 [[ 9.99932424e-01 -1.13784045e-02 -2.38323417e-03 3.54869764e+02] [ 1.13779248e-02 9.99935246e-01 -2.14721711e-04 3.23847985e+01] [ 2.38552304e-03 1.87590942e-04 9.99997137e-01 -1.43898520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80140051300003 meters 0.07995712792855243 Centerline is valid? [True, True] Translation: X:354.93, Y:32.39, Z:-1.44 [[ 9.99914264e-01 -1.30380691e-02 -1.21400249e-03 3.54930167e+02] [ 1.30379458e-02 9.99914996e-01 -1.09422782e-04 3.23867968e+01] [ 1.21532595e-03 9.35853019e-05 9.99999257e-01 -1.43738804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86140051300004 meters 0.0785772673085667 Centerline is valid? [True, True] Translation: X:354.99, Y:32.40, Z:-1.43 [[ 9.99859704e-01 -1.65231224e-02 2.74916844e-03 3.54989804e+02] [ 1.65225034e-02 9.99863463e-01 2.47713321e-04 3.23951814e+01] [-2.75288608e-03 -2.02255423e-04 9.99996190e-01 -1.43103130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.921400513 meters 0.06847749440129457 Centerline is valid? [True, True] Translation: X:355.05, Y:32.39, Z:-1.43 [[ 9.99762250e-01 -2.17549127e-02 1.47246177e-03 3.55050808e+02] [ 2.17547407e-02 9.99763329e-01 1.32669167e-04 3.23929853e+01] [-1.47499949e-03 -1.00604601e-04 9.99998907e-01 -1.43310266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.981400513 meters 0.06672317667312176 Centerline is valid? [True, True] Translation: X:355.11, Y:32.40, Z:-1.44 [[ 9.99745181e-01 -2.25538940e-02 -9.46489507e-04 3.55110344e+02] [ 2.25538232e-02 9.99745627e-01 -8.53260003e-05 3.24036800e+01] [ 9.48173179e-04 6.39573005e-05 9.99999548e-01 -1.43742101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.041400513 meters 0.07411089864382503 Centerline is valid? [True, True] Translation: X:355.17, Y:32.43, Z:-1.44 [[ 9.99796487e-01 -2.01704318e-02 -3.72425547e-04 3.55167902e+02] [ 2.01704207e-02 9.99796556e-01 -3.35707721e-05 3.24250937e+01] [ 3.73026916e-04 2.60519601e-05 9.99999930e-01 -1.43718184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.101400513 meters 0.08190282377513639 Centerline is valid? [True, True] Translation: X:355.23, Y:32.45, Z:-1.44 [[ 9.99873600e-01 -1.58956682e-02 -3.33307384e-04 3.55225084e+02] [ 1.58956590e-02 9.99873656e-01 -3.01093442e-05 3.24451692e+01] [ 3.33743881e-04 2.48073978e-05 9.99999944e-01 -1.43731919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.161400513 meters 0.08073435621532085 Centerline is valid? [True, True] Translation: X:355.28, Y:32.45, Z:-1.44 [[ 9.99880191e-01 -1.54768135e-02 2.66991591e-04 3.55284132e+02] [ 1.54768076e-02 9.99880227e-01 2.39997016e-05 3.24527846e+01] [-2.67331051e-04 -1.98646487e-05 9.99999964e-01 -1.43768156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.221400513 meters 0.07587701735469117 Centerline is valid? [True, True] Translation: X:355.34, Y:32.45, Z:-1.44 [[ 9.99787761e-01 -2.05559365e-02 1.37320170e-03 3.55344870e+02] [ 2.05557858e-02 9.99788700e-01 1.23798881e-04 3.24508556e+01] [-1.37545634e-03 -9.55453660e-05 9.99999049e-01 -1.43648208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.281400513 meters 0.06977921488060461 Centerline is valid? [True, True] Translation: X:355.41, Y:32.45, Z:-1.44 [[ 9.99671356e-01 -2.56268855e-02 6.65251015e-04 3.55405355e+02] [ 2.56268512e-02 9.99671577e-01 5.99661889e-05 3.24484790e+01] [-6.66569278e-04 -4.28981926e-05 9.99999777e-01 -1.43731703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.341400513 meters 0.06622083290027303 Centerline is valid? [True, True] Translation: X:355.47, Y:32.45, Z:-1.44 [[ 9.99559984e-01 -2.96266660e-02 -1.44884846e-03 3.55465877e+02] [ 2.96265075e-02 9.99561030e-01 -1.30741048e-04 3.24455472e+01] [ 1.45208588e-03 8.77592002e-05 9.99998942e-01 -1.44038353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.401400513 meters 0.06503259844965545 Centerline is valid? [True, True] Translation: X:355.53, Y:32.44, Z:-1.44 [[ 9.99516344e-01 -3.10920627e-02 -6.01323386e-04 3.55526479e+02] [ 3.10920357e-02 9.99516524e-01 -5.42746033e-05 3.24448064e+01] [ 6.02720170e-04 3.55519849e-05 9.99999818e-01 -1.43812980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.461400513 meters 0.06700348847732336 Centerline is valid? [True, True] Translation: X:355.59, Y:32.45, Z:-1.44 [[ 9.99572841e-01 -2.92120680e-02 8.89339310e-04 3.55586835e+02] [ 2.92120081e-02 9.99573235e-01 8.02174487e-05 3.24493530e+01] [-8.91303089e-04 -5.42037959e-05 9.99999601e-01 -1.43622392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.521400513 meters 0.06842829957734188 Centerline is valid? [True, True] Translation: X:355.65, Y:32.45, Z:-1.44 [[ 9.99614080e-01 -2.77709418e-02 -6.82136822e-04 3.55646194e+02] [ 2.77709061e-02 9.99614312e-01 -6.16583817e-05 3.24508273e+01] [ 6.83586042e-04 4.26910289e-05 9.99999765e-01 -1.43918386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.581400513 meters 0.0672645631171792 Centerline is valid? [True, True] Translation: X:355.71, Y:32.44, Z:-1.44 [[ 9.99673098e-01 -2.54675825e-02 -2.25804650e-03 3.55707474e+02] [ 2.54671869e-02 9.99675638e-01 -2.03809347e-04 3.24446432e+01] [ 2.26250461e-03 1.46236630e-04 9.99997430e-01 -1.44145563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.641400513 meters 0.07263777411365306 Centerline is valid? [True, True] Translation: X:355.77, Y:32.45, Z:-1.44 [[ 9.99752982e-01 -2.21147733e-02 -2.21603589e-03 3.55766844e+02] [ 2.21143839e-02 9.99755427e-01 -2.00041175e-04 3.24509649e+01] [ 2.21991777e-03 1.50985493e-04 9.99997525e-01 -1.44139761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.701400513 meters 0.07679138642194921 Centerline is valid? [True, True] Translation: X:355.83, Y:32.46, Z:-1.44 [[ 9.99892485e-01 -1.46635102e-02 -6.79451688e-06 3.55827176e+02] [ 1.46635102e-02 9.99892485e-01 -6.18600761e-07 3.24576329e+01] [ 6.80285723e-06 5.18902786e-07 1.00000000e+00 -1.43758693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.761400513 meters 0.09411644071708486 Centerline is valid? [True, True] Translation: X:355.88, Y:32.48, Z:-1.44 [[ 9.99958808e-01 -9.07640835e-03 -1.63922033e-05 3.55884308e+02] [ 9.07640832e-03 9.99958809e-01 -1.48046657e-06 3.24811559e+01] [ 1.64049654e-05 1.33162326e-06 1.00000000e+00 -1.43813814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.821400513 meters 0.08335328324039695 Centerline is valid? [True, True] Translation: X:355.95, Y:32.47, Z:-1.44 [[ 9.99979022e-01 -6.38409836e-03 -1.09525830e-03 3.55945997e+02] [ 6.38399389e-03 9.99979617e-01 -9.88516796e-05 3.24715229e+01] [ 1.09586705e-03 9.18574836e-05 9.99999395e-01 -1.43944839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.881400513 meters 0.08505175313741781 Centerline is valid? [True, True] Translation: X:356.01, Y:32.47, Z:-1.44 [[ 9.99952579e-01 -9.49079139e-03 -2.18297286e-03 3.56005321e+02] [ 9.49038351e-03 9.99954946e-01 -1.97125254e-04 3.24741920e+01] [ 2.18474539e-03 1.76398656e-04 9.99997598e-01 -1.44227770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.941400513 meters 0.0825739303678578 Centerline is valid? [True, True] Translation: X:356.07, Y:32.47, Z:-1.44 [[ 9.99895009e-01 -1.42945601e-02 -2.37401776e-03 3.56065540e+02] [ 1.42940913e-02 9.99897811e-01 -2.14318522e-04 3.24728933e+01] [ 2.37683875e-03 1.80361594e-04 9.99997159e-01 -1.44273179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.001400513 meters 0.06648418371504729 Centerline is valid? [True, True] Translation: X:356.13, Y:32.46, Z:-1.44 [[ 9.99808543e-01 -1.95451274e-02 -9.30224176e-04 3.56127740e+02] [ 1.95450576e-02 9.99808974e-01 -8.39877393e-05 3.24593992e+01] [ 9.31688030e-04 6.57903741e-05 9.99999564e-01 -1.43916584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.061400513 meters 0.08076087182013503 Centerline is valid? [True, True] Translation: X:356.18, Y:32.48, Z:-1.44 [[ 9.99805278e-01 -1.97145675e-02 8.61476451e-04 3.56184439e+02] [ 1.97145080e-02 9.99805647e-01 7.75670688e-05 3.24793582e+01] [-8.62838221e-04 -6.05683805e-05 9.99999626e-01 -1.43714418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.121400513 meters 0.07091464673046592 Centerline is valid? [True, True] Translation: X:356.25, Y:32.47, Z:-1.44 [[ 9.99838531e-01 -1.79676200e-02 2.75934208e-04 3.56246066e+02] [ 1.79676138e-02 9.99838569e-01 2.49351395e-05 3.24708718e+01] [-2.76337688e-04 -1.99732340e-05 9.99999962e-01 -1.43891181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.181400513 meters 0.0741284878799382 Centerline is valid? [True, True] Translation: X:356.30, Y:32.48, Z:-1.44 [[ 9.99844546e-01 -1.76318697e-02 4.16569742e-05 3.56303856e+02] [ 1.76318695e-02 9.99844546e-01 3.65486076e-06 3.24789648e+01] [-4.17149405e-05 -2.91980226e-06 9.99999999e-01 -1.43887574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24140051300003 meters 0.07788236919926246 Centerline is valid? [True, True] Translation: X:356.36, Y:32.49, Z:-1.44 [[ 9.99855465e-01 -1.70013241e-02 6.37332634e-05 3.56361501e+02] [ 1.70013238e-02 9.99855467e-01 5.65583188e-06 3.24900627e+01] [-6.38202085e-05 -4.57146457e-06 9.99999998e-01 -1.43759639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30140051300003 meters 0.08391314897862458 Centerline is valid? [True, True] Translation: X:356.42, Y:32.51, Z:-1.44 [[ 9.99932823e-01 -1.15904005e-02 -1.07035415e-04 3.56420405e+02] [ 1.15903996e-02 9.99932829e-01 -9.69824651e-06 3.25062826e+01] [ 1.07140632e-04 8.45701179e-06 9.99999994e-01 -1.43860052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36140051300004 meters 0.0811884685968122 Centerline is valid? [True, True] Translation: X:356.48, Y:32.51, Z:-1.44 [[ 9.99968252e-01 -7.94371993e-03 -6.25739942e-04 3.56480899e+02] [ 7.94368607e-03 9.99968447e-01 -5.65879766e-05 3.25093830e+01] [ 6.26169717e-04 5.16154984e-05 9.99999803e-01 -1.44010130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.421400513 meters 0.08607655321859331 Centerline is valid? [True, True] Translation: X:356.54, Y:32.52, Z:-1.44 [[ 9.99967259e-01 -8.04082005e-03 -9.09156726e-04 3.56538226e+02] [ 8.04074847e-03 9.99967669e-01 -8.23634550e-05 3.25243315e+01] [ 9.09789602e-04 7.50504577e-05 9.99999583e-01 -1.43991193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.481400513 meters 0.08400458993677062 Centerline is valid? [True, True] Translation: X:356.60, Y:32.53, Z:-1.44 [[ 9.99928949e-01 -1.14769945e-02 -3.22122266e-03 3.56598159e+02] [ 1.14761144e-02 9.99934105e-01 -2.91556409e-04 3.25253705e+01] [ 3.22435658e-03 2.54568573e-04 9.99994769e-01 -1.44368463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.541400513 meters 0.07562440958623476 Centerline is valid? [True, True] Translation: X:356.66, Y:32.52, Z:-1.44 [[ 9.99872239e-01 -1.58625687e-02 -1.97084491e-03 3.56659559e+02] [ 1.58622478e-02 9.99874171e-01 -1.78357725e-04 3.25187499e+01] [ 1.97342613e-03 1.47072907e-04 9.99998042e-01 -1.44213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.601400513 meters 0.0735936770862396 Centerline is valid? [True, True] Translation: X:356.72, Y:32.52, Z:-1.44 [[ 9.99785512e-01 -2.06165208e-02 -1.97195981e-03 3.56719459e+02] [ 2.06162086e-02 9.99787447e-01 -1.78485548e-04 3.25187735e+01] [ 1.97522041e-03 1.37792930e-04 9.99998040e-01 -1.44152807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.661400513 meters 0.06370535866837222 Centerline is valid? [True, True] Translation: X:356.78, Y:32.51, Z:-1.44 [[ 9.99713162e-01 -2.37111095e-02 -3.37302589e-03 3.56781805e+02] [ 2.37102141e-02 9.99718827e-01 -3.05198187e-04 3.25060803e+01] [ 3.37931407e-03 2.25135478e-04 9.99994265e-01 -1.44311077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.721400513 meters 0.06591553327112497 Centerline is valid? [True, True] Translation: X:356.84, Y:32.51, Z:-1.44 [[ 9.99642776e-01 -2.65251567e-02 -3.27676489e-03 3.56841021e+02] [ 2.65243263e-02 9.99648124e-01 -2.96610050e-04 3.25066167e+01] [ 3.28347951e-03 2.09590113e-04 9.99994587e-01 -1.44300217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.781400513 meters 0.06377272282765657 Centerline is valid? [True, True] Translation: X:356.90, Y:32.50, Z:-1.44 [[ 9.99611309e-01 -2.77958894e-02 -2.14928492e-03 3.56901633e+02] [ 2.77955350e-02 9.99613611e-01 -1.94583728e-04 3.25043061e+01] [ 2.15386309e-03 1.34767571e-04 9.99997671e-01 -1.44105252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.841400513 meters 0.06495957302988387 Centerline is valid? [True, True] Translation: X:356.96, Y:32.51, Z:-1.44 [[ 9.99629020e-01 -2.72269579e-02 -7.17664968e-04 3.56960759e+02] [ 2.72269178e-02 9.99629277e-01 -6.55918294e-05 3.25064649e+01] [ 7.19184779e-04 4.60276911e-05 9.99999740e-01 -1.43926914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.901400513 meters 0.06560702247576859 Centerline is valid? [True, True] Translation: X:357.02, Y:32.50, Z:-1.44 [[ 9.99746385e-01 -2.25174443e-02 3.60275733e-04 3.57021446e+02] [ 2.25174340e-02 9.99746450e-01 3.26360089e-05 3.25047202e+01] [-3.60919265e-04 -2.45152468e-05 9.99999935e-01 -1.43720901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.961400513 meters 0.07549501994114151 Centerline is valid? [True, True] Translation: X:357.08, Y:32.52, Z:-1.44 [[ 9.99799888e-01 -1.99893410e-02 -7.80581782e-04 3.57079672e+02] [ 1.99892918e-02 9.99800192e-01 -7.07837106e-05 3.25181352e+01] [ 7.81840735e-04 5.51662689e-05 9.99999693e-01 -1.44016945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.021400513 meters 0.06527552363375724 Centerline is valid? [True, True] Translation: X:357.14, Y:32.50, Z:-1.44 [[ 9.99808715e-01 -1.94730505e-02 -1.82584326e-03 3.57140262e+02] [ 1.94727789e-02 9.99810374e-01 -1.66421666e-04 3.25044570e+01] [ 1.82873777e-03 1.30835590e-04 9.99998319e-01 -1.44147555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.081400513 meters 0.07496908380965188 Centerline is valid? [True, True] Translation: X:357.20, Y:32.51, Z:-1.44 [[ 9.99811443e-01 -1.93651285e-02 -1.43861661e-03 3.57197857e+02] [ 1.93649600e-02 9.99812473e-01 -1.30979765e-04 3.25142178e+01] [ 1.44088328e-03 1.03096315e-04 9.99998957e-01 -1.44148714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.141400513 meters 0.06950108040656956 Centerline is valid? [True, True] Translation: X:357.26, Y:32.51, Z:-1.44 [[ 9.99850547e-01 -1.71946285e-02 -1.79664810e-03 3.57259250e+02] [ 1.71943625e-02 9.99852153e-01 -1.63386097e-04 3.25067198e+01] [ 1.79919183e-03 1.32469460e-04 9.99998373e-01 -1.44194958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.201400513 meters 0.07339290377502267 Centerline is valid? [True, True] Translation: X:357.32, Y:32.51, Z:-1.44 [[ 9.99876701e-01 -1.55383030e-02 -2.26805114e-03 3.57318054e+02] [ 1.55378747e-02 9.99879259e-01 -2.06345699e-04 3.25126719e+01] [ 2.27098355e-03 1.71079562e-04 9.99997407e-01 -1.44346952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.261400513 meters 0.07793804114191698 Centerline is valid? [True, True] Translation: X:357.38, Y:32.52, Z:-1.44 [[ 9.99897902e-01 -1.42112748e-02 -1.49145212e-03 3.57376317e+02] [ 1.42110880e-02 9.99899008e-01 -1.35802039e-04 3.25190289e+01] [ 1.49323141e-03 1.14593017e-04 9.99998879e-01 -1.44209543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.321400513 meters 0.08047393960393032 Centerline is valid? [True, True] Translation: X:357.44, Y:32.52, Z:-1.44 [[ 9.99914392e-01 -1.29974509e-02 -1.50840427e-03 3.57435213e+02] [ 1.29972583e-02 9.99915523e-01 -1.37393141e-04 3.25222406e+01] [ 1.51006261e-03 1.17776259e-04 9.99998853e-01 -1.44160938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.381400513 meters 0.07354244409338188 Centerline is valid? [True, True] Translation: X:357.50, Y:32.52, Z:-1.44 [[ 9.99896976e-01 -1.42290075e-02 -1.89017858e-03 3.57495844e+02] [ 1.42287073e-02 9.99898752e-01 -1.72194579e-04 3.25177177e+01] [ 1.89243736e-03 1.45282041e-04 9.99998199e-01 -1.44292688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.441400513 meters 0.08242219240435371 Centerline is valid? [True, True] Translation: X:357.55, Y:32.53, Z:-1.44 [[ 9.99867781e-01 -1.61648439e-02 -1.76586364e-03 3.57553724e+02] [ 1.61645848e-02 9.99869332e-01 -1.60886699e-04 3.25320629e+01] [ 1.76823361e-03 1.32320974e-04 9.99998428e-01 -1.44419666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.501400513 meters 0.06615307002795193 Centerline is valid? [True, True] Translation: X:357.62, Y:32.51, Z:-1.44 [[ 9.99821015e-01 -1.87773479e-02 -2.31268114e-03 3.57615882e+02] [ 1.87769107e-02 9.99823676e-01 -2.10623994e-04 3.25124673e+01] [ 2.31622832e-03 1.67161289e-04 9.99997304e-01 -1.44314406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.561400513 meters 0.07135758823982523 Centerline is valid? [True, True] Translation: X:357.67, Y:32.52, Z:-1.44 [[ 9.99804941e-01 -1.97431817e-02 -5.35091011e-04 3.57673213e+02] [ 1.97431583e-02 9.99805084e-01 -4.89479704e-05 3.25227992e+01] [ 5.35953101e-04 3.83740361e-05 9.99999856e-01 -1.44073160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.621400513 meters 0.07618092977212297 Centerline is valid? [True, True] Translation: X:357.73, Y:32.53, Z:-1.44 [[ 9.99807827e-01 -1.95875478e-02 7.98584063e-04 3.57730489e+02] [ 1.95874960e-02 9.99808144e-01 7.25639173e-05 3.25337207e+01] [-7.99852199e-04 -5.69077103e-05 9.99999678e-01 -1.43922656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.681400513 meters 0.07362074976692945 Centerline is valid? [True, True] Translation: X:357.79, Y:32.54, Z:-1.44 [[ 9.99889858e-01 -1.48392181e-02 -2.64103187e-04 3.57790870e+02] [ 1.48392123e-02 9.99889893e-01 -2.40958947e-05 3.25365882e+01] [ 2.64431672e-04 2.01741574e-05 9.99999965e-01 -1.44058488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74140051300003 meters 0.07670014191451859 Centerline is valid? [True, True] Translation: X:357.85, Y:32.55, Z:-1.44 [[ 9.99921700e-01 -1.24744969e-02 -9.89926057e-04 3.57850335e+02] [ 1.24744136e-02 9.99922187e-01 -9.03019811e-05 3.25491652e+01] [ 9.90975501e-04 7.79461634e-05 9.99999506e-01 -1.44282550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80140051300003 meters 0.08139960579829988 Centerline is valid? [True, True] Translation: X:357.91, Y:32.57, Z:-1.44 [[ 9.99933110e-01 -1.15136282e-02 1.10081056e-03 3.57907059e+02] [ 1.15135247e-02 9.99933712e-01 1.00320465e-04 3.25668329e+01] [-1.10189264e-03 -8.76395446e-05 9.99999389e-01 -1.43928334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86140051300004 meters 0.0874007615456251 Centerline is valid? [True, True] Translation: X:357.97, Y:32.58, Z:-1.44 [[ 9.99922902e-01 -1.24169080e-02 -1.01877892e-04 3.57965455e+02] [ 1.24169071e-02 9.99922907e-01 -9.33419371e-06 3.25823720e+01] [ 1.01985939e-04 8.06846575e-06 9.99999995e-01 -1.44159516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.921400513 meters 0.07245178418743481 Centerline is valid? [True, True] Translation: X:358.03, Y:32.57, Z:-1.44 [[ 9.99895716e-01 -1.43938595e-02 -1.17226744e-03 3.58026294e+02] [ 1.43937437e-02 9.99896399e-01 -1.07103509e-04 3.25746157e+01] [ 1.17368763e-03 9.02190225e-05 9.99999307e-01 -1.44264138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.981400513 meters 0.07351022362667849 Centerline is valid? [True, True] Translation: X:358.08, Y:32.59, Z:-1.44 [[ 9.99812633e-01 -1.93528143e-02 -4.08055236e-04 3.58084477e+02] [ 1.93528007e-02 9.99812716e-01 -3.73063255e-05 3.25859017e+01] [ 4.08700796e-04 2.94023239e-05 9.99999916e-01 -1.44141378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.041400513 meters 0.06787994659938322 Centerline is valid? [True, True] Translation: X:358.15, Y:32.59, Z:-1.44 [[ 9.99697519e-01 -2.45773222e-02 -9.08837068e-04 3.58145456e+02] [ 2.45772568e-02 9.99697930e-01 -8.29986985e-05 3.25865746e+01] [ 9.10602421e-04 6.06368709e-05 9.99999584e-01 -1.44203768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.101400513 meters 0.06536804080049867 Centerline is valid? [True, True] Translation: X:358.20, Y:32.59, Z:-1.44 [[ 9.99582438e-01 -2.88335134e-02 -1.89179246e-03 3.58204849e+02] [ 2.88332377e-02 9.99584221e-01 -1.72849629e-04 3.25907659e+01] [ 1.89598975e-03 1.18230952e-04 9.99998196e-01 -1.44316955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.161400513 meters 0.05823523224036744 Centerline is valid? [True, True] Translation: X:358.27, Y:32.59, Z:-1.44 [[ 9.99457226e-01 -3.29347170e-02 -7.46893430e-04 3.58265820e+02] [ 3.29346752e-02 9.99457504e-01 -6.82456182e-05 3.25878618e+01] [ 7.48735893e-04 4.36098837e-05 9.99999719e-01 -1.44176168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.221400513 meters 0.05551062041386116 Centerline is valid? [True, True] Translation: X:358.33, Y:32.59, Z:-1.44 [[ 9.99406057e-01 -3.44586647e-02 -3.65601048e-04 3.58325966e+02] [ 3.44586547e-02 9.99406124e-01 -3.34369048e-05 3.25924927e+01] [ 3.66536117e-04 2.08189249e-05 9.99999933e-01 -1.44238768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.281400513 meters 0.058309834450029734 Centerline is valid? [True, True] Translation: X:358.38, Y:32.60, Z:-1.44 [[ 9.99299177e-01 -3.74056908e-02 -1.40353031e-03 3.58384176e+02] [ 3.74055473e-02 9.99300159e-01 -1.28348119e-04 3.26024070e+01] [ 1.40734901e-03 7.57583501e-05 9.99999007e-01 -1.44455497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.341400513 meters 0.04692854256594614 Centerline is valid? [True, True] Translation: X:358.45, Y:32.59, Z:-1.44 [[ 9.99017891e-01 -4.43078946e-02 2.52980669e-04 3.58445366e+02] [ 4.43078901e-02 9.99017923e-01 2.31062377e-05 3.25914554e+01] [-2.53756011e-04 -1.18745052e-05 9.99999968e-01 -1.44206030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.401400513 meters 0.043372791437638815 Centerline is valid? [True, True] Translation: X:358.51, Y:32.59, Z:-1.44 [[ 9.98819796e-01 -4.85578104e-02 1.07453589e-03 3.58506608e+02] [ 4.85577329e-02 9.98820373e-01 9.81808397e-05 3.25902710e+01] [-1.07803578e-03 -4.58879396e-05 9.99999418e-01 -1.44206460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.461400513 meters 0.03696065260133954 Centerline is valid? [True, True] Translation: X:358.57, Y:32.58, Z:-1.44 [[ 9.98347669e-01 -5.74515304e-02 1.11986962e-03 3.58567245e+02] [ 5.74514517e-02 9.98348296e-01 1.02321477e-04 3.25775373e+01] [-1.12389845e-03 -3.78142731e-05 9.99999368e-01 -1.44170246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.521400513 meters 0.030013180542526715 Centerline is valid? [True, True] Translation: X:358.63, Y:32.57, Z:-1.44 [[ 9.97963735e-01 -6.37836263e-02 1.83352050e-04 3.58629225e+02] [ 6.37836243e-02 9.97963751e-01 1.67539000e-05 3.25654172e+01] [-1.84047324e-04 -5.02492639e-06 9.99999983e-01 -1.44290874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.581400513 meters 0.026481241454191534 Centerline is valid? [True, True] Translation: X:358.69, Y:32.56, Z:-1.44 [[ 9.97770762e-01 -6.67341055e-02 -2.54497568e-04 3.58688897e+02] [ 6.67341017e-02 9.97770795e-01 -2.34233276e-05 3.25615597e+01] [ 2.55493376e-04 6.38744484e-06 9.99999967e-01 -1.44426593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.641400513 meters 0.020591743834850112 Centerline is valid? [True, True] Translation: X:358.75, Y:32.54, Z:-1.44 [[ 9.97365438e-01 -7.25409005e-02 1.36508930e-05 3.58750378e+02] [ 7.25409005e-02 9.97365438e-01 1.17416256e-06 3.25425677e+01] [-1.37001037e-05 -1.80821087e-07 1.00000000e+00 -1.44398638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.701400513 meters 0.02120771984043657 Centerline is valid? [True, True] Translation: X:358.81, Y:32.54, Z:-1.45 [[ 9.97367082e-01 -7.25109604e-02 -1.03149564e-03 3.58808629e+02] [ 7.25109012e-02 9.97367615e-01 -9.47312330e-05 3.25407190e+01] [ 1.03564940e-03 1.96871352e-05 9.99999464e-01 -1.44611110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.761400513 meters 0.02499050321950541 Centerline is valid? [True, True] Translation: X:358.87, Y:32.55, Z:-1.44 [[ 9.97549245e-01 -6.99678711e-02 -8.86211454e-06 3.58866406e+02] [ 6.99678711e-02 9.97549245e-01 -1.08851534e-06 3.25466334e+01] [ 8.91655677e-06 4.65784365e-07 1.00000000e+00 -1.44487467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.821400513 meters 0.02385416064903258 Centerline is valid? [True, True] Translation: X:358.93, Y:32.54, Z:-1.44 [[ 9.97671230e-01 -6.81887564e-02 1.55265116e-03 3.58925965e+02] [ 6.81886179e-02 9.97672437e-01 1.42030981e-04 3.25433206e+01] [-1.55872218e-03 -3.58270863e-05 9.99998785e-01 -1.44177013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.881400513 meters 0.030509681824274958 Centerline is valid? [True, True] Translation: X:358.98, Y:32.55, Z:-1.44 [[ 9.97538594e-01 -7.00954273e-02 1.83969241e-03 3.58984197e+02] [ 7.00952354e-02 9.97540290e-01 1.68700742e-04 3.25470744e+01] [-1.84699245e-03 -3.93318283e-05 9.99998294e-01 -1.44284279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.941400513 meters 0.02295502236257483 Centerline is valid? [True, True] Translation: X:359.04, Y:32.55, Z:-1.44 [[ 9.97436553e-01 -7.15452372e-02 1.26585553e-03 3.59042967e+02] [ 7.15451474e-02 9.97437356e-01 1.16135473e-04 3.25464433e+01] [-1.27092054e-03 -2.52719454e-05 9.99999192e-01 -1.44347990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.001400513 meters 0.020470573493340524 Centerline is valid? [True, True] Translation: X:359.10, Y:32.55, Z:-1.44 [[ 9.97257593e-01 -7.40072174e-02 4.73587949e-04 3.59101789e+02] [ 7.40072052e-02 9.97257706e-01 4.32028901e-05 3.25484981e+01] [-4.75486557e-04 -8.03548972e-06 9.99999887e-01 -1.44398701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.061400513 meters 0.018100810094661135 Centerline is valid? [True, True] Translation: X:359.16, Y:32.55, Z:-1.45 [[ 9.97059341e-01 -7.66296809e-02 -7.49757215e-04 3.59160798e+02] [ 7.66296500e-02 9.97059623e-01 -6.98466876e-05 3.25526009e+01] [ 7.52904975e-04 1.21876594e-05 9.99999716e-01 -1.44623574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.121400513 meters 0.013806022561153385 Centerline is valid? [True, True] Translation: X:359.22, Y:32.55, Z:-1.44 [[ 9.96787751e-01 -8.00801009e-02 1.16466287e-03 3.59219579e+02] [ 8.00800301e-02 9.96788432e-01 1.07366309e-04 3.25531794e+01] [-1.16952038e-03 -1.37551840e-05 9.99999316e-01 -1.44314908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.181400513 meters 0.010219525630703497 Centerline is valid? [True, True] Translation: X:359.28, Y:32.55, Z:-1.44 [[ 9.96370623e-01 -8.50855729e-02 2.45498275e-03 3.59278288e+02] [ 8.50852711e-02 9.96373647e-01 2.27298827e-04 3.25531231e+01] [-2.46541997e-03 -1.75910014e-05 9.99996961e-01 -1.44199620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24140051300003 meters 0.0075952508631038276 Centerline is valid? [True, True] Translation: X:359.34, Y:32.55, Z:-1.44 [[ 9.95394094e-01 -9.58630630e-02 9.33220602e-04 3.59338113e+02] [ 9.58630243e-02 9.95394531e-01 8.62205019e-05 3.25451194e+01] [-9.37188046e-04 3.63797094e-06 9.99999561e-01 -1.44487446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30140051300003 meters 0.012360650993610544 Centerline is valid? [True, True] Translation: X:359.40, Y:32.54, Z:-1.45 [[ 9.94812461e-01 -1.01712218e-01 -1.67122559e-03 3.59396394e+02] [ 1.01712100e-01 9.94813864e-01 -1.55668270e-04 3.25396966e+01] [ 1.67839175e-03 -1.51231300e-05 9.99998591e-01 -1.44926322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36140051300004 meters 0.025801151533234555 Centerline is valid? [True, True] Translation: X:359.46, Y:32.54, Z:-1.45 [[ 9.94521656e-01 -1.04512916e-01 -1.93013675e-03 3.59455334e+02] [ 1.04512764e-01 9.94523529e-01 -1.79867437e-04 3.25370838e+01] [ 1.93836488e-03 -2.28418649e-05 9.99998121e-01 -1.44942620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.421400513 meters 0.011592511963661305 Centerline is valid? [True, True] Translation: X:359.51, Y:32.55, Z:-1.45 [[ 9.94799725e-01 -1.01848029e-01 -6.97664738e-04 3.59513084e+02] [ 1.01848008e-01 9.94799969e-01 -6.56123371e-05 3.25480384e+01] [ 7.00719347e-04 -5.78462901e-06 9.99999754e-01 -1.44655605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.481400513 meters 0.00870924718787532 Centerline is valid? [True, True] Translation: X:359.57, Y:32.56, Z:-1.45 [[ 9.95186534e-01 -9.79978259e-02 -4.33852799e-04 3.59571597e+02] [ 9.79978173e-02 9.95186629e-01 -4.10754070e-05 3.25583398e+01] [ 4.35789805e-04 -1.63893541e-06 9.99999905e-01 -1.44603656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.541400513 meters 0.006748201810428983 Centerline is valid? [True, True] Translation: X:359.63, Y:32.58, Z:-1.44 [[ 9.95706512e-01 -9.25039484e-02 3.40015726e-03 3.59627708e+02] [ 9.25034029e-02 9.95712318e-01 3.17693374e-04 3.25754022e+01] [-3.41496636e-03 -1.80324456e-06 9.99994169e-01 -1.44070744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.601400513 meters 0.00792783123765443 Centerline is valid? [True, True] Translation: X:359.69, Y:32.59, Z:-1.44 [[ 9.95943944e-01 -8.97853192e-02 5.85289666e-03 3.59685296e+02] [ 8.97836513e-02 9.95961142e-01 5.47630868e-04 3.25891392e+01] [-5.87842685e-03 -1.99152142e-05 9.99982722e-01 -1.43754299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.661400513 meters 0.00798910949107152 Centerline is valid? [True, True] Translation: X:359.74, Y:32.60, Z:-1.44 [[ 9.95971068e-01 -8.96286583e-02 2.88704738e-03 3.59742156e+02] [ 8.96282512e-02 9.95975252e-01 2.70349386e-04 3.25985260e+01] [-2.89965879e-03 -1.04991595e-05 9.99995796e-01 -1.44292363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.721400513 meters 0.007400801728549787 Centerline is valid? [True, True] Translation: X:359.80, Y:32.60, Z:-1.45 [[ 9.95577467e-01 -9.39196402e-02 -2.14684590e-03 3.59800963e+02] [ 9.39194225e-02 9.95579781e-01 -2.02218188e-04 3.26003973e+01] [ 2.15634863e-03 -3.06655542e-07 9.99997675e-01 -1.45002036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.781400513 meters 0.008897636398701747 Centerline is valid? [True, True] Translation: X:359.86, Y:32.60, Z:-1.45 [[ 9.95206423e-01 -9.77479530e-02 -3.08432051e-03 3.59860584e+02] [ 9.77475211e-02 9.95211202e-01 -2.90812758e-04 3.25997893e+01] [ 3.09797668e-03 -1.20659594e-05 9.99995201e-01 -1.45096660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.841400513 meters 0.008653384685373924 Centerline is valid? [True, True] Translation: X:359.92, Y:32.61, Z:-1.45 [[ 9.95245384e-01 -9.73308216e-02 -3.65203998e-03 3.59917934e+02] [ 9.73302108e-02 9.95252084e-01 -3.45028898e-04 3.26069184e+01] [ 3.66828235e-03 -1.20654032e-05 9.99993272e-01 -1.45349153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.901400513 meters 0.007476376797681283 Centerline is valid? [True, True] Translation: X:359.98, Y:32.62, Z:-1.45 [[ 9.95770757e-01 -9.18668720e-02 -1.03816579e-03 3.59975540e+02] [ 9.18668191e-02 9.95771298e-01 -9.86163524e-05 3.26185307e+01] [ 1.04283528e-03 2.82629060e-06 9.99999456e-01 -1.44839526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.961400513 meters 0.011212914277380099 Centerline is valid? [True, True] Translation: X:360.03, Y:32.63, Z:-1.45 [[ 9.96344305e-01 -8.54283001e-02 -1.75771858e-04 3.60032800e+02] [ 8.54282985e-02 9.96344321e-01 -1.68086742e-05 3.26320994e+01] [ 1.76565229e-04 1.73133606e-06 9.99999984e-01 -1.44670119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.021400513 meters 0.02142559182369089 Centerline is valid? [True, True] Translation: X:360.09, Y:32.65, Z:-1.45 [[ 9.97170938e-01 -7.51449789e-02 -1.83101784e-03 3.60090255e+02] [ 7.51447874e-02 9.97172618e-01 -1.73215576e-04 3.26526111e+01] [ 1.83885714e-03 3.51340923e-05 9.99998309e-01 -1.45068898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.081400513 meters 0.025134039270129246 Centerline is valid? [True, True] Translation: X:360.15, Y:32.66, Z:-1.45 [[ 9.97594301e-01 -6.92972112e-02 -1.87278339e-03 3.60149320e+02] [ 6.92970006e-02 9.97596058e-01 -1.77150136e-04 3.26631697e+01] [ 1.88055734e-03 4.69456949e-05 9.99998231e-01 -1.44899768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.141400513 meters 0.03841064959102768 Centerline is valid? [True, True] Translation: X:360.21, Y:32.68, Z:-1.45 [[ 9.98142232e-01 -6.09267424e-02 1.30630800e-04 3.60207840e+02] [ 6.09267413e-02 9.98142240e-01 1.23192541e-05 3.26838752e+01] [-1.31138691e-04 -4.33745884e-06 9.99999991e-01 -1.44661304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.201400513 meters 0.03863650304561091 Centerline is valid? [True, True] Translation: X:360.27, Y:32.69, Z:-1.44 [[ 9.98390241e-01 -5.66678371e-02 2.38403197e-03 3.60266451e+02] [ 5.66674600e-02 9.98393083e-01 2.25478253e-04 3.26947947e+01] [-2.39297840e-03 -9.00182513e-05 9.99997133e-01 -1.44303072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.261400513 meters 0.043919809264335294 Centerline is valid? [True, True] Translation: X:360.33, Y:32.70, Z:-1.44 [[ 9.98476394e-01 -5.51278388e-02 2.41083176e-03 3.60325393e+02] [ 5.51274487e-02 9.98479300e-01 2.28024467e-04 3.26990764e+01] [-2.41973610e-03 -9.47740431e-05 9.99997068e-01 -1.44440440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.321400513 meters 0.03439757582843487 Centerline is valid? [True, True] Translation: X:360.39, Y:32.70, Z:-1.45 [[ 9.98428194e-01 -5.60308933e-02 1.29633573e-03 3.60385073e+02] [ 5.60307816e-02 9.98429034e-01 1.22345627e-04 3.26962594e+01] [-1.30115437e-03 -4.95186186e-05 9.99999152e-01 -1.44624666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.381400513 meters 0.03948627501396287 Centerline is valid? [True, True] Translation: X:360.44, Y:32.70, Z:-1.45 [[ 9.98408337e-01 -5.63964604e-02 -4.82145658e-04 3.60442650e+02] [ 5.63964448e-02 9.98408453e-01 -4.59327786e-05 3.27039307e+01] [ 4.83968747e-04 1.86683681e-05 9.99999883e-01 -1.44897270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.441400513 meters 0.048305638994983364 Centerline is valid? [True, True] Translation: X:360.50, Y:32.71, Z:-1.45 [[ 9.98611103e-01 -5.26679412e-02 -1.39734168e-03 3.60502607e+02] [ 5.26678071e-02 9.98612079e-01 -1.32611839e-04 3.27068329e+01] [ 1.40238668e-03 5.88327326e-05 9.99999015e-01 -1.44981392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.501400513 meters 0.042704509612323825 Centerline is valid? [True, True] Translation: X:360.56, Y:32.71, Z:-1.45 [[ 9.98753913e-01 -4.99041978e-02 -4.38292849e-04 3.60562849e+02] [ 4.99041843e-02 9.98754009e-01 -4.16337712e-05 3.27089594e+01] [ 4.39824440e-04 1.97092448e-05 9.99999903e-01 -1.44730334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.561400513 meters 0.047886691034696206 Centerline is valid? [True, True] Translation: X:360.62, Y:32.72, Z:-1.45 [[ 9.98790015e-01 -4.91761542e-02 -4.60660799e-04 3.60619450e+02] [ 4.91761392e-02 9.98790121e-01 -4.39699008e-05 3.27186630e+01] [ 4.62265726e-04 2.12631783e-05 9.99999893e-01 -1.44820178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.621400513 meters 0.04802385560920544 Centerline is valid? [True, True] Translation: X:360.68, Y:32.72, Z:-1.45 [[ 9.98834133e-01 -4.82434085e-02 -1.71717165e-03 3.60678663e+02] [ 4.82431980e-02 9.98835606e-01 -1.63849929e-04 3.27188937e+01] [ 1.72307686e-03 8.08170495e-05 9.99998512e-01 -1.45168270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.681400513 meters 0.04696823143240325 Centerline is valid? [True, True] Translation: X:360.74, Y:32.72, Z:-1.45 [[ 9.98856935e-01 -4.77421449e-02 -2.34751027e-03 3.60737709e+02] [ 4.77417495e-02 9.98859687e-01 -2.24197759e-04 3.27191684e+01] [ 2.35553705e-03 1.11867239e-04 9.99997219e-01 -1.45242033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74140051300003 meters 0.051902322940636764 Centerline is valid? [True, True] Translation: X:360.80, Y:32.73, Z:-1.45 [[ 9.98939815e-01 -4.59310676e-02 -3.09577704e-03 3.60795120e+02] [ 4.59303726e-02 9.98944600e-01 -2.95264390e-04 3.27282348e+01] [ 3.10607156e-03 1.52761162e-04 9.99995164e-01 -1.45386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80140051300003 meters 0.04743388044809811 Centerline is valid? [True, True] Translation: X:360.85, Y:32.73, Z:-1.45 [[ 9.99028357e-01 -4.40112874e-02 -2.31258356e-03 3.60854911e+02] [ 4.40108942e-02 9.99031027e-01 -2.20653473e-04 3.27269021e+01] [ 2.32005397e-03 1.18660206e-04 9.99997302e-01 -1.45182014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86140051300004 meters 0.05408329494131978 Centerline is valid? [True, True] Translation: X:360.91, Y:32.74, Z:-1.45 [[ 9.99093756e-01 -4.25568524e-02 7.62132506e-04 3.60912363e+02] [ 4.25568094e-02 9.99094046e-01 7.25647763e-05 3.27395460e+01] [-7.64530178e-04 -4.00650871e-05 9.99999707e-01 -1.44784286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.921400513 meters 0.0589848355138446 Centerline is valid? [True, True] Translation: X:360.97, Y:32.75, Z:-1.45 [[ 9.99140652e-01 -4.14207391e-02 1.50984623e-03 3.60969726e+02] [ 4.14205687e-02 9.99141790e-01 1.43982393e-04 3.27539747e+01] [-1.51451433e-03 -8.13199722e-05 9.99998850e-01 -1.44644540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.981400513 meters 0.055245328237102743 Centerline is valid? [True, True] Translation: X:361.03, Y:32.76, Z:-1.45 [[ 9.99163995e-01 -4.08795149e-02 4.19698886e-04 3.61028799e+02] [ 4.08795019e-02 9.99164083e-01 3.96207864e-05 3.27570087e+01] [-4.20967731e-04 -2.24305819e-05 9.99999911e-01 -1.44761978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.041400513 meters 0.06062200977635706 Centerline is valid? [True, True] Translation: X:361.08, Y:32.78, Z:-1.45 [[ 9.99187318e-01 -4.02911472e-02 1.15218057e-03 3.61084820e+02] [ 4.02910470e-02 9.99187980e-01 1.10054040e-04 3.27760624e+01] [-1.15567918e-03 -6.35420393e-05 9.99999330e-01 -1.44688614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.101400513 meters 0.05664323943660678 Centerline is valid? [True, True] Translation: X:361.14, Y:32.78, Z:-1.45 [[ 9.99208485e-01 -3.97743077e-02 6.38115944e-04 3.61143806e+02] [ 3.97742770e-02 9.99208689e-01 6.06442059e-05 3.27799950e+01] [-6.40023076e-04 -3.52156048e-05 9.99999795e-01 -1.44684798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.161400513 meters 0.05555737054485682 Centerline is valid? [True, True] Translation: X:361.20, Y:32.79, Z:-1.45 [[ 9.99241558e-01 -3.89252501e-02 -1.06444524e-03 3.61202558e+02] [ 3.89251632e-02 9.99242123e-01 -1.02157826e-04 3.27871589e+01] [ 1.06761505e-03 6.06466408e-05 9.99999428e-01 -1.44971346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.221400513 meters 0.06122691744404823 Centerline is valid? [True, True] Translation: X:361.26, Y:32.80, Z:-1.45 [[ 9.99292449e-01 -3.76111796e-02 -4.19272888e-06 3.61260287e+02] [ 3.76111796e-02 9.99292449e-01 -5.11681155e-07 3.27998298e+01] [ 4.20900724e-06 3.53625636e-07 1.00000000e+00 -1.44839869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.281400513 meters 0.05945985913374423 Centerline is valid? [True, True] Translation: X:361.32, Y:32.80, Z:-1.45 [[ 9.99377163e-01 -3.52757415e-02 -9.52779034e-04 3.61320183e+02] [ 3.52756703e-02 9.99377616e-01 -9.14222660e-05 3.28024586e+01] [ 9.55411027e-04 5.77554057e-05 9.99999542e-01 -1.44905678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.341400513 meters 0.0646644865789245 Centerline is valid? [True, True] Translation: X:361.38, Y:32.81, Z:-1.45 [[ 9.99486221e-01 -3.20143171e-02 -1.54181399e-03 3.61378696e+02] [ 3.20141270e-02 9.99487406e-01 -1.47885975e-04 3.28137217e+01] [ 1.54575813e-03 9.84501652e-05 9.99998800e-01 -1.45124707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.401400513 meters 0.06409367258928858 Centerline is valid? [True, True] Translation: X:361.44, Y:32.81, Z:-1.45 [[ 9.99529030e-01 -3.06811544e-02 -6.20910804e-04 3.61438417e+02] [ 3.06811233e-02 9.99529222e-01 -5.96423387e-05 3.28140450e+01] [ 6.22448389e-04 4.05640080e-05 9.99999805e-01 -1.44872578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.461400513 meters 0.06545425113228967 Centerline is valid? [True, True] Translation: X:361.50, Y:32.82, Z:-1.45 [[ 9.99536133e-01 -3.03467157e-02 -2.56806643e-03 3.61497630e+02] [ 3.03461801e-02 9.99539418e-01 -2.47293631e-04 3.28155674e+01] [ 2.57438817e-03 1.69247913e-04 9.99996672e-01 -1.45270738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.521400513 meters 0.06885199648707545 Centerline is valid? [True, True] Translation: X:361.56, Y:32.82, Z:-1.45 [[ 9.99561125e-01 -2.95281044e-02 -2.37682289e-03 3.61555779e+02] [ 2.95276439e-02 9.99563938e-01 -2.28594766e-04 3.28217190e+01] [ 2.38253642e-03 1.58312462e-04 9.99997149e-01 -1.45295323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.581400513 meters 0.0809001335577312 Centerline is valid? [True, True] Translation: X:361.61, Y:32.84, Z:-1.45 [[ 9.99703229e-01 -2.43507596e-02 -7.03574057e-04 3.61613642e+02] [ 2.43507180e-02 9.99703475e-01 -6.76819374e-05 3.28402277e+01] [ 7.05013536e-04 5.05293179e-05 9.99999750e-01 -1.45058058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.641400513 meters 0.07375121880484366 Centerline is valid? [True, True] Translation: X:361.67, Y:32.84, Z:-1.45 [[ 9.99783439e-01 -2.07586319e-02 -1.46791245e-03 3.61674823e+02] [ 2.07584470e-02 9.99784510e-01 -1.41125027e-04 3.28358031e+01] [ 1.47052569e-03 1.10622882e-04 9.99998913e-01 -1.45072085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.701400513 meters 0.06753095478521476 Centerline is valid? [True, True] Translation: X:361.74, Y:32.83, Z:-1.45 [[ 9.99750923e-01 -2.21865134e-02 -2.41869342e-03 3.61735840e+02] [ 2.21860152e-02 9.99753833e-01 -2.32603894e-04 3.28309672e+01] [ 2.42325868e-03 1.78884789e-04 9.99997048e-01 -1.45274464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.761400513 meters 0.07091844546768428 Centerline is valid? [True, True] Translation: X:361.79, Y:32.84, Z:-1.45 [[ 9.99652537e-01 -2.63157900e-02 -1.51133068e-03 3.61794222e+02] [ 2.63156001e-02 9.99653674e-01 -1.45428003e-04 3.28392272e+01] [ 1.51463432e-03 1.05605899e-04 9.99998847e-01 -1.45345140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.821400513 meters 0.06456253972784189 Centerline is valid? [True, True] Translation: X:361.86, Y:32.83, Z:-1.45 [[ 9.99590862e-01 -2.85805466e-02 -1.12286148e-03 3.61855702e+02] [ 2.85804432e-02 9.99591490e-01 -1.08005546e-04 3.28339890e+01] [ 1.12548963e-03 7.58694783e-05 9.99999364e-01 -1.45210781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.881400513 meters 0.08116519735116329 Centerline is valid? [True, True] Translation: X:361.91, Y:32.86, Z:-1.45 [[ 9.99751528e-01 -2.22415824e-02 -1.48149559e-03 3.61912984e+02] [ 2.22413954e-02 9.99752619e-01 -1.42588341e-04 3.28588853e+01] [ 1.48430049e-03 1.09602383e-04 9.99998892e-01 -1.45298672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.941400513 meters 0.08972804028275584 Centerline is valid? [True, True] Translation: X:361.97, Y:32.88, Z:-1.45 [[ 9.99898154e-01 -1.42327288e-02 -1.05393958e-03 3.61971508e+02] [ 1.42326297e-02 9.99898706e-01 -1.01414309e-04 3.28775341e+01] [ 1.05527623e-03 8.64036485e-05 9.99999439e-01 -1.45212678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.001400513 meters 0.0886445680181186 Centerline is valid? [True, True] Translation: X:362.03, Y:32.89, Z:-1.45 [[ 9.99993736e-01 -2.70770470e-03 -2.27952443e-03 3.62030767e+02] [ 2.70721171e-03 9.99996311e-01 -2.19326039e-04 3.28885663e+01] [ 2.28010990e-03 2.13153510e-04 9.99997378e-01 -1.45388512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.061400513 meters 0.10412540188971217 Centerline is valid? [True, False] Translation: X:362.03, Y:32.89, Z:-1.45 [[ 9.99993046e-01 -3.09160352e-03 -2.08564768e-03 3.62030350e+02] [ 3.08813138e-03 9.99993844e-01 -1.66595303e-03 3.28947763e+01] [ 2.09078530e-03 1.65950069e-03 9.99996437e-01 -1.45452161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.121400513 meters 0.1061048107758893 Centerline is valid? [False, False] Translation: X:362.03, Y:32.90, Z:-1.45 [[ 9.99997252e-01 1.00866374e-03 -2.11624879e-03 3.62030313e+02] [-1.00440524e-03 9.99997471e-01 2.01238231e-03 3.28977632e+01] [ 2.11827325e-03 -2.01025121e-03 9.99995736e-01 -1.45432193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.181400513 meters 0.09516124286066231 Centerline is valid? [False, True] Translation: X:362.03, Y:32.91, Z:-1.45 [[ 9.99998338e-01 -8.91665964e-05 -1.82088411e-03 3.62029521e+02] [ 8.81607744e-05 9.99999844e-01 -5.52453949e-04 3.29092761e+01] [ 1.82093309e-03 5.52292500e-04 9.99998190e-01 -1.45494108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24140051300003 meters 0.09432557718172797 Centerline is valid? [True, True] Translation: X:362.09, Y:32.92, Z:-1.45 [[ 9.99982410e-01 -5.87679685e-03 -8.01359496e-04 3.62088451e+02] [ 5.87673665e-03 9.99982729e-01 -7.74599649e-05 3.29217325e+01] [ 8.01800872e-04 7.27492237e-05 9.99999676e-01 -1.45334874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30140051300003 meters 0.08281806472044224 Centerline is valid? [True, True] Translation: X:362.15, Y:32.93, Z:-1.45 [[ 9.99869086e-01 -1.61498552e-02 -9.96632053e-04 3.62148795e+02] [ 1.61497672e-02 9.99869579e-01 -9.63381600e-05 3.29255575e+01] [ 9.98057919e-04 8.02301724e-05 9.99999499e-01 -1.45279266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36140051300004 meters 0.07143080745091045 Centerline is valid? [True, True] Translation: X:362.21, Y:32.92, Z:-1.45 [[ 9.99816296e-01 -1.91127930e-02 -1.44052320e-03 3.62209297e+02] [ 1.91126120e-02 9.99817328e-01 -1.39302564e-04 3.29218669e+01] [ 1.44292252e-03 1.11744813e-04 9.99998953e-01 -1.45309626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.421400513 meters 0.07774189259913347 Centerline is valid? [True, True] Translation: X:362.27, Y:32.94, Z:-1.45 [[ 9.99791992e-01 -2.03197316e-02 -1.75534686e-03 3.62266915e+02] [ 2.03194647e-02 9.99793524e-01 -1.69784686e-04 3.29394224e+01] [ 1.75843440e-03 1.34081661e-04 9.99998445e-01 -1.45359443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.481400513 meters 0.08424699294408991 Centerline is valid? [True, True] Translation: X:362.32, Y:32.96, Z:-1.46 [[ 9.99740365e-01 -2.24446781e-02 -3.92916658e-03 3.62324574e+02] [ 2.24433568e-02 9.99748044e-01 -3.80046456e-04 3.29626389e+01] [ 3.93670663e-03 2.91764095e-04 9.99992209e-01 -1.45805358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.541400513 meters 0.08274385843418355 Centerline is valid? [True, True] Translation: X:362.38, Y:32.97, Z:-1.46 [[ 9.99711464e-01 -2.36447497e-02 -4.23254850e-03 3.62384416e+02] [ 2.36432266e-02 9.99720376e-01 -4.09536649e-04 3.29688405e+01] [ 4.24104837e-03 3.09347380e-04 9.99990959e-01 -1.45815431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.601400513 meters 0.07309926881353336 Centerline is valid? [True, True] Translation: X:362.45, Y:32.96, Z:-1.46 [[ 9.99636510e-01 -2.65270708e-02 -4.81271595e-03 3.62445756e+02] [ 2.65251349e-02 9.99648038e-01 -4.65634428e-04 3.29640917e+01] [ 4.82337397e-03 3.37807234e-04 9.99988310e-01 -1.45787925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.661400513 meters 0.07886758432250365 Centerline is valid? [True, True] Translation: X:362.50, Y:32.97, Z:-1.46 [[ 9.99630191e-01 -2.67957922e-02 -4.63317625e-03 3.62502919e+02] [ 2.67939994e-02 9.99640876e-01 -4.48601960e-04 3.29748324e+01] [ 4.64353300e-03 3.24294741e-04 9.99989166e-01 -1.45810217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.721400513 meters 0.07272630527106679 Centerline is valid? [True, True] Translation: X:362.56, Y:32.97, Z:-1.46 [[ 9.99685676e-01 -2.45211088e-02 -5.22145520e-03 3.62563882e+02] [ 2.45188014e-02 9.99699241e-01 -5.05487604e-04 3.29709748e+01] [ 5.23227992e-03 3.77304895e-04 9.99986240e-01 -1.45829696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.781400513 meters 0.08094415858678923 Centerline is valid? [True, True] Translation: X:362.62, Y:32.99, Z:-1.46 [[ 9.99825059e-01 -1.70637564e-02 -7.66030883e-03 3.62622877e+02] [ 1.70585719e-02 9.99854217e-01 -7.41632709e-04 3.29867158e+01] [ 7.67184713e-03 6.10829038e-04 9.99970384e-01 -1.46218948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.841400513 meters 0.08408629725327638 Centerline is valid? [True, True] Translation: X:362.68, Y:33.00, Z:-1.46 [[ 9.99899459e-01 -1.23325863e-02 -6.99850695e-03 3.62682976e+02] [ 1.23281439e-02 9.99923776e-01 -6.77549233e-04 3.29976879e+01] [ 7.00632943e-03 5.91202511e-04 9.99975281e-01 -1.46033677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.901400513 meters 0.08998612202597714 Centerline is valid? [True, True] Translation: X:362.74, Y:33.01, Z:-1.46 [[ 9.99948948e-01 -8.75574911e-03 -5.04361839e-03 3.62740720e+02] [ 8.75339660e-03 9.99961569e-01 -4.88318586e-04 3.30149592e+01] [ 5.04770015e-03 4.44144864e-04 9.99987162e-01 -1.45711261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.961400513 meters 0.09270775060696013 Centerline is valid? [True, True] Translation: X:362.80, Y:33.03, Z:-1.45 [[ 9.99947509e-01 -9.88643202e-03 -2.69022311e-03 3.62798974e+02] [ 9.88576654e-03 9.99951101e-01 -2.60553943e-04 3.30285225e+01] [ 2.69266751e-03 2.33945349e-04 9.99996347e-01 -1.45424658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.021400513 meters 0.08566702316325625 Centerline is valid? [True, True] Translation: X:362.86, Y:33.03, Z:-1.46 [[ 9.99898182e-01 -1.37183805e-02 -3.92831046e-03 3.62858596e+02] [ 1.37169908e-02 9.99905845e-01 -3.80485873e-04 3.30348189e+01] [ 3.93316024e-03 3.26562534e-04 9.99992212e-01 -1.45539920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.081400513 meters 0.08514068602815328 Centerline is valid? [True, True] Translation: X:362.92, Y:33.05, Z:-1.46 [[ 9.99864994e-01 -1.60584459e-02 -3.48134645e-03 3.62918200e+02] [ 1.60573686e-02 9.99871015e-01 -3.37186016e-04 3.30482876e+01] [ 3.48631210e-03 2.81239231e-04 9.99993883e-01 -1.45505343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.141400513 meters 0.08336322942302221 Centerline is valid? [True, True] Translation: X:362.98, Y:33.06, Z:-1.45 [[ 9.99838186e-01 -1.79274195e-02 -1.48658056e-03 3.62977898e+02] [ 1.79272251e-02 9.99839284e-01 -1.43988731e-04 3.30628730e+01] [ 1.48892299e-03 1.17315168e-04 9.99998885e-01 -1.45228528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.201400513 meters 0.0793870593385787 Centerline is valid? [True, True] Translation: X:363.04, Y:33.07, Z:-1.45 [[ 9.99819244e-01 -1.88392362e-02 -2.56174753e-03 3.63035974e+02] [ 1.88386614e-02 9.99822506e-01 -2.48306374e-04 3.30715803e+01] [ 2.56597074e-03 2.00001597e-04 9.99996688e-01 -1.45383860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.261400513 meters 0.0815442185411093 Centerline is valid? [True, True] Translation: X:363.09, Y:33.09, Z:-1.46 [[ 9.99791392e-01 -2.01857443e-02 -3.11593872e-03 3.63093439e+02] [ 2.01849004e-02 9.99796219e-01 -3.02044095e-04 3.30879667e+01] [ 3.12140073e-03 2.39086173e-04 9.99995100e-01 -1.45557115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.321400513 meters 0.07904889573153824 Centerline is valid? [True, True] Translation: X:363.15, Y:33.09, Z:-1.45 [[ 9.99787175e-01 -2.04338980e-02 -2.83905873e-03 3.63151693e+02] [ 2.04331966e-02 9.99791182e-01 -2.75863560e-04 3.30948893e+01] [ 2.84410285e-03 2.17793804e-04 9.99995932e-01 -1.45468980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.381400513 meters 0.0818693346319735 Centerline is valid? [True, True] Translation: X:363.21, Y:33.11, Z:-1.46 [[ 9.99785230e-01 -1.99653267e-02 -5.55697110e-03 3.63208970e+02] [ 1.99626334e-02 9.99800581e-01 -5.39721872e-04 3.31115813e+01] [ 5.56663865e-03 4.28674179e-04 9.99984414e-01 -1.45865990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.441400513 meters 0.0841096504582434 Centerline is valid? [True, True] Translation: X:363.27, Y:33.12, Z:-1.46 [[ 9.99774860e-01 -1.98455421e-02 -7.50891302e-03 3.63267047e+02] [ 1.98406109e-02 9.99802889e-01 -7.30637285e-04 3.31219485e+01] [ 7.52193282e-03 5.81491367e-04 9.99971541e-01 -1.46184211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.501400513 meters 0.08255764781371135 Centerline is valid? [True, True] Translation: X:363.33, Y:33.13, Z:-1.46 [[ 9.99765415e-01 -2.01767087e-02 -7.87498135e-03 3.63325435e+02] [ 2.01712856e-02 9.99796244e-01 -7.67483277e-04 3.31276377e+01] [ 7.88886206e-03 6.08454740e-04 9.99968697e-01 -1.46190288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.561400513 meters 0.08845943301571077 Centerline is valid? [True, True] Translation: X:363.38, Y:33.14, Z:-1.46 [[ 9.99732099e-01 -2.13758991e-02 -8.87701352e-03 3.63382947e+02] [ 2.13690548e-02 9.99771281e-01 -8.65162035e-04 3.31428397e+01] [ 8.89347679e-03 6.75236870e-04 9.99960224e-01 -1.46440882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.621400513 meters 0.07594466736872237 Centerline is valid? [True, True] Translation: X:363.44, Y:33.14, Z:-1.46 [[ 9.99712952e-01 -2.33746694e-02 -5.25726330e-03 3.63443869e+02] [ 2.33722964e-02 9.99726699e-01 -5.12372400e-04 3.31375264e+01] [ 5.26780302e-03 3.89351009e-04 9.99986049e-01 -1.45791625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.681400513 meters 0.0834852996732768 Centerline is valid? [True, True] Translation: X:363.50, Y:33.15, Z:-1.45 [[ 9.99663629e-01 -2.58143240e-02 -2.49976996e-03 3.63502475e+02] [ 2.58137951e-02 9.99666739e-01 -2.43630559e-04 3.31539875e+01] [ 2.50522604e-03 1.79020060e-04 9.99996846e-01 -1.45459175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74140051300003 meters 0.0752319348802682 Centerline is valid? [True, True] Translation: X:363.56, Y:33.15, Z:-1.46 [[ 9.99598581e-01 -2.79495966e-02 -4.63645609e-03 3.63562640e+02] [ 2.79477992e-02 9.99609282e-01 -4.52007744e-04 3.31507268e+01] [ 4.64727797e-03 3.22247556e-04 9.99989149e-01 -1.45726305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80140051300003 meters 0.0715137091175705 Centerline is valid? [True, True] Translation: X:363.62, Y:33.16, Z:-1.46 [[ 9.99483046e-01 -3.16230886e-02 -5.79844344e-03 3.63622033e+02] [ 3.16203385e-02 9.99499792e-01 -5.65378281e-04 3.31586020e+01] [ 5.81342202e-03 3.81737262e-04 9.99983029e-01 -1.45881759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86140051300004 meters 0.06557667122495793 Centerline is valid? [True, True] Translation: X:363.68, Y:33.16, Z:-1.46 [[ 9.99381469e-01 -3.48490531e-02 -4.71405824e-03 3.63682570e+02] [ 3.48472712e-02 9.99392544e-01 -4.59634802e-04 3.31590697e+01] [ 4.72721249e-03 2.95078438e-04 9.99988783e-01 -1.45584521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.921400513 meters 0.06683601995512145 Centerline is valid? [True, True] Translation: X:363.74, Y:33.17, Z:-1.45 [[ 9.99238609e-01 -3.88934053e-02 -3.08291222e-03 3.63740800e+02] [ 3.88926619e-02 9.99243349e-01 -3.00728995e-04 3.31677766e+01] [ 3.09227591e-03 1.80597360e-04 9.99995203e-01 -1.45397712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.981400513 meters 0.05228629755471694 Centerline is valid? [True, True] Translation: X:363.80, Y:33.15, Z:-1.45 [[ 9.98985434e-01 -4.50179234e-02 -1.21995984e-03 3.63802569e+02] [ 4.50178116e-02 9.98986177e-01 -1.18990992e-04 3.31542777e+01] [ 1.22407974e-03 6.39503455e-05 9.99999249e-01 -1.45125353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.041400513 meters 0.05167005077219052 Centerline is valid? [True, True] Translation: X:363.86, Y:33.16, Z:-1.45 [[ 9.98822997e-01 -4.84658460e-02 -1.91921869e-03 3.63862376e+02] [ 4.84655755e-02 9.98824836e-01 -1.87238338e-04 3.31550623e+01] [ 1.92603796e-03 9.40019196e-05 9.99998141e-01 -1.45235692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.101400513 meters 0.05067689019721196 Centerline is valid? [True, True] Translation: X:363.92, Y:33.15, Z:-1.46 [[ 9.98810315e-01 -4.85053819e-02 -5.01820255e-03 3.63921132e+02] [ 4.85035278e-02 9.98822891e-01 -4.90584112e-04 3.31544403e+01] [ 5.03609154e-03 2.46599944e-04 9.99987288e-01 -1.45655833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.161400513 meters 0.0523823262516103 Centerline is valid? [True, True] Translation: X:363.98, Y:33.16, Z:-1.45 [[ 9.99004446e-01 -4.44254232e-02 -4.06187370e-03 3.63981387e+02] [ 4.44241755e-02 9.99012680e-01 -3.96908941e-04 3.31567711e+01] [ 4.07549618e-03 2.16068406e-04 9.99991672e-01 -1.45335754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.221400513 meters 0.06521572095017084 Centerline is valid? [True, True] Translation: X:364.04, Y:33.17, Z:-1.45 [[ 9.99299148e-01 -3.73476495e-02 -2.52323410e-03 3.64040229e+02] [ 3.73471455e-02 9.99302322e-01 -2.46560162e-04 3.31701077e+01] [ 2.53068214e-03 1.52151768e-04 9.99996786e-01 -1.45201475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.281400513 meters 0.07613222382887222 Centerline is valid? [True, True] Translation: X:364.10, Y:33.18, Z:-1.45 [[ 9.99462753e-01 -3.26304249e-02 -3.07574381e-03 3.64098048e+02] [ 3.26296535e-02 9.99467466e-01 -3.00644497e-04 3.31839614e+01] [ 3.08391603e-03 2.00122522e-04 9.99995225e-01 -1.45393815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.341400513 meters 0.07007414844793308 Centerline is valid? [True, True] Translation: X:364.16, Y:33.18, Z:-1.45 [[ 9.99531723e-01 -3.04280450e-02 -3.23559284e-03 3.64158908e+02] [ 3.04271798e-02 9.99536936e-01 -3.16289701e-04 3.31812547e+01] [ 3.24371863e-03 2.17691625e-04 9.99994715e-01 -1.45365932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.401400513 meters 0.07371252379861881 Centerline is valid? [True, True] Translation: X:364.22, Y:33.19, Z:-1.45 [[ 9.99690662e-01 -2.45159023e-02 -4.18929879e-03 3.64218970e+02] [ 2.45144003e-02 9.99699393e-01 -4.09522455e-04 3.31851856e+01] [ 4.19807927e-03 3.06697627e-04 9.99991141e-01 -1.45405566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.461400513 meters 0.07837877161460537 Centerline is valid? [True, True] Translation: X:364.28, Y:33.19, Z:-1.46 [[ 9.99765095e-01 -2.09569164e-02 -5.52834931e-03 3.64277679e+02] [ 2.09542467e-02 9.99780290e-01 -5.40405903e-04 3.31906644e+01] [ 5.53845991e-03 4.24436564e-04 9.99984573e-01 -1.45547962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.521400513 meters 0.08679136154976778 Centerline is valid? [True, True] Translation: X:364.34, Y:33.20, Z:-1.45 [[ 9.99882745e-01 -1.49667013e-02 -3.23932670e-03 3.64335936e+02] [ 1.49657534e-02 9.99887957e-01 -3.16661178e-04 3.32011857e+01] [ 3.24370313e-03 2.68145083e-04 9.99994703e-01 -1.45364073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.581400513 meters 0.08841132910683909 Centerline is valid? [True, True] Translation: X:364.40, Y:33.21, Z:-1.45 [[ 9.99942178e-01 -1.02424966e-02 -3.27591472e-03 3.64396377e+02] [ 1.02415020e-02 9.99947503e-01 -3.20256576e-04 3.32075619e+01] [ 3.27902297e-03 2.86687771e-04 9.99994583e-01 -1.45344887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.641400513 meters 0.09646119601183593 Centerline is valid? [True, True] Translation: X:364.45, Y:33.22, Z:-1.46 [[ 9.99966343e-01 -5.97105096e-03 -5.62675419e-03 3.64454780e+02] [ 5.96804911e-03 9.99982040e-01 -5.50136173e-04 3.32248842e+01] [ 5.62993802e-03 5.16536912e-04 9.99984018e-01 -1.45701096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.701400513 meters 0.09049744816220888 Centerline is valid? [True, True] Translation: X:364.52, Y:33.23, Z:-1.46 [[ 9.99947075e-01 -3.81874270e-03 -9.55320157e-03 3.64515577e+02] [ 3.80999230e-03 9.99992306e-01 -9.33996955e-04 3.32258345e+01] [ 9.55669476e-03 8.97549900e-04 9.99953931e-01 -1.46310926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.761400513 meters 0.10614454002372488 Centerline is valid? [True, False] Translation: X:364.52, Y:33.23, Z:-1.46 [[ 9.99946776e-01 -4.00713640e-03 -9.50728996e-03 3.64515357e+02] [ 3.99398828e-03 9.99991042e-01 -1.40153547e-03 3.32279789e+01] [ 9.51282094e-03 1.36348887e-03 9.99953823e-01 -1.46301318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.821400513 meters 0.09485411281620043 Centerline is valid? [False, True] Translation: X:364.52, Y:33.23, Z:-1.46 [[ 9.99945682e-01 -3.90631116e-03 -9.66299538e-03 3.64515107e+02] [ 3.89511650e-03 9.99991721e-01 -1.17705708e-03 3.32273196e+01] [ 9.66751333e-03 1.13935465e-03 9.99952619e-01 -1.46107074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.881400513 meters 0.07987709089333304 Centerline is valid? [True, True] Translation: X:364.58, Y:33.21, Z:-1.46 [[ 9.99902774e-01 -1.07073953e-02 -8.93272582e-03 3.64577450e+02] [ 1.07008157e-02 9.99942437e-01 -7.84052212e-04 3.32135914e+01] [ 8.94060678e-03 6.88388530e-04 9.99959795e-01 -1.45929174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.941400513 meters 0.06990359059638315 Centerline is valid? [True, True] Translation: X:364.64, Y:33.21, Z:-1.46 [[ 9.99759958e-01 -1.95700029e-02 -9.85100319e-03 3.64638536e+02] [ 1.95624279e-02 9.99808263e-01 -8.64729280e-04 3.32052346e+01] [ 9.86603715e-03 6.71812168e-04 9.99951104e-01 -1.46066085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.001400513 meters 0.06578184322383561 Centerline is valid? [True, True] Translation: X:364.70, Y:33.20, Z:-1.46 [[ 9.99625157e-01 -2.56222516e-02 -9.64600973e-03 3.64698684e+02] [ 2.56152681e-02 9.99671516e-01 -8.46854213e-04 3.32024614e+01] [ 9.66453948e-03 5.99451651e-04 9.99953118e-01 -1.45907872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.061400513 meters 0.060416143933747155 Centerline is valid? [True, True] Translation: X:364.76, Y:33.20, Z:-1.46 [[ 9.99458829e-01 -3.16484755e-02 -8.96784438e-03 3.64759574e+02] [ 3.16426806e-02 9.99498935e-01 -7.87371218e-04 3.31974744e+01] [ 8.98827000e-03 5.03178481e-04 9.99959478e-01 -1.45707107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.121400513 meters 0.05927550055910194 Centerline is valid? [True, True] Translation: X:364.82, Y:33.20, Z:-1.46 [[ 9.99433246e-01 -3.24823962e-02 -8.83636729e-03 3.64818391e+02] [ 3.24767944e-02 9.99472188e-01 -7.76741879e-04 3.31984921e+01] [ 8.85693379e-03 4.89324774e-04 9.99960657e-01 -1.45679142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.181400513 meters 0.057180761971420434 Centerline is valid? [True, True] Translation: X:364.88, Y:33.19, Z:-1.45 [[ 9.99503850e-01 -3.07384505e-02 -6.87033164e-03 3.64878229e+02] [ 3.07350195e-02 9.99527385e-01 -6.04437808e-04 3.31941282e+01] [ 6.88566410e-03 3.92978139e-04 9.99976216e-01 -1.45302118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24140051300003 meters 0.05823697662524056 Centerline is valid? [True, True] Translation: X:364.94, Y:33.20, Z:-1.45 [[ 9.99569361e-01 -2.83821158e-02 -7.45307838e-03 3.64938596e+02] [ 2.83780115e-02 9.99597048e-01 -6.55876305e-04 3.31966832e+01] [ 7.46869030e-03 4.44090315e-04 9.99972010e-01 -1.45302390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30140051300003 meters 0.06862932303264462 Centerline is valid? [True, True] Translation: X:365.00, Y:33.21, Z:-1.45 [[ 9.99752619e-01 -2.04376257e-02 -8.77519784e-03 3.64996985e+02] [ 2.04316309e-02 9.99790954e-01 -7.72259738e-04 3.32109743e+01] [ 8.78914658e-03 5.92777092e-04 9.99961199e-01 -1.45433252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36140051300004 meters 0.07658273350078679 Centerline is valid? [True, True] Translation: X:365.06, Y:33.23, Z:-1.45 [[ 9.99863581e-01 -1.44951009e-02 -7.91902367e-03 3.65055098e+02] [ 1.44900340e-02 9.99894771e-01 -6.96846786e-04 3.32251733e+01] [ 7.92829122e-03 5.82004801e-04 9.99968401e-01 -1.45251093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.421400513 meters 0.07814273549466294 Centerline is valid? [True, True] Translation: X:365.11, Y:33.24, Z:-1.45 [[ 9.99921173e-01 -9.47581163e-03 -8.23756530e-03 3.65114537e+02] [ 9.47015979e-03 9.99954894e-01 -7.24842444e-04 3.32351005e+01] [ 8.24406221e-03 6.46774246e-04 9.99965808e-01 -1.45293676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.481400513 meters 0.08450282701218803 Centerline is valid? [True, True] Translation: X:365.17, Y:33.25, Z:-1.45 [[ 9.99944329e-01 -4.27195797e-03 -9.64828052e-03 3.65172363e+02] [ 4.26396421e-03 9.99990549e-01 -8.48935034e-04 3.32530758e+01] [ 9.65181595e-03 8.07747850e-04 9.99953094e-01 -1.45443045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.541400513 meters 0.09641187444878505 Centerline is valid? [True, True] Translation: X:365.23, Y:33.28, Z:-1.46 [[ 9.99948930e-01 -2.56989257e-03 -9.77410894e-03 3.65229643e+02] [ 2.56160699e-03 9.99996349e-01 -8.60131788e-04 3.32797984e+01] [ 9.77628370e-03 8.35050435e-04 9.99951862e-01 -1.45528933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.601400513 meters 0.0893987728451091 Centerline is valid? [True, True] Translation: X:365.29, Y:33.29, Z:-1.45 [[ 9.99966613e-01 -2.21999999e-03 -7.86409728e-03 3.65288052e+02] [ 2.21461939e-03 9.99997308e-01 -6.92840488e-04 3.32883683e+01] [ 7.86561421e-03 6.75401374e-04 9.99968837e-01 -1.45157821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.661400513 meters 0.08706368973646048 Centerline is valid? [True, True] Translation: X:365.35, Y:33.30, Z:-1.45 [[ 9.99964628e-01 -2.86284389e-03 -7.90863017e-03 3.65346579e+02] [ 2.85741658e-03 9.99995674e-01 -6.97465892e-04 3.32979232e+01] [ 7.91059270e-03 6.74842971e-04 9.99968483e-01 -1.45102446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.721400513 meters 0.09047683994303689 Centerline is valid? [True, True] Translation: X:365.40, Y:33.31, Z:-1.45 [[ 9.99950431e-01 -5.85301011e-03 -8.05467359e-03 3.65404945e+02] [ 5.84747494e-03 9.99982651e-01 -7.10578727e-04 3.33135262e+01] [ 8.05869287e-03 6.63444002e-04 9.99967308e-01 -1.45178062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.781400513 meters 0.08294519534735909 Centerline is valid? [True, True] Translation: X:365.47, Y:33.32, Z:-1.45 [[ 9.99918160e-01 -1.06974422e-02 -7.01694514e-03 3.65465814e+02] [ 1.06933598e-02 9.99942633e-01 -6.19047580e-04 3.33169665e+01] [ 7.02316482e-03 5.43962198e-04 9.99975189e-01 -1.44961889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.841400513 meters 0.07380320433917514 Centerline is valid? [True, True] Translation: X:365.53, Y:33.31, Z:-1.45 [[ 9.99786243e-01 -1.94973247e-02 -6.87908287e-03 3.65525583e+02] [ 1.95326915e-02 9.99796150e-01 5.11203942e-03 3.33063255e+01] [ 6.77800948e-03 -5.24531369e-03 9.99963272e-01 -1.45195196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.901400513 meters 0.07198737403856356 Centerline is valid? [True, True] Translation: X:365.59, Y:33.32, Z:-1.45 [[ 9.99632378e-01 -2.63515523e-02 -6.38002827e-03 3.65586467e+02] [ 2.63114294e-02 9.99633985e-01 -6.29316096e-03 3.33162616e+01] [ 6.54352765e-03 6.12297979e-03 9.99959845e-01 -1.45079844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.961400513 meters 0.06424118374631345 Centerline is valid? [True, True] Translation: X:365.65, Y:33.30, Z:-1.45 [[ 9.99545556e-01 -2.97108576e-02 -5.09384708e-03 3.65647922e+02] [ 2.97089497e-02 9.99558491e-01 -4.49814132e-04 3.33038856e+01] [ 5.10496246e-03 2.98276870e-04 9.99986925e-01 -1.44605119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.021400513 meters 0.07296633922208852 Centerline is valid? [True, True] Translation: X:365.71, Y:33.31, Z:-1.45 [[ 9.99646714e-01 -2.58938606e-02 -5.99620385e-03 3.65707293e+02] [ 2.58911483e-02 9.99664628e-01 -5.29526139e-04 3.33101506e+01] [ 6.00790437e-03 3.74090461e-04 9.99981882e-01 -1.44811982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.081400513 meters 0.07422188476990262 Centerline is valid? [True, True] Translation: X:365.77, Y:33.31, Z:-1.45 [[ 9.99817883e-01 -1.78144231e-02 -6.84454827e-03 3.65768155e+02] [ 1.78107002e-02 9.99841194e-01 -6.04494928e-04 3.33133704e+01] [ 6.85423005e-03 4.82478642e-04 9.99976393e-01 -1.44917171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.141400513 meters 0.09588759145589748 Centerline is valid? [True, True] Translation: X:365.83, Y:33.34, Z:-1.45 [[ 9.99951528e-01 -1.41906804e-03 -9.74311149e-03 3.65825538e+02] [ 1.41075014e-03 9.99998635e-01 -8.60540434e-04 3.33438357e+01] [ 9.74431935e-03 8.46753626e-04 9.99952164e-01 -1.45313857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.201400513 meters 0.09399068755206968 Centerline is valid? [True, True] Translation: X:365.89, Y:33.35, Z:-1.45 [[ 9.99939055e-01 3.63401589e-03 -1.04250282e-02 3.65885804e+02] [-3.64381229e-03 9.99992937e-01 -9.20860001e-04 3.33478262e+01] [ 1.04216081e-02 9.58790724e-04 9.99945234e-01 -1.45349889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.261400513 meters 0.09108768903509845 Centerline is valid? [True, True] Translation: X:365.95, Y:33.35, Z:-1.45 [[ 9.99893653e-01 1.07303046e-02 -9.87636080e-03 3.65945728e+02] [-1.07394406e-02 9.99941950e-01 -8.72462390e-04 3.33508756e+01] [ 9.86642569e-03 9.78436197e-04 9.99950847e-01 -1.45342860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.321400513 meters 0.10773294618080002 Centerline is valid? [True, False] Translation: X:365.97, Y:33.35, Z:-1.45 [[ 9.99895907e-01 1.05698388e-02 -9.82110759e-03 3.65966072e+02] [-1.04788670e-02 9.99902138e-01 9.26862806e-03 3.33463864e+01] [ 9.91811438e-03 -9.16474918e-03 9.99908815e-01 -1.45098967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.381400513 meters 0.0967234832483331 Centerline is valid? [False, True] Translation: X:365.97, Y:33.36, Z:-1.45 [[ 9.99939858e-01 5.31035934e-03 -9.59582179e-03 3.65965718e+02] [-5.28816004e-03 9.99983286e-01 2.33732736e-03 3.33575690e+01] [ 9.60807345e-03 -2.28644255e-03 9.99951227e-01 -1.45229693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.441400513 meters 0.09895517642617213 Centerline is valid? [True, True] Translation: X:366.02, Y:33.38, Z:-1.45 [[ 9.99970542e-01 1.61471935e-03 -7.50389062e-03 3.66023976e+02] [-1.61999783e-03 9.99998445e-01 -6.97406686e-04 3.33765249e+01] [ 7.50275283e-03 7.09542428e-04 9.99971602e-01 -1.44972211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.501400513 meters 0.09015319576564727 Centerline is valid? [True, True] Translation: X:366.08, Y:33.38, Z:-1.45 [[ 9.99969712e-01 4.68966790e-04 -7.76881364e-03 3.66083684e+02] [-4.74591509e-04 9.99999627e-01 -7.22184978e-04 3.33773319e+01] [ 7.76847205e-03 7.25850118e-04 9.99969562e-01 -1.44830779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.561400513 meters 0.09186413895201961 Centerline is valid? [True, True] Translation: X:366.14, Y:33.40, Z:-1.45 [[ 9.99951565e-01 -1.89310663e-03 -9.65837737e-03 3.66141333e+02] [ 1.88452053e-03 9.99997821e-01 -8.98003061e-04 3.33965215e+01] [ 9.66005634e-03 8.79758156e-04 9.99952954e-01 -1.45065955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.621400513 meters 0.0943789839102296 Centerline is valid? [True, True] Translation: X:366.20, Y:33.41, Z:-1.45 [[ 9.99948326e-01 -5.09120196e-03 -8.79919220e-03 3.66199747e+02] [ 5.08419753e-03 9.99986741e-01 -8.18216816e-04 3.34129133e+01] [ 8.80324123e-03 7.73437704e-04 9.99960952e-01 -1.44951979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.681400513 meters 0.09219389538646101 Centerline is valid? [True, True] Translation: X:366.26, Y:33.43, Z:-1.44 [[ 9.99906767e-01 -1.22122454e-02 -6.10890305e-03 3.66258101e+02] [ 1.22090011e-02 9.99925306e-01 -5.68085315e-04 3.34284722e+01] [ 6.11538435e-03 4.93448746e-04 9.99981179e-01 -1.44407345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74140051300003 meters 0.08475631810406825 Centerline is valid? [True, True] Translation: X:366.32, Y:33.43, Z:-1.44 [[ 9.99830155e-01 -1.73965575e-02 -6.08447085e-03 3.66318688e+02] [ 1.73934346e-02 9.99848563e-01 -5.65793787e-04 3.34332501e+01] [ 6.09339230e-03 4.59867844e-04 9.99981329e-01 -1.44421878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80140051300003 meters 0.07152667014535391 Centerline is valid? [True, True] Translation: X:366.38, Y:33.43, Z:-1.44 [[ 9.99755483e-01 -2.11122545e-02 -6.57624416e-03 3.66379530e+02] [ 2.11086863e-02 9.99777000e-01 -6.11535671e-04 3.34289573e+01] [ 6.58768856e-03 4.72570265e-04 9.99978189e-01 -1.44388922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86140051300004 meters 0.06957755436950062 Centerline is valid? [True, True] Translation: X:366.44, Y:33.44, Z:-1.44 [[ 9.99648288e-01 -2.55061146e-02 -7.26205774e-03 3.66437599e+02] [ 2.55018778e-02 9.99674546e-01 -6.75440613e-04 3.34409573e+01] [ 7.27692214e-03 4.90006944e-04 9.99973403e-01 -1.44411918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.921400513 meters 0.07236608121817904 Centerline is valid? [True, True] Translation: X:366.50, Y:33.45, Z:-1.44 [[ 9.99594493e-01 -2.78950633e-02 -5.71973719e-03 3.66495644e+02] [ 2.78924734e-02 9.99610788e-01 -5.32080328e-04 3.34547382e+01] [ 5.73235342e-03 3.72326948e-04 9.99983501e-01 -1.44336031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.981400513 meters 0.060453027004078175 Centerline is valid? [True, True] Translation: X:366.56, Y:33.45, Z:-1.45 [[ 9.99515528e-01 -3.01774662e-02 -7.61778572e-03 3.66555886e+02] [ 3.01729370e-02 9.99544442e-01 -7.08817241e-04 3.34496185e+01] [ 7.63570569e-03 4.78622871e-04 9.99970733e-01 -1.44597029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.041400513 meters 0.059308909151089446 Centerline is valid? [True, True] Translation: X:366.61, Y:33.45, Z:-1.45 [[ 9.99479090e-01 -3.11401772e-02 -8.47575014e-03 3.66614483e+02] [ 3.11345956e-02 9.99514889e-01 -7.89732342e-04 3.34545501e+01] [ 8.49623087e-03 5.25431909e-04 9.99963768e-01 -1.44705511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.101400513 meters 0.06937381796602678 Centerline is valid? [True, True] Translation: X:366.67, Y:33.47, Z:-1.45 [[ 9.99508510e-01 -3.00666532e-02 -8.87329605e-03 3.66671965e+02] [ 3.00604866e-02 9.99547739e-01 -8.27539658e-04 3.34694315e+01] [ 8.89416435e-03 5.60397333e-04 9.99960289e-01 -1.44718477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.161400513 meters 0.0691162020914644 Centerline is valid? [True, True] Translation: X:366.73, Y:33.47, Z:-1.45 [[ 9.99538990e-01 -2.90636183e-02 -8.78142350e-03 3.66731776e+02] [ 2.90575378e-02 9.99577405e-01 -8.19240777e-04 3.34729915e+01] [ 8.80152261e-03 5.63696553e-04 9.99961107e-01 -1.44718026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.221400513 meters 0.07715614119330881 Centerline is valid? [True, True] Translation: X:366.79, Y:33.48, Z:-1.44 [[ 9.99605261e-01 -2.72630036e-02 -6.78606385e-03 3.66790446e+02] [ 2.72593303e-02 9.99628195e-01 -6.33229499e-04 3.34824036e+01] [ 6.80080450e-03 4.47995983e-04 9.99976774e-01 -1.44411808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.281400513 meters 0.07157418251886885 Centerline is valid? [True, True] Translation: X:366.85, Y:33.48, Z:-1.45 [[ 9.99631838e-01 -2.57754370e-02 -8.47436854e-03 3.66850786e+02] [ 2.57696540e-02 9.99667594e-01 -7.90908407e-04 3.34793181e+01] [ 8.49193763e-03 5.72235679e-04 9.99963779e-01 -1.44556004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.341400513 meters 0.072388427528403 Centerline is valid? [True, True] Translation: X:366.91, Y:33.48, Z:-1.45 [[ 9.99748425e-01 -1.92350051e-02 -1.15369833e-02 3.66910987e+02] [ 1.92238517e-02 9.99814625e-01 -1.07687600e-03 3.34845800e+01] [ 1.15555584e-02 8.54819823e-04 9.99932867e-01 -1.44973864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.401400513 meters 0.085630638718219 Centerline is valid? [True, True] Translation: X:366.97, Y:33.51, Z:-1.45 [[ 9.99839014e-01 -1.47314152e-02 -1.02436102e-02 3.66968875e+02] [ 1.47223873e-02 9.99891163e-01 -9.56176168e-04 3.35058383e+01] [ 1.02565811e-02 8.05211842e-04 9.99947076e-01 -1.44784677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.461400513 meters 0.0893238550336259 Centerline is valid? [True, True] Translation: X:367.03, Y:33.52, Z:-1.44 [[ 9.99897482e-01 -1.13515443e-02 -8.72736741e-03 3.67028622e+02] [ 1.13448634e-02 9.99935313e-01 -8.14638210e-04 3.35152730e+01] [ 8.73605026e-03 7.15543904e-04 9.99961584e-01 -1.44494927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.521400513 meters 0.08695566382659571 Centerline is valid? [True, True] Translation: X:367.09, Y:33.52, Z:-1.44 [[ 9.99934538e-01 -8.53349651e-03 -7.62229754e-03 3.67089043e+02] [ 8.52831916e-03 9.99963380e-01 -7.11482948e-04 3.35186205e+01] [ 7.62808985e-03 6.46430987e-04 9.99970697e-01 -1.44350265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.581400513 meters 0.09087356053176376 Centerline is valid? [True, True] Translation: X:367.15, Y:33.53, Z:-1.44 [[ 9.99932320e-01 -8.79567893e-03 -7.61515651e-03 3.67146439e+02] [ 8.79051662e-03 9.99961110e-01 -7.11105151e-04 3.35294763e+01] [ 7.62111500e-03 6.44115863e-04 9.99970751e-01 -1.44348190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.641400513 meters 0.08692863157324096 Centerline is valid? [True, True] Translation: X:367.21, Y:33.53, Z:-1.44 [[ 9.99920868e-01 -1.06535224e-02 -6.69037708e-03 3.67206463e+02] [ 1.06495782e-02 9.99943096e-01 -6.24880295e-04 3.35317465e+01] [ 6.69665355e-03 5.53581153e-04 9.99977424e-01 -1.44234540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.701400513 meters 0.08680071303886927 Centerline is valid? [True, True] Translation: X:367.27, Y:33.54, Z:-1.44 [[ 9.99898915e-01 -1.24086928e-02 -6.94149329e-03 3.67266127e+02] [ 1.24044886e-02 9.99922851e-01 -6.48388594e-04 3.35384385e+01] [ 6.94900342e-03 5.62217377e-04 9.99975697e-01 -1.44352350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.761400513 meters 0.08616206549267436 Centerline is valid? [True, True] Translation: X:367.32, Y:33.55, Z:-1.45 [[ 9.99881951e-01 -1.23294859e-02 -9.16888730e-03 3.67324298e+02] [ 1.23221373e-02 9.99923712e-01 -8.57535457e-04 3.35487436e+01] [ 9.17876079e-03 7.44453937e-04 9.99957597e-01 -1.44646110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.821400513 meters 0.08482547085131688 Centerline is valid? [True, True] Translation: X:367.38, Y:33.56, Z:-1.44 [[ 9.99929403e-01 -8.82015293e-03 -7.96201082e-03 3.67383825e+02] [ 8.81449801e-03 9.99960874e-01 -7.45051034e-04 3.35582248e+01] [ 7.96827077e-03 6.74817308e-04 9.99968025e-01 -1.44450245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.881400513 meters 0.10186481845874804 Centerline is valid? [True, False] Translation: X:367.41, Y:33.57, Z:-1.45 [[ 9.99998341e-01 -8.30314759e-04 -1.62147841e-03 3.67405060e+02] [ 8.24968311e-04 9.99994231e-01 -3.29515743e-03 3.35692277e+01] [ 1.62420507e-03 3.29381429e-03 9.99993256e-01 -1.45119121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.941400513 meters 0.10633154261873456 Centerline is valid? [False, False] Translation: X:367.40, Y:33.57, Z:-1.45 [[ 9.99999262e-01 1.09620147e-03 -5.23962636e-04 3.67398236e+02] [-1.09724072e-03 9.99997423e-01 -1.98729835e-03 3.35749859e+01] [ 5.21782807e-04 1.98787179e-03 9.99997888e-01 -1.44633056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.001400513 meters 0.09872109894630342 Centerline is valid? [False, True] Translation: X:367.42, Y:33.58, Z:-1.44 [[ 9.99986361e-01 5.93257035e-04 -5.18910763e-03 3.67416361e+02] [-5.77048753e-04 9.99994952e-01 3.12445965e-03 3.35800804e+01] [ 5.19093504e-03 -3.12142267e-03 9.99981655e-01 -1.44011236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.061400513 meters 0.08778044535217856 Centerline is valid? [True, True] Translation: X:367.48, Y:33.58, Z:-1.44 [[ 9.99977981e-01 -2.58736038e-03 -6.11085931e-03 3.67477098e+02] [ 2.58407638e-03 9.99996513e-01 -5.45238642e-04 3.35811146e+01] [ 6.11224872e-03 5.29435710e-04 9.99981180e-01 -1.44117040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.121400513 meters 0.08181187532503524 Centerline is valid? [True, True] Translation: X:367.54, Y:33.59, Z:-1.44 [[ 9.99948542e-01 -7.81488677e-03 -6.46839550e-03 3.67538040e+02] [ 7.81131591e-03 9.99969325e-01 -5.77127368e-04 3.35854125e+01] [ 6.47270726e-03 5.26570990e-04 9.99978913e-01 -1.44154925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.181400513 meters 0.07805263714033402 Centerline is valid? [True, True] Translation: X:367.60, Y:33.59, Z:-1.44 [[ 9.99895286e-01 -1.28572400e-02 -6.64146988e-03 3.67598510e+02] [ 1.28535859e-02 9.99917214e-01 -5.92588036e-04 3.35896299e+01] [ 6.64853910e-03 5.07159280e-04 9.99977770e-01 -1.44196575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24140051300003 meters 0.0727995809072477 Centerline is valid? [True, True] Translation: X:367.66, Y:33.59, Z:-1.44 [[ 9.99852301e-01 -1.60930035e-02 -6.03254043e-03 3.67658603e+02] [ 1.60900467e-02 9.99870402e-01 -5.38366640e-04 3.35906921e+01] [ 6.04042256e-03 4.41223266e-04 9.99981659e-01 -1.43930647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30140051300003 meters 0.07852280021960953 Centerline is valid? [True, True] Translation: X:367.71, Y:33.61, Z:-1.44 [[ 9.99844989e-01 -1.67269492e-02 -5.49608242e-03 3.67714992e+02] [ 1.67245026e-02 9.99860015e-01 -4.90809288e-04 3.36064774e+01] [ 5.50352279e-03 3.98813962e-04 9.99984776e-01 -1.43906574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36140051300004 meters 0.07283327002180108 Centerline is valid? [True, True] Translation: X:367.77, Y:33.61, Z:-1.44 [[ 9.99854962e-01 -1.58718362e-02 -6.17576739e-03 3.67774438e+02] [ 1.58687295e-02 9.99873932e-01 -5.51725021e-04 3.36057419e+01] [ 6.18374571e-03 4.53643417e-04 9.99980778e-01 -1.44028361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.421400513 meters 0.0755674598336849 Centerline is valid? [True, True] Translation: X:367.83, Y:33.62, Z:-1.43 [[ 9.99866093e-01 -1.62246190e-02 -2.13469323e-03 3.67831978e+02] [ 1.62242484e-02 9.99868360e-01 -1.90830946e-04 3.36153983e+01] [ 2.13750838e-03 1.56171600e-04 9.99997703e-01 -1.43367384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.481400513 meters 0.08100048955227583 Centerline is valid? [True, True] Translation: X:367.89, Y:33.63, Z:-1.43 [[ 9.99868763e-01 -1.61919987e-02 -5.24497244e-04 3.67889832e+02] [ 1.61919763e-02 9.99868900e-01 -4.69050427e-05 3.36279431e+01] [ 5.25187969e-04 3.84062401e-05 9.99999861e-01 -1.43176706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.541400513 meters 0.07378926017021412 Centerline is valid? [True, True] Translation: X:367.95, Y:33.62, Z:-1.43 [[ 9.99866260e-01 -1.62888383e-02 -1.46164729e-03 3.67950543e+02] [ 1.62886645e-02 9.99867322e-01 -1.30715043e-04 3.36233604e+01] [ 1.46358256e-03 1.06889279e-04 9.99998923e-01 -1.43335989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.601400513 meters 0.08118953323853083 Centerline is valid? [True, True] Translation: X:368.01, Y:33.64, Z:-1.43 [[ 9.99864129e-01 -1.64401458e-02 -1.20231927e-03 3.68007813e+02] [ 1.64400282e-02 9.99864848e-01 -1.07571053e-04 3.36385795e+01] [ 1.20392525e-03 8.77902749e-05 9.99999271e-01 -1.43332575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.661400513 meters 0.08059041253539113 Centerline is valid? [True, True] Translation: X:368.07, Y:33.64, Z:-1.44 [[ 9.99863678e-01 -1.60671419e-02 -3.80419054e-03 3.68067659e+02] [ 1.60659623e-02 9.99870876e-01 -3.40447399e-04 3.36430190e+01] [ 3.80916935e-03 2.79283006e-04 9.99992706e-01 -1.43786646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.721400513 meters 0.08233423240886283 Centerline is valid? [True, True] Translation: X:368.13, Y:33.65, Z:-1.44 [[ 9.99861918e-01 -1.58794108e-02 -4.89792874e-03 3.68125597e+02] [ 1.58774518e-02 9.99873849e-01 -4.38601358e-04 3.36498958e+01] [ 4.90427559e-03 3.60774168e-04 9.99987909e-01 -1.43963055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.781400513 meters 0.06767865558228155 Centerline is valid? [True, True] Translation: X:368.18, Y:33.64, Z:-1.44 [[ 9.99861279e-01 -1.61447966e-02 -4.09490677e-03 3.68183071e+02] [ 1.61105396e-02 9.99836056e-01 -8.26514048e-03 3.36403679e+01] [ 4.22767445e-03 8.19802277e-03 9.99957459e-01 -1.43550842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.841400513 meters 0.06928579413521098 Centerline is valid? [True, True] Translation: X:368.25, Y:33.63, Z:-1.44 [[ 9.99657199e-01 -2.60026330e-02 -3.05742713e-03 3.68246892e+02] [ 2.60251768e-02 9.99632545e-01 7.58061580e-03 3.36286801e+01] [ 2.85918770e-03 -7.65758724e-03 9.99966593e-01 -1.43622206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.901400513 meters 0.05913957153243895 Centerline is valid? [True, True] Translation: X:368.30, Y:33.62, Z:-1.44 [[ 9.99540893e-01 -3.01801865e-02 -2.67556506e-03 3.68304077e+02] [ 3.01620609e-02 9.99523402e-01 -6.57407916e-03 3.36244533e+01] [ 2.87269683e-03 6.49036040e-03 9.99974811e-01 -1.43644238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.961400513 meters 0.0595463852009162 Centerline is valid? [True, True] Translation: X:368.37, Y:33.61, Z:-1.44 [[ 9.99326040e-01 -3.65113713e-02 -3.79291833e-03 3.68367910e+02] [ 3.65336015e-02 9.99314610e-01 5.96702522e-03 3.36095918e+01] [ 3.57245443e-03 -6.10157265e-03 9.99975004e-01 -1.43896935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.021400513 meters 0.059189498283521186 Centerline is valid? [True, True] Translation: X:368.43, Y:33.61, Z:-1.44 [[ 9.99439833e-01 -3.31637578e-02 -4.49289393e-03 3.68428160e+02] [ 3.31622796e-02 9.99449899e-01 -4.03142088e-04 3.36145938e+01] [ 4.50379209e-03 2.53921657e-04 9.99989826e-01 -1.44037930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.081400513 meters 0.06933252488162366 Centerline is valid? [True, True] Translation: X:368.49, Y:33.63, Z:-1.44 [[ 9.99641234e-01 -2.64157227e-02 -4.42861139e-03 3.68486661e+02] [ 2.64142202e-02 9.99651005e-01 -3.97421150e-04 3.36291895e+01] [ 4.43756399e-03 2.80300252e-04 9.99990115e-01 -1.44101750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.141400513 meters 0.07155969724564269 Centerline is valid? [True, True] Translation: X:368.55, Y:33.63, Z:-1.44 [[ 9.99807576e-01 -1.94932696e-02 -2.19637879e-03 3.68546630e+02] [ 1.94928834e-02 9.99809976e-01 -1.97123353e-04 3.36312804e+01] [ 2.19980400e-03 1.54271666e-04 9.99997569e-01 -1.43769253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.201400513 meters 0.07536108663048072 Centerline is valid? [True, True] Translation: X:368.60, Y:33.63, Z:-1.44 [[ 9.99814739e-01 -1.92231589e-02 -9.78439233e-04 3.68604338e+02] [ 1.92230821e-02 9.99815216e-01 -8.78686958e-05 3.36341759e+01] [ 9.79947547e-04 6.90437995e-05 9.99999517e-01 -1.43573159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.261400513 meters 0.07353546574613284 Centerline is valid? [True, True] Translation: X:368.66, Y:33.63, Z:-1.44 [[ 9.99795303e-01 -2.02011256e-02 -1.12514514e-03 3.68664065e+02] [ 2.02010246e-02 9.99795933e-01 -1.01095595e-04 3.36273847e+01] [ 1.12695778e-03 7.83458162e-05 9.99999362e-01 -1.43702375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.321400513 meters 0.07798935066606476 Centerline is valid? [True, True] Translation: X:368.72, Y:33.63, Z:-1.44 [[ 9.99825451e-01 -1.86404817e-02 -1.26480875e-03 3.68722964e+02] [ 1.86403528e-02 9.99826247e-01 -1.13674095e-04 3.36318208e+01] [ 1.26670793e-03 9.00777715e-05 9.99999194e-01 -1.43758117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.381400513 meters 0.07715473636480817 Centerline is valid? [True, True] Translation: X:368.78, Y:33.63, Z:-1.44 [[ 9.99915195e-01 -1.26639161e-02 -3.03762593e-03 3.68783894e+02] [ 1.26631448e-02 9.99919782e-01 -2.73026259e-04 3.36299630e+01] [ 3.04083983e-03 2.34537208e-04 9.99995349e-01 -1.43988498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.441400513 meters 0.08825446979955096 Centerline is valid? [True, True] Translation: X:368.84, Y:33.65, Z:-1.44 [[ 9.99968312e-01 -6.81664126e-03 -4.11186939e-03 3.68842137e+02] [ 6.81517861e-03 9.99976708e-01 -3.69619835e-04 3.36482094e+01] [ 4.11429319e-03 3.41584998e-04 9.99991478e-01 -1.44214462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.501400513 meters 0.09196368174105246 Centerline is valid? [True, True] Translation: X:368.90, Y:33.66, Z:-1.44 [[ 9.99993316e-01 -2.42372812e-03 -2.73756987e-03 3.68901648e+02] [ 2.42306343e-03 9.99997034e-01 -2.46092419e-04 3.36592077e+01] [ 2.73815821e-03 2.39457468e-04 9.99996223e-01 -1.44158480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.561400513 meters 0.08995165313224118 Centerline is valid? [True, True] Translation: X:368.96, Y:33.66, Z:-1.44 [[ 9.99992060e-01 -3.81183895e-03 -1.16161451e-03 3.68961884e+02] [ 3.81172019e-03 9.99992730e-01 -1.04435438e-04 3.36615249e+01] [ 1.16200416e-03 1.00006859e-04 9.99999320e-01 -1.43934127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.621400513 meters 0.08748944277767602 Centerline is valid? [True, True] Translation: X:369.02, Y:33.66, Z:-1.44 [[ 9.99969041e-01 -7.53014873e-03 -2.28359191e-03 3.69021848e+02] [ 7.52969931e-03 9.99971630e-01 -2.05335068e-04 3.36636446e+01] [ 2.28507333e-03 1.88133950e-04 9.99997372e-01 -1.44117117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.681400513 meters 0.08193417590504676 Centerline is valid? [True, True] Translation: X:369.08, Y:33.66, Z:-1.44 [[ 9.99916214e-01 -1.26909095e-02 -2.55068324e-03 3.69082817e+02] [ 1.26903655e-02 9.99919448e-01 -2.29351612e-04 3.36629074e+01] [ 2.55338846e-03 1.96963293e-04 9.99996721e-01 -1.44145616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74140051300003 meters 0.07878582708768558 Centerline is valid? [True, True] Translation: X:369.14, Y:33.66, Z:-1.44 [[ 9.99889275e-01 -1.45554405e-02 -3.09457277e-03 3.69142724e+02] [ 1.45546484e-02 9.99894037e-01 -2.78326059e-04 3.36620324e+01] [ 3.09829602e-03 2.33254823e-04 9.99995173e-01 -1.44099946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80140051300003 meters 0.07874015172618865 Centerline is valid? [True, True] Translation: X:369.20, Y:33.67, Z:-1.44 [[ 9.99888037e-01 -1.44502643e-02 -3.88632434e-03 3.69201273e+02] [ 1.44490118e-02 9.99895546e-01 -3.50151279e-04 3.36675144e+01] [ 3.89097818e-03 2.93958529e-04 9.99992387e-01 -1.44259181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86140051300004 meters 0.08100955251744948 Centerline is valid? [True, True] Translation: X:369.26, Y:33.67, Z:-1.44 [[ 9.99903119e-01 -1.35510666e-02 -3.18149296e-03 3.69260483e+02] [ 1.35502224e-02 9.99908150e-01 -2.86760100e-04 3.36693475e+01] [ 3.18508664e-03 2.43622382e-04 9.99994898e-01 -1.44179809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.921400513 meters 0.08309745692205281 Centerline is valid? [True, True] Translation: X:369.32, Y:33.68, Z:-1.44 [[ 9.99937217e-01 -1.09146867e-02 -2.53597308e-03 3.69318738e+02] [ 1.09141418e-02 9.99940413e-01 -2.28606250e-04 3.36833880e+01] [ 2.53831714e-03 2.00913928e-04 9.99996758e-01 -1.44003889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.981400513 meters 0.08526701937099249 Centerline is valid? [True, True] Translation: X:369.38, Y:33.69, Z:-1.44 [[ 9.99970565e-01 -7.44372494e-03 -1.86008202e-03 3.69377917e+02] [ 7.44342579e-03 9.99972283e-01 -1.67696298e-04 3.36933002e+01] [ 1.86127875e-03 1.53845979e-04 9.99998256e-01 -1.43929719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.041400513 meters 0.08855245397698532 Centerline is valid? [True, True] Translation: X:369.44, Y:33.70, Z:-1.44 [[ 9.99988450e-01 -4.76169549e-03 -6.53129501e-04 3.69437762e+02] [ 4.76165804e-03 9.99988662e-01 -5.88828469e-05 3.37045750e+01] [ 6.53402477e-04 5.57721875e-05 9.99999785e-01 -1.43811589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.101400513 meters 0.09228512923495677 Centerline is valid? [True, True] Translation: X:369.50, Y:33.72, Z:-1.44 [[ 9.99992843e-01 -3.76781758e-03 3.42615475e-04 3.69496007e+02] [ 3.76780721e-03 9.99992901e-01 3.08968926e-05 3.37155838e+01] [-3.42729457e-04 -2.96057624e-05 9.99999941e-01 -1.43717854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.161400513 meters 0.09094594679240552 Centerline is valid? [True, True] Translation: X:369.56, Y:33.72, Z:-1.44 [[ 9.99991332e-01 -4.14357847e-03 -4.07463828e-04 3.69556399e+02] [ 4.14356384e-03 9.99991415e-01 -3.67439610e-05 3.37183113e+01] [ 4.07612581e-04 3.50552901e-05 9.99999916e-01 -1.43809903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.221400513 meters 0.08285946798169329 Centerline is valid? [True, True] Translation: X:369.62, Y:33.72, Z:-1.44 [[ 9.99989367e-01 -4.43371057e-03 -1.26776489e-03 3.69616900e+02] [ 4.43356913e-03 9.99990165e-01 -1.14352123e-04 3.37160079e+01] [ 1.26825943e-03 1.08730184e-04 9.99999190e-01 -1.43925959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.281400513 meters 0.09356827066663227 Centerline is valid? [True, True] Translation: X:369.67, Y:33.74, Z:-1.44 [[ 9.99993675e-01 -2.98850887e-03 -1.92844263e-03 3.69674100e+02] [ 2.98817888e-03 9.99995520e-01 -1.73974007e-04 3.37373418e+01] [ 1.92895392e-03 1.68210375e-04 9.99998125e-01 -1.44135176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.341400513 meters 0.08582074876012039 Centerline is valid? [True, True] Translation: X:369.73, Y:33.74, Z:-1.44 [[ 9.99990796e-01 -3.50369194e-03 -2.47634371e-03 3.69733320e+02] [ 3.50314841e-03 9.99993839e-01 -2.23795866e-04 3.37360046e+01] [ 2.47711257e-03 2.15118806e-04 9.99996909e-01 -1.44213083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.401400513 meters 0.08089024713427188 Centerline is valid? [True, True] Translation: X:369.79, Y:33.74, Z:-1.44 [[ 9.99981661e-01 -4.83460103e-03 -3.64758691e-03 3.69793191e+02] [ 4.83343019e-03 9.99988265e-01 -3.29737948e-04 3.37374371e+01] [ 3.64913826e-03 3.12101545e-04 9.99993293e-01 -1.44373692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.461400513 meters 0.08598535854481226 Centerline is valid? [True, True] Translation: X:369.85, Y:33.75, Z:-1.45 [[ 9.99957407e-01 -6.29032833e-03 -6.75391515e-03 3.69851752e+02] [ 6.28634598e-03 9.99980054e-01 -6.10703741e-04 3.37494236e+01] [ 6.75762196e-03 5.68220282e-04 9.99977006e-01 -1.44896731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.521400513 meters 0.09096525874840797 Centerline is valid? [True, True] Translation: X:369.91, Y:33.76, Z:-1.45 [[ 9.99966278e-01 -5.36505884e-03 -6.21762494e-03 3.69908978e+02] [ 5.36166432e-03 9.99985468e-01 -5.62491113e-04 3.37624402e+01] [ 6.22055238e-03 5.29135327e-04 9.99980512e-01 -1.44816704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.581400513 meters 0.08314804547747551 Centerline is valid? [True, True] Translation: X:369.97, Y:33.76, Z:-1.44 [[ 9.99980543e-01 -4.94185822e-03 -3.80688995e-03 3.69968204e+02] [ 4.94058032e-03 9.99987736e-01 -3.45013255e-04 3.37564865e+01] [ 3.80854827e-03 3.26198297e-04 9.99992694e-01 -1.44270772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.641400513 meters 0.09241710182185676 Centerline is valid? [True, True] Translation: X:370.03, Y:33.77, Z:-1.44 [[ 9.99983077e-01 -5.74818870e-03 -8.96299834e-04 3.70025420e+02] [ 5.74811815e-03 9.99983476e-01 -8.12712989e-05 3.37725810e+01] [ 8.96752186e-04 7.61178862e-05 9.99999595e-01 -1.43889783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.701400513 meters 0.0875477594530261 Centerline is valid? [True, True] Translation: X:370.09, Y:33.77, Z:-1.44 [[ 9.99959528e-01 -8.89902878e-03 1.32304859e-03 3.70086226e+02] [ 8.89887778e-03 9.99960397e-01 1.19979234e-04 3.37690445e+01] [-1.32406389e-03 -1.08200730e-04 9.99999118e-01 -1.43549374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.761400513 meters 0.07820517481510021 Centerline is valid? [True, True] Translation: X:370.15, Y:33.76, Z:-1.43 [[ 9.99935424e-01 -1.12223438e-02 1.79077603e-03 3.70147724e+02] [ 1.12220709e-02 9.99937017e-01 1.62389253e-04 3.37580107e+01] [-1.79248563e-03 -1.42282551e-04 9.99998383e-01 -1.43478832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.821400513 meters 0.08094368364311742 Centerline is valid? [True, True] Translation: X:370.21, Y:33.76, Z:-1.44 [[ 9.99911527e-01 -1.32529874e-02 1.13834553e-03 3.70207552e+02] [ 1.32528784e-02 9.99912171e-01 1.03232048e-04 3.37627310e+01] [-1.13961369e-03 -8.81365603e-05 9.99999347e-01 -1.43575598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.881400513 meters 0.0822551656803644 Centerline is valid? [True, True] Translation: X:370.27, Y:33.76, Z:-1.44 [[ 9.99934155e-01 -1.14728187e-02 2.44587713e-04 3.70267688e+02] [ 1.14728136e-02 9.99934185e-01 2.21838079e-05 3.37637748e+01] [-2.44826126e-04 -1.93762379e-05 9.99999970e-01 -1.43658837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.941400513 meters 0.08998732525751406 Centerline is valid? [True, True] Translation: X:370.33, Y:33.78, Z:-1.44 [[ 9.99983364e-01 -5.76267625e-03 2.50655213e-04 3.70327550e+02] [ 5.76267073e-03 9.99983395e-01 2.27331286e-05 3.37753574e+01] [-2.50782055e-04 -2.12883069e-05 9.99999968e-01 -1.43691808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.001400513 meters 0.08322897107567308 Centerline is valid? [True, True] Translation: X:370.39, Y:33.77, Z:-1.44 [[ 9.99990580e-01 -4.17617436e-03 -1.18315391e-03 3.70388385e+02] [ 4.17605028e-03 9.99991275e-01 -1.07327799e-04 3.37663229e+01] [ 1.18359181e-03 1.02385878e-04 9.99999294e-01 -1.44008098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.061400513 meters 0.08817853211663841 Centerline is valid? [True, True] Translation: X:370.45, Y:33.77, Z:-1.45 [[ 9.99948320e-01 -8.35311624e-03 -5.79503812e-03 3.70447039e+02] [ 8.35020856e-03 9.99964998e-01 -5.25768120e-04 3.37739490e+01] [ 5.79922709e-03 4.77351171e-04 9.99983070e-01 -1.44778041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.121400513 meters 0.08235375078889373 Centerline is valid? [True, True] Translation: X:370.51, Y:33.77, Z:-1.45 [[ 9.99924937e-01 -1.09125320e-02 -5.57117612e-03 3.70508222e+02] [ 1.09098841e-02 9.99940358e-01 -5.05469127e-04 3.37674429e+01] [ 5.57635979e-03 4.44650299e-04 9.99984353e-01 -1.44763403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.181400513 meters 0.07810993236242472 Centerline is valid? [True, True] Translation: X:370.57, Y:33.77, Z:-1.45 [[ 9.99925239e-01 -1.13082220e-02 -4.65199672e-03 3.70566989e+02] [ 1.13063765e-02 9.99935991e-01 -4.22821362e-04 3.37683776e+01] [ 4.65648031e-03 3.70192525e-04 9.99989090e-01 -1.44692220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24140051300003 meters 0.07797689177466734 Centerline is valid? [True, True] Translation: X:370.63, Y:33.77, Z:-1.45 [[ 9.99933926e-01 -1.04184004e-02 -4.85796732e-03 3.70625851e+02] [ 1.04163766e-02 9.99945651e-01 -4.41716667e-04 3.37736406e+01] [ 4.86230528e-03 3.91085064e-04 9.99988102e-01 -1.44707752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30140051300003 meters 0.08146591951339809 Centerline is valid? [True, True] Translation: X:370.68, Y:33.78, Z:-1.45 [[ 9.99917215e-01 -1.16732452e-02 -5.41283870e-03 3.70683724e+02] [ 1.16707499e-02 9.99931773e-01 -4.92357047e-04 3.37826022e+01] [ 5.41821680e-03 4.29144401e-04 9.99985229e-01 -1.44808902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36140051300004 meters 0.08237980231479865 Centerline is valid? [True, True] Translation: X:370.74, Y:33.79, Z:-1.45 [[ 9.99854007e-01 -1.61377479e-02 -5.61582918e-03 3.70742692e+02] [ 1.61351317e-02 9.99869690e-01 -5.10858549e-04 3.37888365e+01] [ 5.62334148e-03 4.20171824e-04 9.99984101e-01 -1.44909970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.421400513 meters 0.06689737975126178 Centerline is valid? [True, True] Translation: X:370.81, Y:33.78, Z:-1.44 [[ 9.99749898e-01 -2.21920907e-02 -2.76627768e-03 3.70805023e+02] [ 2.21914790e-02 9.99753707e-01 -2.51637628e-04 3.37757667e+01] [ 2.77118073e-03 1.90186900e-04 9.99996142e-01 -1.44303700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.481400513 meters 0.07575951467255954 Centerline is valid? [True, True] Translation: X:370.86, Y:33.79, Z:-1.44 [[ 9.99696006e-01 -2.45592300e-02 -2.17728406e-03 3.70863022e+02] [ 2.45588565e-02 9.99698366e-01 -1.98117152e-04 3.37880385e+01] [ 2.18149292e-03 1.44585318e-04 9.99997610e-01 -1.44268514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.541400513 meters 0.07321971990720055 Centerline is valid? [True, True] Translation: X:370.92, Y:33.78, Z:-1.44 [[ 9.99688594e-01 -2.49462110e-02 -6.34010156e-04 3.70922822e+02] [ 2.49461794e-02 9.99688794e-01 -5.77839271e-05 3.37823094e+01] [ 6.35254338e-04 4.19498017e-05 9.99999797e-01 -1.44007291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.601400513 meters 0.0773448232118751 Centerline is valid? [True, True] Translation: X:370.98, Y:33.79, Z:-1.44 [[ 9.99750065e-01 -2.23372413e-02 9.24583315e-04 3.70982743e+02] [ 2.23371729e-02 9.99750491e-01 8.42756170e-05 3.37867011e+01] [-9.26235108e-04 -6.36019763e-05 9.99999569e-01 -1.43776178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.661400513 meters 0.08218971405281013 Centerline is valid? [True, True] Translation: X:371.04, Y:33.79, Z:-1.44 [[ 9.99892787e-01 -1.46383599e-02 -3.63924850e-04 3.71042383e+02] [ 1.46383487e-02 9.99892853e-01 -3.31750632e-05 3.37940032e+01] [ 3.64371485e-04 2.78442476e-05 9.99999933e-01 -1.44099476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.721400513 meters 0.08800042335334986 Centerline is valid? [True, True] Translation: X:371.10, Y:33.81, Z:-1.44 [[ 9.99956620e-01 -9.30962094e-03 -2.97744813e-04 3.71101534e+02] [ 9.30961327e-03 9.99956664e-01 -2.71440232e-05 3.38067614e+01] [ 2.97984610e-04 2.43709566e-05 9.99999955e-01 -1.44079036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.781400513 meters 0.08805454797080274 Centerline is valid? [True, True] Translation: X:371.16, Y:33.81, Z:-1.44 [[ 9.99982946e-01 -5.83518987e-03 -2.42778939e-04 3.71161983e+02] [ 5.83518466e-03 9.99982975e-01 -2.21329758e-05 3.38117009e+01] [ 2.42903956e-04 2.07159384e-05 9.99999970e-01 -1.44036325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.841400513 meters 0.09000524483000776 Centerline is valid? [True, True] Translation: X:371.22, Y:33.82, Z:-1.44 [[ 9.99968251e-01 -7.88238731e-03 -1.16848296e-03 3.71220952e+02] [ 7.88226816e-03 9.99968929e-01 -1.06539763e-04 3.38214423e+01] [ 1.16928645e-03 9.73260840e-05 9.99999312e-01 -1.44204237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.901400513 meters 0.0838766878130475 Centerline is valid? [True, True] Translation: X:371.28, Y:33.82, Z:-1.44 [[ 9.99915367e-01 -1.29358634e-02 -1.38625040e-03 3.71281889e+02] [ 1.29357005e-02 9.99916322e-01 -1.26384732e-04 3.38247072e+01] [ 1.38776930e-03 1.08441915e-04 9.99999031e-01 -1.44297498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.961400513 meters 0.06442910240763021 Centerline is valid? [True, True] Translation: X:371.34, Y:33.80, Z:-1.44 [[ 9.99905179e-01 -1.37695400e-02 1.83326791e-04 3.71340961e+02] [ 1.37675481e-02 9.99870876e-01 8.28773590e-03 3.38001062e+01] [-2.97421430e-04 -8.28442608e-03 9.99965639e-01 -1.44147363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.021400513 meters 0.07855166232936411 Centerline is valid? [True, True] Translation: X:371.40, Y:33.84, Z:-1.45 [[ 9.99786066e-01 -2.05238690e-02 -2.56786619e-03 3.71399906e+02] [ 2.05014086e-02 9.99753802e-01 -8.48696301e-03 3.38384989e+01] [ 2.74141930e-03 8.43250248e-03 9.99960688e-01 -1.44615931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.081400513 meters 0.06832343640499504 Centerline is valid? [True, True] Translation: X:371.46, Y:33.82, Z:-1.45 [[ 9.99637047e-01 -2.65808965e-02 -4.38526893e-03 3.71461928e+02] [ 2.65793945e-02 9.99646625e-01 -4.00446486e-04 3.38222732e+01] [ 4.39436351e-03 2.83743349e-04 9.99990304e-01 -1.44632381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.141400513 meters 0.0655320683904804 Centerline is valid? [True, True] Translation: X:371.52, Y:33.82, Z:-1.44 [[ 9.99620183e-01 -2.73638148e-02 -3.27293409e-03 3.71520906e+02] [ 2.73629806e-02 9.99625519e-01 -2.99395783e-04 3.38228196e+01] [ 3.27990105e-03 2.09724836e-04 9.99994599e-01 -1.44419086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.201400513 meters 0.06161493360523132 Centerline is valid? [True, True] Translation: X:371.58, Y:33.82, Z:-1.44 [[ 9.99643625e-01 -2.65755176e-02 -2.52291757e-03 3.71579852e+02] [ 2.65750190e-02 9.99646795e-01 -2.30939109e-04 3.38205388e+01] [ 2.52816379e-03 1.63810225e-04 9.99996791e-01 -1.44243590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.261400513 meters 0.07720785848190939 Centerline is valid? [True, True] Translation: X:371.64, Y:33.84, Z:-1.44 [[ 9.99696844e-01 -2.45266851e-02 -2.15926906e-03 3.71638117e+02] [ 2.45263150e-02 9.99699165e-01 -1.97703552e-04 3.38358766e+01] [ 2.16346849e-03 1.44684704e-04 9.99997649e-01 -1.44292390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.321400513 meters 0.07803276959739218 Centerline is valid? [True, True] Translation: X:371.70, Y:33.84, Z:-1.44 [[ 9.99718362e-01 -2.36133507e-02 -2.36788936e-03 3.71698011e+02] [ 2.36129030e-02 9.99721153e-01 -2.16856446e-04 3.38359032e+01] [ 2.37234979e-03 1.60882629e-04 9.99997173e-01 -1.44348683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.381400513 meters 0.07192551522205583 Centerline is valid? [True, True] Translation: X:371.76, Y:33.82, Z:-1.44 [[ 9.99804699e-01 -1.96629273e-02 -1.98307269e-03 3.71759935e+02] [ 1.96626055e-02 9.99806656e-01 -1.81630866e-04 3.38206793e+01] [ 1.98626067e-03 1.42603017e-04 9.99998017e-01 -1.44230177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.441400513 meters 0.09134778082338839 Centerline is valid? [True, True] Translation: X:371.82, Y:33.85, Z:-1.44 [[ 9.99933458e-01 -1.14765021e-02 -1.17010328e-03 3.71816580e+02] [ 1.14763845e-02 9.99934138e-01 -1.07161392e-04 3.38474811e+01] [ 1.17125606e-03 9.37257061e-05 9.99999310e-01 -1.44280017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.501400513 meters 0.09402964341702451 Centerline is valid? [True, True] Translation: X:371.88, Y:33.85, Z:-1.44 [[ 9.99979644e-01 -6.06383396e-03 -1.98557079e-03 3.71876039e+02] [ 6.06348472e-03 9.99981600e-01 -1.81862614e-04 3.38537280e+01] [ 1.98663704e-03 1.69819433e-04 9.99998012e-01 -1.44434879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.561400513 meters 0.09393620068471518 Centerline is valid? [True, True] Translation: X:371.94, Y:33.86, Z:-1.45 [[ 9.99993949e-01 -2.09490144e-03 -2.77713106e-03 3.71936893e+02] [ 2.09420303e-03 9.99997775e-01 -2.54371687e-04 3.38573345e+01] [ 2.77765776e-03 2.48554272e-04 9.99996111e-01 -1.44578927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.621400513 meters 0.089448992699539 Centerline is valid? [True, True] Translation: X:372.00, Y:33.86, Z:-1.45 [[ 9.99989184e-01 -3.43881664e-03 -3.13145101e-03 3.71996684e+02] [ 3.43793496e-03 9.99994049e-01 -2.86894998e-04 3.38571601e+01] [ 3.13241895e-03 2.76126170e-04 9.99995056e-01 -1.44565506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.681400513 meters 0.09265709280978998 Centerline is valid? [True, True] Translation: X:372.06, Y:33.87, Z:-1.45 [[ 9.99979793e-01 -5.38772488e-03 -3.37446333e-03 3.72055208e+02] [ 5.38671190e-03 9.99985444e-01 -3.09204862e-04 3.38700412e+01] [ 3.37608012e-03 2.91021352e-04 9.99994259e-01 -1.44655168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74140051300003 meters 0.08126513009124099 Centerline is valid? [True, True] Translation: X:372.12, Y:33.86, Z:-1.45 [[ 9.99960811e-01 -7.83486229e-03 -4.12214040e-03 3.72116283e+02] [ 7.83337131e-03 9.99969247e-01 -3.77723186e-04 3.38643524e+01] [ 4.12497304e-03 3.45418127e-04 9.99991433e-01 -1.44731070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80140051300003 meters 0.08875134838155355 Centerline is valid? [True, True] Translation: X:372.17, Y:33.88, Z:-1.45 [[ 9.99928310e-01 -1.15334543e-02 -3.21795336e-03 3.72174709e+02] [ 1.15325645e-02 9.99933454e-01 -2.94904958e-04 3.38829127e+01] [ 3.22114050e-03 2.57772561e-04 9.99994779e-01 -1.44665681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86140051300004 meters 0.07515952874436224 Centerline is valid? [True, True] Translation: X:372.24, Y:33.87, Z:-1.45 [[ 9.99813043e-01 -1.86683513e-02 -5.03705795e-03 3.72235926e+02] [ 1.86662613e-02 9.99825664e-01 -4.61627294e-04 3.38749789e+01] [ 5.04479763e-03 3.67517950e-04 9.99987207e-01 -1.45046597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.921400513 meters 0.06797940194000535 Centerline is valid? [True, True] Translation: X:372.30, Y:33.87, Z:-1.45 [[ 9.99699779e-01 -2.40723870e-02 -4.56852602e-03 3.72297002e+02] [ 2.40707237e-02 9.99710170e-01 -4.18700569e-04 3.38710750e+01] [ 4.57728105e-03 3.08607139e-04 9.99989477e-01 -1.45000439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.981400513 meters 0.0756270262017263 Centerline is valid? [True, True] Translation: X:372.36, Y:33.88, Z:-1.45 [[ 9.99615435e-01 -2.74615024e-02 -3.85325597e-03 3.72355344e+02] [ 2.74603439e-02 9.99622831e-01 -3.53254188e-04 3.38827977e+01] [ 3.86150353e-03 2.47306605e-04 9.99992514e-01 -1.44739637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.041400513 meters 0.07180399525326196 Centerline is valid? [True, True] Translation: X:372.42, Y:33.88, Z:-1.45 [[ 9.99742026e-01 -2.22831499e-02 -4.39812118e-03 3.72415650e+02] [ 2.22815906e-02 9.99751653e-01 -4.03223674e-04 3.38819763e+01] [ 4.40601401e-03 3.05122517e-04 9.99990247e-01 -1.44836247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.101400513 meters 0.07813261492533928 Centerline is valid? [True, True] Translation: X:372.48, Y:33.89, Z:-1.45 [[ 9.99859599e-01 -1.63917360e-02 -3.47745104e-03 3.72475221e+02] [ 1.63907257e-02 9.99865612e-01 -3.18811006e-04 3.38948604e+01] [ 3.48220958e-03 2.61768298e-04 9.99993903e-01 -1.44715826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.161400513 meters 0.08389319161876949 Centerline is valid? [True, True] Translation: X:372.53, Y:33.90, Z:-1.44 [[ 9.99936252e-01 -1.11249768e-02 -1.93047135e-03 3.72534807e+02] [ 1.11246557e-02 9.99938103e-01 -1.76993170e-04 3.39047574e+01] [ 1.93232091e-03 1.55506058e-04 9.99998121e-01 -1.44320347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.221400513 meters 0.08809669625682653 Centerline is valid? [True, True] Translation: X:372.59, Y:33.92, Z:-1.44 [[ 9.99946548e-01 -1.02368737e-02 -1.45205275e-03 3.72592289e+02] [ 1.02366910e-02 9.99947595e-01 -1.33192821e-04 3.39170811e+01] [ 1.45334013e-03 1.18321486e-04 9.99998937e-01 -1.44282335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.281400513 meters 0.08120357597570886 Centerline is valid? [True, True] Translation: X:372.65, Y:33.92, Z:-1.44 [[ 9.99945731e-01 -1.02509553e-02 -1.85823666e-03 3.72651362e+02] [ 1.02506556e-02 9.99947446e-01 -1.70744707e-04 3.39158503e+01] [ 1.85988929e-03 1.51687297e-04 9.99998259e-01 -1.44334101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.341400513 meters 0.08726191443478458 Centerline is valid? [True, True] Translation: X:372.71, Y:33.93, Z:-1.44 [[ 9.99936208e-01 -1.09140288e-02 -2.90936556e-03 3.72707830e+02] [ 1.09132964e-02 9.99940412e-01 -2.67498516e-04 3.39313984e+01] [ 2.91211168e-03 2.35730683e-04 9.99995732e-01 -1.44306304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.401400513 meters 0.08544814845267763 Centerline is valid? [True, True] Translation: X:372.77, Y:33.94, Z:-1.44 [[ 9.99932866e-01 -1.12675372e-02 -2.70294491e-03 3.72766344e+02] [ 1.12669052e-02 9.99936495e-01 -2.48935502e-04 3.39379710e+01] [ 2.70557815e-03 2.18464966e-04 9.99996316e-01 -1.44343414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.461400513 meters 0.0855704538749916 Centerline is valid? [True, True] Translation: X:372.82, Y:33.95, Z:-1.44 [[ 9.99926136e-01 -1.19223029e-02 -2.36253273e-03 3.72824451e+02] [ 1.19218211e-02 9.99928909e-01 -2.17949881e-04 3.39467142e+01] [ 2.36496324e-03 1.89768090e-04 9.99997185e-01 -1.44371535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.521400513 meters 0.08310068686267753 Centerline is valid? [True, True] Translation: X:372.88, Y:33.95, Z:-1.45 [[ 9.99905995e-01 -1.33599360e-02 -3.08445990e-03 3.72883592e+02] [ 1.33591212e-02 9.99910722e-01 -2.84624586e-04 3.39546242e+01] [ 3.08798709e-03 2.43392156e-04 9.99995203e-01 -1.44544761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.581400513 meters 0.07470386786998501 Centerline is valid? [True, True] Translation: X:372.94, Y:33.95, Z:-1.44 [[ 9.99913571e-01 -1.28884732e-02 -2.59567821e-03 3.72942561e+02] [ 1.28878934e-02 9.99916919e-01 -2.39942880e-04 3.39546651e+01] [ 2.59855506e-03 2.06469317e-04 9.99996602e-01 -1.44315436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.641400513 meters 0.08198091164651287 Centerline is valid? [True, True] Translation: X:373.00, Y:33.97, Z:-1.44 [[ 9.99911735e-01 -1.30620017e-02 -2.43032362e-03 3.72997553e+02] [ 1.30614932e-02 9.99914670e-01 -2.24970444e-04 3.39749157e+01] [ 2.43305480e-03 1.93206932e-04 9.99997021e-01 -1.44344899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.701400513 meters 0.07691929894324992 Centerline is valid? [True, True] Translation: X:373.06, Y:33.98, Z:-1.45 [[ 9.99904070e-01 -1.34396122e-02 -3.35063329e-03 3.73056964e+02] [ 1.34386460e-02 9.99909649e-01 -3.10706482e-04 3.39751300e+01] [ 3.35450633e-03 2.65648701e-04 9.99994338e-01 -1.44508335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.761400513 meters 0.07672742224398485 Centerline is valid? [True, True] Translation: X:373.12, Y:33.99, Z:-1.44 [[ 9.99916191e-01 -1.24720014e-02 -3.47268004e-03 3.73115374e+02] [ 1.24709574e-02 9.99922183e-01 -3.22149880e-04 3.39881176e+01] [ 3.47642766e-03 2.78815236e-04 9.99993918e-01 -1.44433864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.821400513 meters 0.08360664396340282 Centerline is valid? [True, True] Translation: X:373.17, Y:34.01, Z:-1.44 [[ 9.99942357e-01 -1.03470223e-02 -2.86728484e-03 3.73173028e+02] [ 1.03463017e-02 9.99946440e-01 -2.66031116e-04 3.40081732e+01] [ 2.86988390e-03 2.36349988e-04 9.99995854e-01 -1.44313007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.881400513 meters 0.08756452242056852 Centerline is valid? [True, True] Translation: X:373.23, Y:34.02, Z:-1.44 [[ 9.99956520e-01 -8.82247820e-03 -3.02027372e-03 3.73231758e+02] [ 8.82167166e-03 9.99961049e-01 -2.80259754e-04 3.40209103e+01] [ 3.02262867e-03 2.53603705e-04 9.99995400e-01 -1.44355802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.941400513 meters 0.08883123337747512 Centerline is valid? [True, True] Translation: X:373.29, Y:34.04, Z:-1.45 [[ 9.99968602e-01 -6.50965657e-03 -4.51873768e-03 3.73290396e+02] [ 6.50782751e-03 9.99978736e-01 -4.19357522e-04 3.40377459e+01] [ 4.52137146e-03 3.89937190e-04 9.99989703e-01 -1.44647661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.001400513 meters 0.08687276416492438 Centerline is valid? [True, True] Translation: X:373.35, Y:34.05, Z:-1.45 [[ 9.99954579e-01 -8.41234253e-03 -4.48014486e-03 3.73350180e+02] [ 8.41056349e-03 9.99964544e-01 -4.15787502e-04 3.40468509e+01] [ 4.48348376e-03 3.78088073e-04 9.99989878e-01 -1.44522197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.061400513 meters 0.07839298585040219 Centerline is valid? [True, True] Translation: X:373.41, Y:34.05, Z:-1.44 [[ 9.99896624e-01 -1.39647984e-02 -3.42413908e-03 3.73410369e+02] [ 1.39637914e-02 9.99902451e-01 -3.17801780e-04 3.40484404e+01] [ 3.42824310e-03 2.69954963e-04 9.99994087e-01 -1.44327772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.121400513 meters 0.0750778487683421 Centerline is valid? [True, True] Translation: X:373.47, Y:34.05, Z:-1.45 [[ 9.99815657e-01 -1.87702174e-02 -4.04126509e-03 3.73470552e+02] [ 1.87688538e-02 9.99823779e-01 -3.75088879e-04 3.40513209e+01] [ 4.04759344e-03 2.99169820e-04 9.99991764e-01 -1.44512553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.181400513 meters 0.07087378271581765 Centerline is valid? [True, True] Translation: X:373.53, Y:34.05, Z:-1.45 [[ 9.99692892e-01 -2.43759046e-02 -4.46510157e-03 3.73531209e+02] [ 2.43742956e-02 9.99702817e-01 -4.14427671e-04 3.40525824e+01] [ 4.47387667e-03 3.05466691e-04 9.99989946e-01 -1.44524863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24140051300003 meters 0.07157920568832372 Centerline is valid? [True, True] Translation: X:373.59, Y:34.06, Z:-1.45 [[ 9.99644184e-01 -2.61506110e-02 -5.25848454e-03 3.73589819e+02] [ 2.61484029e-02 9.99657953e-01 -4.88242403e-04 3.40557030e+01] [ 5.26945373e-03 3.50567706e-04 9.99986055e-01 -1.44619390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30140051300003 meters 0.06668531522046697 Centerline is valid? [True, True] Translation: X:373.65, Y:34.05, Z:-1.45 [[ 9.99689929e-01 -2.41453764e-02 -6.08662198e-03 3.73650706e+02] [ 2.41423804e-02 9.99708370e-01 -5.65230009e-04 3.40512352e+01] [ 6.09849463e-03 4.18109205e-04 9.99981317e-01 -1.44780910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36140051300004 meters 0.07454129830098075 Centerline is valid? [True, True] Translation: X:373.71, Y:34.06, Z:-1.45 [[ 9.99738737e-01 -2.22397022e-02 -5.27756769e-03 3.73709158e+02] [ 2.22374227e-02 9.99752598e-01 -4.90221005e-04 3.40597613e+01] [ 5.28716437e-03 3.72733425e-04 9.99985953e-01 -1.44759666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.421400513 meters 0.0734807124981886 Centerline is valid? [True, True] Translation: X:373.77, Y:34.06, Z:-1.45 [[ 9.99737027e-01 -2.25501331e-02 -4.16751608e-03 3.73768402e+02] [ 2.25487116e-02 9.99745670e-01 -3.87773041e-04 3.40574371e+01] [ 4.17520049e-03 2.93698949e-04 9.99991241e-01 -1.44555278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.481400513 meters 0.07381971859774543 Centerline is valid? [True, True] Translation: X:373.83, Y:34.06, Z:-1.45 [[ 9.99740974e-01 -2.24025904e-02 -4.01362285e-03 3.73827234e+02] [ 2.24012682e-02 9.99748990e-01 -3.74092235e-04 3.40561242e+01] [ 4.02099602e-03 2.84085093e-04 9.99991875e-01 -1.44729622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.541400513 meters 0.0767842008258759 Centerline is valid? [True, True] Translation: X:373.89, Y:34.06, Z:-1.45 [[ 9.99824928e-01 -1.83713556e-02 -3.55060336e-03 3.73887720e+02] [ 1.83702956e-02 9.99831197e-01 -3.30936560e-04 3.40591982e+01] [ 3.55608376e-03 2.65652989e-04 9.99993642e-01 -1.44675631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.601400513 meters 0.08673181736197105 Centerline is valid? [True, True] Translation: X:373.95, Y:34.07, Z:-1.45 [[ 9.99933914e-01 -1.02249624e-02 -5.25526262e-03 3.73945973e+02] [ 1.02225284e-02 9.99947629e-01 -4.89812373e-04 3.40717543e+01] [ 5.25999571e-03 4.36057932e-04 9.99986071e-01 -1.44939878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.661400513 meters 0.08415680840318858 Centerline is valid? [True, True] Translation: X:374.01, Y:34.07, Z:-1.45 [[ 9.99978203e-01 -4.30877541e-03 -5.00271960e-03 3.74006299e+02] [ 4.30649609e-03 9.99990618e-01 -4.66298793e-04 3.40725256e+01] [ 5.00468184e-03 4.44744437e-04 9.99987378e-01 -1.44831244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.721400513 meters 0.10067972513340555 Centerline is valid? [True, False] Translation: X:374.01, Y:34.07, Z:-1.45 [[ 9.99987525e-01 1.08931234e-04 -4.99387378e-03 3.74006339e+02] [-8.88140681e-05 9.99991882e-01 4.02841374e-03 3.40718145e+01] [ 4.99427206e-03 -4.02791995e-03 9.99979416e-01 -1.44852305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.781400513 meters 0.09909642111646069 Centerline is valid? [False, True] Translation: X:374.01, Y:34.08, Z:-1.45 [[ 9.99987778e-01 -2.31780030e-04 -4.93866742e-03 3.74006451e+02] [ 2.46612409e-04 9.99995461e-01 3.00291879e-03 3.40763020e+01] [ 4.93794898e-03 -3.00410003e-03 9.99983296e-01 -1.44941125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.841400513 meters 0.09033736852660532 Centerline is valid? [True, True] Translation: X:374.07, Y:34.08, Z:-1.45 [[ 9.99976996e-01 -4.30444122e-03 -5.24208195e-03 3.74067130e+02] [ 4.30175921e-03 9.99990611e-01 -5.22799366e-04 3.40768442e+01] [ 5.24428309e-03 5.00237165e-04 9.99986124e-01 -1.44931303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.901400513 meters 0.08553539009523242 Centerline is valid? [True, True] Translation: X:374.13, Y:34.08, Z:-1.45 [[ 9.99907158e-01 -1.23771277e-02 -5.69935015e-03 3.74127766e+02] [ 1.23740874e-02 9.99923276e-01 -5.68416709e-04 3.40788093e+01] [ 5.70594824e-03 4.97839680e-04 9.99983597e-01 -1.45017330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.961400513 meters 0.07054242917776478 Centerline is valid? [True, True] Translation: X:374.19, Y:34.06, Z:-1.45 [[ 9.99689624e-01 -2.46485685e-02 -3.61977643e-03 3.74190264e+02] [ 2.46474219e-02 9.99696141e-01 -3.61034147e-04 3.40628789e+01] [ 3.62757551e-03 2.71703934e-04 9.99993383e-01 -1.44684994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.021400513 meters 0.07072077483448606 Centerline is valid? [True, True] Translation: X:374.25, Y:34.07, Z:-1.45 [[ 9.99553849e-01 -2.97442030e-02 -2.71771715e-03 3.74250032e+02] [ 2.97435754e-02 9.99557525e-01 -2.71069442e-04 3.40667549e+01] [ 2.72457737e-03 1.90113879e-04 9.99996270e-01 -1.44586780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.081400513 meters 0.06914176598499513 Centerline is valid? [True, True] Translation: X:374.31, Y:34.07, Z:-1.44 [[ 9.99500996e-01 -3.15178342e-02 -2.09402350e-03 3.74310202e+02] [ 3.15174654e-02 9.99503179e-01 -2.08910034e-04 3.40689877e+01] [ 2.09956754e-03 1.42807474e-04 9.99997786e-01 -1.44466175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.141400513 meters 0.07149869174667625 Centerline is valid? [True, True] Translation: X:374.37, Y:34.08, Z:-1.44 [[ 9.99570079e-01 -2.93187761e-02 2.59262795e-04 3.74369647e+02] [ 2.93187703e-02 9.99570112e-01 2.58348282e-05 3.40791110e+01] [-2.59908787e-04 -1.82224549e-05 9.99999966e-01 -1.44121497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.201400513 meters 0.07018624300939501 Centerline is valid? [True, True] Translation: X:374.43, Y:34.08, Z:-1.44 [[ 9.99635236e-01 -2.70010745e-02 5.80463858e-04 3.74429659e+02] [ 2.70010454e-02 9.99635404e-01 5.78973432e-05 3.40832322e+01] [-5.81815514e-04 -4.22030934e-05 9.99999830e-01 -1.44122272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.261400513 meters 0.07439142916815111 Centerline is valid? [True, True] Translation: X:374.49, Y:34.09, Z:-1.44 [[ 9.99566581e-01 -2.94267590e-02 -8.46679895e-04 3.74488877e+02] [ 2.94266979e-02 9.99566937e-01 -8.45203240e-05 3.40911528e+01] [ 8.48800389e-04 5.95686977e-05 9.99999638e-01 -1.44425573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.321400513 meters 0.06217019143361283 Centerline is valid? [True, True] Translation: X:374.55, Y:34.07, Z:-1.44 [[ 9.99422905e-01 -3.39683011e-02 -1.09160028e-04 3.74551150e+02] [ 3.39683001e-02 9.99422911e-01 -1.08884294e-05 3.40745909e+01] [ 1.09466895e-04 7.17416511e-06 9.99999994e-01 -1.44271770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.381400513 meters 0.06203685109526456 Centerline is valid? [True, True] Translation: X:374.61, Y:34.07, Z:-1.44 [[ 9.99380134e-01 -3.52043623e-02 1.07993948e-05 3.74611323e+02] [ 3.52043623e-02 9.99380134e-01 1.01644459e-06 3.40745201e+01] [-1.08284839e-05 -6.35628723e-07 1.00000000e+00 -1.44348107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.441400513 meters 0.07009078309896585 Centerline is valid? [True, True] Translation: X:374.67, Y:34.08, Z:-1.45 [[ 9.99476836e-01 -3.22703373e-02 -2.16322266e-03 3.74670806e+02] [ 3.22699451e-02 9.99479166e-01 -2.15955640e-04 3.40793519e+01] [ 2.16906494e-03 1.46035584e-04 9.99997637e-01 -1.44842511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.501400513 meters 0.07782593562320746 Centerline is valid? [True, True] Translation: X:374.73, Y:34.08, Z:-1.45 [[ 9.99584638e-01 -2.87094010e-02 -2.51439811e-03 3.74729934e+02] [ 2.87088599e-02 9.99587784e-01 -2.51031100e-04 3.40845847e+01] [ 2.52056859e-03 1.78741328e-04 9.99996807e-01 -1.44900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.561400513 meters 0.08088220118371196 Centerline is valid? [True, True] Translation: X:374.79, Y:34.09, Z:-1.45 [[ 9.99729729e-01 -2.27851944e-02 -4.61570880e-03 3.74789999e+02] [ 2.27833081e-02 9.99740321e-01 -4.60837079e-04 3.40891586e+01] [ 4.62501046e-03 3.55551412e-04 9.99989241e-01 -1.45207295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.621400513 meters 0.08358969301499287 Centerline is valid? [True, True] Translation: X:374.85, Y:34.09, Z:-1.45 [[ 9.99822952e-01 -1.85311101e-02 -3.26531823e-03 3.74849883e+02] [ 1.85301435e-02 9.99828249e-01 -3.26018199e-04 3.40924830e+01] [ 3.27079889e-03 2.65453662e-04 9.99994616e-01 -1.45084787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.681400513 meters 0.07623364326906262 Centerline is valid? [True, True] Translation: X:374.91, Y:34.09, Z:-1.45 [[ 9.99828687e-01 -1.78295440e-02 -4.97035967e-03 3.74910509e+02] [ 1.78272950e-02 9.99840958e-01 -4.96415140e-04 3.40851794e+01] [ 4.97842003e-03 4.07722029e-04 9.99987524e-01 -1.45229798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74140051300003 meters 0.08434471871650913 Centerline is valid? [True, True] Translation: X:374.97, Y:34.10, Z:-1.45 [[ 9.99844716e-01 -1.72545402e-02 -3.58124999e-03 3.74967112e+02] [ 1.72533676e-02 9.99851085e-01 -3.58062022e-04 3.40955480e+01] [ 3.58689488e-03 2.96217798e-04 9.99993523e-01 -1.45251174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80140051300003 meters 0.08574576586467174 Centerline is valid? [True, True] Translation: X:375.03, Y:34.10, Z:-1.45 [[ 9.99867643e-01 -1.61331365e-02 -2.10201296e-03 3.75025854e+02] [ 1.61327299e-02 9.99869837e-01 -2.10215962e-04 3.41023911e+01] [ 2.10513080e-03 1.76276931e-04 9.99997769e-01 -1.44985667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86140051300004 meters 0.09256883715611348 Centerline is valid? [True, True] Translation: X:375.08, Y:34.12, Z:-1.45 [[ 9.99947279e-01 -1.00598491e-02 -2.05874380e-03 3.75084447e+02] [ 1.00594465e-02 9.99949381e-01 -2.05818650e-04 3.41209725e+01] [ 2.06071010e-03 1.85097976e-04 9.99997860e-01 -1.44864896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.921400513 meters 0.08501569841965748 Centerline is valid? [True, True] Translation: X:375.14, Y:34.12, Z:-1.45 [[ 9.99974820e-01 -6.53930509e-03 -2.75622024e-03 3.75144619e+02] [ 6.53857015e-03 9.99978585e-01 -2.75573519e-04 3.41233748e+01] [ 2.75796328e-03 2.57544840e-04 9.99996164e-01 -1.44888882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.981400513 meters 0.08758269903001122 Centerline is valid? [True, True] Translation: X:375.20, Y:34.14, Z:-1.44 [[ 9.99947368e-01 -1.02569108e-02 2.38799935e-04 3.75203053e+02] [ 1.02569054e-02 9.99947396e-01 2.38419764e-05 3.41375224e+01] [-2.39031918e-04 -2.13913732e-05 9.99999971e-01 -1.44442952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.041400513 meters 0.08852596926338804 Centerline is valid? [True, True] Translation: X:375.26, Y:34.15, Z:-1.44 [[ 9.99844699e-01 -1.75279672e-02 1.82982529e-03 3.75261831e+02] [ 1.75276615e-02 9.99846362e-01 1.82956278e-04 3.41462721e+01] [-1.83275101e-03 -1.50855306e-04 9.99998309e-01 -1.44281083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.101400513 meters 0.07029316025612618 Centerline is valid? [True, True] Translation: X:375.32, Y:34.13, Z:-1.44 [[ 9.99621104e-01 -2.74076207e-02 2.54389969e-03 3.75323713e+02] [ 2.74070616e-02 9.99624324e-01 2.54387730e-04 3.41323079e+01] [-2.54991617e-03 -1.84570528e-04 9.99996732e-01 -1.44239045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.161400513 meters 0.07275161417104381 Centerline is valid? [True, True] Translation: X:375.38, Y:34.14, Z:-1.44 [[ 9.99548482e-01 -3.00315936e-02 9.67148389e-04 3.75382773e+02] [ 3.00315141e-02 9.99548948e-01 9.67115134e-05 3.41436162e+01] [-9.69616556e-04 -6.76229159e-05 9.99999528e-01 -1.44451706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.221400513 meters 0.07554616815759284 Centerline is valid? [True, True] Translation: X:375.44, Y:34.15, Z:-1.45 [[ 9.99640238e-01 -2.68135041e-02 -6.56070471e-04 3.75442258e+02] [ 2.68134668e-02 9.99640452e-01 -6.56237408e-05 3.41508129e+01] [ 6.57594184e-04 4.80086081e-05 9.99999783e-01 -1.44540336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.281400513 meters 0.07716972774399286 Centerline is valid? [True, True] Translation: X:375.50, Y:34.16, Z:-1.44 [[ 9.99728354e-01 -2.33070328e-02 1.60020478e-05 3.75501807e+02] [ 2.33070328e-02 9.99728354e-01 1.57338362e-06 3.41573933e+01] [-1.60343718e-05 -1.19999597e-06 1.00000000e+00 -1.44390292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.341400513 meters 0.08042433802485312 Centerline is valid? [True, True] Translation: X:375.56, Y:34.17, Z:-1.45 [[ 9.99836076e-01 -1.80564186e-02 -1.33675555e-03 3.75561340e+02] [ 1.80562558e-02 9.99836964e-01 -1.33694011e-04 3.41700005e+01] [ 1.33895165e-03 1.09535295e-04 9.99999098e-01 -1.44590300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.401400513 meters 0.0843449482102776 Centerline is valid? [True, True] Translation: X:375.62, Y:34.18, Z:-1.45 [[ 9.99893036e-01 -1.46094807e-02 -6.93073403e-04 3.75620658e+02] [ 1.46094362e-02 9.99893274e-01 -6.93151968e-05 3.41844268e+01] [ 6.94012093e-04 5.91823709e-05 9.99999757e-01 -1.44593118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.461400513 meters 0.09039527334033687 Centerline is valid? [True, True] Translation: X:375.68, Y:34.20, Z:-1.45 [[ 9.99936993e-01 -1.07674141e-02 -3.17373096e-03 3.75680356e+02] [ 1.07664604e-02 9.99941990e-01 -3.17428987e-04 3.41987092e+01] [ 3.17696474e-03 2.83239138e-04 9.99994913e-01 -1.44897411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.521400513 meters 0.09158648321672509 Centerline is valid? [True, True] Translation: X:375.74, Y:34.21, Z:-1.45 [[ 9.99944435e-01 -9.38093364e-03 -4.80876301e-03 3.75740237e+02] [ 9.37872830e-03 9.99955903e-01 -4.80955879e-04 3.42095237e+01] [ 4.81306277e-03 4.35829073e-04 9.99988322e-01 -1.45225779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.581400513 meters 0.09929199273784521 Centerline is valid? [True, True] Translation: X:375.80, Y:34.23, Z:-1.45 [[ 9.99942725e-01 -1.04985972e-02 -2.08014052e-03 3.75797772e+02] [ 1.04981867e-02 9.99944871e-01 -2.08152290e-04 3.42261651e+01] [ 2.08221115e-03 1.86302665e-04 9.99997815e-01 -1.44795696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.641400513 meters 0.08787356525505385 Centerline is valid? [True, True] Translation: X:375.86, Y:34.22, Z:-1.45 [[ 9.99929932e-01 -1.15721886e-02 -2.49318705e-03 3.75857773e+02] [ 1.15716022e-02 9.99933016e-01 -2.49529935e-04 3.42249913e+01] [ 2.49590765e-03 2.20662282e-04 9.99996861e-01 -1.44963227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.701400513 meters 0.07840256151579947 Centerline is valid? [True, True] Translation: X:375.92, Y:34.22, Z:-1.45 [[ 9.99927705e-01 -1.18990779e-02 -1.73084721e-03 3.75916841e+02] [ 1.18987946e-02 9.99929192e-01 -1.73908291e-04 3.42241516e+01] [ 1.73279400e-03 1.53300723e-04 9.99998487e-01 -1.44832390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.761400513 meters 0.09160393593815888 Centerline is valid? [True, True] Translation: X:375.97, Y:34.25, Z:-1.44 [[ 9.99910167e-01 -1.33408765e-02 1.29584930e-03 3.75973366e+02] [ 1.33407194e-02 9.99911000e-01 1.29849182e-04 3.42538717e+01] [-1.29746627e-03 -1.12549956e-04 9.99999152e-01 -1.44405323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.821400513 meters 0.08770840924450288 Centerline is valid? [True, True] Translation: X:376.03, Y:34.26, Z:-1.44 [[ 9.99866535e-01 -1.62339391e-02 1.83586966e-03 3.76033733e+02] [ 1.62336283e-02 9.99868209e-01 1.84042377e-04 3.42575402e+01] [-1.83861545e-03 -1.54214988e-04 9.99998298e-01 -1.44298424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.881400513 meters 0.0750741999258085 Centerline is valid? [True, True] Translation: X:376.09, Y:34.25, Z:-1.44 [[ 9.99757129e-01 -2.20229462e-02 8.20651777e-04 3.76094768e+02] [ 2.20228860e-02 9.99757463e-01 8.22781249e-05 3.42540177e+01] [-8.22264746e-04 -6.41850214e-05 9.99999660e-01 -1.44437780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.941400513 meters 0.06972192291148253 Centerline is valid? [True, True] Translation: X:376.16, Y:34.26, Z:-1.44 [[ 9.99691819e-01 -2.48194178e-02 5.12863535e-04 3.76155556e+02] [ 2.48193946e-02 9.99691950e-01 5.14390442e-05 3.42574821e+01] [-5.13982235e-04 -3.86942292e-05 9.99999867e-01 -1.44468453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.001400513 meters 0.07690981977689272 Centerline is valid? [True, True] Translation: X:376.21, Y:34.28, Z:-1.44 [[ 9.99615729e-01 -2.77096980e-02 7.53079624e-04 3.76213653e+02] [ 2.77096489e-02 9.99616011e-01 7.54906386e-05 3.42776528e+01] [-7.54882273e-04 -5.45940577e-05 9.99999714e-01 -1.44421923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.061400513 meters 0.07612156778660631 Centerline is valid? [True, True] Translation: X:376.27, Y:34.29, Z:-1.44 [[ 9.99542001e-01 -3.02423500e-02 1.09001821e-03 3.76272356e+02] [ 3.02422488e-02 9.99542593e-01 1.09253752e-04 3.42851779e+01] [-1.09282372e-03 -7.62391120e-05 9.99999400e-01 -1.44363754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.121400513 meters 0.0709436047066286 Centerline is valid? [True, True] Translation: X:376.33, Y:34.29, Z:-1.45 [[ 9.99328940e-01 -3.66139785e-02 -1.04243206e-03 3.76333132e+02] [ 3.66138894e-02 9.99329481e-01 -1.04508194e-04 3.42873253e+01] [ 1.04555955e-03 6.62705700e-05 9.99999451e-01 -1.44746443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.181400513 meters 0.06461184287919615 Centerline is valid? [True, True] Translation: X:376.39, Y:34.29, Z:-1.45 [[ 9.99169528e-01 -4.07333762e-02 -1.02284639e-03 3.76393382e+02] [ 4.07332924e-02 9.99170050e-01 -1.02618233e-04 3.42862684e+01] [ 1.02617747e-03 6.08691103e-05 9.99999472e-01 -1.44739804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24140051300003 meters 0.05348944565015239 Centerline is valid? [True, True] Translation: X:376.45, Y:34.29, Z:-1.44 [[ 9.99035197e-01 -4.39146017e-02 4.28342419e-04 3.76454051e+02] [ 4.39145873e-02 9.99035288e-01 4.29491163e-05 3.42850915e+01] [-4.29815286e-04 -2.40971983e-05 9.99999907e-01 -1.44473924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30140051300003 meters 0.055107420810786754 Centerline is valid? [True, True] Translation: X:376.51, Y:34.30, Z:-1.45 [[ 9.98948391e-01 -4.58203565e-02 -1.61469049e-03 3.76511974e+02] [ 4.58201542e-02 9.98949692e-01 -1.62034420e-04 3.42963869e+01] [ 1.62041904e-03 8.78786563e-05 9.99998683e-01 -1.44802199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36140051300004 meters 0.05112349829164912 Centerline is valid? [True, True] Translation: X:376.57, Y:34.30, Z:-1.45 [[ 9.98482347e-01 -5.50695742e-02 -5.87507467e-04 3.76571745e+02] [ 5.50695491e-02 9.98482519e-01 -5.89418582e-05 3.42972741e+01] [ 5.89861839e-04 2.64986336e-05 9.99999826e-01 -1.44645908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.421400513 meters 0.035379024617371954 Centerline is valid? [True, True] Translation: X:376.63, Y:34.28, Z:-1.45 [[ 9.97529573e-01 -7.02391574e-02 -1.10121558e-03 3.76634048e+02] [ 7.02390782e-02 9.97530180e-01 -1.10474440e-04 3.42783276e+01] [ 1.10625541e-03 3.28531535e-05 9.99999388e-01 -1.44688630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.481400513 meters 0.03410658434844 Centerline is valid? [True, True] Translation: X:376.69, Y:34.28, Z:-1.45 [[ 9.97024657e-01 -7.70829771e-02 -2.20459901e-04 3.76693595e+02] [ 7.70829740e-02 9.97024681e-01 -2.21557144e-05 3.42750868e+01] [ 2.21511791e-04 5.09608866e-06 9.99999975e-01 -1.44587045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.541400513 meters 0.022214888091484915 Centerline is valid? [True, True] Translation: X:376.75, Y:34.27, Z:-1.44 [[ 9.96833576e-01 -7.95142968e-02 5.46739889e-04 3.76752989e+02] [ 7.95142787e-02 9.96833726e-01 5.47541486e-05 3.42728450e+01] [-5.49362498e-04 -1.11071458e-05 9.99999849e-01 -1.44489316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.601400513 meters 0.024844411620703086 Centerline is valid? [True, True] Translation: X:376.81, Y:34.28, Z:-1.45 [[ 9.97051355e-01 -7.67371055e-02 -1.13091539e-04 3.76812585e+02] [ 7.67371047e-02 9.97051361e-01 -1.14172892e-05 3.42766441e+01] [ 1.13634202e-04 2.70530640e-06 9.99999994e-01 -1.44554972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.661400513 meters 0.030469410966147213 Centerline is valid? [True, True] Translation: X:376.87, Y:34.28, Z:-1.45 [[ 9.97293230e-01 -7.35160436e-02 -1.26697493e-03 3.76870868e+02] [ 7.35159411e-02 9.97294034e-01 -1.27343829e-04 3.42845302e+01] [ 1.27290836e-03 3.38562834e-05 9.99999189e-01 -1.44783152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.721400513 meters 0.029865155546707246 Centerline is valid? [True, True] Translation: X:376.93, Y:34.29, Z:-1.45 [[ 9.97450090e-01 -7.13450305e-02 -1.79022959e-03 3.76930806e+02] [ 7.13448224e-02 9.97451695e-01 -1.79910724e-04 3.42856360e+01] [ 1.79850327e-03 5.17283555e-05 9.99998381e-01 -1.44872628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.781400513 meters 0.0315067703889884 Centerline is valid? [True, True] Translation: X:376.99, Y:34.29, Z:-1.45 [[ 9.97465659e-01 -7.11494008e-02 1.46022094e-04 3.76988167e+02] [ 7.11493994e-02 9.97465670e-01 1.44653085e-05 3.42875286e+01] [-1.46681224e-04 -4.03926417e-06 9.99999989e-01 -1.44666174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.841400513 meters 0.027813225976504225 Centerline is valid? [True, True] Translation: X:377.05, Y:34.28, Z:-1.45 [[ 9.97311528e-01 -7.32778251e-02 -2.75947522e-04 3.77047862e+02] [ 7.32778202e-02 9.97311566e-01 -2.78837072e-05 3.42841963e+01] [ 2.77248913e-04 7.58790975e-06 9.99999962e-01 -1.44688785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.901400513 meters 0.02490802020415204 Centerline is valid? [True, True] Translation: X:377.11, Y:34.28, Z:-1.45 [[ 9.97061633e-01 -7.66023291e-02 -4.29142991e-04 3.77107502e+02] [ 7.66023174e-02 9.97061725e-01 -4.36441315e-05 3.42826476e+01] [ 4.31225293e-04 1.06425414e-05 9.99999907e-01 -1.44774903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.961400513 meters 0.019993054530367305 Centerline is valid? [True, True] Translation: X:377.17, Y:34.28, Z:-1.44 [[ 9.96593260e-01 -8.24476336e-02 2.06438847e-03 3.77167728e+02] [ 8.24473797e-02 9.96595398e-01 2.07975625e-04 3.42759816e+01] [-2.07450715e-03 -3.70636856e-05 9.99997848e-01 -1.44407067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.021400513 meters 0.019078655001525655 Centerline is valid? [True, True] Translation: X:377.23, Y:34.28, Z:-1.44 [[ 9.96400812e-01 -8.47337643e-02 2.36890760e-03 3.77226072e+02] [ 8.47334362e-02 9.96403627e-01 2.38689032e-04 3.42780955e+01] [-2.38061315e-03 -3.71042641e-05 9.99997166e-01 -1.44284647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.081400513 meters 0.01881078725064151 Centerline is valid? [True, True] Translation: X:377.28, Y:34.28, Z:-1.44 [[ 9.96443918e-01 -8.42189579e-02 2.58564777e-03 3.77284930e+02] [ 8.42185641e-02 9.96447272e-01 2.60997628e-04 3.42843500e+01] [-2.59844261e-03 -4.23099563e-05 9.99996623e-01 -1.44298120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.141400513 meters 0.022591460086376136 Centerline is valid? [True, True] Translation: X:377.34, Y:34.30, Z:-1.44 [[ 9.96657174e-01 -8.16205962e-02 3.54347839e-03 3.77342206e+02] [ 8.16198379e-02 9.96663471e-01 3.58334575e-04 3.42961577e+01] [-3.56090295e-03 -6.79185929e-05 9.99993658e-01 -1.44308685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.201400513 meters 0.02650752261206215 Centerline is valid? [True, True] Translation: X:377.40, Y:34.31, Z:-1.45 [[ 9.96742614e-01 -8.06378992e-02 1.30058310e-03 3.77400352e+02] [ 8.06377964e-02 9.96743462e-01 1.31366528e-04 3.43051703e+01] [-1.30694082e-03 -2.60624612e-05 9.99999146e-01 -1.44676287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.261400513 meters 0.023187105333660474 Centerline is valid? [True, True] Translation: X:377.46, Y:34.31, Z:-1.45 [[ 9.96805436e-01 -7.98362328e-02 -2.25792166e-03 3.77458973e+02] [ 7.98359174e-02 9.96807992e-01 -2.29615086e-04 3.43144050e+01] [ 2.26904596e-03 4.86183191e-05 9.99997425e-01 -1.45238933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.321400513 meters 0.022019517646118744 Centerline is valid? [True, True] Translation: X:377.52, Y:34.32, Z:-1.45 [[ 9.96746216e-01 -8.05928551e-02 -1.33151397e-03 3.77517049e+02] [ 8.05927455e-02 9.96747105e-01 -1.35818493e-04 3.43234034e+01] [ 1.33812870e-03 2.80662019e-05 9.99999104e-01 -1.45157342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.381400513 meters 0.03153886566753651 Centerline is valid? [True, True] Translation: X:377.57, Y:34.34, Z:-1.45 [[ 9.96863769e-01 -7.91333994e-02 -7.29146762e-04 3.77573790e+02] [ 7.91333662e-02 9.96864035e-01 -7.43338608e-05 3.43359897e+01] [ 7.32742475e-04 1.64008949e-05 9.99999731e-01 -1.44940192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.441400513 meters 0.024600857693974524 Centerline is valid? [True, True] Translation: X:377.63, Y:34.35, Z:-1.45 [[ 9.96912868e-01 -7.84779972e-02 -2.43669204e-03 3.77631543e+02] [ 7.84776235e-02 9.96915844e-01 -2.48743485e-04 3.43500280e+01] [ 2.44869779e-03 5.67497801e-05 9.99997000e-01 -1.45344356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.501400513 meters 0.030326191341664657 Centerline is valid? [True, True] Translation: X:377.69, Y:34.36, Z:-1.46 [[ 9.96935105e-01 -7.81773948e-02 -2.94819214e-03 3.77688480e+02] [ 7.81768470e-02 9.96939462e-01 -3.00758420e-04 3.43639738e+01] [ 2.96268159e-03 6.93562608e-05 9.99995609e-01 -1.45537496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.561400513 meters 0.025456487275533544 Centerline is valid? [True, True] Translation: X:377.75, Y:34.37, Z:-1.45 [[ 9.96946856e-01 -7.80364348e-02 -2.69843425e-03 3.77746623e+02] [ 7.80359734e-02 9.96950506e-01 -2.76035393e-04 3.43720666e+01] [ 2.71174620e-03 6.46176746e-05 9.99996321e-01 -1.45338306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.621400513 meters 0.02663884548936492 Centerline is valid? [True, True] Translation: X:377.80, Y:34.38, Z:-1.45 [[ 9.97081688e-01 -7.63368875e-02 -8.87267029e-04 3.77804910e+02] [ 7.63368365e-02 9.97082082e-01 -9.12136498e-05 3.43801919e+01] [ 8.91641023e-04 2.32163017e-05 9.99999602e-01 -1.45056549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.681400513 meters 0.032676501444215134 Centerline is valid? [True, True] Translation: X:377.86, Y:34.40, Z:-1.45 [[ 9.97620620e-01 -6.89263117e-02 1.50371236e-03 3.77863971e+02] [ 6.89261580e-02 9.97621753e-01 1.53834126e-04 3.43965851e+01] [-1.51073938e-03 -4.98229808e-05 9.99998858e-01 -1.44685854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74140051300003 meters 0.039369469704350284 Centerline is valid? [True, True] Translation: X:377.92, Y:34.41, Z:-1.45 [[ 9.98064867e-01 -6.21811467e-02 -1.60833535e-04 3.77922874e+02] [ 6.21811449e-02 9.98064880e-01 -1.64659671e-05 3.44107917e+01] [ 1.61546176e-04 6.43328988e-06 9.99999987e-01 -1.44909801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80140051300003 meters 0.053371416064429286 Centerline is valid? [True, True] Translation: X:377.98, Y:34.43, Z:-1.45 [[ 9.98528858e-01 -5.42223248e-02 -2.42550952e-04 3.77979989e+02] [ 5.42223204e-02 9.98528888e-01 -2.48611530e-05 3.44310766e+01] [ 2.43542161e-04 1.16729033e-05 9.99999970e-01 -1.45064036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86140051300004 meters 0.05038360636959608 Centerline is valid? [True, True] Translation: X:378.04, Y:34.43, Z:-1.45 [[ 9.98594878e-01 -5.29853860e-02 9.05256339e-04 3.78039862e+02] [ 5.29853238e-02 9.98595287e-01 9.25900341e-05 3.44309267e+01] [-9.08890633e-04 -4.44946335e-05 9.99999586e-01 -1.44864541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.921400513 meters 0.04867006723486503 Centerline is valid? [True, True] Translation: X:378.10, Y:34.43, Z:-1.45 [[ 9.98644855e-01 -5.20363130e-02 8.21420682e-04 3.78099355e+02] [ 5.20362617e-02 9.98645192e-01 8.37728294e-05 3.44297091e+01] [-8.24667044e-04 -4.09156436e-05 9.99999659e-01 -1.44928697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.981400513 meters 0.05194033664028966 Centerline is valid? [True, True] Translation: X:378.16, Y:34.44, Z:-1.45 [[ 9.98786778e-01 -4.92266395e-02 -1.30801001e-03 3.78158702e+02] [ 4.92265059e-02 9.98787632e-01 -1.34138464e-04 3.44376918e+01] [ 1.31302740e-03 6.95869623e-05 9.99999136e-01 -1.45280413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.041400513 meters 0.06272885979516114 Centerline is valid? [True, True] Translation: X:378.22, Y:34.46, Z:-1.46 [[ 9.99096029e-01 -4.24150766e-02 -2.84374101e-03 3.78216627e+02] [ 4.24144177e-02 9.99100061e-01 -2.91626824e-04 3.44563571e+01] [ 2.85355119e-03 1.70747582e-04 9.99995914e-01 -1.45664896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.101400513 meters 0.06261273966423388 Centerline is valid? [True, True] Translation: X:378.28, Y:34.46, Z:-1.46 [[ 9.99196170e-01 -3.99915288e-02 -2.77332842e-03 3.78276424e+02] [ 3.99908928e-02 9.99200004e-01 -2.84439079e-04 3.44617499e+01] [ 2.78248492e-03 1.73302559e-04 9.99996114e-01 -1.45545773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.161400513 meters 0.0654432092171706 Centerline is valid? [True, True] Translation: X:378.33, Y:34.47, Z:-1.45 [[ 9.99155376e-01 -4.10878158e-02 -5.70389069e-04 3.78333126e+02] [ 4.10877890e-02 9.99155539e-01 -5.86763185e-05 3.44739991e+01] [ 5.72318279e-04 3.51907334e-05 9.99999836e-01 -1.45268631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.221400513 meters 0.06429547903042178 Centerline is valid? [True, True] Translation: X:378.39, Y:34.48, Z:-1.45 [[ 9.99062578e-01 -4.32608168e-02 -1.57039894e-03 3.78392525e+02] [ 4.32606167e-02 9.99063808e-01 -1.61184009e-04 3.44804118e+01] [ 1.57590170e-03 9.30964847e-05 9.99998754e-01 -1.45409901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.281400513 meters 0.058389636734634875 Centerline is valid? [True, True] Translation: X:378.45, Y:34.48, Z:-1.45 [[ 9.99076423e-01 -4.28659260e-02 -2.96872842e-03 3.78451708e+02] [ 4.28652065e-02 9.99080818e-01 -3.05575853e-04 3.44803872e+01] [ 2.97909841e-03 1.78038473e-04 9.99995547e-01 -1.45409160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.341400513 meters 0.06410557719017627 Centerline is valid? [True, True] Translation: X:378.51, Y:34.49, Z:-1.45 [[ 9.99270278e-01 -3.80967950e-02 -2.74678210e-03 3.78509319e+02] [ 3.80961620e-02 9.99274038e-01 -2.82452015e-04 3.44949553e+01] [ 2.75554855e-03 1.77604048e-04 9.99996188e-01 -1.45417259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.401400513 meters 0.07338605786956925 Centerline is valid? [True, True] Translation: X:378.57, Y:34.51, Z:-1.45 [[ 9.99393831e-01 -3.47748567e-02 -1.63688771e-03 3.78566761e+02] [ 3.47746277e-02 9.99395166e-01 -1.68174076e-04 3.45131475e+01] [ 1.64174589e-03 1.11149974e-04 9.99998646e-01 -1.45294118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.461400513 meters 0.0758960082420695 Centerline is valid? [True, True] Translation: X:378.63, Y:34.52, Z:-1.45 [[ 9.99447796e-01 -3.32276370e-02 -1.62283347e-04 3.78627056e+02] [ 3.32276347e-02 9.99447810e-01 -1.66798619e-05 3.45193916e+01] [ 1.62747968e-04 1.12783595e-05 9.99999987e-01 -1.45056627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.521400513 meters 0.07669502232806621 Centerline is valid? [True, True] Translation: X:378.69, Y:34.52, Z:-1.45 [[ 9.99501628e-01 -3.15499800e-02 1.04585478e-03 3.78687302e+02] [ 3.15498847e-02 9.99502173e-01 1.07495400e-04 3.45246818e+01] [-1.04872560e-03 -7.44452298e-05 9.99999447e-01 -1.44891879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.581400513 meters 0.07251096363829501 Centerline is valid? [True, True] Translation: X:378.75, Y:34.53, Z:-1.45 [[ 9.99608840e-01 -2.79400019e-02 1.23385669e-03 3.78748314e+02] [ 2.79398665e-02 9.99609598e-01 1.26820098e-04 3.45250977e+01] [-1.23691835e-03 -9.22966996e-05 9.99999231e-01 -1.44892872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.641400513 meters 0.0939605762310792 Centerline is valid? [True, True] Translation: X:378.80, Y:34.56, Z:-1.45 [[ 9.99723446e-01 -2.35160803e-02 1.60258129e-04 3.78804940e+02] [ 2.35160779e-02 9.99723459e-01 1.64350390e-05 3.45563429e+01] [-1.60600299e-04 -1.26618512e-05 9.99999987e-01 -1.45181387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.701400513 meters 0.08968955931226981 Centerline is valid? [True, True] Translation: X:378.87, Y:34.56, Z:-1.45 [[ 9.99832077e-01 -1.82719324e-02 -1.39792762e-03 3.78866032e+02] [ 1.82717492e-02 9.99833047e-01 -1.43725280e-04 3.45562508e+01] [ 1.40032037e-03 1.18158562e-04 9.99999013e-01 -1.45441373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.761400513 meters 0.08735096256024291 Centerline is valid? [True, True] Translation: X:378.92, Y:34.56, Z:-1.46 [[ 9.99825252e-01 -1.85872051e-02 -1.99518900e-03 3.78924816e+02] [ 1.85868311e-02 9.99827229e-01 -2.05833485e-04 3.45580648e+01] [ 1.99867016e-03 1.68713275e-04 9.99997988e-01 -1.45524549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.821400513 meters 0.08673100101224071 Centerline is valid? [True, True] Translation: X:378.98, Y:34.56, Z:-1.46 [[ 9.99758745e-01 -2.18139819e-02 -2.56930872e-03 3.78984222e+02] [ 2.18133733e-02 9.99762025e-01 -2.64633974e-04 3.45605018e+01] [ 2.57447001e-03 2.08524840e-04 9.99996664e-01 -1.45690121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.881400513 meters 0.08612706382883563 Centerline is valid? [True, True] Translation: X:379.04, Y:34.56, Z:-1.46 [[ 9.99727761e-01 -2.30508862e-02 -3.61389423e-03 3.79044087e+02] [ 2.30496903e-02 9.99734251e-01 -3.72224292e-04 3.45633351e+01] [ 3.62151394e-03 2.88823815e-04 9.99993401e-01 -1.45915405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.941400513 meters 0.08681523257532626 Centerline is valid? [True, True] Translation: X:379.10, Y:34.57, Z:-1.46 [[ 9.99719658e-01 -2.28809149e-02 -6.08844803e-03 3.79102692e+02] [ 2.28775095e-02 9.99738078e-01 -6.28398536e-04 3.45712983e+01] [ 6.10123166e-03 4.88933842e-04 9.99981268e-01 -1.46359358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.001400513 meters 0.08516608989303442 Centerline is valid? [True, True] Translation: X:379.16, Y:34.58, Z:-1.46 [[ 9.99762817e-01 -2.09622311e-02 -5.90713992e-03 3.79162545e+02] [ 2.09589941e-02 9.99780150e-01 -6.09357685e-04 3.45754189e+01] [ 5.91861474e-03 4.85405445e-04 9.99982367e-01 -1.46161505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.061400513 meters 0.0868727265581862 Centerline is valid? [True, True] Translation: X:379.22, Y:34.59, Z:-1.46 [[ 9.99834658e-01 -1.73593150e-02 -5.41401729e-03 3.79221465e+02] [ 1.73565431e-02 9.99849208e-01 -5.58552259e-04 3.45890859e+01] [ 5.42289698e-03 4.64491282e-04 9.99985188e-01 -1.45980456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.121400513 meters 0.09348818757996981 Centerline is valid? [True, True] Translation: X:379.28, Y:34.61, Z:-1.46 [[ 9.99873430e-01 -1.50944610e-02 -5.02811769e-03 3.79279463e+02] [ 1.50920415e-02 9.99885974e-01 -5.18803212e-04 3.46058839e+01] [ 5.03537541e-03 4.42852986e-04 9.99987224e-01 -1.45948431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.181400513 meters 0.09230929054251433 Centerline is valid? [True, True] Translation: X:379.34, Y:34.62, Z:-1.46 [[ 9.99881807e-01 -1.52980268e-02 -1.53057393e-03 3.79337465e+02] [ 1.52978019e-02 9.99882969e-01 -1.58560368e-04 3.46207731e+01] [ 1.53282047e-03 1.35127211e-04 9.99998816e-01 -1.45551294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24140051300003 meters 0.08806390668707408 Centerline is valid? [True, True] Translation: X:379.40, Y:34.62, Z:-1.46 [[ 9.99830720e-01 -1.82632715e-02 -2.23276894e-03 3.79397425e+02] [ 1.82628013e-02 9.99833194e-01 -2.30803660e-04 3.46240486e+01] [ 2.23661174e-03 1.89987974e-04 9.99997481e-01 -1.45563276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30140051300003 meters 0.07517918796015988 Centerline is valid? [True, True] Translation: X:379.46, Y:34.62, Z:-1.45 [[ 9.99730282e-01 -2.31430756e-02 -1.93936511e-03 3.79458418e+02] [ 2.31427301e-02 9.99732151e-01 -2.00434508e-04 3.46196405e+01] [ 1.94348432e-03 1.55498243e-04 9.99998099e-01 -1.45314890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36140051300004 meters 0.09128622861002171 Centerline is valid? [True, True] Translation: X:379.51, Y:34.65, Z:-1.45 [[ 9.99706220e-01 -2.42183362e-02 9.72164735e-04 3.79513992e+02] [ 2.42182499e-02 9.99706690e-01 1.00416676e-04 3.46522026e+01] [-9.74311514e-04 -7.68430468e-05 9.99999522e-01 -1.45034950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.421400513 meters 0.0837360578959466 Centerline is valid? [True, True] Translation: X:379.57, Y:34.66, Z:-1.45 [[ 9.99724567e-01 -2.34647191e-02 4.43273207e-04 3.79573311e+02] [ 2.34647011e-02 9.99724665e-01 4.57227069e-05 3.46553195e+01] [-4.44224029e-04 -3.53088401e-05 9.99999901e-01 -1.45181660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.481400513 meters 0.08291486251700418 Centerline is valid? [True, True] Translation: X:379.63, Y:34.66, Z:-1.46 [[ 9.99704508e-01 -2.42539596e-02 -1.62557985e-03 3.79632068e+02] [ 2.42537179e-02 9.99705821e-01 -1.68235185e-04 3.46644194e+01] [ 1.62918201e-03 1.28759117e-04 9.99998665e-01 -1.45539634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.541400513 meters 0.08402417540161844 Centerline is valid? [True, True] Translation: X:379.69, Y:34.67, Z:-1.46 [[ 9.99652692e-01 -2.61959748e-02 -2.87525796e-03 3.79690534e+02] [ 2.61952266e-02 9.99656802e-01 -2.97575995e-04 3.46740289e+01] [ 2.88206647e-03 2.22154611e-04 9.99995822e-01 -1.45748796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.601400513 meters 0.0812565596257417 Centerline is valid? [True, True] Translation: X:379.75, Y:34.68, Z:-1.46 [[ 9.99626612e-01 -2.72575834e-02 -1.91348185e-03 3.79750094e+02] [ 2.72572538e-02 9.99628432e-01 -1.98102976e-04 3.46801182e+01] [ 1.91817067e-03 1.45872746e-04 9.99998150e-01 -1.45676302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.661400513 meters 0.08405901626949575 Centerline is valid? [True, True] Translation: X:379.81, Y:34.69, Z:-1.45 [[ 9.99663364e-01 -2.59394055e-02 -5.53522649e-04 3.79807758e+02] [ 2.59393776e-02 9.99663516e-01 -5.73947841e-05 3.46923120e+01] [ 5.54825184e-04 4.30174299e-05 9.99999845e-01 -1.45456286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.721400513 meters 0.07677579406294381 Centerline is valid? [True, True] Translation: X:379.87, Y:34.70, Z:-1.46 [[ 9.99724612e-01 -2.32743979e-02 -3.00058880e-03 3.79868294e+02] [ 2.32735696e-02 9.99729086e-01 -3.10658478e-04 3.46962720e+01] [ 3.00700629e-03 2.40738514e-04 9.99995450e-01 -1.45752201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.781400513 meters 0.08530670414803905 Centerline is valid? [True, True] Translation: X:379.92, Y:34.72, Z:-1.46 [[ 9.99738215e-01 -2.23587820e-02 -4.85653651e-03 3.79924776e+02] [ 2.23565998e-02 9.99749933e-01 -5.03159803e-04 3.47165244e+01] [ 4.86657210e-03 3.94452440e-04 9.99988080e-01 -1.46127721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.841400513 meters 0.08282441722755125 Centerline is valid? [True, True] Translation: X:379.98, Y:34.73, Z:-1.46 [[ 9.99739837e-01 -2.23552002e-02 -4.52806949e-03 3.79982974e+02] [ 2.23532985e-02 9.99750023e-01 -4.70160996e-04 3.47252826e+01] [ 4.53744812e-03 3.68821388e-04 9.99989638e-01 -1.46032253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.901400513 meters 0.09053371824952586 Centerline is valid? [True, True] Translation: X:380.04, Y:34.74, Z:-1.46 [[ 9.99771155e-01 -2.09206696e-02 -4.46793034e-03 3.80040375e+02] [ 2.09188054e-02 9.99781070e-01 -4.63552665e-04 3.47437339e+01] [ 4.47665001e-03 3.69982818e-04 9.99989911e-01 -1.46052468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.961400513 meters 0.08785029110920278 Centerline is valid? [True, True] Translation: X:380.10, Y:34.75, Z:-1.46 [[ 9.99845865e-01 -1.67236550e-02 -5.34469787e-03 3.80100171e+02] [ 1.67209280e-02 9.99860042e-01 -5.54503986e-04 3.47538544e+01] [ 5.35322317e-03 4.65050209e-04 9.99985563e-01 -1.46075166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.021400513 meters 0.09593849637786177 Centerline is valid? [True, True] Translation: X:380.16, Y:34.77, Z:-1.46 [[ 9.99899881e-01 -1.36489224e-02 -3.73292210e-03 3.80157491e+02] [ 1.36475710e-02 9.99906793e-01 -3.87243360e-04 3.47741145e+01] [ 3.73785962e-03 3.36259270e-04 9.99992958e-01 -1.45902086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.081400513 meters 0.0888143030512244 Centerline is valid? [True, True] Translation: X:380.22, Y:34.78, Z:-1.46 [[ 9.99924157e-01 -1.20335891e-02 -2.62173305e-03 3.80218006e+02] [ 1.20329169e-02 9.99927565e-01 -2.72043618e-04 3.47753610e+01] [ 2.62481680e-03 2.40475889e-04 9.99996526e-01 -1.45630749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.141400513 meters 0.09903281909639834 Centerline is valid? [True, True] Translation: X:380.27, Y:34.80, Z:-1.46 [[ 9.99960085e-01 -8.33393785e-03 -3.22084200e-03 3.80274933e+02] [ 8.33290435e-03 9.99965225e-01 -3.34164819e-04 3.48043765e+01] [ 3.22351491e-03 3.07312512e-04 9.99994757e-01 -1.45856000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.201400513 meters 0.10445086292493931 Centerline is valid? [True, False] Translation: X:380.28, Y:34.80, Z:-1.46 [[ 9.99986429e-01 -3.98733354e-03 -3.35306215e-03 3.80275158e+02] [ 4.00070651e-03 9.99984033e-01 3.99108326e-03 3.48044413e+01] [ 3.33709483e-03 -4.00444371e-03 9.99986414e-01 -1.45828668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.261400513 meters 0.09973961595139308 Centerline is valid? [False, True] Translation: X:380.27, Y:34.81, Z:-1.46 [[ 9.99983994e-01 -4.62104177e-03 -3.26446353e-03 3.80274579e+02] [ 4.62922598e-03 9.99986150e-01 2.50396780e-03 3.48112454e+01] [ 3.25284738e-03 -2.51903966e-03 9.99991537e-01 -1.45789638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.321400513 meters 0.09422301291444181 Centerline is valid? [True, True] Translation: X:380.33, Y:34.82, Z:-1.46 [[ 9.99955350e-01 -9.31055899e-03 -1.61596790e-03 3.80334582e+02] [ 9.31031468e-03 9.99956645e-01 -1.58637436e-04 3.48183821e+01] [ 1.61737484e-03 1.43585183e-04 9.99998682e-01 -1.45609433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.381400513 meters 0.0848775480332954 Centerline is valid? [True, True] Translation: X:380.40, Y:34.82, Z:-1.46 [[ 9.99876544e-01 -1.54875053e-02 -2.65197265e-03 3.80395352e+02] [ 1.54868689e-02 9.99880037e-01 -2.60345849e-04 3.48191220e+01] [ 2.65568662e-03 2.19242955e-04 9.99996450e-01 -1.45723568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.441400513 meters 0.0925101136220844 Centerline is valid? [True, True] Translation: X:380.45, Y:34.84, Z:-1.46 [[ 9.99878169e-01 -1.50040507e-02 -4.30411314e-03 3.80451561e+02] [ 1.50023686e-02 9.99887369e-01 -4.22834590e-04 3.48421587e+01] [ 4.30997259e-03 3.58211184e-04 9.99990648e-01 -1.45868424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.501400513 meters 0.09023717514447256 Centerline is valid? [True, True] Translation: X:380.51, Y:34.85, Z:-1.46 [[ 9.99902830e-01 -1.33166963e-02 -4.12252871e-03 3.80511663e+02] [ 1.33151390e-02 9.99911268e-01 -4.04962673e-04 3.48489458e+01] [ 4.12755567e-03 3.50031280e-04 9.99991420e-01 -1.45830603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.561400513 meters 0.09086218542615007 Centerline is valid? [True, True] Translation: X:380.57, Y:34.86, Z:-1.46 [[ 9.99938400e-01 -1.05525395e-02 -3.44104653e-03 3.80571442e+02] [ 1.05514384e-02 9.99944275e-01 -3.37992093e-04 3.48616149e+01] [ 3.44442146e-03 3.01663282e-04 9.99994022e-01 -1.45708647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.621400513 meters 0.0867602141579762 Centerline is valid? [True, True] Translation: X:380.63, Y:34.87, Z:-1.46 [[ 9.99916587e-01 -1.21499130e-02 -4.38152641e-03 3.80631310e+02] [ 1.21481426e-02 9.99926116e-01 -4.30451013e-04 3.48695972e+01] [ 4.38643262e-03 3.77187700e-04 9.99990308e-01 -1.45853281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.681400513 meters 0.07732284127114007 Centerline is valid? [True, True] Translation: X:380.69, Y:34.87, Z:-1.46 [[ 9.99819854e-01 -1.85081524e-02 -4.20799100e-03 3.80692214e+02] [ 1.85065754e-02 9.99828653e-01 -4.13405048e-04 3.48712166e+01] [ 4.21492134e-03 3.35455073e-04 9.99991061e-01 -1.45748174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74140051300003 meters 0.08126671680960963 Centerline is valid? [True, True] Translation: X:380.75, Y:34.88, Z:-1.46 [[ 9.99732395e-01 -2.25394845e-02 -5.20681214e-03 3.80750346e+02] [ 2.25371235e-02 9.99745876e-01 -5.11670035e-04 3.48843787e+01] [ 5.21702174e-03 3.94186541e-04 9.99986314e-01 -1.45966220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80140051300003 meters 0.07340142391655816 Centerline is valid? [True, True] Translation: X:380.81, Y:34.89, Z:-1.46 [[ 9.99609893e-01 -2.73086610e-02 -5.85650111e-03 3.80810761e+02] [ 2.73057556e-02 9.99626963e-01 -5.75496009e-04 3.48858768e+01] [ 5.87003244e-03 4.15355316e-04 9.99982685e-01 -1.46203730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86140051300004 meters 0.06999456668588232 Centerline is valid? [True, True] Translation: X:380.87, Y:34.89, Z:-1.46 [[ 9.99503252e-01 -3.11569173e-02 -4.74306429e-03 3.80871186e+02] [ 3.11550539e-02 9.99514455e-01 -4.66250350e-04 3.48876037e+01] [ 4.75528824e-03 3.18248317e-04 9.99988643e-01 -1.45935952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.921400513 meters 0.07270308726648757 Centerline is valid? [True, True] Translation: X:380.93, Y:34.90, Z:-1.46 [[ 9.99399183e-01 -3.44340887e-02 -3.94553861e-03 3.80929692e+02] [ 3.44328246e-02 9.99406939e-01 -3.87889464e-04 3.48968289e+01] [ 3.95655529e-03 2.51800375e-04 9.99992141e-01 -1.45886649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.981400513 meters 0.06655262233980276 Centerline is valid? [True, True] Translation: X:380.99, Y:34.89, Z:-1.46 [[ 9.99414711e-01 -3.40001903e-02 -3.77134251e-03 3.80988875e+02] [ 3.39990285e-02 9.99421797e-01 -3.71759958e-04 3.48941403e+01] [ 3.78180181e-03 2.43320390e-04 9.99992819e-01 -1.45961165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.041400513 meters 0.07435118461839646 Centerline is valid? [True, True] Translation: X:381.05, Y:34.91, Z:-1.46 [[ 9.99517097e-01 -3.07459998e-02 -4.50072787e-03 3.81047210e+02] [ 3.07443144e-02 9.99527184e-01 -4.43194232e-04 3.49067184e+01] [ 4.51222630e-03 3.04608420e-04 9.99989773e-01 -1.46113312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.101400513 meters 0.07327789437671381 Centerline is valid? [True, True] Translation: X:381.11, Y:34.91, Z:-1.46 [[ 9.99610421e-01 -2.77250700e-02 -3.21366566e-03 3.81107945e+02] [ 2.77241952e-02 9.99615561e-01 -3.16468008e-04 3.49084958e+01] [ 3.22120430e-03 2.27248424e-04 9.99994786e-01 -1.45795114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.161400513 meters 0.07401567021028464 Centerline is valid? [True, True] Translation: X:381.17, Y:34.91, Z:-1.46 [[ 9.99600885e-01 -2.81113733e-02 -2.79673401e-03 3.81166582e+02] [ 2.81107099e-02 9.99604778e-01 -2.76252105e-04 3.49098035e+01] [ 2.80339450e-03 1.97523670e-04 9.99996051e-01 -1.45830017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.221400513 meters 0.07746370682170382 Centerline is valid? [True, True] Translation: X:381.23, Y:34.91, Z:-1.46 [[ 9.99558417e-01 -2.96012230e-02 -2.59595732e-03 3.81225478e+02] [ 2.96006571e-02 9.99561772e-01 -2.56168915e-04 3.49129426e+01] [ 2.60240261e-03 1.79213753e-04 9.99996598e-01 -1.45829110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.281400513 meters 0.07195724281805818 Centerline is valid? [True, True] Translation: X:381.29, Y:34.90, Z:-1.46 [[ 9.99440256e-01 -3.33629296e-02 -2.46775064e-03 3.81286588e+02] [ 3.33624294e-02 9.99443290e-01 -2.43567412e-04 3.49040646e+01] [ 2.47450293e-03 1.61100920e-04 9.99996925e-01 -1.45723740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.341400513 meters 0.06742992815954106 Centerline is valid? [True, True] Translation: X:381.35, Y:34.90, Z:-1.46 [[ 9.99393781e-01 -3.46411679e-02 -3.47262646e-03 3.81346636e+02] [ 3.46401824e-02 9.99399790e-01 -3.43569602e-04 3.48988157e+01] [ 3.48244381e-03 2.23068909e-04 9.99993911e-01 -1.45852863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.401400513 meters 0.06596908461247372 Centerline is valid? [True, True] Translation: X:381.41, Y:34.89, Z:-1.46 [[ 9.99419838e-01 -3.40038573e-02 -1.93010982e-03 3.81405855e+02] [ 3.40035515e-02 9.99421694e-01 -1.91011085e-04 3.48933022e+01] [ 1.93548874e-03 1.25269679e-04 9.99998119e-01 -1.45566421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.461400513 meters 0.08540518978882547 Centerline is valid? [True, True] Translation: X:381.46, Y:34.92, Z:-1.46 [[ 9.99550576e-01 -2.98085285e-02 -3.17783492e-03 3.81462766e+02] [ 2.98076793e-02 9.99555603e-01 -3.14257938e-04 3.49171055e+01] [ 3.18579026e-03 2.19392818e-04 9.99994901e-01 -1.45934735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.521400513 meters 0.07837201510308381 Centerline is valid? [True, True] Translation: X:381.52, Y:34.91, Z:-1.46 [[ 9.99622233e-01 -2.71799573e-02 -4.07932214e-03 3.81524452e+02] [ 2.71785362e-02 9.99630514e-01 -4.03408095e-04 3.49106081e+01] [ 4.08877950e-03 2.92385697e-04 9.99991598e-01 -1.46043952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.581400513 meters 0.07788270848746692 Centerline is valid? [True, True] Translation: X:381.58, Y:34.91, Z:-1.46 [[ 9.99653706e-01 -2.61693482e-02 -2.76273770e-03 3.81584289e+02] [ 2.61686918e-02 9.99657504e-01 -2.73478938e-04 3.49072015e+01] [ 2.76894824e-03 2.01087003e-04 9.99996146e-01 -1.45802299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.641400513 meters 0.07504596969763079 Centerline is valid? [True, True] Translation: X:381.64, Y:34.91, Z:-1.46 [[ 9.99641886e-01 -2.66717412e-02 -2.17221495e-03 3.81643649e+02] [ 2.66713352e-02 9.99644233e-01 -2.15667726e-04 3.49052107e+01] [ 2.17719438e-03 1.57654620e-04 9.99997617e-01 -1.45711348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.701400513 meters 0.07506708175833803 Centerline is valid? [True, True] Translation: X:381.70, Y:34.91, Z:-1.46 [[ 9.99681207e-01 -2.50415080e-02 -3.22608387e-03 3.81703849e+02] [ 2.50406057e-02 9.99686384e-01 -3.19783145e-04 3.49065126e+01] [ 3.23307997e-03 2.38898107e-04 9.99994745e-01 -1.45848185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.761400513 meters 0.0769951320556668 Centerline is valid? [True, True] Translation: X:381.76, Y:34.91, Z:-1.46 [[ 9.99733605e-01 -2.25657803e-02 -4.84825331e-03 3.81764490e+02] [ 2.25637137e-02 9.99745292e-01 -4.80539913e-04 3.49118328e+01] [ 4.85786217e-03 3.71017300e-04 9.99988132e-01 -1.46130941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.821400513 meters 0.08538600283065488 Centerline is valid? [True, True] Translation: X:381.82, Y:34.93, Z:-1.46 [[ 9.99783768e-01 -2.01384366e-02 -5.18267611e-03 3.81822474e+02] [ 2.01360427e-02 9.99797117e-01 -5.13677168e-04 3.49286027e+01] [ 5.19196929e-03 4.09207508e-04 9.99986438e-01 -1.46236992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.881400513 meters 0.07914204744732234 Centerline is valid? [True, True] Translation: X:381.88, Y:34.93, Z:-1.46 [[ 9.99714503e-01 -2.34391534e-02 -4.63887909e-03 3.81882728e+02] [ 2.34372701e-02 9.99725204e-01 -4.59917389e-04 3.49277416e+01] [ 4.64838442e-03 3.51063421e-04 9.99989135e-01 -1.46063476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.941400513 meters 0.07950711015560978 Centerline is valid? [True, True] Translation: X:381.94, Y:34.93, Z:-1.46 [[ 9.99642978e-01 -2.60961796e-02 -5.73645118e-03 3.81941994e+02] [ 2.60933430e-02 9.99659349e-01 -5.68786487e-04 3.49337689e+01] [ 5.74934021e-03 4.18900229e-04 9.99983385e-01 -1.46276956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.001400513 meters 0.07642338507403587 Centerline is valid? [True, True] Translation: X:382.00, Y:34.93, Z:-1.46 [[ 9.99476153e-01 -3.19307564e-02 -5.27698823e-03 3.82001723e+02] [ 3.19284365e-02 9.99490021e-01 -5.23308260e-04 3.49349614e+01] [ 5.29100670e-03 3.54548143e-04 9.99985940e-01 -1.46314758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.061400513 meters 0.06656440295225369 Centerline is valid? [True, True] Translation: X:382.06, Y:34.93, Z:-1.46 [[ 9.99312766e-01 -3.66017324e-02 -5.85733037e-03 3.82063322e+02] [ 3.65989540e-02 9.99329865e-01 -5.80865048e-04 3.49269387e+01] [ 5.87466584e-03 3.66093693e-04 9.99982677e-01 -1.46355191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.121400513 meters 0.05874791658492642 Centerline is valid? [True, True] Translation: X:382.12, Y:34.92, Z:-1.46 [[ 9.99119519e-01 -4.15337481e-02 -5.92750743e-03 3.82124567e+02] [ 4.15309893e-02 9.99137043e-01 -5.87809770e-04 3.49208712e+01] [ 5.94680619e-03 3.41116967e-04 9.99982259e-01 -1.46257546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.181400513 meters 0.05349422034716851 Centerline is valid? [True, True] Translation: X:382.18, Y:34.92, Z:-1.46 [[ 9.99058549e-01 -4.31759316e-02 -4.22540414e-03 3.82184474e+02] [ 4.31745437e-02 9.99067457e-01 -4.19179992e-04 3.49189051e+01] [ 4.23956225e-03 2.36355459e-04 9.99990985e-01 -1.45898584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24140051300003 meters 0.06159197864732918 Centerline is valid? [True, True] Translation: X:382.24, Y:34.93, Z:-1.46 [[ 9.99063599e-01 -4.30385880e-02 -4.42767180e-03 3.82241806e+02] [ 4.30370611e-02 9.99073380e-01 -4.39595906e-04 3.49314339e+01] [ 4.44248861e-03 2.48630287e-04 9.99990101e-01 -1.46107902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30140051300003 meters 0.057813938884688644 Centerline is valid? [True, True] Translation: X:382.30, Y:34.93, Z:-1.46 [[ 9.99095834e-01 -4.22708995e-02 -4.54806200e-03 3.82301339e+02] [ 4.22692759e-02 9.99106152e-01 -4.52556056e-04 3.49284503e+01] [ 4.56312667e-03 2.59903583e-04 9.99989555e-01 -1.46018929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36140051300004 meters 0.06733598953331578 Centerline is valid? [True, True] Translation: X:382.36, Y:34.94, Z:-1.46 [[ 9.99152970e-01 -4.10191431e-02 -3.28222494e-03 3.82359290e+02] [ 4.10182911e-02 9.99158342e-01 -3.26507342e-04 3.49412565e+01] [ 3.29285548e-03 1.91599522e-04 9.99994560e-01 -1.45956226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.421400513 meters 0.060408404384757024 Centerline is valid? [True, True] Translation: X:382.42, Y:34.94, Z:-1.46 [[ 9.99177991e-01 -4.04199724e-02 -3.09337830e-03 3.82419191e+02] [ 4.04192102e-02 9.99182762e-01 -3.08550139e-04 3.49367885e+01] [ 3.10332186e-03 1.83264600e-04 9.99995168e-01 -1.45811103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.481400513 meters 0.06555885952055784 Centerline is valid? [True, True] Translation: X:382.48, Y:34.95, Z:-1.46 [[ 9.99289691e-01 -3.76090913e-02 -2.38118604e-03 3.82477593e+02] [ 3.76086322e-02 9.99292517e-01 -2.37280315e-04 3.49457016e+01] [ 2.38842529e-03 1.47558622e-04 9.99997137e-01 -1.45678142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.541400513 meters 0.06895074126093935 Centerline is valid? [True, True] Translation: X:382.54, Y:34.95, Z:-1.45 [[ 9.99430550e-01 -3.37317999e-02 -8.60817669e-04 3.82537349e+02] [ 3.37317385e-02 9.99430919e-01 -8.58006094e-05 3.49503801e+01] [ 8.63222003e-04 5.67148738e-05 9.99999626e-01 -1.45402548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.601400513 meters 0.07764552426693239 Centerline is valid? [True, True] Translation: X:382.60, Y:34.96, Z:-1.46 [[ 9.99587300e-01 -2.86722454e-02 -1.76983566e-03 3.82595921e+02] [ 2.86719778e-02 9.99588859e-01 -1.76405275e-04 3.49634018e+01] [ 1.77416595e-03 1.25587784e-04 9.99998418e-01 -1.45668512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.661400513 meters 0.08189246650573005 Centerline is valid? [True, True] Translation: X:382.66, Y:34.97, Z:-1.46 [[ 9.99708441e-01 -2.36704503e-02 -4.76895865e-03 3.82655603e+02] [ 2.36684509e-02 9.99719750e-01 -4.75248286e-04 3.49727079e+01] [ 4.77887149e-03 3.62235859e-04 9.99988516e-01 -1.46175609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.721400513 meters 0.08568591483029857 Centerline is valid? [True, True] Translation: X:382.71, Y:34.98, Z:-1.46 [[ 9.99842360e-01 -1.69238129e-02 -5.37018400e-03 3.82714966e+02] [ 1.69211810e-02 9.99856683e-01 -5.35165518e-04 3.49823589e+01] [ 5.37847141e-03 4.44211299e-04 9.99985437e-01 -1.46079752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.781400513 meters 0.09150110883625033 Centerline is valid? [True, True] Translation: X:382.77, Y:35.00, Z:-1.46 [[ 9.99885481e-01 -1.46055075e-02 -3.96286876e-03 3.82773349e+02] [ 1.46040558e-02 9.99893277e-01 -3.94996172e-04 3.49955885e+01] [ 3.96821495e-03 3.37076980e-04 9.99992070e-01 -1.46022853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.841400513 meters 0.09240991926559596 Centerline is valid? [True, True] Translation: X:382.83, Y:35.00, Z:-1.46 [[ 9.99921944e-01 -1.20541328e-02 -3.28676513e-03 3.82833957e+02] [ 1.20531206e-02 9.99927305e-01 -3.27603435e-04 3.49977413e+01] [ 3.29047517e-03 2.87962087e-04 9.99994545e-01 -1.46010058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.901400513 meters 0.09342853278472045 Centerline is valid? [True, True] Translation: X:382.89, Y:35.01, Z:-1.46 [[ 9.99949675e-01 -8.77562019e-03 -4.86173159e-03 3.82894172e+02] [ 8.77336712e-03 9.99961396e-01 -4.84563251e-04 3.50054655e+01] [ 4.86579625e-03 4.41885109e-04 9.99988064e-01 -1.46183406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.961400513 meters 0.09653985389897564 Centerline is valid? [True, True] Translation: X:382.95, Y:35.02, Z:-1.46 [[ 9.99982919e-01 -4.02766381e-03 -4.23546275e-03 3.82953868e+02] [ 4.02591143e-03 9.99991807e-01 -4.22184872e-04 3.50159444e+01] [ 4.23712847e-03 4.05126063e-04 9.99990941e-01 -1.46067196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.021400513 meters 0.10120055732001186 Centerline is valid? [True, False] Translation: X:382.95, Y:35.02, Z:-1.46 [[ 9.99982008e-01 -4.42215251e-03 -4.05328016e-03 3.82953376e+02] [ 4.41535317e-03 9.99988833e-01 -1.68490628e-03 3.50214914e+01] [ 4.06068581e-03 1.66697930e-03 9.99990366e-01 -1.46099969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.081400513 meters 0.09244993874071719 Centerline is valid? [False, True] Translation: X:382.96, Y:35.02, Z:-1.47 [[ 9.99985124e-01 -2.23494009e-03 -4.97559727e-03 3.82959632e+02] [ 2.23742365e-03 9.99997375e-01 4.93638409e-04 3.50207609e+01] [ 4.97448096e-03 -5.04763584e-04 9.99987500e-01 -1.46562748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.141400513 meters 0.08858319837420786 Centerline is valid? [True, True] Translation: X:383.02, Y:35.03, Z:-1.46 [[ 9.99962062e-01 -7.76841392e-03 -3.94046205e-03 3.83019279e+02] [ 7.76695683e-03 9.99969763e-01 -3.84945208e-04 3.50279364e+01] [ 3.94333332e-03 3.54325206e-04 9.99992162e-01 -1.46433593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.201400513 meters 0.07551133322359611 Centerline is valid? [True, True] Translation: X:383.08, Y:35.02, Z:-1.46 [[ 9.99806030e-01 -1.94753813e-02 -2.93454877e-03 3.83080696e+02] [ 1.94746232e-02 9.99810310e-01 -2.86685673e-04 3.50209787e+01] [ 2.93957543e-03 2.29480833e-04 9.99995653e-01 -1.46257056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.261400513 meters 0.07183976313691227 Centerline is valid? [True, True] Translation: X:383.14, Y:35.02, Z:-1.46 [[ 9.99591452e-01 -2.85460959e-02 -1.43155234e-03 3.83140378e+02] [ 2.85459247e-02 9.99592472e-01 -1.39900370e-04 3.50218597e+01] [ 1.43496255e-03 9.89782291e-05 9.99998966e-01 -1.46006207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.321400513 meters 0.06296222111103758 Centerline is valid? [True, True] Translation: X:383.20, Y:35.01, Z:-1.46 [[ 9.99216328e-01 -3.95779618e-02 -5.60490713e-04 3.83201173e+02] [ 3.95779373e-02 9.99216485e-01 -5.47826049e-05 3.50146298e+01] [ 5.62219744e-04 3.25566070e-05 9.99999841e-01 -1.45822644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.381400513 meters 0.058136470737726195 Centerline is valid? [True, True] Translation: X:383.26, Y:35.01, Z:-1.46 [[ 9.98999618e-01 -4.47186196e-02 -9.56739448e-05 3.83262395e+02] [ 4.47186189e-02 9.98999622e-01 -9.36110769e-06 3.50074282e+01] [ 9.59968505e-05 5.07333632e-06 9.99999995e-01 -1.45877987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.441400513 meters 0.05542152319674233 Centerline is valid? [True, True] Translation: X:383.32, Y:35.00, Z:-1.46 [[ 9.99007823e-01 -4.45298409e-02 -6.80957516e-04 3.83321986e+02] [ 4.45298055e-02 9.99008054e-01 -6.70940916e-05 3.50034395e+01] [ 6.83269732e-04 3.67046166e-05 9.99999766e-01 -1.45946595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.501400513 meters 0.06062552356060972 Centerline is valid? [True, True] Translation: X:383.38, Y:35.00, Z:-1.46 [[ 9.99142076e-01 -4.14127780e-02 -3.06003530e-04 3.83381227e+02] [ 4.14127708e-02 9.99142123e-01 -2.99475345e-05 3.50028814e+01] [ 3.06981227e-04 1.72493878e-05 9.99999953e-01 -1.46021859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.561400513 meters 0.06875118395608937 Centerline is valid? [True, True] Translation: X:383.44, Y:35.01, Z:-1.46 [[ 9.99258410e-01 -3.84934140e-02 9.42074373e-04 3.83439840e+02] [ 3.84933442e-02 9.99258852e-01 9.21814245e-05 3.50095967e+01] [-9.44924535e-04 -5.58494705e-05 9.99999552e-01 -1.45934068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.621400513 meters 0.0730069805157295 Centerline is valid? [True, True] Translation: X:383.50, Y:35.01, Z:-1.47 [[ 9.99438049e-01 -3.33851296e-02 -3.00309283e-03 3.83501434e+02] [ 3.33843963e-02 9.99442542e-01 -2.93988966e-04 3.50051853e+01] [ 3.01123359e-03 1.93567318e-04 9.99995447e-01 -1.46527206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.681400513 meters 0.07254707514061262 Centerline is valid? [True, True] Translation: X:383.56, Y:35.00, Z:-1.46 [[ 9.99671721e-01 -2.55287341e-02 -2.17591229e-03 3.83562735e+02] [ 2.55283306e-02 9.99674076e-01 -2.13025488e-04 3.49963802e+01] [ 2.18064138e-03 1.57408148e-04 9.99997610e-01 -1.46308980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74140051300003 meters 0.08572516724788212 Centerline is valid? [True, True] Translation: X:383.62, Y:35.01, Z:-1.46 [[ 9.99904675e-01 -1.33376694e-02 -3.57041030e-03 3.83620999e+02] [ 1.33365057e-02 9.99911004e-01 -3.49544743e-04 3.50083992e+01] [ 3.57475466e-03 3.01894625e-04 9.99993565e-01 -1.46395662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80140051300003 meters 0.09579260573871194 Centerline is valid? [True, True] Translation: X:383.68, Y:35.02, Z:-1.47 [[ 9.99978603e-01 -4.43619736e-03 -4.80758987e-03 3.83680582e+02] [ 4.43398522e-03 9.99990059e-01 -4.70694262e-04 3.50235150e+01] [ 4.80963017e-03 4.49367409e-04 9.99988333e-01 -1.46590358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86140051300004 meters 0.10402002394896091 Centerline is valid? [True, False] Translation: X:383.68, Y:35.02, Z:-1.47 [[ 9.99988648e-01 9.06110971e-05 -4.76391103e-03 3.83680124e+02] [-7.01790919e-05 9.99990800e-01 4.28890633e-03 3.50216415e+01] [ 4.76425583e-03 -4.28852332e-03 9.99979455e-01 -1.46523940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.921400513 meters 0.10519384751957646 Centerline is valid? [False, False] Translation: X:383.68, Y:35.02, Z:-1.47 [[ 9.99989184e-01 -1.58930558e-05 -4.65106971e-03 3.83679714e+02] [ 3.45341257e-05 9.99991968e-01 4.00785738e-03 3.50229349e+01] [ 4.65096865e-03 -4.00797465e-03 9.99981152e-01 -1.46516121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.981400513 meters 0.09313718690722585 Centerline is valid? [False, True] Translation: X:383.68, Y:35.02, Z:-1.46 [[ 9.99988678e-01 4.82877647e-05 -4.75839953e-03 3.83679713e+02] [-2.82196502e-05 9.99991106e-01 4.21738537e-03 3.50221364e+01] [ 4.75856086e-03 -4.21720333e-03 9.99979785e-01 -1.46418440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.041400513 meters 0.08632035072332281 Centerline is valid? [True, True] Translation: X:383.74, Y:35.02, Z:-1.47 [[ 9.99908928e-01 -1.06056963e-02 -8.34597301e-03 3.83739540e+02] [ 1.05993833e-02 9.99943505e-01 -8.00280522e-04 3.50203862e+01] [ 8.35398903e-03 7.11745472e-04 9.99964852e-01 -1.47070876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.101400513 meters 0.08479336113416212 Centerline is valid? [True, True] Translation: X:383.80, Y:35.02, Z:-1.47 [[ 9.99791902e-01 -1.94580201e-02 -6.12689750e-03 3.83799329e+02] [ 1.94547826e-02 9.99810565e-01 -5.87571928e-04 3.50171921e+01] [ 6.13716984e-03 4.68252197e-04 9.99981058e-01 -1.46887031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.161400513 meters 0.08472390889392313 Centerline is valid? [True, True] Translation: X:383.86, Y:35.02, Z:-1.47 [[ 9.99759139e-01 -2.11361697e-02 -5.90979767e-03 3.83858430e+02] [ 2.11331860e-02 9.99776509e-01 -5.66868471e-04 3.50227480e+01] [ 5.92045831e-03 4.41839081e-04 9.99982376e-01 -1.46801702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.221400513 meters 0.07532495782046292 Centerline is valid? [True, True] Translation: X:383.92, Y:35.02, Z:-1.47 [[ 9.99848804e-01 -1.63328833e-02 -5.96702713e-03 3.83919618e+02] [ 1.63297562e-02 9.99866497e-01 -5.72410424e-04 3.50150722e+01] [ 5.97557963e-03 4.74883780e-04 9.99982033e-01 -1.46680374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.281400513 meters 0.09111272620375849 Centerline is valid? [True, True] Translation: X:383.98, Y:35.04, Z:-1.47 [[ 9.99894120e-01 -1.34749950e-02 -5.49294843e-03 3.83977390e+02] [ 1.34723022e-02 9.99909106e-01 -5.26949999e-04 3.50396608e+01] [ 5.49954980e-03 4.52891545e-04 9.99984775e-01 -1.46605227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.341400513 meters 0.09284782536180183 Centerline is valid? [True, True] Translation: X:384.04, Y:35.05, Z:-1.47 [[ 9.99949462e-01 -7.88598284e-03 -6.23577198e-03 3.84037069e+02] [ 7.88240432e-03 9.99968754e-01 -5.98238966e-04 3.50498705e+01] [ 6.24029484e-03 5.49055856e-04 9.99980378e-01 -1.46700916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.401400513 meters 0.09756711513509697 Centerline is valid? [True, True] Translation: X:384.10, Y:35.06, Z:-1.47 [[ 9.99941477e-01 -8.75495642e-03 -6.35557058e-03 3.84095294e+02] [ 8.75125580e-03 9.99961521e-01 -6.09841189e-04 3.50619987e+01] [ 6.36066515e-03 5.54186275e-04 9.99979617e-01 -1.46802544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.461400513 meters 0.08221010297903998 Centerline is valid? [True, True] Translation: X:384.16, Y:35.05, Z:-1.47 [[ 9.99839187e-01 -1.69449848e-02 -5.87086126e-03 3.84157485e+02] [ 1.69419670e-02 9.99856316e-01 -5.63381376e-04 3.50498066e+01] [ 5.87956420e-03 4.63826839e-04 9.99982608e-01 -1.46561476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.521400513 meters 0.07485823004518767 Centerline is valid? [True, True] Translation: X:384.22, Y:35.05, Z:-1.46 [[ 9.99739032e-01 -2.25046895e-02 -3.92513072e-03 3.84218035e+02] [ 2.25033832e-02 9.99746696e-01 -3.76665326e-04 3.50498510e+01] [ 3.93261321e-03 2.88238308e-04 9.99992226e-01 -1.46243412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.581400513 meters 0.07645622363549916 Centerline is valid? [True, True] Translation: X:384.27, Y:35.06, Z:-1.46 [[ 9.99716148e-01 -2.34426042e-02 -4.25056017e-03 3.84274970e+02] [ 2.34410801e-02 9.99725137e-01 -4.08032713e-04 3.50584204e+01] [ 4.25895720e-03 3.08279170e-04 9.99990883e-01 -1.46281332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.641400513 meters 0.07164085955392956 Centerline is valid? [True, True] Translation: X:384.34, Y:35.06, Z:-1.46 [[ 9.99647299e-01 -2.62450077e-02 -4.05917977e-03 3.84335289e+02] [ 2.62436403e-02 9.99655500e-01 -3.89760976e-04 3.50632516e+01] [ 4.06801066e-03 2.83095853e-04 9.99991686e-01 -1.46267871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.701400513 meters 0.06891155938475196 Centerline is valid? [True, True] Translation: X:384.40, Y:35.07, Z:-1.47 [[ 9.99538769e-01 -2.97802212e-02 -5.94879544e-03 3.84395067e+02] [ 2.97773463e-02 9.99556393e-01 -5.71280183e-04 3.50656751e+01] [ 5.96316936e-03 3.93877349e-04 9.99982143e-01 -1.46588342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.761400513 meters 0.06782717524386073 Centerline is valid? [True, True] Translation: X:384.45, Y:35.07, Z:-1.46 [[ 9.99525095e-01 -3.04969686e-02 -4.41813467e-03 3.84453392e+02] [ 3.04953878e-02 9.99534817e-01 -4.24736399e-04 3.50736015e+01] [ 4.42903261e-03 2.89801959e-04 9.99990150e-01 -1.46354723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.821400513 meters 0.07039087561821024 Centerline is valid? [True, True] Translation: X:384.51, Y:35.08, Z:-1.46 [[ 9.99558369e-01 -2.91783419e-02 -5.62952933e-03 3.84511193e+02] [ 2.91757518e-02 9.99574150e-01 -5.41683892e-04 3.50843310e+01] [ 5.64293744e-03 3.77198917e-04 9.99984007e-01 -1.46489079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.881400513 meters 0.07120262021505971 Centerline is valid? [True, True] Translation: X:384.57, Y:35.09, Z:-1.47 [[ 9.99536036e-01 -2.99899116e-02 -5.32138338e-03 3.84569971e+02] [ 2.99876076e-02 9.99550139e-01 -5.12253226e-04 3.50878244e+01] [ 5.33435193e-03 3.52440002e-04 9.99985710e-01 -1.46527990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.941400513 meters 0.06035841359005768 Centerline is valid? [True, True] Translation: X:384.63, Y:35.08, Z:-1.47 [[ 9.99405570e-01 -3.38697605e-02 -6.43014999e-03 3.84631313e+02] [ 3.38664750e-02 9.99426175e-01 -6.19182928e-04 3.50770636e+01] [ 6.44743179e-03 4.01048353e-04 9.99979135e-01 -1.46632955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.001400513 meters 0.06293260683264125 Centerline is valid? [True, True] Translation: X:384.69, Y:35.07, Z:-1.46 [[ 9.99372086e-01 -3.50555177e-02 -5.15205887e-03 3.84691138e+02] [ 3.50534236e-02 9.99385317e-01 -4.96219861e-04 3.50740174e+01] [ 5.16628723e-03 3.15310976e-04 9.99986605e-01 -1.46380058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.061400513 meters 0.06818403763696536 Centerline is valid? [True, True] Translation: X:384.75, Y:35.08, Z:-1.46 [[ 9.99539555e-01 -3.00182937e-02 -4.42482733e-03 3.84750765e+02] [ 3.00166996e-02 9.99549306e-01 -4.26235479e-04 3.50813014e+01] [ 4.43562795e-03 2.93220508e-04 9.99990120e-01 -1.46206416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.121400513 meters 0.077118101845364 Centerline is valid? [True, True] Translation: X:384.81, Y:35.09, Z:-1.46 [[ 9.99834962e-01 -1.78486827e-02 -3.38722774e-03 3.84809718e+02] [ 1.78476790e-02 9.99840664e-01 -3.26303587e-04 3.50947120e+01] [ 3.39251212e-03 2.65795581e-04 9.99994210e-01 -1.46262760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.181400513 meters 0.09002621972888265 Centerline is valid? [True, True] Translation: X:384.87, Y:35.11, Z:-1.46 [[ 9.99938451e-01 -1.08200265e-02 -2.45372363e-03 3.84867145e+02] [ 1.08194788e-02 9.99941440e-01 -2.36368204e-04 3.51134276e+01] [ 2.45613745e-03 2.09805645e-04 9.99996962e-01 -1.46079579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24140051300003 meters 0.09102921019737124 Centerline is valid? [True, True] Translation: X:384.93, Y:35.12, Z:-1.46 [[ 9.99966349e-01 -7.78380947e-03 -2.59110270e-03 3.84927366e+02] [ 7.78318870e-03 9.99969679e-01 -2.49574748e-04 3.51179430e+01] [ 2.59296678e-03 2.29399308e-04 9.99996612e-01 -1.46145801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30140051300003 meters 0.0856712143465921 Centerline is valid? [True, True] Translation: X:384.99, Y:35.12, Z:-1.46 [[ 9.99949358e-01 -9.56675860e-03 -3.12380019e-03 3.84987659e+02] [ 9.56586493e-03 9.99954201e-01 -3.00902761e-04 3.51224541e+01] [ 3.12653578e-03 2.71005672e-04 9.99995076e-01 -1.46235567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36140051300004 meters 0.08528152503347428 Centerline is valid? [True, True] Translation: X:385.05, Y:35.13, Z:-1.47 [[ 9.99891784e-01 -1.39380540e-02 -4.70657949e-03 3.85046772e+02] [ 1.39360731e-02 9.99902785e-01 -4.53413420e-04 3.51283926e+01] [ 4.71244165e-03 3.87773117e-04 9.99988821e-01 -1.46534349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.421400513 meters 0.08046451002915522 Centerline is valid? [True, True] Translation: X:385.11, Y:35.13, Z:-1.46 [[ 9.99850870e-01 -1.70308208e-02 -2.86151219e-03 3.85106830e+02] [ 1.70301011e-02 9.99854939e-01 -2.75702426e-04 3.51276547e+01] [ 2.86579254e-03 2.26929469e-04 9.99995868e-01 -1.46211074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.481400513 meters 0.07867263258718692 Centerline is valid? [True, True] Translation: X:385.17, Y:35.13, Z:-1.47 [[ 9.99789894e-01 -1.94538164e-02 -6.45882336e-03 3.85167111e+02] [ 1.94501993e-02 9.99810633e-01 -6.22380909e-04 3.51316814e+01] [ 6.46970795e-03 4.96624742e-04 9.99978948e-01 -1.46759940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.541400513 meters 0.08679972671926772 Centerline is valid? [True, True] Translation: X:385.22, Y:35.15, Z:-1.47 [[ 9.99797282e-01 -1.91766650e-02 -6.13598966e-03 3.85223612e+02] [ 1.91733937e-02 9.99815999e-01 -5.91519601e-04 3.51486226e+01] [ 6.14620400e-03 4.73751944e-04 9.99981000e-01 -1.46867295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.601400513 meters 0.07614616119337561 Centerline is valid? [True, True] Translation: X:385.28, Y:35.14, Z:-1.46 [[ 9.99754878e-01 -2.18057677e-02 -3.83297293e-03 3.85284881e+02] [ 2.18045101e-02 9.99762185e-01 -3.69570241e-04 3.51407931e+01] [ 3.84012015e-03 2.85903554e-04 9.99992586e-01 -1.46414721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.661400513 meters 0.06904945731351428 Centerline is valid? [True, True] Translation: X:385.35, Y:35.14, Z:-1.47 [[ 9.99655932e-01 -2.54523644e-02 -6.34000685e-03 3.85345810e+02] [ 2.54489960e-02 9.99675935e-01 -6.11412158e-04 3.51371272e+01] [ 6.35351416e-03 4.49854981e-04 9.99979715e-01 -1.46778540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.721400513 meters 0.08017619674835687 Centerline is valid? [True, True] Translation: X:385.40, Y:35.15, Z:-1.47 [[ 9.99614177e-01 -2.66036210e-02 -7.98402591e-03 3.85401796e+02] [ 2.65709328e-02 9.99638221e-01 -4.17274071e-03 3.51530335e+01] [ 8.09214747e-03 3.95898776e-03 9.99959421e-01 -1.47165029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.781400513 meters 0.07217110710100104 Centerline is valid? [True, True] Translation: X:385.46, Y:35.15, Z:-1.47 [[ 9.99697049e-01 -2.38983752e-02 -5.88876296e-03 3.85463578e+02] [ 2.39132289e-02 9.99710999e-01 2.46499596e-03 3.51493505e+01] [ 5.82815170e-03 -2.60506852e-03 9.99979623e-01 -1.46545021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.841400513 meters 0.07563087318939068 Centerline is valid? [True, True] Translation: X:385.52, Y:35.16, Z:-1.46 [[ 9.99776011e-01 -2.08793300e-02 -3.46148652e-03 3.85522998e+02] [ 2.08782969e-02 9.99781969e-01 -3.34335403e-04 3.51613772e+01] [ 3.46771251e-03 2.61990572e-04 9.99993953e-01 -1.46262039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.901400513 meters 0.07986052434280347 Centerline is valid? [True, True] Translation: X:385.58, Y:35.17, Z:-1.46 [[ 9.99813997e-01 -1.90888951e-02 -2.75429682e-03 3.85580974e+02] [ 1.90882342e-02 9.99817768e-01 -2.66050512e-04 3.51731047e+01] [ 2.75887350e-03 2.13426363e-04 9.99996172e-01 -1.46210996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.961400513 meters 0.07363663656204424 Centerline is valid? [True, True] Translation: X:385.64, Y:35.17, Z:-1.46 [[ 9.99857322e-01 -1.68701863e-02 -8.55262370e-04 3.85642194e+02] [ 1.68701218e-02 9.99857686e-01 -8.26222333e-05 3.51723929e+01] [ 8.56534507e-04 6.81820646e-05 9.99999631e-01 -1.45843089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.021400513 meters 0.08282858627176252 Centerline is valid? [True, True] Translation: X:385.70, Y:35.19, Z:-1.46 [[ 9.99867385e-01 -1.62852386e-02 -5.80053171e-05 3.85698513e+02] [ 1.62852383e-02 9.99867387e-01 -5.50342437e-06 3.51911286e+01] [ 5.80872494e-05 4.55806412e-06 9.99999998e-01 -1.45731836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.081400513 meters 0.0871588036560612 Centerline is valid? [True, True] Translation: X:385.76, Y:35.21, Z:-1.46 [[ 9.99876042e-01 -1.56536244e-02 -1.69253691e-03 3.85756261e+02] [ 1.56533697e-02 9.99877465e-01 -1.63616168e-04 3.52050387e+01] [ 1.69489070e-03 1.37101980e-04 9.99998554e-01 -1.45906957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.141400513 meters 0.08103842487745068 Centerline is valid? [True, True] Translation: X:385.82, Y:35.21, Z:-1.46 [[ 9.99898336e-01 -1.37958968e-02 -3.60419424e-03 3.85816836e+02] [ 1.37947295e-02 9.99904787e-01 -3.48541554e-04 3.52081145e+01] [ 3.60865952e-03 2.98787236e-04 9.99993444e-01 -1.46187888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.201400513 meters 0.08268453156606063 Centerline is valid? [True, True] Translation: X:385.87, Y:35.22, Z:-1.46 [[ 9.99900512e-01 -1.34849402e-02 -4.13790250e-03 3.85874849e+02] [ 1.34833974e-02 9.99909015e-01 -4.00523117e-04 3.52181823e+01] [ 4.14292704e-03 3.44690286e-04 9.99991359e-01 -1.46277372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.261400513 meters 0.08146492011317429 Centerline is valid? [True, True] Translation: X:385.93, Y:35.23, Z:-1.46 [[ 9.99865878e-01 -1.54217672e-02 -5.51313131e-03 3.85934589e+02] [ 1.54190556e-02 9.99880977e-01 -5.34030188e-04 3.52291537e+01] [ 5.52071081e-03 4.48951285e-04 9.99984660e-01 -1.46491216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.321400513 meters 0.08183596917442165 Centerline is valid? [True, True] Translation: X:385.99, Y:35.24, Z:-1.47 [[ 9.99784216e-01 -1.97944540e-02 -6.30079603e-03 3.85993742e+02] [ 1.97909980e-02 9.99803953e-01 -6.10394633e-04 3.52381509e+01] [ 6.31164321e-03 4.85563879e-04 9.99979963e-01 -1.46699687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.381400513 meters 0.07271954028886089 Centerline is valid? [True, True] Translation: X:386.05, Y:35.23, Z:-1.47 [[ 9.99516328e-01 -3.06260837e-02 -5.39926679e-03 3.86054881e+02] [ 3.06237029e-02 9.99530848e-01 -5.23089541e-04 3.52329631e+01] [ 5.41275389e-03 3.57490995e-04 9.99985287e-01 -1.46694925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.441400513 meters 0.07229666681889467 Centerline is valid? [True, True] Translation: X:386.11, Y:35.24, Z:-1.46 [[ 9.99319058e-01 -3.66672458e-02 -4.11492223e-03 3.86114217e+02] [ 3.66659138e-02 9.99327500e-01 -3.98695864e-04 3.52372500e+01] [ 4.12677402e-03 2.47546992e-04 9.99991454e-01 -1.46378254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.501400513 meters 0.06082411785455925 Centerline is valid? [True, True] Translation: X:386.17, Y:35.23, Z:-1.46 [[ 9.99298871e-01 -3.74028761e-02 -1.67091294e-03 3.86173856e+02] [ 3.74026575e-02 9.99300263e-01 -1.61883046e-04 3.52310581e+01] [ 1.67579863e-03 9.92729609e-05 9.99998591e-01 -1.45893156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.561400513 meters 0.06211522145176292 Centerline is valid? [True, True] Translation: X:386.23, Y:35.24, Z:-1.46 [[ 9.99443401e-01 -3.33016498e-02 -1.97189511e-03 3.86233830e+02] [ 3.33013367e-02 9.99445338e-01 -1.91387680e-04 3.52401302e+01] [ 1.97717490e-03 1.25614411e-04 9.99998037e-01 -1.45906362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.621400513 meters 0.06231637778567628 Centerline is valid? [True, True] Translation: X:386.29, Y:35.25, Z:-1.46 [[ 9.99504750e-01 -3.13095027e-02 -3.15738048e-03 3.86293262e+02] [ 3.13086902e-02 9.99509716e-01 -3.06461549e-04 3.52473455e+01] [ 3.16542762e-03 2.07456327e-04 9.99994969e-01 -1.46078235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.681400513 meters 0.059457174831881114 Centerline is valid? [True, True] Translation: X:386.35, Y:35.24, Z:-1.46 [[ 9.99512895e-01 -3.10265255e-02 -3.36576251e-03 3.86350368e+02] [ 3.10626964e-02 9.99453706e-01 1.12870988e-02 3.52391267e+01] [ 3.01372436e-03 -1.13861504e-02 9.99930634e-01 -1.45989420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74140051300003 meters 0.061610786321377925 Centerline is valid? [True, True] Translation: X:386.41, Y:35.27, Z:-1.46 [[ 9.99442997e-01 -3.33499327e-02 -1.21550572e-03 3.86410043e+02] [ 3.33334367e-02 9.99375623e-01 -1.17151814e-02 3.52674333e+01] [ 1.60544730e-03 1.16681390e-02 9.99930636e-01 -1.46203870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80140051300003 meters 0.0657304833628531 Centerline is valid? [True, True] Translation: X:386.47, Y:35.27, Z:-1.46 [[ 9.99360899e-01 -3.56791399e-02 -2.18937268e-03 3.86469100e+02] [ 3.56787586e-02 9.99363288e-01 -2.12968355e-04 3.52681252e+01] [ 2.19557721e-03 1.34718147e-04 9.99997581e-01 -1.46070968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86140051300004 meters 0.07254829420676717 Centerline is valid? [True, True] Translation: X:386.53, Y:35.28, Z:-1.46 [[ 9.99315447e-01 -3.69925371e-02 4.36494879e-04 3.86526549e+02] [ 3.69925221e-02 9.99315542e-01 4.25288026e-05 3.52817232e+01] [-4.37769364e-04 -2.63526430e-05 9.99999904e-01 -1.45664431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.921400513 meters 0.07041772642638865 Centerline is valid? [True, True] Translation: X:386.59, Y:35.28, Z:-1.46 [[ 9.99316050e-01 -3.69683499e-02 -8.79251588e-04 3.86585594e+02] [ 3.69682889e-02 9.99316436e-01 -8.54284437e-05 3.52841723e+01] [ 8.81808712e-04 5.28655882e-05 9.99999610e-01 -1.45876902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.981400513 meters 0.06633570902835549 Centerline is valid? [True, True] Translation: X:386.64, Y:35.29, Z:-1.46 [[ 9.99317793e-01 -3.68371965e-02 -2.63995741e-03 3.86644472e+02] [ 3.68366445e-02 9.99321267e-01 -2.57454714e-04 3.52854105e+01] [ 2.64764949e-03 1.60031904e-04 9.99996482e-01 -1.46113710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.041400513 meters 0.0748642195080982 Centerline is valid? [True, True] Translation: X:386.70, Y:35.30, Z:-1.46 [[ 9.99384080e-01 -3.50100611e-02 -2.39906705e-03 3.86702738e+02] [ 3.50095993e-02 9.99386949e-01 -2.34226739e-04 3.53008009e+01] [ 2.40579659e-03 1.50092098e-04 9.99997095e-01 -1.46013227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.101400513 meters 0.06478409085468083 Centerline is valid? [True, True] Translation: X:386.76, Y:35.30, Z:-1.46 [[ 9.99509627e-01 -3.12079381e-02 -2.56329858e-03 3.86764296e+02] [ 3.12073984e-02 9.99512899e-01 -2.50281980e-04 3.52959064e+01] [ 2.56986078e-03 1.70165369e-04 9.99996683e-01 -1.45900025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.161400513 meters 0.07177168834757311 Centerline is valid? [True, True] Translation: X:386.82, Y:35.31, Z:-1.46 [[ 9.99557975e-01 -2.96361984e-02 -2.35591220e-03 3.86822820e+02] [ 2.96357381e-02 9.99560739e-01 -2.30037903e-04 3.53110136e+01] [ 2.36169479e-03 1.60117024e-04 9.99997198e-01 -1.45781658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.221400513 meters 0.07154958249110878 Centerline is valid? [True, True] Translation: X:386.88, Y:35.32, Z:-1.45 [[ 9.99553499e-01 -2.98664988e-02 -8.92017893e-04 3.86880205e+02] [ 2.98664330e-02 9.99553895e-01 -8.69420499e-05 3.53190866e+01] [ 8.94216614e-04 6.02618375e-05 9.99999598e-01 -1.45414371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.281400513 meters 0.0691687107047973 Centerline is valid? [True, True] Translation: X:386.94, Y:35.32, Z:-1.45 [[ 9.99461668e-01 -3.27882103e-02 1.14333556e-03 3.86940282e+02] [ 3.27881037e-02 9.99462319e-01 1.11861764e-04 3.53231803e+01] [-1.14638855e-03 -7.43137406e-05 9.99999340e-01 -1.45168421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.341400513 meters 0.056131609812394116 Centerline is valid? [True, True] Translation: X:387.00, Y:35.31, Z:-1.45 [[ 9.99045281e-01 -4.36866766e-02 -4.38322287e-06 3.87002502e+02] [ 4.36866766e-02 9.99045281e-01 -4.21190083e-07 3.53108474e+01] [ 4.39743852e-06 2.29299524e-07 1.00000000e+00 -1.45318479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.401400513 meters 0.04714340971843528 Centerline is valid? [True, True] Translation: X:387.06, Y:35.30, Z:-1.45 [[ 9.98544055e-01 -5.39417849e-02 -2.30537138e-04 3.87064521e+02] [ 5.39417811e-02 9.98544082e-01 -2.25485924e-05 3.53020393e+01] [ 2.31417806e-04 1.00801791e-05 9.99999973e-01 -1.45330245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.461400513 meters 0.03607655653325513 Centerline is valid? [True, True] Translation: X:387.13, Y:35.29, Z:-1.45 [[ 9.97875777e-01 -6.51313225e-02 1.35845070e-03 3.87126869e+02] [ 6.51312018e-02 9.97876700e-01 1.32927470e-04 3.52869115e+01] [-1.36422404e-03 -4.41675754e-05 9.99999068e-01 -1.45142072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.521400513 meters 0.0317566578442023 Centerline is valid? [True, True] Translation: X:387.19, Y:35.28, Z:-1.45 [[ 9.97662293e-01 -6.83255299e-02 1.25306439e-03 3.87187957e+02] [ 6.83254297e-02 9.97663080e-01 1.22701770e-04 3.52786498e+01] [-1.25851974e-03 -3.67987660e-05 9.99999207e-01 -1.45040937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.581400513 meters 0.038948615849721 Centerline is valid? [True, True] Translation: X:387.25, Y:35.28, Z:-1.45 [[ 9.97702445e-01 -6.77482975e-02 1.21804364e-05 3.87247084e+02] [ 6.77482975e-02 9.97702445e-01 1.49317352e-06 3.52795736e+01] [-1.22536111e-05 -6.64539047e-07 1.00000000e+00 -1.45255087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.641400513 meters 0.03347205137605127 Centerline is valid? [True, True] Translation: X:387.30, Y:35.28, Z:-1.46 [[ 9.97714476e-01 -6.75216520e-02 -2.57886081e-03 3.87304419e+02] [ 6.75212237e-02 9.97717806e-01 -2.52886970e-04 3.52835065e+01] [ 2.59005070e-03 7.81811532e-05 9.99996643e-01 -1.45585771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.701400513 meters 0.030950062310857857 Centerline is valid? [True, True] Translation: X:387.36, Y:35.29, Z:-1.46 [[ 9.97617271e-01 -6.86289516e-02 -7.06022116e-03 3.87363312e+02] [ 6.86257608e-02 9.97642232e-01 -6.93494025e-04 3.52870134e+01] [ 7.09116856e-03 2.07328569e-04 9.99974836e-01 -1.46187169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.761400513 meters 0.02872868712762236 Centerline is valid? [True, True] Translation: X:387.42, Y:35.29, Z:-1.46 [[ 9.97330495e-01 -7.26357410e-02 -7.47880196e-03 3.87422256e+02] [ 7.26322698e-02 9.97358518e-01 -7.35057482e-04 3.52911533e+01] [ 7.51243828e-03 1.89892880e-04 9.99971763e-01 -1.46333764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.821400513 meters 0.02440493136728994 Centerline is valid? [True, True] Translation: X:387.48, Y:35.28, Z:-1.46 [[ 9.96587454e-01 -8.23871002e-02 -5.08050389e-03 3.87483499e+02] [ 8.23856247e-02 9.96600401e-01 -4.99387471e-04 3.52809729e+01] [ 5.10437530e-03 7.91228018e-05 9.99986969e-01 -1.45827487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.881400513 meters 0.010795238655399718 Centerline is valid? [True, True] Translation: X:387.54, Y:35.27, Z:-1.46 [[ 9.95852905e-01 -9.09171807e-02 -3.32531817e-03 3.87543935e+02] [ 9.09165959e-02 9.95858457e-01 -3.26904041e-04 3.52749216e+01] [ 3.34126741e-03 2.32217310e-05 9.99994418e-01 -1.45595694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.941400513 meters 0.012144154315310934 Centerline is valid? [True, True] Translation: X:387.60, Y:35.27, Z:-1.45 [[ 9.94953539e-01 -1.00330188e-01 -1.14410698e-03 3.87604305e+02] [ 1.00330125e-01 9.94954197e-01 -1.12386535e-04 3.52674857e+01] [ 1.14960980e-03 -2.96901560e-06 9.99999339e-01 -1.45340868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.001400513 meters 0.0221356452552255 Centerline is valid? [True, True] Translation: X:387.66, Y:35.28, Z:-1.45 [[ 9.95100954e-01 -9.88502533e-02 -1.64895859e-03 3.87660667e+02] [ 9.88501199e-02 9.95102320e-01 -1.62370096e-04 3.52753807e+01] [ 1.65693285e-03 -1.42511755e-06 9.99998627e-01 -1.45353332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.061400513 meters 0.0074879696340657284 Centerline is valid? [True, True] Translation: X:387.72, Y:35.28, Z:-1.45 [[ 9.95271028e-01 -9.71336323e-02 -7.99162765e-04 3.87717589e+02] [ 9.71336006e-02 9.95271349e-01 -7.85662524e-05 3.52846509e+01] [ 8.03015228e-04 5.69157998e-07 9.99999678e-01 -1.45204072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.121400513 meters 0.007511748654309175 Centerline is valid? [True, True] Translation: X:387.77, Y:35.29, Z:-1.45 [[ 9.95167812e-01 -9.81884831e-02 -2.16797406e-04 3.87774497e+02] [ 9.81884808e-02 9.95167836e-01 -2.12748146e-05 3.52881770e+01] [ 2.17838747e-04 -1.14997308e-07 9.99999976e-01 -1.45182644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.181400513 meters 0.01044610294557179 Centerline is valid? [True, True] Translation: X:387.83, Y:35.28, Z:-1.45 [[ 9.94449368e-01 -1.05216184e-01 -9.91977328e-05 3.87834435e+02] [ 1.05216184e-01 9.94449373e-01 -9.52356692e-06 3.52784374e+01] [ 9.96491565e-05 -9.66501793e-07 9.99999995e-01 -1.45205225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24140051300003 meters 0.013854280859256442 Centerline is valid? [True, True] Translation: X:387.89, Y:35.28, Z:-1.46 [[ 9.94015334e-01 -1.09217841e-01 -2.23122940e-03 3.87894085e+02] [ 1.09217620e-01 9.94017838e-01 -2.20983273e-04 3.52762649e+01] [ 2.24201714e-03 -2.40288028e-05 9.99997486e-01 -1.45511757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30140051300003 meters 0.013214808985794305 Centerline is valid? [True, True] Translation: X:387.95, Y:35.28, Z:-1.46 [[ 9.94007315e-01 -1.09234227e-01 -4.16431233e-03 3.87952550e+02] [ 1.09233453e-01 9.94016037e-01 -4.13454646e-04 3.52796923e+01] [ 4.18455663e-03 -4.39052740e-05 9.99991244e-01 -1.45739255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36140051300004 meters 0.010913089835093412 Centerline is valid? [True, True] Translation: X:388.01, Y:35.29, Z:-1.45 [[ 9.94273188e-01 -1.06844629e-01 -2.24792136e-03 3.88010431e+02] [ 1.06844397e-01 9.94275729e-01 -2.23451997e-04 3.52888784e+01] [ 2.25892830e-03 -1.80054717e-05 9.99997448e-01 -1.45365776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.421400513 meters 0.011267162300889763 Centerline is valid? [True, True] Translation: X:388.07, Y:35.29, Z:-1.45 [[ 9.94293506e-01 -1.06661444e-01 -1.93936367e-03 3.88067572e+02] [ 1.06661270e-01 9.94295397e-01 -1.93058666e-04 3.52916241e+01] [ 1.94889229e-03 -1.48980155e-05 9.99998101e-01 -1.45280339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.481400513 meters 0.01817584836444326 Centerline is valid? [True, True] Translation: X:388.13, Y:35.29, Z:-1.45 [[ 9.93910853e-01 -1.10169116e-01 -1.99574262e-03 3.88126343e+02] [ 1.10168938e-01 9.93912856e-01 -1.98861164e-04 3.52918258e+01] [ 2.00550260e-03 -2.22185769e-05 9.99997989e-01 -1.45321882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.541400513 meters 0.013241198862199587 Centerline is valid? [True, True] Translation: X:388.19, Y:35.30, Z:-1.46 [[ 9.93829843e-01 -1.10845158e-01 -3.94897350e-03 3.88185206e+02] [ 1.10844465e-01 9.93837687e-01 -3.94478255e-04 3.52960990e+01] [ 3.96836470e-03 -4.56775933e-05 9.99992125e-01 -1.45554565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.601400513 meters 0.011449716433308896 Centerline is valid? [True, True] Translation: X:388.24, Y:35.30, Z:-1.45 [[ 9.94149984e-01 -1.07959977e-01 -3.23306489e-03 3.88243618e+02] [ 1.07959496e-01 9.94155241e-01 -3.23358987e-04 3.52970118e+01] [ 3.24907824e-03 -2.75727244e-05 9.99994721e-01 -1.45352066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.661400513 meters 0.007681434263322384 Centerline is valid? [True, True] Translation: X:388.30, Y:35.31, Z:-1.45 [[ 9.94790124e-01 -1.01916601e-01 -2.36965580e-03 3.88301620e+02] [ 1.01916325e-01 9.94792947e-01 -2.37225577e-04 3.53087633e+01] [ 2.38149410e-03 -5.51694799e-06 9.99997164e-01 -1.45255405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.721400513 meters 0.01486623529686217 Centerline is valid? [True, True] Translation: X:388.36, Y:35.33, Z:-1.45 [[ 9.96153405e-01 -8.75997232e-02 -2.16385148e-03 3.88358544e+02] [ 8.75994586e-02 9.96155755e-01 -2.16921467e-04 3.53301372e+01] [ 2.17453536e-03 2.65348399e-05 9.99997635e-01 -1.45160749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.781400513 meters 0.025322788605174198 Centerline is valid? [True, True] Translation: X:388.42, Y:35.35, Z:-1.45 [[ 9.97019944e-01 -7.71018163e-02 -2.55749534e-03 3.88417650e+02] [ 7.71014120e-02 9.97023223e-01 -2.56466614e-04 3.53474310e+01] [ 2.56965629e-03 5.85158269e-05 9.99996697e-01 -1.45154656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.841400513 meters 0.025838545020469127 Centerline is valid? [True, True] Translation: X:388.48, Y:35.35, Z:-1.45 [[ 9.97258113e-01 -7.39157974e-02 -3.56530638e-03 3.88477541e+02] [ 7.39149911e-02 9.97264482e-01 -3.57590533e-04 3.53510050e+01] [ 3.58198501e-03 9.30804702e-05 9.99993580e-01 -1.45320198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.901400513 meters 0.026907755492914097 Centerline is valid? [True, True] Translation: X:388.54, Y:35.35, Z:-1.45 [[ 9.97305533e-01 -7.33528546e-02 -1.01652377e-03 3.88536513e+02] [ 7.33527889e-02 9.97306050e-01 -1.01833968e-04 3.53500748e+01] [ 1.02125512e-03 2.69947262e-05 9.99999478e-01 -1.44939575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.961400513 meters 0.03046698588490203 Centerline is valid? [True, True] Translation: X:388.59, Y:35.35, Z:-1.45 [[ 9.97371341e-01 -7.24499367e-02 -1.18935466e-03 3.88594744e+02] [ 7.24498457e-02 9.97372050e-01 -1.19469281e-04 3.53495007e+01] [ 1.19488463e-03 3.29866756e-05 9.99999286e-01 -1.45148872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.021400513 meters 0.03452792630195022 Centerline is valid? [True, True] Translation: X:388.65, Y:35.35, Z:-1.45 [[ 9.97663787e-01 -6.83151778e-02 -6.98561724e-05 3.88654921e+02] [ 6.83151775e-02 9.97663789e-01 -7.00335698e-06 3.53530959e+01] [ 7.01714092e-05 2.21475883e-06 9.99999998e-01 -1.45009862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.081400513 meters 0.039283163168285715 Centerline is valid? [True, True] Translation: X:388.72, Y:35.35, Z:-1.45 [[ 9.98117320e-01 -6.13220055e-02 -1.19505136e-03 3.88715694e+02] [ 6.13219055e-02 9.98118034e-01 -1.20164028e-04 3.53547272e+01] [ 1.20017102e-03 4.66549709e-05 9.99999279e-01 -1.45205512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.141400513 meters 0.04323567262621275 Centerline is valid? [True, True] Translation: X:388.78, Y:35.36, Z:-1.46 [[ 9.98409274e-01 -5.62163669e-02 -4.31770667e-03 3.88776446e+02] [ 5.62150141e-02 9.98418591e-01 -4.34145112e-04 3.53586243e+01] [ 4.33528467e-03 1.90734565e-04 9.99990584e-01 -1.45770647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.201400513 meters 0.05323623348309088 Centerline is valid? [True, True] Translation: X:388.84, Y:35.36, Z:-1.46 [[ 9.98741312e-01 -4.98582805e-02 -5.47208107e-03 3.88836751e+02] [ 4.98560123e-02 9.98756264e-01 -5.50212423e-04 3.53634349e+01] [ 5.49270789e-03 2.76703736e-04 9.99984877e-01 -1.46013299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.261400513 meters 0.05353500718404842 Centerline is valid? [True, True] Translation: X:388.90, Y:35.37, Z:-1.46 [[ 9.98968194e-01 -4.51598728e-02 -4.80980590e-03 3.88897134e+02] [ 4.51580662e-02 9.98979737e-01 -4.83616994e-04 3.53668352e+01] [ 4.82673872e-03 2.65916462e-04 9.99988316e-01 -1.45872654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.321400513 meters 0.06367234946328121 Centerline is valid? [True, True] Translation: X:388.96, Y:35.38, Z:-1.46 [[ 9.99257321e-01 -3.80280334e-02 -6.21887658e-03 3.88955240e+02] [ 3.80248748e-02 9.99276597e-01 -6.25392239e-04 3.53790912e+01] [ 6.23816027e-03 3.88455770e-04 9.99980467e-01 -1.46147796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.381400513 meters 0.07190464105600643 Centerline is valid? [True, True] Translation: X:389.01, Y:35.39, Z:-1.46 [[ 9.99351904e-01 -3.55083536e-02 -5.91008662e-03 3.89013826e+02] [ 3.55054568e-02 9.99369306e-01 -5.94386151e-04 3.53926640e+01] [ 5.92746484e-03 3.84160607e-04 9.99982359e-01 -1.46183362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.441400513 meters 0.05616771128138332 Centerline is valid? [True, True] Translation: X:389.08, Y:35.37, Z:-1.46 [[ 9.99305486e-01 -3.71238311e-02 -3.21966195e-03 3.89076188e+02] [ 3.71229797e-02 9.99310652e-01 -3.23825132e-04 3.53732932e+01] [ 3.22946411e-03 2.04076786e-04 9.99994764e-01 -1.45673103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.501400513 meters 0.05624119128635117 Centerline is valid? [True, True] Translation: X:389.14, Y:35.37, Z:-1.46 [[ 9.98983475e-01 -4.49295360e-02 -3.65414878e-03 3.89136356e+02] [ 4.49284911e-02 9.98990138e-01 -3.67589680e-04 3.53667210e+01] [ 3.66697423e-03 2.03040625e-04 9.99993256e-01 -1.45846824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.561400513 meters 0.05538720181186715 Centerline is valid? [True, True] Translation: X:389.20, Y:35.36, Z:-1.46 [[ 9.98868356e-01 -4.74842924e-02 -2.69255132e-03 3.89196157e+02] [ 4.74837342e-02 9.98871975e-01 -2.70907334e-04 3.53647696e+01] [ 2.70237789e-03 1.42748372e-04 9.99996338e-01 -1.45653581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.621400513 meters 0.056747464221224626 Centerline is valid? [True, True] Translation: X:389.26, Y:35.37, Z:-1.46 [[ 9.99199837e-01 -3.99201696e-02 -2.46287790e-03 3.89256548e+02] [ 3.99196796e-02 9.99202861e-01 -2.47843752e-04 3.53660611e+01] [ 2.47080861e-03 1.49328140e-04 9.99996936e-01 -1.45519714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.681400513 meters 0.0697138938551655 Centerline is valid? [True, True] Translation: X:389.31, Y:35.39, Z:-1.45 [[ 9.99551986e-01 -2.98693128e-02 -1.91085174e-03 3.89314098e+02] [ 2.98689995e-02 9.99553803e-01 -1.92306806e-04 3.53865422e+01] [ 1.91574320e-03 1.35145421e-04 9.99998156e-01 -1.45438066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74140051300003 meters 0.08208207698691036 Centerline is valid? [True, True] Translation: X:389.37, Y:35.41, Z:-1.45 [[ 9.99819792e-01 -1.89549378e-02 -1.04629244e-03 3.89370996e+02] [ 1.89548379e-02 9.99820335e-01 -1.05298716e-04 3.54110916e+01] [ 1.04810039e-03 8.54474371e-05 9.99999447e-01 -1.45366156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80140051300003 meters 0.07764923379040406 Centerline is valid? [True, True] Translation: X:389.43, Y:35.41, Z:-1.46 [[ 9.99794933e-01 -2.00439629e-02 -2.88640554e-03 3.89430655e+02] [ 2.00432072e-02 9.99799073e-01 -2.90502497e-04 3.54143128e+01] [ 2.89164840e-03 2.32590100e-04 9.99995792e-01 -1.45695292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.861400513 meters 0.07259474638086227 Centerline is valid? [True, True] Translation: X:389.49, Y:35.42, Z:-1.46 [[ 9.99646378e-01 -2.63310873e-02 -3.71388455e-03 3.89491438e+02] [ 2.63298792e-02 9.99653239e-01 -3.73837308e-04 3.54170102e+01] [ 3.72244026e-03 2.75918979e-04 9.99993034e-01 -1.45781932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.921400513 meters 0.05885354571856097 Centerline is valid? [True, True] Translation: X:389.55, Y:35.41, Z:-1.46 [[ 9.99247055e-01 -3.85712551e-02 -4.19307502e-03 3.89552899e+02] [ 3.85698222e-02 9.99255818e-01 -4.22083502e-04 3.54080656e+01] [ 4.20623490e-03 2.60039539e-04 9.99991120e-01 -1.45878569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.981400513 meters 0.0550861179137926 Centerline is valid? [True, True] Translation: X:389.61, Y:35.41, Z:-1.46 [[ 9.99092246e-01 -4.24048488e-02 -4.06348619e-03 3.89613602e+02] [ 4.24035347e-02 9.99100482e-01 -4.09058600e-04 3.54083456e+01] [ 4.07717708e-03 2.36381098e-04 9.99991660e-01 -1.45852451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.041400513 meters 0.04845328525526352 Centerline is valid? [True, True] Translation: X:389.68, Y:35.40, Z:-1.46 [[ 9.98769915e-01 -4.94214162e-02 -4.02242982e-03 3.89675403e+02] [ 4.94201851e-02 9.98777994e-01 -4.04942781e-04 3.54006836e+01] [ 4.03752723e-03 2.05655441e-04 9.99991828e-01 -1.45907478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.101400513 meters 0.050581080173505225 Centerline is valid? [True, True] Translation: X:389.73, Y:35.41, Z:-1.46 [[ 9.98705798e-01 -5.06733434e-02 -4.35212839e-03 3.89733540e+02] [ 5.06719135e-02 9.98715257e-01 -4.38258163e-04 3.54059562e+01] [ 4.36874503e-03 2.17160295e-04 9.99990433e-01 -1.45887531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.161400513 meters 0.05599978092117147 Centerline is valid? [True, True] Translation: X:389.79, Y:35.42, Z:-1.46 [[ 9.98946847e-01 -4.57317503e-02 -3.71534518e-03 3.89792558e+02] [ 4.57306738e-02 9.98953735e-01 -3.74225173e-04 3.54192488e+01] [ 3.72857192e-03 2.03925818e-04 9.99993028e-01 -1.45850011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.221400513 meters 0.05804863924214677 Centerline is valid? [True, True] Translation: X:389.85, Y:35.43, Z:-1.46 [[ 9.99104824e-01 -4.18289042e-02 -6.31616764e-03 3.89852568e+02] [ 4.18257151e-02 9.99124719e-01 -6.36220004e-04 3.54261320e+01] [ 6.33725161e-03 3.71472246e-04 9.99979850e-01 -1.46353766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.281400513 meters 0.056525290125392154 Centerline is valid? [True, True] Translation: X:389.91, Y:35.43, Z:-1.46 [[ 9.99056929e-01 -4.30770106e-02 -5.44272557e-03 3.89911171e+02] [ 4.30746601e-02 9.99071706e-01 -5.48403347e-04 3.54300901e+01] [ 5.46129670e-03 3.13442610e-04 9.99985038e-01 -1.46309606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.341400513 meters 0.04768161178804777 Centerline is valid? [True, True] Translation: X:389.97, Y:35.42, Z:-1.46 [[ 9.98795179e-01 -4.89345157e-02 -3.68824025e-03 3.89973355e+02] [ 4.89334759e-02 9.98801971e-01 -3.71684284e-04 3.54186824e+01] [ 3.70200982e-03 1.90758056e-04 9.99993129e-01 -1.45836214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.401400513 meters 0.0491909671391866 Centerline is valid? [True, True] Translation: X:390.03, Y:35.42, Z:-1.46 [[ 9.98626139e-01 -5.22228253e-02 -4.31397852e-03 3.90033024e+02] [ 5.22214332e-02 9.98635435e-01 -4.34790020e-04 3.54230839e+01] [ 4.33079778e-03 2.08910538e-04 9.99990600e-01 -1.46008402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.461400513 meters 0.047985539118941954 Centerline is valid? [True, True] Translation: X:390.09, Y:35.42, Z:-1.46 [[ 9.98548200e-01 -5.37769058e-02 -3.08803989e-03 3.90092806e+02] [ 5.37761993e-02 9.98552965e-01 -3.11442861e-04 3.54196845e+01] [ 3.10031982e-03 1.44927660e-04 9.99995183e-01 -1.45841808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.521400513 meters 0.04662514427698505 Centerline is valid? [True, True] Translation: X:390.15, Y:35.42, Z:-1.46 [[ 9.98682642e-01 -5.11330009e-02 -4.28920061e-03 3.90153432e+02] [ 5.11316117e-02 9.98691830e-01 -4.32983548e-04 3.54154134e+01] [ 4.30572935e-03 2.13099413e-04 9.99990708e-01 -1.45873418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.581400513 meters 0.0503387696998979 Centerline is valid? [True, True] Translation: X:390.21, Y:35.42, Z:-1.46 [[ 9.98882974e-01 -4.71805264e-02 -2.60800972e-03 3.90213362e+02] [ 4.71799994e-02 9.98886369e-01 -2.63285012e-04 3.54188189e+01] [ 2.61752728e-03 1.39945019e-04 9.99996564e-01 -1.45516224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.641400513 meters 0.05428890445814595 Centerline is valid? [True, True] Translation: X:390.27, Y:35.42, Z:-1.45 [[ 9.99018702e-01 -4.42900712e-02 -1.49345416e-04 3.90272535e+02] [ 4.42900694e-02 9.99018713e-01 -1.50725183e-05 3.54249330e+01] [ 1.49866428e-04 8.44320885e-06 9.99999989e-01 -1.45255201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.701400513 meters 0.0664634119737158 Centerline is valid? [True, True] Translation: X:390.33, Y:35.44, Z:-1.45 [[ 9.99279673e-01 -3.79490815e-02 4.04103252e-05 3.90330584e+02] [ 3.79490814e-02 9.99279674e-01 4.10018928e-06 3.54402460e+01] [-4.05368150e-05 -2.56370109e-06 9.99999999e-01 -1.45201307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.761400513 meters 0.0676681607860534 Centerline is valid? [True, True] Translation: X:390.39, Y:35.45, Z:-1.45 [[ 9.99503187e-01 -3.15076341e-02 8.05245479e-04 3.90391061e+02] [ 3.15075788e-02 9.99503510e-01 8.13173179e-05 3.54468266e+01] [-8.07407798e-04 -5.59055831e-05 9.99999672e-01 -1.45095519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.821400513 meters 0.07130728267006585 Centerline is valid? [True, True] Translation: X:390.45, Y:35.46, Z:-1.45 [[ 9.99595409e-01 -2.84246364e-02 -1.02865531e-03 3.90450620e+02] [ 2.84245445e-02 9.99595936e-01 -1.03865946e-04 3.54577925e+01] [ 1.03119201e-03 7.45848640e-05 9.99999466e-01 -1.45474665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.881400513 meters 0.06685968368451858 Centerline is valid? [True, True] Translation: X:390.51, Y:35.46, Z:-1.46 [[ 9.99583756e-01 -2.87477331e-02 -2.42558409e-03 3.90510001e+02] [ 2.87472228e-02 9.99586683e-01 -2.45015692e-04 3.54595802e+01] [ 2.43162520e-03 1.75184900e-04 9.99997028e-01 -1.45699505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.941400513 meters 0.06828086725367988 Centerline is valid? [True, True] Translation: X:390.57, Y:35.47, Z:-1.45 [[ 9.99506133e-01 -3.13748139e-02 -1.76360627e-03 3.90568902e+02] [ 3.13745478e-02 9.99507682e-01 -1.78356988e-04 3.54666569e+01] [ 1.76833393e-03 1.22936554e-04 9.99998429e-01 -1.45463491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.001400513 meters 0.06211056988227446 Centerline is valid? [True, True] Translation: X:390.63, Y:35.47, Z:-1.46 [[ 9.99367976e-01 -3.54180422e-02 -3.03508662e-03 3.90628789e+02] [ 3.54172724e-02 9.99372564e-01 -3.07011560e-04 3.54663075e+01] [ 3.04405605e-03 1.99323032e-04 9.99995347e-01 -1.45788818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.061400513 meters 0.06565373052036097 Centerline is valid? [True, True] Translation: X:390.69, Y:35.47, Z:-1.46 [[ 9.99203438e-01 -3.97261880e-02 -3.78404914e-03 3.90687384e+02] [ 3.97250218e-02 9.99210576e-01 -3.82879467e-04 3.54717858e+01] [ 3.79627226e-03 2.32253045e-04 9.99992767e-01 -1.45970705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.121400513 meters 0.057184617453948566 Centerline is valid? [True, True] Translation: X:390.75, Y:35.46, Z:-1.46 [[ 9.99080728e-01 -4.27397445e-02 -3.31873288e-03 3.90749471e+02] [ 4.27388639e-02 9.99086221e-01 -3.35850204e-04 3.54627698e+01] [ 3.33005444e-03 1.93702593e-04 9.99994437e-01 -1.45849839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.181400513 meters 0.051550357983839064 Centerline is valid? [True, True] Translation: X:390.81, Y:35.45, Z:-1.46 [[ 9.98816600e-01 -4.85201284e-02 -3.34628584e-03 3.90811429e+02] [ 4.85192654e-02 9.98822189e-01 -3.38654096e-04 3.54487558e+01] [ 3.35877609e-03 1.75894002e-04 9.99994344e-01 -1.45926731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24140051300003 meters 0.050678334162104106 Centerline is valid? [True, True] Translation: X:390.87, Y:35.44, Z:-1.46 [[ 9.98790565e-01 -4.90670590e-02 -3.13557455e-03 3.90870765e+02] [ 4.90663033e-02 9.98795473e-01 -3.17554673e-04 3.54435858e+01] [ 3.14737914e-03 1.63319560e-04 9.99995034e-01 -1.45829592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30140051300003 meters 0.06368881564112287 Centerline is valid? [True, True] Translation: X:390.93, Y:35.46, Z:-1.46 [[ 9.99177048e-01 -4.04599441e-02 -2.86691188e-03 3.90929579e+02] [ 4.04592761e-02 9.99181146e-01 -2.90616292e-04 3.54553405e+01] [ 2.87632262e-03 1.74383949e-04 9.99995848e-01 -1.45628319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.361400513 meters 0.0685447532679381 Centerline is valid? [True, True] Translation: X:390.99, Y:35.47, Z:-1.46 [[ 9.99581179e-01 -2.88132902e-02 -2.69444962e-03 3.90989048e+02] [ 2.88126580e-02 9.99584792e-01 -2.73152054e-04 3.54665245e+01] [ 2.70120128e-03 1.95403397e-04 9.99996333e-01 -1.45602874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.421400513 meters 0.09044428044178553 Centerline is valid? [True, True] Translation: X:391.05, Y:35.50, Z:-1.46 [[ 9.99916127e-01 -1.27445918e-02 -2.30525816e-03 3.91045182e+02] [ 1.27440866e-02 9.99918764e-01 -2.33708097e-04 3.55001809e+01] [ 2.30804941e-03 2.04310086e-04 9.99997316e-01 -1.45643752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.481400513 meters 0.08850622125695799 Centerline is valid? [True, True] Translation: X:391.10, Y:35.51, Z:-1.46 [[ 9.99920031e-01 -1.22068958e-02 -3.30512615e-03 3.91104038e+02] [ 1.22058542e-02 9.99925450e-01 -3.35129826e-04 3.55060578e+01] [ 3.30897065e-03 2.94761138e-04 9.99994482e-01 -1.45858661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.541400513 meters 0.08563395415270421 Centerline is valid? [True, True] Translation: X:391.16, Y:35.51, Z:-1.46 [[ 9.99834616e-01 -1.81000550e-02 -1.76871801e-03 3.91163841e+02] [ 1.80997658e-02 9.99836170e-01 -1.79373872e-04 3.55091186e+01] [ 1.77167491e-03 1.47330825e-04 9.99998420e-01 -1.45701292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.601400513 meters 0.080020818492979 Centerline is valid? [True, True] Translation: X:391.22, Y:35.51, Z:-1.46 [[ 9.99747837e-01 -2.24382617e-02 -8.86792972e-04 3.91223897e+02] [ 2.24381907e-02 9.99748228e-01 -8.99344266e-05 3.55127740e+01] [ 8.88587675e-04 7.00137187e-05 9.99999603e-01 -1.45534236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.661400513 meters 0.07763726919845976 Centerline is valid? [True, True] Translation: X:391.28, Y:35.52, Z:-1.46 [[ 9.99835915e-01 -1.77727210e-02 -3.50345825e-03 3.91283588e+02] [ 1.77715843e-02 9.99842010e-01 -3.55318421e-04 3.55234494e+01] [ 3.50921971e-03 2.92998114e-04 9.99993800e-01 -1.45861067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.721400513 meters 0.08776750065699625 Centerline is valid? [True, True] Translation: X:391.34, Y:35.55, Z:-1.46 [[ 9.99873022e-01 -1.53724756e-02 -4.19844110e-03 3.91340785e+02] [ 1.53708220e-02 9.99881771e-01 -4.25828180e-04 3.55483908e+01] [ 4.20449075e-03 3.61240618e-04 9.99991096e-01 -1.46015715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.781400513 meters 0.08480458526765505 Centerline is valid? [True, True] Translation: X:391.40, Y:35.56, Z:-1.46 [[ 9.99844353e-01 -1.63470819e-02 -6.63644143e-03 3.91398913e+02] [ 1.63429701e-02 9.99866218e-01 -6.73340668e-04 3.55586396e+01] [ 6.64656075e-03 5.64776701e-04 9.99977752e-01 -1.46420480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.841400513 meters 0.07814694220638047 Centerline is valid? [True, True] Translation: X:391.46, Y:35.56, Z:-1.46 [[ 9.99800165e-01 -1.92445356e-02 -5.41096611e-03 3.91459301e+02] [ 1.92418435e-02 9.99814708e-01 -5.49149577e-04 3.55613638e+01] [ 5.42053163e-03 4.44922875e-04 9.99985210e-01 -1.46257977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.901400513 meters 0.08066111948732543 Centerline is valid? [True, True] Translation: X:391.52, Y:35.57, Z:-1.46 [[ 9.99769243e-01 -2.11623779e-02 -3.68971054e-03 3.91518729e+02] [ 2.11611389e-02 9.99776008e-01 -3.74517072e-04 3.55688246e+01] [ 3.69680975e-03 2.96352172e-04 9.99993123e-01 -1.46010828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.961400513 meters 0.07675161218947545 Centerline is valid? [True, True] Translation: X:391.58, Y:35.58, Z:-1.46 [[ 9.99759239e-01 -2.14410597e-02 -4.66310299e-03 3.91577106e+02] [ 2.14390815e-02 9.99770044e-01 -4.73799124e-04 3.55759464e+01] [ 4.67218943e-03 3.73712407e-04 9.99989015e-01 -1.46054599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.021400513 meters 0.0872895997289275 Centerline is valid? [True, True] Translation: X:391.63, Y:35.60, Z:-1.47 [[ 9.99787134e-01 -1.90193565e-02 -7.99696873e-03 3.91633905e+02] [ 1.90134575e-02 9.99818897e-01 -8.13040972e-04 3.56031492e+01] [ 8.01098398e-03 6.60817878e-04 9.99967693e-01 -1.46672507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.081400513 meters 0.08991682077232045 Centerline is valid? [True, True] Translation: X:391.69, Y:35.62, Z:-1.46 [[ 9.99810117e-01 -1.88177887e-02 -5.06174472e-03 3.91691655e+02] [ 1.88154204e-02 9.99822842e-01 -5.15109218e-04 3.56150517e+01] [ 5.07054120e-03 4.19772552e-04 9.99987057e-01 -1.46181939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.141400513 meters 0.08234903095694529 Centerline is valid? [True, True] Translation: X:391.75, Y:35.62, Z:-1.46 [[ 9.99741640e-01 -2.26001010e-02 -2.42666400e-03 3.91752475e+02] [ 2.25995674e-02 9.99744567e-01 -2.47081205e-04 3.56156822e+01] [ 2.43162821e-03 1.92175812e-04 9.99997025e-01 -1.45625563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.201400513 meters 0.07551893398754507 Centerline is valid? [True, True] Translation: X:391.81, Y:35.62, Z:-1.46 [[ 9.99668699e-01 -2.54786883e-02 -3.65076664e-03 3.91812431e+02] [ 2.54774995e-02 9.99675327e-01 -3.71768192e-04 3.56151276e+01] [ 3.65905350e-03 2.78632620e-04 9.99993267e-01 -1.45843361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.261400513 meters 0.07910036478029255 Centerline is valid? [True, True] Translation: X:391.87, Y:35.63, Z:-1.46 [[ 9.99611181e-01 -2.77427230e-02 -2.79797494e-03 3.91871320e+02] [ 2.77420335e-02 9.99615075e-01 -2.84955486e-04 3.56283030e+01] [ 2.80480337e-03 2.07223175e-04 9.99996045e-01 -1.45677401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.321400513 meters 0.07866265161536312 Centerline is valid? [True, True] Translation: X:391.93, Y:35.64, Z:-1.46 [[ 9.99709915e-01 -2.39527926e-02 -2.51975328e-03 3.91930824e+02] [ 2.39522213e-02 9.99713071e-01 -2.56632152e-04 3.56377599e+01] [ 2.52517735e-03 1.96204018e-04 9.99996792e-01 -1.45590607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.381400513 meters 0.07458332698477463 Centerline is valid? [True, True] Translation: X:391.99, Y:35.64, Z:-1.46 [[ 9.99808777e-01 -1.93036514e-02 -3.12703159e-03 3.91991039e+02] [ 1.93027490e-02 9.99813634e-01 -3.18508226e-04 3.56437828e+01] [ 3.13259719e-03 2.58087014e-04 9.99995060e-01 -1.45600561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.441400513 meters 0.08622655940559479 Centerline is valid? [True, True] Translation: X:392.05, Y:35.67, Z:-1.46 [[ 9.99875054e-01 -1.32990439e-02 -8.54463965e-03 3.92047907e+02] [ 1.32920882e-02 9.99911278e-01 -8.70326304e-04 3.56724897e+01] [ 8.55545606e-03 7.56641457e-04 9.99963115e-01 -1.46376001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.501400513 meters 0.09440117403473731 Centerline is valid? [True, True] Translation: X:392.10, Y:35.69, Z:-1.46 [[ 9.99893769e-01 -1.29672054e-02 -6.65596957e-03 3.92103559e+02] [ 1.29629757e-02 9.99915747e-01 -6.78220288e-04 3.56945617e+01] [ 6.66420340e-03 5.91867068e-04 9.99977619e-01 -1.46176202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.561400513 meters 0.09169039161321645 Centerline is valid? [True, True] Translation: X:392.16, Y:35.70, Z:-1.46 [[ 9.99900524e-01 -1.39092130e-02 -2.34010274e-03 3.92162448e+02] [ 1.39086926e-02 9.99903241e-01 -2.38495017e-04 3.57030197e+01] [ 2.34319359e-03 2.05923523e-04 9.99997234e-01 -1.45603945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.621400513 meters 0.09377458386100233 Centerline is valid? [True, True] Translation: X:392.22, Y:35.72, Z:-1.46 [[ 9.99936658e-01 -1.07329171e-02 -3.38878759e-03 3.92220527e+02] [ 1.07318075e-02 9.99942353e-01 -3.45445808e-04 3.57227447e+01] [ 3.39229988e-03 3.09056111e-04 9.99994198e-01 -1.45719682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.681400513 meters 0.09388341522286965 Centerline is valid? [True, True] Translation: X:392.28, Y:35.73, Z:-1.46 [[ 9.99958155e-01 -8.45923316e-03 -3.48277748e-03 3.92279943e+02] [ 8.45804740e-03 9.99964167e-01 -3.55051661e-04 3.57346945e+01] [ 3.48565615e-03 3.25579307e-04 9.99993872e-01 -1.45648908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74140051300003 meters 0.0915321295138054 Centerline is valid? [True, True] Translation: X:392.34, Y:35.74, Z:-1.46 [[ 9.99955630e-01 -7.70627526e-03 -5.41767303e-03 3.92338624e+02] [ 7.70339431e-03 9.99970176e-01 -5.52435561e-04 3.57435244e+01] [ 5.42176868e-03 5.10676578e-04 9.99985172e-01 -1.45900941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80140051300003 meters 0.09490023755841208 Centerline is valid? [True, True] Translation: X:392.40, Y:35.76, Z:-1.46 [[ 9.99931689e-01 -1.08226586e-02 -4.41444960e-03 3.92395853e+02] [ 1.08207755e-02 9.99941352e-01 -4.50241509e-04 3.57633028e+01] [ 4.41906351e-03 4.02442984e-04 9.99990155e-01 -1.45756627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.861400513 meters 0.09018190636316825 Centerline is valid? [True, True] Translation: X:392.45, Y:35.77, Z:-1.46 [[ 9.99807002e-01 -1.91835325e-02 -4.23686870e-03 3.92454945e+02] [ 1.91818721e-02 9.99815918e-01 -4.32176774e-04 3.57705625e+01] [ 4.24437944e-03 3.50822291e-04 9.99990931e-01 -1.45684951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.921400513 meters 0.08195694686176902 Centerline is valid? [True, True] Translation: X:392.52, Y:35.77, Z:-1.46 [[ 9.99638239e-01 -2.66947867e-02 -3.28333397e-03 3.92516199e+02] [ 2.66938299e-02 9.99643600e-01 -3.34922551e-04 3.57682726e+01] [ 3.29110448e-03 2.47156631e-04 9.99994554e-01 -1.45517908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.981400513 meters 0.06626822163117213 Centerline is valid? [True, True] Translation: X:392.58, Y:35.76, Z:-1.45 [[ 9.99366433e-01 -3.55079352e-02 -2.43291428e-03 3.92577675e+02] [ 3.55074357e-02 9.99369381e-01 -2.48179697e-04 3.57570533e+01] [ 2.44019239e-03 1.61635911e-04 9.99997010e-01 -1.45276488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.041400513 meters 0.06373344922469155 Centerline is valid? [True, True] Translation: X:392.64, Y:35.76, Z:-1.46 [[ 9.99286080e-01 -3.75879090e-02 -3.80506829e-03 3.92637536e+02] [ 3.75867023e-02 9.99293295e-01 -3.88185317e-04 3.57617894e+01] [ 3.81697030e-03 2.44888215e-04 9.99992685e-01 -1.45522362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.101400513 meters 0.06307374303830625 Centerline is valid? [True, True] Translation: X:392.70, Y:35.77, Z:-1.46 [[ 9.99375215e-01 -3.48793665e-02 -5.71050793e-03 3.92697075e+02] [ 3.48766043e-02 9.99391456e-01 -5.82609855e-04 3.57705527e+01] [ 5.72735390e-03 3.83082724e-04 9.99983525e-01 -1.45686545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.161400513 meters 0.06780656628365327 Centerline is valid? [True, True] Translation: X:392.75, Y:35.79, Z:-1.46 [[ 9.99381147e-01 -3.47551369e-02 -5.42258853e-03 3.92753588e+02] [ 3.47526432e-02 9.99395791e-01 -5.53444386e-04 3.57885441e+01] [ 5.43854719e-03 3.64652600e-04 9.99985145e-01 -1.45668313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.221400513 meters 0.06509428079422763 Centerline is valid? [True, True] Translation: X:392.81, Y:35.80, Z:-1.46 [[ 9.99277259e-01 -3.76782941e-02 -5.03042893e-03 3.92813670e+02] [ 3.76761845e-02 9.99289869e-01 -5.13521342e-04 3.57957457e+01] [ 5.04620527e-03 3.23622831e-04 9.99987215e-01 -1.45673989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.281400513 meters 0.05531872640899909 Centerline is valid? [True, True] Translation: X:392.87, Y:35.79, Z:-1.45 [[ 9.99037659e-01 -4.37048035e-02 -3.69402497e-03 3.92874873e+02] [ 4.37037068e-02 9.99044465e-01 -3.77104590e-04 3.57939624e+01] [ 3.70697648e-03 2.15299102e-04 9.99993106e-01 -1.45352466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.341400513 meters 0.05488261594045831 Centerline is valid? [True, True] Translation: X:392.93, Y:35.80, Z:-1.45 [[ 9.98785838e-01 -4.90853089e-02 -4.18118376e-03 3.92933373e+02] [ 4.90839508e-02 9.98794565e-01 -4.26874034e-04 3.58046248e+01] [ 4.19709686e-03 2.21126721e-04 9.99991168e-01 -1.45390487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.401400513 meters 0.05447085135152951 Centerline is valid? [True, True] Translation: X:392.99, Y:35.82, Z:-1.45 [[ 9.98497130e-01 -5.46352248e-02 -4.29801860e-03 3.92991202e+02] [ 5.46338406e-02 9.98506360e-01 -4.38892193e-04 3.58199047e+01] [ 4.31557789e-03 2.03415332e-04 9.99990667e-01 -1.45391382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.461400513 meters 0.04218518560954762 Centerline is valid? [True, True] Translation: X:393.05, Y:35.82, Z:-1.45 [[ 9.98339344e-01 -5.75234260e-02 -3.09998724e-03 3.93051656e+02] [ 5.75227197e-02 9.98344147e-01 -3.16604260e-04 3.58162751e+01] [ 3.11306628e-03 1.37758792e-04 9.99995145e-01 -1.45116680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.521400513 meters 0.040469075865686786 Centerline is valid? [True, True] Translation: X:393.11, Y:35.83, Z:-1.45 [[ 9.97751229e-01 -6.70226372e-02 -6.72267988e-04 3.93110410e+02] [ 6.70226062e-02 9.97751455e-01 -6.86470768e-05 3.58251819e+01] [ 6.75357272e-04 2.34355526e-05 9.99999772e-01 -1.44658801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.581400513 meters 0.025613590870043872 Centerline is valid? [True, True] Translation: X:393.17, Y:35.82, Z:-1.45 [[ 9.96994456e-01 -7.74702315e-02 6.46598377e-04 3.93171565e+02] [ 7.74702049e-02 9.96994665e-01 6.60892281e-05 3.58162315e+01] [-6.49775081e-04 -1.57984852e-05 9.99999789e-01 -1.44501854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.641400513 meters 0.021450897018046148 Centerline is valid? [True, True] Translation: X:393.23, Y:35.82, Z:-1.44 [[ 9.96587403e-01 -8.25384599e-02 9.75500014e-04 3.93230057e+02] [ 8.25384018e-02 9.96587880e-01 9.97624990e-05 3.58186461e+01] [-9.80405734e-04 -1.89058377e-05 9.99999519e-01 -1.44375822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.701400513 meters 0.01674528705209552 Centerline is valid? [True, True] Translation: X:393.29, Y:35.82, Z:-1.45 [[ 9.96164833e-01 -8.74466151e-02 -2.95202230e-03 3.93289605e+02] [ 8.74461049e-02 9.96169206e-01 -3.01732646e-04 3.58203098e+01] [ 2.96709921e-03 4.24325989e-05 9.99995597e-01 -1.44938162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.761400513 meters 0.021554703763326022 Centerline is valid? [True, True] Translation: X:393.35, Y:35.83, Z:-1.45 [[ 9.95998181e-01 -8.92879949e-02 -3.90868596e-03 3.93348179e+02] [ 8.92871129e-02 9.96005849e-01 -3.99926372e-04 3.58250774e+01] [ 3.92878270e-03 4.93306544e-05 9.99992281e-01 -1.45091590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.821400513 meters 0.017305007969137448 Centerline is valid? [True, True] Translation: X:393.41, Y:35.83, Z:-1.45 [[ 9.95944067e-01 -8.99188558e-02 -3.16476322e-03 3.93405759e+02] [ 8.99182797e-02 9.95949094e-01 -3.24137726e-04 3.58322989e+01] [ 3.18108915e-03 3.82529809e-05 9.99994940e-01 -1.44984311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.881400513 meters 0.02649021585204831 Centerline is valid? [True, True] Translation: X:393.46, Y:35.84, Z:-1.45 [[ 9.95910883e-01 -9.03290794e-02 -1.47325908e-03 3.93463031e+02] [ 9.03289551e-02 9.95911973e-01 -1.50878628e-04 3.58426448e+01] [ 1.48086508e-03 1.71837143e-05 9.99998903e-01 -1.44733304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.941400513 meters 0.018111627791600974 Centerline is valid? [True, True] Translation: X:393.52, Y:35.86, Z:-1.45 [[ 9.96071760e-01 -8.84778118e-02 -3.56729121e-03 3.93518888e+02] [ 8.84770672e-02 9.96078147e-01 -3.66311762e-04 3.58608550e+01] [ 3.58571128e-03 4.92493368e-05 9.99993570e-01 -1.45065801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.001400513 meters 0.01661533447004509 Centerline is valid? [True, True] Translation: X:393.58, Y:35.87, Z:-1.45 [[ 9.96152896e-01 -8.75463013e-02 -3.87988734e-03 3.93576577e+02] [ 8.75454115e-02 9.96160450e-01 -3.98900522e-04 3.58749304e+01] [ 3.89991259e-03 5.76995765e-05 9.99992394e-01 -1.45092829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.061400513 meters 0.02516076437381245 Centerline is valid? [True, True] Translation: X:393.63, Y:35.89, Z:-1.45 [[ 9.96095335e-01 -8.81355650e-02 -5.11915901e-03 3.93633047e+02] [ 8.81340185e-02 9.96108486e-01 -5.27339617e-04 3.58915344e+01] [ 5.14571511e-03 7.41084775e-05 9.99986758e-01 -1.45285350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.121400513 meters 0.01503150040261614 Centerline is valid? [True, True] Translation: X:393.69, Y:35.90, Z:-1.45 [[ 9.95882424e-01 -9.04676076e-02 -5.81462282e-03 3.93690301e+02] [ 9.04656485e-02 9.95899396e-01 -5.99605233e-04 3.58992775e+01] [ 5.84502421e-03 7.11126886e-05 9.99982915e-01 -1.45425566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.181400513 meters 0.011765817210274004 Centerline is valid? [True, True] Translation: X:393.75, Y:35.91, Z:-1.45 [[ 9.95640577e-01 -9.32017539e-02 -3.64328240e-03 3.93748619e+02] [ 9.32010017e-02 9.95647243e-01 -3.76073630e-04 3.59082652e+01] [ 3.66247480e-03 3.48765977e-05 9.99993293e-01 -1.45040491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24140051300003 meters 0.012617267075236685 Centerline is valid? [True, True] Translation: X:393.81, Y:35.92, Z:-1.45 [[ 9.95696169e-01 -9.26333668e-02 -2.86315206e-03 3.93805219e+02] [ 9.26328991e-02 9.95700285e-01 -2.95848021e-04 3.59200063e+01] [ 2.87824672e-03 2.93526652e-05 9.99995857e-01 -1.44963555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30140051300003 meters 0.011206613025223966 Centerline is valid? [True, True] Translation: X:393.86, Y:35.93, Z:-1.45 [[ 9.95503272e-01 -9.46788409e-02 -3.02523541e-03 3.93863416e+02] [ 9.46783272e-02 9.95507869e-01 -3.12911931e-04 3.59285485e+01] [ 3.04127179e-03 2.50806240e-05 9.99995375e-01 -1.45040470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.361400513 meters 0.007719769312929161 Centerline is valid? [True, True] Translation: X:393.92, Y:35.93, Z:-1.45 [[ 9.95038685e-01 -9.94267360e-02 -3.51279139e-03 3.93923206e+02] [ 9.94260706e-02 9.95044885e-01 -3.63979003e-04 3.59259961e+01] [ 3.53157435e-03 1.29101439e-05 9.99993764e-01 -1.44995044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.421400513 meters 0.007283897419435243 Centerline is valid? [True, True] Translation: X:393.98, Y:35.92, Z:-1.45 [[ 9.94380817e-01 -1.05842992e-01 -2.01295667e-03 3.93982146e+02] [ 1.05842786e-01 9.94382854e-01 -2.08790950e-04 3.59238334e+01] [ 2.02374865e-03 -5.43922598e-06 9.99997952e-01 -1.44761700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.481400513 meters 0.01322026067983709 Centerline is valid? [True, True] Translation: X:394.04, Y:35.92, Z:-1.45 [[ 9.93496753e-01 -1.13838199e-01 -2.25090632e-03 3.94040551e+02] [ 1.13837961e-01 9.93499302e-01 -2.33892575e-04 3.59194737e+01] [ 2.26289976e-03 -2.38670730e-05 9.99997439e-01 -1.44788963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.541400513 meters 0.01680371550678453 Centerline is valid? [True, True] Translation: X:394.10, Y:35.92, Z:-1.45 [[ 9.93216927e-01 -1.16245724e-01 -2.65854926e-03 3.94097991e+02] [ 1.16245401e-01 9.93220484e-01 -2.76441218e-04 3.59223677e+01] [ 2.67266069e-03 -3.44780267e-05 9.99996428e-01 -1.44871686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.601400513 meters 0.016559839403290325 Centerline is valid? [True, True] Translation: X:394.16, Y:35.93, Z:-1.45 [[ 9.93097572e-01 -1.17257006e-01 -2.82983877e-03 3.94156233e+02] [ 1.17256642e-01 9.93101603e-01 -2.94561160e-04 3.59328225e+01] [ 2.84485678e-03 -3.92894195e-05 9.99995953e-01 -1.44730491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.661400513 meters 0.01693840660543419 Centerline is valid? [True, True] Translation: X:394.21, Y:35.95, Z:-1.45 [[ 9.92951452e-01 -1.18510196e-01 -1.65747268e-03 3.94213648e+02] [ 1.18510073e-01 9.92952835e-01 -1.72679583e-04 3.59488505e+01] [ 1.66625649e-03 -2.49647647e-05 9.99998611e-01 -1.44521336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.721400513 meters 0.01694956348500657 Centerline is valid? [True, True] Translation: X:394.27, Y:35.96, Z:-1.44 [[ 9.92863861e-01 -1.19247314e-01 -1.19612709e-03 3.94271151e+02] [ 1.19247251e-01 9.92864582e-01 -1.24732336e-04 3.59646846e+01] [ 1.20246622e-03 -1.87926377e-05 9.99999277e-01 -1.44440555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.781400513 meters 0.01945006871014101 Centerline is valid? [True, True] Translation: X:394.33, Y:35.98, Z:-1.45 [[ 9.92691461e-01 -1.20668185e-01 -1.68901130e-03 3.94327263e+02] [ 1.20668059e-01 9.92692897e-01 -1.76566095e-04 3.59806981e+01] [ 1.69797544e-03 -2.85340611e-05 9.99998558e-01 -1.44504143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.841400513 meters 0.02710003505113409 Centerline is valid? [True, True] Translation: X:394.38, Y:35.99, Z:-1.44 [[ 9.93061936e-01 -1.17591582e-01 -4.59261042e-04 3.94380914e+02] [ 1.17590671e-01 9.93017438e-01 9.42347366e-03 3.59948584e+01] [-6.52066949e-04 -9.41209781e-03 9.99955493e-01 -1.44434528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.901400513 meters 0.016586515677357347 Centerline is valid? [True, True] Translation: X:394.44, Y:36.03, Z:-1.45 [[ 9.93080677e-01 -1.17323809e-01 -5.08847685e-03 3.94440352e+02] [ 1.17269204e-01 9.93050261e-01 -9.95555206e-03 3.60283556e+01] [ 6.22113655e-03 9.28994475e-03 9.99937495e-01 -1.45485078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.961400513 meters 0.009888499128397501 Centerline is valid? [True, True] Translation: X:394.50, Y:36.05, Z:-1.45 [[ 9.93813866e-01 -1.10907220e-01 -5.79559929e-03 3.94497095e+02] [ 1.10905561e-01 9.93830764e-01 -6.07897964e-04 3.60496969e+01] [ 5.82726514e-03 -3.86267643e-05 9.99983021e-01 -1.45190545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.021400513 meters 0.007209901419145749 Centerline is valid? [True, True] Translation: X:394.55, Y:36.07, Z:-1.45 [[ 9.94384563e-01 -1.05719730e-01 -4.76232942e-03 3.94553203e+02] [ 1.05718548e-01 9.94395967e-01 -4.99775226e-04 3.60677741e+01] [ 4.78847727e-03 -6.49778370e-06 9.99988535e-01 -1.45067114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.081400513 meters 0.008970789646863608 Centerline is valid? [True, True] Translation: X:394.61, Y:36.09, Z:-1.45 [[ 9.95006901e-01 -9.96679164e-02 -5.25099417e-03 3.94609543e+02] [ 9.96663925e-02 9.95020756e-01 -5.51749208e-04 3.60927807e+01] [ 5.27983989e-03 2.56466231e-05 9.99986061e-01 -1.45248629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.141400513 meters 0.011981437707428984 Centerline is valid? [True, True] Translation: X:394.67, Y:36.11, Z:-1.45 [[ 9.95415130e-01 -9.55083080e-02 -5.18474535e-03 3.94667469e+02] [ 9.55067613e-02 9.95428632e-01 -5.45656286e-04 3.61083570e+01] [ 5.21315868e-03 4.79762866e-05 9.99986410e-01 -1.45163784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.201400513 meters 0.018582441390618834 Centerline is valid? [True, True] Translation: X:394.72, Y:36.13, Z:-1.45 [[ 9.96033691e-01 -8.89214887e-02 -3.13916872e-03 3.94723914e+02] [ 8.89208882e-02 9.96038637e-01 -3.30606637e-04 3.61315688e+01] [ 3.15613137e-03 5.01576774e-05 9.99995018e-01 -1.44770757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.261400513 meters 0.022483793606541614 Centerline is valid? [True, True] Translation: X:394.78, Y:36.15, Z:-1.45 [[ 9.96367445e-01 -8.50938216e-02 -3.30985482e-03 3.94781906e+02] [ 8.50931325e-02 9.96372941e-01 -3.48704704e-04 3.61467806e+01] [ 3.32752240e-03 6.57921001e-05 9.99994462e-01 -1.44869247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.321400513 meters 0.029418108649350655 Centerline is valid? [True, True] Translation: X:394.84, Y:36.17, Z:-1.45 [[ 9.96795990e-01 -7.99195861e-02 -3.25803581e-03 3.94839220e+02] [ 7.99188906e-02 9.96801311e-01 -3.43325095e-04 3.61708143e+01] [ 3.27505277e-03 8.18464705e-05 9.99994634e-01 -1.44838005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.381400513 meters 0.0313486126777107 Centerline is valid? [True, True] Translation: X:394.90, Y:36.19, Z:-1.45 [[ 9.97164381e-01 -7.52144550e-02 -2.44587052e-03 3.94897675e+02] [ 7.52140488e-02 9.97167378e-01 -2.57764454e-04 3.61880234e+01] [ 2.45832991e-03 7.30697072e-05 9.99996976e-01 -1.44718304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.441400513 meters 0.031787888634932905 Centerline is valid? [True, True] Translation: X:394.96, Y:36.20, Z:-1.45 [[ 9.97285063e-01 -7.35985658e-02 -2.39871088e-03 3.94955032e+02] [ 7.35981704e-02 9.97287945e-01 -2.52853212e-04 3.62006154e+01] [ 2.41081508e-03 7.56259999e-05 9.99997091e-01 -1.44690762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.501400513 meters 0.03536201589298954 Centerline is valid? [True, True] Translation: X:395.01, Y:36.21, Z:-1.45 [[ 9.97284008e-01 -7.35486136e-02 -3.89976495e-03 3.95011420e+02] [ 7.35475667e-02 9.97291625e-01 -4.11387108e-04 3.62146717e+01] [ 3.91945988e-03 1.23451561e-04 9.99992311e-01 -1.45021262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.561400513 meters 0.034342329176411626 Centerline is valid? [True, True] Translation: X:395.07, Y:36.22, Z:-1.45 [[ 9.97194717e-01 -7.47714249e-02 -3.45406761e-03 3.95070089e+02] [ 7.47706097e-02 9.97200693e-01 -3.64737692e-04 3.62206752e+01] [ 3.47167058e-03 1.05451758e-04 9.99993968e-01 -1.44945635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.621400513 meters 0.03626581287483812 Centerline is valid? [True, True] Translation: X:395.13, Y:36.23, Z:-1.45 [[ 9.97259367e-01 -7.39321717e-02 -2.79079730e-03 3.95127887e+02] [ 7.39316351e-02 9.97263268e-01 -2.95095433e-04 3.62324844e+01] [ 2.80497668e-03 8.79584770e-05 9.99996062e-01 -1.44786813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.681400513 meters 0.04289339935705356 Centerline is valid? [True, True] Translation: X:395.19, Y:36.25, Z:-1.45 [[ 9.97674745e-01 -6.81308374e-02 -1.81426801e-03 3.95186653e+02] [ 6.81306007e-02 9.97676393e-01 -1.92024940e-04 3.62514192e+01] [ 1.82313519e-03 6.79712636e-05 9.99998336e-01 -1.44668290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74140051300003 meters 0.046143105205613086 Centerline is valid? [True, True] Translation: X:395.24, Y:36.26, Z:-1.45 [[ 9.97843954e-01 -6.55917252e-02 -2.27352964e-03 3.95244954e+02] [ 6.55913469e-02 9.97846540e-01 -2.40650743e-04 3.62627278e+01] [ 2.28441838e-03 9.10080182e-05 9.99997387e-01 -1.44756760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80140051300003 meters 0.04520146247052363 Centerline is valid? [True, True] Translation: X:395.31, Y:36.27, Z:-1.45 [[ 9.98113758e-01 -6.10574086e-02 -6.39685498e-03 3.95305375e+02] [ 6.10543194e-02 9.98134215e-01 -6.77272249e-04 3.62695054e+01] [ 6.42627232e-03 2.85439123e-04 9.99979311e-01 -1.45297170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.861400513 meters 0.046003592823375336 Centerline is valid? [True, True] Translation: X:395.36, Y:36.28, Z:-1.45 [[ 9.98096921e-01 -6.14922367e-02 -4.60891304e-03 3.95363647e+02] [ 6.14906356e-02 9.98107541e-01 -4.88443452e-04 3.62782123e+01] [ 4.63022634e-03 2.04108913e-04 9.99989260e-01 -1.45081117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.921400513 meters 0.04598000495613983 Centerline is valid? [True, True] Translation: X:395.42, Y:36.28, Z:-1.45 [[ 9.97927373e-01 -6.43188949e-02 -2.00952714e-03 3.95422840e+02] [ 6.43185960e-02 9.97929393e-01 -2.13100297e-04 3.62800727e+01] [ 2.01907257e-03 8.34086552e-05 9.99997958e-01 -1.44580360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.981400513 meters 0.040620006020820755 Centerline is valid? [True, True] Translation: X:395.48, Y:36.28, Z:-1.45 [[ 9.97768725e-01 -6.66086179e-02 -4.56758818e-03 3.95483200e+02] [ 6.66070967e-02 9.97779164e-01 -4.84531676e-04 3.62759189e+01] [ 4.58971830e-03 1.79216765e-04 9.99989451e-01 -1.44970962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.041400513 meters 0.04071508649970609 Centerline is valid? [True, True] Translation: X:395.54, Y:36.27, Z:-1.45 [[ 9.97755373e-01 -6.68243143e-02 -4.32750877e-03 3.95541990e+02] [ 6.68229485e-02 9.97764743e-01 -4.59592262e-04 3.62745269e+01] [ 4.34854761e-03 1.69383753e-04 9.99990531e-01 -1.45075533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.101400513 meters 0.04539555338156924 Centerline is valid? [True, True] Translation: X:395.60, Y:36.28, Z:-1.45 [[ 9.98049823e-01 -6.21977527e-02 -5.29063519e-03 3.95601551e+02] [ 6.21956441e-02 9.98063818e-01 -5.62307218e-04 3.62826946e+01] [ 5.31536581e-03 2.32156155e-04 9.99985846e-01 -1.45146265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.161400513 meters 0.06674930226691712 Centerline is valid? [True, True] Translation: X:395.66, Y:36.31, Z:-1.45 [[ 9.98674242e-01 -5.11955521e-02 -5.36409538e-03 3.95658328e+02] [ 5.11932262e-02 9.98688604e-01 -5.70116609e-04 3.63136498e+01] [ 5.38624836e-03 2.94755425e-04 9.99985451e-01 -1.45270687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.221400513 meters 0.06913560514955207 Centerline is valid? [True, True] Translation: X:395.72, Y:36.32, Z:-1.45 [[ 9.99095763e-01 -4.24730825e-02 -1.92197191e-03 3.95718337e+02] [ 4.24727678e-02 9.99097604e-01 -2.04274460e-04 3.63226384e+01] [ 1.92891369e-03 1.22458281e-04 9.99998132e-01 -1.44726053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.281400513 meters 0.0735008115787745 Centerline is valid? [True, True] Translation: X:395.78, Y:36.34, Z:-1.45 [[ 9.99200578e-01 -3.99537317e-02 -1.37965287e-03 3.95776871e+02] [ 3.99535672e-02 9.99201527e-01 -1.46634614e-04 3.63361643e+01] [ 1.38440985e-03 9.13953371e-05 9.99999038e-01 -1.44670197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.341400513 meters 0.06860636432891422 Centerline is valid? [True, True] Translation: X:395.84, Y:36.34, Z:-1.45 [[ 9.99160036e-01 -4.09263863e-02 -2.06247637e-03 3.95835459e+02] [ 4.09260205e-02 9.99162155e-01 -2.19259526e-04 3.63384779e+01] [ 2.06972184e-03 1.34666405e-04 9.99997849e-01 -1.44763872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.401400513 meters 0.07029909373369513 Centerline is valid? [True, True] Translation: X:395.89, Y:36.35, Z:-1.45 [[ 9.99077920e-01 -4.28811662e-02 -2.12499655e-03 3.95894019e+02] [ 4.28807822e-02 9.99080171e-01 -2.25997978e-04 3.63479671e+01] [ 2.13273297e-03 1.34668076e-04 9.99997717e-01 -1.44668901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.461400513 meters 0.061368222218277965 Centerline is valid? [True, True] Translation: X:395.96, Y:36.34, Z:-1.45 [[ 9.98996746e-01 -4.47131856e-02 -2.49649693e-03 3.95955087e+02] [ 4.47126610e-02 9.98999854e-01 -2.65576839e-04 3.63447398e+01] [ 2.50587486e-03 1.53685377e-04 9.99996848e-01 -1.44698808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.521400513 meters 0.06225420872673694 Centerline is valid? [True, True] Translation: X:396.01, Y:36.35, Z:-1.45 [[ 9.98951181e-01 -4.56746694e-02 -3.21899277e-03 3.96013650e+02] [ 4.56738012e-02 9.98956349e-01 -3.42739079e-04 3.63515792e+01] [ 3.23128775e-03 1.95355972e-04 9.99994760e-01 -1.44815374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.581400513 meters 0.06016283266008709 Centerline is valid? [True, True] Translation: X:396.07, Y:36.36, Z:-1.45 [[ 9.98948846e-01 -4.55809565e-02 -4.85586804e-03 3.96071995e+02] [ 4.55789751e-02 9.98960604e-01 -5.17976852e-04 3.63553990e+01] [ 4.87443075e-03 2.96106890e-04 9.99988076e-01 -1.44954681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.641400513 meters 0.06378584248045513 Centerline is valid? [True, True] Translation: X:396.13, Y:36.37, Z:-1.45 [[ 9.98987940e-01 -4.48820698e-02 -2.94882329e-03 3.96128987e+02] [ 4.48813353e-02 9.98992276e-01 -3.14801924e-04 3.63666370e+01] [ 2.95998065e-03 1.82136199e-04 9.99995603e-01 -1.44667494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.701400513 meters 0.06855422031706508 Centerline is valid? [True, True] Translation: X:396.19, Y:36.38, Z:-1.45 [[ 9.99042570e-01 -4.36902934e-02 -2.25846874e-03 3.96186396e+02] [ 4.36898593e-02 9.99045113e-01 -2.41206884e-04 3.63783455e+01] [ 2.26685055e-03 1.42303764e-04 9.99997421e-01 -1.44527257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.761400513 meters 0.07466814612828934 Centerline is valid? [True, True] Translation: X:396.25, Y:36.39, Z:-1.45 [[ 9.99257565e-01 -3.84188955e-02 -2.88213786e-03 3.96245705e+02] [ 3.84181664e-02 9.99261702e-01 -3.07927714e-04 3.63934059e+01] [ 2.89184022e-03 1.96972646e-04 9.99995799e-01 -1.44672217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.821400513 meters 0.07885490771184123 Centerline is valid? [True, True] Translation: X:396.30, Y:36.41, Z:-1.45 [[ 9.99418407e-01 -3.39727448e-02 -2.94948449e-03 3.96304843e+02] [ 3.39719619e-02 9.99422737e-01 -3.15134797e-04 3.64067258e+01] [ 2.95848785e-03 2.14751742e-04 9.99995601e-01 -1.44717816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.881400513 meters 0.08330758483788712 Centerline is valid? [True, True] Translation: X:396.36, Y:36.42, Z:-1.45 [[ 9.99562968e-01 -2.88718871e-02 -6.34719604e-03 3.96364541e+02] [ 2.88681591e-02 9.99582998e-01 -6.78186758e-04 3.64208817e+01] [ 6.36412978e-03 4.94658504e-04 9.99979626e-01 -1.45174396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.941400513 meters 0.0841070186783063 Centerline is valid? [True, True] Translation: X:396.42, Y:36.43, Z:-1.45 [[ 9.99622466e-01 -2.70482849e-02 -4.82869078e-03 3.96424306e+02] [ 2.70461062e-02 9.99634054e-01 -5.15936168e-04 3.64310787e+01] [ 4.84087893e-03 3.85144101e-04 9.99988209e-01 -1.44958295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.001400513 meters 0.07877155514535654 Centerline is valid? [True, True] Translation: X:396.48, Y:36.43, Z:-1.45 [[ 9.99667779e-01 -2.57196617e-02 -1.68218587e-03 3.96484030e+02] [ 2.57193954e-02 9.99669185e-01 -1.79735972e-04 3.64339232e+01] [ 1.68625213e-03 1.36411457e-04 9.99998569e-01 -1.44555702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.061400513 meters 0.09202769555800196 Centerline is valid? [True, True] Translation: X:396.54, Y:36.46, Z:-1.45 [[ 9.99739242e-01 -2.26889602e-02 -2.58063299e-03 3.96540575e+02] [ 2.26883233e-02 9.99742549e-01 -2.75813611e-04 3.64614322e+01] [ 2.58622653e-03 2.17191455e-04 9.99996632e-01 -1.44618781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.121400513 meters 0.08592885084798808 Centerline is valid? [True, True] Translation: X:396.60, Y:36.46, Z:-1.45 [[ 9.99761811e-01 -2.14702228e-02 -3.91802473e-03 3.96600887e+02] [ 2.14687451e-02 9.99769432e-01 -4.18836865e-04 3.64646762e+01] [ 3.92611388e-03 3.34622028e-04 9.99992237e-01 -1.44878018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.181400513 meters 0.09226779543916683 Centerline is valid? [True, True] Translation: X:396.66, Y:36.48, Z:-1.45 [[ 9.99762485e-01 -2.09515187e-02 -6.00055318e-03 3.96658068e+02] [ 2.09480422e-02 9.99780360e-01 -6.41636158e-04 3.64817525e+01] [ 6.01267847e-03 5.15783919e-04 9.99981791e-01 -1.45241447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24140051300003 meters 0.08407419780076117 Centerline is valid? [True, True] Translation: X:396.72, Y:36.48, Z:-1.45 [[ 9.99760797e-01 -2.08168312e-02 -6.70880772e-03 3.96717379e+02] [ 2.08124767e-02 9.99783139e-01 -7.18244479e-04 3.64831876e+01] [ 6.72230442e-03 5.78445768e-04 9.99977238e-01 -1.45308107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30140051300003 meters 0.08864248785707178 Centerline is valid? [True, True] Translation: X:396.77, Y:36.50, Z:-1.45 [[ 9.99777967e-01 -2.05742565e-02 -4.55148678e-03 3.96773521e+02] [ 2.05722482e-02 9.99788250e-01 -4.87640190e-04 3.65008007e+01] [ 4.56055584e-03 3.93897602e-04 9.99989523e-01 -1.45094352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.361400513 meters 0.08356834936989223 Centerline is valid? [True, True] Translation: X:396.83, Y:36.51, Z:-1.45 [[ 9.99724929e-01 -2.25833982e-02 -6.32900627e-03 3.96833513e+02] [ 2.25795538e-02 9.99744819e-01 -6.78236182e-04 3.65083229e+01] [ 6.34270810e-03 5.35143482e-04 9.99979742e-01 -1.45334984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.421400513 meters 0.08420214997330434 Centerline is valid? [True, True] Translation: X:396.89, Y:36.52, Z:-1.45 [[ 9.99662309e-01 -2.53393598e-02 -5.76062453e-03 3.96891399e+02] [ 2.53362196e-02 9.99678796e-01 -6.17445406e-04 3.65175557e+01] [ 5.77441987e-03 4.71284452e-04 9.99983217e-01 -1.45284989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.481400513 meters 0.07390568439714888 Centerline is valid? [True, True] Translation: X:396.95, Y:36.51, Z:-1.45 [[ 9.99512657e-01 -3.04882701e-02 -6.70181777e-03 3.96952839e+02] [ 3.04841344e-02 9.99534993e-01 -7.18400793e-04 3.65139832e+01] [ 6.72060417e-03 5.13751571e-04 9.99977285e-01 -1.45318396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.541400513 meters 0.07636309704343847 Centerline is valid? [True, True] Translation: X:397.01, Y:36.52, Z:-1.45 [[ 9.99436364e-01 -3.27909087e-02 -7.19100334e-03 3.97011377e+02] [ 3.27862059e-02 9.99462091e-01 -7.70922240e-04 3.65239592e+01] [ 7.21241447e-03 5.34722005e-04 9.99973847e-01 -1.45396031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.601400513 meters 0.08140940232316583 Centerline is valid? [True, True] Translation: X:397.07, Y:36.54, Z:-1.45 [[ 9.99414555e-01 -3.36676615e-02 -6.08574896e-03 3.97068099e+02] [ 3.36643079e-02 9.99432983e-01 -6.52701087e-04 3.65376355e+01] [ 6.10427316e-03 4.47446440e-04 9.99981269e-01 -1.45231472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.661400513 meters 0.0747182961063619 Centerline is valid? [True, True] Translation: X:397.13, Y:36.54, Z:-1.45 [[ 9.99452920e-01 -3.27315848e-02 -4.74389620e-03 3.97127852e+02] [ 3.27295358e-02 9.99464116e-01 -5.08936038e-04 3.65387146e+01] [ 4.75801230e-03 3.53392089e-04 9.99988618e-01 -1.45014427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.721400513 meters 0.08426737890007743 Centerline is valid? [True, True] Translation: X:397.19, Y:36.56, Z:-1.45 [[ 9.99536855e-01 -3.00736061e-02 -4.65335003e-03 3.97185828e+02] [ 3.00716057e-02 9.99547622e-01 -4.99262615e-04 3.65560462e+01] [ 4.66625959e-03 3.59097677e-04 9.99989048e-01 -1.45017612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.781400513 meters 0.0855621263194237 Centerline is valid? [True, True] Translation: X:397.25, Y:36.57, Z:-1.45 [[ 9.99586336e-01 -2.84518031e-02 -4.20145082e-03 3.97245622e+02] [ 2.84501582e-02 9.99595111e-01 -4.50777582e-04 3.65656147e+01] [ 4.21257514e-03 3.31059171e-04 9.99991072e-01 -1.44863192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.841400513 meters 0.09193215879433489 Centerline is valid? [True, True] Translation: X:397.30, Y:36.58, Z:-1.45 [[ 9.99568291e-01 -2.91240213e-02 -3.87584512e-03 3.97302126e+02] [ 2.91226260e-02 9.99575760e-01 -4.15959789e-04 3.65794774e+01] [ 3.88631525e-03 3.02905428e-04 9.99992402e-01 -1.44796826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.901400513 meters 0.07551310566674221 Centerline is valid? [True, True] Translation: X:397.36, Y:36.57, Z:-1.45 [[ 9.99441481e-01 -3.31497188e-02 -4.22157834e-03 3.97363931e+02] [ 3.31480987e-02 9.99450348e-01 -4.53193868e-04 3.65659850e+01] [ 4.23428119e-03 3.13003455e-04 9.99990986e-01 -1.44850450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.961400513 meters 0.06273667903831713 Centerline is valid? [True, True] Translation: X:397.43, Y:36.55, Z:-1.45 [[ 9.99084903e-01 -4.27289415e-02 -1.89602635e-03 3.97425602e+02] [ 4.27286318e-02 9.99086694e-01 -2.03549277e-04 3.65532934e+01] [ 1.90299214e-03 1.22348398e-04 9.99998182e-01 -1.44578392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.021400513 meters 0.06416906571994734 Centerline is valid? [True, True] Translation: X:397.49, Y:36.56, Z:-1.45 [[ 9.98823332e-01 -4.84748438e-02 -1.46341944e-03 3.97485032e+02] [ 4.84746655e-02 9.98824400e-01 -1.57107395e-04 3.65565546e+01] [ 1.46931480e-03 8.59837641e-05 9.99998917e-01 -1.44510316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.081400513 meters 0.05517584981789153 Centerline is valid? [True, True] Translation: X:397.55, Y:36.54, Z:-1.45 [[ 9.98553378e-01 -5.37240041e-02 -2.20987641e-03 3.97547121e+02] [ 5.37236101e-02 9.98555816e-01 -2.37283447e-04 3.65436390e+01] [ 2.21943276e-03 1.18217649e-04 9.99997530e-01 -1.44593036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.141400513 meters 0.06092567186420785 Centerline is valid? [True, True] Translation: X:397.60, Y:36.55, Z:-1.45 [[ 9.98553445e-01 -5.35980924e-02 -4.27350664e-03 3.97604765e+02] [ 5.35966174e-02 9.98562563e-01 -4.59022697e-04 3.65476556e+01] [ 4.29196648e-03 2.29313195e-04 9.99990763e-01 -1.44937192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.201400513 meters 0.05886000965636047 Centerline is valid? [True, True] Translation: X:397.67, Y:36.55, Z:-1.45 [[ 9.98670711e-01 -5.11490826e-02 -6.37043529e-03 3.97665345e+02] [ 5.11457538e-02 9.98690965e-01 -6.84465802e-04 3.65467354e+01] [ 6.39710597e-03 3.57735234e-04 9.99979474e-01 -1.45308467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.261400513 meters 0.0659635697343852 Centerline is valid? [True, True] Translation: X:397.72, Y:36.56, Z:-1.45 [[ 9.99058478e-01 -4.28943953e-02 -6.49835456e-03 3.97724778e+02] [ 4.28907570e-02 9.99079524e-01 -6.98267759e-04 3.65556452e+01] [ 6.52232475e-03 4.18890978e-04 9.99978642e-01 -1.45278200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.321400513 meters 0.0704436731063904 Centerline is valid? [True, True] Translation: X:397.78, Y:36.57, Z:-1.45 [[ 9.99236650e-01 -3.86630574e-02 -5.59330626e-03 3.97783983e+02] [ 3.86602957e-02 9.99252231e-01 -6.01070063e-04 3.65657594e+01] [ 5.61236296e-03 3.84372363e-04 9.99984177e-01 -1.45251842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.381400513 meters 0.07665315200376484 Centerline is valid? [True, True] Translation: X:397.84, Y:36.58, Z:-1.46 [[ 9.99296158e-01 -3.68265324e-02 -7.14104757e-03 3.97842946e+02] [ 3.68219835e-02 9.99321546e-01 -7.67479857e-04 3.65753323e+01] [ 7.16446632e-03 5.03992137e-04 9.99974208e-01 -1.45544931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.441400513 meters 0.06740023494331665 Centerline is valid? [True, True] Translation: X:397.90, Y:36.56, Z:-1.45 [[ 9.99170255e-01 -4.01911791e-02 -6.59322242e-03 3.97904217e+02] [ 4.01873736e-02 9.99191910e-01 -7.08705349e-04 3.65638999e+01] [ 6.61637820e-03 4.43153012e-04 9.99978013e-01 -1.45428334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.501400513 meters 0.06776647757238574 Centerline is valid? [True, True] Translation: X:397.96, Y:36.57, Z:-1.45 [[ 9.99005170e-01 -4.42535915e-02 -5.50362062e-03 3.97963253e+02] [ 4.42510005e-02 9.99020269e-01 -5.91727217e-04 3.65664769e+01] [ 5.52441461e-03 3.47597830e-04 9.99984680e-01 -1.45249642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.561400513 meters 0.06831683695497148 Centerline is valid? [True, True] Translation: X:398.02, Y:36.57, Z:-1.45 [[ 9.98875034e-01 -4.71338337e-02 -5.20278868e-03 3.98022961e+02] [ 4.71315566e-02 9.98888534e-01 -5.59482236e-04 3.65673622e+01] [ 5.22337650e-03 3.13637309e-04 9.99986309e-01 -1.45143776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.621400513 meters 0.06262158976169609 Centerline is valid? [True, True] Translation: X:398.08, Y:36.56, Z:-1.45 [[ 9.98849543e-01 -4.78031899e-02 -3.80061639e-03 3.98083162e+02] [ 4.78019783e-02 9.98856748e-01 -4.09045369e-04 3.65600102e+01] [ 3.81582500e-03 2.26897798e-04 9.99992694e-01 -1.44905108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.681400513 meters 0.062371055710436746 Centerline is valid? [True, True] Translation: X:398.14, Y:36.56, Z:-1.45 [[ 9.98816621e-01 -4.85962149e-02 -1.94041956e-03 3.98142561e+02] [ 4.85959003e-02 9.98818499e-01 -2.09013306e-04 3.65564335e+01] [ 1.94828421e-03 1.14469528e-04 9.99998096e-01 -1.44504560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74140051300003 meters 0.06529739874685422 Centerline is valid? [True, True] Translation: X:398.20, Y:36.56, Z:-1.45 [[ 9.98769580e-01 -4.94614814e-02 -3.58991915e-03 3.98201105e+02] [ 4.94604076e-02 9.98776010e-01 -3.87326293e-04 3.65552290e+01] [ 3.60468286e-03 2.09290855e-04 9.99993481e-01 -1.44810219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80140051300003 meters 0.05658679923129401 Centerline is valid? [True, True] Translation: X:398.26, Y:36.54, Z:-1.45 [[ 9.98757202e-01 -4.98096177e-02 -1.74753886e-03 3.98261189e+02] [ 4.98093637e-02 9.98758725e-01 -1.88590712e-04 3.65438091e+01] [ 1.75476332e-03 1.01312533e-04 9.99998455e-01 -1.44510105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.861400513 meters 0.06546172474449899 Centerline is valid? [True, True] Translation: X:398.32, Y:36.55, Z:-1.45 [[ 9.98932504e-01 -4.59423828e-02 -4.81153906e-03 3.98319964e+02] [ 4.59404086e-02 9.98944047e-01 -5.20081501e-04 3.65534111e+01] [ 4.83035208e-03 2.98482246e-04 9.99988289e-01 -1.44910944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.921400513 meters 0.0644788219675022 Centerline is valid? [True, True] Translation: X:398.38, Y:36.56, Z:-1.45 [[ 9.99123703e-01 -4.14400777e-02 -5.87761377e-03 3.98380437e+02] [ 4.14370542e-02 9.99140914e-01 -6.35319098e-04 3.65563157e+01] [ 5.89889207e-03 3.91211370e-04 9.99982525e-01 -1.44965589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.981400513 meters 0.08699123064719869 Centerline is valid? [True, True] Translation: X:398.44, Y:36.59, Z:-1.45 [[ 9.99427116e-01 -3.35416325e-02 -4.51645796e-03 3.98436313e+02] [ 3.35397670e-02 9.99437265e-01 -4.88189215e-04 3.65890594e+01] [ 4.53029105e-03 3.36428592e-04 9.99989682e-01 -1.44777179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.041400513 meters 0.07903582097966465 Centerline is valid? [True, True] Translation: X:398.50, Y:36.58, Z:-1.45 [[ 9.99534227e-01 -3.02031891e-02 -4.36994888e-03 3.98497140e+02] [ 3.02014108e-02 9.99543722e-01 -4.72380307e-04 3.65846499e+01] [ 4.38222236e-03 3.40181664e-04 9.99990340e-01 -1.44663284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.101400513 meters 0.080891237866739 Centerline is valid? [True, True] Translation: X:398.56, Y:36.60, Z:-1.45 [[ 9.99603128e-01 -2.79121742e-02 -3.80761895e-03 3.98556374e+02] [ 2.79108075e-02 9.99610333e-01 -4.11612999e-04 3.65960574e+01] [ 3.81762426e-03 3.05175922e-04 9.99992666e-01 -1.44689346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.161400513 meters 0.0862894741862271 Centerline is valid? [True, True] Translation: X:398.61, Y:36.61, Z:-1.45 [[ 9.99601191e-01 -2.75253918e-02 -6.30970215e-03 3.98613119e+02] [ 2.75216286e-02 9.99620975e-01 -6.82489390e-04 3.66093469e+01] [ 6.32609640e-03 5.08563928e-04 9.99979861e-01 -1.45075423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.221400513 meters 0.08184861119750315 Centerline is valid? [True, True] Translation: X:398.67, Y:36.62, Z:-1.45 [[ 9.99528938e-01 -2.95860247e-02 -8.15897822e-03 3.98673061e+02] [ 2.95797987e-02 9.99562032e-01 -8.82734732e-04 3.66153570e+01] [ 8.18152146e-03 6.40977976e-04 9.99966325e-01 -1.45179354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.281400513 meters 0.07703524619285339 Centerline is valid? [True, True] Translation: X:398.73, Y:36.62, Z:-1.45 [[ 9.99504542e-01 -3.05243599e-02 -7.67689843e-03 3.98732097e+02] [ 3.05188733e-02 9.99533845e-01 -8.30854919e-04 3.66181401e+01] [ 7.69868112e-03 5.96152974e-04 9.99970187e-01 -1.45004588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.341400513 meters 0.07545883108668329 Centerline is valid? [True, True] Translation: X:398.79, Y:36.63, Z:-1.45 [[ 9.99540529e-01 -2.95750223e-02 -6.63690485e-03 3.98790017e+02] [ 2.95708991e-02 9.99562427e-01 -7.18540327e-04 3.66316349e+01] [ 6.65525157e-03 5.21950934e-04 9.99977717e-01 -1.44843815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.401400513 meters 0.0860003515737485 Centerline is valid? [True, True] Translation: X:398.85, Y:36.66, Z:-1.45 [[ 9.99621478e-01 -2.68240738e-02 -6.11301203e-03 3.98847386e+02] [ 2.68205244e-02 9.99640046e-01 -6.61886002e-04 3.66570343e+01] [ 6.12856610e-03 4.97681276e-04 9.99981096e-01 -1.44699467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.461400513 meters 0.08175402054409953 Centerline is valid? [True, True] Translation: X:398.91, Y:36.67, Z:-1.44 [[ 9.99724210e-01 -2.29309655e-02 -5.06702139e-03 3.98906177e+02] [ 2.29284771e-02 9.99736957e-01 -5.48667468e-04 3.66705453e+01] [ 5.07827002e-03 4.32337068e-04 9.99987012e-01 -1.44379169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.521400513 meters 0.08637884963439829 Centerline is valid? [True, True] Translation: X:398.96, Y:36.69, Z:-1.44 [[ 9.99721131e-01 -2.30270320e-02 -5.23596729e-03 3.98961429e+02] [ 2.30243736e-02 9.99734743e-01 -5.67443830e-04 3.66856922e+01] [ 5.24764496e-03 4.46730721e-04 9.99986131e-01 -1.44390246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.581400513 meters 0.08092711485863271 Centerline is valid? [True, True] Translation: X:399.02, Y:36.69, Z:-1.45 [[ 9.99631511e-01 -2.63515071e-02 -6.51465201e-03 3.99021592e+02] [ 2.63474595e-02 9.99652596e-01 -7.06356747e-04 3.66904472e+01] [ 6.53100236e-03 5.34451932e-04 9.99978530e-01 -1.44582220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.641400513 meters 0.07918768476161749 Centerline is valid? [True, True] Translation: X:399.08, Y:36.70, Z:-1.45 [[ 9.99295538e-01 -3.69756547e-02 -6.42103046e-03 3.99079522e+02] [ 3.69719399e-02 9.99316062e-01 -6.96316335e-04 3.67041978e+01] [ 6.44238562e-03 4.58427854e-04 9.99979143e-01 -1.44647884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.701400513 meters 0.06687876792304306 Centerline is valid? [True, True] Translation: X:399.14, Y:36.70, Z:-1.44 [[ 9.98852348e-01 -4.78312888e-02 -2.48080066e-03 3.99141212e+02] [ 4.78307676e-02 9.98855418e-01 -2.69040880e-04 3.66973257e+01] [ 2.49082976e-03 1.50073515e-04 9.99996887e-01 -1.43926803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.761400513 meters 0.058628686355520446 Centerline is valid? [True, True] Translation: X:399.20, Y:36.70, Z:-1.44 [[ 9.98685877e-01 -5.11829665e-02 -2.61223939e-03 3.99202552e+02] [ 5.11824000e-02 9.98689282e-01 -2.83299618e-04 3.66957879e+01] [ 2.62331560e-03 1.49226646e-04 9.99996548e-01 -1.43820679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.821400513 meters 0.06334430078270945 Centerline is valid? [True, True] Translation: X:399.26, Y:36.71, Z:-1.44 [[ 9.98661308e-01 -5.15220764e-02 -4.59001373e-03 3.99259129e+02] [ 5.15203301e-02 9.98671822e-01 -4.97961551e-04 3.67103888e+01] [ 4.60957339e-03 2.60815911e-04 9.99989342e-01 -1.44205047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.881400513 meters 0.06211620172721473 Centerline is valid? [True, True] Translation: X:399.32, Y:36.72, Z:-1.44 [[ 9.98655046e-01 -5.17589363e-02 -3.01861338e-03 3.99316678e+02] [ 5.17581812e-02 9.98659593e-01 -3.27778009e-04 3.67161311e+01] [ 3.03153266e-03 1.71099224e-04 9.99995390e-01 -1.43914378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.941400513 meters 0.061026897923083585 Centerline is valid? [True, True] Translation: X:399.38, Y:36.72, Z:-1.44 [[ 9.98646145e-01 -5.18546522e-02 -4.11969689e-03 3.99375461e+02] [ 5.18532431e-02 9.98654615e-01 -4.48168414e-04 3.67191198e+01] [ 4.13739392e-03 2.33942015e-04 9.99991414e-01 -1.44010222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.001400513 meters 0.0632167446846507 Centerline is valid? [True, True] Translation: X:399.43, Y:36.73, Z:-1.44 [[ 9.98727064e-01 -5.02223516e-02 -4.68680733e-03 3.99432348e+02] [ 5.02205079e-02 9.98738024e-01 -5.10330772e-04 3.67329171e+01] [ 4.70652270e-03 2.74307309e-04 9.99988887e-01 -1.44182259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.061400513 meters 0.07152675929083933 Centerline is valid? [True, True] Translation: X:399.49, Y:36.75, Z:-1.44 [[ 9.98962111e-01 -4.52961659e-02 -4.79137157e-03 3.99490192e+02] [ 4.52941820e-02 9.98973556e-01 -5.21815796e-04 3.67471114e+01] [ 4.81008975e-03 3.04252954e-04 9.99988385e-01 -1.44226947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.121400513 meters 0.0745490940413595 Centerline is valid? [True, True] Translation: X:399.55, Y:36.76, Z:-1.44 [[ 9.99224339e-01 -3.89090510e-02 -6.06686620e-03 3.99549503e+02] [ 3.89057527e-02 9.99242666e-01 -6.60765159e-04 3.67566865e+01] [ 6.08798130e-03 4.24216633e-04 9.99981378e-01 -1.44228977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.181400513 meters 0.08208101108741465 Centerline is valid? [True, True] Translation: X:399.61, Y:36.77, Z:-1.44 [[ 9.99455961e-01 -3.25015240e-02 -5.60645006e-03 3.99606804e+02] [ 3.24986070e-02 9.99471594e-01 -6.10636518e-04 3.67741937e+01] [ 5.62333420e-03 4.28102491e-04 9.99984097e-01 -1.44144944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24140051300003 meters 0.08376056072973535 Centerline is valid? [True, True] Translation: X:399.67, Y:36.78, Z:-1.44 [[ 9.99623635e-01 -2.73666247e-02 -1.91205875e-03 3.99666606e+02] [ 2.73662761e-02 9.99625452e-01 -2.08256830e-04 3.67838201e+01] [ 1.91704188e-03 1.55852522e-04 9.99998150e-01 -1.43615468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30140051300003 meters 0.08351013753535201 Centerline is valid? [True, True] Translation: X:399.73, Y:36.79, Z:-1.44 [[ 9.99635027e-01 -2.65252825e-02 -5.12066979e-03 3.99725446e+02] [ 2.65227705e-02 9.99648054e-01 -5.57865012e-04 3.67899272e+01] [ 5.13366512e-03 4.21847057e-04 9.99986734e-01 -1.43950842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.361400513 meters 0.08519228305209456 Centerline is valid? [True, True] Translation: X:399.79, Y:36.80, Z:-1.45 [[ 9.99638493e-01 -2.44718188e-02 -1.11361070e-02 3.99785364e+02] [ 2.44598096e-02 9.99700078e-01 -1.21334232e-03 3.67970455e+01] [ 1.11624597e-02 9.40516632e-04 9.99937255e-01 -1.44906486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.421400513 meters 0.0894057567517105 Centerline is valid? [True, True] Translation: X:399.84, Y:36.81, Z:-1.44 [[ 9.99752329e-01 -2.09031817e-02 -7.63790656e-03 3.99844461e+02] [ 2.08974288e-02 9.99781278e-01 -8.32250246e-04 3.68117685e+01] [ 7.65363267e-03 6.72431513e-04 9.99970484e-01 -1.44340969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.481400513 meters 0.09175071431077139 Centerline is valid? [True, True] Translation: X:399.90, Y:36.82, Z:-1.44 [[ 9.99828276e-01 -1.74351692e-02 -6.27960563e-03 3.99903791e+02] [ 1.74312122e-02 9.99847831e-01 -6.84313606e-04 3.68227375e+01] [ 6.29058119e-03 5.74734955e-04 9.99980049e-01 -1.44348639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.541400513 meters 0.0946754289115484 Centerline is valid? [True, True] Translation: X:399.96, Y:36.83, Z:-1.44 [[ 9.99844935e-01 -1.67931040e-02 -5.30065939e-03 3.99961726e+02] [ 1.67902750e-02 9.99858866e-01 -5.77771988e-04 3.68317204e+01] [ 5.30961387e-03 4.88682867e-04 9.99985784e-01 -1.44231872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.601400513 meters 0.08897763712627804 Centerline is valid? [True, True] Translation: X:400.02, Y:36.83, Z:-1.44 [[ 9.99795473e-01 -1.97849537e-02 -4.19142616e-03 4.00022492e+02] [ 1.97832107e-02 9.99804189e-01 -4.56903839e-04 3.68335248e+01] [ 4.19964525e-03 3.73890523e-04 9.99991112e-01 -1.43916020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.661400513 meters 0.08129576705589195 Centerline is valid? [True, True] Translation: X:400.08, Y:36.83, Z:-1.44 [[ 9.99696965e-01 -2.42399725e-02 -4.28976868e-03 4.00083643e+02] [ 2.42381875e-02 9.99706103e-01 -4.67624101e-04 3.68263972e+01] [ 4.29984313e-03 3.63506177e-04 9.99990690e-01 -1.43891870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.721400513 meters 0.07973056010350045 Centerline is valid? [True, True] Translation: X:400.14, Y:36.83, Z:-1.44 [[ 9.99549382e-01 -2.94694533e-02 -5.70831423e-03 4.00142746e+02] [ 2.94663768e-02 9.99565578e-01 -6.22323019e-04 3.68302111e+01] [ 5.72417393e-03 4.53839251e-04 9.99983514e-01 -1.44285777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.781400513 meters 0.07857328584087343 Centerline is valid? [True, True] Translation: X:400.20, Y:36.83, Z:-1.44 [[ 9.99465036e-01 -3.25452561e-02 -3.23223656e-03 4.00202761e+02] [ 3.25442856e-02 9.99470232e-01 -3.52425137e-04 3.68330174e+01] [ 3.24199399e-03 2.47045773e-04 9.99994714e-01 -1.43816842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.841400513 meters 0.07890953316857906 Centerline is valid? [True, True] Translation: X:400.26, Y:36.84, Z:-1.44 [[ 9.99438272e-01 -3.33038340e-02 -3.74099673e-03 4.00261221e+02] [ 3.33025386e-02 9.99445233e-01 -4.08030289e-04 3.68373332e+01] [ 3.75251032e-03 2.83216399e-04 9.99992919e-01 -1.43773420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.901400513 meters 0.08337867277215366 Centerline is valid? [True, True] Translation: X:400.32, Y:36.85, Z:-1.44 [[ 9.99475146e-01 -3.22602807e-02 -2.95066856e-03 4.00318622e+02] [ 3.22594700e-02 9.99479476e-01 -3.21946194e-04 3.68479784e+01] [ 2.95951874e-03 2.26590216e-04 9.99995595e-01 -1.43694879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.961400513 meters 0.0828413260334681 Centerline is valid? [True, True] Translation: X:400.38, Y:36.85, Z:-1.43 [[ 9.99405313e-01 -3.44668639e-02 -1.02699830e-03 4.00378618e+02] [ 3.44667669e-02 9.99405838e-01 -1.12080610e-04 3.68520375e+01] [ 1.03025116e-03 7.66166464e-05 9.99999466e-01 -1.43372970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.021400513 meters 0.06484528542316693 Centerline is valid? [True, True] Translation: X:400.44, Y:36.83, Z:-1.44 [[ 9.98904002e-01 -4.67419069e-02 -2.44731930e-03 4.00441858e+02] [ 4.67413923e-02 9.98906988e-01 -2.67104322e-04 3.68313192e+01] [ 2.45712932e-03 1.52420465e-04 9.99996970e-01 -1.43608626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.081400513 meters 0.05497206980826935 Centerline is valid? [True, True] Translation: X:400.50, Y:36.82, Z:-1.44 [[ 9.98360640e-01 -5.71730214e-02 -2.69792042e-03 4.00503803e+02] [ 5.71724339e-02 9.98364275e-01 -2.94463392e-04 3.68213409e+01] [ 2.71034273e-03 1.39733984e-04 9.99996317e-01 -1.43604203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.141400513 meters 0.04608863231197142 Centerline is valid? [True, True] Translation: X:400.56, Y:36.81, Z:-1.43 [[ 9.97718031e-01 -6.74866103e-02 -2.07092664e-03 4.00564718e+02] [ 6.74862863e-02 9.97720176e-01 -2.26033046e-04 3.68135064e+01] [ 2.08145950e-03 8.57580977e-05 9.99997830e-01 -1.43371982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.201400513 meters 0.04292025026908946 Centerline is valid? [True, True] Translation: X:400.62, Y:36.81, Z:-1.43 [[ 9.97607038e-01 -6.90879241e-02 -2.65645963e-03 4.00624239e+02] [ 6.90873964e-02 9.97610569e-01 -2.90035137e-04 3.68132857e+01] [ 2.67015013e-03 1.05813215e-04 9.99996430e-01 -1.43446075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.261400513 meters 0.04264265284887143 Centerline is valid? [True, True] Translation: X:400.68, Y:36.82, Z:-1.43 [[ 9.97638915e-01 -6.86268835e-02 -2.63564260e-03 4.00682201e+02] [ 6.86263618e-02 9.97642391e-01 -2.87952231e-04 3.68196006e+01] [ 2.64919005e-03 1.06397788e-04 9.99996485e-01 -1.43490536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.321400513 meters 0.041665261374139596 Centerline is valid? [True, True] Translation: X:400.74, Y:36.83, Z:-1.44 [[ 9.97598662e-01 -6.92052175e-02 -2.74737616e-03 4.00741051e+02] [ 6.92046522e-02 9.97602439e-01 -3.00429727e-04 3.68260710e+01] [ 2.76158047e-03 1.09577081e-04 9.99996181e-01 -1.43527544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.381400513 meters 0.042184499428912836 Centerline is valid? [True, True] Translation: X:400.80, Y:36.84, Z:-1.44 [[ 9.97367229e-01 -7.24215827e-02 -3.70470911e-03 4.00799521e+02] [ 7.24205752e-02 9.97374100e-01 -4.05559631e-04 3.68353649e+01] [ 3.72435218e-03 1.36194720e-04 9.99993055e-01 -1.43675772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.441400513 meters 0.037261668870157104 Centerline is valid? [True, True] Translation: X:400.86, Y:36.84, Z:-1.44 [[ 9.97101040e-01 -7.59932758e-02 -3.81276715e-03 4.00859300e+02] [ 7.59922345e-02 9.97108322e-01 -4.17455427e-04 3.68396900e+01] [ 3.83346566e-03 1.26504545e-04 9.99992644e-01 -1.43691240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.501400513 meters 0.03322901080245422 Centerline is valid? [True, True] Translation: X:400.92, Y:36.84, Z:-1.44 [[ 9.96811917e-01 -7.97283667e-02 -3.06437484e-03 4.00919169e+02] [ 7.97277116e-02 9.96816623e-01 -3.35546224e-04 3.68432200e+01] [ 3.08137233e-03 9.01608809e-05 9.99995248e-01 -1.43622754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.561400513 meters 0.02544524580297191 Centerline is valid? [True, True] Translation: X:400.98, Y:36.84, Z:-1.44 [[ 9.96361049e-01 -8.52068656e-02 -2.10973276e-03 4.00979714e+02] [ 8.52065674e-02 9.96363281e-01 -2.31031955e-04 3.68433266e+01] [ 2.12174576e-03 5.04281546e-05 9.99997748e-01 -1.43501716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.621400513 meters 0.024810816773773475 Centerline is valid? [True, True] Translation: X:401.04, Y:36.85, Z:-1.44 [[ 9.96215233e-01 -8.68178238e-02 -4.22781177e-03 4.01036754e+02] [ 8.68166396e-02 9.96224200e-01 -4.63167778e-04 3.68512803e+01] [ 4.25205962e-03 9.43703845e-05 9.99990956e-01 -1.43964167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.681400513 meters 0.024074395492914052 Centerline is valid? [True, True] Translation: X:401.09, Y:36.86, Z:-1.44 [[ 9.96162967e-01 -8.73478492e-02 -5.44944683e-03 4.01094045e+02] [ 8.73458850e-02 9.96177865e-01 -5.97848432e-04 3.68567638e+01] [ 5.48083908e-03 1.19567712e-04 9.99984973e-01 -1.44112740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74140051300003 meters 0.02503509926447694 Centerline is valid? [True, True] Translation: X:401.15, Y:36.87, Z:-1.44 [[ 9.96239270e-01 -8.65433802e-02 -4.19058749e-03 4.01151949e+02] [ 8.65422087e-02 9.96248079e-01 -4.60412660e-04 3.68666538e+01] [ 4.21471040e-03 9.60184754e-05 9.99991113e-01 -1.43834298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80140051300003 meters 0.02677845329927618 Centerline is valid? [True, True] Translation: X:401.21, Y:36.88, Z:-1.44 [[ 9.96313621e-01 -8.57630761e-02 -1.96554451e-03 4.01208907e+02] [ 8.57628165e-02 9.96315559e-01 -2.16108253e-04 3.68759867e+01] [ 1.97683669e-03 4.67409632e-05 9.99998045e-01 -1.43507597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.861400513 meters 0.022467257884896556 Centerline is valid? [True, True] Translation: X:401.27, Y:36.88, Z:-1.44 [[ 9.96010187e-01 -8.92234141e-02 -1.69987704e-03 4.01268006e+02] [ 8.92232248e-02 9.96011637e-01 -1.87031204e-04 3.68780020e+01] [ 1.70978487e-03 3.46164732e-05 9.99998538e-01 -1.43573275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.921400513 meters 0.023266691966271395 Centerline is valid? [True, True] Translation: X:401.33, Y:36.87, Z:-1.44 [[ 9.95381836e-01 -9.59671502e-02 -2.30366882e-03 4.01328891e+02] [ 9.59668203e-02 9.95384501e-01 -2.53586788e-04 3.68739697e+01] [ 2.31737224e-03 3.13399108e-05 9.99997314e-01 -1.43507791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.981400513 meters 0.01190490569935968 Centerline is valid? [True, True] Translation: X:401.39, Y:36.88, Z:-1.43 [[ 9.94955877e-01 -1.00297476e-01 -1.79435459e-03 4.01386967e+02] [ 1.00297283e-01 9.94957495e-01 -1.97539785e-04 3.68755208e+01] [ 1.80511929e-03 1.65744789e-05 9.99998371e-01 -1.43381576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.041400513 meters 0.008191703653257422 Centerline is valid? [True, True] Translation: X:401.44, Y:36.88, Z:-1.43 [[ 9.94396724e-01 -1.05702279e-01 -1.47779878e-03 4.01444885e+02] [ 1.05702154e-01 9.94397822e-01 -1.62753786e-04 3.68759070e+01] [ 1.48672334e-03 5.63531730e-06 9.99998895e-01 -1.43249844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.101400513 meters 0.0070134163283302915 Centerline is valid? [True, True] Translation: X:401.50, Y:36.88, Z:-1.43 [[ 9.94072469e-01 -1.08684950e-01 -2.74015307e-03 4.01502903e+02] [ 1.08684529e-01 9.94076245e-01 -3.02262450e-04 3.68792594e+01] [ 2.75677246e-03 2.65853218e-06 9.99996200e-01 -1.43412143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.161400513 meters 0.007015406838279577 Centerline is valid? [True, True] Translation: X:401.56, Y:36.89, Z:-1.44 [[ 9.93819594e-01 -1.10963395e-01 -3.12097370e-03 4.01559232e+02] [ 1.10962859e-01 9.93824494e-01 -3.44781659e-04 3.68869222e+01] [ 3.13995826e-03 -3.66139740e-06 9.99995070e-01 -1.43585649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.221400513 meters 0.007587456351521958 Centerline is valid? [True, True] Translation: X:401.62, Y:36.90, Z:-1.44 [[ 9.93618393e-01 -1.12758816e-01 -2.81759247e-03 4.01616984e+02] [ 1.12758385e-01 9.93622388e-01 -3.11608355e-04 3.68952782e+01] [ 2.83475955e-03 -8.08738464e-06 9.99995982e-01 -1.43528707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.281400513 meters 0.008878554665901024 Centerline is valid? [True, True] Translation: X:401.67, Y:36.91, Z:-1.43 [[ 9.93319461e-01 -1.15376227e-01 -2.18523022e-03 4.01674695e+02] [ 1.15375973e-01 9.93321864e-01 -2.42016533e-04 3.69058682e+01] [ 2.19855991e-03 -1.17233316e-05 9.99997583e-01 -1.43379117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.341400513 meters 0.010366694087122907 Centerline is valid? [True, True] Translation: X:401.73, Y:36.91, Z:-1.43 [[ 9.93079574e-01 -1.17418335e-01 -2.42784691e-03 4.01732536e+02] [ 1.17418027e-01 9.93082542e-01 -2.69269407e-04 3.69137299e+01] [ 2.44266954e-03 -1.76670469e-05 9.99997017e-01 -1.43442083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.401400513 meters 0.012656736823323217 Centerline is valid? [True, True] Translation: X:401.79, Y:36.93, Z:-1.44 [[ 9.92759954e-01 -1.20071714e-01 -3.23369015e-03 4.01789730e+02] [ 1.20071181e-01 9.92765220e-01 -3.58880379e-04 3.69271122e+01] [ 3.25338649e-03 -3.19909279e-05 9.99994707e-01 -1.43512608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.461400513 meters 0.017775645887693977 Centerline is valid? [True, True] Translation: X:401.85, Y:36.94, Z:-1.44 [[ 9.92612145e-01 -1.21269822e-01 -3.84192432e-03 4.01847449e+02] [ 1.21269078e-01 9.92619579e-01 -4.26867197e-04 3.69384660e+01] [ 3.86533541e-03 -4.21930568e-05 9.99992529e-01 -1.43621711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.521400513 meters 0.01524820589280779 Centerline is valid? [True, True] Translation: X:401.91, Y:36.95, Z:-1.44 [[ 9.92311309e-01 -1.23631544e-01 -5.78858001e-03 4.01905577e+02] [ 1.23629888e-01 9.92328189e-01 -6.44318619e-04 3.69516638e+01] [ 5.82382922e-03 -7.62768473e-05 9.99983038e-01 -1.43979736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.581400513 meters 0.017313749628608762 Centerline is valid? [True, True] Translation: X:401.96, Y:36.96, Z:-1.44 [[ 9.92038877e-01 -1.25826164e-01 -5.16165573e-03 4.01963316e+02] [ 1.25824875e-01 9.92052302e-01 -5.75025261e-04 3.69603817e+01] [ 5.19298567e-03 -7.90172715e-05 9.99986513e-01 -1.43817651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.641400513 meters 0.018821420574947047 Centerline is valid? [True, True] Translation: X:402.02, Y:36.97, Z:-1.44 [[ 9.91883630e-01 -1.26995528e-01 -6.24500109e-03 4.02020329e+02] [ 1.26993661e-01 9.91903284e-01 -6.96121570e-04 3.69726545e+01] [ 6.28284142e-03 -1.02603964e-04 9.99980257e-01 -1.43974024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.701400513 meters 0.018684392069903986 Centerline is valid? [True, True] Translation: X:402.08, Y:36.99, Z:-1.44 [[ 9.91861922e-01 -1.27170208e-01 -6.13730824e-03 4.02077039e+02] [ 1.27168403e-01 9.91880904e-01 -6.85081655e-04 3.69851418e+01] [ 6.17460083e-03 -1.00965282e-04 9.99980932e-01 -1.43970330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.761400513 meters 0.028885116698461995 Centerline is valid? [True, True] Translation: X:402.14, Y:36.99, Z:-1.44 [[ 9.91431699e-01 -1.30489331e-01 -5.97668000e-03 4.02135277e+02] [ 1.30487677e-01 9.91449706e-01 -6.67645416e-04 3.69903361e+01] [ 6.01269824e-03 -1.17958259e-04 9.99981917e-01 -1.43954374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.821400513 meters 0.02484700515545429 Centerline is valid? [True, True] Translation: X:402.19, Y:37.00, Z:-1.44 [[ 9.91101265e-01 -1.32960998e-01 -6.29724341e-03 4.02193833e+02] [ 1.32959206e-01 9.91121261e-01 -7.04281686e-04 3.69983158e+01] [ 6.33497383e-03 -1.39262012e-04 9.99979924e-01 -1.43941454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.881400513 meters 0.02555636232129016 Centerline is valid? [True, True] Translation: X:402.25, Y:37.01, Z:-1.44 [[ 9.90986242e-01 -1.33844152e-01 -5.65783014e-03 4.02252285e+02] [ 1.33842714e-01 9.91002385e-01 -6.33690850e-04 3.70054367e+01] [ 5.69173897e-03 -1.29280429e-04 9.99983794e-01 -1.43767243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.941400513 meters 0.024904488758123337 Centerline is valid? [True, True] Translation: X:402.31, Y:37.02, Z:-1.44 [[ 9.90990191e-01 -1.33849705e-01 -4.76415053e-03 4.02309750e+02] [ 1.33848682e-01 9.91001637e-01 -5.34426651e-04 3.70153246e+01] [ 4.79281382e-03 -1.08063698e-04 9.99988509e-01 -1.43570807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.001400513 meters 0.026021425327929927 Centerline is valid? [True, True] Translation: X:402.37, Y:37.02, Z:-1.44 [[ 9.90881138e-01 -1.34671640e-01 -4.25675292e-03 4.02367830e+02] [ 1.34670829e-01 9.90890276e-01 -4.77965235e-04 3.70212207e+01] [ 4.28234344e-03 -9.96537081e-05 9.99990826e-01 -1.43624647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.061400513 meters 0.02864720395846252 Centerline is valid? [True, True] Translation: X:402.43, Y:37.02, Z:-1.43 [[ 9.90519305e-01 -1.37348070e-01 -2.64857134e-03 4.02427669e+02] [ 1.37347765e-01 9.90522843e-01 -2.97479617e-04 3.70246570e+01] [ 2.66432867e-03 -6.91160508e-05 9.99996448e-01 -1.43345425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.121400513 meters 0.03151925541269175 Centerline is valid? [True, True] Translation: X:402.49, Y:37.03, Z:-1.44 [[ 9.89717314e-01 -1.42974552e-01 -4.23268260e-03 4.02487537e+02] [ 1.42973824e-01 9.89726356e-01 -4.75500683e-04 3.70300528e+01] [ 4.25718202e-03 -1.34551559e-04 9.99990929e-01 -1.43646480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.181400513 meters 0.0375801771333703 Centerline is valid? [True, True] Translation: X:402.55, Y:37.03, Z:-1.44 [[ 9.88799688e-01 -1.49159905e-01 -5.14783714e-03 4.02549001e+02] [ 1.49158913e-01 9.88813068e-01 -5.78340721e-04 3.70275424e+01] [ 5.17651389e-03 -1.95982667e-04 9.99986583e-01 -1.43841553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24140051300003 meters 0.04947817391096587 Centerline is valid? [True, True] Translation: X:402.61, Y:37.02, Z:-1.44 [[ 9.87236231e-01 -1.59054476e-01 -8.14240422e-03 4.02609593e+02] [ 1.59052329e-01 9.87269730e-01 -9.14711950e-04 3.70179646e+01] [ 8.18423825e-03 -3.92031577e-04 9.99966432e-01 -1.44208688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30140051300003 meters 0.04897958589451307 Centerline is valid? [True, True] Translation: X:402.67, Y:37.02, Z:-1.44 [[ 9.86851353e-01 -1.61360395e-01 -9.33970242e-03 4.02669741e+02] [ 1.61357673e-01 9.86895435e-01 -1.04919584e-03 3.70249568e+01] [ 9.38660835e-03 -4.71632315e-04 9.99955834e-01 -1.44244130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.361400513 meters 0.05047580340284813 Centerline is valid? [True, True] Translation: X:402.73, Y:37.03, Z:-1.44 [[ 9.87225734e-01 -1.59122170e-01 -8.09229733e-03 4.02728474e+02] [ 1.59120050e-01 9.87258823e-01 -9.09297915e-04 3.70286006e+01] [ 8.13388139e-03 -3.89964451e-04 9.99966843e-01 -1.44117279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.421400513 meters 0.048062014991049125 Centerline is valid? [True, True] Translation: X:402.79, Y:37.04, Z:-1.44 [[ 9.87823592e-01 -1.55378253e-01 -7.88349119e-03 4.02786453e+02] [ 1.55376121e-01 9.87854987e-01 -8.86011093e-04 3.70399960e+01] [ 7.92541294e-03 -3.49683617e-04 9.99968532e-01 -1.44060829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.481400513 meters 0.04117413406790513 Centerline is valid? [True, True] Translation: X:402.84, Y:37.06, Z:-1.44 [[ 9.88551986e-01 -1.50672659e-01 -7.91965199e-03 4.02844786e+02] [ 1.50670355e-01 9.88583659e-01 -8.90145011e-04 3.70596775e+01] [ 7.96335906e-03 -3.13302157e-04 9.99968243e-01 -1.43987838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.541400513 meters 0.0404943740003883 Centerline is valid? [True, True] Translation: X:402.90, Y:37.07, Z:-1.44 [[ 9.88642592e-01 -1.50114372e-01 -7.17635819e-03 4.02902008e+02] [ 1.50112463e-01 9.88668598e-01 -8.06942102e-04 3.70669917e+01] [ 7.21617360e-03 -2.79483475e-04 9.99973924e-01 -1.43857269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.601400513 meters 0.04800175838904445 Centerline is valid? [True, True] Translation: X:402.96, Y:37.07, Z:-1.44 [[ 9.88381896e-01 -1.51806934e-01 -7.47540802e-03 4.02960533e+02] [ 1.51804908e-01 9.88410119e-01 -8.40954650e-04 3.70734508e+01] [ 7.51643167e-03 -3.03619275e-04 9.99971705e-01 -1.43956470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.661400513 meters 0.04422866509869575 Centerline is valid? [True, True] Translation: X:403.02, Y:37.08, Z:-1.44 [[ 9.87921649e-01 -1.54865614e-01 -5.23997890e-03 4.03020626e+02] [ 1.54864661e-01 9.87935519e-01 -5.89537092e-04 3.70801143e+01] [ 5.26806030e-03 -2.29071099e-04 9.99986097e-01 -1.43660848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.721400513 meters 0.052772280307123526 Centerline is valid? [True, True] Translation: X:403.08, Y:37.08, Z:-1.44 [[ 9.87017769e-01 -1.60502867e-01 -5.89527113e-03 4.03080186e+02] [ 1.60501761e-01 9.87035331e-01 -6.63358602e-04 3.70786452e+01] [ 5.92531184e-03 -2.91454671e-04 9.99982403e-01 -1.43825373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.781400513 meters 0.05171482909874711 Centerline is valid? [True, True] Translation: X:403.14, Y:37.09, Z:-1.44 [[ 9.86740188e-01 -1.62228151e-01 -5.08209509e-03 4.03139519e+02] [ 1.62227351e-01 9.86753241e-01 -5.71972441e-04 3.70869032e+01] [ 5.10756384e-03 -2.60066630e-04 9.99986922e-01 -1.43666041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.841400513 meters 0.054884425474034874 Centerline is valid? [True, True] Translation: X:403.20, Y:37.10, Z:-1.44 [[ 9.86843169e-01 -1.61571092e-01 -5.94495606e-03 4.03197092e+02] [ 1.61569981e-01 9.86861030e-01 -6.69831162e-04 3.70966163e+01] [ 5.97507082e-03 -2.99508135e-04 9.99982104e-01 -1.43776907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.901400513 meters 0.0543447481192091 Centerline is valid? [True, True] Translation: X:403.26, Y:37.11, Z:-1.44 [[ 9.87108704e-01 -1.59917410e-01 -6.54432309e-03 4.03255512e+02] [ 1.59916024e-01 9.87130346e-01 -7.37804193e-04 3.71086587e+01] [ 6.57808765e-03 -3.18249189e-04 9.99978314e-01 -1.43791885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.961400513 meters 0.04961458355256076 Centerline is valid? [True, True] Translation: X:403.31, Y:37.12, Z:-1.44 [[ 9.87074339e-01 -1.60156456e-01 -5.84453624e-03 4.03312160e+02] [ 1.60155350e-01 9.87091601e-01 -6.59730357e-04 3.71219728e+01] [ 5.87475271e-03 -2.84830841e-04 9.99982703e-01 -1.43779517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.021400513 meters 0.0515154193508094 Centerline is valid? [True, True] Translation: X:403.37, Y:37.13, Z:-1.44 [[ 9.86800289e-01 -1.61762040e-01 -7.63094725e-03 4.03371520e+02] [ 1.61760199e-01 9.86829719e-01 -8.61966873e-04 3.71291058e+01] [ 7.66987906e-03 -3.83794383e-04 9.99970512e-01 -1.44029490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.081400513 meters 0.05548843737671591 Centerline is valid? [True, True] Translation: X:403.43, Y:37.14, Z:-1.44 [[ 9.86257541e-01 -1.65054172e-01 -7.29270496e-03 4.03430961e+02] [ 1.65052580e-01 9.86284425e-01 -8.23862084e-04 3.71370129e+01] [ 7.32866320e-03 -3.91139573e-04 9.99973068e-01 -1.43840162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.141400513 meters 0.05376213614509789 Centerline is valid? [True, True] Translation: X:403.49, Y:37.15, Z:-1.44 [[ 9.86287118e-01 -1.64930386e-01 -5.97395091e-03 4.03488955e+02] [ 1.64929311e-01 9.86305159e-01 -6.75598767e-04 3.71483947e+01] [ 6.00356537e-03 -3.18945247e-04 9.99981928e-01 -1.43673096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.201400513 meters 0.05694717641990439 Centerline is valid? [True, True] Translation: X:403.55, Y:37.15, Z:-1.44 [[ 9.85922503e-01 -1.67055225e-01 -7.02638464e-03 4.03549319e+02] [ 1.67053789e-01 9.85947463e-01 -7.94969165e-04 3.71547509e+01] [ 7.06044986e-03 -3.90006186e-04 9.99974999e-01 -1.43850090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.261400513 meters 0.05447531759777727 Centerline is valid? [True, True] Translation: X:403.61, Y:37.17, Z:-1.44 [[ 9.85529774e-01 -1.69412248e-01 -5.52761188e-03 4.03608058e+02] [ 1.69411395e-01 9.85545224e-01 -6.25443022e-04 3.71707012e+01] [ 5.55366920e-03 -3.20047722e-04 9.99984527e-01 -1.43534856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.321400513 meters 0.05408117595966459 Centerline is valid? [True, True] Translation: X:403.67, Y:37.18, Z:-1.44 [[ 9.85375340e-01 -1.70262645e-01 -6.78758184e-03 4.03665763e+02] [ 1.70261374e-01 9.85398637e-01 -7.68896522e-04 3.71808122e+01] [ 6.81938825e-03 -3.98011337e-04 9.99976668e-01 -1.43636724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.381400513 meters 0.06031869117057209 Centerline is valid? [True, True] Translation: X:403.72, Y:37.19, Z:-1.44 [[ 9.85448401e-01 -1.69795942e-01 -7.79655367e-03 4.03723199e+02] [ 1.69794245e-01 9.85479139e-01 -8.83910602e-04 3.71868056e+01] [ 7.83342543e-03 -4.52761655e-04 9.99969216e-01 -1.43901519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.441400513 meters 0.06039868999842263 Centerline is valid? [True, True] Translation: X:403.78, Y:37.20, Z:-1.44 [[ 9.85580238e-01 -1.69102229e-01 -6.00261690e-03 4.03780588e+02] [ 1.69101209e-01 9.85598457e-01 -6.80811510e-04 3.72019579e+01] [ 6.03129670e-03 -3.44055405e-04 9.99981752e-01 -1.43506105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.501400513 meters 0.05991318196826185 Centerline is valid? [True, True] Translation: X:403.84, Y:37.21, Z:-1.44 [[ 9.85408542e-01 -1.70086955e-01 -6.35862175e-03 4.03839164e+02] [ 1.70085829e-01 9.85428988e-01 -7.21438594e-04 3.72103614e+01] [ 6.38867749e-03 -3.70599698e-04 9.99979524e-01 -1.43575351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.561400513 meters 0.0615693841149833 Centerline is valid? [True, True] Translation: X:403.90, Y:37.22, Z:-1.44 [[ 9.84852549e-01 -1.73271311e-01 -6.51987041e-03 4.03899623e+02] [ 1.73270196e-01 9.84874049e-01 -7.39815142e-04 3.72160845e+01] [ 6.54943991e-03 -4.01090397e-04 9.99978472e-01 -1.43592852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.621400513 meters 0.07005063419826577 Centerline is valid? [True, True] Translation: X:403.96, Y:37.21, Z:-1.44 [[ 9.83747571e-01 -1.79424000e-01 -6.90981993e-03 4.03960661e+02] [ 1.79422898e-01 9.83771726e-01 -7.84078643e-04 3.72140350e+01] [ 6.93836800e-03 -4.68444458e-04 9.99975820e-01 -1.43682089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.681400513 meters 0.06855426078482146 Centerline is valid? [True, True] Translation: X:404.02, Y:37.22, Z:-1.44 [[ 9.83557832e-01 -1.80462955e-01 -6.86382914e-03 4.04019513e+02] [ 1.80461892e-01 9.83581669e-01 -7.79041339e-04 3.72188041e+01] [ 6.89172462e-03 -4.72427380e-04 9.99976140e-01 -1.43630002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74140051300003 meters 0.07223187696846087 Centerline is valid? [True, True] Translation: X:404.08, Y:37.22, Z:-1.44 [[ 9.83905082e-01 -1.78555992e-01 -6.96761680e-03 4.04078654e+02] [ 1.78554848e-01 9.83929642e-01 -7.91004586e-04 3.72234436e+01] [ 6.99688331e-03 -4.65828325e-04 9.99975413e-01 -1.43555220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80140051300003 meters 0.07295294643937919 Centerline is valid? [True, True] Translation: X:404.14, Y:37.23, Z:-1.43 [[ 9.84289834e-01 -1.76456456e-01 -6.05320627e-03 4.04137257e+02] [ 1.76455552e-01 9.84308369e-01 -6.87324219e-04 3.72285336e+01] [ 6.07950439e-03 -3.91595611e-04 9.99981443e-01 -1.43491995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.861400513 meters 0.0625604600210707 Centerline is valid? [True, True] Translation: X:404.19, Y:37.25, Z:-1.43 [[ 9.84317531e-01 -1.76332621e-01 -5.07995801e-03 4.04194854e+02] [ 1.76331980e-01 9.84330584e-01 -5.77145601e-04 3.72469692e+01] [ 5.10212764e-03 -3.27664525e-04 9.99986930e-01 -1.43317917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.921400513 meters 0.06254822206286542 Centerline is valid? [True, True] Translation: X:404.25, Y:37.25, Z:-1.43 [[ 9.84256467e-01 -1.76693777e-01 -4.30306331e-03 4.04253273e+02] [ 1.76693319e-01 9.84265834e-01 -4.89436695e-04 3.72548051e+01] [ 4.32183861e-03 -2.78591307e-04 9.99990622e-01 -1.43097446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.981400513 meters 0.06344698201920011 Centerline is valid? [True, True] Translation: X:404.31, Y:37.26, Z:-1.43 [[ 9.84653708e-01 -1.74422662e-01 -5.81465006e-03 4.04311324e+02] [ 1.74421783e-01 9.84670810e-01 -6.61861056e-04 3.72648966e+01] [ 5.84095975e-03 -3.62497690e-04 9.99982876e-01 -1.43215496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.041400513 meters 0.06427864286666252 Centerline is valid? [True, True] Translation: X:404.37, Y:37.27, Z:-1.43 [[ 9.85315926e-01 -1.70620366e-01 -6.42009274e-03 4.04370105e+02] [ 1.70619213e-01 9.85336770e-01 -7.30902597e-04 3.72741597e+01] [ 6.45066031e-03 -3.75221204e-04 9.99979124e-01 -1.43360783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.101400513 meters 0.05527668167635898 Centerline is valid? [True, True] Translation: X:404.43, Y:37.30, Z:-1.44 [[ 9.86291258e-01 -1.64768792e-01 -8.98890162e-03 4.04428495e+02] [ 1.64766289e-01 9.86332106e-01 -1.02343450e-03 3.72964831e+01] [ 9.03467233e-03 -4.71663459e-04 9.99959075e-01 -1.43703130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.161400513 meters 0.04859467480851869 Centerline is valid? [True, True] Translation: X:404.49, Y:37.32, Z:-1.44 [[ 9.86743984e-01 -1.62041935e-01 -8.87253557e-03 4.04486273e+02] [ 1.62039385e-01 9.86783774e-01 -1.01028064e-03 3.73170821e+01] [ 8.91898196e-03 -4.40811867e-04 9.99960128e-01 -1.43613476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.221400513 meters 0.050750762091922884 Centerline is valid? [True, True] Translation: X:404.54, Y:37.32, Z:-1.44 [[ 9.86895893e-01 -1.61145606e-01 -8.28191609e-03 4.04544293e+02] [ 1.61143350e-01 9.86930560e-01 -9.43358553e-04 3.73231790e+01] [ 8.32569417e-03 -4.03579020e-04 9.99965259e-01 -1.43577382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.281400513 meters 0.05180410554120786 Centerline is valid? [True, True] Translation: X:404.60, Y:37.34, Z:-1.43 [[ 9.87439551e-01 -1.57913087e-01 -5.15645131e-03 4.04603186e+02] [ 1.57912169e-01 9.87452987e-01 -5.87419704e-04 3.73422110e+01] [ 5.18451451e-03 -2.34224959e-04 9.99986533e-01 -1.42901216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.341400513 meters 0.04124917172112167 Centerline is valid? [True, True] Translation: X:404.66, Y:37.36, Z:-1.43 [[ 9.88476217e-01 -1.51351039e-01 -2.76256476e-03 4.04659932e+02] [ 1.51350749e-01 9.88480071e-01 -3.14742757e-04 3.73627870e+01] [ 2.77837686e-03 -1.07000517e-04 9.99996135e-01 -1.42650601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.401400513 meters 0.03643117231081932 Centerline is valid? [True, True] Translation: X:404.72, Y:37.38, Z:-1.43 [[ 9.89088537e-01 -1.47296220e-01 -2.77311363e-03 4.04717959e+02] [ 1.47295912e-01 9.89092420e-01 -3.16018761e-04 3.73818842e+01] [ 2.78941403e-03 -9.58977668e-05 9.99996105e-01 -1.42595433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.461400513 meters 0.033167002547860175 Centerline is valid? [True, True] Translation: X:404.78, Y:37.40, Z:-1.43 [[ 9.89927855e-01 -1.41539310e-01 -3.07646252e-03 4.04776344e+02] [ 1.41538903e-01 9.89932632e-01 -3.50651822e-04 3.73972903e+01] [ 3.09512166e-03 -8.83191258e-05 9.99995206e-01 -1.42570839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.521400513 meters 0.026559342101142188 Centerline is valid? [True, True] Translation: X:404.83, Y:37.41, Z:-1.43 [[ 9.90359770e-01 -1.38465374e-01 -3.85561803e-03 4.04834892e+02] [ 1.38464711e-01 9.90367270e-01 -4.39562076e-04 3.74149148e+01] [ 3.87934203e-03 -9.85424412e-05 9.99992470e-01 -1.42654153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.581400513 meters 0.021670839119849274 Centerline is valid? [True, True] Translation: X:404.89, Y:37.43, Z:-1.43 [[ 9.91058979e-01 -1.33358594e-01 -4.19360618e-03 4.04892904e+02] [ 1.33357764e-01 9.91067847e-01 -4.78218805e-04 3.74313564e+01] [ 4.21992284e-03 -8.53069043e-05 9.99991092e-01 -1.42636918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.641400513 meters 0.023983690770704377 Centerline is valid? [True, True] Translation: X:404.95, Y:37.45, Z:-1.43 [[ 9.91926461e-01 -1.26753886e-01 -3.91769018e-03 4.04951057e+02] [ 1.26753109e-01 9.91934196e-01 -4.46860040e-04 3.74492237e+01] [ 3.94273210e-03 -5.33271131e-05 9.99992226e-01 -1.42541228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.701400513 meters 0.011626694931565332 Centerline is valid? [True, True] Translation: X:405.01, Y:37.48, Z:-1.43 [[ 9.93595626e-01 -1.12893649e-01 -4.77030483e-03 4.05006797e+02] [ 1.12892337e-01 9.93607077e-01 -5.44285452e-04 3.74766788e+01] [ 4.80125501e-03 2.26878435e-06 9.99988474e-01 -1.42722463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.761400513 meters 0.019182437961053206 Centerline is valid? [True, True] Translation: X:405.06, Y:37.50, Z:-1.43 [[ 9.94675042e-01 -1.02942233e-01 -4.94545347e-03 4.05062411e+02] [ 1.02940699e-01 9.94687335e-01 -5.64487364e-04 3.75038731e+01] [ 4.97728952e-03 5.23930571e-05 9.99987612e-01 -1.42767346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.821400513 meters 0.017156986977213583 Centerline is valid? [True, True] Translation: X:405.12, Y:37.52, Z:-1.42 [[ 9.95037637e-01 -9.94659028e-02 -2.57602000e-03 4.05120036e+02] [ 9.94654743e-02 9.95040970e-01 -2.94212634e-04 3.75152892e+01] [ 2.59250956e-03 3.65275930e-05 9.99996639e-01 -1.42411344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.881400513 meters 0.02098952044356726 Centerline is valid? [True, True] Translation: X:405.18, Y:37.52, Z:-1.42 [[ 9.95214541e-01 -9.77011127e-02 -1.58454300e-03 4.05178658e+02] [ 9.77009480e-02 9.95215802e-01 -1.81149590e-04 3.75232737e+01] [ 1.59466075e-03 2.54713522e-05 9.99998728e-01 -1.42390920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.941400513 meters 0.016403049740509167 Centerline is valid? [True, True] Translation: X:405.24, Y:37.52, Z:-1.43 [[ 9.95075506e-01 -9.90779431e-02 -2.88085331e-03 4.05239727e+02] [ 9.90774043e-02 9.95079675e-01 -3.29502246e-04 3.75236326e+01] [ 2.89932498e-03 4.24521457e-05 9.99995796e-01 -1.42653372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.001400513 meters 0.021970511698748574 Centerline is valid? [True, True] Translation: X:405.30, Y:37.53, Z:-1.43 [[ 9.95117215e-01 -9.85907040e-02 -4.64770455e-03 4.05298058e+02] [ 9.85892958e-02 9.95128066e-01 -5.31695378e-04 3.75263961e+01] [ 4.67748147e-03 7.08853047e-05 9.99989058e-01 -1.42824344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.061400513 meters 0.023274137705862834 Centerline is valid? [True, True] Translation: X:405.36, Y:37.54, Z:-1.43 [[ 9.95590711e-01 -9.37171416e-02 -4.02916107e-03 4.05357144e+02] [ 9.37160429e-02 9.95598860e-01 -4.61045910e-04 3.75356299e+01] [ 4.05463608e-03 8.14159935e-05 9.99991777e-01 -1.42623408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.121400513 meters 0.030089431255858622 Centerline is valid? [True, True] Translation: X:405.42, Y:37.55, Z:-1.43 [[ 9.96147179e-01 -8.75417222e-02 -5.21964106e-03 4.05415991e+02] [ 8.75397931e-02 9.96160844e-01 -5.97366478e-04 3.75483273e+01] [ 5.25189653e-03 1.38138634e-04 9.99986199e-01 -1.42882995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.181400513 meters 0.03671919115276439 Centerline is valid? [True, True] Translation: X:405.48, Y:37.56, Z:-1.43 [[ 9.96717548e-01 -8.05592757e-02 -8.02081213e-03 4.05475649e+02] [ 8.05544940e-02 9.96749783e-01 -9.17980864e-04 3.75575243e+01] [ 8.06869463e-03 2.68855173e-04 9.99967411e-01 -1.43353227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24140051300003 meters 0.04104006240315188 Centerline is valid? [True, True] Translation: X:405.53, Y:37.56, Z:-1.43 [[ 9.96868010e-01 -7.85244436e-02 -9.38517025e-03 4.05534935e+02] [ 7.85178048e-02 9.96912133e-01 -1.07431834e-03 3.75623839e+01] [ 9.44055034e-03 3.34050618e-04 9.99955381e-01 -1.43487137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30140051300003 meters 0.04300951587722202 Centerline is valid? [True, True] Translation: X:405.59, Y:37.56, Z:-1.43 [[ 9.96951664e-01 -7.75989487e-02 -8.11068191e-03 4.05593829e+02] [ 7.75939509e-02 9.96984611e-01 -9.29553292e-04 3.75628441e+01] [ 8.15835741e-03 2.97379847e-04 9.99966676e-01 -1.43233931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.361400513 meters 0.04133466418061375 Centerline is valid? [True, True] Translation: X:405.65, Y:37.57, Z:-1.43 [[ 9.97087603e-01 -7.59961230e-02 -6.39538249e-03 4.05651859e+02] [ 7.59929760e-02 9.97108083e-01 -7.33995825e-04 3.75713731e+01] [ 6.43266841e-03 2.45853990e-04 9.99979280e-01 -1.42980944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.421400513 meters 0.04590328457752122 Centerline is valid? [True, True] Translation: X:405.71, Y:37.58, Z:-1.43 [[ 9.97191365e-01 -7.47120124e-02 -5.24382439e-03 4.05708884e+02] [ 7.47098766e-02 9.97205130e-01 -6.02290380e-04 3.75836333e+01] [ 5.27416691e-03 2.08833293e-04 9.99986070e-01 -1.42823161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.481400513 meters 0.03449555519673443 Centerline is valid? [True, True] Translation: X:405.77, Y:37.58, Z:-1.43 [[ 9.96587676e-01 -8.23950463e-02 -4.90509383e-03 4.05770443e+02] [ 8.23932697e-02 9.96599735e-01 -5.63511266e-04 3.75772101e+01] [ 4.93484575e-03 1.57441664e-04 9.99987811e-01 -1.42592887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.541400513 meters 0.023483316513910155 Centerline is valid? [True, True] Translation: X:405.83, Y:37.57, Z:-1.43 [[ 9.95684566e-01 -9.26734119e-02 -4.88713989e-03 4.05831462e+02] [ 9.26717716e-02 9.95696554e-01 -5.61527104e-04 3.75682423e+01] [ 4.91814698e-03 1.06203959e-04 9.99987900e-01 -1.42577503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.601400513 meters 0.02550092781191354 Centerline is valid? [True, True] Translation: X:405.89, Y:37.55, Z:-1.42 [[ 9.93993266e-01 -1.09411687e-01 -2.54368003e-03 4.05894415e+02] [ 1.09411297e-01 9.93996520e-01 -2.92286728e-04 3.75478786e+01] [ 2.56038868e-03 1.22237077e-05 9.99996722e-01 -1.42207687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.661400513 meters 0.017653415558917657 Centerline is valid? [True, True] Translation: X:405.95, Y:37.54, Z:-1.42 [[ 9.93127896e-01 -1.16983834e-01 -3.42995699e-03 4.05953903e+02] [ 1.16983169e-01 9.93133819e-01 -3.94469625e-04 3.75370507e+01] [ 3.45255285e-03 -9.48844923e-06 9.99994040e-01 -1.42258376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.721400513 meters 0.028675259274711703 Centerline is valid? [True, True] Translation: X:406.01, Y:37.54, Z:-1.42 [[ 9.92998125e-01 -1.18035126e-01 -4.73632849e-03 4.06010756e+02] [ 1.18012138e-01 9.93000204e-01 -4.87135527e-03 3.75369793e+01] [ 5.27816619e-03 4.27830240e-03 9.99976918e-01 -1.42497922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.781400513 meters 0.01297839501008581 Centerline is valid? [True, True] Translation: X:406.07, Y:37.54, Z:-1.42 [[ 9.93635246e-01 -1.12564456e-01 -4.27104680e-03 4.06070640e+02] [ 1.12582004e-01 9.93633904e-01 4.11782111e-03 3.75366103e+01] [ 3.78033661e-03 -4.57245520e-03 9.99982401e-01 -1.42241341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.841400513 meters 0.010409236874317575 Centerline is valid? [True, True] Translation: X:406.13, Y:37.55, Z:-1.42 [[ 9.94184148e-01 -1.07608105e-01 -4.28677407e-03 4.06126847e+02] [ 1.07606972e-01 9.94193389e-01 -4.94796785e-04 3.75493710e+01] [ 4.31512658e-03 3.06323438e-05 9.99990689e-01 -1.42344997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.901400513 meters 0.02504478363663906 Centerline is valid? [True, True] Translation: X:406.19, Y:37.56, Z:-1.42 [[ 9.94805999e-01 -1.01626264e-01 -5.75558680e-03 4.06186008e+02] [ 1.01624119e-01 9.94822646e-01 -6.64604949e-04 3.75580071e+01] [ 5.79332940e-03 7.62465498e-05 9.99983216e-01 -1.42478338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.961400513 meters 0.017515439095595293 Centerline is valid? [True, True] Translation: X:406.24, Y:37.57, Z:-1.42 [[ 9.94948517e-01 -1.00236775e-01 -5.48068136e-03 4.06243177e+02] [ 1.00234808e-01 9.94963609e-01 -6.33147583e-04 3.75652937e+01] [ 5.51654317e-03 8.05942058e-05 9.99984781e-01 -1.42499277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.021400513 meters 0.0268026436836242 Centerline is valid? [True, True] Translation: X:406.30, Y:37.57, Z:-1.43 [[ 9.95017589e-01 -9.95334499e-02 -5.75233049e-03 4.06302313e+02] [ 9.95312663e-02 9.95034213e-01 -6.65352079e-04 3.75669201e+01] [ 5.78999043e-03 8.95002836e-05 9.99983234e-01 -1.42521841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.081400513 meters 0.018183538068748943 Centerline is valid? [True, True] Translation: X:406.36, Y:37.57, Z:-1.42 [[ 9.95000222e-01 -9.97548551e-02 -4.85037284e-03 4.06360293e+02] [ 9.97533031e-02 9.95012042e-01 -5.61468568e-04 3.75693666e+01] [ 4.88218860e-03 7.48206383e-05 9.99988079e-01 -1.42447617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.141400513 meters 0.0203554602262205 Centerline is valid? [True, True] Translation: X:406.42, Y:37.57, Z:-1.42 [[ 9.94948678e-01 -1.00278149e-01 -4.62825166e-03 4.06417569e+02] [ 1.00276740e-01 9.94959440e-01 -5.36033006e-04 3.75734057e+01] [ 4.65867508e-03 6.92193437e-05 9.99989146e-01 -1.42434797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.201400513 meters 0.025076629803851346 Centerline is valid? [True, True] Translation: X:406.48, Y:37.57, Z:-1.42 [[ 9.94980755e-01 -9.99415705e-02 -4.99805774e-03 4.06476198e+02] [ 9.99399218e-02 9.94993305e-01 -5.79169951e-04 3.75716339e+01] [ 5.03091715e-03 7.67574548e-05 9.99987342e-01 -1.42491899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.261400513 meters 0.02264309329150448 Centerline is valid? [True, True] Translation: X:406.54, Y:37.57, Z:-1.43 [[ 9.95393693e-01 -9.56328816e-02 -6.76367336e-03 4.06536096e+02] [ 9.56297606e-02 9.95416664e-01 -7.84088959e-04 3.75709655e+01] [ 6.80765785e-03 1.33668740e-04 9.99976819e-01 -1.42814044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.321400513 meters 0.030943158110333494 Centerline is valid? [True, True] Translation: X:406.60, Y:37.58, Z:-1.43 [[ 9.95865989e-01 -9.05514023e-02 -7.16763740e-03 4.06595771e+02] [ 9.05477648e-02 9.95891767e-01 -8.31050749e-04 3.75767828e+01] [ 7.21344388e-03 1.78601631e-04 9.99973967e-01 -1.42855617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.381400513 meters 0.03902665644409327 Centerline is valid? [True, True] Translation: X:406.66, Y:37.59, Z:-1.43 [[ 9.96757229e-01 -8.01602816e-02 -7.02540324e-03 4.06655831e+02] [ 8.01565288e-02 9.96781956e-01 -8.14572721e-04 3.75850433e+01] [ 7.06809156e-03 2.48799311e-04 9.99974990e-01 -1.42851077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.441400513 meters 0.04572054615494908 Centerline is valid? [True, True] Translation: X:406.72, Y:37.59, Z:-1.43 [[ 9.97268156e-01 -7.34761747e-02 -7.58138637e-03 4.06716221e+02] [ 7.34716116e-02 9.97296921e-01 -8.79030281e-04 3.75922626e+01] [ 7.62548107e-03 3.19612232e-04 9.99970875e-01 -1.42966324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.501400513 meters 0.05109709957643793 Centerline is valid? [True, True] Translation: X:406.77, Y:37.60, Z:-1.43 [[ 9.97688624e-01 -6.76502105e-02 -6.39212156e-03 4.06774762e+02] [ 6.76468478e-02 9.97709053e-01 -7.41071446e-04 3.76014847e+01] [ 6.42761119e-03 3.06951676e-04 9.99979296e-01 -1.42804320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.561400513 meters 0.04967661327679787 Centerline is valid? [True, True] Translation: X:406.83, Y:37.60, Z:-1.43 [[ 9.97762324e-01 -6.65925446e-02 -5.98145637e-03 4.06833481e+02] [ 6.65895789e-02 9.97780210e-01 -6.93835959e-04 3.76023588e+01] [ 6.01438310e-03 2.93980717e-04 9.99981870e-01 -1.42671718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.621400513 meters 0.05284185345685088 Centerline is valid? [True, True] Translation: X:406.89, Y:37.60, Z:-1.43 [[ 9.97739618e-01 -6.69658165e-02 -5.58874428e-03 4.06892305e+02] [ 6.69632287e-02 9.97755233e-01 -6.49082176e-04 3.76046677e+01] [ 5.61966517e-03 2.73374640e-04 9.99984172e-01 -1.42506875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.681400513 meters 0.0501330515392313 Centerline is valid? [True, True] Translation: X:406.95, Y:37.61, Z:-1.43 [[ 9.97686531e-01 -6.77415089e-02 -5.71611343e-03 4.06951428e+02] [ 6.77388090e-02 9.97702867e-01 -6.64839398e-04 3.76068358e+01] [ 5.74801998e-03 2.76098597e-04 9.99983442e-01 -1.42624490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74140051300003 meters 0.052796962698372196 Centerline is valid? [True, True] Translation: X:407.01, Y:37.61, Z:-1.43 [[ 9.97597011e-01 -6.91043237e-02 -4.97958575e-03 4.07009804e+02] [ 6.91022897e-02 9.97609411e-01 -5.79576534e-04 3.76081298e+01] [ 5.00773285e-03 2.34083040e-04 9.99987434e-01 -1.42616327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80140051300003 meters 0.0523537244980631 Centerline is valid? [True, True] Translation: X:407.07, Y:37.61, Z:-1.43 [[ 9.97513193e-01 -7.01745332e-02 -6.55468298e-03 4.07068689e+02] [ 7.01710261e-02 9.97534683e-01 -7.63787664e-04 3.76084704e+01] [ 6.59212205e-03 3.01939442e-04 9.99978226e-01 -1.42842073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.861400513 meters 0.05031885021343704 Centerline is valid? [True, True] Translation: X:407.13, Y:37.60, Z:-1.43 [[ 9.97690936e-01 -6.76170375e-02 -6.38222978e-03 4.07130462e+02] [ 6.76136586e-02 9.97711301e-01 -7.43956277e-04 3.76015722e+01] [ 6.41792689e-03 3.10712530e-04 9.99979357e-01 -1.42661870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.921400513 meters 0.056013521127864535 Centerline is valid? [True, True] Translation: X:407.19, Y:37.60, Z:-1.42 [[ 9.98108629e-01 -6.13538679e-02 -3.85576891e-03 4.07187346e+02] [ 6.13613618e-02 9.98113890e-01 1.85616080e-03 3.76034129e+01] [ 3.73461386e-03 -2.08924534e-03 9.99990844e-01 -1.42400866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.981400513 meters 0.06590387834608429 Centerline is valid? [True, True] Translation: X:407.25, Y:37.62, Z:-1.43 [[ 9.98363412e-01 -5.69239042e-02 -5.49247914e-03 4.07247317e+02] [ 5.69082851e-02 9.98375024e-01 -2.95942307e-03 3.76196871e+01] [ 5.65201591e-03 2.64201214e-03 9.99980537e-01 -1.42614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.041400513 meters 0.0705149713819804 Centerline is valid? [True, True] Translation: X:407.31, Y:37.62, Z:-1.43 [[ 9.98606753e-01 -5.20140494e-02 -8.89332329e-03 4.07307262e+02] [ 5.20068576e-02 9.98646188e-01 -1.03818485e-03 3.76245077e+01] [ 8.93528360e-03 5.74224604e-04 9.99959915e-01 -1.43055914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.101400513 meters 0.06851939849102948 Centerline is valid? [True, True] Translation: X:407.37, Y:37.63, Z:-1.43 [[ 9.98652924e-01 -5.13370681e-02 -7.53944221e-03 4.07365819e+02] [ 5.13318775e-02 9.98681262e-01 -8.80483972e-04 3.76263935e+01] [ 7.57470112e-03 4.92284169e-04 9.99971190e-01 -1.42873094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.161400513 meters 0.06936908288256814 Centerline is valid? [True, True] Translation: X:407.42, Y:37.63, Z:-1.43 [[ 9.98593272e-01 -5.23350514e-02 -8.51581044e-03 4.07423940e+02] [ 5.23284619e-02 9.98629432e-01 -9.94931565e-04 3.76310595e+01] [ 8.55620874e-03 5.47912705e-04 9.99963245e-01 -1.43068679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.221400513 meters 0.0655697716329997 Centerline is valid? [True, True] Translation: X:407.48, Y:37.63, Z:-1.43 [[ 9.98539908e-01 -5.32794002e-02 -8.90833875e-03 4.07483194e+02] [ 5.32722154e-02 9.98579484e-01 -1.04204577e-03 3.76311243e+01] [ 8.95120388e-03 5.65957345e-04 9.99959777e-01 -1.43083589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.281400513 meters 0.06706162033150971 Centerline is valid? [True, True] Translation: X:407.54, Y:37.64, Z:-1.43 [[ 9.98598434e-01 -5.24945087e-02 -6.74494003e-03 4.07541843e+02] [ 5.24903651e-02 9.98621118e-01 -7.90011393e-04 3.76388211e+01] [ 6.77711081e-03 4.34859775e-04 9.99976941e-01 -1.42753163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.341400513 meters 0.0758287244853373 Centerline is valid? [True, True] Translation: X:407.60, Y:37.66, Z:-1.43 [[ 9.98784840e-01 -4.86151641e-02 -8.08761813e-03 4.07599760e+02] [ 4.86090768e-02 9.98817431e-01 -9.47669864e-04 3.76585208e+01] [ 8.12412508e-03 5.53386643e-04 9.99966846e-01 -1.42999906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.401400513 meters 0.07526649408762126 Centerline is valid? [True, True] Translation: X:407.66, Y:37.67, Z:-1.43 [[ 9.98820355e-01 -4.79707089e-02 -7.53055328e-03 4.07657722e+02] [ 4.79654104e-02 9.98848607e-01 -8.82741660e-04 3.76657135e+01] [ 7.56422840e-03 5.20494260e-04 9.99971255e-01 -1.42790630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.461400513 meters 0.0682459443431753 Centerline is valid? [True, True] Translation: X:407.72, Y:37.66, Z:-1.42 [[ 9.98639067e-01 -5.19616666e-02 -4.47197792e-03 4.07718698e+02] [ 5.19598375e-02 9.98649038e-01 -5.24296922e-04 3.76625210e+01] [ 4.49317979e-03 2.91220143e-04 9.99989863e-01 -1.42279817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.521400513 meters 0.06348635005484972 Centerline is valid? [True, True] Translation: X:407.78, Y:37.66, Z:-1.42 [[ 9.98463319e-01 -5.53075684e-02 -3.47464300e-03 4.07779840e+02] [ 5.53064843e-02 9.98469342e-01 -4.07382595e-04 3.76574624e+01] [ 3.49185585e-03 2.14586290e-04 9.99993880e-01 -1.42138700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.581400513 meters 0.07092735946686371 Centerline is valid? [True, True] Translation: X:407.84, Y:37.67, Z:-1.42 [[ 9.98384519e-01 -5.67740155e-02 -2.25018885e-03 4.07838181e+02] [ 5.67735645e-02 9.98387046e-01 -2.63841595e-04 3.76650990e+01] [ 2.26153875e-03 1.35664122e-04 9.99997434e-01 -1.42019480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.641400513 meters 0.07466603778916539 Centerline is valid? [True, True] Translation: X:407.90, Y:37.67, Z:-1.43 [[ 9.98786953e-01 -4.88964770e-02 -5.81014642e-03 4.07898151e+02] [ 4.88933365e-02 9.98803773e-01 -6.81416550e-04 3.76697275e+01] [ 5.83651503e-03 3.96512516e-04 9.99982889e-01 -1.42569690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.701400513 meters 0.08175509270716344 Centerline is valid? [True, True] Translation: X:407.96, Y:37.68, Z:-1.43 [[ 9.99100010e-01 -4.17453414e-02 -7.51643053e-03 4.07957207e+02] [ 4.17398839e-02 9.99128122e-01 -8.81555620e-04 3.76827741e+01] [ 7.54667796e-03 5.67027291e-04 9.99971363e-01 -1.42807355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.761400513 meters 0.08358595355283469 Centerline is valid? [True, True] Translation: X:408.02, Y:37.69, Z:-1.43 [[ 9.99373664e-01 -3.47253912e-02 -6.81380037e-03 4.08017794e+02] [ 3.47207440e-02 9.99396734e-01 -7.99171674e-04 3.76878956e+01] [ 6.83744139e-03 5.62090905e-04 9.99976466e-01 -1.42650981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.821400513 meters 0.08086722546881561 Centerline is valid? [True, True] Translation: X:408.08, Y:37.69, Z:-1.43 [[ 9.99337373e-01 -3.57643113e-02 -6.76231520e-03 4.08076870e+02] [ 3.57597525e-02 9.99360100e-01 -7.93901853e-04 3.76930688e+01] [ 6.78638135e-03 5.51557074e-04 9.99976820e-01 -1.42708605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.881400513 meters 0.08264032895736062 Centerline is valid? [True, True] Translation: X:408.14, Y:37.70, Z:-1.43 [[ 9.99106930e-01 -4.13134731e-02 -8.86227951e-03 4.08135606e+02] [ 4.13058562e-02 9.99146007e-01 -1.04087951e-03 3.77040108e+01] [ 8.89771353e-03 6.73885890e-04 9.99960187e-01 -1.43120235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.941400513 meters 0.07357745574851969 Centerline is valid? [True, True] Translation: X:408.20, Y:37.70, Z:-1.43 [[ 9.98812792e-01 -4.78227435e-02 -9.27318228e-03 4.08196391e+02] [ 4.78146818e-02 9.98855630e-01 -1.08924809e-03 3.77006951e+01] [ 9.31466116e-03 6.44560669e-04 9.99956410e-01 -1.43023241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.001400513 meters 0.06175201053534143 Centerline is valid? [True, True] Translation: X:408.26, Y:37.69, Z:-1.43 [[ 9.98224364e-01 -5.88003035e-02 -9.52064790e-03 4.08258123e+02] [ 5.87923022e-02 9.98269610e-01 -1.11836149e-03 3.76895499e+01] [ 9.56993346e-03 5.56634882e-04 9.99954052e-01 -1.43005227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.061400513 meters 0.06308094418961992 Centerline is valid? [True, True] Translation: X:408.32, Y:37.70, Z:-1.43 [[ 9.98052659e-01 -6.18081130e-02 -8.40513736e-03 4.08317597e+02] [ 6.18019824e-02 9.98087942e-01 -9.87421744e-04 3.76960422e+01] [ 8.45009692e-03 4.66044747e-04 9.99964189e-01 -1.42876838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.121400513 meters 0.04569192443684847 Centerline is valid? [True, True] Translation: X:408.38, Y:37.67, Z:-1.42 [[ 9.97555881e-01 -6.96373863e-02 -5.73573111e-03 4.08381690e+02] [ 6.96346602e-02 9.97572333e-01 -6.73862933e-04 3.76728071e+01] [ 5.76873272e-03 2.72810245e-04 9.99983324e-01 -1.42294864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.181400513 meters 0.04767402773063371 Centerline is valid? [True, True] Translation: X:408.44, Y:37.67, Z:-1.42 [[ 9.97292902e-01 -7.34323473e-02 -3.81546827e-03 4.08442020e+02] [ 7.34311685e-02 9.97300187e-01 -4.48298299e-04 3.76722995e+01] [ 3.83808681e-03 1.66910418e-04 9.99992621e-01 -1.41942959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24140051300003 meters 0.046170518262033514 Centerline is valid? [True, True] Translation: X:408.50, Y:37.66, Z:-1.42 [[ 9.97144557e-01 -7.53650276e-02 -4.77956473e-03 4.08503242e+02] [ 7.53631996e-02 9.97155992e-01 -5.61676521e-04 3.76626914e+01] [ 4.80830238e-03 1.99869395e-04 9.99988420e-01 -1.42079553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30140051300003 meters 0.043669922245138534 Centerline is valid? [True, True] Translation: X:408.56, Y:37.66, Z:-1.42 [[ 9.97319191e-01 -7.30088302e-02 -4.91350889e-03 4.08563444e+02] [ 7.30068690e-02 9.97331271e-01 -5.77573191e-04 3.76571001e+01] [ 4.94256401e-03 2.17304927e-04 9.99987762e-01 -1.41953020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.361400513 meters 0.05506714930989057 Centerline is valid? [True, True] Translation: X:408.62, Y:37.66, Z:-1.42 [[ 9.97736661e-01 -6.69730223e-02 -6.01412568e-03 4.08622529e+02] [ 6.69699739e-02 9.97754741e-01 -7.07065544e-04 3.76649588e+01] [ 6.04797672e-03 3.02699375e-04 9.99981665e-01 -1.42053707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.421400513 meters 0.058017151704636956 Centerline is valid? [True, True] Translation: X:408.68, Y:37.67, Z:-1.42 [[ 9.97914384e-01 -6.41333378e-02 -7.33462418e-03 4.08681505e+02] [ 6.41287266e-02 9.97941262e-01 -8.62395130e-04 3.76692929e+01] [ 7.37483239e-03 3.90236397e-04 9.99972729e-01 -1.42211947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.481400513 meters 0.05490566646232279 Centerline is valid? [True, True] Translation: X:408.74, Y:37.66, Z:-1.42 [[ 9.98116137e-01 -6.10853309e-02 -5.72360206e-03 4.08742336e+02] [ 6.10824726e-02 9.98132495e-01 -6.73034114e-04 3.76628129e+01] [ 5.75402572e-03 3.22154443e-04 9.99983394e-01 -1.41856227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.541400513 meters 0.060941622361376686 Centerline is valid? [True, True] Translation: X:408.80, Y:37.67, Z:-1.42 [[ 9.98141638e-01 -6.07404156e-02 -4.88600288e-03 4.08799000e+02] [ 6.07383274e-02 9.98153558e-01 -5.74782713e-04 3.76722906e+01] [ 4.91189370e-03 2.76946916e-04 9.99987898e-01 -1.41833860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.601400513 meters 0.056775062623117094 Centerline is valid? [True, True] Translation: X:408.86, Y:37.67, Z:-1.42 [[ 9.97851181e-01 -6.53433599e-02 -4.82344519e-03 4.08859778e+02] [ 6.53413776e-02 9.97862807e-01 -5.67598801e-04 3.76677462e+01] [ 4.85022538e-03 2.51208580e-04 9.99988206e-01 -1.41970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.661400513 meters 0.04241271280507016 Centerline is valid? [True, True] Translation: X:408.92, Y:37.65, Z:-1.42 [[ 9.97320760e-01 -7.28787399e-02 -6.32386592e-03 4.08922195e+02] [ 7.28754832e-02 9.97340769e-01 -7.44215474e-04 3.76513239e+01] [ 6.36128679e-03 2.81366758e-04 9.99979727e-01 -1.42062728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.721400513 meters 0.04312441509113837 Centerline is valid? [True, True] Translation: X:408.98, Y:37.66, Z:-1.42 [[ 9.97016740e-01 -7.68056704e-02 -7.64914250e-03 4.08980996e+02] [ 7.68010200e-02 9.97046033e-01 -9.00293802e-04 3.76569745e+01] [ 7.69569486e-03 3.10146045e-04 9.99970340e-01 -1.42410176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.781400513 meters 0.04001420475897415 Centerline is valid? [True, True] Translation: X:409.04, Y:37.66, Z:-1.42 [[ 9.96784423e-01 -7.98845202e-02 -6.26720155e-03 4.09041578e+02] [ 7.98814583e-02 9.96804097e-01 -7.37778953e-04 3.76575395e+01] [ 6.30610930e-03 2.34773369e-04 9.99980089e-01 -1.42146948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.841400513 meters 0.03855232178937761 Centerline is valid? [True, True] Translation: X:409.10, Y:37.66, Z:-1.42 [[ 9.96640431e-01 -8.16647703e-02 -6.22222214e-03 4.09100448e+02] [ 8.16617852e-02 9.96659830e-01 -7.32733854e-04 3.76606748e+01] [ 6.26127740e-03 2.22154416e-04 9.99980373e-01 -1.42128683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.901400513 meters 0.032150921304095165 Centerline is valid? [True, True] Translation: X:409.16, Y:37.66, Z:-1.42 [[ 9.96455870e-01 -8.37239782e-02 -8.12374440e-03 4.09160300e+02] [ 8.37189547e-02 9.96488947e-01 -9.57075288e-04 3.76556597e+01] [ 8.17535165e-03 2.73571898e-04 9.99966544e-01 -1.42384178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.961400513 meters 0.04013445302928842 Centerline is valid? [True, True] Translation: X:409.22, Y:37.67, Z:-1.42 [[ 9.96864073e-01 -7.87272818e-02 -8.00220399e-03 4.09218396e+02] [ 7.87222458e-02 9.96896143e-01 -9.42857365e-04 3.76726207e+01] [ 8.05159489e-03 3.09949163e-04 9.99967537e-01 -1.42412779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.021400513 meters 0.05184828406895824 Centerline is valid? [True, True] Translation: X:409.28, Y:37.69, Z:-1.43 [[ 9.97281279e-01 -7.30877419e-02 -9.39325014e-03 4.09275660e+02] [ 7.30805526e-02 9.97325427e-01 -1.10680706e-03 3.76937371e+01] [ 9.44902124e-03 4.17334045e-04 9.99955270e-01 -1.42661341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.081400513 meters 0.060394371003771756 Centerline is valid? [True, True] Translation: X:409.33, Y:37.72, Z:-1.43 [[ 9.97803529e-01 -6.57318767e-02 -8.21200773e-03 4.09333874e+02] [ 6.57261330e-02 9.97837231e-01 -9.67644231e-04 3.77154699e+01] [ 8.25785213e-03 4.25775316e-04 9.99965813e-01 -1.42534361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.141400513 meters 0.05655314438343439 Centerline is valid? [True, True] Translation: X:409.39, Y:37.72, Z:-1.42 [[ 9.97862497e-01 -6.49650387e-02 -7.06969479e-03 4.09392752e+02] [ 6.49607565e-02 9.97887471e-01 -8.33902350e-04 3.77191741e+01] [ 7.10893435e-03 3.72867160e-04 9.99974662e-01 -1.42347155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.201400513 meters 0.051418964984258894 Centerline is valid? [True, True] Translation: X:409.45, Y:37.72, Z:-1.42 [[ 9.97620089e-01 -6.85587297e-02 -7.33880408e-03 4.09453406e+02] [ 6.85542101e-02 9.97647017e-01 -8.65941134e-04 3.77220232e+01] [ 7.38090382e-03 3.60774355e-04 9.99972696e-01 -1.42371318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.261400513 meters 0.05459071613870417 Centerline is valid? [True, True] Translation: X:409.51, Y:37.73, Z:-1.43 [[ 9.97521625e-01 -6.98138883e-02 -8.75375021e-03 4.09511917e+02] [ 6.98075031e-02 9.97559946e-01 -1.03322717e-03 3.77288280e+01] [ 8.80452419e-03 4.19589006e-04 9.99961151e-01 -1.42500184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.321400513 meters 0.04943912236958578 Centerline is valid? [True, True] Translation: X:409.57, Y:37.74, Z:-1.42 [[ 9.97553713e-01 -6.94585922e-02 -7.87993735e-03 4.09570753e+02] [ 6.94533986e-02 9.97584762e-01 -9.31171490e-04 3.77359037e+01] [ 7.92558330e-03 3.81605148e-04 9.99968519e-01 -1.42400435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.381400513 meters 0.05436418415850672 Centerline is valid? [True, True] Translation: X:409.63, Y:37.75, Z:-1.42 [[ 9.97804296e-01 -6.58770016e-02 -6.84159889e-03 4.09629342e+02] [ 6.58730004e-02 9.97827687e-01 -8.08787386e-04 3.77502151e+01] [ 6.88001729e-03 3.56334882e-04 9.99976269e-01 -1.42257939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.441400513 meters 0.05777216083669388 Centerline is valid? [True, True] Translation: X:409.69, Y:37.76, Z:-1.43 [[ 9.98013866e-01 -6.23558039e-02 -8.94858118e-03 4.09688572e+02] [ 6.23488171e-02 9.98053859e-01 -1.05790017e-03 3.77642293e+01] [ 8.99713219e-03 4.97865587e-04 9.99959401e-01 -1.42540929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.501400513 meters 0.06124193172693573 Centerline is valid? [True, True] Translation: X:409.75, Y:37.78, Z:-1.43 [[ 9.98192239e-01 -5.93930448e-02 -9.20433127e-03 4.09747314e+02] [ 5.93855272e-02 9.98234529e-01 -1.08816013e-03 3.77795067e+01] [ 9.25271043e-03 5.39588935e-04 9.99957047e-01 -1.42539495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.561400513 meters 0.06243014147701268 Centerline is valid? [True, True] Translation: X:409.81, Y:37.79, Z:-1.42 [[ 9.98200033e-01 -5.95082996e-02 -7.44687772e-03 4.09805650e+02] [ 5.95033782e-02 9.98227716e-01 -8.80891147e-04 3.77911581e+01] [ 7.48610007e-03 4.36191191e-04 9.99971884e-01 -1.42252450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.621400513 meters 0.06143655075238053 Centerline is valid? [True, True] Translation: X:409.87, Y:37.80, Z:-1.42 [[ 9.98114245e-01 -6.09690530e-02 -7.12232590e-03 4.09865110e+02] [ 6.09645860e-02 9.98139574e-01 -8.42813273e-04 3.77983285e+01] [ 7.16046087e-03 4.07014284e-04 9.99974281e-01 -1.42111817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.681400513 meters 0.05947479829783188 Centerline is valid? [True, True] Translation: X:409.92, Y:37.81, Z:-1.42 [[ 9.98154497e-01 -6.03088406e-02 -7.10236666e-03 4.09922942e+02] [ 6.03043794e-02 9.98179681e-01 -8.40818693e-04 3.78051566e+01] [ 7.14014689e-03 4.10963146e-04 9.99974424e-01 -1.41991422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74140051300003 meters 0.06807780719571695 Centerline is valid? [True, True] Translation: X:409.98, Y:37.82, Z:-1.42 [[ 9.98407665e-01 -5.59524549e-02 -7.17338857e-03 4.09980110e+02] [ 5.59477903e-02 9.98433334e-01 -8.49445579e-04 3.78244881e+01] [ 7.20967883e-03 4.46757737e-04 9.99973910e-01 -1.41980742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80140051300003 meters 0.06792495335417288 Centerline is valid? [True, True] Translation: X:410.04, Y:37.84, Z:-1.42 [[ 9.98573657e-01 -5.29075534e-02 -7.17240044e-03 4.10039475e+02] [ 5.29028116e-02 9.98599305e-01 -8.49368330e-04 3.78392612e+01] [ 7.20729209e-03 4.68716689e-04 9.99973917e-01 -1.41965517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.861400513 meters 0.07059237682001696 Centerline is valid? [True, True] Translation: X:410.10, Y:37.86, Z:-1.42 [[ 9.98662164e-01 -5.15115130e-02 -4.52176631e-03 4.10096219e+02] [ 5.15096135e-02 9.98672355e-01 -5.35604302e-04 3.78562680e+01] [ 4.54335280e-03 3.01973316e-04 9.99989633e-01 -1.41625394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.921400513 meters 0.06830842951113833 Centerline is valid? [True, True] Translation: X:410.15, Y:37.86, Z:-1.41 [[ 9.98656640e-01 -5.16406530e-02 -4.26136359e-03 4.10153968e+02] [ 5.16389649e-02 9.98665691e-01 -5.05304409e-04 3.78621738e+01] [ 4.28177186e-03 2.84573199e-04 9.99990793e-01 -1.41492806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.981400513 meters 0.06901353845991733 Centerline is valid? [True, True] Translation: X:410.21, Y:37.88, Z:-1.41 [[ 9.98666128e-01 -5.14932789e-02 -3.79560104e-03 4.10211462e+02] [ 5.14919362e-02 9.98673309e-01 -4.50691219e-04 3.78780047e+01] [ 3.81377302e-03 2.54647208e-04 9.99992695e-01 -1.41374969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.041400513 meters 0.07603955789832346 Centerline is valid? [True, True] Translation: X:410.27, Y:37.90, Z:-1.41 [[ 9.98728682e-01 -5.03095776e-02 -3.15693789e-03 4.10268260e+02] [ 5.03086420e-02 9.98733648e-01 -3.75132785e-04 3.78977398e+01] [ 3.17181287e-03 2.15834614e-04 9.99994946e-01 -1.41351174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.101400513 meters 0.07146917753674194 Centerline is valid? [True, True] Translation: X:410.33, Y:37.91, Z:-1.42 [[ 9.98762463e-01 -4.93667182e-02 -6.03908112e-03 4.10327009e+02] [ 4.93632756e-02 9.98780632e-01 -7.17872130e-04 3.79066187e+01] [ 6.06715625e-03 4.18874910e-04 9.99981507e-01 -1.41756342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.161400513 meters 0.07612602231661358 Centerline is valid? [True, True] Translation: X:410.38, Y:37.93, Z:-1.42 [[ 9.98869422e-01 -4.69438748e-02 -7.49338264e-03 4.10384574e+02] [ 4.69385055e-02 9.98897384e-01 -8.90892477e-04 3.79273171e+01] [ 7.52694226e-03 5.38157070e-04 9.99971527e-01 -1.41957765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.221400513 meters 0.07928397903589267 Centerline is valid? [True, True] Translation: X:410.44, Y:37.94, Z:-1.42 [[ 9.99029507e-01 -4.34646471e-02 -7.13225635e-03 4.10443389e+02] [ 4.34596941e-02 9.99054821e-01 -8.48035241e-04 3.79431442e+01] [ 7.16237464e-03 5.37246549e-04 9.99974206e-01 -1.41770062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.281400513 meters 0.07700584666415958 Centerline is valid? [True, True] Translation: X:410.50, Y:37.96, Z:-1.42 [[ 9.99259278e-01 -3.78379091e-02 -7.01344830e-03 4.10502050e+02] [ 3.78329817e-02 9.99283728e-01 -8.33956417e-04 3.79597297e+01] [ 7.03997993e-03 5.67999026e-04 9.99975058e-01 -1.41694794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.341400513 meters 0.090718951164029 Centerline is valid? [True, True] Translation: X:410.56, Y:37.99, Z:-1.42 [[ 9.99376755e-01 -3.46539321e-02 -6.72365156e-03 4.10558464e+02] [ 3.46493315e-02 9.99399212e-01 -7.99560682e-04 3.79910593e+01] [ 6.74731999e-03 5.66092327e-04 9.99977076e-01 -1.41707087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.401400513 meters 0.08985968561482648 Centerline is valid? [True, True] Translation: X:410.62, Y:38.01, Z:-1.42 [[ 9.99413658e-01 -3.35640902e-02 -6.76696957e-03 4.10616004e+02] [ 3.35594040e-02 9.99436400e-01 -8.04901516e-04 3.80081095e+01] [ 6.79017150e-03 5.77334102e-04 9.99976780e-01 -1.41679065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.461400513 meters 0.08376504786647149 Centerline is valid? [True, True] Translation: X:410.67, Y:38.01, Z:-1.42 [[ 9.99379080e-01 -3.45555703e-02 -6.88234690e-03 4.10674962e+02] [ 3.45507405e-02 9.99402609e-01 -8.19462372e-04 3.80142896e+01] [ 6.90655243e-03 5.81163370e-04 9.99975981e-01 -1.41654395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.521400513 meters 0.08568152773572048 Centerline is valid? [True, True] Translation: X:410.73, Y:38.03, Z:-1.42 [[ 9.99346652e-01 -3.56000548e-02 -6.23741172e-03 4.10732116e+02] [ 3.55961056e-02 9.99365982e-01 -7.43057672e-04 3.80320061e+01] [ 6.25990998e-03 5.20544631e-04 9.99980271e-01 -1.41507499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.581400513 meters 0.08847464968348764 Centerline is valid? [True, True] Translation: X:410.79, Y:38.05, Z:-1.42 [[ 9.99278159e-01 -3.73287578e-02 -7.05157039e-03 4.10789761e+02] [ 3.73237517e-02 9.99302873e-01 -8.40233983e-04 3.80477592e+01] [ 7.07801944e-03 5.76436405e-04 9.99974784e-01 -1.41690497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.641400513 meters 0.07760428093073847 Centerline is valid? [True, True] Translation: X:410.85, Y:38.04, Z:-1.42 [[ 9.99235242e-01 -3.83838646e-02 -7.45716944e-03 4.10849944e+02] [ 3.83782940e-02 9.99262887e-01 -8.88739013e-04 3.80444949e+01] [ 7.48578590e-03 6.01865902e-04 9.99971800e-01 -1.41711144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.701400513 meters 0.0933315140291229 Centerline is valid? [True, True] Translation: X:410.90, Y:38.07, Z:-1.42 [[ 9.99235563e-01 -3.83029049e-02 -7.82153078e-03 4.10904941e+02] [ 3.82967710e-02 9.99265974e-01 -9.32560956e-04 3.80710836e+01] [ 7.85150937e-03 6.32308700e-04 9.99968977e-01 -1.41790258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.761400513 meters 0.08702361053414959 Centerline is valid? [True, True] Translation: X:410.96, Y:38.07, Z:-1.42 [[ 9.99269901e-01 -3.74370201e-02 -7.62454873e-03 4.10964227e+02] [ 3.74311639e-02 9.99298795e-01 -9.09371663e-04 3.80730681e+01] [ 7.65324652e-03 6.23311998e-04 9.99970519e-01 -1.41664259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.821400513 meters 0.09193210579719424 Centerline is valid? [True, True] Translation: X:411.02, Y:38.09, Z:-1.42 [[ 9.99340536e-01 -3.54236079e-02 -7.97883888e-03 4.11022216e+02] [ 3.54171299e-02 9.99372163e-01 -9.51770956e-04 3.80890262e+01] [ 8.00754463e-03 6.68555724e-04 9.99967716e-01 -1.41771912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.881400513 meters 0.08308870609453455 Centerline is valid? [True, True] Translation: X:411.08, Y:38.09, Z:-1.42 [[ 9.99375963e-01 -3.39056698e-02 -9.90407180e-03 4.11082490e+02] [ 3.38956131e-02 9.99424680e-01 -1.18155010e-03 3.80917071e+01] [ 9.93843503e-03 8.45108179e-04 9.99950255e-01 -1.42008059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.941400513 meters 0.08909511721780677 Centerline is valid? [True, True] Translation: X:411.14, Y:38.11, Z:-1.42 [[ 9.99303395e-01 -3.58720254e-02 -1.02918486e-02 4.11140265e+02] [ 3.58612678e-02 9.99356023e-01 -1.22795637e-03 3.81070352e+01] [ 1.03292702e-02 8.58022234e-04 9.99946284e-01 -1.42195495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.001400513 meters 0.07757922460145131 Centerline is valid? [True, True] Translation: X:411.20, Y:38.10, Z:-1.42 [[ 9.99138874e-01 -4.07393155e-02 -7.86245241e-03 4.11201124e+02] [ 4.07331867e-02 9.99169619e-01 -9.38133490e-04 3.81036961e+01] [ 7.89414250e-03 6.17062897e-04 9.99968650e-01 -1.41749597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.061400513 meters 0.07804806993725445 Centerline is valid? [True, True] Translation: X:411.26, Y:38.11, Z:-1.41 [[ 9.99051595e-01 -4.30704180e-02 -6.39141734e-03 4.11260270e+02] [ 4.30664150e-02 9.99071920e-01 -7.62681492e-04 3.81120193e+01] [ 6.41833460e-03 4.86702729e-04 9.99979284e-01 -1.41495669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.121400513 meters 0.07538507782027881 Centerline is valid? [True, True] Translation: X:411.32, Y:38.12, Z:-1.41 [[ 9.99048979e-01 -4.30370859e-02 -6.99617192e-03 4.11319223e+02] [ 4.30322824e-02 9.99073333e-01 -8.35744830e-04 3.81175559e+01] [ 7.02565682e-03 5.33888774e-04 9.99975177e-01 -1.41479066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.181400513 meters 0.0839300136857617 Centerline is valid? [True, True] Translation: X:411.38, Y:38.14, Z:-1.41 [[ 9.99141307e-01 -4.08155894e-02 -7.12294347e-03 4.11377216e+02] [ 4.08105522e-02 9.99166540e-01 -8.51166607e-04 3.81352020e+01] [ 7.15174765e-03 5.59744460e-04 9.99974269e-01 -1.41478863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24140051300003 meters 0.08908594598508456 Centerline is valid? [True, True] Translation: X:411.44, Y:38.15, Z:-1.41 [[ 9.99250798e-01 -3.81128821e-02 -6.72684479e-03 4.11435280e+02] [ 3.81083283e-02 9.99273290e-01 -8.03886924e-04 3.81479859e+01] [ 6.75259478e-03 5.46935840e-04 9.99977051e-01 -1.41296606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30140051300003 meters 0.08883559355386733 Centerline is valid? [True, True] Translation: X:411.49, Y:38.16, Z:-1.41 [[ 9.99343513e-01 -3.57896696e-02 -5.62519776e-03 4.11494724e+02] [ 3.57864486e-02 9.99359234e-01 -6.72253212e-04 3.81567517e+01] [ 5.64565304e-03 4.70506036e-04 9.99983952e-01 -1.41133299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.361400513 meters 0.09013362246535325 Centerline is valid? [True, True] Translation: X:411.55, Y:38.17, Z:-1.41 [[ 9.99493146e-01 -3.14538178e-02 -4.90996169e-03 4.11554739e+02] [ 3.14513118e-02 9.99505113e-01 -5.86788764e-04 3.81678225e+01] [ 4.92598856e-03 4.32066613e-04 9.99987774e-01 -1.40969219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.421400513 meters 0.09028415059236164 Centerline is valid? [True, True] Translation: X:411.61, Y:38.18, Z:-1.41 [[ 9.99580950e-01 -2.85433845e-02 -4.81652443e-03 4.11614013e+02] [ 2.85409395e-02 9.99592459e-01 -5.75624325e-04 3.81806090e+01] [ 4.83099177e-03 4.37914977e-04 9.99988235e-01 -1.40871318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.481400513 meters 0.08665104144251841 Centerline is valid? [True, True] Translation: X:411.67, Y:38.19, Z:-1.41 [[ 9.99592754e-01 -2.81602115e-02 -4.61822407e-03 4.11672591e+02] [ 2.81579574e-02 9.99603333e-01 -5.52407432e-04 3.81861690e+01] [ 4.63194808e-03 4.22142710e-04 9.99989183e-01 -1.40829970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.541400513 meters 0.0964702687219892 Centerline is valid? [True, True] Translation: X:411.73, Y:38.21, Z:-1.41 [[ 9.99586249e-01 -2.82236676e-02 -5.54568128e-03 4.11728025e+02] [ 2.82204145e-02 9.99601504e-01 -6.64006810e-04 3.82126506e+01] [ 5.56221206e-03 5.07230653e-04 9.99984402e-01 -1.41101492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.601400513 meters 0.10027103995593739 Centerline is valid? [True, False] Translation: X:411.73, Y:38.22, Z:-1.41 [[ 9.99807822e-01 -1.94120652e-02 -2.73698189e-03 4.11728695e+02] [ 1.93775782e-02 9.99738905e-01 -1.21091661e-02 3.82234944e+01] [ 2.97133120e-03 1.20538030e-02 9.99922936e-01 -1.41275285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.661400513 meters 0.09653023386703044 Centerline is valid? [False, True] Translation: X:411.73, Y:38.22, Z:-1.41 [[ 9.99939041e-01 -1.05884674e-02 -3.13022425e-03 4.11729314e+02] [ 1.05789793e-02 9.99939443e-01 -3.03229242e-03 3.82217900e+01] [ 3.16214202e-03 2.99899300e-03 9.99990503e-01 -1.41224040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.721400513 meters 0.08900631637538657 Centerline is valid? [True, True] Translation: X:411.79, Y:38.22, Z:-1.42 [[ 9.99911311e-01 -1.23254544e-02 -5.04511894e-03 4.11789217e+02] [ 1.23230037e-02 9.99923935e-01 -5.16552450e-04 3.82224220e+01] [ 5.05110193e-03 4.54335618e-04 9.99987140e-01 -1.41536669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.781400513 meters 0.08028946651986789 Centerline is valid? [True, True] Translation: X:411.85, Y:38.22, Z:-1.42 [[ 9.99822897e-01 -1.75959684e-02 -6.67508939e-03 4.11850313e+02] [ 1.75917948e-02 9.99845019e-01 -6.83455473e-04 3.82200022e+01] [ 6.68608093e-03 5.65907628e-04 9.99977488e-01 -1.41728639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.841400513 meters 0.07881229634096254 Centerline is valid? [True, True] Translation: X:411.91, Y:38.23, Z:-1.42 [[ 9.99786275e-01 -1.94601566e-02 -6.97895288e-03 4.11909958e+02] [ 1.94556391e-02 9.99810466e-01 -7.14618678e-04 3.82255588e+01] [ 6.99153672e-03 5.78685958e-04 9.99975391e-01 -1.41716518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.901400513 meters 0.0795955206147416 Centerline is valid? [True, True] Translation: X:411.97, Y:38.24, Z:-1.42 [[ 9.99701368e-01 -2.30712630e-02 -8.05559652e-03 4.11968737e+02] [ 2.30653600e-02 9.99733619e-01 -8.24934833e-04 3.82360613e+01] [ 8.07248295e-03 6.38883247e-04 9.99967213e-01 -1.41983674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.961400513 meters 0.07254942572057226 Centerline is valid? [True, True] Translation: X:412.03, Y:38.23, Z:-1.42 [[ 9.99640669e-01 -2.59108706e-02 -6.86725235e-03 4.12029977e+02] [ 2.59066473e-02 9.99664119e-01 -7.03254109e-04 3.82342045e+01] [ 6.88316770e-03 5.25093924e-04 9.99976173e-01 -1.41765811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.021400513 meters 0.07749277121652756 Centerline is valid? [True, True] Translation: X:412.09, Y:38.24, Z:-1.41 [[ 9.99492608e-01 -3.14956241e-02 -4.74895839e-03 4.12088352e+02] [ 3.14936668e-02 9.99503833e-01 -4.86399835e-04 3.82440401e+01] [ 4.76192158e-03 3.36590926e-04 9.99988605e-01 -1.41496719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.081400513 meters 0.07161692687071504 Centerline is valid? [True, True] Translation: X:412.15, Y:38.24, Z:-1.41 [[ 9.99392326e-01 -3.44685456e-02 -5.18625758e-03 4.12149940e+02] [ 3.44662510e-02 9.99405721e-01 -5.31196570e-04 3.82375152e+01] [ 5.20148507e-03 3.52122921e-04 9.99986410e-01 -1.41447224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.141400513 meters 0.06723747415019576 Centerline is valid? [True, True] Translation: X:412.21, Y:38.24, Z:-1.41 [[ 9.99417233e-01 -3.40026577e-02 -3.00235683e-03 4.12208719e+02] [ 3.40018851e-02 9.99421721e-01 -3.08041658e-04 3.82391531e+01] [ 3.01109486e-03 2.05776350e-04 9.99995445e-01 -1.41094558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.201400513 meters 0.07834049534405592 Centerline is valid? [True, True] Translation: X:412.27, Y:38.26, Z:-1.41 [[ 9.99514692e-01 -3.09719976e-02 -3.33396323e-03 4.12265816e+02] [ 3.09710285e-02 9.99520224e-01 -3.41930693e-04 3.82606556e+01] [ 3.34295396e-03 2.38508481e-04 9.99994384e-01 -1.41198675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.261400513 meters 0.07166922959894052 Centerline is valid? [True, True] Translation: X:412.33, Y:38.26, Z:-1.41 [[ 9.99593594e-01 -2.81031406e-02 -4.78130190e-03 4.12326063e+02] [ 2.81011144e-02 9.99604965e-01 -4.90435788e-04 3.82616916e+01] [ 4.79319591e-03 3.55876560e-04 9.99988449e-01 -1.41448749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.321400513 meters 0.07722385264030199 Centerline is valid? [True, True] Translation: X:412.38, Y:38.28, Z:-1.41 [[ 9.99647015e-01 -2.61605127e-02 -4.63399586e-03 4.12383917e+02] [ 2.61585885e-02 9.99657693e-01 -4.75381081e-04 3.82823238e+01] [ 4.64484583e-03 3.53994488e-04 9.99989150e-01 -1.41360707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.381400513 meters 0.07471443733982636 Centerline is valid? [True, True] Translation: X:412.44, Y:38.29, Z:-1.41 [[ 9.99604717e-01 -2.76859480e-02 -4.88853498e-03 4.12442822e+02] [ 2.76838241e-02 9.99616604e-01 -5.01610247e-04 3.82926550e+01] [ 4.90054829e-03 3.66078626e-04 9.99987925e-01 -1.41340156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.441400513 meters 0.07168619328579341 Centerline is valid? [True, True] Translation: X:412.50, Y:38.31, Z:-1.41 [[ 9.99497645e-01 -3.14424747e-02 -3.97852745e-03 4.12501465e+02] [ 3.14410972e-02 9.99505523e-01 -4.08315154e-04 3.83050163e+01] [ 3.98939860e-03 2.83020767e-04 9.99992002e-01 -1.41231565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.501400513 meters 0.06719537457420445 Centerline is valid? [True, True] Translation: X:412.56, Y:38.32, Z:-1.41 [[ 9.99252271e-01 -3.82874656e-02 -5.38220911e-03 4.12561289e+02] [ 3.82850437e-02 9.99266706e-01 -5.52349475e-04 3.83158399e+01] [ 5.39941043e-03 3.45878357e-04 9.99985363e-01 -1.41435819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.561400513 meters 0.057007456793872806 Centerline is valid? [True, True] Translation: X:412.62, Y:38.32, Z:-1.41 [[ 9.99008364e-01 -4.41147777e-02 -6.01460824e-03 4.12621949e+02] [ 4.41118581e-02 9.99026408e-01 -6.17282857e-04 3.83158220e+01] [ 6.03598376e-03 3.51355192e-04 9.99981722e-01 -1.41359889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.621400513 meters 0.05721622976742131 Centerline is valid? [True, True] Translation: X:412.68, Y:38.33, Z:-1.41 [[ 9.98563999e-01 -5.34349419e-02 -3.82714071e-03 4.12680112e+02] [ 5.34338278e-02 9.98571315e-01 -3.92829100e-04 3.83274953e+01] [ 3.84266373e-03 1.87766219e-04 9.99992599e-01 -1.41209985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.681400513 meters 0.04385844647313853 Centerline is valid? [True, True] Translation: X:412.74, Y:38.32, Z:-1.41 [[ 9.98145408e-01 -6.07754917e-02 -3.47622020e-03 4.12742265e+02] [ 6.07746169e-02 9.98151451e-01 -3.56811389e-04 3.83160629e+01] [ 3.49147963e-03 1.44883698e-04 9.99993894e-01 -1.41112597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74140051300003 meters 0.04001019385583285 Centerline is valid? [True, True] Translation: X:412.80, Y:38.31, Z:-1.41 [[ 9.97604753e-01 -6.91221062e-02 -2.62521815e-03 4.12802842e+02] [ 6.91216361e-02 9.97608203e-01 -2.69491217e-04 3.83105273e+01] [ 2.63756696e-03 8.73863452e-05 9.99996518e-01 -1.41014227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80140051300003 meters 0.03122299951285868 Centerline is valid? [True, True] Translation: X:412.86, Y:38.30, Z:-1.41 [[ 9.97409617e-01 -7.19231177e-02 -1.05913494e-03 4.12864326e+02] [ 7.19230427e-02 9.97410178e-01 -1.08768370e-04 3.83022501e+01] [ 1.06421493e-03 3.23104105e-05 9.99999433e-01 -1.40726349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.861400513 meters 0.03429207536271441 Centerline is valid? [True, True] Translation: X:412.92, Y:38.31, Z:-1.41 [[ 9.97495669e-01 -7.07107425e-02 -1.54343014e-03 4.12921950e+02] [ 7.07105817e-02 9.97496861e-01 -1.58599573e-04 3.83050012e+01] [ 1.55078141e-03 4.90655440e-05 9.99998796e-01 -1.40903844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.921400513 meters 0.033961700569006575 Centerline is valid? [True, True] Translation: X:412.98, Y:38.31, Z:-1.41 [[ 9.97623843e-01 -6.88695499e-02 -1.91115489e-03 4.12981920e+02] [ 6.88692999e-02 9.97625672e-01 -1.96424889e-04 3.83066705e+01] [ 1.92014488e-03 6.43382530e-05 9.99998154e-01 -1.41029272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.981400513 meters 0.03785448840511986 Centerline is valid? [True, True] Translation: X:413.04, Y:38.31, Z:-1.41 [[ 9.97645741e-01 -6.85400983e-02 -2.28716158e-03 4.13039449e+02] [ 6.85397388e-02 9.97648359e-01 -2.35293448e-04 3.83146472e+01] [ 2.29791003e-03 7.79780490e-05 9.99997357e-01 -1.41255616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.041400513 meters 0.03226302527903206 Centerline is valid? [True, True] Translation: X:413.10, Y:38.31, Z:-1.41 [[ 9.97537089e-01 -7.00892959e-02 -2.69202597e-03 4.13099320e+02] [ 7.00888022e-02 9.97540717e-01 -2.77391781e-04 3.83121436e+01] [ 2.70484772e-03 8.80277131e-05 9.99996338e-01 -1.41320262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.101400513 meters 0.03265024190377213 Centerline is valid? [True, True] Translation: X:413.16, Y:38.32, Z:-1.42 [[ 9.97351131e-01 -7.25541316e-02 -5.15948508e-03 4.13156678e+02] [ 7.25523498e-02 9.97364464e-01 -5.31920467e-04 3.83186023e+01] [ 5.18448010e-03 1.56178713e-04 9.99986548e-01 -1.41658634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.161400513 meters 0.03448277459619607 Centerline is valid? [True, True] Translation: X:413.22, Y:38.32, Z:-1.42 [[ 9.97208825e-01 -7.42358035e-02 -7.97532024e-03 4.13215594e+02] [ 7.42315890e-02 9.97240690e-01 -8.23574818e-04 3.83239495e+01] [ 8.01445260e-03 2.29255381e-04 9.99967857e-01 -1.42055045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.221400513 meters 0.024302206763022235 Centerline is valid? [True, True] Translation: X:413.28, Y:38.32, Z:-1.42 [[ 9.96726373e-01 -8.05201400e-02 -7.28322642e-03 4.13276451e+02] [ 8.05167921e-02 9.96752969e-01 -7.52203528e-04 3.83170140e+01] [ 7.32014509e-03 1.63319066e-04 9.99973194e-01 -1.41916723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.281400513 meters 0.01905314280845321 Centerline is valid? [True, True] Translation: X:413.34, Y:38.31, Z:-1.42 [[ 9.96318138e-01 -8.53722409e-02 -7.85797895e-03 4.13336834e+02] [ 8.53684929e-02 9.96349116e-01 -8.11762675e-04 3.83139883e+01] [ 7.89859239e-03 1.37950056e-04 9.99968796e-01 -1.41955373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.341400513 meters 0.016549587087737128 Centerline is valid? [True, True] Translation: X:413.40, Y:38.32, Z:-1.42 [[ 9.95864404e-01 -9.06180952e-02 -6.51538300e-03 4.13395709e+02] [ 9.06156291e-02 9.95885714e-01 -6.73315199e-04 3.83150764e+01] [ 6.54959139e-03 8.01351090e-05 9.99978548e-01 -1.41747639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.401400513 meters 0.020104463004827072 Centerline is valid? [True, True] Translation: X:413.45, Y:38.32, Z:-1.41 [[ 9.95601374e-01 -9.35535783e-02 -5.06271848e-03 4.13454845e+02] [ 9.35521227e-02 9.95614245e-01 -5.24098039e-04 3.83151449e+01] [ 5.08954588e-03 4.81646676e-05 9.99987047e-01 -1.41361085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.461400513 meters 0.009352427386053009 Centerline is valid? [True, True] Translation: X:413.51, Y:38.32, Z:-1.41 [[ 9.95261931e-01 -9.72173116e-02 -1.57563453e-03 4.13513320e+02] [ 9.72171747e-02 9.95263178e-01 -1.63403501e-04 3.83156600e+01] [ 1.58405668e-03 9.45054658e-06 9.99998745e-01 -1.40964209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.521400513 meters 0.007125910673668045 Centerline is valid? [True, True] Translation: X:413.57, Y:38.32, Z:-1.41 [[ 9.94862993e-01 -1.01226803e-01 -8.70997683e-04 4.13571986e+02] [ 1.01226763e-01 9.94863375e-01 -9.04940336e-05 3.83175089e+01] [ 8.75684116e-04 1.86088905e-06 9.99999617e-01 -1.40839488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.581400513 meters 0.007310694944535354 Centerline is valid? [True, True] Translation: X:413.63, Y:38.32, Z:-1.41 [[ 9.94424419e-01 -1.05428405e-01 -2.21971434e-03 4.13630130e+02] [ 1.05428152e-01 9.94426896e-01 -2.30693736e-04 3.83206742e+01] [ 2.23166531e-03 -4.61289732e-06 9.99997510e-01 -1.41020444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.641400513 meters 0.02245525498745652 Centerline is valid? [True, True] Translation: X:413.69, Y:38.33, Z:-1.41 [[ 9.94269535e-01 -1.06879725e-01 -2.19479849e-03 4.13687945e+02] [ 1.06879481e-01 9.94271957e-01 -2.28579007e-04 3.83268097e+01] [ 2.20665705e-03 -7.30977968e-06 9.99997565e-01 -1.40867374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.701400513 meters 0.007362240569891035 Centerline is valid? [True, True] Translation: X:413.74, Y:38.34, Z:-1.41 [[ 9.94324715e-01 -1.06386404e-01 -5.41532390e-04 4.13744171e+02] [ 1.06386389e-01 9.94324863e-01 -5.64882983e-05 3.83366299e+01] [ 5.44468706e-04 -1.44396453e-06 9.99999852e-01 -1.40603993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.761400513 meters 0.006750438125925038 Centerline is valid? [True, True] Translation: X:413.80, Y:38.35, Z:-1.41 [[ 9.94529626e-01 -1.04452526e-01 -7.02559515e-04 4.13799834e+02] [ 1.04452500e-01 9.94529874e-01 -7.33283435e-05 3.83495308e+01] [ 7.06375756e-04 -4.56887644e-07 9.99999751e-01 -1.40629931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.821400513 meters 0.007447694024923007 Centerline is valid? [True, True] Translation: X:413.86, Y:38.37, Z:-1.41 [[ 9.94864897e-01 -1.01185678e-01 -2.30104008e-03 4.13857442e+02] [ 1.01185393e-01 9.94867558e-01 -2.40552798e-04 3.83650590e+01] [ 2.31357063e-03 6.48588989e-06 9.99997324e-01 -1.40911122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.881400513 meters 0.01385153890123659 Centerline is valid? [True, True] Translation: X:413.91, Y:38.38, Z:-1.41 [[ 9.95218808e-01 -9.75590763e-02 -4.66375835e-03 4.13913050e+02] [ 9.75578613e-02 9.95229735e-01 -4.87852856e-04 3.83848477e+01] [ 4.68910546e-03 3.05340471e-05 9.99989006e-01 -1.41400218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.941400513 meters 0.024648091435998977 Centerline is valid? [True, True] Translation: X:413.97, Y:38.39, Z:-1.41 [[ 9.95143574e-01 -9.83426100e-02 -4.24249503e-03 4.13970389e+02] [ 9.83416080e-02 9.95152617e-01 -4.44631512e-04 3.83941459e+01] [ 4.26565625e-03 2.52584084e-05 9.99990902e-01 -1.41367642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.001400513 meters 0.022066744428483533 Centerline is valid? [True, True] Translation: X:414.03, Y:38.40, Z:-1.42 [[ 9.94875855e-01 -1.00949563e-01 -5.58734313e-03 4.14027796e+02] [ 1.00947861e-01 9.94891544e-01 -5.86651250e-04 3.84007286e+01] [ 5.61802262e-03 1.96148283e-05 9.99984219e-01 -1.41582586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.061400513 meters 0.008965612490774922 Centerline is valid? [True, True] Translation: X:414.09, Y:38.41, Z:-1.42 [[ 9.94900000e-01 -1.00653082e-01 -6.55346334e-03 4.14086326e+02] [ 1.00650726e-01 9.94921583e-01 -6.89192787e-04 3.84111346e+01] [ 6.58955150e-03 2.60670614e-05 9.99978288e-01 -1.41677382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.121400513 meters 0.01895586269733512 Centerline is valid? [True, True] Translation: X:414.14, Y:38.43, Z:-1.41 [[ 9.95198749e-01 -9.76734896e-02 -6.27205148e-03 4.14143734e+02] [ 9.76712652e-02 9.95218512e-01 -6.60722817e-04 3.84289390e+01] [ 6.30659685e-03 4.49513177e-05 9.99980112e-01 -1.41443839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.181400513 meters 0.02143663485286864 Centerline is valid? [True, True] Translation: X:414.20, Y:38.44, Z:-1.42 [[ 9.95277804e-01 -9.68404722e-02 -6.63440804e-03 4.14200285e+02] [ 9.68379621e-02 9.95299915e-01 -6.99291841e-04 3.84413967e+01] [ 6.67094551e-03 5.35270940e-05 9.99977748e-01 -1.41535279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24140051300003 meters 0.008468219992061488 Centerline is valid? [True, True] Translation: X:414.26, Y:38.45, Z:-1.41 [[ 9.94805975e-01 -1.01595712e-01 -6.27560824e-03 4.14257609e+02] [ 1.01593557e-01 9.94825769e-01 -6.62057319e-04 3.84483858e+01] [ 6.31039898e-03 2.10572116e-05 9.99980089e-01 -1.41467968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30140051300003 meters 0.01213138936968112 Centerline is valid? [True, True] Translation: X:414.32, Y:38.45, Z:-1.41 [[ 9.94169061e-01 -1.07656543e-01 -6.16003120e-03 4.14315839e+02] [ 1.07654575e-01 9.94188145e-01 -6.51102227e-04 3.84512563e+01] [ 6.19432541e-03 -1.58498522e-05 9.99980815e-01 -1.41387059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.361400513 meters 0.025185171857707144 Centerline is valid? [True, True] Translation: X:414.37, Y:38.46, Z:-1.41 [[ 9.93477089e-01 -1.13907977e-01 -5.31475010e-03 4.14374725e+02] [ 1.13906597e-01 9.93491304e-01 -5.62684505e-04 3.84555941e+01] [ 5.34425226e-03 -4.63709327e-05 9.99985718e-01 -1.41190123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.421400513 meters 0.02473296880842519 Centerline is valid? [True, True] Translation: X:414.43, Y:38.46, Z:-1.41 [[ 9.92554553e-01 -1.21768551e-01 -2.80706543e-03 4.14433595e+02] [ 1.21768197e-01 9.92558521e-01 -2.97283758e-04 3.84587796e+01] [ 2.82237652e-03 -4.67409485e-05 9.99996016e-01 -1.40930861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.481400513 meters 0.025210411790927 Centerline is valid? [True, True] Translation: X:414.49, Y:38.46, Z:-1.41 [[ 9.91980267e-01 -1.26379387e-01 -1.84413307e-03 4.14492532e+02] [ 1.26379242e-01 9.91981980e-01 -1.95372235e-04 3.84583674e+01] [ 1.85403780e-03 -3.92547378e-05 9.99998281e-01 -1.40838053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.541400513 meters 0.02898764014784496 Centerline is valid? [True, True] Translation: X:414.55, Y:38.47, Z:-1.41 [[ 9.91198619e-01 -1.32351337e-01 -2.90188270e-03 4.14551896e+02] [ 1.32351004e-01 9.91202864e-01 -3.07460381e-04 3.84652569e+01] [ 2.91704724e-03 -7.93127828e-05 9.99995742e-01 -1.41051150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.601400513 meters 0.03382670677032819 Centerline is valid? [True, True] Translation: X:414.61, Y:38.47, Z:-1.41 [[ 9.90771877e-01 -1.35464319e-01 -4.52834802e-03 4.14611596e+02] [ 1.35463539e-01 9.90782216e-01 -4.79898866e-04 3.84704808e+01] [ 4.55161586e-03 -1.37955749e-04 9.99989632e-01 -1.41264856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.661400513 meters 0.03559820941536977 Centerline is valid? [True, True] Translation: X:414.67, Y:38.48, Z:-1.41 [[ 9.90600540e-01 -1.36733191e-01 -3.82151562e-03 4.14669343e+02] [ 1.36732644e-01 9.90607904e-01 -4.05227019e-04 3.84770184e+01] [ 3.84103156e-03 -1.21107832e-04 9.99992616e-01 -1.41077429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.721400513 meters 0.03416870868894729 Centerline is valid? [True, True] Translation: X:414.73, Y:38.49, Z:-1.41 [[ 9.90543418e-01 -1.37151607e-01 -3.62961817e-03 4.14727130e+02] [ 1.37151115e-01 9.90550061e-01 -3.85094979e-04 3.84854314e+01] [ 3.64813489e-03 -1.16352883e-04 9.99993339e-01 -1.41191303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.781400513 meters 0.03613097523162361 Centerline is valid? [True, True] Translation: X:414.79, Y:38.49, Z:-1.42 [[ 9.90148518e-01 -1.39890305e-01 -6.05104125e-03 4.14785919e+02] [ 1.39888989e-01 9.90166985e-01 -6.42312175e-04 3.84929068e+01] [ 6.08139452e-03 -2.10489594e-04 9.99981486e-01 -1.41545149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.841400513 meters 0.0452111527494443 Centerline is valid? [True, True] Translation: X:414.85, Y:38.50, Z:-1.42 [[ 9.89691632e-01 -1.43021276e-01 -7.44228679e-03 4.14845682e+02] [ 1.43019372e-01 9.89719574e-01 -7.90071949e-04 3.84965240e+01] [ 7.47877401e-03 -2.82463588e-04 9.99971994e-01 -1.41660684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.901400513 meters 0.04192082489980918 Centerline is valid? [True, True] Translation: X:414.91, Y:38.50, Z:-1.42 [[ 9.89201238e-01 -1.46336429e-01 -8.15848374e-03 4.14906426e+02] [ 1.46334254e-01 9.89234823e-01 -8.66101068e-04 3.84989369e+01] [ 8.19739836e-03 -3.37117384e-04 9.99966344e-01 -1.41799425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.961400513 meters 0.047788368103818986 Centerline is valid? [True, True] Translation: X:414.97, Y:38.50, Z:-1.42 [[ 9.88539053e-01 -1.50755374e-01 -7.95971472e-03 4.14966163e+02] [ 1.50753446e-01 9.88571031e-01 -8.45120047e-04 3.84957853e+01] [ 7.99614978e-03 -3.64520251e-04 9.99967964e-01 -1.41815420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.021400513 meters 0.0487093977010764 Centerline is valid? [True, True] Translation: X:415.03, Y:38.50, Z:-1.41 [[ 9.88263835e-01 -1.52623781e-01 -6.36971029e-03 4.15025650e+02] [ 1.52622584e-01 9.88284316e-01 -6.76458083e-04 3.85010907e+01] [ 6.39832837e-03 -3.03642586e-04 9.99979484e-01 -1.41490063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.081400513 meters 0.054042913433198336 Centerline is valid? [True, True] Translation: X:415.08, Y:38.50, Z:-1.41 [[ 9.88039639e-01 -1.54106508e-01 -5.37172464e-03 4.15084902e+02] [ 1.54105677e-01 9.88054206e-01 -5.70667756e-04 3.84972915e+01] [ 5.39549874e-03 -2.63970899e-04 9.99985409e-01 -1.41397818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.141400513 meters 0.05371892915880699 Centerline is valid? [True, True] Translation: X:415.14, Y:38.50, Z:-1.41 [[ 9.87780555e-01 -1.55747689e-01 -5.67743140e-03 4.15144850e+02] [ 1.55746788e-01 9.87796828e-01 -6.03277048e-04 3.84995398e+01] [ 5.70210774e-03 -2.88336366e-04 9.99983701e-01 -1.41468850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.201400513 meters 0.05627711125063056 Centerline is valid? [True, True] Translation: X:415.21, Y:38.50, Z:-1.41 [[ 9.87390780e-01 -1.58256278e-01 -3.79449449e-03 4.15205321e+02] [ 1.58255894e-01 9.87398050e-01 -4.03242771e-04 3.85001874e+01] [ 3.81049216e-03 -2.02342924e-04 9.99992720e-01 -1.41139777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.261400513 meters 0.05963518721774843 Centerline is valid? [True, True] Translation: X:415.27, Y:38.49, Z:-1.41 [[ 9.86595615e-01 -1.63182785e-01 -6.86593296e-04 4.15267038e+02] [ 1.63182773e-01 9.86595853e-01 -7.29633258e-05 3.84932052e+01] [ 6.89296457e-04 -4.00549009e-05 9.99999762e-01 -1.40807687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.321400513 meters 0.06755233859678947 Centerline is valid? [True, True] Translation: X:415.33, Y:38.49, Z:-1.41 [[ 9.86211329e-01 -1.65461163e-01 -3.13344677e-03 4.15327193e+02] [ 1.65460937e-01 9.86216288e-01 -3.33064877e-04 3.84855317e+01] [ 3.14536555e-03 -1.89990683e-04 9.99995035e-01 -1.41251172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.381400513 meters 0.059777941605091034 Centerline is valid? [True, True] Translation: X:415.39, Y:38.50, Z:-1.41 [[ 9.86220301e-01 -1.65358311e-01 -5.11342040e-03 4.15385302e+02] [ 1.65357703e-01 9.86233509e-01 -5.44395240e-04 3.84986663e+01] [ 5.13304682e-03 -3.08649816e-04 9.99986778e-01 -1.41443030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.441400513 meters 0.05975147587076657 Centerline is valid? [True, True] Translation: X:415.45, Y:38.50, Z:-1.41 [[ 9.86562781e-01 -1.63311975e-01 -4.80404757e-03 4.15445373e+02] [ 1.63311414e-01 9.86574437e-01 -5.11548622e-04 3.84984864e+01] [ 4.82309254e-03 -2.79880968e-04 9.99988330e-01 -1.41463027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.501400513 meters 0.05712183482998428 Centerline is valid? [True, True] Translation: X:415.51, Y:38.50, Z:-1.42 [[ 9.86942379e-01 -1.60979835e-01 -5.49844706e-03 4.15505498e+02] [ 1.60979063e-01 9.86957648e-01 -5.85627121e-04 3.85031143e+01] [ 5.52100853e-03 -3.07154633e-04 9.99984712e-01 -1.41593553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.561400513 meters 0.0618143175444834 Centerline is valid? [True, True] Translation: X:415.57, Y:38.50, Z:-1.42 [[ 9.87395824e-01 -1.58134952e-01 -6.54405064e-03 4.15565336e+02] [ 1.58133795e-01 9.87417448e-01 -6.97126060e-04 3.85021046e+01] [ 6.57194978e-03 -3.46496200e-04 9.99978344e-01 -1.41732545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.621400513 meters 0.05434408219225856 Centerline is valid? [True, True] Translation: X:415.62, Y:38.51, Z:-1.42 [[ 9.87711164e-01 -1.56120628e-01 -7.28054723e-03 4.15624194e+02] [ 1.56119141e-01 9.87737927e-01 -7.75757123e-04 3.85132221e+01] [ 7.31238431e-03 -3.70408805e-04 9.99973196e-01 -1.41841477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.681400513 meters 0.05048085669737278 Centerline is valid? [True, True] Translation: X:415.68, Y:38.52, Z:-1.42 [[ 9.87927150e-01 -1.54774895e-01 -6.68411587e-03 4.15682661e+02] [ 1.54773608e-01 9.87949707e-01 -7.12529529e-04 3.85197870e+01] [ 6.71385199e-03 -3.30597461e-04 9.99977407e-01 -1.41723456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74140051300003 meters 0.05295538997833547 Centerline is valid? [True, True] Translation: X:415.74, Y:38.52, Z:-1.41 [[ 9.88020443e-01 -1.54241345e-01 -5.02110348e-03 4.15741067e+02] [ 1.54240607e-01 9.88033171e-01 -5.36107115e-04 3.85243392e+01] [ 5.04370668e-03 -2.44773259e-04 9.99987250e-01 -1.41342188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80140051300003 meters 0.050078198992311904 Centerline is valid? [True, True] Translation: X:415.80, Y:38.53, Z:-1.42 [[ 9.87848657e-01 -1.55290613e-01 -6.31320753e-03 4.15799228e+02] [ 1.55289462e-01 9.87868780e-01 -6.75120941e-04 3.85311504e+01] [ 6.34146056e-03 -3.13457286e-04 9.99979844e-01 -1.41516285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.861400513 meters 0.057266915922529055 Centerline is valid? [True, True] Translation: X:415.86, Y:38.53, Z:-1.42 [[ 9.87801587e-01 -1.55566414e-01 -6.86403005e-03 4.15857164e+02] [ 1.55565056e-01 9.87825376e-01 -7.34496570e-04 3.85285095e+01] [ 6.89472607e-03 -3.42266344e-04 9.99976173e-01 -1.41792766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.921400513 meters 0.05171042609160263 Centerline is valid? [True, True] Translation: X:415.91, Y:38.54, Z:-1.41 [[ 9.87605360e-01 -1.56900831e-01 -4.21681903e-03 4.15914940e+02] [ 1.56900327e-01 9.87614339e-01 -4.51954577e-04 3.85419888e+01] [ 4.23550299e-03 -2.15267525e-04 9.99991007e-01 -1.41264568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.981400513 meters 0.052390780704873526 Centerline is valid? [True, True] Translation: X:415.97, Y:38.55, Z:-1.41 [[ 9.87592195e-01 -1.56927342e-01 -5.95530103e-03 4.15972656e+02] [ 1.56926331e-01 9.87610104e-01 -6.39425007e-04 3.85519635e+01] [ 5.98185874e-03 -3.03052396e-04 9.99982063e-01 -1.41387417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.041400513 meters 0.054489245178542395 Centerline is valid? [True, True] Translation: X:416.03, Y:38.56, Z:-1.42 [[ 9.87745721e-01 -1.55878626e-01 -7.76178705e-03 4.16029572e+02] [ 1.55876875e-01 9.87776141e-01 -8.33820371e-04 3.85646368e+01] [ 7.79688284e-03 -3.86280603e-04 9.99969529e-01 -1.41779331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.101400513 meters 0.05502326344050136 Centerline is valid? [True, True] Translation: X:416.09, Y:38.58, Z:-1.41 [[ 9.87857553e-01 -1.55226723e-01 -6.49000225e-03 4.16087374e+02] [ 1.55225477e-01 9.87878820e-01 -6.98228141e-04 3.85808363e+01] [ 6.51971943e-03 -3.17663755e-04 9.99978696e-01 -1.41482748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.161400513 meters 0.05256650881456343 Centerline is valid? [True, True] Translation: X:416.14, Y:38.60, Z:-1.41 [[ 9.88001877e-01 -1.54294410e-01 -6.74731425e-03 4.16143794e+02] [ 1.54293040e-01 9.88024863e-01 -7.26295004e-04 3.85952356e+01] [ 6.77857750e-03 -3.23482801e-04 9.99976973e-01 -1.41453614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.221400513 meters 0.048270749910719536 Centerline is valid? [True, True] Translation: X:416.20, Y:38.62, Z:-1.42 [[ 9.87631268e-01 -1.56616721e-01 -7.46194534e-03 4.16202444e+02] [ 1.56615112e-01 9.87659385e-01 -8.03208226e-04 3.86177711e+01] [ 7.49565618e-03 -3.75379842e-04 9.99971837e-01 -1.41659167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.281400513 meters 0.05625922546325544 Centerline is valid? [True, True] Translation: X:416.26, Y:38.62, Z:-1.42 [[ 9.86914639e-01 -1.61095118e-01 -6.91800325e-03 4.16261247e+02] [ 1.61093843e-01 9.86938812e-01 -7.44744849e-04 3.86242316e+01] [ 6.94762067e-03 -3.79448138e-04 9.99975793e-01 -1.41674331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.341400513 meters 0.06289139558240268 Centerline is valid? [True, True] Translation: X:416.32, Y:38.63, Z:-1.41 [[ 9.85504700e-01 -1.69564372e-01 -5.33017104e-03 4.16321617e+02] [ 1.69563739e-01 9.85519056e-01 -5.73796379e-04 3.86307037e+01] [ 5.35028055e-03 -3.38324703e-04 9.99985630e-01 -1.41405154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.401400513 meters 0.06522740379758488 Centerline is valid? [True, True] Translation: X:416.38, Y:38.64, Z:-1.42 [[ 9.84594924e-01 -1.74766741e-01 -5.42425831e-03 4.16381954e+02] [ 1.74766164e-01 9.84609794e-01 -5.83963233e-04 3.86371088e+01] [ 5.44283521e-03 -3.73009581e-04 9.99985118e-01 -1.41561568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.461400513 meters 0.07743923126173255 Centerline is valid? [True, True] Translation: X:416.44, Y:38.63, Z:-1.41 [[ 9.83757498e-01 -1.79453588e-01 -4.19455381e-03 4.16442666e+02] [ 1.79453284e-01 9.83766392e-01 -4.51614501e-04 3.86306497e+01] [ 4.20750492e-03 -3.08447307e-04 9.99991101e-01 -1.41441777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.521400513 meters 0.08251452182048362 Centerline is valid? [True, True] Translation: X:416.50, Y:38.64, Z:-1.42 [[ 9.83426164e-01 -1.81171229e-01 -7.06859546e-03 4.16502537e+02] [ 1.81170411e-01 9.83451424e-01 -7.61166555e-04 3.86351621e+01] [ 7.08952175e-03 -5.32069243e-04 9.99974727e-01 -1.41739027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.581400513 meters 0.07371741682788277 Centerline is valid? [True, True] Translation: X:416.56, Y:38.65, Z:-1.42 [[ 9.83859004e-01 -1.78725914e-01 -8.86048912e-03 4.16562143e+02] [ 1.78724530e-01 9.83898690e-01 -9.54175818e-04 3.86488225e+01] [ 8.88835958e-03 -6.44812286e-04 9.99960290e-01 -1.41939317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.641400513 meters 0.062077106031474386 Centerline is valid? [True, True] Translation: X:416.62, Y:38.67, Z:-1.41 [[ 9.84944196e-01 -1.72730675e-01 -7.00318924e-03 4.16620085e+02] [ 1.72729658e-01 9.84968982e-01 -7.54259829e-04 3.86705036e+01] [ 7.02820799e-03 -4.66754645e-04 9.99975193e-01 -1.41475904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.701400513 meters 0.0632462142075366 Centerline is valid? [True, True] Translation: X:416.68, Y:38.67, Z:-1.41 [[ 9.85907123e-01 -1.67209323e-01 -5.30908257e-03 4.16679448e+02] [ 1.67208658e-01 9.85921365e-01 -5.71856707e-04 3.86736777e+01] [ 5.32995771e-03 -3.23926973e-04 9.99985743e-01 -1.41247727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.761400513 meters 0.05206081249774446 Centerline is valid? [True, True] Translation: X:416.74, Y:38.69, Z:-1.41 [[ 9.87110554e-01 -1.59957732e-01 -5.12630477e-03 4.16737400e+02] [ 1.59957015e-01 9.87123826e-01 -5.52218811e-04 3.86948363e+01] [ 5.14862925e-03 -2.74887394e-04 9.99986708e-01 -1.41143438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.821400513 meters 0.051717873883750175 Centerline is valid? [True, True] Translation: X:416.80, Y:38.70, Z:-1.41 [[ 9.87439245e-01 -1.57907472e-01 -5.38221915e-03 4.16795913e+02] [ 1.57906650e-01 9.87453874e-01 -5.79916883e-04 3.87040049e+01] [ 5.40626636e-03 -2.77255508e-04 9.99985348e-01 -1.41191726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.881400513 meters 0.0522870136336431 Centerline is valid? [True, True] Translation: X:416.85, Y:38.71, Z:-1.41 [[ 9.87265628e-01 -1.58981094e-01 -5.62063616e-03 4.16853466e+02] [ 1.58980213e-01 9.87281583e-01 -6.05943631e-04 3.87140229e+01] [ 5.64548415e-03 -2.95342616e-04 9.99984021e-01 -1.41243137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.941400513 meters 0.058653323028919735 Centerline is valid? [True, True] Translation: X:416.91, Y:38.72, Z:-1.41 [[ 9.86368412e-01 -1.64453931e-01 -5.67989503e-03 4.16912581e+02] [ 1.64453122e-01 9.86384710e-01 -6.12346893e-04 3.87200790e+01] [ 5.70326446e-03 -3.30076839e-04 9.99983682e-01 -1.41268940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.001400513 meters 0.061733748092864124 Centerline is valid? [True, True] Translation: X:416.97, Y:38.73, Z:-1.41 [[ 9.85866080e-01 -1.67406522e-01 -6.56724089e-03 4.16972152e+02] [ 1.67405506e-01 9.85887872e-01 -7.08033741e-04 3.87294526e+01] [ 6.59309261e-03 -4.01365837e-04 9.99978185e-01 -1.41408390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.061400513 meters 0.06591156905343348 Centerline is valid? [True, True] Translation: X:417.03, Y:38.74, Z:-1.42 [[ 9.84901869e-01 -1.72956966e-01 -7.36175709e-03 4.17031370e+02] [ 1.72955843e-01 9.84929260e-01 -7.93743575e-04 3.87416708e+01] [ 7.38809344e-03 -4.91499375e-04 9.99972587e-01 -1.41579233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.121400513 meters 0.0704510900438899 Centerline is valid? [True, True] Translation: X:417.09, Y:38.74, Z:-1.42 [[ 9.84076833e-01 -1.77533034e-01 -8.64915868e-03 4.17091971e+02] [ 1.77531659e-01 9.84114648e-01 -9.32640552e-04 3.87448506e+01] [ 8.67733826e-03 -6.17709526e-04 9.99962160e-01 -1.41850203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.181400513 meters 0.07883130448437772 Centerline is valid? [True, True] Translation: X:417.15, Y:38.75, Z:-1.42 [[ 9.83250279e-01 -1.81955507e-01 -1.05396070e-02 4.17152373e+02] [ 1.81953717e-01 9.83306439e-01 -1.13657680e-03 3.87480416e+01] [ 1.05704699e-02 -8.00181210e-04 9.99943811e-01 -1.42135951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24140051300003 meters 0.08491815370924817 Centerline is valid? [True, True] Translation: X:417.21, Y:38.75, Z:-1.42 [[ 9.82628327e-01 -1.85375682e-01 -8.79929773e-03 4.17211562e+02] [ 1.85374569e-01 9.82667476e-01 -9.49104719e-04 3.87480916e+01] [ 8.82272462e-03 -6.98548839e-04 9.99960835e-01 -1.41968572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30140051300003 meters 0.07895818700152067 Centerline is valid? [True, True] Translation: X:417.27, Y:38.76, Z:-1.42 [[ 9.82679124e-01 -1.85157139e-01 -7.65326347e-03 4.17268957e+02] [ 1.85156281e-01 9.82708740e-01 -8.26744271e-04 3.87638665e+01] [ 7.67400651e-03 -6.04625465e-04 9.99970372e-01 -1.41730270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.361400513 meters 0.07996801768411509 Centerline is valid? [True, True] Translation: X:417.33, Y:38.77, Z:-1.42 [[ 9.83014435e-01 -1.83364784e-01 -7.74441064e-03 4.17327707e+02] [ 1.83363849e-01 9.83044759e-01 -8.36739576e-04 3.87708710e+01] [ 7.76653087e-03 -5.97517861e-04 9.99969662e-01 -1.41751987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.421400513 meters 0.07803297273389294 Centerline is valid? [True, True] Translation: X:417.39, Y:38.78, Z:-1.42 [[ 9.82935608e-01 -1.83817539e-01 -6.97877852e-03 4.17385380e+02] [ 1.83816783e-01 9.82960233e-01 -7.55159830e-04 3.87811069e+01] [ 6.99867338e-03 -5.40543131e-04 9.99975363e-01 -1.41530033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.481400513 meters 0.08692099721242673 Centerline is valid? [True, True] Translation: X:417.45, Y:38.78, Z:-1.41 [[ 9.82490903e-01 -1.86218377e-01 -5.86017508e-03 4.17445535e+02] [ 1.86217886e-01 9.82508268e-01 -6.34185838e-04 3.87783393e+01] [ 5.87576752e-03 -4.68187595e-04 9.99982628e-01 -1.41405110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.541400513 meters 0.07854779837448254 Centerline is valid? [True, True] Translation: X:417.50, Y:38.79, Z:-1.41 [[ 9.82342443e-01 -1.86988789e-01 -6.20617297e-03 4.17503986e+02] [ 1.86988252e-01 9.82361920e-01 -6.71774735e-04 3.87904761e+01] [ 6.22232234e-03 -5.00568600e-04 9.99980516e-01 -1.41346368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.601400513 meters 0.07261006342313524 Centerline is valid? [True, True] Translation: X:417.56, Y:38.80, Z:-1.41 [[ 9.82851664e-01 -1.84256245e-01 -7.22792124e-03 4.17563037e+02] [ 1.84255443e-01 9.82878080e-01 -7.82433637e-04 3.88042696e+01] [ 7.24833363e-03 -5.62767631e-04 9.99973572e-01 -1.41420768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.661400513 meters 0.06303927751301334 Centerline is valid? [True, True] Translation: X:417.62, Y:38.83, Z:-1.41 [[ 9.84446574e-01 -1.75549590e-01 -6.87641881e-03 4.17621570e+02] [ 1.75548652e-01 9.84470475e-01 -7.44460832e-04 3.88253536e+01] [ 6.90032109e-03 -4.74264136e-04 9.99976080e-01 -1.41272061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.721400513 meters 0.06016824845143002 Centerline is valid? [True, True] Translation: X:417.68, Y:38.84, Z:-1.41 [[ 9.85693258e-01 -1.68473625e-01 -5.04373776e-03 4.17679375e+02] [ 1.68473028e-01 9.85706113e-01 -5.46120738e-04 3.88419370e+01] [ 5.06365008e-03 -3.11426243e-04 9.99987131e-01 -1.41052947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.781400513 meters 0.054895411167118296 Centerline is valid? [True, True] Translation: X:417.74, Y:38.86, Z:-1.41 [[ 9.86500572e-01 -1.63664728e-01 -5.52065296e-03 4.17738402e+02] [ 1.63663937e-01 9.86515970e-01 -5.97849918e-04 3.88599370e+01] [ 5.54405925e-03 -3.13752510e-04 9.99984582e-01 -1.41055517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.841400513 meters 0.06188846119776696 Centerline is valid? [True, True] Translation: X:417.80, Y:38.87, Z:-1.41 [[ 9.86332119e-01 -1.64623565e-01 -6.93052770e-03 4.17796711e+02] [ 1.64622340e-01 9.86356387e-01 -7.50778104e-04 3.88682605e+01] [ 6.95956603e-03 -4.00403129e-04 9.99975702e-01 -1.41295936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.901400513 meters 0.06743261156862043 Centerline is valid? [True, True] Translation: X:417.86, Y:38.87, Z:-1.41 [[ 9.85500006e-01 -1.69540669e-01 -6.76008107e-03 4.17857363e+02] [ 1.69539619e-01 9.85523100e-01 -7.32299122e-04 3.88719698e+01] [ 6.78637054e-03 -4.24420780e-04 9.99976882e-01 -1.41353272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.961400513 meters 0.06892276295262541 Centerline is valid? [True, True] Translation: X:417.92, Y:38.88, Z:-1.42 [[ 9.83993108e-01 -1.77935021e-01 -9.83315521e-03 4.17917738e+02] [ 1.77933215e-01 9.84041989e-01 -1.06518522e-03 3.88796029e+01] [ 9.86577136e-03 -7.01510004e-04 9.99951086e-01 -1.41713618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.021400513 meters 0.07341639052408129 Centerline is valid? [True, True] Translation: X:417.98, Y:38.88, Z:-1.42 [[ 9.83289584e-01 -1.81826098e-01 -8.99242675e-03 4.17978417e+02] [ 1.81824750e-01 9.83330469e-01 -9.74103584e-04 3.88805022e+01] [ 9.01964467e-03 -6.77219839e-04 9.99959093e-01 -1.41594379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.081400513 meters 0.0814817846424781 Centerline is valid? [True, True] Translation: X:418.04, Y:38.88, Z:-1.41 [[ 9.82877097e-01 -1.84126569e-01 -7.07241085e-03 4.18039071e+02] [ 1.84125794e-01 9.82902388e-01 -7.66170258e-04 3.88750735e+01] [ 7.09256182e-03 -5.49162064e-04 9.99974697e-01 -1.41378603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.141400513 meters 0.07299301929972556 Centerline is valid? [True, True] Translation: X:418.10, Y:38.89, Z:-1.41 [[ 9.82840185e-01 -1.84329012e-01 -6.92716558e-03 4.18095254e+02] [ 1.84328264e-01 9.82864449e-01 -7.51765331e-04 3.88901515e+01] [ 6.94703695e-03 -5.38007232e-04 9.99975724e-01 -1.41339902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.201400513 meters 0.07820124506834815 Centerline is valid? [True, True] Translation: X:418.15, Y:38.88, Z:-1.41 [[ 9.82908922e-01 -1.83929300e-01 -7.75004106e-03 4.18153961e+02] [ 1.83928348e-01 9.82939294e-01 -8.41490714e-04 3.88846778e+01] [ 7.77259468e-03 -5.98343516e-04 9.99969614e-01 -1.41474825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.261400513 meters 0.07193945380611537 Centerline is valid? [True, True] Translation: X:418.21, Y:38.90, Z:-1.41 [[ 9.83040305e-01 -1.83232263e-01 -7.59584590e-03 4.18212277e+02] [ 1.83231319e-01 9.83069479e-01 -8.25931275e-04 3.88974368e+01] [ 7.61858153e-03 -5.79873132e-04 9.99970810e-01 -1.41382664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.321400513 meters 0.07257971667744433 Centerline is valid? [True, True] Translation: X:418.27, Y:38.90, Z:-1.41 [[ 9.82985618e-01 -1.83563899e-01 -6.60080254e-03 4.18271341e+02] [ 1.83563187e-01 9.83007650e-01 -7.18830478e-04 3.88999677e+01] [ 6.62059072e-03 -5.05064328e-04 9.99977956e-01 -1.41385489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.381400513 meters 0.08518554505426794 Centerline is valid? [True, True] Translation: X:418.33, Y:38.89, Z:-1.41 [[ 9.82388914e-01 -1.86739210e-01 -6.36303816e-03 4.18332594e+02] [ 1.86738614e-01 9.82409390e-01 -6.92982134e-04 3.88863436e+01] [ 6.38051537e-03 -5.07446958e-04 9.99979516e-01 -1.41393157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.441400513 meters 0.08961308617923779 Centerline is valid? [True, True] Translation: X:418.39, Y:38.89, Z:-1.42 [[ 9.81737916e-01 -1.90073065e-01 -7.93057556e-03 4.18393414e+02] [ 1.90072246e-01 9.81769726e-01 -8.63784678e-04 3.88852461e+01] [ 7.95018120e-03 -6.59372139e-04 9.99968179e-01 -1.41667753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.501400513 meters 0.08547385351329803 Centerline is valid? [True, True] Translation: X:418.45, Y:38.89, Z:-1.42 [[ 9.81009963e-01 -1.93797456e-01 -7.87388445e-03 4.18453743e+02] [ 1.93796767e-01 9.81041323e-01 -8.57678773e-04 3.88909758e+01] [ 7.89082199e-03 -6.84541930e-04 9.99968633e-01 -1.41610010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.561400513 meters 0.09140768186588623 Centerline is valid? [True, True] Translation: X:418.51, Y:38.89, Z:-1.42 [[ 9.81047567e-01 -1.93623740e-01 -7.45113685e-03 4.18511879e+02] [ 1.93623115e-01 9.81075649e-01 -8.12061145e-04 3.88871295e+01] [ 7.46736324e-03 -6.46041719e-04 9.99971910e-01 -1.41586056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.621400513 meters 0.0798509980551231 Centerline is valid? [True, True] Translation: X:418.57, Y:38.91, Z:-1.41 [[ 9.81535690e-01 -1.91120011e-01 -7.79943081e-03 4.18570816e+02] [ 1.91119247e-01 9.81566458e-01 -8.50012638e-04 3.89056022e+01] [ 7.81811409e-03 -6.56303605e-04 9.99969223e-01 -1.41469091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.681400513 meters 0.0753835221711135 Centerline is valid? [True, True] Translation: X:418.63, Y:38.92, Z:-1.42 [[ 9.82794856e-01 -1.84506769e-01 -8.45717468e-03 4.18629691e+02] [ 1.84505627e-01 9.82831025e-01 -9.21768693e-04 3.89179512e+01] [ 8.48204622e-03 -6.54486787e-04 9.99963813e-01 -1.41512075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74140051300003 meters 0.07320531140844486 Centerline is valid? [True, True] Translation: X:418.69, Y:38.93, Z:-1.41 [[ 9.84116203e-01 -1.77492679e-01 -3.41290794e-03 4.18688732e+02] [ 1.77492450e-01 9.84122092e-01 -3.72047473e-04 3.89263058e+01] [ 3.42475380e-03 -2.39627446e-04 9.99994107e-01 -1.40873652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80140051300003 meters 0.07023136269680114 Centerline is valid? [True, True] Translation: X:418.75, Y:38.94, Z:-1.41 [[ 9.84223965e-01 -1.76920012e-01 -1.57992144e-03 4.18747216e+02] [ 1.76919962e-01 9.84225227e-01 -1.72491605e-04 3.89369060e+01] [ 1.58551575e-03 -1.09749269e-04 9.99998737e-01 -1.40601826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.861400513 meters 0.07260110798052123 Centerline is valid? [True, True] Translation: X:418.81, Y:38.94, Z:-1.41 [[ 9.83868355e-01 -1.78879708e-01 -2.26058523e-03 4.18807128e+02] [ 1.78879610e-01 9.83870939e-01 -2.46796691e-04 3.89448402e+01] [ 2.26827104e-03 -1.61557152e-04 9.99997414e-01 -1.40655509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.921400513 meters 0.07152967875321517 Centerline is valid? [True, True] Translation: X:418.87, Y:38.95, Z:-1.41 [[ 9.83184558e-01 -1.82540905e-01 -5.19064102e-03 4.18867522e+02] [ 1.82540443e-01 9.83198182e-01 -5.66734859e-04 3.89473907e+01] [ 5.20688111e-03 -3.90296949e-04 9.99986368e-01 -1.41075631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.981400513 meters 0.07485977820367358 Centerline is valid? [True, True] Translation: X:418.93, Y:38.95, Z:-1.41 [[ 9.82662868e-01 -1.85314566e-01 -5.67448823e-03 4.18927858e+02] [ 1.85314059e-01 9.82679152e-01 -6.19585812e-04 3.89485412e+01] [ 5.69101956e-03 -4.42718476e-04 9.99983708e-01 -1.41274551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.041400513 meters 0.07961041764283186 Centerline is valid? [True, True] Translation: X:418.99, Y:38.95, Z:-1.41 [[ 9.81708088e-01 -1.90324987e-01 -5.06258392e-03 4.18988432e+02] [ 1.90324649e-01 9.81721051e-01 -5.52835082e-04 3.89459241e+01] [ 5.07526353e-03 -4.20811838e-04 9.99987032e-01 -1.41174776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.101400513 meters 0.08099621401847157 Centerline is valid? [True, True] Translation: X:419.05, Y:38.95, Z:-1.41 [[ 9.81611956e-01 -1.90808576e-01 -5.48235647e-03 4.19047812e+02] [ 1.90808182e-01 9.81627158e-01 -5.99589451e-04 3.89473140e+01] [ 5.49603682e-03 -4.57514298e-04 9.99984792e-01 -1.41246714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.161400513 meters 0.08594810950081337 Centerline is valid? [True, True] Translation: X:419.11, Y:38.95, Z:-1.41 [[ 9.81873482e-01 -1.89477335e-01 -4.77536013e-03 4.19107757e+02] [ 1.89477020e-01 9.81885017e-01 -5.22356927e-04 3.89455007e+01] [ 4.78782936e-03 -3.91932593e-04 9.99988461e-01 -1.41200513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.221400513 meters 0.07207260786110259 Centerline is valid? [True, True] Translation: X:419.17, Y:38.97, Z:-1.41 [[ 9.83080789e-01 -1.83130091e-01 -3.94095582e-03 4.19165418e+02] [ 1.83129826e-01 9.83088643e-01 -4.31126527e-04 3.89686064e+01] [ 3.95326116e-03 -2.97874348e-04 9.99992141e-01 -1.41025362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.281400513 meters 0.07418975475712387 Centerline is valid? [True, True] Translation: X:419.22, Y:38.97, Z:-1.41 [[ 9.83894306e-01 -1.78698678e-01 -4.33315190e-03 4.19224736e+02] [ 1.78698315e-01 9.83903800e-01 -4.74104798e-04 3.89738447e+01] [ 4.34812652e-03 -3.07857930e-04 9.99990499e-01 -1.41153884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.341400513 meters 0.07283445294522696 Centerline is valid? [True, True] Translation: X:419.28, Y:38.98, Z:-1.41 [[ 9.84380244e-01 -1.75990094e-01 -4.79811843e-03 4.19284779e+02] [ 1.75989616e-01 9.84391883e-01 -5.25003095e-04 3.89821725e+01] [ 4.81562418e-03 -3.27616343e-04 9.99988351e-01 -1.41303091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.401400513 meters 0.06683844624685273 Centerline is valid? [True, True] Translation: X:419.34, Y:38.99, Z:-1.41 [[ 9.84293035e-01 -1.76481342e-01 -4.64301418e-03 4.19342360e+02] [ 1.76480896e-01 9.84303934e-01 -5.08823123e-04 3.89943606e+01] [ 4.65993491e-03 -3.18572248e-04 9.99989092e-01 -1.41173257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.461400513 meters 0.06675057051698317 Centerline is valid? [True, True] Translation: X:419.40, Y:39.00, Z:-1.41 [[ 9.84383581e-01 -1.75984216e-01 -4.30352574e-03 4.19401069e+02] [ 1.75983825e-01 9.84392945e-01 -4.72275270e-04 3.90018148e+01] [ 4.31947337e-03 -2.92450899e-04 9.99990628e-01 -1.41117763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.521400513 meters 0.06398128956098069 Centerline is valid? [True, True] Translation: X:419.46, Y:39.01, Z:-1.41 [[ 9.84676489e-01 -1.74342227e-01 -4.12315809e-03 4.19459760e+02] [ 1.74341854e-01 9.84685083e-01 -4.52558089e-04 3.90139079e+01] [ 4.13891225e-03 -2.73215714e-04 9.99991397e-01 -1.41070543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.581400513 meters 0.06314506792002143 Centerline is valid? [True, True] Translation: X:419.52, Y:39.02, Z:-1.41 [[ 9.85020591e-01 -1.72388709e-01 -4.07043110e-03 4.19518812e+02] [ 1.72388329e-01 9.85028966e-01 -4.46816579e-04 3.90237066e+01] [ 4.08651867e-03 -2.61571284e-04 9.99991616e-01 -1.41016213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.641400513 meters 0.0527724754024365 Centerline is valid? [True, True] Translation: X:419.58, Y:39.05, Z:-1.41 [[ 9.85406652e-01 -1.70194819e-01 -2.73014084e-03 4.19576362e+02] [ 1.70194639e-01 9.85410420e-01 -2.99726002e-04 3.90496582e+01] [ 2.74132104e-03 -1.69303339e-04 9.99996228e-01 -1.40719381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.701400513 meters 0.05841725239034917 Centerline is valid? [True, True] Translation: X:419.63, Y:39.05, Z:-1.41 [[ 9.85591352e-01 -1.69120601e-01 -2.81218924e-03 4.19634492e+02] [ 1.69120405e-01 9.85595350e-01 -3.08878714e-04 3.90542305e+01] [ 2.82391839e-03 -1.71170394e-04 9.99995998e-01 -1.40872600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.761400513 meters 0.06012606288127871 Centerline is valid? [True, True] Translation: X:419.69, Y:39.07, Z:-1.41 [[ 9.85428860e-01 -1.70028566e-01 -4.49985723e-03 4.19691875e+02] [ 1.70028071e-01 9.85439095e-01 -4.95001451e-04 3.90706076e+01] [ 4.51849963e-03 -2.77313330e-04 9.99989753e-01 -1.41147583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.821400513 meters 0.06356508317690507 Centerline is valid? [True, True] Translation: X:419.75, Y:39.08, Z:-1.41 [[ 9.85187401e-01 -1.71428256e-01 -4.25883908e-03 4.19749230e+02] [ 1.71427825e-01 9.85196570e-01 -4.68704243e-04 3.90805213e+01] [ 4.27614281e-03 -2.68322005e-04 9.99990821e-01 -1.41175119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.881400513 meters 0.06109787757795704 Centerline is valid? [True, True] Translation: X:419.81, Y:39.10, Z:-1.41 [[ 9.84789590e-01 -1.73722518e-01 -3.15438028e-03 4.19807276e+02] [ 1.73722293e-01 9.84794620e-01 -3.47186279e-04 3.91010063e+01] [ 3.16673080e-03 -2.06080742e-04 9.99994965e-01 -1.40968540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.941400513 meters 0.07016768488623883 Centerline is valid? [True, True] Translation: X:419.87, Y:39.11, Z:-1.41 [[ 9.84569774e-01 -1.74961123e-01 -3.31150152e-03 4.19865789e+02] [ 1.74960882e-01 9.84575318e-01 -3.64600146e-04 3.91077504e+01] [ 3.32421351e-03 -2.20408943e-04 9.99994450e-01 -1.40978096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.001400513 meters 0.06423703488231572 Centerline is valid? [True, True] Translation: X:419.92, Y:39.13, Z:-1.41 [[ 9.84388317e-01 -1.75943995e-01 -4.83236427e-03 4.19923035e+02] [ 1.75943492e-01 9.84400124e-01 -5.32215785e-04 3.91286204e+01] [ 4.85062016e-03 -3.26316045e-04 9.99988182e-01 -1.41192617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.061400513 meters 0.07376895798314509 Centerline is valid? [True, True] Translation: X:419.98, Y:39.14, Z:-1.41 [[ 9.83831267e-01 -1.79015153e-01 -5.44176725e-03 4.19982137e+02] [ 1.79014562e-01 9.83846242e-01 -5.99335973e-04 3.91353119e+01] [ 5.46115248e-03 -3.84510113e-04 9.99985014e-01 -1.41475776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.121400513 meters 0.07412028884316944 Centerline is valid? [True, True] Translation: X:420.04, Y:39.15, Z:-1.41 [[ 9.83044711e-01 -1.83297294e-01 -5.01976752e-03 4.20040365e+02] [ 1.83296847e-01 9.83057455e-01 -5.52912508e-04 3.91521183e+01] [ 5.03606725e-03 -3.76569844e-04 9.99987248e-01 -1.41390119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.181400513 meters 0.07137741360148142 Centerline is valid? [True, True] Translation: X:420.10, Y:39.17, Z:-1.41 [[ 9.82750956e-01 -1.84870047e-01 -4.86048726e-03 4.20099736e+02] [ 1.84869647e-01 9.82762905e-01 -5.35366541e-04 3.91670161e+01] [ 4.87567982e-03 -3.72424582e-04 9.99988044e-01 -1.41339497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24140051300003 meters 0.07248375213856376 Centerline is valid? [True, True] Translation: X:420.16, Y:39.17, Z:-1.41 [[ 9.82814782e-01 -1.84533546e-01 -4.74066423e-03 4.20157046e+02] [ 1.84533161e-01 9.82826149e-01 -5.22454982e-04 3.91732809e+01] [ 4.75565924e-03 -3.61333274e-04 9.99988627e-01 -1.41437126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30140051300003 meters 0.06895472985261589 Centerline is valid? [True, True] Translation: X:420.22, Y:39.19, Z:-1.41 [[ 9.83315111e-01 -1.81883642e-01 -3.11969852e-03 4.20215944e+02] [ 1.81883462e-01 9.83320033e-01 -3.43815085e-04 3.91879397e+01] [ 3.13019640e-03 -2.29342998e-04 9.99995075e-01 -1.41251615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.361400513 meters 0.07599965246662746 Centerline is valid? [True, True] Translation: X:420.27, Y:39.19, Z:-1.41 [[ 9.84020550e-01 -1.78042386e-01 -2.11306515e-03 4.20274777e+02] [ 1.78042294e-01 9.84022808e-01 -2.32934752e-04 3.91916109e+01] [ 2.12077656e-03 -1.47002383e-04 9.99997740e-01 -1.40989889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.421400513 meters 0.062492117611603344 Centerline is valid? [True, True] Translation: X:420.33, Y:39.23, Z:-1.41 [[ 9.85027602e-01 -1.72335691e-01 -4.58611786e-03 4.20332102e+02] [ 1.72335197e-01 9.85038235e-01 -5.05556340e-04 3.92250695e+01] [ 4.60462685e-03 -2.92362577e-04 9.99989356e-01 -1.41344421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.481400513 meters 0.05583788812093582 Centerline is valid? [True, True] Translation: X:420.39, Y:39.25, Z:-1.41 [[ 9.85262442e-01 -1.71007363e-01 -3.79510737e-03 4.20390137e+02] [ 1.71007015e-01 9.85269722e-01 -4.18405266e-04 3.92454142e+01] [ 3.81075477e-03 -2.36750989e-04 9.99992711e-01 -1.41341097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.541400513 meters 0.06151496479735711 Centerline is valid? [True, True] Translation: X:420.45, Y:39.25, Z:-1.41 [[ 9.84618852e-01 -1.74678466e-01 -3.62617024e-03 4.20448982e+02] [ 1.74678172e-01 9.84625500e-01 -3.99865524e-04 3.92495430e+01] [ 3.64026758e-03 -2.39697656e-04 9.99993345e-01 -1.41363482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.601400513 meters 0.06471014256098495 Centerline is valid? [True, True] Translation: X:420.51, Y:39.26, Z:-1.42 [[ 9.83832126e-01 -1.78998419e-01 -5.82350962e-03 4.20509064e+02] [ 1.78997738e-01 9.83849276e-01 -6.42156361e-04 3.92567884e+01] [ 5.84440069e-03 -4.10620991e-04 9.99982837e-01 -1.41668287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.661400513 meters 0.0744354986612835 Centerline is valid? [True, True] Translation: X:420.57, Y:39.25, Z:-1.42 [[ 9.83221639e-01 -1.82366874e-01 -4.18715898e-03 4.20568711e+02] [ 1.82366552e-01 9.83230506e-01 -4.61647100e-04 3.92546032e+01] [ 4.20113158e-03 -3.09696330e-04 9.99991127e-01 -1.41512486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.721400513 meters 0.07035931998751467 Centerline is valid? [True, True] Translation: X:420.63, Y:39.27, Z:-1.41 [[ 9.82826516e-01 -1.84526328e-01 -1.44006911e-03 4.20627504e+02] [ 1.84526292e-01 9.82827565e-01 -1.58799277e-04 3.92694725e+01] [ 1.44464227e-03 -1.09658475e-04 9.99998950e-01 -1.41043983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.781400513 meters 0.08163933249512738 Centerline is valid? [True, True] Translation: X:420.69, Y:39.26, Z:-1.41 [[ 9.82214598e-01 -1.87759637e-01 -8.95881164e-04 4.20687614e+02] [ 1.87759625e-01 9.82215004e-01 -9.87799572e-05 3.92640089e+01] [ 8.98494810e-04 -7.11871951e-05 9.99999594e-01 -1.40960915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.841400513 meters 0.07404818816687933 Centerline is valid? [True, True] Translation: X:420.75, Y:39.28, Z:-1.41 [[ 9.82031223e-01 -1.88712131e-01 -1.55191314e-03 4.20745788e+02] [ 1.88712094e-01 9.82032441e-01 -1.71156256e-04 3.92793066e+01] [ 1.55632831e-03 -1.24783991e-04 9.99998781e-01 -1.41016750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.901400513 meters 0.06779278547596572 Centerline is valid? [True, True] Translation: X:420.81, Y:39.29, Z:-1.41 [[ 9.83333980e-01 -1.81778228e-01 -3.31052728e-03 4.20805221e+02] [ 1.81778023e-01 9.83339523e-01 -3.65112196e-04 3.92919249e+01] [ 3.32174177e-03 -2.42753876e-04 9.99994454e-01 -1.41232394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.961400513 meters 0.06381213180834032 Centerline is valid? [True, True] Translation: X:420.86, Y:39.31, Z:-1.41 [[ 9.84930585e-01 -1.72936212e-01 -2.19289658e-03 4.20863707e+02] [ 1.72936100e-01 9.84933016e-01 -2.41850737e-04 3.93059607e+01] [ 2.20168099e-03 -1.41024795e-04 9.99997566e-01 -1.41022684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.021400513 meters 0.05668513522533751 Centerline is valid? [True, True] Translation: X:420.92, Y:39.32, Z:-1.41 [[ 9.86670342e-01 -1.62718408e-01 -2.08707322e-03 4.20921229e+02] [ 1.62718284e-01 9.86672543e-01 -2.30191107e-04 3.93234176e+01] [ 2.09671417e-03 -1.12482234e-04 9.99997796e-01 -1.41018817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.081400513 meters 0.0429249371459449 Centerline is valid? [True, True] Translation: X:420.98, Y:39.35, Z:-1.41 [[ 9.88000456e-01 -1.54428068e-01 -2.65915755e-03 4.20978857e+02] [ 1.54427837e-01 9.88004027e-01 -2.93275946e-04 3.93496026e+01] [ 2.67254841e-03 -1.20891180e-04 9.99996421e-01 -1.41202855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.141400513 meters 0.040284187115494 Centerline is valid? [True, True] Translation: X:421.04, Y:39.36, Z:-1.41 [[ 9.88312974e-01 -1.52419484e-01 -2.40129363e-03 4.21040142e+02] [ 1.52419290e-01 9.88315886e-01 -2.64744366e-04 3.93596168e+01] [ 2.41358884e-03 -1.04353179e-04 9.99997082e-01 -1.41191054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.201400513 meters 0.036490123721166605 Centerline is valid? [True, True] Translation: X:421.10, Y:39.37, Z:-1.41 [[ 9.89091323e-01 -1.47300143e-01 -1.01073768e-03 4.21100020e+02] [ 1.47300106e-01 9.89091839e-01 -1.11437123e-04 3.93714435e+01] [ 1.01612709e-03 -3.86602764e-05 9.99999483e-01 -1.41042361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.261400513 meters 0.030168307551916136 Centerline is valid? [True, True] Translation: X:421.16, Y:39.39, Z:-1.41 [[ 9.90122125e-01 -1.40206995e-01 4.20382824e-04 4.21159328e+02] [ 1.40206988e-01 9.90122214e-01 4.63472082e-05 3.93875154e+01] [-4.22728575e-04 1.30512131e-05 9.99999911e-01 -1.40818463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.321400513 meters 0.023281587156083153 Centerline is valid? [True, True] Translation: X:421.22, Y:39.40, Z:-1.40 [[ 9.91384720e-01 -1.30942037e-01 3.24337383e-03 4.21217243e+02] [ 1.30941568e-01 9.91390023e-01 3.57613836e-04 3.94029622e+01] [-3.26227514e-03 7.01595610e-05 9.99994676e-01 -1.40466363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.381400513 meters 0.024837947651702625 Centerline is valid? [True, True] Translation: X:421.28, Y:39.41, Z:-1.41 [[ 9.91664424e-01 -1.28825608e-01 2.37322195e-03 4.21278264e+02] [ 1.28825351e-01 9.91667263e-01 2.61565510e-04 3.94148974e+01] [-2.38714285e-03 4.63459402e-05 9.99997150e-01 -1.40715546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.441400513 meters 0.01565181688467841 Centerline is valid? [True, True] Translation: X:421.34, Y:39.43, Z:-1.41 [[ 9.92342814e-01 -1.23514118e-01 4.45283892e-05 4.21338076e+02] [ 1.23514118e-01 9.92342815e-01 4.91057510e-06 3.94267055e+01] [-4.47939525e-05 6.26910805e-07 9.99999999e-01 -1.41036882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.501400513 meters 0.012720100874474446 Centerline is valid? [True, True] Translation: X:421.40, Y:39.44, Z:-1.41 [[ 9.92746145e-01 -1.20229150e-01 2.05750644e-04 4.21399182e+02] [ 1.20229148e-01 9.92746167e-01 2.26694459e-05 3.94381473e+01] [-2.06983691e-04 2.23221952e-06 9.99999979e-01 -1.40948825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.561400513 meters 0.009899268597270684 Centerline is valid? [True, True] Translation: X:421.46, Y:39.45, Z:-1.41 [[ 9.93207959e-01 -1.16351857e-01 4.41045189e-04 4.21461203e+02] [ 1.16351847e-01 9.93208057e-01 4.85597249e-05 3.94478634e+01] [-4.43699649e-04 3.08651716e-06 9.99999902e-01 -1.40943026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.621400513 meters 0.007388751172016429 Centerline is valid? [True, True] Translation: X:421.52, Y:39.46, Z:-1.41 [[ 9.94114409e-01 -1.08332676e-01 -7.56768311e-04 4.21521514e+02] [ 1.08332644e-01 9.94114697e-01 -8.32697523e-05 3.94626328e+01] [ 7.61335336e-04 7.96948995e-07 9.99999710e-01 -1.41249356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.681400513 meters 0.022448980689144284 Centerline is valid? [True, True] Translation: X:421.58, Y:39.47, Z:-1.41 [[ 9.94624530e-01 -1.03542655e-01 -9.81266532e-04 4.21583174e+02] [ 1.03542598e-01 9.94625014e-01 -1.07923962e-04 3.94746124e+01] [ 9.87166972e-04 5.74093400e-06 9.99999513e-01 -1.41300599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74140051300003 meters 0.011409638597451121 Centerline is valid? [True, True] Translation: X:421.65, Y:39.48, Z:-1.41 [[ 9.94897259e-01 -1.00876746e-01 -1.82381390e-03 4.21645613e+02] [ 1.00876548e-01 9.94898930e-01 -2.00508871e-04 3.94789814e+01] [ 1.83473718e-03 1.55056750e-05 9.99998317e-01 -1.41460472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80140051300003 meters 0.012311249134348392 Centerline is valid? [True, True] Translation: X:421.71, Y:39.47, Z:-1.42 [[ 9.94467213e-01 -1.04995618e-01 -3.29882953e-03 4.21708553e+02] [ 1.04994994e-01 9.94472684e-01 -3.62397613e-04 3.94699569e+01] [ 3.31864602e-03 1.40319584e-05 9.99994493e-01 -1.41835723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.861400513 meters 0.007499138349044678 Centerline is valid? [True, True] Translation: X:421.77, Y:39.46, Z:-1.42 [[ 9.94098648e-01 -1.08437568e-01 -3.02855659e-03 4.21771941e+02] [ 1.08437058e-01 9.94103261e-01 -3.32554641e-04 3.94639373e+01] [ 3.04675940e-03 2.18435261e-06 9.99995359e-01 -1.41618183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.921400513 meters 0.011265818252376884 Centerline is valid? [True, True] Translation: X:421.83, Y:39.46, Z:-1.42 [[ 9.94033086e-01 -1.09052265e-01 -2.41392370e-03 4.21834021e+02] [ 1.09051944e-01 9.94036017e-01 -2.64972959e-04 3.94613432e+01] [ 2.42842300e-03 1.48817299e-07 9.99997051e-01 -1.41561329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.981400513 meters 0.010835774291572148 Centerline is valid? [True, True] Translation: X:421.89, Y:39.46, Z:-1.41 [[ 9.94800100e-01 -1.01846751e-01 2.37923232e-05 4.21894912e+02] [ 1.01846751e-01 9.94800100e-01 2.62414177e-06 3.94633766e+01] [-2.39358659e-05 -1.87325673e-07 1.00000000e+00 -1.41241235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.041400513 meters 0.015689767133931335 Centerline is valid? [True, True] Translation: X:421.96, Y:39.47, Z:-1.41 [[ 9.95413125e-01 -9.56611013e-02 1.28994812e-03 4.21956500e+02] [ 9.56609983e-02 9.95413961e-01 1.41448197e-04 3.94684538e+01] [-1.29756346e-03 -1.74016667e-05 9.99999158e-01 -1.41027911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.101400513 meters 0.02137279958796718 Centerline is valid? [True, True] Translation: X:422.02, Y:39.47, Z:-1.41 [[ 9.95975063e-01 -8.96307483e-02 4.48518024e-05 4.22018150e+02] [ 8.96307482e-02 9.95975064e-01 4.92103568e-06 3.94709332e+01] [-4.51123529e-05 -8.81128225e-07 9.99999999e-01 -1.41180898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.161400513 meters 0.023654109971599408 Centerline is valid? [True, True] Translation: X:422.08, Y:39.47, Z:-1.41 [[ 9.96049922e-01 -8.87893717e-02 1.00023477e-03 4.22080017e+02] [ 8.87893064e-02 9.96050424e-01 1.09620051e-04 3.94721285e+01] [-1.00601737e-03 -2.03768919e-05 9.99999494e-01 -1.41030112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.221400513 meters 0.02071352672489882 Centerline is valid? [True, True] Translation: X:422.14, Y:39.46, Z:-1.41 [[ 9.95820061e-01 -9.13169571e-02 1.90255032e-03 4.22143181e+02] [ 9.13167255e-02 9.95821878e-01 2.08413873e-04 3.94641146e+01] [-1.91363295e-03 -3.38080506e-05 9.99998168e-01 -1.40872572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.281400513 meters 0.02100291744988167 Centerline is valid? [True, True] Translation: X:422.21, Y:39.46, Z:-1.41 [[ 9.95581169e-01 -9.39048827e-02 8.98226877e-05 4.22206587e+02] [ 9.39048822e-02 9.95581173e-01 9.84315147e-06 3.94553996e+01] [-9.03500968e-05 -1.36486734e-06 9.99999996e-01 -1.41362258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.341400513 meters 0.015451959319171127 Centerline is valid? [True, True] Translation: X:422.27, Y:39.45, Z:-1.41 [[ 9.95371187e-01 -9.61028384e-02 -6.66527843e-04 4.22267761e+02] [ 9.61028111e-02 9.95371410e-01 -7.29682825e-05 3.94483362e+01] [ 6.70455218e-04 8.57532661e-06 9.99999775e-01 -1.41450602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.401400513 meters 0.018978275425012944 Centerline is valid? [True, True] Translation: X:422.33, Y:39.44, Z:-1.41 [[ 9.95537522e-01 -9.43611348e-02 -1.00920667e-03 4.22329225e+02] [ 9.43610713e-02 9.95538033e-01 -1.10486279e-04 3.94409169e+01] [ 1.01512923e-03 1.47634140e-05 9.99999485e-01 -1.41369938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.461400513 meters 0.024195850737926277 Centerline is valid? [True, True] Translation: X:422.39, Y:39.45, Z:-1.42 [[ 9.96085793e-01 -8.83762600e-02 -1.65238766e-03 4.22388573e+02] [ 8.83760815e-02 9.96087163e-01 -1.80900671e-04 3.94489514e+01] [ 1.66190946e-03 3.41610422e-05 9.99998618e-01 -1.41516065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.521400513 meters 0.03479459566966135 Centerline is valid? [True, True] Translation: X:422.45, Y:39.46, Z:-1.42 [[ 9.96953085e-01 -7.79507933e-02 -2.86707877e-03 4.22448830e+02] [ 7.79502127e-02 9.96957204e-01 -3.13879677e-04 3.94554170e+01] [ 2.88282200e-03 8.94339126e-05 9.99995841e-01 -1.41744765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.581400513 meters 0.0386333221648545 Centerline is valid? [True, True] Translation: X:422.51, Y:39.46, Z:-1.42 [[ 9.97421717e-01 -7.17107023e-02 -2.73742141e-03 4.22509405e+02] [ 7.17101495e-02 9.97425468e-01 -2.99686297e-04 3.94555536e+01] [ 2.75186454e-03 1.02612723e-04 9.99996208e-01 -1.41682137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.641400513 meters 0.04196823943994949 Centerline is valid? [True, True] Translation: X:422.57, Y:39.46, Z:-1.41 [[ 9.97541541e-01 -7.00646468e-02 -1.34910682e-03 4.22569301e+02] [ 7.00645111e-02 9.97542451e-01 -1.47648950e-04 3.94611482e+01] [ 1.35613630e-03 5.27614512e-05 9.99999079e-01 -1.41479309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.701400513 meters 0.04113580917677861 Centerline is valid? [True, True] Translation: X:422.63, Y:39.45, Z:-1.42 [[ 9.97369291e-01 -7.24848285e-02 -6.68439084e-04 4.22629796e+02] [ 7.24847957e-02 9.97369515e-01 -7.31680765e-05 3.94544608e+01] [ 6.71984340e-04 2.45239221e-05 9.99999774e-01 -1.41548018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.761400513 meters 0.04165358270797896 Centerline is valid? [True, True] Translation: X:422.69, Y:39.45, Z:-1.42 [[ 9.97180600e-01 -7.50200437e-02 -1.68666927e-03 4.22691094e+02] [ 7.50198386e-02 9.97182024e-01 -1.84642074e-04 3.94471542e+01] [ 1.69576814e-03 5.75878381e-05 9.99998561e-01 -1.41706511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.821400513 meters 0.036164673870226975 Centerline is valid? [True, True] Translation: X:422.75, Y:39.44, Z:-1.42 [[ 9.97054958e-01 -7.66242909e-02 -3.18250822e-03 4.22751504e+02] [ 7.66235685e-02 9.97060032e-01 -3.48471983e-04 3.94436815e+01] [ 3.19985317e-03 1.03590582e-04 9.99994875e-01 -1.41897919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.881400513 meters 0.04003374365455509 Centerline is valid? [True, True] Translation: X:422.81, Y:39.44, Z:-1.42 [[ 9.96965877e-01 -7.78141648e-02 -1.99880386e-03 4.22811539e+02] [ 7.78138815e-02 9.96967879e-01 -2.19231938e-04 3.94387753e+01] [ 2.00980260e-03 6.30320743e-05 9.99997978e-01 -1.41771234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.941400513 meters 0.03550355608112256 Centerline is valid? [True, True] Translation: X:422.87, Y:39.44, Z:-1.42 [[ 9.97063017e-01 -7.65719671e-02 -1.44045723e-03 4.22870478e+02] [ 7.65718183e-02 9.97064056e-01 -1.58246890e-04 3.94413227e+01] [ 1.44834540e-03 4.74836925e-05 9.99998950e-01 -1.41657340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.001400513 meters 0.03444029839554181 Centerline is valid? [True, True] Translation: X:422.93, Y:39.44, Z:-1.42 [[ 9.97079363e-01 -7.63613693e-02 -1.29802490e-03 4.22930256e+02] [ 7.63612480e-02 9.97080207e-01 -1.42833259e-04 3.94357095e+01] [ 1.30514188e-03 4.32972933e-05 9.99999147e-01 -1.41684250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.061400513 meters 0.037029420715969354 Centerline is valid? [True, True] Translation: X:422.99, Y:39.43, Z:-1.42 [[ 9.96713270e-01 -8.09690509e-02 -2.58251812e-03 4.22989661e+02] [ 8.09685860e-02 9.96716613e-01 -2.84220593e-04 3.94320667e+01] [ 2.59705179e-03 7.41835959e-05 9.99996625e-01 -1.42027903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.121400513 meters 0.024190321620714092 Centerline is valid? [True, True] Translation: X:423.05, Y:39.42, Z:-1.42 [[ 9.96320215e-01 -8.56792645e-02 -2.25664465e-03 4.23051377e+02] [ 8.56789216e-02 9.96322769e-01 -2.48381966e-04 3.94214723e+01] [ 2.26962763e-03 5.41210937e-05 9.99997423e-01 -1.41909005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.181400513 meters 0.02314443463323657 Centerline is valid? [True, True] Translation: X:423.11, Y:39.41, Z:-1.42 [[ 9.95892611e-01 -9.05419501e-02 -2.51436587e-04 4.23111832e+02] [ 9.05419460e-02 9.95892642e-01 -2.76852908e-05 3.94145920e+01] [ 2.52910527e-04 4.80601864e-06 9.99999968e-01 -1.41601695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24140051300003 meters 0.028122548406969695 Centerline is valid? [True, True] Translation: X:423.17, Y:39.41, Z:-1.42 [[ 9.95668054e-01 -9.29791691e-02 4.31535816e-07 4.23170813e+02] [ 9.29791691e-02 9.95668054e-01 1.86801516e-08 3.94121361e+01] [-4.31403286e-07 2.15246118e-08 1.00000000e+00 -1.41607969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30140051300003 meters 0.02059119037847046 Centerline is valid? [True, True] Translation: X:423.23, Y:39.42, Z:-1.42 [[ 9.95616407e-01 -9.35293762e-02 -4.74392138e-04 4.23228677e+02] [ 9.35293619e-02 9.95616520e-01 -5.23458642e-05 3.94171138e+01] [ 4.77208526e-04 7.74680732e-06 9.99999886e-01 -1.41643001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.361400513 meters 0.026931760344589842 Centerline is valid? [True, True] Translation: X:423.29, Y:39.41, Z:-1.42 [[ 9.95522019e-01 -9.45294388e-02 3.06694077e-04 4.23288390e+02] [ 9.45294328e-02 9.95522067e-01 3.38587338e-05 3.94126160e+01] [-3.08521368e-04 -4.71549791e-06 9.99999952e-01 -1.41500388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.421400513 meters 0.023360239119418428 Centerline is valid? [True, True] Translation: X:423.35, Y:39.42, Z:-1.41 [[ 9.95427250e-01 -9.55166255e-02 1.07931153e-03 4.23346172e+02] [ 9.55165522e-02 9.95427835e-01 1.19341061e-04 3.94181358e+01] [-1.08577579e-03 -1.57032288e-05 9.99999410e-01 -1.41366640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.481400513 meters 0.018590177681407895 Centerline is valid? [True, True] Translation: X:423.41, Y:39.42, Z:-1.41 [[ 9.94992763e-01 -9.99323409e-02 1.71128457e-03 4.23405614e+02] [ 9.99321628e-02 9.94994235e-01 1.89498255e-04 3.94161716e+01] [-1.72165529e-03 -1.75370235e-05 9.99998518e-01 -1.41294028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.541400513 meters 0.024231920289020697 Centerline is valid? [True, True] Translation: X:423.47, Y:39.41, Z:-1.41 [[ 9.94351222e-01 -1.06125680e-01 1.72830377e-03 4.23465430e+02] [ 1.06125507e-01 9.94352724e-01 1.91664725e-04 3.94145920e+01] [-1.73888411e-03 -7.16493993e-06 9.99998488e-01 -1.41170219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.601400513 meters 0.010539347032917814 Centerline is valid? [True, True] Translation: X:423.53, Y:39.41, Z:-1.42 [[ 9.93005571e-01 -1.18064011e-01 -9.08407736e-04 4.23525431e+02] [ 1.18063968e-01 9.93005987e-01 -1.00948128e-04 3.94054049e+01] [ 9.13972661e-04 -7.00816827e-06 9.99999582e-01 -1.41688384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.661400513 meters 0.017379122573751064 Centerline is valid? [True, True] Translation: X:423.59, Y:39.40, Z:-1.42 [[ 9.92021322e-01 -1.26043656e-01 -2.58725815e-03 4.23585701e+02] [ 1.26043335e-01 9.92024695e-01 -2.87530753e-04 3.94005913e+01] [ 2.60286540e-03 -4.08700067e-05 9.99996612e-01 -1.41840980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.721400513 meters 0.035185013364690605 Centerline is valid? [True, True] Translation: X:423.65, Y:39.39, Z:-1.42 [[ 9.90546631e-01 -1.37138842e-01 -3.21096359e-03 4.23645842e+02] [ 1.37138406e-01 9.90551831e-01 -3.56761984e-04 3.93927984e+01] [ 3.22955179e-03 -8.69570464e-05 9.99994781e-01 -1.41989263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.781400513 meters 0.03505010238337705 Centerline is valid? [True, True] Translation: X:423.71, Y:39.39, Z:-1.42 [[ 9.89875324e-01 -1.41934101e-01 -1.24622679e-03 4.23706140e+02] [ 1.41934039e-01 9.89876108e-01 -1.38483734e-04 3.93940461e+01] [ 1.25326569e-03 -3.98003702e-05 9.99999214e-01 -1.41664523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.841400513 meters 0.03639689803797686 Centerline is valid? [True, True] Translation: X:423.77, Y:39.40, Z:-1.42 [[ 9.89542281e-01 -1.44210222e-01 -3.07985470e-03 4.23765149e+02] [ 1.44209854e-01 9.89547068e-01 -3.42353028e-04 3.94005766e+01] [ 3.09703200e-03 -1.05372602e-04 9.99995199e-01 -1.42021578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.901400513 meters 0.03728205424250814 Centerline is valid? [True, True] Translation: X:423.82, Y:39.41, Z:-1.42 [[ 9.89194969e-01 -1.46465469e-01 -6.41706666e-03 4.23824071e+02] [ 1.46463918e-01 9.89215756e-01 -7.13542364e-04 3.94072777e+01] [ 6.45237277e-03 -2.34036209e-04 9.99979156e-01 -1.42496721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.961400513 meters 0.03950242282385403 Centerline is valid? [True, True] Translation: X:423.88, Y:39.41, Z:-1.43 [[ 9.89075670e-01 -1.47236323e-01 -7.12626794e-03 4.23881194e+02] [ 1.47234425e-01 9.89101307e-01 -7.93164975e-04 3.94130344e+01] [ 7.16538363e-03 -2.64731781e-04 9.99974293e-01 -1.42531041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.021400513 meters 0.03932050992393199 Centerline is valid? [True, True] Translation: X:423.94, Y:39.42, Z:-1.42 [[ 9.89227438e-01 -1.46319997e-01 -4.41972119e-03 4.23938356e+02] [ 1.46319257e-01 9.89237299e-01 -4.92183842e-04 3.94219405e+01] [ 4.44416939e-03 -1.59808559e-04 9.99990112e-01 -1.42081762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.081400513 meters 0.039227584434466785 Centerline is valid? [True, True] Translation: X:424.00, Y:39.43, Z:-1.41 [[ 9.89100505e-01 -1.47241681e-01 2.81005190e-04 4.23996308e+02] [ 1.47241678e-01 9.89100545e-01 3.13109251e-05 3.94322347e+01] [-2.82552660e-04 1.04060240e-05 9.99999960e-01 -1.41367445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.141400513 meters 0.040817939776079455 Centerline is valid? [True, True] Translation: X:424.06, Y:39.44, Z:-1.42 [[ 9.88852659e-01 -1.48896095e-01 -6.09350640e-04 4.24055569e+02] [ 1.48896081e-01 9.88852847e-01 -6.79767009e-05 3.94373829e+01] [ 6.12679580e-04 -2.35109809e-05 9.99999812e-01 -1.41604774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.201400513 meters 0.04957590238488468 Centerline is valid? [True, True] Translation: X:424.12, Y:39.44, Z:-1.42 [[ 9.88416974e-01 -1.51760893e-01 -7.18479835e-04 4.24115563e+02] [ 1.51760875e-01 9.88417235e-01 -8.01584438e-05 3.94411213e+01] [ 7.22322769e-04 -2.98071619e-05 9.99999739e-01 -1.41574054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.261400513 meters 0.05033096833454503 Centerline is valid? [True, True] Translation: X:424.18, Y:39.44, Z:-1.42 [[ 9.87692882e-01 -1.56400279e-01 -1.31295107e-03 4.24176177e+02] [ 1.56400222e-01 9.87693753e-01 -1.46486619e-04 3.94436763e+01] [ 1.31970412e-03 -6.06620487e-05 9.99999127e-01 -1.41602593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.321400513 meters 0.054315948079123245 Centerline is valid? [True, True] Translation: X:424.24, Y:39.45, Z:-1.42 [[ 9.86960018e-01 -1.60962046e-01 -1.06916954e-03 4.24236534e+02] [ 1.60962011e-01 9.86960595e-01 -1.19295011e-04 3.94475035e+01] [ 1.07443017e-03 -5.43562728e-05 9.99999421e-01 -1.41561471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.381400513 meters 0.06571992983110905 Centerline is valid? [True, True] Translation: X:424.30, Y:39.44, Z:-1.42 [[ 9.86091310e-01 -1.66197488e-01 -1.52419867e-03 4.24297632e+02] [ 1.66197423e-01 9.86092484e-01 -1.70079666e-04 3.94385364e+01] [ 1.53126766e-03 -8.56038095e-05 9.99998824e-01 -1.41660152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.441400513 meters 0.062442046781161116 Centerline is valid? [True, True] Translation: X:424.36, Y:39.45, Z:-1.42 [[ 9.86012825e-01 -1.66645495e-01 -2.82619669e-03 4.24356114e+02] [ 1.66645272e-01 9.86016863e-01 -3.15841559e-04 3.94463865e+01] [ 2.83931117e-03 -1.59548488e-04 9.99995956e-01 -1.41765526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.501400513 meters 0.05582665530609659 Centerline is valid? [True, True] Translation: X:424.41, Y:39.46, Z:-1.42 [[ 9.85805292e-01 -1.67830721e-01 -4.55800096e-03 4.24414451e+02] [ 1.67830154e-01 9.85815794e-01 -5.09450013e-04 3.94603678e+01] [ 4.57885070e-03 -2.62751483e-04 9.99989482e-01 -1.41995119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.561400513 meters 0.06029255355384825 Centerline is valid? [True, True] Translation: X:424.48, Y:39.46, Z:-1.42 [[ 9.85093419e-01 -1.71938507e-01 -5.30142517e-03 4.24475061e+02] [ 1.71937798e-01 9.85107630e-01 -5.92605504e-04 3.94590021e+01] [ 5.32436609e-03 -3.27743589e-04 9.99985772e-01 -1.42048123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.621400513 meters 0.07160805242621365 Centerline is valid? [True, True] Translation: X:424.53, Y:39.46, Z:-1.42 [[ 9.85108337e-01 -1.71831921e-01 -5.94610811e-03 4.24533893e+02] [ 1.71831024e-01 9.85126214e-01 -6.65214616e-04 3.94554454e+01] [ 5.97197207e-03 -3.66417381e-04 9.99982100e-01 -1.42288069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.681400513 meters 0.059102761716945326 Centerline is valid? [True, True] Translation: X:424.59, Y:39.48, Z:-1.42 [[ 9.85829284e-01 -1.67678966e-01 -4.93837737e-03 4.24592189e+02] [ 1.67678295e-01 9.85841612e-01 -5.52592651e-04 3.94756289e+01] [ 4.96111607e-03 -2.83296681e-04 9.99987653e-01 -1.42060907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74140051300003 meters 0.053931374006907284 Centerline is valid? [True, True] Translation: X:424.65, Y:39.50, Z:-1.42 [[ 9.87145462e-01 -1.59756912e-01 -4.64386955e-03 4.24650267e+02] [ 1.59756231e-01 9.87156359e-01 -5.19701589e-04 3.94968566e+01] [ 4.66725127e-03 -2.28866030e-04 9.99989082e-01 -1.42040729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80140051300003 meters 0.04658788074010171 Centerline is valid? [True, True] Translation: X:424.71, Y:39.51, Z:-1.42 [[ 9.87711407e-01 -1.56259152e-01 -3.04206094e-03 4.24709382e+02] [ 1.56258843e-01 9.87716082e-01 -3.40460777e-04 3.95121051e+01] [ 3.05789263e-03 -1.39071931e-04 9.99995315e-01 -1.41766620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.861400513 meters 0.04836490827495846 Centerline is valid? [True, True] Translation: X:424.77, Y:39.52, Z:-1.42 [[ 9.87613564e-01 -1.56846732e-01 -4.30702015e-03 4.24766650e+02] [ 1.56846116e-01 9.87622936e-01 -4.82429847e-04 3.95214196e+01] [ 4.32937943e-03 -1.99085122e-04 9.99990608e-01 -1.42045764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.921400513 meters 0.049879093798021454 Centerline is valid? [True, True] Translation: X:424.83, Y:39.53, Z:-1.42 [[ 9.86995128e-01 -1.60680874e-01 -4.71960150e-03 4.24826959e+02] [ 1.60680178e-01 9.87006383e-01 -5.28649408e-04 3.95271532e+01] [ 4.74322065e-03 -2.36572020e-04 9.99988723e-01 -1.42036880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.981400513 meters 0.057118675190713626 Centerline is valid? [True, True] Translation: X:424.89, Y:39.53, Z:-1.42 [[ 9.86321487e-01 -1.64781411e-01 -4.12449188e-03 4.24886715e+02] [ 1.64780915e-01 9.86330085e-01 -4.62050447e-04 3.95303931e+01] [ 4.14424775e-03 -2.23907265e-04 9.99991388e-01 -1.41977140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.041400513 meters 0.060625542525338645 Centerline is valid? [True, True] Translation: X:424.95, Y:39.54, Z:-1.42 [[ 9.86129145e-01 -1.65944318e-01 -3.43391446e-03 4.24945528e+02] [ 1.65943981e-01 9.86135106e-01 -3.84770826e-04 3.95393335e+01] [ 3.45015413e-03 -1.90403712e-04 9.99994030e-01 -1.41956040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.101400513 meters 0.059198800048164704 Centerline is valid? [True, True] Translation: X:425.00, Y:39.55, Z:-1.42 [[ 9.85802245e-01 -1.67872649e-01 -3.56473227e-03 4.25004433e+02] [ 1.67872298e-01 9.85808669e-01 -3.99471041e-04 3.95508935e+01] [ 3.58120424e-03 -2.04620350e-04 9.99993567e-01 -1.41936659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.161400513 meters 0.06392271966828339 Centerline is valid? [True, True] Translation: X:425.06, Y:39.55, Z:-1.42 [[ 9.85580653e-01 -1.69164141e-01 -3.77755087e-03 4.25062868e+02] [ 1.69163756e-01 9.85587867e-01 -4.23457320e-04 3.95547668e+01] [ 3.79474210e-03 -2.21673353e-04 9.99992775e-01 -1.42009914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.221400513 meters 0.06866216031418285 Centerline is valid? [True, True] Translation: X:425.12, Y:39.56, Z:-1.42 [[ 9.84888502e-01 -1.73156309e-01 -3.39572285e-03 4.25122128e+02] [ 1.73156021e-01 9.84894333e-01 -3.80675237e-04 3.95638690e+01] [ 3.41034451e-03 -2.13067194e-04 9.99994162e-01 -1.42066720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.281400513 meters 0.06900964147870792 Centerline is valid? [True, True] Translation: X:425.18, Y:39.57, Z:-1.42 [[ 9.84538828e-01 -1.75131824e-01 -3.48438403e-03 4.25181850e+02] [ 1.75131534e-01 9.84544968e-01 -3.90656017e-04 3.95725996e+01] [ 3.49894906e-03 -2.25609502e-04 9.99993853e-01 -1.42173488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.341400513 meters 0.0676557722734746 Centerline is valid? [True, True] Translation: X:425.24, Y:39.58, Z:-1.42 [[ 9.84216181e-01 -1.76905482e-01 -4.79155647e-03 4.25241131e+02] [ 1.76904954e-01 9.84227793e-01 -5.37267371e-04 3.95819220e+01] [ 4.81102860e-03 -3.18862837e-04 9.99988376e-01 -1.42283360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.401400513 meters 0.07027209427274027 Centerline is valid? [True, True] Translation: X:425.30, Y:39.59, Z:-1.42 [[ 9.83850928e-01 -1.78895564e-01 -5.80754691e-03 4.25300765e+02] [ 1.78894822e-01 9.83867988e-01 -6.51256663e-04 3.95877282e+01] [ 5.83036642e-03 -3.98200597e-04 9.99982924e-01 -1.42394143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.461400513 meters 0.06429161057758065 Centerline is valid? [True, True] Translation: X:425.36, Y:39.60, Z:-1.43 [[ 9.83707761e-01 -1.79608195e-01 -7.74193234e-03 4.25358482e+02] [ 1.79606887e-01 9.83738080e-01 -8.69518890e-04 3.96003478e+01] [ 7.77220638e-03 -5.35151889e-04 9.99969653e-01 -1.42646151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.521400513 meters 0.073769568711175 Centerline is valid? [True, True] Translation: X:425.42, Y:39.60, Z:-1.43 [[ 9.83967373e-01 -1.78156752e-01 -8.26920235e-03 4.25417941e+02] [ 1.78155208e-01 9.84001961e-01 -9.28909966e-04 3.96020516e+01] [ 8.30240291e-03 -5.59184364e-04 9.99965378e-01 -1.42840462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.581400513 meters 0.06859441079369927 Centerline is valid? [True, True] Translation: X:425.48, Y:39.62, Z:-1.42 [[ 9.84438840e-01 -1.75610246e-01 -6.41964872e-03 4.25476623e+02] [ 1.75609262e-01 9.84459683e-01 -7.21184504e-04 3.96160724e+01] [ 6.44653273e-03 -4.17387735e-04 9.99979134e-01 -1.42472413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.641400513 meters 0.0695999071147183 Centerline is valid? [True, True] Translation: X:425.53, Y:39.63, Z:-1.42 [[ 9.85119180e-01 -1.71789282e-01 -5.35200570e-03 4.25534750e+02] [ 1.71788541e-01 9.85133664e-01 -6.01347964e-04 3.96279349e+01] [ 5.37574611e-03 -3.27013835e-04 9.99985497e-01 -1.42393261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.701400513 meters 0.06554658886955772 Centerline is valid? [True, True] Translation: X:425.59, Y:39.64, Z:-1.42 [[ 9.84683809e-01 -1.74283439e-01 -4.80406292e-03 4.25593742e+02] [ 1.74282870e-01 9.84695481e-01 -5.39861088e-04 3.96426496e+01] [ 4.82462789e-03 -3.05673402e-04 9.99988315e-01 -1.42289074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.761400513 meters 0.06926901926314812 Centerline is valid? [True, True] Translation: X:425.65, Y:39.65, Z:-1.42 [[ 9.83811452e-01 -1.79135155e-01 -5.06196342e-03 4.25653531e+02] [ 1.79134588e-01 9.83824413e-01 -5.68894182e-04 3.96466423e+01] [ 5.08199214e-03 -3.47088122e-04 9.99987026e-01 -1.42298357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.821400513 meters 0.07582469671453414 Centerline is valid? [True, True] Translation: X:425.71, Y:39.64, Z:-1.42 [[ 9.82118911e-01 -1.88178072e-01 -5.60866132e-03 4.25714087e+02] [ 1.88177522e-01 9.82134829e-01 -6.30396837e-04 3.96410685e+01] [ 5.62708849e-03 -4.36299332e-04 9.99984073e-01 -1.42449249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.881400513 meters 0.08562788539545438 Centerline is valid? [True, True] Translation: X:425.77, Y:39.63, Z:-1.43 [[ 9.81463100e-01 -1.91547939e-01 -6.29056577e-03 4.25774968e+02] [ 1.91547316e-01 9.81483126e-01 -7.07105582e-04 3.96341722e+01] [ 6.30952877e-03 -5.10942951e-04 9.99979964e-01 -1.42634945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.941400513 meters 0.08298253533320334 Centerline is valid? [True, True] Translation: X:425.83, Y:39.65, Z:-1.43 [[ 9.81508131e-01 -1.91328344e-01 -5.93750847e-03 4.25832776e+02] [ 1.91327778e-01 9.81525972e-01 -6.68410312e-04 3.96460544e+01] [ 5.95570461e-03 -4.79960148e-04 9.99982149e-01 -1.42538632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.001400513 meters 0.0742009926239032 Centerline is valid? [True, True] Translation: X:425.89, Y:39.66, Z:-1.42 [[ 9.82340329e-01 -1.87031934e-01 -5.15111584e-03 4.25891831e+02] [ 1.87031449e-01 9.82353755e-01 -5.79895353e-04 3.96626337e+01] [ 5.16867694e-03 -3.93766070e-04 9.99986565e-01 -1.42422608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.061400513 meters 0.07675309689913841 Centerline is valid? [True, True] Translation: X:425.95, Y:39.67, Z:-1.43 [[ 9.83761699e-01 -1.79390101e-01 -5.66665836e-03 4.25951080e+02] [ 1.79389388e-01 9.83777943e-01 -6.37982995e-04 3.96696696e+01] [ 5.68918134e-03 -3.88915138e-04 9.99983741e-01 -1.42526767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.121400513 meters 0.07670322867465215 Centerline is valid? [True, True] Translation: X:426.01, Y:39.68, Z:-1.43 [[ 9.84213849e-01 -1.76865109e-01 -6.46777537e-03 4.26010034e+02] [ 1.76864125e-01 9.84235008e-01 -7.28291987e-04 3.96786008e+01] [ 6.49462038e-03 -4.27122370e-04 9.99978819e-01 -1.42738745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.181400513 meters 0.0696894550599975 Centerline is valid? [True, True] Translation: X:426.07, Y:39.70, Z:-1.43 [[ 9.84541352e-01 -1.75057678e-01 -5.75632208e-03 4.26068709e+02] [ 1.75056867e-01 9.84558111e-01 -6.48325804e-04 3.96956255e+01] [ 5.78092800e-03 -3.69380145e-04 9.99983222e-01 -1.42522497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24140051300003 meters 0.06894406496950685 Centerline is valid? [True, True] Translation: X:426.13, Y:39.70, Z:-1.43 [[ 9.84546055e-01 -1.75024684e-01 -5.95191370e-03 4.26126834e+02] [ 1.75023811e-01 9.84563972e-01 -6.71346759e-04 3.97027380e+01] [ 5.97754205e-03 -3.80754813e-04 9.99982062e-01 -1.42500674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30140051300003 meters 0.07488944085181005 Centerline is valid? [True, True] Translation: X:426.18, Y:39.71, Z:-1.43 [[ 9.84733001e-01 -1.73973340e-01 -5.84744248e-03 4.26184811e+02] [ 1.73972478e-01 9.84750294e-01 -6.59812255e-04 3.97076791e+01] [ 5.87306045e-03 -3.67555154e-04 9.99982686e-01 -1.42599895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.361400513 meters 0.06160234080995644 Centerline is valid? [True, True] Translation: X:426.24, Y:39.73, Z:-1.43 [[ 9.84936062e-01 -1.72803938e-01 -6.30502239e-03 4.26241729e+02] [ 1.72802905e-01 9.84956166e-01 -7.12436078e-04 3.97305798e+01] [ 6.33328244e-03 -3.87822198e-04 9.99979869e-01 -1.42539970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.421400513 meters 0.0589815593879203 Centerline is valid? [True, True] Translation: X:426.30, Y:39.74, Z:-1.42 [[ 9.85537935e-01 -1.69377273e-01 -5.13004768e-03 4.26299248e+02] [ 1.69376542e-01 9.85551242e-01 -5.79772880e-04 3.97442159e+01] [ 5.15412521e-03 -2.97521571e-04 9.99986673e-01 -1.42266760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.481400513 meters 0.05289427297199641 Centerline is valid? [True, True] Translation: X:426.36, Y:39.77, Z:-1.42 [[ 9.85986319e-01 -1.66692451e-01 -6.67872790e-03 4.26356649e+02] [ 1.66691149e-01 9.86008870e-01 -7.54960107e-04 3.97660803e+01] [ 6.71113109e-03 -3.68904490e-04 9.99977412e-01 -1.42434454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.541400513 meters 0.05561483116704523 Centerline is valid? [True, True] Translation: X:426.42, Y:39.78, Z:-1.42 [[ 9.86601999e-01 -1.63072994e-01 -4.86766199e-03 4.26415096e+02] [ 1.63072258e-01 9.86613975e-01 -5.50321430e-04 3.97759679e+01] [ 4.89224591e-03 -2.50832411e-04 9.99988001e-01 -1.42214211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.601400513 meters 0.046542155811616436 Centerline is valid? [True, True] Translation: X:426.47, Y:39.80, Z:-1.42 [[ 9.87265850e-01 -1.59067144e-01 -1.94555465e-03 4.26473837e+02] [ 1.59067019e-01 9.87267763e-01 -2.19966875e-04 3.97959746e+01] [ 1.95577289e-03 -9.23077943e-05 9.99998083e-01 -1.41639620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.661400513 meters 0.03975882102067905 Centerline is valid? [True, True] Translation: X:426.53, Y:39.82, Z:-1.42 [[ 9.88506936e-01 -1.51150061e-01 -2.77415205e-03 4.26531540e+02] [ 1.51149775e-01 9.88510823e-01 -3.13667406e-04 3.98239288e+01] [ 2.78969018e-03 -1.09250051e-04 9.99996103e-01 -1.41818502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.721400513 meters 0.03535644038915637 Centerline is valid? [True, True] Translation: X:426.59, Y:39.85, Z:-1.42 [[ 9.89520040e-01 -1.44368294e-01 -2.80809103e-03 4.26588901e+02] [ 1.44367973e-01 9.89524021e-01 -3.17558806e-04 3.98460340e+01] [ 2.82451895e-03 -9.11676083e-05 9.99996007e-01 -1.41832054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.781400513 meters 0.03240054530632686 Centerline is valid? [True, True] Translation: X:426.65, Y:39.86, Z:-1.42 [[ 9.89624635e-01 -1.43645258e-01 -3.02019589e-03 4.26646371e+02] [ 1.43644883e-01 9.89629239e-01 -3.42073307e-04 3.98612807e+01] [ 3.03801137e-03 -9.53115128e-05 9.99995381e-01 -1.41859864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.841400513 meters 0.0383845964955494 Centerline is valid? [True, True] Translation: X:426.70, Y:39.86, Z:-1.42 [[ 9.89277338e-01 -1.46047895e-01 -6.00033345e-04 4.26704975e+02] [ 1.46047880e-01 9.89277520e-01 -6.79825692e-05 3.98643871e+01] [ 6.03528210e-04 -2.03799830e-05 9.99999818e-01 -1.41615375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.901400513 meters 0.038143228589565314 Centerline is valid? [True, True] Translation: X:426.76, Y:39.87, Z:-1.42 [[ 9.89399309e-01 -1.45215994e-01 -1.15004400e-03 4.26762588e+02] [ 1.45215940e-01 9.89399977e-01 -1.30494963e-04 3.98744406e+01] [ 1.15680346e-03 -3.78930955e-05 9.99999330e-01 -1.41748775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.961400513 meters 0.02702952735729734 Centerline is valid? [True, True] Translation: X:426.82, Y:39.90, Z:-1.42 [[ 9.90348942e-01 -1.38570613e-01 -2.67556097e-03 4.26820123e+02] [ 1.38570298e-01 9.90352554e-01 -3.03538251e-04 3.98993366e+01] [ 2.69181012e-03 -7.01444965e-05 9.99996375e-01 -1.41900096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.021400513 meters 0.020673801962403603 Centerline is valid? [True, True] Translation: X:426.88, Y:39.92, Z:-1.42 [[ 9.91254742e-01 -1.31898278e-01 -4.10853748e-03 4.26878948e+02] [ 1.31897478e-01 9.91263254e-01 -4.66207741e-04 3.99162856e+01] [ 4.13413423e-03 -7.97750989e-05 9.99991451e-01 -1.42146930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.081400513 meters 0.018396784588067403 Centerline is valid? [True, True] Translation: X:426.94, Y:39.93, Z:-1.42 [[ 9.91621375e-01 -1.29113300e-01 -4.09937301e-03 4.26935960e+02] [ 1.29112478e-01 9.91629846e-01 -4.65520956e-04 3.99272634e+01] [ 4.12516558e-03 -6.76596783e-05 9.99991489e-01 -1.42192067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.141400513 meters 0.015951312772704156 Centerline is valid? [True, True] Translation: X:426.99, Y:39.94, Z:-1.42 [[ 9.92061305e-01 -1.25726222e-01 -2.69879920e-03 4.26992883e+02] [ 1.25725853e-01 9.92064976e-01 -3.06633585e-04 3.99399025e+01] [ 2.71593604e-03 -3.51095182e-05 9.99996311e-01 -1.41989634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.201400513 meters 0.020524611124058952 Centerline is valid? [True, True] Translation: X:427.05, Y:39.95, Z:-1.42 [[ 9.92034780e-01 -1.25910129e-01 -3.69262780e-03 4.27050217e+02] [ 1.25909437e-01 9.92041651e-01 -4.20257572e-04 3.99452195e+01] [ 3.71615526e-03 -4.80265589e-05 9.99993094e-01 -1.42179242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.261400513 meters 0.012152936963925307 Centerline is valid? [True, True] Translation: X:427.11, Y:39.95, Z:-1.42 [[ 9.92387894e-01 -1.23091404e-01 -3.84377051e-03 4.27108362e+02] [ 1.23090630e-01 9.92395337e-01 -4.38110981e-04 3.99537931e+01] [ 3.86846763e-03 -3.83561022e-05 9.99992517e-01 -1.42050414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.321400513 meters 0.00798018141486977 Centerline is valid? [True, True] Translation: X:427.17, Y:39.96, Z:-1.42 [[ 9.93066200e-01 -1.17552873e-01 -9.19302974e-04 4.27166536e+02] [ 1.17552827e-01 9.93066625e-01 -1.04959342e-04 3.99648207e+01] [ 9.25267374e-04 -3.83508791e-06 9.99999572e-01 -1.41620320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.381400513 meters 0.01721282356769535 Centerline is valid? [True, True] Translation: X:427.22, Y:39.99, Z:-1.42 [[ 9.94347073e-01 -1.06174833e-01 -8.95840927e-04 4.27222766e+02] [ 1.06174784e-01 9.94347477e-01 -1.02303773e-04 3.99851061e+01] [ 9.01639252e-04 6.60974088e-06 9.99999594e-01 -1.41668989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.441400513 meters 0.015549935891862947 Centerline is valid? [True, True] Translation: X:427.28, Y:39.99, Z:-1.42 [[ 9.95044084e-01 -9.94347575e-02 -4.10650240e-06 4.27283196e+02] [ 9.94347575e-02 9.95044084e-01 -4.68919469e-07 3.99917713e+01] [ 4.13277782e-06 5.82664733e-08 1.00000000e+00 -1.41513060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.501400513 meters 0.025340649761410504 Centerline is valid? [True, True] Translation: X:427.34, Y:40.00, Z:-1.42 [[ 9.95798355e-01 -9.15724310e-02 3.55956252e-04 4.27341969e+02] [ 9.15724223e-02 9.95798418e-01 4.06468103e-05 4.00022828e+01] [-3.58182800e-04 -7.88025052e-06 9.99999936e-01 -1.41523973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.561400513 meters 0.03292130155376148 Centerline is valid? [True, True] Translation: X:427.40, Y:40.01, Z:-1.41 [[ 9.96115931e-01 -8.80438227e-02 1.15606029e-03 4.27402176e+02] [ 8.80437287e-02 9.96116602e-01 1.32012076e-04 4.00087469e+01] [-1.16319370e-03 -2.97154726e-05 9.99999323e-01 -1.41482532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.621400513 meters 0.03437442951446165 Centerline is valid? [True, True] Translation: X:427.46, Y:40.01, Z:-1.42 [[ 9.96482414e-01 -8.37938784e-02 1.17648768e-03 4.27463754e+02] [ 8.37937782e-02 9.96483108e-01 1.34318957e-04 4.00089484e+01] [-1.18360521e-03 -3.52641303e-05 9.99999299e-01 -1.41546543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.681400513 meters 0.038101544199118716 Centerline is valid? [True, True] Translation: X:427.52, Y:40.02, Z:-1.42 [[ 9.96788336e-01 -8.00334578e-02 -2.76752095e-03 4.27523136e+02] [ 8.00328890e-02 9.96792173e-01 -3.15837042e-04 4.00161161e+01] [ 2.78392075e-03 9.33299830e-05 9.99996121e-01 -1.42113583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74140051300003 meters 0.03764843333562478 Centerline is valid? [True, True] Translation: X:427.58, Y:40.02, Z:-1.42 [[ 9.96822782e-01 -7.95662762e-02 -3.68081260e-03 4.27582537e+02] [ 7.95652665e-02 9.96829570e-01 -4.20166824e-04 4.00189673e+01] [ 3.70257395e-03 1.25967027e-04 9.99993138e-01 -1.42241765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80140051300003 meters 0.04136157109388649 Centerline is valid? [True, True] Translation: X:427.64, Y:40.01, Z:-1.42 [[ 9.96616176e-01 -8.21411502e-02 -3.00485578e-03 4.27642758e+02] [ 8.21404875e-02 9.96620701e-01 -3.43505699e-04 4.00143270e+01] [ 3.02291743e-03 9.55230177e-05 9.99995426e-01 -1.42186219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.861400513 meters 0.03646012384302116 Centerline is valid? [True, True] Translation: X:427.70, Y:40.02, Z:-1.42 [[ 9.96768936e-01 -8.02632315e-02 -3.08243761e-03 4.27702263e+02] [ 8.02625250e-02 9.96773697e-01 -3.52426624e-04 4.00178693e+01] [ 3.10077963e-03 1.03883685e-04 9.99995187e-01 -1.42095603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.921400513 meters 0.04854811233933383 Centerline is valid? [True, True] Translation: X:427.76, Y:40.04, Z:-1.43 [[ 9.97289043e-01 -7.32633888e-02 -6.85856803e-03 4.27759865e+02] [ 7.32597256e-02 9.97312588e-01 -7.84150548e-04 4.00354040e+01] [ 6.89758575e-03 2.79567938e-04 9.99976172e-01 -1.42795132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.981400513 meters 0.045952237386738225 Centerline is valid? [True, True] Translation: X:427.82, Y:40.04, Z:-1.43 [[ 9.97588435e-01 -6.91264659e-02 -6.23267493e-03 4.27820015e+02] [ 6.91233600e-02 9.97607865e-01 -7.12633269e-04 4.00382090e+01] [ 6.26702736e-03 2.80091274e-04 9.99980323e-01 -1.42619670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.041400513 meters 0.051363030606301235 Centerline is valid? [True, True] Translation: X:427.88, Y:40.04, Z:-1.42 [[ 9.97783786e-01 -6.63303205e-02 -5.27302928e-03 4.27878423e+02] [ 6.63280577e-02 9.97797687e-01 -6.03041580e-04 4.00448477e+01] [ 5.30141637e-03 2.51955320e-04 9.99985916e-01 -1.42395466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.101400513 meters 0.05065606244333591 Centerline is valid? [True, True] Translation: X:427.94, Y:40.05, Z:-1.43 [[ 9.97694899e-01 -6.75707632e-02 -6.25148247e-03 4.27936964e+02] [ 6.75676003e-02 9.97714441e-01 -7.16016250e-04 4.00474237e+01] [ 6.28557610e-03 2.91968092e-04 9.99980203e-01 -1.42578466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.161400513 meters 0.049430389819502395 Centerline is valid? [True, True] Translation: X:428.00, Y:40.05, Z:-1.42 [[ 9.97720390e-01 -6.74187065e-02 -2.95644214e-03 4.27995034e+02] [ 6.74179967e-02 9.97724761e-01 -3.39211407e-04 4.00531496e+01] [ 2.97258472e-03 1.39120731e-04 9.99995572e-01 -1.42148812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.221400513 meters 0.050983042186664856 Centerline is valid? [True, True] Translation: X:428.05, Y:40.06, Z:-1.42 [[ 9.97736036e-01 -6.71685874e-02 -3.34406981e-03 4.28053512e+02] [ 6.71676776e-02 9.97741628e-01 -3.83775466e-04 4.00583892e+01] [ 3.36229531e-03 1.58293210e-04 9.99994335e-01 -1.42055475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.281400513 meters 0.05145486631672807 Centerline is valid? [True, True] Translation: X:428.11, Y:40.06, Z:-1.42 [[ 9.97774555e-01 -6.65603457e-02 -3.95706325e-03 4.28113578e+02] [ 6.65590666e-02 9.97782383e-01 -4.54216341e-04 4.00612483e+01] [ 3.97852080e-03 1.89827071e-04 9.99992068e-01 -1.42034984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.341400513 meters 0.05073568318872256 Centerline is valid? [True, True] Translation: X:428.17, Y:40.07, Z:-1.42 [[ 9.98065285e-01 -6.21602458e-02 -1.33840553e-03 4.28174031e+02] [ 6.21600955e-02 9.98066180e-01 -1.53629517e-04 4.00659649e+01] [ 1.34536694e-03 7.01368716e-05 9.99999093e-01 -1.41516931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.401400513 meters 0.07227359398878969 Centerline is valid? [True, True] Translation: X:428.23, Y:40.10, Z:-1.42 [[ 9.98608419e-01 -5.26345230e-02 -3.29127910e-03 4.28230646e+02] [ 5.26335625e-02 9.98613822e-01 -3.77827864e-04 4.00983280e+01] [ 3.30660359e-03 2.04070341e-04 9.99994512e-01 -1.42026584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.461400513 meters 0.07528704428886536 Centerline is valid? [True, True] Translation: X:428.29, Y:40.11, Z:-1.42 [[ 9.98845787e-01 -4.77404940e-02 -5.28579917e-03 4.28290212e+02] [ 4.77379483e-02 9.98859710e-01 -6.06821543e-04 4.01082239e+01] [ 5.30874179e-03 3.53787934e-04 9.99985846e-01 -1.42463842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.521400513 meters 0.07566760409011578 Centerline is valid? [True, True] Translation: X:428.35, Y:40.11, Z:-1.42 [[ 9.99098197e-01 -4.21782105e-02 -4.87773332e-03 4.28350966e+02] [ 4.21759766e-02 9.99110041e-01 -5.59974085e-04 4.01132557e+01] [ 4.89701104e-03 3.53745932e-04 9.99987947e-01 -1.42365779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.581400513 meters 0.08519234717360893 Centerline is valid? [True, True] Translation: X:428.41, Y:40.13, Z:-1.42 [[ 9.99222679e-01 -3.92231080e-02 -3.94790659e-03 4.28408488e+02] [ 3.92216217e-02 9.99230433e-01 -4.53233703e-04 4.01313520e+01] [ 3.96264565e-03 2.98038096e-04 9.99992104e-01 -1.42335997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.641400513 meters 0.0799197962795171 Centerline is valid? [True, True] Translation: X:428.47, Y:40.13, Z:-1.42 [[ 9.99310566e-01 -3.68427116e-02 -4.58339316e-03 4.28469285e+02] [ 3.68406834e-02 9.99321013e-01 -5.26195880e-04 4.01299854e+01] [ 4.59966758e-03 3.56977767e-04 9.99989358e-01 -1.42443480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.701400513 meters 0.07825844092861285 Centerline is valid? [True, True] Translation: X:428.53, Y:40.13, Z:-1.43 [[ 9.99280359e-01 -3.75795663e-02 -5.15165457e-03 4.28529226e+02] [ 3.75770130e-02 9.99293560e-01 -5.91561708e-04 4.01309303e+01] [ 5.17024586e-03 3.97552206e-04 9.99986555e-01 -1.42526812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.761400513 meters 0.07177489166925842 Centerline is valid? [True, True] Translation: X:428.59, Y:40.12, Z:-1.43 [[ 9.99076541e-01 -4.26860750e-02 -4.89525144e-03 4.28590928e+02] [ 4.26838304e-02 9.99088472e-01 -5.62127708e-04 4.01219204e+01] [ 4.91478430e-03 3.52660524e-04 9.99987860e-01 -1.42584325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.821400513 meters 0.0726258639780479 Centerline is valid? [True, True] Translation: X:428.65, Y:40.12, Z:-1.43 [[ 9.98937861e-01 -4.57404487e-02 -5.56428078e-03 4.28651511e+02] [ 4.57375958e-02 9.98953284e-01 -6.38957957e-04 4.01196459e+01] [ 5.58768278e-03 3.83782469e-04 9.99984315e-01 -1.42653522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.881400513 meters 0.07536254194864651 Centerline is valid? [True, True] Translation: X:428.71, Y:40.12, Z:-1.43 [[ 9.99031699e-01 -4.34787267e-02 -6.72786972e-03 4.28712103e+02] [ 4.34745046e-02 9.99054238e-01 -7.72608423e-04 4.01243862e+01] [ 6.75509879e-03 4.79369503e-04 9.99977069e-01 -1.42822675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.941400513 meters 0.0832947746300447 Centerline is valid? [True, True] Translation: X:428.77, Y:40.13, Z:-1.43 [[ 9.99287296e-01 -3.74584495e-02 -4.66532236e-03 4.28771209e+02] [ 3.74563539e-02 9.99298121e-01 -5.35799354e-04 4.01311271e+01] [ 4.68211808e-03 3.60671522e-04 9.99988974e-01 -1.42559407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.001400513 meters 0.08601610780707741 Centerline is valid? [True, True] Translation: X:428.83, Y:40.14, Z:-1.43 [[ 9.99371659e-01 -3.51578634e-02 -4.49570207e-03 4.28830881e+02] [ 3.51558941e-02 9.99381707e-01 -5.16324470e-04 4.01392560e+01] [ 4.51107527e-03 3.57949616e-04 9.99989761e-01 -1.42564016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.061400513 meters 0.09257363100538464 Centerline is valid? [True, True] Translation: X:428.89, Y:40.15, Z:-1.43 [[ 9.99509203e-01 -3.09419107e-02 -4.89395459e-03 4.28890096e+02] [ 3.09395266e-02 9.99521100e-01 -5.62127979e-04 4.01481784e+01] [ 4.90900419e-03 4.10435450e-04 9.99987867e-01 -1.42835440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.121400513 meters 0.09381104618233303 Centerline is valid? [True, True] Translation: X:428.95, Y:40.15, Z:-1.43 [[ 9.99508202e-01 -3.09872902e-02 -4.81068216e-03 4.28948670e+02] [ 3.09849833e-02 9.99519697e-01 -5.53343506e-04 4.01513415e+01] [ 4.82551819e-03 4.04012466e-04 9.99988276e-01 -1.42861142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.181400513 meters 0.08701228284606623 Centerline is valid? [True, True] Translation: X:429.01, Y:40.15, Z:-1.43 [[ 9.99460263e-01 -3.24489575e-02 -5.12325856e-03 4.29010076e+02] [ 3.24463600e-02 9.99473305e-01 -5.89329644e-04 4.01451632e+01] [ 5.13968330e-03 4.22780469e-04 9.99986702e-01 -1.42918420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24140051300003 meters 0.08109012034272779 Centerline is valid? [True, True] Translation: X:429.07, Y:40.14, Z:-1.43 [[ 9.99429957e-01 -3.35439226e-02 -3.81665220e-03 4.29071037e+02] [ 3.35424888e-02 9.99437196e-01 -4.39075906e-04 4.01404247e+01] [ 3.82923250e-03 3.10805600e-04 9.99992620e-01 -1.42634891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30140051300003 meters 0.09006450878201155 Centerline is valid? [True, True] Translation: X:429.13, Y:40.16, Z:-1.43 [[ 9.99453384e-01 -3.27031899e-02 -4.84085486e-03 4.29127396e+02] [ 3.27008724e-02 9.99465028e-01 -5.57134377e-04 4.01579433e+01] [ 4.85648521e-03 3.98529661e-04 9.99988128e-01 -1.42732118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.361400513 meters 0.08453126089006391 Centerline is valid? [True, True] Translation: X:429.19, Y:40.16, Z:-1.43 [[ 9.99519245e-01 -3.05212198e-02 -5.45284306e-03 4.29187696e+02] [ 3.05182467e-02 9.99534013e-01 -6.27631757e-04 4.01585029e+01] [ 5.46945819e-03 4.60918810e-04 9.99984936e-01 -1.42744175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.421400513 meters 0.08426526782444749 Centerline is valid? [True, True] Translation: X:429.25, Y:40.17, Z:-1.43 [[ 9.99592741e-01 -2.82312656e-02 -4.16499716e-03 4.29246969e+02] [ 2.82295113e-02 9.99601353e-01 -4.79401157e-04 4.01693742e+01] [ 4.17687090e-03 3.61630082e-04 9.99991211e-01 -1.42530225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.481400513 meters 0.08500056972427084 Centerline is valid? [True, True] Translation: X:429.31, Y:40.18, Z:-1.43 [[ 9.99524060e-01 -3.05799661e-02 -4.06445026e-03 4.29305562e+02] [ 3.05783145e-02 9.99532264e-01 -4.67886932e-04 4.01833932e+01] [ 4.07685714e-03 3.43380207e-04 9.99991631e-01 -1.42541193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.541400513 meters 0.08044833470098801 Centerline is valid? [True, True] Translation: X:429.37, Y:40.18, Z:-1.42 [[ 9.99369555e-01 -3.52921991e-02 -3.86701721e-03 4.29366035e+02] [ 3.52907391e-02 9.99376989e-01 -4.45167735e-04 4.01846944e+01] [ 3.88031896e-03 3.08417186e-04 9.99992424e-01 -1.42450774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.601400513 meters 0.07322447969805689 Centerline is valid? [True, True] Translation: X:429.43, Y:40.18, Z:-1.42 [[ 9.99061897e-01 -4.31808285e-02 -3.27734993e-03 4.29427255e+02] [ 4.31798220e-02 9.99067245e-01 -3.77284333e-04 4.01830242e+01] [ 3.29058441e-03 2.35415015e-04 9.99994558e-01 -1.42243802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.661400513 meters 0.07899192503214704 Centerline is valid? [True, True] Translation: X:429.49, Y:40.20, Z:-1.42 [[ 9.98939080e-01 -4.60248433e-02 -1.55816131e-03 4.29485969e+02] [ 4.60246192e-02 9.98940290e-01 -1.79397239e-04 4.01951765e+01] [ 1.56476684e-03 1.07493132e-04 9.99998770e-01 -1.42042680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.721400513 meters 0.06916045717771717 Centerline is valid? [True, True] Translation: X:429.55, Y:40.19, Z:-1.42 [[ 9.98919632e-01 -4.64445765e-02 -1.57164094e-03 4.29547568e+02] [ 4.64443490e-02 9.98920863e-01 -1.80967576e-04 4.01858738e+01] [ 1.57834988e-03 1.07778225e-04 9.99998749e-01 -1.41985916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.781400513 meters 0.07973082273386832 Centerline is valid? [True, True] Translation: X:429.61, Y:40.20, Z:-1.42 [[ 9.98953612e-01 -4.56126338e-02 -3.34184118e-03 4.29606078e+02] [ 4.56116004e-02 9.98959175e-01 -3.84835431e-04 4.02002293e+01] [ 3.35591627e-03 2.32006020e-04 9.99994342e-01 -1.42246112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.841400513 meters 0.0783903263465068 Centerline is valid? [True, True] Translation: X:429.67, Y:40.20, Z:-1.42 [[ 9.98997730e-01 -4.46117217e-02 -3.65110136e-03 4.29665798e+02] [ 4.46104810e-02 9.99004368e-01 -4.20576552e-04 4.01995940e+01] [ 3.66622886e-03 2.57277633e-04 9.99993246e-01 -1.42303525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.901400513 meters 0.07265400276074 Centerline is valid? [True, True] Translation: X:429.73, Y:40.20, Z:-1.42 [[ 9.99063669e-01 -4.31547103e-02 -3.07494087e-03 4.29726387e+02] [ 4.31538233e-02 9.99068377e-01 -3.54279464e-04 4.01965497e+01] [ 3.08736501e-03 2.21252286e-04 9.99995210e-01 -1.42181948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.961400513 meters 0.07187655751786622 Centerline is valid? [True, True] Translation: X:429.78, Y:40.20, Z:-1.42 [[ 9.99047333e-01 -4.34368974e-02 -4.20274883e-03 4.29784808e+02] [ 4.34352397e-02 9.99056127e-01 -4.84942316e-04 4.02008977e+01] [ 4.21984636e-03 3.01932924e-04 9.99991051e-01 -1.42388921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.021400513 meters 0.07536378486756871 Centerline is valid? [True, True] Translation: X:429.84, Y:40.21, Z:-1.42 [[ 9.98891114e-01 -4.68659677e-02 -4.48582840e-03 4.29843244e+02] [ 4.68641131e-02 9.98901140e-01 -5.17713887e-04 4.02078854e+01] [ 4.50516226e-03 3.06915432e-04 9.99989805e-01 -1.42473867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.081400513 meters 0.08261477865147347 Centerline is valid? [True, True] Translation: X:429.90, Y:40.22, Z:-1.42 [[ 9.98803713e-01 -4.87442009e-02 -3.89167977e-03 4.29901056e+02] [ 4.87428189e-02 9.98811261e-01 -4.49230004e-04 4.02212201e+01] [ 3.90895094e-03 2.59001154e-04 9.99992326e-01 -1.42415189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.141400513 meters 0.07263493987886581 Centerline is valid? [True, True] Translation: X:429.96, Y:40.21, Z:-1.42 [[ 9.98834896e-01 -4.82187886e-02 -1.94925798e-03 4.29961175e+02] [ 4.82184403e-02 9.98836789e-01 -2.25349064e-04 4.02140057e+01] [ 1.95785664e-03 1.31096329e-04 9.99998075e-01 -1.41996462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.201400513 meters 0.0735009448009614 Centerline is valid? [True, True] Translation: X:430.02, Y:40.22, Z:-1.42 [[ 9.98909163e-01 -4.66214544e-02 -2.63134287e-03 4.30020725e+02] [ 4.66208141e-02 9.98912612e-01 -3.04201570e-04 4.02214629e+01] [ 2.64266390e-03 1.81194389e-04 9.99996492e-01 -1.42013211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.261400513 meters 0.0677780551553116 Centerline is valid? [True, True] Translation: X:430.08, Y:40.22, Z:-1.42 [[ 9.98975789e-01 -4.49669469e-02 -5.03463348e-03 4.30082093e+02] [ 4.49645818e-02 9.98988412e-01 -5.82034636e-04 4.02181262e+01] [ 5.05571283e-03 3.55058320e-04 9.99987157e-01 -1.42221259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.321400513 meters 0.07075482445580994 Centerline is valid? [True, True] Translation: X:430.14, Y:40.23, Z:-1.42 [[ 9.98992642e-01 -4.47091457e-02 -3.84616444e-03 4.30139237e+02] [ 4.47077625e-02 9.99000009e-01 -4.44878721e-04 4.02263701e+01] [ 3.86220846e-03 2.72477163e-04 9.99992505e-01 -1.42137046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.381400513 meters 0.07810992041073554 Centerline is valid? [True, True] Translation: X:430.20, Y:40.23, Z:-1.42 [[ 9.99034397e-01 -4.38656697e-02 -2.46498130e-03 4.30197398e+02] [ 4.38650989e-02 9.99037423e-01 -2.85206418e-04 4.02344754e+01] [ 2.47511934e-03 1.76804373e-04 9.99996921e-01 -1.41932560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.441400513 meters 0.07474634498163334 Centerline is valid? [True, True] Translation: X:430.26, Y:40.23, Z:-1.42 [[ 9.99104422e-01 -4.22030495e-02 -3.04237444e-03 4.30258019e+02] [ 4.22021721e-02 9.99109029e-01 -3.52042995e-04 4.02305240e+01] [ 3.05452106e-03 2.23332904e-04 9.99995310e-01 -1.42065681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.501400513 meters 0.07467961579938709 Centerline is valid? [True, True] Translation: X:430.32, Y:40.23, Z:-1.42 [[ 9.99218854e-01 -3.94270321e-02 -2.68143841e-03 4.30318105e+02] [ 3.94263405e-02 9.99222431e-01 -3.10310499e-04 4.02333681e+01] [ 2.69158803e-03 2.04348797e-04 9.99996357e-01 -1.42142747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.561400513 meters 0.0778528408142374 Centerline is valid? [True, True] Translation: X:430.38, Y:40.24, Z:-1.42 [[ 9.99246791e-01 -3.85259074e-02 -4.64804876e-03 4.30376529e+02] [ 3.85238189e-02 9.99257537e-01 -5.38063053e-04 4.02373315e+01] [ 4.66532713e-03 3.58597190e-04 9.99989053e-01 -1.42398350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.621400513 meters 0.07657412815032702 Centerline is valid? [True, True] Translation: X:430.44, Y:40.24, Z:-1.43 [[ 9.99096567e-01 -4.20081614e-02 -6.43154634e-03 4.30436580e+02] [ 4.20042336e-02 9.99117155e-01 -7.44638544e-04 4.02358569e+01] [ 6.45714918e-03 4.73813638e-04 9.99979040e-01 -1.42767747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.681400513 meters 0.06670807808925366 Centerline is valid? [True, True] Translation: X:430.50, Y:40.22, Z:-1.42 [[ 9.98753604e-01 -4.97713160e-02 -3.74891484e-03 4.30499114e+02] [ 4.97700358e-02 9.98760610e-01 -4.34054914e-04 4.02189554e+01] [ 3.76587195e-03 2.46930284e-04 9.99992879e-01 -1.42358037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74140051300003 meters 0.06295797059300812 Centerline is valid? [True, True] Translation: X:430.56, Y:40.21, Z:-1.43 [[ 9.98505687e-01 -5.44615227e-02 -4.50959831e-03 4.30560104e+02] [ 5.44597177e-02 9.98515832e-01 -5.22179875e-04 4.02129166e+01] [ 4.53134402e-03 2.75808124e-04 9.99989695e-01 -1.42532834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80140051300003 meters 0.07299018337601346 Centerline is valid? [True, True] Translation: X:430.62, Y:40.22, Z:-1.43 [[ 9.98402911e-01 -5.62757945e-02 -4.96610464e-03 4.30619300e+02] [ 5.62736273e-02 9.98415218e-01 -5.75157728e-04 4.02172432e+01] [ 4.99060191e-03 2.94778428e-04 9.99987503e-01 -1.42616217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.861400513 meters 0.0674736059461166 Centerline is valid? [True, True] Translation: X:430.68, Y:40.21, Z:-1.43 [[ 9.98586791e-01 -5.28828813e-02 -5.27465865e-03 4.30681170e+02] [ 5.28803893e-02 9.98600667e-01 -6.10888781e-04 4.02089623e+01] [ 5.29958320e-03 3.31099465e-04 9.99985902e-01 -1.42618520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.921400513 meters 0.06514341561996637 Centerline is valid? [True, True] Translation: X:430.74, Y:40.21, Z:-1.43 [[ 9.98689490e-01 -5.09159994e-02 -5.18307267e-03 4.30741657e+02] [ 5.09135664e-02 9.98702883e-01 -6.00362305e-04 4.02084055e+01] [ 5.20691766e-03 3.35686810e-04 9.99986388e-01 -1.42523223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.981400513 meters 0.07550473061768946 Centerline is valid? [True, True] Translation: X:430.80, Y:40.23, Z:-1.42 [[ 9.98969424e-01 -4.52690783e-02 -3.28634892e-03 4.30799045e+02] [ 4.52680702e-02 9.98974803e-01 -3.80540493e-04 4.02254252e+01] [ 3.30020649e-03 2.31381643e-04 9.99994528e-01 -1.42308477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.041400513 meters 0.08497811742819895 Centerline is valid? [True, True] Translation: X:430.86, Y:40.24, Z:-1.43 [[ 9.99302750e-01 -3.69151921e-02 -5.59308119e-03 4.30857672e+02] [ 3.69121415e-02 9.99318305e-01 -6.47708496e-04 4.02419421e+01] [ 5.61317870e-03 4.40804277e-04 9.99984149e-01 -1.42676387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.101400513 meters 0.08957525876877388 Centerline is valid? [True, True] Translation: X:430.92, Y:40.25, Z:-1.43 [[ 9.99440251e-01 -3.30480851e-02 -5.19691328e-03 4.30917231e+02] [ 3.30453992e-02 9.99453670e-01 -6.01884655e-04 4.02526828e+01] [ 5.21396519e-03 4.29813677e-04 9.99986315e-01 -1.42597437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.161400513 meters 0.0873528321394478 Centerline is valid? [True, True] Translation: X:430.98, Y:40.26, Z:-1.42 [[ 9.99514899e-01 -3.06984033e-02 -5.25116617e-03 4.30977080e+02] [ 3.06956288e-02 9.99528593e-01 -6.08166160e-04 4.02573503e+01] [ 5.26736047e-03 4.46683290e-04 9.99986028e-01 -1.42472242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.221400513 meters 0.0906494663428219 Centerline is valid? [True, True] Translation: X:431.03, Y:40.27, Z:-1.43 [[ 9.99473918e-01 -3.16532574e-02 -7.06816950e-03 4.31034518e+02] [ 3.16482519e-02 9.99498733e-01 -8.18928641e-04 4.02671032e+01] [ 7.09054822e-03 5.94802609e-04 9.99974685e-01 -1.42798690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.281400513 meters 0.08716466757989833 Centerline is valid? [True, True] Translation: X:431.09, Y:40.27, Z:-1.43 [[ 9.99387577e-01 -3.44676490e-02 -6.03754918e-03 4.31094289e+02] [ 3.44640472e-02 9.99405693e-01 -6.99624527e-04 4.02699018e+01] [ 6.05807544e-03 4.91117681e-04 9.99981529e-01 -1.42650464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.341400513 meters 0.07779315152617235 Centerline is valid? [True, True] Translation: X:431.16, Y:40.26, Z:-1.42 [[ 9.99197764e-01 -3.97781736e-02 -4.63950465e-03 4.31156327e+02] [ 3.97761036e-02 9.99208473e-01 -5.37618073e-04 4.02622764e+01] [ 4.65721782e-03 3.52645359e-04 9.99989093e-01 -1.42408044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.401400513 meters 0.06690676426611097 Centerline is valid? [True, True] Translation: X:431.22, Y:40.25, Z:-1.43 [[ 9.98815433e-01 -4.83707404e-02 -5.29174624e-03 4.31219062e+02] [ 4.83681677e-02 9.98829387e-01 -6.13158668e-04 4.02509990e+01] [ 5.31521059e-03 3.56480271e-04 9.99985811e-01 -1.42555641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.461400513 meters 0.06629392461535179 Centerline is valid? [True, True] Translation: X:431.28, Y:40.25, Z:-1.43 [[ 9.98661659e-01 -5.13970594e-02 -5.76478112e-03 4.31278269e+02] [ 5.13940558e-02 9.98678229e-01 -6.68051841e-04 4.02531911e+01] [ 5.79149730e-03 3.70882277e-04 9.99983160e-01 -1.42698090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.521400513 meters 0.06442753400591121 Centerline is valid? [True, True] Translation: X:431.34, Y:40.25, Z:-1.42 [[ 9.98684697e-01 -5.12160389e-02 -2.40708048e-03 4.31337678e+02] [ 5.12155137e-02 9.98687585e-01 -2.79367696e-04 4.02529643e+01] [ 2.41822950e-03 1.55720379e-04 9.99997064e-01 -1.41963833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.581400513 meters 0.07725356984439895 Centerline is valid? [True, True] Translation: X:431.40, Y:40.28, Z:-1.42 [[ 9.98848659e-01 -4.79154883e-02 -2.33719349e-03 4.31395309e+02] [ 4.79149841e-02 9.98851381e-01 -2.71257810e-04 4.02751275e+01] [ 2.34750639e-03 1.58958911e-04 9.99997232e-01 -1.42010846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.641400513 meters 0.07612963962989483 Centerline is valid? [True, True] Translation: X:431.46, Y:40.28, Z:-1.43 [[ 9.98956669e-01 -4.53159486e-02 -5.66029384e-03 4.31456372e+02] [ 4.53129501e-02 9.98972625e-01 -6.56937410e-04 4.02774577e+01] [ 5.68424834e-03 3.99767394e-04 9.99983765e-01 -1.42646684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.701400513 meters 0.06898490221908483 Centerline is valid? [True, True] Translation: X:431.52, Y:40.27, Z:-1.42 [[ 9.98913341e-01 -4.63586702e-02 -4.79703351e-03 4.31516294e+02] [ 4.63565248e-02 9.98924803e-01 -5.57503381e-04 4.02748134e+01] [ 4.81772086e-03 3.34523762e-04 9.99988339e-01 -1.42303659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.761400513 meters 0.07275041563603848 Centerline is valid? [True, True] Translation: X:431.57, Y:40.28, Z:-1.42 [[ 9.98886079e-01 -4.68821457e-02 -5.35411921e-03 4.31573692e+02] [ 4.68794790e-02 9.98900359e-01 -6.22539514e-04 4.02831428e+01] [ 5.37741759e-03 3.70847735e-04 9.99985473e-01 -1.42402151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.821400513 meters 0.0667291192811651 Centerline is valid? [True, True] Translation: X:431.63, Y:40.28, Z:-1.42 [[ 9.98859702e-01 -4.74193109e-02 -5.54117238e-03 4.31633474e+02] [ 4.74164577e-02 9.98874999e-01 -6.45221710e-04 4.02772850e+01] [ 5.56553452e-03 3.81743199e-04 9.99984439e-01 -1.42437042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.881400513 meters 0.0659204771923156 Centerline is valid? [True, True] Translation: X:431.69, Y:40.28, Z:-1.42 [[ 9.98857827e-01 -4.77103712e-02 -2.60038802e-03 4.31692693e+02] [ 4.77097426e-02 9.98861196e-01 -3.03239141e-04 4.02779871e+01] [ 2.61189433e-03 1.78828946e-04 9.99996573e-01 -1.42016465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.941400513 meters 0.07484128564719791 Centerline is valid? [True, True] Translation: X:431.75, Y:40.29, Z:-1.42 [[ 9.98957334e-01 -4.55718387e-02 -2.72997755e-03 4.31751409e+02] [ 4.55711379e-02 9.98961045e-01 -3.18389189e-04 4.02857315e+01] [ 2.74165081e-03 1.93649032e-04 9.99996223e-01 -1.42021162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.001400513 meters 0.06953705170718773 Centerline is valid? [True, True] Translation: X:431.81, Y:40.28, Z:-1.42 [[ 9.99001887e-01 -4.45211239e-02 -3.61928254e-03 4.31811651e+02] [ 4.45198850e-02 9.99008409e-01 -4.22190061e-04 4.02824440e+01] [ 3.63449007e-03 2.60638625e-04 9.99993361e-01 -1.42227639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.061400513 meters 0.07933533213311149 Centerline is valid? [True, True] Translation: X:431.87, Y:40.29, Z:-1.42 [[ 9.99172112e-01 -4.04669097e-02 -4.18560074e-03 4.31869630e+02] [ 4.04652174e-02 9.99180828e-01 -4.88264750e-04 4.02931419e+01] [ 4.20193058e-03 3.18489278e-04 9.99991121e-01 -1.42272480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.121400513 meters 0.08464261611950928 Centerline is valid? [True, True] Translation: X:431.93, Y:40.30, Z:-1.42 [[ 9.99301380e-01 -3.70292339e-02 -5.05838475e-03 4.31928910e+02] [ 3.70267181e-02 9.99314102e-01 -5.90130343e-04 4.03044048e+01] [ 5.07676729e-03 4.02422680e-04 9.99987032e-01 -1.42391613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.181400513 meters 0.07522970019822116 Centerline is valid? [True, True] Translation: X:431.99, Y:40.30, Z:-1.42 [[ 9.99375301e-01 -3.49297339e-02 -5.37792011e-03 4.31990601e+02] [ 3.49268598e-02 9.99389674e-01 -6.27439212e-04 4.02954893e+01] [ 5.39655411e-03 4.39213389e-04 9.99985342e-01 -1.42420051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24140051300003 meters 0.08189572755561814 Centerline is valid? [True, True] Translation: X:432.05, Y:40.31, Z:-1.42 [[ 9.99332781e-01 -3.61783367e-02 -5.01208605e-03 4.32048149e+02] [ 3.61758550e-02 9.99345268e-01 -5.84938094e-04 4.03069267e+01] [ 5.02996657e-03 4.03231314e-04 9.99987268e-01 -1.42393205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30140051300003 meters 0.07230863826704716 Centerline is valid? [True, True] Translation: X:432.11, Y:40.30, Z:-1.43 [[ 9.99170550e-01 -4.02382400e-02 -6.25262759e-03 4.32110063e+02] [ 4.02344566e-02 9.99190000e-01 -7.29750876e-04 4.02981998e+01] [ 6.27692685e-03 4.77574512e-04 9.99980186e-01 -1.42631097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.361400513 meters 0.07715438105439155 Centerline is valid? [True, True] Translation: X:432.17, Y:40.31, Z:-1.42 [[ 9.99075283e-01 -4.28121321e-02 -3.96238639e-03 4.32169261e+02] [ 4.28106326e-02 9.99083098e-01 -4.62510742e-04 4.03069369e+01] [ 3.97855434e-03 2.92450782e-04 9.99992043e-01 -1.42386831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.421400513 meters 0.07031997753699772 Centerline is valid? [True, True] Translation: X:432.23, Y:40.30, Z:-1.42 [[ 9.98983192e-01 -4.50480300e-02 -1.80496135e-03 4.32230376e+02] [ 4.50477224e-02 9.98984814e-01 -2.10711381e-04 4.03002325e+01] [ 1.81262112e-03 1.29187730e-04 9.99998349e-01 -1.41940256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.481400513 meters 0.07391576913639603 Centerline is valid? [True, True] Translation: X:432.29, Y:40.31, Z:-1.42 [[ 9.98986604e-01 -4.49168334e-02 -2.87105186e-03 4.32287986e+02] [ 4.49160539e-02 9.98990708e-01 -3.35434285e-04 4.03085997e+01] [ 2.88322078e-03 2.06138037e-04 9.99995822e-01 -1.42113106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.541400513 meters 0.08063488878771384 Centerline is valid? [True, True] Translation: X:432.35, Y:40.32, Z:-1.42 [[ 9.99183306e-01 -4.02350218e-02 -3.72342692e-03 4.32347309e+02] [ 4.02336784e-02 9.99190203e-01 -4.35014380e-04 4.03226061e+01] [ 3.73791452e-03 2.84851945e-04 9.99992973e-01 -1.42256974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.601400513 meters 0.07797256575096677 Centerline is valid? [True, True] Translation: X:432.41, Y:40.33, Z:-1.42 [[ 9.99240909e-01 -3.87577175e-02 -3.93009354e-03 4.32407413e+02] [ 3.87562094e-02 9.99248590e-01 -4.59205924e-04 4.03251514e+01] [ 3.94493820e-03 3.06541817e-04 9.99992172e-01 -1.42258366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.661400513 meters 0.08389503248401826 Centerline is valid? [True, True] Translation: X:432.47, Y:40.33, Z:-1.42 [[ 9.99163136e-01 -4.07672701e-02 -3.32518327e-03 4.32466296e+02] [ 4.07662014e-02 9.99168637e-01 -3.88574997e-04 4.03347628e+01] [ 3.33825998e-03 2.52694722e-04 9.99994396e-01 -1.42300917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.721400513 meters 0.07454614041634336 Centerline is valid? [True, True] Translation: X:432.53, Y:40.33, Z:-1.42 [[ 9.99016710e-01 -4.41517284e-02 -4.02975255e-03 4.32527539e+02] [ 4.41501859e-02 9.99024794e-01 -4.70984028e-04 4.03268306e+01] [ 4.04661747e-03 2.92606590e-04 9.99991770e-01 -1.42405446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.781400513 meters 0.07130460326228506 Centerline is valid? [True, True] Translation: X:432.59, Y:40.33, Z:-1.42 [[ 9.98986780e-01 -4.47568067e-02 -4.71616867e-03 4.32586915e+02] [ 4.47546972e-02 9.98997854e-01 -5.51937848e-04 4.03293321e+01] [ 4.73614536e-03 3.40307913e-04 9.99988726e-01 -1.42446772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.841400513 meters 0.07723972480390459 Centerline is valid? [True, True] Translation: X:432.64, Y:40.34, Z:-1.43 [[ 9.99005504e-01 -4.42278486e-02 -5.64811936e-03 4.32643624e+02] [ 4.42248129e-02 9.99021385e-01 -6.61305830e-04 4.03419244e+01] [ 5.67184016e-03 4.10861142e-04 9.99983831e-01 -1.42681057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.901400513 meters 0.0765078724990709 Centerline is valid? [True, True] Translation: X:432.70, Y:40.34, Z:-1.42 [[ 9.99048382e-01 -4.35486534e-02 -2.41771102e-03 4.32702569e+02] [ 4.35480942e-02 9.99051292e-01 -2.83479034e-04 4.03445770e+01] [ 2.42776244e-03 1.77922563e-04 9.99997037e-01 -1.42141702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.961400513 meters 0.0755089755210969 Centerline is valid? [True, True] Translation: X:432.76, Y:40.35, Z:-1.42 [[ 9.99017444e-01 -4.42639781e-02 -2.20148184e-03 4.32761312e+02] [ 4.42635160e-02 9.99019857e-01 -2.58208620e-04 4.03494438e+01] [ 2.21075342e-03 1.60509589e-04 9.99997543e-01 -1.42077069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.021400513 meters 0.0712229393007983 Centerline is valid? [True, True] Translation: X:432.82, Y:40.35, Z:-1.42 [[ 9.98928622e-01 -4.60604169e-02 -4.47721554e-03 4.32821338e+02] [ 4.60585230e-02 9.98938605e-01 -5.25236314e-04 4.03509522e+01] [ 4.49665604e-03 3.18459653e-04 9.99989839e-01 -1.42310476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.081400513 meters 0.07234706255582886 Centerline is valid? [True, True] Translation: X:432.88, Y:40.36, Z:-1.42 [[ 9.98900324e-01 -4.67871330e-02 -3.01776014e-03 4.32879135e+02] [ 4.67862744e-02 9.98904860e-01 -3.54526918e-04 4.03606850e+01] [ 3.03104257e-03 2.12947299e-04 9.99995384e-01 -1.42148605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.141400513 meters 0.06769095629135671 Centerline is valid? [True, True] Translation: X:432.94, Y:40.36, Z:-1.42 [[ 9.98848183e-01 -4.78926336e-02 -2.93319978e-03 4.32939113e+02] [ 4.78918271e-02 9.98852469e-01 -3.44638622e-04 4.03633518e+01] [ 2.94633949e-03 2.03765365e-04 9.99995639e-01 -1.42036656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.201400513 meters 0.07166888262645375 Centerline is valid? [True, True] Translation: X:433.00, Y:40.38, Z:-1.42 [[ 9.98829421e-01 -4.82228134e-02 -3.78784371e-03 4.32995924e+02] [ 4.82214699e-02 9.98836569e-01 -4.45277463e-04 4.03772746e+01] [ 3.80490935e-03 2.62100839e-04 9.99992727e-01 -1.42184554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.261400513 meters 0.06517329664319237 Centerline is valid? [True, True] Translation: X:433.05, Y:40.38, Z:-1.42 [[ 9.98787010e-01 -4.90529804e-02 -4.27947621e-03 4.33054708e+02] [ 4.90512722e-02 9.98796135e-01 -5.03270597e-04 4.03794380e+01] [ 4.29901122e-03 2.92746383e-04 9.99990716e-01 -1.42226239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.321400513 meters 0.06692701107211521 Centerline is valid? [True, True] Translation: X:433.11, Y:40.39, Z:-1.42 [[ 9.98700718e-01 -5.08556702e-02 -3.25206385e-03 4.33112685e+02] [ 5.08546930e-02 9.98705990e-01 -3.82519965e-04 4.03935548e+01] [ 3.26730896e-03 2.16640255e-04 9.99994639e-01 -1.42104812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.381400513 meters 0.06321805309532988 Centerline is valid? [True, True] Translation: X:433.17, Y:40.40, Z:-1.42 [[ 9.98497100e-01 -5.46820021e-02 -3.66343490e-03 4.33172268e+02] [ 5.46807875e-02 9.98503794e-01 -4.30972981e-04 4.03973329e+01] [ 3.68152011e-03 2.30005766e-04 9.99993197e-01 -1.42084563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.441400513 meters 0.061442614460509366 Centerline is valid? [True, True] Translation: X:433.23, Y:40.40, Z:-1.42 [[ 9.98474044e-01 -5.51182114e-02 -3.40083914e-03 4.33230427e+02] [ 5.51171652e-02 9.98479813e-01 -4.00669290e-04 4.04029197e+01] [ 3.41775340e-03 2.12613274e-04 9.99994137e-01 -1.42055048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.501400513 meters 0.06427885185406165 Centerline is valid? [True, True] Translation: X:433.29, Y:40.42, Z:-1.42 [[ 9.98549258e-01 -5.36803354e-02 -4.21910371e-03 4.33287261e+02] [ 5.36787116e-02 9.98558135e-01 -4.97243470e-04 4.04174327e+01] [ 4.23971253e-03 2.70046047e-04 9.99990976e-01 -1.42121309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.561400513 meters 0.07387009546216035 Centerline is valid? [True, True] Translation: X:433.34, Y:40.44, Z:-1.42 [[ 9.98561521e-01 -5.34450263e-02 -4.30329698e-03 4.33342639e+02] [ 5.34433330e-02 9.98570755e-01 -5.07608089e-04 4.04370580e+01] [ 4.32427564e-03 2.76895372e-04 9.99990612e-01 -1.42183090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.621400513 meters 0.0632890325414518 Centerline is valid? [True, True] Translation: X:433.40, Y:40.43, Z:-1.42 [[ 9.98415240e-01 -5.62138454e-02 -2.64809516e-03 4.33404439e+02] [ 5.62132139e-02 9.98418738e-01 -3.12358863e-04 4.04306514e+01] [ 2.66146672e-03 1.63005909e-04 9.99996445e-01 -1.41951607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.681400513 meters 0.11134632727754167 Centerline is valid? [True, False] Translation: X:433.40, Y:40.43, Z:-1.42 [[ 9.98866456e-01 -4.75973419e-02 -5.44930387e-04 4.33404508e+02] [ 4.75885078e-02 9.98806722e-01 -1.09756681e-02 4.04314238e+01] [ 1.06669276e-03 1.09372943e-02 9.99939617e-01 -1.42085691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74140051300003 meters 0.057911788977226465 Centerline is valid? [False, True] Translation: X:433.41, Y:40.43, Z:-1.42 [[ 9.99308280e-01 -3.71875865e-02 2.12640726e-04 4.33407321e+02] [ 3.71844045e-02 9.99108471e-01 -1.99895749e-02 4.04312477e+01] [ 5.30912897e-04 1.99836547e-02 9.99800166e-01 -1.42376425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80140051300003 meters 0.06697041297946599 Centerline is valid? [True, True] Translation: X:433.47, Y:40.43, Z:-1.42 [[ 9.99456264e-01 -3.29664948e-02 -6.22486161e-04 4.33467176e+02] [ 3.29664630e-02 9.99456457e-01 -6.13527487e-05 4.04293063e+01] [ 6.24170398e-04 4.07982220e-05 9.99999804e-01 -1.41939298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.861400513 meters 0.0721671478608425 Centerline is valid? [True, True] Translation: X:433.53, Y:40.44, Z:-1.42 [[ 9.99678587e-01 -2.53446619e-02 6.09268370e-04 4.33527038e+02] [ 2.53446300e-02 9.99678771e-01 6.00086221e-05 4.04381890e+01] [-6.10593554e-04 -4.45476531e-05 9.99999813e-01 -1.41738534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.921400513 meters 0.07919448420984665 Centerline is valid? [True, True] Translation: X:433.59, Y:40.45, Z:-1.42 [[ 9.99766266e-01 -2.15730471e-02 1.42012452e-03 4.33585586e+02] [ 2.15728701e-02 9.99767269e-01 1.39861440e-04 4.04495122e+01] [-1.42281125e-03 -1.09192588e-04 9.99998982e-01 -1.41716087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.981400513 meters 0.0744410877307866 Centerline is valid? [True, True] Translation: X:433.65, Y:40.45, Z:-1.42 [[ 9.99836309e-01 -1.80889754e-02 3.80182200e-04 4.33646339e+02] [ 1.80889624e-02 9.99836381e-01 3.74314726e-05 4.04458465e+01] [-3.80797092e-04 -3.05482439e-05 9.99999927e-01 -1.41904734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.041400513 meters 0.0822513985871875 Centerline is valid? [True, True] Translation: X:433.70, Y:40.46, Z:-1.42 [[ 9.99849896e-01 -1.73021608e-02 9.05715898e-04 4.33703470e+02] [ 1.73020871e-02 9.99850304e-01 8.91499706e-05 4.04594151e+01] [-9.07122803e-04 -7.34658136e-05 9.99999586e-01 -1.41851247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.101400513 meters 0.08076317979424548 Centerline is valid? [True, True] Translation: X:433.76, Y:40.46, Z:-1.42 [[ 9.99855931e-01 -1.68774315e-02 1.80822015e-03 4.33762555e+02] [ 1.68771369e-02 9.99857555e-01 1.78064470e-04 4.04615481e+01] [-1.81096785e-03 -1.47521237e-04 9.99998349e-01 -1.41664468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.161400513 meters 0.08676091472267826 Centerline is valid? [True, True] Translation: X:433.82, Y:40.48, Z:-1.42 [[ 9.99885643e-01 -1.50474693e-02 -1.50792736e-03 4.33820246e+02] [ 1.50472617e-02 9.99886772e-01 -1.48907954e-04 4.04769802e+01] [ 1.50999731e-03 1.26200748e-04 9.99998852e-01 -1.42252684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.221400513 meters 0.09519225190937881 Centerline is valid? [True, True] Translation: X:433.88, Y:40.50, Z:-1.43 [[ 9.99899440e-01 -1.37385208e-02 -3.51597882e-03 4.33877157e+02] [ 1.37373838e-02 9.99905577e-01 -3.47344992e-04 4.04987712e+01] [ 3.52041884e-03 2.99009712e-04 9.99993759e-01 -1.42590454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.281400513 meters 0.08635408027459324 Centerline is valid? [True, True] Translation: X:433.94, Y:40.50, Z:-1.42 [[ 9.99861546e-01 -1.64157509e-02 -2.72256907e-03 4.33937549e+02] [ 1.64150788e-02 9.99865227e-01 -2.69011472e-04 4.04964552e+01] [ 2.72661817e-03 2.24283041e-04 9.99996258e-01 -1.42466334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.341400513 meters 0.08654822846384728 Centerline is valid? [True, True] Translation: X:434.00, Y:40.50, Z:-1.42 [[ 9.99774701e-01 -2.12202226e-02 -4.99436006e-04 4.33996648e+02] [ 2.12202006e-02 9.99774825e-01 -4.93889038e-05 4.05029688e+01] [ 5.00371589e-04 3.87796443e-05 9.99999874e-01 -1.42199209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.401400513 meters 0.06840316130478802 Centerline is valid? [True, True] Translation: X:434.06, Y:40.49, Z:-1.42 [[ 9.99674483e-01 -2.54998924e-02 -8.27252235e-04 4.34058831e+02] [ 2.54998334e-02 9.99674823e-01 -8.17356312e-05 4.04864190e+01] [ 8.29067481e-04 6.06142307e-05 9.99999654e-01 -1.42116239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.461400513 meters 0.07246748690882546 Centerline is valid? [True, True] Translation: X:434.12, Y:40.50, Z:-1.43 [[ 9.99612084e-01 -2.75925233e-02 -3.78617190e-03 4.34116572e+02] [ 2.75913027e-02 9.99619217e-01 -3.74243934e-04 4.05005176e+01] [ 3.79505653e-03 2.69633344e-04 9.99992762e-01 -1.42634992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.521400513 meters 0.07274383938437044 Centerline is valid? [True, True] Translation: X:434.17, Y:40.51, Z:-1.43 [[ 9.99605144e-01 -2.78446394e-02 -3.77259731e-03 4.34174132e+02] [ 2.78434249e-02 9.99612227e-01 -3.74086009e-04 4.05058008e+01] [ 3.78155068e-03 2.68896269e-04 9.99992814e-01 -1.42573135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.581400513 meters 0.07405576862470344 Centerline is valid? [True, True] Translation: X:434.23, Y:40.51, Z:-1.42 [[ 9.99565000e-01 -2.94317129e-02 -1.89364691e-03 4.34232971e+02] [ 2.94314101e-02 9.99566785e-01 -1.87599600e-04 4.05117942e+01] [ 1.89834793e-03 1.31785295e-04 9.99998189e-01 -1.42309153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.641400513 meters 0.06099347256219619 Centerline is valid? [True, True] Translation: X:434.30, Y:40.50, Z:-1.42 [[ 9.99432479e-01 -3.36742608e-02 8.74010158e-04 4.34295256e+02] [ 3.36741979e-02 9.99432860e-01 8.65557559e-05 4.04983462e+01] [-8.76429172e-04 -5.70750427e-05 9.99999614e-01 -1.41878379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.701400513 meters 0.06034135566724344 Centerline is valid? [True, True] Translation: X:434.36, Y:40.50, Z:-1.42 [[ 9.99384106e-01 -3.50751290e-02 1.06952002e-03 4.34355318e+02] [ 3.50750357e-02 9.99384676e-01 1.05890211e-04 4.05018657e+01] [-1.07257604e-03 -6.83115406e-05 9.99999422e-01 -1.41872411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.761400513 meters 0.06449900764665736 Centerline is valid? [True, True] Translation: X:434.41, Y:40.50, Z:-1.42 [[ 9.99287299e-01 -3.77417000e-02 -6.76586408e-04 4.34414586e+02] [ 3.77416632e-02 9.99287527e-01 -6.70660962e-05 4.05049575e+01] [ 6.78635547e-04 4.14828018e-05 9.99999769e-01 -1.42177042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.821400513 meters 0.06296566991130009 Centerline is valid? [True, True] Translation: X:434.47, Y:40.51, Z:-1.42 [[ 9.99312524e-01 -3.70547043e-02 -1.19498841e-03 4.34473534e+02] [ 3.70545884e-02 9.99313236e-01 -1.19063185e-04 4.05102419e+01] [ 1.19857959e-03 7.47015282e-05 9.99999279e-01 -1.42287743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.881400513 meters 0.07057793288871234 Centerline is valid? [True, True] Translation: X:434.53, Y:40.52, Z:-1.42 [[ 9.99473342e-01 -3.24306804e-02 -1.13550833e-03 4.34533558e+02] [ 3.24305732e-02 9.99473984e-01 -1.12656802e-04 4.05191993e+01] [ 1.13856457e-03 7.57722848e-05 9.99999349e-01 -1.42217202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.941400513 meters 0.07226487170419267 Centerline is valid? [True, True] Translation: X:434.59, Y:40.53, Z:-1.43 [[ 9.99566057e-01 -2.93440545e-02 -2.57356946e-03 4.34592390e+02] [ 2.93434939e-02 9.99569354e-01 -2.55355019e-04 4.05314671e+01] [ 2.57995431e-03 1.79726690e-04 9.99996656e-01 -1.42526799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.001400513 meters 0.07406870098590115 Centerline is valid? [True, True] Translation: X:434.65, Y:40.54, Z:-1.43 [[ 9.99616955e-01 -2.74998317e-02 -3.11501220e-03 4.34651782e+02] [ 2.74990012e-02 9.99621783e-01 -3.09137480e-04 4.05404908e+01] [ 3.12233528e-03 2.23359342e-04 9.99995101e-01 -1.42602335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.061400513 meters 0.07925119097991555 Centerline is valid? [True, True] Translation: X:434.71, Y:40.55, Z:-1.43 [[ 9.99603201e-01 -2.80640351e-02 -2.41881086e-03 4.34709352e+02] [ 2.80635339e-02 9.99606112e-01 -2.40882862e-04 4.05515004e+01] [ 2.42461826e-03 1.72906900e-04 9.99997046e-01 -1.42536077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.121400513 meters 0.06858423611083637 Centerline is valid? [True, True] Translation: X:434.77, Y:40.54, Z:-1.43 [[ 9.99549762e-01 -2.98395488e-02 -3.14254163e-03 4.34770632e+02] [ 2.98387134e-02 9.99554678e-01 -3.12396522e-04 4.05409138e+01] [ 3.15046396e-03 2.18486470e-04 9.99995013e-01 -1.42586023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.181400513 meters 0.06140797156033553 Centerline is valid? [True, True] Translation: X:434.83, Y:40.54, Z:-1.42 [[ 9.99455350e-01 -3.29974659e-02 -4.12622225e-04 4.34831945e+02] [ 3.29974518e-02 9.99455435e-01 -4.10215847e-05 4.05369734e+01] [ 4.13751134e-04 2.73837603e-05 9.99999914e-01 -1.42136976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24140051300003 meters 0.05999228562342245 Centerline is valid? [True, True] Translation: X:434.89, Y:40.54, Z:-1.42 [[ 9.99387914e-01 -3.49828000e-02 3.96983949e-05 4.34892556e+02] [ 3.49827999e-02 9.99387915e-01 3.90967451e-06 4.05364958e+01] [-3.98108675e-05 -2.51852045e-06 9.99999999e-01 -1.42046758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30140051300003 meters 0.06608611645134424 Centerline is valid? [True, True] Translation: X:434.95, Y:40.54, Z:-1.42 [[ 9.99324453e-01 -3.67286415e-02 -1.28220645e-03 4.34951040e+02] [ 3.67285078e-02 9.99325273e-01 -1.27620317e-04 4.05418348e+01] [ 1.28602864e-03 8.04405738e-05 9.99999170e-01 -1.42396619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.361400513 meters 0.0660379589797447 Centerline is valid? [True, True] Translation: X:435.01, Y:40.54, Z:-1.42 [[ 9.99313264e-01 -3.70421202e-02 -9.39272423e-04 4.35009969e+02] [ 3.70420481e-02 9.99313703e-01 -9.40452708e-05 4.05418199e+01] [ 9.42111440e-04 5.91881122e-05 9.99999554e-01 -1.42315312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.421400513 meters 0.059517855581583366 Centerline is valid? [True, True] Translation: X:435.07, Y:40.53, Z:-1.42 [[ 9.99317104e-01 -3.69478208e-02 -4.30296769e-04 4.35069642e+02] [ 3.69478055e-02 9.99317196e-01 -4.34433094e-05 4.05347510e+01] [ 4.31608096e-04 2.75151208e-05 9.99999906e-01 -1.42189730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.481400513 meters 0.06564112768213519 Centerline is valid? [True, True] Translation: X:435.13, Y:40.54, Z:-1.42 [[ 9.99343333e-01 -3.62339247e-02 -7.00881685e-05 4.35127072e+02] [ 3.62339243e-02 9.99343336e-01 -7.17754341e-06 4.05428214e+01] [ 7.03022147e-05 4.63326077e-06 9.99999998e-01 -1.42332227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.541400513 meters 0.062309848423326895 Centerline is valid? [True, True] Translation: X:435.19, Y:40.54, Z:-1.43 [[ 9.99324288e-01 -3.67453332e-02 -8.64415350e-04 4.35186550e+02] [ 3.67452717e-02 9.99324661e-01 -8.69313188e-05 4.05375310e+01] [ 8.67025897e-04 5.51094014e-05 9.99999623e-01 -1.42512217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.601400513 meters 0.06221322540649042 Centerline is valid? [True, True] Translation: X:435.25, Y:40.54, Z:-1.43 [[ 9.99283490e-01 -3.78387180e-02 -8.59273775e-04 4.35245974e+02] [ 3.78386579e-02 9.99283858e-01 -8.60978941e-05 4.05354105e+01] [ 8.61916247e-04 5.35224377e-05 9.99999627e-01 -1.42577160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.661400513 meters 0.058008646245544415 Centerline is valid? [True, True] Translation: X:435.31, Y:40.52, Z:-1.43 [[ 9.99268901e-01 -3.81736969e-02 -2.10537525e-03 4.35305341e+02] [ 3.81733355e-02 9.99271110e-01 -2.11588503e-04 4.05245502e+01] [ 2.11191777e-03 1.31064615e-04 9.99997761e-01 -1.42594111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.721400513 meters 0.06616832603612613 Centerline is valid? [True, True] Translation: X:435.36, Y:40.53, Z:-1.43 [[ 9.99379637e-01 -3.50032968e-02 -3.88726486e-03 4.35364009e+02] [ 3.50020448e-02 9.99387165e-01 -3.89666295e-04 4.05346452e+01] [ 3.89852221e-03 2.53362342e-04 9.99992369e-01 -1.42914666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.781400513 meters 0.07110349233597178 Centerline is valid? [True, True] Translation: X:435.42, Y:40.54, Z:-1.43 [[ 9.99635363e-01 -2.65315444e-02 -5.02174277e-03 4.35424215e+02] [ 2.65293483e-02 9.99647908e-01 -5.03424778e-04 4.05351605e+01] [ 5.03333129e-03 3.70017647e-04 9.99987264e-01 -1.43142980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.841400513 meters 0.093363674243301 Centerline is valid? [True, True] Translation: X:435.48, Y:40.56, Z:-1.43 [[ 9.99744912e-01 -2.23500735e-02 -3.25348559e-03 4.35480570e+02] [ 2.23491294e-02 9.99750174e-01 -3.26277183e-04 4.05641013e+01] [ 3.25996511e-03 2.53481383e-04 9.99994654e-01 -1.43049501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.901400513 meters 0.08073352465513918 Centerline is valid? [True, True] Translation: X:435.54, Y:40.55, Z:-1.43 [[ 9.99796654e-01 -2.00649302e-02 -2.01212242e-03 4.35542582e+02] [ 2.00645646e-02 9.99798666e-01 -2.01762150e-04 4.05512716e+01] [ 2.01576565e-03 1.61348763e-04 9.99997955e-01 -1.42713465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.961400513 meters 0.0814097311699259 Centerline is valid? [True, True] Translation: X:435.60, Y:40.56, Z:-1.43 [[ 9.99811911e-01 -1.91935495e-02 -2.78376828e-03 4.35601865e+02] [ 1.91928459e-02 9.99815761e-01 -2.79253892e-04 4.05578947e+01] [ 2.78861527e-03 2.25772932e-04 9.99996086e-01 -1.42860542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.021400513 meters 0.07918666706793509 Centerline is valid? [True, True] Translation: X:435.66, Y:40.57, Z:-1.43 [[ 9.99807248e-01 -1.95256450e-02 -2.05325417e-03 4.35660387e+02] [ 1.95252613e-02 9.99809343e-01 -2.06735433e-04 4.05659537e+01] [ 2.05689934e-03 1.66605260e-04 9.99997871e-01 -1.42759448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.081400513 meters 0.07043855547270736 Centerline is valid? [True, True] Translation: X:435.72, Y:40.56, Z:-1.43 [[ 9.99767987e-01 -2.12434417e-02 -3.56199290e-03 4.35720833e+02] [ 2.12423006e-02 9.99774293e-01 -3.57872052e-04 4.05642297e+01] [ 3.56879137e-03 2.82124097e-04 9.99993592e-01 -1.42850030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.141400513 meters 0.06769764645761525 Centerline is valid? [True, True] Translation: X:435.78, Y:40.57, Z:-1.43 [[ 9.99692156e-01 -2.45704808e-02 -3.44752464e-03 4.35780851e+02] [ 2.45694312e-02 9.99698066e-01 -3.46499376e-04 4.05694143e+01] [ 3.45499737e-03 2.61688989e-04 9.99993997e-01 -1.42831739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.201400513 meters 0.06622224059443131 Centerline is valid? [True, True] Translation: X:435.84, Y:40.58, Z:-1.42 [[ 9.99494554e-01 -3.17821696e-02 -7.27819800e-04 4.35839824e+02] [ 3.17821247e-02 9.99494818e-01 -7.31895945e-05 4.05772828e+01] [ 7.29778243e-04 5.00209415e-05 9.99999732e-01 -1.42445043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.261400513 meters 0.06622028058260764 Centerline is valid? [True, True] Translation: X:435.90, Y:40.58, Z:-1.42 [[ 9.99356485e-01 -3.58641885e-02 -6.13010737e-04 4.35897968e+02] [ 3.58641574e-02 9.99356672e-01 -6.17221812e-05 4.05841340e+01] [ 6.14829986e-04 3.96973485e-05 9.99999810e-01 -1.42484232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.321400513 meters 0.059078419509041843 Centerline is valid? [True, True] Translation: X:435.96, Y:40.58, Z:-1.43 [[ 9.99186229e-01 -4.02725895e-02 -2.23589888e-03 4.35958953e+02] [ 4.02721867e-02 9.99188721e-01 -2.24902726e-04 4.05814450e+01] [ 2.24314236e-03 1.34675170e-04 9.99997475e-01 -1.42681889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.381400513 meters 0.05928695218303629 Centerline is valid? [True, True] Translation: X:436.02, Y:40.59, Z:-1.43 [[ 9.99179886e-01 -4.04375979e-02 -2.08732419e-03 4.36016731e+02] [ 4.04372454e-02 9.99182058e-01 -2.10843573e-04 4.05882124e+01] [ 2.09414288e-03 1.26265017e-04 9.99997799e-01 -1.42667004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.441400513 meters 0.06092408742399632 Centerline is valid? [True, True] Translation: X:436.08, Y:40.59, Z:-1.43 [[ 9.99268810e-01 -3.82033849e-02 -1.53177182e-03 4.36076321e+02] [ 3.82031929e-02 9.99269980e-01 -1.54376968e-04 4.05942372e+01] [ 1.53655131e-03 9.57455151e-05 9.99998815e-01 -1.42635320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.501400513 meters 0.06127370623526442 Centerline is valid? [True, True] Translation: X:436.14, Y:40.60, Z:-1.43 [[ 9.99305625e-01 -3.72392838e-02 -1.22612951e-03 4.36135696e+02] [ 3.72391600e-02 9.99306374e-01 -1.23636962e-04 4.05998096e+01] [ 1.22988318e-03 7.78910786e-05 9.99999241e-01 -1.42707968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.561400513 meters 0.05983847130064687 Centerline is valid? [True, True] Translation: X:436.19, Y:40.60, Z:-1.43 [[ 9.99269270e-01 -3.82151931e-02 -7.24504217e-04 4.36194554e+02] [ 3.82151501e-02 9.99269532e-01 -7.31901934e-05 4.06032824e+01] [ 7.26771967e-04 4.54496738e-05 9.99999735e-01 -1.42679489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.621400513 meters 0.06320928347565839 Centerline is valid? [True, True] Translation: X:436.25, Y:40.60, Z:-1.43 [[ 9.99187313e-01 -4.02960695e-02 -9.69468085e-04 4.36254645e+02] [ 4.02959934e-02 9.99187782e-01 -9.78376979e-05 4.06026450e+01] [ 9.72623140e-04 5.86925069e-05 9.99999525e-01 -1.42580689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.681400513 meters 0.06433892928623515 Centerline is valid? [True, True] Translation: X:436.31, Y:40.61, Z:-1.43 [[ 9.99188069e-01 -4.02712684e-02 -1.19485998e-03 4.36312794e+02] [ 4.02711522e-02 9.99188781e-01 -1.21188013e-04 4.06085305e+01] [ 1.19877108e-03 7.29712281e-05 9.99999279e-01 -1.42700565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74140051300003 meters 0.06126891452769948 Centerline is valid? [True, True] Translation: X:436.37, Y:40.61, Z:-1.43 [[ 9.99263106e-01 -3.83767914e-02 -6.82575974e-04 4.36372954e+02] [ 3.83767532e-02 9.99263339e-01 -6.89875975e-05 4.06132622e+01] [ 6.84720670e-04 4.27417112e-05 9.99999765e-01 -1.42744505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80140051300003 meters 0.06149120863111268 Centerline is valid? [True, True] Translation: X:436.43, Y:40.61, Z:-1.43 [[ 9.99253911e-01 -3.86166248e-02 -6.15135714e-04 4.36431369e+02] [ 3.86165935e-02 9.99254099e-01 -6.28227413e-05 4.06145252e+01] [ 6.17102886e-04 3.90214242e-05 9.99999809e-01 -1.42633553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.861400513 meters 0.062113258765327035 Centerline is valid? [True, True] Translation: X:436.49, Y:40.62, Z:-1.43 [[ 9.99181009e-01 -4.04623604e-02 3.28595948e-04 4.36490454e+02] [ 4.04623516e-02 9.99181063e-01 3.31909467e-05 4.06178219e+01] [-3.29669833e-04 -1.98679988e-05 9.99999945e-01 -1.42525061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.921400513 meters 0.05237884202103438 Centerline is valid? [True, True] Translation: X:436.55, Y:40.60, Z:-1.42 [[ 9.99027539e-01 -4.40621564e-02 1.58218706e-03 4.36552886e+02] [ 4.40619578e-02 9.99028787e-01 1.60150138e-04 4.06045475e+01] [-1.58770698e-03 -9.02801384e-05 9.99998736e-01 -1.42402587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.981400513 meters 0.05676418322726784 Centerline is valid? [True, True] Translation: X:436.61, Y:40.61, Z:-1.43 [[ 9.99020682e-01 -4.42454163e-02 -1.38766567e-04 4.36609339e+02] [ 4.42454147e-02 9.99020692e-01 -1.44697249e-05 4.06143348e+01] [ 1.39270891e-04 8.31577010e-06 9.99999990e-01 -1.42755630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.041400513 meters 0.0544332477392795 Centerline is valid? [True, True] Translation: X:436.67, Y:40.61, Z:-1.43 [[ 9.99183829e-01 -4.03907954e-02 -5.08785141e-04 4.36669908e+02] [ 4.03907743e-02 9.99183958e-01 -5.15770422e-05 4.06132003e+01] [ 5.10453189e-04 3.09847207e-05 9.99999869e-01 -1.42599494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.101400513 meters 0.06300479983040926 Centerline is valid? [True, True] Translation: X:436.73, Y:40.63, Z:-1.42 [[ 9.99292684e-01 -3.75949866e-02 8.65719065e-04 4.36727680e+02] [ 3.75949246e-02 9.99293057e-01 8.77474620e-05 4.06281290e+01] [-8.68405916e-04 -5.51387538e-05 9.99999621e-01 -1.42476061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.161400513 meters 0.06417492854031714 Centerline is valid? [True, True] Translation: X:436.79, Y:40.64, Z:-1.43 [[ 9.99416195e-01 -3.41450693e-02 1.17619356e-03 4.36788035e+02] [ 3.41449526e-02 9.99416884e-01 1.19217014e-04 4.06364080e+01] [-1.17957838e-03 -7.89863412e-05 9.99999301e-01 -1.42545314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.221400513 meters 0.07162678102315448 Centerline is valid? [True, True] Translation: X:436.85, Y:40.65, Z:-1.43 [[ 9.99618702e-01 -2.76005655e-02 -8.11950903e-04 4.36847332e+02] [ 2.76005077e-02 9.99619030e-01 -8.23339977e-05 4.06493114e+01] [ 8.13914039e-04 5.98923468e-05 9.99999667e-01 -1.42717709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.281400513 meters 0.07810322722108447 Centerline is valid? [True, True] Translation: X:436.90, Y:40.67, Z:-1.43 [[ 9.99741436e-01 -2.27384955e-02 -1.48748324e-04 4.36904723e+02] [ 2.27384935e-02 9.99741447e-01 -1.49671609e-05 4.06686972e+01] [ 1.49050196e-04 1.15809781e-05 9.99999989e-01 -1.42718972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.341400513 meters 0.08477345132913984 Centerline is valid? [True, True] Translation: X:436.96, Y:40.68, Z:-1.43 [[ 9.99728349e-01 -2.32948356e-02 7.60423609e-04 4.36961154e+02] [ 2.32947838e-02 9.99728637e-01 7.69250562e-05 4.06837947e+01] [-7.62009214e-04 -5.91902559e-05 9.99999708e-01 -1.42695599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.401400513 meters 0.06655090455041636 Centerline is valid? [True, True] Translation: X:437.02, Y:40.67, Z:-1.43 [[ 9.99631995e-01 -2.71176600e-02 7.11949390e-04 4.37023519e+02] [ 2.71176154e-02 9.99632247e-01 7.21868805e-05 4.06676423e+01] [-7.13645108e-04 -5.28539457e-05 9.99999744e-01 -1.42681809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.461400513 meters 0.0649470428373985 Centerline is valid? [True, True] Translation: X:437.08, Y:40.67, Z:-1.43 [[ 9.99499063e-01 -3.16467578e-02 3.24570839e-04 4.37083276e+02] [ 3.16467488e-02 9.99499116e-01 3.28717458e-05 4.06699193e+01] [-3.25448550e-04 -2.25836674e-05 9.99999947e-01 -1.42672815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.521400513 meters 0.07140072407200475 Centerline is valid? [True, True] Translation: X:437.14, Y:40.69, Z:-1.42 [[ 9.99539506e-01 -3.02662876e-02 2.17444653e-03 4.37140696e+02] [ 3.02658793e-02 9.99541859e-01 2.20453192e-04 4.06853882e+01] [-2.18012263e-03 -1.54540138e-04 9.99997612e-01 -1.42443976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.581400513 meters 0.07652980834741371 Centerline is valid? [True, True] Translation: X:437.20, Y:40.70, Z:-1.43 [[ 9.99741794e-01 -2.27231809e-02 4.63981109e-05 4.37199356e+02] [ 2.27231808e-02 9.99741795e-01 4.67501477e-06 4.07035473e+01] [-4.64923619e-05 -3.61949500e-06 9.99999999e-01 -1.42826057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.641400513 meters 0.08279486612847184 Centerline is valid? [True, True] Translation: X:437.26, Y:40.72, Z:-1.43 [[ 9.99846365e-01 -1.74534687e-02 -1.61934316e-03 4.37257560e+02] [ 1.74532253e-02 9.99847667e-01 -1.64305469e-04 4.07248582e+01] [ 1.62196418e-03 1.36017465e-04 9.99998675e-01 -1.43056749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.701400513 meters 0.08375704768644823 Centerline is valid? [True, True] Translation: X:437.32, Y:40.74, Z:-1.43 [[ 9.99891173e-01 -1.47522449e-02 -1.18308444e-04 4.37317203e+02] [ 1.47522436e-02 9.99891180e-01 -1.20005183e-05 4.07389788e+01] [ 1.18472604e-04 1.02538973e-05 9.99999993e-01 -1.42893851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.761400513 meters 0.08322358872336401 Centerline is valid? [True, True] Translation: X:437.38, Y:40.75, Z:-1.43 [[ 9.99832007e-01 -1.82880898e-02 1.22646242e-03 4.37375187e+02] [ 1.82879509e-02 9.99832754e-01 1.24381327e-04 4.07525227e+01] [-1.22853200e-03 -1.01930947e-04 9.99999240e-01 -1.42833562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.821400513 meters 0.09727858771090288 Centerline is valid? [True, True] Translation: X:437.43, Y:40.78, Z:-1.43 [[ 9.99757270e-01 -2.20284451e-02 -3.85086723e-04 4.37431825e+02] [ 2.20284317e-02 9.99757344e-01 -3.90947290e-05 4.07799153e+01] [ 3.85854475e-04 3.06023829e-05 9.99999925e-01 -1.43117668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.881400513 meters 0.07691486473499119 Centerline is valid? [True, True] Translation: X:437.49, Y:40.77, Z:-1.43 [[ 9.99677592e-01 -2.53895310e-02 2.88322322e-04 4.37493156e+02] [ 2.53895236e-02 9.99677634e-01 2.92356443e-05 4.07742758e+01] [-2.88971656e-04 -2.19058521e-05 9.99999958e-01 -1.42941206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.941400513 meters 0.07643424081495898 Centerline is valid? [True, True] Translation: X:437.55, Y:40.79, Z:-1.43 [[ 9.99666335e-01 -2.58247363e-02 -5.49419245e-04 4.37551366e+02] [ 2.58247092e-02 9.99666485e-01 -5.63360396e-05 4.07862371e+01] [ 5.50690869e-04 4.21286500e-05 9.99999847e-01 -1.43081642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.001400513 meters 0.07528173881956905 Centerline is valid? [True, True] Translation: X:437.61, Y:40.80, Z:-1.43 [[ 9.99659906e-01 -2.60335633e-02 -1.52502748e-03 4.37608575e+02] [ 2.60333557e-02 9.99661063e-01 -1.55851458e-04 4.07961587e+01] [ 1.52856796e-03 1.16096871e-04 9.99998825e-01 -1.43196358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.061400513 meters 0.06971439780516528 Centerline is valid? [True, True] Translation: X:437.67, Y:40.81, Z:-1.43 [[ 9.99637967e-01 -2.68992462e-02 6.04505252e-04 4.37666880e+02] [ 2.68992139e-02 9.99638149e-01 6.14367402e-05 4.08051221e+01] [-6.05939113e-04 -4.51537820e-05 9.99999815e-01 -1.42843289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.121400513 meters 0.07117603076934871 Centerline is valid? [True, True] Translation: X:437.73, Y:40.82, Z:-1.43 [[ 9.99566678e-01 -2.94351949e-02 -1.58300399e-04 4.37725495e+02] [ 2.94351927e-02 9.99566691e-01 -1.61718859e-05 4.08179216e+01] [ 1.58707829e-04 1.15052756e-05 9.99999987e-01 -1.42994811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.181400513 meters 0.06495018661883296 Centerline is valid? [True, True] Translation: X:437.79, Y:40.82, Z:-1.43 [[ 9.99459498e-01 -3.28722672e-02 -3.55872143e-04 4.37785699e+02] [ 3.28722563e-02 9.99459561e-01 -3.63481404e-05 4.08234402e+01] [ 3.56874662e-04 2.46301739e-05 9.99999936e-01 -1.43103168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24140051300003 meters 0.07005799899592248 Centerline is valid? [True, True] Translation: X:437.84, Y:40.84, Z:-1.43 [[ 9.99422930e-01 -3.39605677e-02 -6.97867181e-04 4.37842547e+02] [ 3.39605262e-02 9.99423172e-01 -7.12985792e-05 4.08409855e+01] [ 6.99885972e-04 4.75574982e-05 9.99999754e-01 -1.43069543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30140051300003 meters 0.06873325328037123 Centerline is valid? [True, True] Translation: X:437.90, Y:40.85, Z:-1.43 [[ 9.99411646e-01 -3.42652287e-02 1.50225089e-03 4.37901091e+02] [ 3.42650374e-02 9.99412769e-01 1.52910417e-04 4.08509434e+01] [-1.50660823e-03 -1.01345769e-04 9.99998860e-01 -1.42735065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.361400513 meters 0.06696165920455095 Centerline is valid? [True, True] Translation: X:437.96, Y:40.86, Z:-1.43 [[ 9.99451835e-01 -3.30558716e-02 1.82751659e-03 4.37959942e+02] [ 3.30555854e-02 9.99453497e-01 1.86574853e-04 4.08576248e+01] [-1.83268525e-03 -1.26062948e-04 9.99998313e-01 -1.42636248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.421400513 meters 0.07512897638164677 Centerline is valid? [True, True] Translation: X:438.02, Y:40.88, Z:-1.43 [[ 9.99520207e-01 -3.09711630e-02 -3.78903724e-04 4.38017340e+02] [ 3.09711505e-02 9.99520278e-01 -3.87852717e-05 4.08794632e+01] [ 3.79923181e-04 2.70315785e-05 9.99999927e-01 -1.43103204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.481400513 meters 0.0737598969304413 Centerline is valid? [True, True] Translation: X:438.08, Y:40.89, Z:-1.43 [[ 9.99628837e-01 -2.72316981e-02 7.89096610e-04 4.38077380e+02] [ 2.72316429e-02 9.99629147e-01 8.06098223e-05 4.08881976e+01] [-7.90999113e-04 -5.90915058e-05 9.99999685e-01 -1.42931678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.541400513 meters 0.07633940052694893 Centerline is valid? [True, True] Translation: X:438.14, Y:40.90, Z:-1.43 [[ 9.99672757e-01 -2.55433647e-02 1.38422448e-03 4.38136670e+02] [ 2.55431932e-02 9.99673709e-01 1.41421381e-04 4.08981818e+01] [-1.38738520e-03 -1.06017588e-04 9.99999032e-01 -1.42821904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.601400513 meters 0.08176350347084435 Centerline is valid? [True, True] Translation: X:438.19, Y:40.91, Z:-1.43 [[ 9.99772587e-01 -2.13167775e-02 6.08449757e-04 4.38194912e+02] [ 2.13167436e-02 9.99772770e-01 6.21434086e-05 4.09149763e+01] [-6.09636197e-04 -4.91591089e-05 9.99999813e-01 -1.42992165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.661400513 meters 0.08302251717462414 Centerline is valid? [True, True] Translation: X:438.25, Y:40.93, Z:-1.43 [[ 9.99879612e-01 -1.55149424e-02 2.21181893e-04 4.38254409e+02] [ 1.55149378e-02 9.99879636e-01 2.26124301e-05 4.09283295e+01] [-2.21506101e-04 -1.91780845e-05 9.99999975e-01 -1.43238174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.721400513 meters 0.09882667325654595 Centerline is valid? [True, True] Translation: X:438.31, Y:40.96, Z:-1.43 [[ 9.99931416e-01 -1.16664493e-02 1.02823540e-03 4.38310310e+02] [ 1.16663473e-02 9.99931940e-01 1.05092318e-04 4.09639715e+01] [-1.02939147e-03 -9.30893587e-05 9.99999466e-01 -1.43120004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.781400513 meters 0.08632071402854417 Centerline is valid? [True, True] Translation: X:438.37, Y:40.97, Z:-1.44 [[ 9.99961396e-01 -7.91183135e-03 -3.82216126e-03 4.38370378e+02] [ 7.91039549e-03 9.99968636e-01 -3.90640176e-04 4.09682634e+01] [ 3.82513206e-03 3.60390289e-04 9.99992619e-01 -1.43810650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.841400513 meters 0.10637549548860456 Centerline is valid? [True, False] Translation: X:438.37, Y:40.98, Z:-1.44 [[ 9.99956772e-01 -8.56406019e-03 -3.62091368e-03 4.38369681e+02] [ 8.55653834e-03 9.99961213e-01 -2.08774818e-03 4.09759083e+01] [ 3.63865284e-03 2.05667545e-03 9.99991265e-01 -1.43808411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.901400513 meters 0.0917175474280103 Centerline is valid? [False, True] Translation: X:438.37, Y:40.98, Z:-1.44 [[ 9.99983629e-01 -4.36984791e-03 -3.69414365e-03 4.38369046e+02] [ 4.37653627e-03 9.99988795e-01 1.80439082e-03 4.09780287e+01] [ 3.68621735e-03 -1.82052883e-03 9.99991549e-01 -1.43617538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.961400513 meters 0.08013830124428722 Centerline is valid? [True, True] Translation: X:438.43, Y:40.97, Z:-1.44 [[ 9.99911674e-01 -1.20443240e-02 -5.61944829e-03 4.38430225e+02] [ 1.20416357e-02 9.99927366e-01 -5.11976423e-04 4.09740065e+01] [ 5.62520654e-03 4.44263853e-04 9.99984080e-01 -1.43996343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.021400513 meters 0.07521641756057135 Centerline is valid? [True, True] Translation: X:438.49, Y:40.98, Z:-1.44 [[ 9.99783345e-01 -1.98358072e-02 -6.30900991e-03 4.38489587e+02] [ 1.98325728e-02 9.99803150e-01 -5.74821005e-04 4.09764227e+01] [ 6.31917002e-03 4.49572568e-04 9.99979933e-01 -1.44127999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.081400513 meters 0.07158577235780558 Centerline is valid? [True, True] Translation: X:438.55, Y:40.98, Z:-1.44 [[ 9.99667126e-01 -2.51926616e-02 -5.56486092e-03 4.38549626e+02] [ 2.51902277e-02 9.99682547e-01 -5.07035457e-04 4.09798504e+01] [ 5.57586792e-03 3.66686564e-04 9.99984387e-01 -1.43803372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.141400513 meters 0.06673869410715703 Centerline is valid? [True, True] Translation: X:438.61, Y:40.98, Z:-1.44 [[ 9.99706362e-01 -2.36969694e-02 -5.06391056e-03 4.38609249e+02] [ 2.36949343e-02 9.99719129e-01 -4.61494133e-04 4.09818892e+01] [ 5.07342427e-03 3.41369592e-04 9.99987072e-01 -1.43593863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.201400513 meters 0.07882023824533592 Centerline is valid? [True, True] Translation: X:438.67, Y:41.01, Z:-1.43 [[ 9.99861284e-01 -1.65946656e-02 -1.42488737e-03 4.38666032e+02] [ 1.65944973e-02 9.99862293e-01 -1.29860257e-04 4.10081004e+01] [ 1.42684614e-03 1.06196954e-04 9.99998976e-01 -1.43072311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.261400513 meters 0.08758086206362393 Centerline is valid? [True, True] Translation: X:438.72, Y:41.03, Z:-1.43 [[ 9.99917544e-01 -1.26583892e-02 -2.16119908e-03 4.38723271e+02] [ 1.26579928e-02 9.99919865e-01 -1.96995285e-04 4.10289099e+01] [ 2.16351953e-03 1.69622599e-04 9.99997645e-01 -1.43179649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.321400513 meters 0.07083634846571198 Centerline is valid? [True, True] Translation: X:438.78, Y:41.02, Z:-1.43 [[ 9.99932966e-01 -1.06966305e-02 -4.43241359e-03 4.38784397e+02] [ 1.06949437e-02 9.99942726e-01 -4.04094131e-04 4.10194935e+01] [ 4.43648218e-03 3.56662629e-04 9.99990095e-01 -1.43472454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.381400513 meters 0.08078693000665838 Centerline is valid? [True, True] Translation: X:438.84, Y:41.04, Z:-1.44 [[ 9.99916006e-01 -1.20939020e-02 -4.66026470e-03 4.38841395e+02] [ 1.20920519e-02 9.99926798e-01 -4.24969839e-04 4.10424627e+01] [ 4.66506310e-03 3.68581982e-04 9.99989051e-01 -1.43704658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.441400513 meters 0.07813695290265532 Centerline is valid? [True, True] Translation: X:438.90, Y:41.05, Z:-1.44 [[ 9.99773608e-01 -2.07176685e-02 -4.84884163e-03 4.38901071e+02] [ 2.07157662e-02 9.99785308e-01 -4.42229197e-04 4.10457889e+01] [ 4.85696258e-03 3.41681611e-04 9.99988147e-01 -1.43764902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.501400513 meters 0.06696021302033017 Centerline is valid? [True, True] Translation: X:438.96, Y:41.04, Z:-1.43 [[ 9.99658865e-01 -2.58577606e-02 -3.67833941e-03 4.38962499e+02] [ 2.58567005e-02 9.99665603e-01 -3.35488235e-04 4.10367928e+01] [ 3.68578436e-03 2.40264068e-04 9.99993179e-01 -1.43482189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.561400513 meters 0.06193932187344455 Centerline is valid? [True, True] Translation: X:439.02, Y:41.03, Z:-1.43 [[ 9.99593283e-01 -2.84271950e-02 -2.27231795e-03 4.39023023e+02] [ 2.84267969e-02 9.99595855e-01 -2.07273467e-04 4.10326863e+01] [ 2.27729181e-03 1.42594444e-04 9.99997397e-01 -1.43250180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.621400513 meters 0.06976122891888015 Centerline is valid? [True, True] Translation: X:439.08, Y:41.04, Z:-1.43 [[ 9.99628963e-01 -2.71202014e-02 -2.53586348e-03 4.39080999e+02] [ 2.71197013e-02 9.99632166e-01 -2.31387996e-04 4.10440532e+01] [ 2.54120599e-03 1.62530283e-04 9.99996758e-01 -1.43308279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.681400513 meters 0.06586952251453473 Centerline is valid? [True, True] Translation: X:439.14, Y:41.04, Z:-1.44 [[ 9.99716752e-01 -2.33620255e-02 -4.54219717e-03 4.39141745e+02] [ 2.33603822e-02 9.99727023e-01 -4.14501628e-04 4.10438502e+01] [ 4.55064085e-03 3.08276759e-04 9.99989598e-01 -1.43541926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74140051300003 meters 0.07661978243143058 Centerline is valid? [True, True] Translation: X:439.20, Y:41.06, Z:-1.44 [[ 9.99867985e-01 -1.54490565e-02 -5.03385893e-03 4.39199812e+02] [ 1.54469384e-02 9.99880583e-01 -4.59373217e-04 4.10633946e+01] [ 5.04035469e-03 3.81554864e-04 9.99987225e-01 -1.43637329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80140051300003 meters 0.07798056605077826 Centerline is valid? [True, True] Translation: X:439.26, Y:41.07, Z:-1.44 [[ 9.99893832e-01 -1.39881427e-02 -4.08119015e-03 4.39258407e+02] [ 1.39867380e-02 9.99902111e-01 -3.72513321e-04 4.10736395e+01] [ 4.08600141e-03 3.15391235e-04 9.99991603e-01 -1.43548082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.861400513 meters 0.0797390351525594 Centerline is valid? [True, True] Translation: X:439.32, Y:41.08, Z:-1.43 [[ 9.99846428e-01 -1.73118825e-02 -2.72368826e-03 4.39316350e+02] [ 1.73112690e-02 9.99850118e-01 -2.48677338e-04 4.10834000e+01] [ 2.72758510e-03 2.01488648e-04 9.99996260e-01 -1.43260790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.921400513 meters 0.07515541686107308 Centerline is valid? [True, True] Translation: X:439.38, Y:41.08, Z:-1.43 [[ 9.99797942e-01 -1.97634560e-02 -3.67166846e-03 4.39376654e+02] [ 1.97623574e-02 9.99804649e-01 -3.35266120e-04 4.10829296e+01] [ 3.67757722e-03 2.62637553e-04 9.99993203e-01 -1.43472379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.981400513 meters 0.0682294526598974 Centerline is valid? [True, True] Translation: X:439.44, Y:41.08, Z:-1.44 [[ 9.99720169e-01 -2.31781832e-02 -4.72808129e-03 4.39436916e+02] [ 2.31763992e-02 9.99731298e-01 -4.31755240e-04 4.10849007e+01] [ 4.73681815e-03 3.22054522e-04 9.99988729e-01 -1.43609797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.041400513 meters 0.06806376754963898 Centerline is valid? [True, True] Translation: X:439.50, Y:41.09, Z:-1.44 [[ 9.99571212e-01 -2.89522848e-02 -4.37684813e-03 4.39496237e+02] [ 2.89508109e-02 9.99580757e-01 -3.99737149e-04 4.10914346e+01] [ 4.38658647e-03 2.72852444e-04 9.99990342e-01 -1.43569103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.101400513 meters 0.059371218218868066 Centerline is valid? [True, True] Translation: X:439.56, Y:41.08, Z:-1.43 [[ 9.99498970e-01 -3.15114362e-02 -2.97286753e-03 4.39557576e+02] [ 3.15107674e-02 9.99503376e-01 -2.71535269e-04 4.10849732e+01] [ 2.97994759e-03 1.77721885e-04 9.99995544e-01 -1.43299620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.161400513 meters 0.06470340958519939 Centerline is valid? [True, True] Translation: X:439.61, Y:41.10, Z:-1.43 [[ 9.99524284e-01 -3.07120298e-02 -2.82428706e-03 4.39614366e+02] [ 3.07114227e-02 9.99528260e-01 -2.58090539e-04 4.10954372e+01] [ 2.83088121e-03 1.71229888e-04 9.99995978e-01 -1.43424557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.221400513 meters 0.06797692179306755 Centerline is valid? [True, True] Translation: X:439.67, Y:41.10, Z:-1.43 [[ 9.99625267e-01 -2.72678694e-02 -2.40614713e-03 4.39674597e+02] [ 2.72674187e-02 9.99628151e-01 -2.19916122e-04 4.11039463e+01] [ 2.41124905e-03 1.54224291e-04 9.99997081e-01 -1.43417196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.281400513 meters 0.06749250803971583 Centerline is valid? [True, True] Translation: X:439.74, Y:41.10, Z:-1.44 [[ 9.99753474e-01 -2.16996817e-02 -4.70257092e-03 4.39735055e+02] [ 2.16978989e-02 9.99764480e-01 -4.29804728e-04 4.11041496e+01] [ 4.71078999e-03 3.27662862e-04 9.99988850e-01 -1.43693271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.341400513 meters 0.07033199045496057 Centerline is valid? [True, True] Translation: X:439.79, Y:41.11, Z:-1.44 [[ 9.99796162e-01 -1.92668878e-02 -6.03505938e-03 4.39794504e+02] [ 1.92639070e-02 9.99814282e-01 -5.51664564e-04 4.11121635e+01] [ 6.04456742e-03 4.35293291e-04 9.99981637e-01 -1.43908859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.401400513 meters 0.0696602144639453 Centerline is valid? [True, True] Translation: X:439.85, Y:41.12, Z:-1.44 [[ 9.99797641e-01 -1.92200835e-02 -5.93848258e-03 4.39853721e+02] [ 1.92171914e-02 9.99815185e-01 -5.43698307e-04 4.11152848e+01] [ 5.94783499e-03 4.29467328e-04 9.99982219e-01 -1.43907733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.461400513 meters 0.07304800059940873 Centerline is valid? [True, True] Translation: X:439.91, Y:41.12, Z:-1.44 [[ 9.99679644e-01 -2.49961591e-02 -3.97504496e-03 4.39913334e+02] [ 2.49949082e-02 9.99687512e-01 -3.64064473e-04 4.11175336e+01] [ 3.98290302e-03 2.64591959e-04 9.99992033e-01 -1.43635194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.521400513 meters 0.06371620706976353 Centerline is valid? [True, True] Translation: X:439.98, Y:41.10, Z:-1.43 [[ 9.99460191e-01 -3.27538076e-02 -2.55224235e-03 4.39975695e+02] [ 3.27533171e-02 9.99463439e-01 -2.33762633e-04 4.11014367e+01] [ 2.55852953e-03 1.50042044e-04 9.99996716e-01 -1.43437443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.581400513 meters 0.06085018753614587 Centerline is valid? [True, True] Translation: X:440.04, Y:41.10, Z:-1.43 [[ 9.99410782e-01 -3.42135080e-02 -2.74297336e-03 4.40035630e+02] [ 3.42129461e-02 9.99414534e-01 -2.51529387e-04 4.10969866e+01] [ 2.74997315e-03 1.57535982e-04 9.99996206e-01 -1.43457307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.641400513 meters 0.06507457273625333 Centerline is valid? [True, True] Translation: X:440.09, Y:41.10, Z:-1.43 [[ 9.99427944e-01 -3.37051360e-02 -2.78350089e-03 4.40092867e+02] [ 3.37045546e-02 9.99431807e-01 -2.55558735e-04 4.11013476e+01] [ 2.79053297e-03 1.61595884e-04 9.99996093e-01 -1.43429887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.701400513 meters 0.06645210662341139 Centerline is valid? [True, True] Translation: X:440.15, Y:41.10, Z:-1.44 [[ 9.99546773e-01 -2.97921023e-02 -4.32192031e-03 4.40153413e+02] [ 2.97906633e-02 9.99556081e-01 -3.96955478e-04 4.10988955e+01] [ 4.33182787e-03 2.68022695e-04 9.99990582e-01 -1.43542608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.761400513 meters 0.07804998274404816 Centerline is valid? [True, True] Translation: X:440.21, Y:41.11, Z:-1.43 [[ 9.99721679e-01 -2.35359478e-02 -1.61986927e-03 4.40211519e+02] [ 2.35357375e-02 9.99722985e-01 -1.48768349e-04 4.11137857e+01] [ 1.62292195e-03 1.10602126e-04 9.99998677e-01 -1.43088413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.821400513 meters 0.0790229343639577 Centerline is valid? [True, True] Translation: X:440.27, Y:41.12, Z:-1.43 [[ 9.99924987e-01 -1.22397453e-02 -4.56315317e-04 4.40271012e+02] [ 1.22397275e-02 9.99925091e-01 -4.19027823e-05 4.11210401e+01] [ 4.56794014e-04 3.63144639e-05 9.99999895e-01 -1.42960731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.881400513 meters 0.0802533541857551 Centerline is valid? [True, True] Translation: X:440.33, Y:41.13, Z:-1.43 [[ 9.99968850e-01 -7.42332881e-03 -2.68200517e-03 4.40330418e+02] [ 7.42269464e-03 9.99972421e-01 -2.46329571e-04 4.11309292e+01] [ 2.68375978e-03 2.26414192e-04 9.99996373e-01 -1.43348581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.941400513 meters 0.08647258257236416 Centerline is valid? [True, True] Translation: X:440.39, Y:41.15, Z:-1.43 [[ 9.99968146e-01 -7.11596012e-03 -3.61516602e-03 4.40386913e+02] [ 7.11480526e-03 9.99974634e-01 -3.32210753e-04 4.11453567e+01] [ 3.61743832e-03 3.06478969e-04 9.99993410e-01 -1.43441192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.001400513 meters 0.07818592231351353 Centerline is valid? [True, True] Translation: X:440.45, Y:41.14, Z:-1.43 [[ 9.99890162e-01 -1.45028277e-02 -3.05493515e-03 4.40447353e+02] [ 1.45020372e-02 9.99894801e-01 -2.80762074e-04 4.11446298e+01] [ 3.05868562e-03 2.36428453e-04 9.99995294e-01 -1.43394280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.061400513 meters 0.06760173034991881 Centerline is valid? [True, True] Translation: X:440.51, Y:41.14, Z:-1.43 [[ 9.99770534e-01 -2.12560317e-02 -2.65728437e-03 4.40508697e+02] [ 2.12554573e-02 9.99774047e-01 -2.44216363e-04 4.11378013e+01] [ 2.66187502e-03 1.87678529e-04 9.99996440e-01 -1.43401295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.121400513 meters 0.0650900665351298 Centerline is valid? [True, True] Translation: X:440.57, Y:41.14, Z:-1.43 [[ 9.99486489e-01 -3.19467070e-02 -2.48314816e-03 4.40567878e+02] [ 3.19462382e-02 9.99489563e-01 -2.28224026e-04 4.11388883e+01] [ 2.48917167e-03 1.48779588e-04 9.99996891e-01 -1.43385049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.181400513 meters 0.05323359805129734 Centerline is valid? [True, True] Translation: X:440.63, Y:41.13, Z:-1.43 [[ 9.99271506e-01 -3.80348998e-02 -3.13117322e-03 4.40630069e+02] [ 3.80341842e-02 9.99276397e-01 -2.87801105e-04 4.11270805e+01] [ 3.13985398e-03 1.68499825e-04 9.99995056e-01 -1.43448498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24140051300003 meters 0.05176494781467779 Centerline is valid? [True, True] Translation: X:440.69, Y:41.12, Z:-1.43 [[ 9.99133357e-01 -4.15271139e-02 -2.83433247e-03 4.40689968e+02] [ 4.15265414e-02 9.99137367e-01 -2.60549465e-04 4.11234979e+01] [ 2.84270735e-03 1.42623637e-04 9.99995949e-01 -1.43380247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30140051300003 meters 0.048684362933582165 Centerline is valid? [True, True] Translation: X:440.75, Y:41.12, Z:-1.43 [[ 9.99169498e-01 -4.07433817e-02 -5.39231725e-04 4.40749554e+02] [ 4.07433609e-02 9.99169643e-01 -4.95371230e-05 4.11188935e+01] [ 5.40802280e-04 2.75258696e-05 9.99999853e-01 -1.42998755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.361400513 meters 0.06023060040754492 Centerline is valid? [True, True] Translation: X:440.81, Y:41.13, Z:-1.43 [[ 9.99400791e-01 -3.46103536e-02 4.27567629e-04 4.40807253e+02] [ 3.46103399e-02 9.99400882e-01 3.93814119e-05 4.11337017e+01] [-4.28674470e-04 -2.45595532e-05 9.99999908e-01 -1.42831547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.421400513 meters 0.0705265465935697 Centerline is valid? [True, True] Translation: X:440.87, Y:41.15, Z:-1.43 [[ 9.99582139e-01 -2.89014113e-02 -5.05926321e-04 4.40865856e+02] [ 2.89013914e-02 9.99582266e-01 -4.65966581e-05 4.11492007e+01] [ 5.07061688e-04 3.19552126e-05 9.99999871e-01 -1.43021742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.481400513 meters 0.07393976753695054 Centerline is valid? [True, True] Translation: X:440.93, Y:41.16, Z:-1.43 [[ 9.99743570e-01 -2.25376687e-02 -2.20177286e-03 4.40925122e+02] [ 2.25372765e-02 9.99745983e-01 -2.02796312e-04 4.11589543e+01] [ 2.20578413e-03 1.53122345e-04 9.99997556e-01 -1.43314669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.541400513 meters 0.06966134418186572 Centerline is valid? [True, True] Translation: X:440.99, Y:41.16, Z:-1.43 [[ 9.99792168e-01 -2.03025574e-02 -1.85114988e-03 4.40985965e+02] [ 2.03022763e-02 9.99793873e-01 -1.70505041e-04 4.11597290e+01] [ 1.85422999e-03 1.32887048e-04 9.99998272e-01 -1.43276996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.601400513 meters 0.0717661936066086 Centerline is valid? [True, True] Translation: X:441.04, Y:41.17, Z:-1.43 [[ 9.99778517e-01 -2.08974867e-02 -2.49220204e-03 4.41043318e+02] [ 2.08969789e-02 9.99781608e-01 -2.29648031e-04 4.11673984e+01] [ 2.49645683e-03 1.77517674e-04 9.99996868e-01 -1.43399788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.661400513 meters 0.06939047542874201 Centerline is valid? [True, True] Translation: X:441.10, Y:41.17, Z:-1.44 [[ 9.99684195e-01 -2.49337669e-02 -3.13343339e-03 4.41104046e+02] [ 2.49329836e-02 9.99689083e-01 -2.88801509e-04 4.11690238e+01] [ 3.13966006e-03 2.10584461e-04 9.99995049e-01 -1.43597639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.721400513 meters 0.06888729849370179 Centerline is valid? [True, True] Translation: X:441.16, Y:41.17, Z:-1.44 [[ 9.99561004e-01 -2.94377611e-02 -3.34913355e-03 4.41163945e+02] [ 2.94368913e-02 9.99566593e-01 -3.08713939e-04 4.11671677e+01] [ 3.35676986e-03 2.09990335e-04 9.99994344e-01 -1.43673916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.781400513 meters 0.060919847018002446 Centerline is valid? [True, True] Translation: X:441.23, Y:41.15, Z:-1.44 [[ 9.99382475e-01 -3.49294924e-02 -3.82093777e-03 4.41225703e+02] [ 3.49284003e-02 9.99389755e-01 -3.52217106e-04 4.11549033e+01] [ 3.83090883e-03 2.18540359e-04 9.99992638e-01 -1.43719733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.841400513 meters 0.05700455590958691 Centerline is valid? [True, True] Translation: X:441.29, Y:41.15, Z:-1.44 [[ 9.99363917e-01 -3.55119576e-02 -3.26544408e-03 4.41285276e+02] [ 3.55111616e-02 9.99369234e-01 -3.01421811e-04 4.11489193e+01] [ 3.27408842e-03 1.85270370e-04 9.99994623e-01 -1.43623335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.901400513 meters 0.06045310517777518 Centerline is valid? [True, True] Translation: X:441.35, Y:41.15, Z:-1.44 [[ 9.99461068e-01 -3.25615767e-02 -4.16131401e-03 4.41345872e+02] [ 3.25602580e-02 9.99469700e-01 -3.84277576e-04 4.11506385e+01] [ 4.17161995e-03 2.48577019e-04 9.99991268e-01 -1.43748060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.961400513 meters 0.05935544164366209 Centerline is valid? [True, True] Translation: X:441.41, Y:41.15, Z:-1.44 [[ 9.99493793e-01 -3.16017564e-02 -3.67234970e-03 4.41405176e+02] [ 3.16007226e-02 9.99500515e-01 -3.39227239e-04 4.11504777e+01] [ 3.68123559e-03 2.23006616e-04 9.99993199e-01 -1.43787493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.021400513 meters 0.06317720110077454 Centerline is valid? [True, True] Translation: X:441.47, Y:41.15, Z:-1.44 [[ 9.99391607e-01 -3.45546342e-02 -4.73220061e-03 4.41465107e+02] [ 3.45529500e-02 9.99402773e-01 -4.37217154e-04 4.11495375e+01] [ 4.74448229e-03 2.73439663e-04 9.99988707e-01 -1.43872582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.081400513 meters 0.053296418880796885 Centerline is valid? [True, True] Translation: X:441.53, Y:41.14, Z:-1.44 [[ 9.99312071e-01 -3.69720849e-02 -2.90696383e-03 4.41526467e+02] [ 3.69714594e-02 9.99316286e-01 -2.68611550e-04 4.11361904e+01] [ 2.91490742e-03 1.60952069e-04 9.99995739e-01 -1.43591030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.141400513 meters 0.05545093002180347 Centerline is valid? [True, True] Translation: X:441.59, Y:41.13, Z:-1.43 [[ 9.99332565e-01 -3.65028813e-02 1.40165211e-03 4.41585215e+02] [ 3.65027352e-02 9.99333545e-01 1.29645085e-04 4.11322076e+01] [-1.40545039e-03 -7.83944190e-05 9.99999009e-01 -1.42877710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.201400513 meters 0.062127430101223804 Centerline is valid? [True, True] Translation: X:441.64, Y:41.14, Z:-1.43 [[ 9.99429490e-01 -3.37741694e-02 -1.36006189e-05 4.41644105e+02] [ 3.37741694e-02 9.99429490e-01 -1.25069215e-06 4.11391198e+01] [ 1.36351008e-05 7.90629008e-07 1.00000000e+00 -1.43025259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.261400513 meters 0.06368597380010602 Centerline is valid? [True, True] Translation: X:441.71, Y:41.14, Z:-1.43 [[ 9.99606980e-01 -2.80297268e-02 -4.67923513e-04 4.41705347e+02] [ 2.80297096e-02 9.99607090e-01 -4.32694332e-05 4.11375041e+01] [ 4.68952491e-04 3.01366673e-05 9.99999890e-01 -1.43166227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.321400513 meters 0.07341382811787447 Centerline is valid? [True, True] Translation: X:441.76, Y:41.15, Z:-1.43 [[ 9.99679775e-01 -2.53048207e-02 -1.12096770e-04 4.41763678e+02] [ 2.53048197e-02 9.99679782e-01 -1.03670762e-05 4.11494249e+01] [ 1.12323211e-04 7.52716784e-06 9.99999994e-01 -1.43086888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.381400513 meters 0.06383068319275098 Centerline is valid? [True, True] Translation: X:441.82, Y:41.14, Z:-1.43 [[ 9.99712195e-01 -2.39678628e-02 -1.03360112e-03 4.41823909e+02] [ 2.39677767e-02 9.99712727e-01 -9.55927157e-05 4.11412455e+01] [ 1.03559535e-03 7.07920829e-05 9.99999461e-01 -1.43165554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.441400513 meters 0.07716779821808047 Centerline is valid? [True, True] Translation: X:441.88, Y:41.16, Z:-1.43 [[ 9.99783371e-01 -2.06190636e-02 -2.84005910e-03 4.41881385e+02] [ 2.06183999e-02 9.99787384e-01 -2.62780787e-04 4.11610605e+01] [ 2.84487355e-03 2.04166387e-04 9.99995932e-01 -1.43419454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.501400513 meters 0.07958014974116683 Centerline is valid? [True, True] Translation: X:441.94, Y:41.17, Z:-1.44 [[ 9.99867358e-01 -1.59149523e-02 -3.46127930e-03 4.41941400e+02] [ 1.59139384e-02 9.99873314e-01 -3.20289530e-04 4.11721395e+01] [ 3.46593820e-03 2.65164461e-04 9.99993958e-01 -1.43637301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.561400513 meters 0.08282352582057662 Centerline is valid? [True, True] Translation: X:442.00, Y:41.18, Z:-1.44 [[ 9.99880597e-01 -1.45087678e-02 -5.31851264e-03 4.41999943e+02] [ 1.45063535e-02 9.99894656e-01 -4.92252195e-04 4.11827186e+01] [ 5.32509434e-03 4.15041194e-04 9.99985735e-01 -1.43998571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.621400513 meters 0.08264590890433432 Centerline is valid? [True, True] Translation: X:442.06, Y:41.19, Z:-1.44 [[ 9.99828339e-01 -1.71692451e-02 -6.96492858e-03 4.42058869e+02] [ 1.71651680e-02 9.99852460e-01 -6.44735302e-04 4.11903013e+01] [ 6.97497059e-03 5.25070456e-04 9.99975537e-01 -1.44241038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.681400513 meters 0.07424268819626705 Centerline is valid? [True, True] Translation: X:442.12, Y:41.19, Z:-1.44 [[ 9.99781461e-01 -2.05908949e-02 -3.61172668e-03 4.42120106e+02] [ 2.05898208e-02 9.99787951e-01 -3.34339946e-04 4.11865541e+01] [ 3.61784517e-03 2.59902074e-04 9.99993422e-01 -1.43611279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74140051300003 meters 0.06826180094044361 Centerline is valid? [True, True] Translation: X:442.18, Y:41.18, Z:-1.43 [[ 9.99710712e-01 -2.39431552e-02 -2.28428520e-03 4.42180227e+02] [ 2.39427342e-02 9.99713309e-01 -2.11489213e-04 4.11842987e+01] [ 2.28869404e-03 1.56735998e-04 9.99997369e-01 -1.43370283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80140051300003 meters 0.06279927911636109 Centerline is valid? [True, True] Translation: X:442.24, Y:41.18, Z:-1.43 [[ 9.99530899e-01 -3.05872435e-02 -1.55003177e-03 4.42241424e+02] [ 3.05870576e-02 9.99532096e-01 -1.43514521e-04 4.11837686e+01] [ 1.55369622e-03 9.60362872e-05 9.99998788e-01 -1.43317789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.861400513 meters 0.06195112735193291 Centerline is valid? [True, True] Translation: X:442.30, Y:41.18, Z:-1.44 [[ 9.99365917e-01 -3.53634124e-02 -4.14633047e-03 4.42300780e+02] [ 3.53621227e-02 9.99374491e-01 -3.83968490e-04 4.11825816e+01] [ 4.15731534e-03 2.37101976e-04 9.99991330e-01 -1.43539145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.921400513 meters 0.055633406140610304 Centerline is valid? [True, True] Translation: X:442.36, Y:41.18, Z:-1.44 [[ 9.99292528e-01 -3.70696325e-02 -6.34708665e-03 4.42360992e+02] [ 3.70666437e-02 9.99312623e-01 -5.87922608e-04 4.11791443e+01] [ 6.36451789e-03 3.52241470e-04 9.99979684e-01 -1.43847993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.981400513 meters 0.06289836807778143 Centerline is valid? [True, True] Translation: X:442.42, Y:41.19, Z:-1.43 [[ 9.99318759e-01 -3.67712176e-02 -3.14570031e-03 4.42417669e+02] [ 3.67704816e-02 9.99323695e-01 -2.91527672e-04 4.11906897e+01] [ 3.15429269e-03 1.75660156e-04 9.99995010e-01 -1.43286643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.041400513 meters 0.06149195494038831 Centerline is valid? [True, True] Translation: X:442.48, Y:41.19, Z:-1.43 [[ 9.99469780e-01 -3.25323505e-02 -1.34384919e-03 4.42478549e+02] [ 3.25322123e-02 9.99470680e-01 -1.24558882e-04 4.11929028e+01] [ 1.34719005e-03 8.07744508e-05 9.99999089e-01 -1.42927255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.101400513 meters 0.06288495951077396 Centerline is valid? [True, True] Translation: X:442.54, Y:41.20, Z:-1.43 [[ 9.99561063e-01 -2.96246750e-02 2.46788428e-04 4.42538029e+02] [ 2.96246702e-02 9.99561093e-01 2.28754625e-05 4.12018640e+01] [-2.47357789e-04 -1.55543959e-05 9.99999969e-01 -1.42770487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.161400513 meters 0.06830163219995367 Centerline is valid? [True, True] Translation: X:442.60, Y:41.21, Z:-1.42 [[ 9.99675031e-01 -2.54387486e-02 1.64398022e-03 4.42596770e+02] [ 2.54385323e-02 9.99676377e-01 1.52374413e-04 4.12111168e+01] [-1.64732440e-03 -1.10504452e-04 9.99998637e-01 -1.42466611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.221400513 meters 0.07196925140773644 Centerline is valid? [True, True] Translation: X:442.66, Y:41.22, Z:-1.43 [[ 9.99735953e-01 -2.29561113e-02 -1.02003219e-03 4.42656532e+02] [ 2.29560268e-02 9.99736471e-01 -9.45449299e-05 4.12231596e+01] [ 1.02193377e-03 7.11040792e-05 9.99999475e-01 -1.42945230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.281400513 meters 0.07605542232838629 Centerline is valid? [True, True] Translation: X:442.72, Y:41.24, Z:-1.43 [[ 9.99791332e-01 -2.02681233e-02 -2.54846911e-03 4.42715727e+02] [ 2.02675867e-02 9.99794563e-01 -2.36220709e-04 4.12360639e+01] [ 2.55273331e-03 1.84520099e-04 9.99996725e-01 -1.43315466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.341400513 meters 0.0863038071056748 Centerline is valid? [True, True] Translation: X:442.77, Y:41.26, Z:-1.43 [[ 9.99877550e-01 -1.55554626e-02 -1.70667820e-03 4.42773528e+02] [ 1.55552151e-02 9.99878998e-01 -1.58193616e-04 4.12558653e+01] [ 1.70893247e-03 1.31626499e-04 9.99998531e-01 -1.43118074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.401400513 meters 0.08174138247485294 Centerline is valid? [True, True] Translation: X:442.83, Y:41.26, Z:-1.43 [[ 9.99897807e-01 -1.39737521e-02 -3.01828575e-03 4.42833431e+02] [ 1.39729708e-02 9.99902334e-01 -2.79792045e-04 4.12579736e+01] [ 3.02190071e-03 2.37589034e-04 9.99995406e-01 -1.43322716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.461400513 meters 0.07805648547859519 Centerline is valid? [True, True] Translation: X:442.89, Y:41.26, Z:-1.44 [[ 9.99878175e-01 -1.48908181e-02 -4.67952881e-03 4.42891740e+02] [ 1.48889492e-02 9.99889059e-01 -4.33975712e-04 4.12630052e+01] [ 4.68547191e-03 3.64249576e-04 9.99988957e-01 -1.43740846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.521400513 meters 0.07826552254403595 Centerline is valid? [True, True] Translation: X:442.95, Y:41.27, Z:-1.44 [[ 9.99846990e-01 -1.69936197e-02 -4.14891740e-03 4.42950712e+02] [ 1.69921682e-02 9.99855549e-01 -3.84841642e-04 4.12718295e+01] [ 4.15485794e-03 3.14283655e-04 9.99991319e-01 -1.43719678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.581400513 meters 0.07293632227650376 Centerline is valid? [True, True] Translation: X:443.01, Y:41.27, Z:-1.44 [[ 9.99788146e-01 -1.98116484e-02 -5.58230963e-03 4.43011800e+02] [ 1.98090646e-02 9.99803647e-01 -5.17766629e-04 4.12733423e+01] [ 5.59147134e-03 4.07076606e-04 9.99984285e-01 -1.43792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.641400513 meters 0.06955386526031648 Centerline is valid? [True, True] Translation: X:443.07, Y:41.28, Z:-1.44 [[ 9.99727555e-01 -2.30250646e-02 -3.82918794e-03 4.43071190e+02] [ 2.30238722e-02 9.99734852e-01 -3.55211938e-04 4.12790139e+01] [ 3.83635142e-03 2.66952429e-04 9.99992606e-01 -1.43541003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.701400513 meters 0.06511370630633796 Centerline is valid? [True, True] Translation: X:443.13, Y:41.28, Z:-1.43 [[ 9.99697550e-01 -2.45474407e-02 -1.49403477e-03 4.43131052e+02] [ 2.45472608e-02 9.99698661e-01 -1.38615533e-04 4.12811638e+01] [ 1.49698722e-03 1.01899147e-04 9.99998874e-01 -1.43167495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.761400513 meters 0.0719251524901725 Centerline is valid? [True, True] Translation: X:443.19, Y:41.30, Z:-1.43 [[ 9.99587016e-01 -2.87254752e-02 -8.03081974e-04 4.43188501e+02] [ 2.87254246e-02 9.99587337e-01 -7.45204925e-05 4.12975884e+01] [ 8.04891209e-04 5.14208461e-05 9.99999675e-01 -1.43076373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.821400513 meters 0.06401936010853827 Centerline is valid? [True, True] Translation: X:443.25, Y:41.29, Z:-1.43 [[ 9.99469504e-01 -3.25128150e-02 -1.90477105e-03 4.43249096e+02] [ 3.25125368e-02 9.99471312e-01 -1.76828111e-04 4.12923084e+01] [ 1.90951320e-03 1.14805365e-04 9.99998170e-01 -1.43076880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.881400513 meters 0.05744692174772282 Centerline is valid? [True, True] Translation: X:443.31, Y:41.29, Z:-1.43 [[ 9.99277163e-01 -3.80083390e-02 -7.20029084e-04 4.43310031e+02] [ 3.80083007e-02 9.99277421e-01 -6.68489876e-05 4.12920645e+01] [ 7.22049625e-04 3.94335847e-05 9.99999739e-01 -1.42932734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.941400513 meters 0.05089928722291125 Centerline is valid? [True, True] Translation: X:443.37, Y:41.29, Z:-1.43 [[ 9.99099684e-01 -4.24242061e-02 -9.47226712e-05 4.43370278e+02] [ 4.24242055e-02 9.99099688e-01 -8.78110783e-06 4.12901292e+01] [ 9.50099228e-05 4.75466799e-06 9.99999995e-01 -1.42887266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.001400513 meters 0.04668372287575319 Centerline is valid? [True, True] Translation: X:443.43, Y:41.29, Z:-1.43 [[ 9.98860628e-01 -4.76856502e-02 -1.87730398e-03 4.43430718e+02] [ 4.76854065e-02 9.98862389e-01 -1.74361115e-04 4.12910357e+01] [ 1.88348286e-03 8.46424496e-05 9.99998223e-01 -1.43140393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.061400513 meters 0.03967322656930214 Centerline is valid? [True, True] Translation: X:443.49, Y:41.29, Z:-1.43 [[ 9.98467461e-01 -5.53086323e-02 -1.91952728e-03 4.43491980e+02] [ 5.53083916e-02 9.98469303e-01 -1.78303343e-04 4.12887845e+01] [ 1.92645078e-03 7.18641193e-05 9.99998142e-01 -1.43184450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.121400513 meters 0.034196794716345943 Centerline is valid? [True, True] Translation: X:443.55, Y:41.29, Z:-1.43 [[ 9.98161844e-01 -6.05683587e-02 -2.09924932e-03 4.43552265e+02] [ 6.05680824e-02 9.98164049e-01 -1.95002383e-04 4.12890081e+01] [ 2.10720618e-03 6.74964325e-05 9.99997778e-01 -1.43259478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.181400513 meters 0.0353897139667001 Centerline is valid? [True, True] Translation: X:443.61, Y:41.30, Z:-1.43 [[ 9.98014871e-01 -6.29209163e-02 -2.69737920e-03 4.43610212e+02] [ 6.29204684e-02 9.98018513e-01 -2.50654276e-04 4.12957657e+01] [ 2.70780577e-03 8.04363320e-05 9.99996331e-01 -1.43343026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24140051300003 meters 0.03078892117087167 Centerline is valid? [True, True] Translation: X:443.67, Y:41.30, Z:-1.43 [[ 9.97932681e-01 -6.42108300e-02 -2.70797360e-03 4.43669506e+02] [ 6.42103825e-02 9.97936352e-01 -2.51989247e-04 4.12962773e+01] [ 2.71856573e-03 7.75882844e-05 9.99996302e-01 -1.43325038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30140051300003 meters 0.0280281820659371 Centerline is valid? [True, True] Translation: X:443.73, Y:41.30, Z:-1.43 [[ 9.97776735e-01 -6.65912349e-02 -2.68230920e-03 4.43728351e+02] [ 6.65908036e-02 9.97780338e-01 -2.49869162e-04 4.13022056e+01] [ 2.69299448e-03 7.06965114e-05 9.99996371e-01 -1.43328432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.361400513 meters 0.020292175486383072 Centerline is valid? [True, True] Translation: X:443.79, Y:41.30, Z:-1.43 [[ 9.97256167e-01 -7.39724116e-02 -2.86700614e-03 4.43789339e+02] [ 7.39719492e-02 9.97260287e-01 -2.67145708e-04 4.13026105e+01] [ 2.87891278e-03 5.43346726e-05 9.99995854e-01 -1.43342726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.421400513 meters 0.01682721481999615 Centerline is valid? [True, True] Translation: X:443.85, Y:41.31, Z:-1.43 [[ 9.96885072e-01 -7.88569780e-02 -1.31504547e-03 4.43847730e+02] [ 7.88568849e-02 9.96885940e-01 -1.22556818e-04 4.13069893e+01] [ 1.32061480e-03 1.84746732e-05 9.99999128e-01 -1.43060135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.481400513 meters 0.009096533876374172 Centerline is valid? [True, True] Translation: X:443.91, Y:41.30, Z:-1.43 [[ 9.96177327e-01 -8.73122750e-02 -2.70165095e-03 4.43907700e+02] [ 8.73119123e-02 9.96180991e-01 -2.52130451e-04 4.13045509e+01] [ 2.71334740e-03 1.52803284e-05 9.99996319e-01 -1.43146511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.541400513 meters 0.006772330693887152 Centerline is valid? [True, True] Translation: X:443.97, Y:41.31, Z:-1.43 [[ 9.95660508e-01 -9.29997359e-02 -3.34702943e-03 4.43965503e+02] [ 9.29992101e-02 9.95666133e-01 -3.12721741e-04 4.13058669e+01] [ 3.36160689e-03 9.35942686e-08 9.99994350e-01 -1.43270450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.601400513 meters 0.007840986593189197 Centerline is valid? [True, True] Translation: X:444.02, Y:41.31, Z:-1.43 [[ 9.95270228e-01 -9.71416195e-02 8.24279699e-04 4.44024070e+02] [ 9.71415888e-02 9.95270569e-01 7.72893469e-05 4.13087953e+01] [-8.27889338e-04 3.14805373e-06 9.99999657e-01 -1.42516751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.661400513 meters 0.008355767118885095 Centerline is valid? [True, True] Translation: X:444.08, Y:41.31, Z:-1.42 [[ 9.95152816e-01 -9.83332900e-02 1.19884610e-03 4.44081518e+02] [ 9.83332257e-02 9.95153538e-01 1.12607909e-04 4.13144702e+01] [-1.20410904e-03 5.82432594e-06 9.99999275e-01 -1.42359631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.721400513 meters 0.008703872073699374 Centerline is valid? [True, True] Translation: X:444.14, Y:41.32, Z:-1.42 [[ 9.95058969e-01 -9.92727538e-02 1.60269257e-03 4.44139493e+02] [ 9.92726397e-02 9.95060260e-01 1.50811572e-04 4.13229288e+01] [-1.60974716e-03 9.03711484e-06 9.99998704e-01 -1.42339946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.781400513 meters 0.010621791047518349 Centerline is valid? [True, True] Translation: X:444.20, Y:41.33, Z:-1.42 [[ 9.94857599e-01 -1.01278573e-01 1.00462853e-03 4.44196608e+02] [ 1.01278529e-01 9.94858106e-01 9.45486329e-05 4.13295825e+01] [-1.00903858e-03 7.68487339e-06 9.99999491e-01 -1.42478577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.841400513 meters 0.01414019582546883 Centerline is valid? [True, True] Translation: X:444.26, Y:41.33, Z:-1.43 [[ 9.94444815e-01 -1.05259172e-01 1.28842273e-04 4.44255351e+02] [ 1.05259171e-01 9.94444823e-01 1.22643111e-05 4.13334090e+01] [-1.29417463e-04 1.36565034e-06 9.99999992e-01 -1.42626234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.901400513 meters 0.018277512039962397 Centerline is valid? [True, True] Translation: X:444.31, Y:41.34, Z:-1.43 [[ 9.93863909e-01 -1.10587127e-01 -2.23984606e-03 4.44314475e+02] [ 1.10586932e-01 9.93866433e-01 -2.11147843e-04 4.13380956e+01] [ 2.24945804e-03 -3.78454821e-05 9.99997469e-01 -1.42914581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.961400513 meters 0.020850259742529326 Centerline is valid? [True, True] Translation: X:444.37, Y:41.34, Z:-1.43 [[ 9.93740629e-01 -1.11674933e-01 -2.87604575e-03 4.44371596e+02] [ 1.11674615e-01 9.93744790e-01 -2.71303443e-04 4.13440223e+01] [ 2.88835327e-03 -5.15760485e-05 9.99995827e-01 -1.43056195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.021400513 meters 0.020248336827502243 Centerline is valid? [True, True] Translation: X:444.43, Y:41.36, Z:-1.43 [[ 9.93651324e-01 -1.12474853e-01 -2.54050079e-03 4.44429121e+02] [ 1.12474607e-01 9.93654570e-01 -2.39802130e-04 4.13551867e+01] [ 2.55135193e-03 -4.74621242e-05 9.99996744e-01 -1.42901139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.081400513 meters 0.02139755529603741 Centerline is valid? [True, True] Translation: X:444.49, Y:41.36, Z:-1.43 [[ 9.93518577e-01 -1.13595262e-01 -4.11741291e-03 4.44487842e+02] [ 1.13594623e-01 9.93527106e-01 -3.89306833e-04 4.13625992e+01] [ 4.13498475e-03 -8.09323988e-05 9.99991448e-01 -1.43073194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.141400513 meters 0.021944259918029452 Centerline is valid? [True, True] Translation: X:444.55, Y:41.37, Z:-1.43 [[ 9.93437564e-01 -1.14286343e-01 -4.52085018e-03 4.44546320e+02] [ 1.14285577e-01 9.93447846e-01 -4.28248228e-04 4.13739725e+01] [ 4.54017180e-03 -9.12300968e-05 9.99989689e-01 -1.43204063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.201400513 meters 0.021816578851659423 Centerline is valid? [True, True] Translation: X:444.60, Y:41.38, Z:-1.43 [[ 9.93516352e-01 -1.13580705e-01 -4.96805830e-03 4.44603504e+02] [ 1.13579769e-01 9.93528769e-01 -4.71011772e-04 4.13835716e+01] [ 4.98940669e-03 -9.63130176e-05 9.99987548e-01 -1.43205950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.261400513 meters 0.021512826180135062 Centerline is valid? [True, True] Translation: X:444.66, Y:41.40, Z:-1.43 [[ 9.93642807e-01 -1.12399501e-01 -6.35007842e-03 4.44660033e+02] [ 1.12397945e-01 9.93663091e-01 -6.02599969e-04 4.13963405e+01] [ 6.37757049e-03 -1.14966639e-04 9.99979656e-01 -1.43481203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.321400513 meters 0.020759261346634562 Centerline is valid? [True, True] Translation: X:444.72, Y:41.41, Z:-1.43 [[ 9.93549366e-01 -1.13298486e-01 -4.80728791e-03 4.44717199e+02] [ 1.13297601e-01 9.93560992e-01 -4.57046887e-04 4.14104529e+01] [ 4.82811647e-03 -9.05555421e-05 9.99988340e-01 -1.43137557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.381400513 meters 0.021711476038027956 Centerline is valid? [True, True] Translation: X:444.78, Y:41.42, Z:-1.43 [[ 9.93388318e-01 -1.14774703e-01 -2.53314567e-03 4.44775057e+02] [ 1.14774460e-01 9.93391547e-01 -2.41223972e-04 4.14226011e+01] [ 2.54409191e-03 -5.11113517e-05 9.99996762e-01 -1.42761999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.441400513 meters 0.025191881452550264 Centerline is valid? [True, True] Translation: X:444.83, Y:41.43, Z:-1.43 [[ 9.93203676e-01 -1.16373642e-01 -1.90640021e-03 4.44832193e+02] [ 1.16373508e-01 9.93205504e-01 -1.81709421e-04 4.14340831e+01] [ 1.91459337e-03 -4.13800153e-05 9.99998166e-01 -1.42793323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.501400513 meters 0.027919958697904406 Centerline is valid? [True, True] Translation: X:444.89, Y:41.45, Z:-1.43 [[ 9.92732693e-01 -1.20286839e-01 -3.58841916e-03 4.44890650e+02] [ 1.20286387e-01 9.92739174e-01 -3.42187747e-04 4.14482716e+01] [ 3.60352496e-03 -9.19370145e-05 9.99993503e-01 -1.42996621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.561400513 meters 0.035286196869226585 Centerline is valid? [True, True] Translation: X:444.95, Y:41.45, Z:-1.43 [[ 9.92244526e-01 -1.24257421e-01 -3.30049109e-03 4.44948993e+02] [ 1.24257060e-01 9.92250011e-01 -3.14872969e-04 4.14504791e+01] [ 3.31403762e-03 -9.76783399e-05 9.99994504e-01 -1.42874192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.621400513 meters 0.03764134243762643 Centerline is valid? [True, True] Translation: X:445.01, Y:41.46, Z:-1.43 [[ 9.91576366e-01 -1.29512146e-01 -1.70727871e-03 4.45008004e+02] [ 1.29512058e-01 9.91577834e-01 -1.62906444e-04 4.14607497e+01] [ 1.71399809e-03 -5.95789990e-05 9.99998529e-01 -1.42575614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.681400513 meters 0.03896874545636204 Centerline is valid? [True, True] Translation: X:445.07, Y:41.47, Z:-1.43 [[ 9.91329082e-01 -1.31367148e-01 -3.05361240e-03 4.45066574e+02] [ 1.31366872e-01 9.91333778e-01 -2.91500050e-04 4.14684124e+01] [ 3.06544264e-03 -1.12171032e-04 9.99995295e-01 -1.42786755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74140051300003 meters 0.041238342938832405 Centerline is valid? [True, True] Translation: X:445.12, Y:41.47, Z:-1.43 [[ 9.91271073e-01 -1.31784692e-01 -3.80203354e-03 4.45124585e+02] [ 1.31784267e-01 9.91278354e-01 -3.63177176e-04 4.14739291e+01] [ 3.81673474e-03 -1.41041173e-04 9.99992706e-01 -1.42990000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80140051300003 meters 0.04410042384661304 Centerline is valid? [True, True] Translation: X:445.18, Y:41.48, Z:-1.43 [[ 9.91417125e-01 -1.30687397e-01 -3.58999428e-03 4.45182794e+02] [ 1.30687009e-01 9.91423617e-01 -3.43437379e-04 4.14780243e+01] [ 3.60408805e-03 -1.28675917e-04 9.99993497e-01 -1.43127644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.861400513 meters 0.034678710973419104 Centerline is valid? [True, True] Translation: X:445.24, Y:41.50, Z:-1.43 [[ 9.91917906e-01 -1.26747389e-01 -5.82814238e-03 4.45241521e+02] [ 1.26746297e-01 9.91935010e-01 -5.57812045e-04 4.14959269e+01] [ 5.85183969e-03 -1.85391711e-04 9.99982861e-01 -1.43416670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.921400513 meters 0.032081473649903054 Centerline is valid? [True, True] Translation: X:445.30, Y:41.51, Z:-1.43 [[ 9.92388658e-01 -1.23006992e-01 -5.83358097e-03 4.45298960e+02] [ 1.23005832e-01 9.92405791e-01 -5.58525898e-04 4.15091241e+01] [ 5.85798213e-03 -1.63289717e-04 9.99982829e-01 -1.43418017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.981400513 meters 0.03569013964728454 Centerline is valid? [True, True] Translation: X:445.36, Y:41.52, Z:-1.43 [[ 9.92785225e-01 -1.19795150e-01 -5.15938021e-03 4.45355926e+02] [ 1.19789546e-01 9.92798344e-01 -1.38308146e-03 4.15247747e+01] [ 5.28791058e-03 7.55063025e-04 9.99985734e-01 -1.43403198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.041400513 meters 0.025420677173217877 Centerline is valid? [True, True] Translation: X:445.42, Y:41.54, Z:-1.44 [[ 9.93088234e-01 -1.17189792e-01 -6.50482125e-03 4.45415403e+02] [ 1.17193897e-01 9.93109021e-01 2.52185777e-04 4.15384865e+01] [ 6.43044306e-03 -1.01276808e-03 9.99978812e-01 -1.43511337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.101400513 meters 0.025336491566773853 Centerline is valid? [True, True] Translation: X:445.47, Y:41.55, Z:-1.43 [[ 9.93195145e-01 -1.16339878e-01 -5.33265635e-03 4.45472850e+02] [ 1.16338809e-01 9.93209454e-01 -5.11320988e-04 4.15469865e+01] [ 5.35593173e-03 -1.12553365e-04 9.99985651e-01 -1.43371112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.161400513 meters 0.024683959390795485 Centerline is valid? [True, True] Translation: X:445.53, Y:41.55, Z:-1.43 [[ 9.93195293e-01 -1.16362320e-01 -4.78761952e-03 4.45530165e+02] [ 1.16361455e-01 9.93206827e-01 -4.59873664e-04 4.15546511e+01] [ 4.80860835e-03 -1.00350014e-04 9.99988434e-01 -1.43233548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.221400513 meters 0.021824842055983108 Centerline is valid? [True, True] Translation: X:445.59, Y:41.57, Z:-1.43 [[ 9.93372412e-01 -1.14859313e-01 -4.31146790e-03 4.45587966e+02] [ 1.14858594e-01 9.93381765e-01 -4.14880085e-04 4.15696065e+01] [ 4.33058644e-03 -8.30787109e-05 9.99990620e-01 -1.43032353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.281400513 meters 0.01751726566270585 Centerline is valid? [True, True] Translation: X:445.65, Y:41.58, Z:-1.43 [[ 9.93940201e-01 -1.09882450e-01 -2.95354782e-03 4.45645614e+02] [ 1.09882090e-01 9.93944589e-01 -2.84367575e-04 4.15835701e+01] [ 2.96690988e-03 -4.18976445e-05 9.99995598e-01 -1.42804341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.341400513 meters 0.009587920352637402 Centerline is valid? [True, True] Translation: X:445.70, Y:41.60, Z:-1.43 [[ 9.94806730e-01 -1.01779493e-01 -7.10027804e-04 4.45704388e+02] [ 1.01779471e-01 9.94806984e-01 -6.83663503e-05 4.16012758e+01] [ 7.13298911e-04 -4.25494860e-06 9.99999746e-01 -1.42503353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.401400513 meters 0.010608616521054095 Centerline is valid? [True, True] Translation: X:445.76, Y:41.63, Z:-1.42 [[ 9.96093912e-01 -8.83001553e-02 -1.54332880e-05 4.45760629e+02] [ 8.83001553e-02 9.96093913e-01 -1.35822227e-06 4.16297264e+01] [ 1.54929355e-05 -9.84479440e-09 1.00000000e+00 -1.42435945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.461400513 meters 0.021107809983145567 Centerline is valid? [True, True] Translation: X:445.82, Y:41.65, Z:-1.43 [[ 9.96996544e-01 -7.73924072e-02 -2.88223150e-03 4.45818633e+02] [ 7.73919266e-02 9.97000708e-01 -2.78074179e-04 4.16518409e+01] [ 2.89510768e-03 5.41775462e-05 9.99995808e-01 -1.42828549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.521400513 meters 0.024978596537454326 Centerline is valid? [True, True] Translation: X:445.88, Y:41.66, Z:-1.43 [[ 9.97362746e-01 -7.24641175e-02 -4.06261522e-03 4.45877038e+02] [ 7.24631210e-02 9.97371015e-01 -3.92143895e-04 4.16636558e+01] [ 4.08035103e-03 9.67199339e-05 9.99991671e-01 -1.42947946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.581400513 meters 0.03305025919349691 Centerline is valid? [True, True] Translation: X:445.93, Y:41.68, Z:-1.43 [[ 9.97569597e-01 -6.95776970e-02 -3.72067079e-03 4.45934811e+02] [ 6.95768404e-02 9.97576530e-01 -3.59325928e-04 4.16787194e+01] [ 3.73665493e-03 9.95801034e-05 9.99993014e-01 -1.43082697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.641400513 meters 0.031136007257229186 Centerline is valid? [True, True] Translation: X:445.99, Y:41.68, Z:-1.43 [[ 9.97626745e-01 -6.86871701e-02 -4.79071198e-03 4.45993849e+02] [ 6.86857363e-02 9.97638238e-01 -4.63373324e-04 4.16783874e+01] [ 4.81122527e-03 1.33220041e-04 9.99988417e-01 -1.43235650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.701400513 meters 0.03135935916722913 Centerline is valid? [True, True] Translation: X:446.05, Y:41.68, Z:-1.43 [[ 9.97619286e-01 -6.88094954e-02 -4.58399929e-03 4.46051928e+02] [ 6.88081801e-02 9.97629810e-01 -4.44210304e-04 4.16826321e+01] [ 4.60370023e-03 1.27736118e-04 9.99989395e-01 -1.43308189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.761400513 meters 0.03259431803708063 Centerline is valid? [True, True] Translation: X:446.11, Y:41.68, Z:-1.43 [[ 9.97657920e-01 -6.83490428e-02 -2.66152083e-03 4.46110115e+02] [ 6.83485972e-02 9.97661467e-01 -2.58105508e-04 4.16833592e+01] [ 2.67293804e-03 7.55897892e-05 9.99996425e-01 -1.43028782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.821400513 meters 0.03068341622250396 Centerline is valid? [True, True] Translation: X:446.17, Y:41.69, Z:-1.43 [[ 9.97696633e-01 -6.77235663e-02 -3.86606361e-03 4.46169070e+02] [ 6.77226193e-02 9.97704117e-01 -3.75500447e-04 4.16851928e+01] [ 3.88261782e-03 1.12815578e-04 9.99992456e-01 -1.43186787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.881400513 meters 0.033900948944519796 Centerline is valid? [True, True] Translation: X:446.23, Y:41.69, Z:-1.43 [[ 9.97967804e-01 -6.36468017e-02 -3.05714407e-03 4.46228605e+02] [ 6.36461900e-02 9.97972482e-01 -2.97061186e-04 4.16910966e+01] [ 3.06985265e-03 1.01881928e-04 9.99995283e-01 -1.43003985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.941400513 meters 0.040322318402088705 Centerline is valid? [True, True] Translation: X:446.29, Y:41.70, Z:-1.43 [[ 9.98213343e-01 -5.97355150e-02 -1.33777124e-03 4.46286636e+02] [ 5.97353944e-02 9.98214238e-01 -1.30000534e-04 4.17044769e+01] [ 1.34314795e-03 4.98559754e-05 9.99999097e-01 -1.42717011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.001400513 meters 0.0468289826473742 Centerline is valid? [True, True] Translation: X:446.34, Y:41.72, Z:-1.43 [[ 9.98512109e-01 -5.44335262e-02 -3.24942501e-03 4.46344902e+02] [ 5.44327862e-02 9.98517387e-01 -3.15792656e-04 4.17206889e+01] [ 3.26179708e-03 1.38447534e-04 9.99994671e-01 -1.43038273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.061400513 meters 0.052973014309432735 Centerline is valid? [True, True] Translation: X:446.40, Y:41.74, Z:-1.43 [[ 9.98759223e-01 -4.94658685e-02 -5.75697056e-03 4.46404150e+02] [ 4.94634633e-02 9.98775777e-01 -5.59512415e-04 4.17370852e+01] [ 5.77759952e-03 2.74058483e-04 9.99983272e-01 -1.43359337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.121400513 meters 0.048730636442795926 Centerline is valid? [True, True] Translation: X:446.46, Y:41.74, Z:-1.43 [[ 9.98757250e-01 -4.93450171e-02 -7.00177436e-03 4.46463408e+02] [ 4.93414490e-02 9.98781736e-01 -6.81531187e-04 4.17402248e+01] [ 7.02687452e-03 3.35206522e-04 9.99975255e-01 -1.43426291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.181400513 meters 0.04852779516210393 Centerline is valid? [True, True] Translation: X:446.52, Y:41.75, Z:-1.43 [[ 9.98665562e-01 -5.12795576e-02 -6.12392463e-03 4.46521466e+02] [ 5.12768630e-02 9.98684298e-01 -5.96328731e-04 4.17469856e+01] [ 6.14644685e-03 2.81517322e-04 9.99981071e-01 -1.43358716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24140051300003 meters 0.045861975695299914 Centerline is valid? [True, True] Translation: X:446.58, Y:41.75, Z:-1.43 [[ 9.98610358e-01 -5.25127103e-02 -4.44608467e-03 4.46580119e+02] [ 5.25113013e-02 9.98620236e-01 -4.33134605e-04 4.17496998e+01] [ 4.46269519e-03 1.99063012e-04 9.99990022e-01 -1.42989310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30140051300003 meters 0.053549236462493446 Centerline is valid? [True, True] Translation: X:446.64, Y:41.77, Z:-1.43 [[ 9.98557088e-01 -5.36227251e-02 -2.88875492e-03 4.46636994e+02] [ 5.36221339e-02 9.98561259e-01 -2.81793980e-04 4.17662357e+01] [ 2.89970931e-03 1.26486173e-04 9.99995788e-01 -1.42769360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.361400513 meters 0.04406265488910788 Centerline is valid? [True, True] Translation: X:446.70, Y:41.76, Z:-1.43 [[ 9.98303645e-01 -5.81183497e-02 -3.47707993e-03 4.46699054e+02] [ 5.81175199e-02 9.98309691e-01 -3.39310815e-04 4.17576227e+01] [ 3.49092277e-03 1.36655962e-04 9.99993897e-01 -1.42875458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.421400513 meters 0.03620832327663529 Centerline is valid? [True, True] Translation: X:446.76, Y:41.75, Z:-1.43 [[ 9.97896015e-01 -6.48025162e-02 -2.04389689e-03 4.46760232e+02] [ 6.48022435e-02 9.97898106e-01 -1.99458003e-04 4.17506486e+01] [ 2.05252621e-03 6.65892428e-05 9.99997891e-01 -1.42642933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.481400513 meters 0.0218183176635213 Centerline is valid? [True, True] Translation: X:446.82, Y:41.73, Z:-1.42 [[ 9.97010479e-01 -7.72661803e-02 -2.03427961e-04 4.46823050e+02] [ 7.72661778e-02 9.97010500e-01 -1.98484931e-05 4.17327219e+01] [ 2.04353430e-04 4.07105457e-06 9.99999979e-01 -1.42378241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.541400513 meters 0.014956182400215295 Centerline is valid? [True, True] Translation: X:446.88, Y:41.72, Z:-1.43 [[ 9.96435368e-01 -8.43559624e-02 -7.93492983e-04 4.46884060e+02] [ 8.43559274e-02 9.96435684e-01 -7.74426048e-05 4.17241656e+01] [ 7.97197468e-04 1.02307139e-05 9.99999682e-01 -1.42533104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.601400513 meters 0.010142934009798025 Centerline is valid? [True, True] Translation: X:446.94, Y:41.72, Z:-1.42 [[ 9.95949192e-01 -8.99171914e-02 -3.24272891e-04 4.46944089e+02] [ 8.99171858e-02 9.95949245e-01 -3.16306534e-05 4.17151963e+01] [ 3.25803481e-04 2.34481785e-06 9.99999947e-01 -1.42419724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.661400513 meters 0.009424066556548148 Centerline is valid? [True, True] Translation: X:447.00, Y:41.72, Z:-1.43 [[ 9.95841587e-01 -9.10843932e-02 -1.77946959e-03 4.47002186e+02] [ 9.10842278e-02 9.95843177e-01 -1.73972290e-04 4.17165235e+01] [ 1.78791881e-03 1.11672274e-05 9.99998402e-01 -1.42564204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.721400513 meters 0.00999071567688262 Centerline is valid? [True, True] Translation: X:447.06, Y:41.72, Z:-1.43 [[ 9.95905801e-01 -9.03028507e-02 -4.12693043e-03 4.47061512e+02] [ 9.03019502e-02 9.95914351e-01 -4.04397464e-04 4.17175927e+01] [ 4.14658748e-03 3.00719143e-05 9.99991402e-01 -1.42847732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.781400513 meters 0.010010151838206032 Centerline is valid? [True, True] Translation: X:447.12, Y:41.72, Z:-1.43 [[ 9.95883238e-01 -9.05944695e-02 -3.03631419e-03 4.47119074e+02] [ 9.05939817e-02 9.95887866e-01 -2.98069022e-04 4.17204485e+01] [ 3.05083187e-03 2.17701506e-05 9.99995346e-01 -1.42689089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.841400513 meters 0.009546292834205359 Centerline is valid? [True, True] Translation: X:447.18, Y:41.72, Z:-1.43 [[ 9.95782393e-01 -9.16766971e-02 -3.57895533e-03 4.47176716e+02] [ 9.16760252e-02 9.95788824e-01 -3.51684717e-04 4.17236346e+01] [ 3.59612502e-03 2.20970501e-05 9.99993534e-01 -1.42775005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.901400513 meters 0.007883050595947703 Centerline is valid? [True, True] Translation: X:447.24, Y:41.73, Z:-1.43 [[ 9.95472048e-01 -9.49033892e-02 -5.36175908e-03 4.47235839e+02] [ 9.49019235e-02 9.95486487e-01 -5.27704979e-04 4.17270193e+01] [ 5.38763970e-03 1.64743061e-05 9.99985486e-01 -1.43103649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.961400513 meters 0.00708929472879431 Centerline is valid? [True, True] Translation: X:447.30, Y:41.73, Z:-1.43 [[ 9.95056063e-01 -9.92497060e-02 -3.59548542e-03 4.47295223e+02] [ 9.92490732e-02 9.95062559e-01 -3.54423642e-04 4.17279378e+01] [ 3.61290937e-03 -4.17720235e-06 9.99993473e-01 -1.42767033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.021400513 meters 0.011122871509636688 Centerline is valid? [True, True] Translation: X:447.35, Y:41.72, Z:-1.43 [[ 9.94365068e-01 -1.05987233e-01 -2.19511024e-03 4.47354257e+02] [ 1.05987013e-01 9.94367491e-01 -2.16586137e-04 4.17235993e+01] [ 2.20570163e-03 -1.72874881e-05 9.99997567e-01 -1.42566912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.081400513 meters 0.019029973727152736 Centerline is valid? [True, True] Translation: X:447.41, Y:41.72, Z:-1.43 [[ 9.93504888e-01 -1.13721685e-01 -3.92619500e-03 4.47414369e+02] [ 1.13721041e-01 9.93512644e-01 -3.87621387e-04 4.17172486e+01] [ 3.94480533e-03 -6.13872409e-05 9.99992217e-01 -1.42976532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.141400513 meters 0.026762861804210735 Centerline is valid? [True, True] Translation: X:447.48, Y:41.71, Z:-1.43 [[ 9.92597949e-01 -1.21350667e-01 -4.82992402e-03 4.47475066e+02] [ 1.21349782e-01 9.92609693e-01 -4.76926428e-04 4.17098559e+01] [ 4.85210474e-03 -1.12714033e-04 9.99988222e-01 -1.43219975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.201400513 meters 0.03341218967139531 Centerline is valid? [True, True] Translation: X:447.54, Y:41.70, Z:-1.43 [[ 9.91905907e-01 -1.26905558e-01 -4.20124462e-03 4.47535491e+02] [ 1.26904937e-01 9.91914797e-01 -4.14938472e-04 4.17023744e+01] [ 4.21993470e-03 -1.21578764e-04 9.99991089e-01 -1.43052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.261400513 meters 0.030895944833982305 Centerline is valid? [True, True] Translation: X:447.59, Y:41.71, Z:-1.43 [[ 9.91970836e-01 -1.26364218e-01 -5.09369266e-03 4.47594034e+02] [ 1.26363295e-01 9.91983903e-01 -5.03848862e-04 4.17092551e+01] [ 5.11652959e-03 -1.43852412e-04 9.99986900e-01 -1.43067692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.321400513 meters 0.030119379257235998 Centerline is valid? [True, True] Translation: X:447.65, Y:41.72, Z:-1.43 [[ 9.92347733e-01 -1.23441111e-01 -2.87568510e-03 4.47652622e+02] [ 1.23440804e-01 9.92351897e-01 -2.84577679e-04 4.17178404e+01] [ 2.88882014e-03 -7.25768669e-05 9.99995825e-01 -1.42701067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.381400513 meters 0.02849331745984261 Centerline is valid? [True, True] Translation: X:447.71, Y:41.73, Z:-1.42 [[ 9.92462353e-01 -1.22543834e-01 -1.21942583e-03 4.47710849e+02] [ 1.22543778e-01 9.92463102e-01 -1.20757481e-04 4.17291082e+01] [ 1.22503323e-03 -2.95857941e-05 9.99999249e-01 -1.42437471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.441400513 meters 0.02960880780058772 Centerline is valid? [True, True] Translation: X:447.77, Y:41.74, Z:-1.43 [[ 9.92271883e-01 -1.24041330e-01 -3.20278952e-03 4.47769011e+02] [ 1.24040950e-01 9.92277049e-01 -3.17908357e-04 4.17383389e+01] [ 3.21748831e-03 -8.18255290e-05 9.99994821e-01 -1.42732318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.501400513 meters 0.03309432835377296 Centerline is valid? [True, True] Translation: X:447.83, Y:41.74, Z:-1.43 [[ 9.91934838e-01 -1.26690733e-01 -3.83864862e-03 4.47827659e+02] [ 1.26690206e-01 9.91942260e-01 -3.81286551e-04 4.17448623e+01] [ 3.85602325e-03 -1.08107770e-04 9.99992560e-01 -1.42792000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.561400513 meters 0.0379256632916425 Centerline is valid? [True, True] Translation: X:447.89, Y:41.75, Z:-1.43 [[ 9.91187115e-01 -1.32430657e-01 -3.19741597e-03 4.47887025e+02] [ 1.32430321e-01 9.91192267e-01 -3.17636024e-04 4.17516458e+01] [ 3.21131873e-03 -1.08598089e-04 9.99994838e-01 -1.42722993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.621400513 meters 0.04055858663970163 Centerline is valid? [True, True] Translation: X:447.95, Y:41.76, Z:-1.43 [[ 9.90910485e-01 -1.34497902e-01 -2.59316538e-03 4.47945782e+02] [ 1.34497688e-01 9.90913874e-01 -2.57679299e-04 4.17602340e+01] [ 2.60426088e-03 -9.34376287e-05 9.99996605e-01 -1.42618877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.681400513 meters 0.040936204866024166 Centerline is valid? [True, True] Translation: X:448.00, Y:41.78, Z:-1.43 [[ 9.91181740e-01 -1.32481551e-01 -2.71959470e-03 4.48002806e+02] [ 1.32481307e-01 9.91185467e-01 -2.70364159e-04 4.17791687e+01] [ 2.73144100e-03 -9.23154421e-05 9.99996265e-01 -1.42717045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74140051300003 meters 0.03439562083921143 Centerline is valid? [True, True] Translation: X:448.06, Y:41.80, Z:-1.43 [[ 9.91582527e-01 -1.29420475e-01 -3.79901706e-03 4.48061429e+02] [ 1.29419976e-01 9.91589798e-01 -3.77821088e-04 4.17992706e+01] [ 3.81596434e-03 -1.17027908e-04 9.99992712e-01 -1.42886939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.801400513 meters 0.02941928029200508 Centerline is valid? [True, True] Translation: X:448.12, Y:41.82, Z:-1.43 [[ 9.91973550e-01 -1.26384996e-01 -3.91277385e-03 4.48119857e+02] [ 1.26384443e-01 9.91981260e-01 -3.89198749e-04 4.18196151e+01] [ 3.93058722e-03 -1.08438879e-04 9.99992269e-01 -1.42787132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.861400513 meters 0.033421215221537924 Centerline is valid? [True, True] Translation: X:448.18, Y:41.83, Z:-1.43 [[ 9.91990840e-01 -1.26229773e-01 -4.49644511e-03 4.48176660e+02] [ 1.26229040e-01 9.92001023e-01 -4.47495561e-04 4.18291026e+01] [ 4.51696541e-03 -1.23670451e-04 9.99989791e-01 -1.42909765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.921400513 meters 0.03311813428649472 Centerline is valid? [True, True] Translation: X:448.23, Y:41.84, Z:-1.43 [[ 9.91750569e-01 -1.28009438e-01 -6.66281578e-03 4.48234523e+02] [ 1.28007862e-01 9.91772931e-01 -6.64153418e-04 4.18406284e+01] [ 6.69301824e-03 -1.94218272e-04 9.99977583e-01 -1.43163127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.981400513 meters 0.03444240193278154 Centerline is valid? [True, True] Translation: X:448.29, Y:41.85, Z:-1.43 [[ 9.91822950e-01 -1.27484395e-01 -5.91302962e-03 4.48291360e+02] [ 1.27483142e-01 9.91840562e-01 -5.89831342e-04 4.18511763e+01] [ 5.93997691e-03 -1.68803335e-04 9.99982344e-01 -1.43073677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.041400513 meters 0.0279010759847383 Centerline is valid? [True, True] Translation: X:448.35, Y:41.87, Z:-1.43 [[ 9.92299318e-01 -1.23798023e-01 -4.01398539e-03 4.48349971e+02] [ 1.23797415e-01 9.92307432e-01 -4.00469316e-04 4.18663263e+01] [ 4.03268484e-03 -9.95355872e-05 9.99991864e-01 -1.42648651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.101400513 meters 0.017639277858715025 Centerline is valid? [True, True] Translation: X:448.41, Y:41.89, Z:-1.43 [[ 9.93588135e-01 -1.12944448e-01 -5.11570254e-03 4.48407367e+02] [ 1.12943316e-01 9.93601302e-01 -5.10479239e-04 4.18868624e+01] [ 5.14062450e-03 -7.05782957e-05 9.99986784e-01 -1.42722390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.161400513 meters 0.008517871542636184 Centerline is valid? [True, True] Translation: X:448.46, Y:41.91, Z:-1.42 [[ 9.94645978e-01 -1.03308303e-01 -2.60239669e-03 4.48464796e+02] [ 1.03307977e-01 9.94649383e-01 -2.59735186e-04 4.19087844e+01] [ 2.61530506e-03 -1.05037787e-05 9.99996580e-01 -1.42322930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.221400513 meters 0.010137309487346471 Centerline is valid? [True, True] Translation: X:448.52, Y:41.93, Z:-1.42 [[ 9.95709646e-01 -9.25317086e-02 4.29027898e-04 4.48521146e+02] [ 9.25316987e-02 9.95709738e-01 4.28949689e-05 4.19315217e+01] [-4.31156401e-04 -3.01225411e-06 9.99999907e-01 -1.41794112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.281400513 meters 0.025070551400418317 Centerline is valid? [True, True] Translation: X:448.58, Y:41.96, Z:-1.42 [[ 9.96944615e-01 -7.81113749e-02 2.16391641e-04 4.48578081e+02] [ 7.81113720e-02 9.96944639e-01 2.16116847e-05 4.19614869e+01] [-2.17418605e-04 -4.64300467e-06 9.99999976e-01 -1.42000916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.341400513 meters 0.03000723547102376 Centerline is valid? [True, True] Translation: X:448.64, Y:41.98, Z:-1.42 [[ 9.97300809e-01 -7.34185262e-02 -9.03669179e-04 4.48637390e+02] [ 7.34184745e-02 9.97301218e-01 -9.02525940e-05 4.19767994e+01] [ 9.07856586e-04 2.36629724e-05 9.99999588e-01 -1.42242935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.401400513 meters 0.03294814549725967 Centerline is valid? [True, True] Translation: X:448.69, Y:41.99, Z:-1.43 [[ 9.97397579e-01 -7.20174899e-02 -3.39864343e-03 4.48694564e+02] [ 7.20167503e-02 9.97403365e-01 -3.39662898e-04 4.19862847e+01] [ 3.41428006e-03 9.40196971e-05 9.99994167e-01 -1.42706715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.461400513 meters 0.030066233529019448 Centerline is valid? [True, True] Translation: X:448.75, Y:41.99, Z:-1.43 [[ 9.97313506e-01 -7.31428779e-02 -3.98619896e-03 4.48753464e+02] [ 7.31418670e-02 9.97321467e-01 -3.98990262e-04 4.19868091e+01] [ 4.00470508e-03 1.06360343e-04 9.99991975e-01 -1.42768384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.521400513 meters 0.029607877436005417 Centerline is valid? [True, True] Translation: X:448.81, Y:41.99, Z:-1.43 [[ 9.97435475e-01 -7.14399070e-02 -4.33734566e-03 4.48812383e+02] [ 7.14386908e-02 9.97444898e-01 -4.34884161e-04 4.19919851e+01] [ 4.35733138e-03 1.23914594e-04 9.99990499e-01 -1.42794591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.581400513 meters 0.03742200558333604 Centerline is valid? [True, True] Translation: X:448.87, Y:42.01, Z:-1.43 [[ 9.97780317e-01 -6.63164603e-02 -6.04705322e-03 4.48870024e+02] [ 6.63140006e-02 9.97798620e-01 -6.06589249e-04 4.20094053e+01] [ 6.07396820e-03 2.04238522e-04 9.99981532e-01 -1.43111627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.641400513 meters 0.05262402990352441 Centerline is valid? [True, True] Translation: X:448.93, Y:42.04, Z:-1.43 [[ 9.98264959e-01 -5.85092849e-02 -6.61323316e-03 4.48927102e+02] [ 5.85061708e-02 9.98286826e-01 -6.63529078e-04 4.20358206e+01] [ 6.64072616e-03 2.75462879e-04 9.99977912e-01 -1.43221714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.701400513 meters 0.045244298505986706 Centerline is valid? [True, True] Translation: X:448.99, Y:42.03, Z:-1.43 [[ 9.98392655e-01 -5.64459823e-02 -5.09482880e-03 4.48986797e+02] [ 5.64441064e-02 9.98405630e-01 -5.11349772e-04 4.20318109e+01] [ 5.11556940e-03 2.22954797e-04 9.99986891e-01 -1.42770150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.761400513 meters 0.04726529571899574 Centerline is valid? [True, True] Translation: X:449.04, Y:42.04, Z:-1.42 [[ 9.98445204e-01 -5.57287586e-02 -1.21674125e-03 4.49044637e+02] [ 5.57286510e-02 9.98445944e-01 -1.22152957e-04 4.20376002e+01] [ 1.22165779e-03 5.41556859e-05 9.99999252e-01 -1.42309764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.821400513 meters 0.05137608997151113 Centerline is valid? [True, True] Translation: X:449.10, Y:42.05, Z:-1.42 [[ 9.98623887e-01 -5.24347640e-02 -9.63695374e-04 4.49104570e+02] [ 5.24346950e-02 9.98624350e-01 -9.67844275e-05 4.20471312e+01] [ 9.67444535e-04 4.61201682e-05 9.99999531e-01 -1.42266362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.881400513 meters 0.05960977078022665 Centerline is valid? [True, True] Translation: X:449.16, Y:42.06, Z:-1.42 [[ 9.98898288e-01 -4.68935534e-02 -1.79038508e-03 4.49163139e+02] [ 4.68933062e-02 9.98899888e-01 -1.79819087e-04 4.20613620e+01] [ 1.79684781e-03 9.56639023e-05 9.99998381e-01 -1.42384430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.941400513 meters 0.06429470596154935 Centerline is valid? [True, True] Translation: X:449.22, Y:42.07, Z:-1.43 [[ 9.99262327e-01 -3.81630690e-02 -4.28743579e-03 4.49223234e+02] [ 3.81615713e-02 9.99271489e-01 -4.30604220e-04 4.20723009e+01] [ 4.30074552e-03 2.66671288e-04 9.99990716e-01 -1.42774272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.001400513 meters 0.07032533899908142 Centerline is valid? [True, True] Translation: X:449.28, Y:42.08, Z:-1.43 [[ 9.99361796e-01 -3.54736022e-02 -4.19806667e-03 4.49282867e+02] [ 3.54721427e-02 9.99370577e-01 -4.21632526e-04 4.20828937e+01] [ 4.21038114e-03 2.72449018e-04 9.99991099e-01 -1.42748281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.061400513 meters 0.07050491644688431 Centerline is valid? [True, True] Translation: X:449.34, Y:42.09, Z:-1.42 [[ 9.99598958e-01 -2.82812274e-02 -1.44740129e-03 4.49342131e+02] [ 2.82810464e-02 9.99600001e-01 -1.45377087e-04 4.20918049e+01] [ 1.45093377e-03 1.04384762e-04 9.99998942e-01 -1.42306623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.121400513 meters 0.07721903029634414 Centerline is valid? [True, True] Translation: X:449.40, Y:42.11, Z:-1.42 [[ 9.99672509e-01 -2.55340703e-02 -1.69885113e-03 4.49400687e+02] [ 2.55338169e-02 9.99673944e-01 -1.70652683e-04 4.21072653e+01] [ 1.70265467e-03 1.27218641e-04 9.99998542e-01 -1.42330596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.181400513 meters 0.07187803042910468 Centerline is valid? [True, True] Translation: X:449.46, Y:42.11, Z:-1.43 [[ 9.99650578e-01 -2.60959588e-02 -4.20980708e-03 4.49459998e+02] [ 2.60944055e-02 9.99659393e-01 -4.23478291e-04 4.21083458e+01] [ 4.21942427e-03 3.13477906e-04 9.99991049e-01 -1.42761836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24140051300003 meters 0.07370781210513751 Centerline is valid? [True, True] Translation: X:449.52, Y:42.12, Z:-1.43 [[ 9.99572440e-01 -2.87216626e-02 -5.47755650e-03 4.49519179e+02] [ 2.87190709e-02 9.99587370e-01 -5.51236648e-04 4.21160749e+01] [ 5.49112874e-03 3.93690628e-04 9.99984846e-01 -1.42952198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.301400513 meters 0.07209542760517129 Centerline is valid? [True, True] Translation: X:449.58, Y:42.12, Z:-1.43 [[ 9.99429859e-01 -3.35964632e-02 -3.35191509e-03 4.49578734e+02] [ 3.35955198e-02 9.99435454e-01 -3.37364067e-04 4.21173602e+01] [ 3.36135702e-03 2.24562392e-04 9.99994325e-01 -1.42638688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.361400513 meters 0.06772211581426765 Centerline is valid? [True, True] Translation: X:449.64, Y:42.12, Z:-1.42 [[ 9.99357488e-01 -3.57808944e-02 -2.08288324e-03 4.49639471e+02] [ 3.57805348e-02 9.99359650e-01 -2.09659592e-04 4.21151917e+01] [ 2.08905127e-03 1.34998207e-04 9.99997809e-01 -1.42376378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.421400513 meters 0.0672697677354867 Centerline is valid? [True, True] Translation: X:449.70, Y:42.12, Z:-1.42 [[ 9.99445548e-01 -3.32615935e-02 -1.50451698e-03 4.49699952e+02] [ 3.32614030e-02 9.99446675e-01 -1.51452094e-04 4.21181419e+01] [ 1.50872203e-03 1.01325776e-04 9.99998857e-01 -1.42282090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.481400513 meters 0.07825985016925659 Centerline is valid? [True, True] Translation: X:449.76, Y:42.14, Z:-1.42 [[ 9.99593349e-01 -2.85106635e-02 -5.27119655e-04 4.49757794e+02] [ 2.85106394e-02 9.99593488e-01 -5.30637392e-05 4.21351687e+01] [ 5.28418257e-04 3.80136424e-05 9.99999860e-01 -1.42126028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.541400513 meters 0.08530089947099732 Centerline is valid? [True, True] Translation: X:449.82, Y:42.15, Z:-1.42 [[ 9.99808313e-01 -1.94672478e-02 -2.08875427e-03 4.49816630e+02] [ 1.94668507e-02 9.99810481e-01 -2.10275649e-04 4.21522640e+01] [ 2.09245190e-03 1.69573874e-04 9.99997796e-01 -1.42292443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.601400513 meters 0.0860936040862841 Centerline is valid? [True, True] Translation: X:449.88, Y:42.16, Z:-1.42 [[ 9.99891831e-01 -1.44518788e-02 -2.73288195e-03 4.49875918e+02] [ 1.44511804e-02 9.99895538e-01 -2.75144660e-04 4.21627802e+01] [ 2.73657283e-03 2.35621528e-04 9.99996228e-01 -1.42367335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.661400513 meters 0.08977809583296868 Centerline is valid? [True, True] Translation: X:449.94, Y:42.17, Z:-1.42 [[ 9.99925488e-01 -1.20530898e-02 -1.93404710e-03 4.49935455e+02] [ 1.20527355e-02 9.99927344e-01 -1.94723911e-04 4.21747447e+01] [ 1.93625360e-03 1.71398843e-04 9.99998111e-01 -1.42267115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.721400513 meters 0.09246153686378523 Centerline is valid? [True, True] Translation: X:449.99, Y:42.18, Z:-1.42 [[ 9.99912308e-01 -1.29611522e-02 -2.71745779e-03 4.49994081e+02] [ 1.29604560e-02 9.99915972e-01 -2.73643303e-04 4.21841610e+01] [ 2.72077618e-03 2.38399815e-04 9.99996270e-01 -1.42475414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.781400513 meters 0.09383236835951274 Centerline is valid? [True, True] Translation: X:450.05, Y:42.19, Z:-1.43 [[ 9.99887865e-01 -1.44779252e-02 -3.82705094e-03 4.50052233e+02] [ 1.44765551e-02 9.99895135e-01 -3.85469631e-04 4.21928826e+01] [ 3.83223042e-03 3.30023893e-04 9.99992603e-01 -1.42653455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.841400513 meters 0.0987858104148407 Centerline is valid? [True, True] Translation: X:450.11, Y:42.21, Z:-1.42 [[ 9.99873341e-01 -1.57788581e-02 -2.08083165e-03 4.50110074e+02] [ 1.57784557e-02 9.99875490e-01 -2.09624368e-04 4.22050230e+01] [ 2.08388020e-03 1.76765507e-04 9.99997813e-01 -1.42391220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.901400513 meters 0.0883110959997662 Centerline is valid? [True, True] Translation: X:450.17, Y:42.20, Z:-1.42 [[ 9.99840023e-01 -1.78618304e-02 -9.40316670e-04 4.50171482e+02] [ 1.78617492e-02 9.99840462e-01 -9.47360755e-05 4.21967202e+01] [ 9.41858814e-04 7.79252193e-05 9.99999553e-01 -1.42182296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.961400513 meters 0.07643757569701176 Centerline is valid? [True, True] Translation: X:450.23, Y:42.18, Z:-1.42 [[ 9.99744760e-01 -2.25717987e-02 -9.63344209e-04 4.50234110e+02] [ 2.25717156e-02 9.99745222e-01 -9.70591646e-05 4.21826549e+01] [ 9.65289570e-04 7.52900597e-05 9.99999531e-01 -1.42347924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.021400513 meters 0.08350638671691234 Centerline is valid? [True, True] Translation: X:450.29, Y:42.19, Z:-1.43 [[ 9.99678591e-01 -2.48966338e-02 -4.78259064e-03 4.50292751e+02] [ 2.48946114e-02 9.99689965e-01 -4.81943987e-04 4.21939149e+01] [ 4.79310665e-03 3.62728350e-04 9.99988447e-01 -1.43051584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.081400513 meters 0.07160970026461887 Centerline is valid? [True, True] Translation: X:450.36, Y:42.18, Z:-1.43 [[ 9.99605407e-01 -2.74745127e-02 -5.84649543e-03 4.50355178e+02] [ 2.74715341e-02 9.99622413e-01 -5.89179167e-04 4.21780478e+01] [ 5.86047528e-03 4.28334483e-04 9.99982736e-01 -1.43024595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.141400513 meters 0.08215180432287966 Centerline is valid? [True, True] Translation: X:450.41, Y:42.19, Z:-1.43 [[ 9.99540889e-01 -2.96606827e-02 -6.18502187e-03 4.50413775e+02] [ 2.96573902e-02 9.99559928e-01 -6.23379983e-04 4.21879011e+01] [ 6.20078989e-03 4.39662176e-04 9.99980678e-01 -1.43159555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.201400513 meters 0.06990569841179128 Centerline is valid? [True, True] Translation: X:450.47, Y:42.17, Z:-1.43 [[ 9.99556915e-01 -2.91773779e-02 -5.88673327e-03 4.50474685e+02] [ 2.91743820e-02 9.99574161e-01 -5.94170707e-04 4.21711564e+01] [ 5.90156281e-03 4.22165633e-04 9.99982497e-01 -1.43112819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.261400513 meters 0.08198786593346392 Centerline is valid? [True, True] Translation: X:450.53, Y:42.19, Z:-1.43 [[ 9.99686605e-01 -2.46709860e-02 -4.24664759e-03 4.50532774e+02] [ 2.46693860e-02 9.99695572e-01 -4.28731441e-04 4.21883952e+01] [ 4.25593203e-03 3.23834890e-04 9.99990891e-01 -1.42809686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.321400513 meters 0.08652230868826043 Centerline is valid? [True, True] Translation: X:450.59, Y:42.20, Z:-1.43 [[ 9.99838823e-01 -1.72056686e-02 -5.12765217e-03 4.50592321e+02] [ 1.72032382e-02 9.99851879e-01 -5.17704255e-04 4.21975859e+01] [ 5.13580011e-03 4.29408591e-04 9.99986719e-01 -1.42778591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.381400513 meters 0.08155845218798831 Centerline is valid? [True, True] Translation: X:450.65, Y:42.19, Z:-1.42 [[ 9.99881862e-01 -1.51672175e-02 -2.49353531e-03 4.50653158e+02] [ 1.51666365e-02 9.99884948e-01 -2.51766747e-04 4.21945866e+01] [ 2.49706702e-03 2.13918460e-04 9.99996859e-01 -1.42360352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.441400513 meters 0.08674191468025313 Centerline is valid? [True, True] Translation: X:450.71, Y:42.20, Z:-1.42 [[ 9.99861877e-01 -1.66199696e-02 6.37596806e-05 4.50712136e+02] [ 1.66199693e-02 9.99861879e-01 6.45699655e-06 4.22022213e+01] [-6.38581892e-05 -5.39642075e-06 9.99999998e-01 -1.41999472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.501400513 meters 0.0866066755532195 Centerline is valid? [True, True] Translation: X:450.77, Y:42.21, Z:-1.42 [[ 9.99834106e-01 -1.82138125e-02 -1.31203821e-04 4.50771229e+02] [ 1.82138109e-02 9.99834115e-01 -1.32363413e-05 4.22052017e+01] [ 1.31423141e-04 1.08444238e-05 9.99999991e-01 -1.42080959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.561400513 meters 0.08512196468543744 Centerline is valid? [True, True] Translation: X:450.83, Y:42.20, Z:-1.43 [[ 9.99784751e-01 -2.05463700e-02 -2.88054686e-03 4.50831576e+02] [ 2.05456164e-02 9.99788874e-01 -2.90982562e-04 4.22046392e+01] [ 2.88591733e-03 2.31737318e-04 9.99995809e-01 -1.42569278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.621400513 meters 0.08904083372233604 Centerline is valid? [True, True] Translation: X:450.89, Y:42.21, Z:-1.43 [[ 9.99748355e-01 -2.20494340e-02 -4.12916339e-03 4.50890028e+02] [ 2.20478978e-02 9.99756829e-01 -4.17190183e-04 4.22134104e+01] [ 4.13735810e-03 3.26045827e-04 9.99991388e-01 -1.42712145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.681400513 meters 0.07716227584591509 Centerline is valid? [True, True] Translation: X:450.95, Y:42.20, Z:-1.43 [[ 9.99672983e-01 -2.51995711e-02 -4.34833549e-03 4.50951503e+02] [ 2.51978967e-02 9.99682386e-01 -4.39444263e-04 4.22028541e+01] [ 4.35802821e-03 3.29731649e-04 9.99990449e-01 -1.42738568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74140051300003 meters 0.0700534843130155 Centerline is valid? [True, True] Translation: X:451.01, Y:42.20, Z:-1.43 [[ 9.99564700e-01 -2.92734648e-02 -3.67078095e-03 4.51012604e+02] [ 2.92722987e-02 9.99571406e-01 -3.71000754e-04 4.21978490e+01] [ 3.68006815e-03 2.63387061e-04 9.99993194e-01 -1.42614094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.801400513 meters 0.06369402950652708 Centerline is valid? [True, True] Translation: X:451.07, Y:42.19, Z:-1.43 [[ 9.99259126e-01 -3.82533861e-02 -4.22817650e-03 4.51073309e+02] [ 3.82519189e-02 9.99268036e-01 -4.27355463e-04 4.21892458e+01] [ 4.24142942e-03 2.65302982e-04 9.99990970e-01 -1.42610111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.861400513 meters 0.06251041202576114 Centerline is valid? [True, True] Translation: X:451.13, Y:42.19, Z:-1.43 [[ 9.99143828e-01 -4.11307716e-02 -4.45772959e-03 4.51132419e+02] [ 4.11291691e-02 9.99153736e-01 -4.50610935e-04 4.21918517e+01] [ 4.47249115e-03 2.66882420e-04 9.99989963e-01 -1.42669006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.921400513 meters 0.055051513732053484 Centerline is valid? [True, True] Translation: X:451.19, Y:42.18, Z:-1.43 [[ 9.98805293e-01 -4.86099367e-02 -5.00609890e-03 4.51193810e+02] [ 4.86080091e-02 9.98817804e-01 -5.06069499e-04 4.21840634e+01] [ 5.02478071e-03 2.62128393e-04 9.99987341e-01 -1.42747178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.981400513 meters 0.05294910408353347 Centerline is valid? [True, True] Translation: X:451.25, Y:42.18, Z:-1.43 [[ 9.98575493e-01 -5.31628410e-02 -4.54944905e-03 4.51253518e+02] [ 5.31612958e-02 9.98585833e-01 -4.59974217e-04 4.21828843e+01] [ 4.56746891e-03 2.17464373e-04 9.99989545e-01 -1.42614507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.041400513 meters 0.046244844901550695 Centerline is valid? [True, True] Translation: X:451.31, Y:42.17, Z:-1.42 [[ 9.98286837e-01 -5.84415928e-02 -2.82340260e-03 4.51314459e+02] [ 5.84410187e-02 9.98290822e-01 -2.85506875e-04 4.21727011e+01] [ 2.83526238e-03 1.20015231e-04 9.99995973e-01 -1.42367948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.101400513 meters 0.043706753746129576 Centerline is valid? [True, True] Translation: X:451.38, Y:42.17, Z:-1.42 [[ 9.98111567e-01 -6.14096521e-02 -1.46749470e-03 4.51375102e+02] [ 6.14095001e-02 9.98112645e-01 -1.48410524e-04 4.21692264e+01] [ 1.47383885e-03 5.80121448e-05 9.99998912e-01 -1.42229841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.161400513 meters 0.04196492887841514 Centerline is valid? [True, True] Translation: X:451.43, Y:42.16, Z:-1.42 [[ 9.98027594e-01 -6.27649313e-02 1.21881316e-03 4.51434632e+02] [ 6.27648271e-02 9.98028337e-01 1.23586915e-04 4.21635197e+01] [-1.22416699e-03 -4.68445546e-05 9.99999250e-01 -1.41773644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.221400513 meters 0.04342181330966492 Centerline is valid? [True, True] Translation: X:451.49, Y:42.17, Z:-1.42 [[ 9.98166986e-01 -6.05198318e-02 -1.34869154e-04 4.51494219e+02] [ 6.05198305e-02 9.98166995e-01 -1.36474278e-05 4.21673187e+01] [ 1.35447878e-04 5.46015353e-06 9.99999991e-01 -1.42006021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.281400513 meters 0.04657860334019348 Centerline is valid? [True, True] Translation: X:451.55, Y:42.18, Z:-1.42 [[ 9.98412999e-01 -5.63015392e-02 -1.27244810e-03 4.51553861e+02] [ 5.63014205e-02 9.98413809e-01 -1.28927219e-04 4.21758176e+01] [ 1.27768856e-03 5.70819754e-05 9.99999182e-01 -1.42266920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.341400513 meters 0.05453360663943961 Centerline is valid? [True, True] Translation: X:451.61, Y:42.19, Z:-1.42 [[ 9.98749311e-01 -4.99858122e-02 -1.11000843e-03 4.51612257e+02] [ 4.99857180e-02 9.98749926e-01 -1.12471122e-04 4.21868425e+01] [ 1.11424279e-03 5.68458875e-05 9.99999378e-01 -1.42175913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.401400513 meters 0.05480047047598495 Centerline is valid? [True, True] Translation: X:451.67, Y:42.19, Z:-1.42 [[ 9.98816464e-01 -4.86108138e-02 -1.63086375e-03 4.51671201e+02] [ 4.86106085e-02 9.98817792e-01 -1.65294476e-04 4.21939794e+01] [ 1.63697083e-03 8.58215645e-05 9.99998656e-01 -1.42313950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.461400513 meters 0.0537198671377071 Centerline is valid? [True, True] Translation: X:451.73, Y:42.20, Z:-1.43 [[ 9.98817100e-01 -4.84648380e-02 -3.94455883e-03 4.51730116e+02] [ 4.84636336e-02 9.98824867e-01 -4.00406712e-04 4.21970958e+01] [ 3.95932910e-03 2.08765417e-04 9.99992140e-01 -1.42702558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.521400513 meters 0.05162268553354136 Centerline is valid? [True, True] Translation: X:451.79, Y:42.20, Z:-1.42 [[ 9.98841199e-01 -4.80306807e-02 -3.05165135e-03 4.51788440e+02] [ 4.80299571e-02 9.98845848e-01 -3.10001789e-04 4.21997251e+01] [ 3.06301888e-03 1.63071875e-04 9.99995296e-01 -1.42433207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.581400513 meters 0.059437352702217665 Centerline is valid? [True, True] Translation: X:451.85, Y:42.21, Z:-1.42 [[ 9.98828892e-01 -4.83146580e-02 -2.55715128e-03 4.51845552e+02] [ 4.83141505e-02 9.98832156e-01 -2.59911917e-04 4.22116069e+01] [ 2.56672248e-03 1.36060940e-04 9.99996697e-01 -1.42352314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.641400513 meters 0.06002427563588027 Centerline is valid? [True, True] Translation: X:451.90, Y:42.21, Z:-1.43 [[ 9.98805840e-01 -4.86794749e-02 -4.14753425e-03 4.51904722e+02] [ 4.86781404e-02 9.98814427e-01 -4.22156779e-04 4.22125232e+01] [ 4.16316742e-03 2.19758402e-04 9.99991310e-01 -1.42615306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.701400513 meters 0.05834031033559177 Centerline is valid? [True, True] Translation: X:451.97, Y:42.21, Z:-1.42 [[ 9.98925711e-01 -4.62274610e-02 -3.23187005e-03 4.51965439e+02] [ 4.62266376e-02 9.98930923e-01 -3.29076447e-04 4.22117794e+01] [ 3.24362731e-03 1.79324438e-04 9.99994723e-01 -1.42422269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.761400513 meters 0.06283049773877536 Centerline is valid? [True, True] Translation: X:452.03, Y:42.22, Z:-1.43 [[ 9.99117345e-01 -4.18561735e-02 -3.54836776e-03 4.52025544e+02] [ 4.18551532e-02 9.99123624e-01 -3.61341596e-04 4.22152374e+01] [ 3.56038243e-03 2.12505181e-04 9.99993639e-01 -1.42533553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.821400513 meters 0.069448522930611 Centerline is valid? [True, True] Translation: X:452.08, Y:42.22, Z:-1.42 [[ 9.99268084e-01 -3.81804236e-02 -2.35609613e-03 4.52084496e+02] [ 3.81799635e-02 9.99270851e-01 -2.39951173e-04 4.22240878e+01] [ 2.36353962e-03 1.49819885e-04 9.99997196e-01 -1.42444255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.881400513 meters 0.07799125093287099 Centerline is valid? [True, True] Translation: X:452.14, Y:42.24, Z:-1.42 [[ 9.99441645e-01 -3.33180388e-02 -2.51145655e-03 4.52142871e+02] [ 3.33175007e-02 9.99444785e-01 -2.55807017e-04 4.22350064e+01] [ 2.51858514e-03 1.71988730e-04 9.99996814e-01 -1.42447623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.941400513 meters 0.08545004141272435 Centerline is valid? [True, True] Translation: X:452.20, Y:42.25, Z:-1.43 [[ 9.99678439e-01 -2.50231410e-02 -4.10612375e-03 4.52202687e+02] [ 2.50216328e-02 9.99686822e-01 -4.18272151e-04 4.22459223e+01] [ 4.11530428e-03 3.15395730e-04 9.99991482e-01 -1.42736190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.001400513 meters 0.08271323143496893 Centerline is valid? [True, True] Translation: X:452.26, Y:42.25, Z:-1.42 [[ 9.99772313e-01 -2.12193511e-02 -2.24983020e-03 4.52263628e+02] [ 2.12188887e-02 9.99774828e-01 -2.29195042e-04 4.22463699e+01] [ 2.25418697e-03 1.81403960e-04 9.99997443e-01 -1.42440020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.061400513 meters 0.0798042517261198 Centerline is valid? [True, True] Translation: X:452.32, Y:42.24, Z:-1.42 [[ 9.99742896e-01 -2.26496298e-02 1.06554095e-03 4.52324269e+02] [ 2.26495268e-02 9.99743461e-01 1.08572510e-04 4.22449687e+01] [-1.06772673e-03 -8.44105971e-05 9.99999426e-01 -1.41964421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.121400513 meters 0.07957726798662751 Centerline is valid? [True, True] Translation: X:452.38, Y:42.25, Z:-1.42 [[ 9.99665244e-01 -2.58713030e-02 -2.75766807e-04 4.52383134e+02] [ 2.58712962e-02 9.99665282e-01 -2.80876958e-05 4.22495668e+01] [ 2.76401168e-04 2.09438486e-05 9.99999962e-01 -1.42228788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.181400513 meters 0.08095846203410008 Centerline is valid? [True, True] Translation: X:452.44, Y:42.25, Z:-1.42 [[ 9.99529374e-01 -3.05978396e-02 -2.19162511e-03 4.52442598e+02] [ 3.05974231e-02 9.99531764e-01 -2.23356625e-04 4.22539104e+01] [ 2.19743315e-03 1.56193426e-04 9.99997573e-01 -1.42484206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24140051300003 meters 0.0691855650289788 Centerline is valid? [True, True] Translation: X:452.50, Y:42.24, Z:-1.43 [[ 9.99457533e-01 -3.26231941e-02 -4.51295533e-03 4.52504048e+02] [ 3.26214480e-02 9.99467673e-01 -4.59996092e-04 4.22446491e+01] [ 4.52555951e-03 3.12527421e-04 9.99989711e-01 -1.42770101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.301400513 meters 0.07029007137719692 Centerline is valid? [True, True] Translation: X:452.56, Y:42.25, Z:-1.43 [[ 9.99427674e-01 -3.34384105e-02 -5.11822370e-03 4.52561393e+02] [ 3.34361734e-02 9.99440718e-01 -5.22064473e-04 4.22498938e+01] [ 5.13281818e-03 3.50631867e-04 9.99986766e-01 -1.42906382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.361400513 meters 0.07111265169907612 Centerline is valid? [True, True] Translation: X:452.62, Y:42.25, Z:-1.43 [[ 9.99440896e-01 -3.33018402e-02 -2.98049375e-03 4.52620529e+02] [ 3.33010798e-02 9.99445319e-01 -3.04399086e-04 4.22517578e+01] [ 2.98897758e-03 2.04975235e-04 9.99995512e-01 -1.42502880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.421400513 meters 0.07848466463287716 Centerline is valid? [True, True] Translation: X:452.68, Y:42.26, Z:-1.43 [[ 9.99480755e-01 -3.19540499e-02 -4.14240827e-03 4.52678081e+02] [ 3.19525682e-02 9.99489297e-01 -4.23381847e-04 4.22632163e+01] [ 4.15382149e-03 2.90801425e-04 9.99991331e-01 -1.42709255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.481400513 meters 0.07119949739029313 Centerline is valid? [True, True] Translation: X:452.74, Y:42.26, Z:-1.43 [[ 9.99532290e-01 -3.01310020e-02 -5.22719664e-03 4.52739125e+02] [ 3.01286174e-02 9.99545887e-01 -5.34347810e-04 4.22575956e+01] [ 5.24092334e-03 3.76609683e-04 9.99986195e-01 -1.42791737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.541400513 meters 0.07674035912550431 Centerline is valid? [True, True] Translation: X:452.80, Y:42.27, Z:-1.43 [[ 9.99589271e-01 -2.83049443e-02 -4.48536771e-03 4.52798796e+02] [ 2.83031701e-02 9.99599280e-01 -4.58564352e-04 4.22656262e+01] [ 4.49654998e-03 3.31425882e-04 9.99989836e-01 -1.42737559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.601400513 meters 0.07716129626353685 Centerline is valid? [True, True] Translation: X:452.86, Y:42.27, Z:-1.43 [[ 9.99655923e-01 -2.59290067e-02 -3.96522503e-03 4.52858175e+02] [ 2.59276013e-02 9.99663741e-01 -4.05435268e-04 4.22725357e+01] [ 3.97440422e-03 3.02486993e-04 9.99992056e-01 -1.42667626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.661400513 meters 0.08222094816467501 Centerline is valid? [True, True] Translation: X:452.92, Y:42.28, Z:-1.43 [[ 9.99677567e-01 -2.51233841e-02 -3.68488918e-03 4.52916039e+02] [ 2.51221644e-02 9.99684318e-01 -3.76920139e-04 4.22827551e+01] [ 3.69319543e-03 2.84226216e-04 9.99993140e-01 -1.42674241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.721400513 meters 0.0868495931505877 Centerline is valid? [True, True] Translation: X:452.97, Y:42.29, Z:-1.42 [[ 9.99706247e-01 -2.42062388e-02 -1.21533771e-03 4.52973641e+02] [ 2.42061054e-02 9.99706982e-01 -1.24346055e-04 4.22924419e+01] [ 1.21799154e-03 9.48909353e-05 9.99999254e-01 -1.42287593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.781400513 meters 0.08557019377673658 Centerline is valid? [True, True] Translation: X:453.03, Y:42.30, Z:-1.42 [[ 9.99699637e-01 -2.44767053e-02 -1.23574187e-03 4.53032216e+02] [ 2.44765675e-02 9.99700396e-01 -1.26538443e-04 4.22967703e+01] [ 1.23846888e-03 9.62537163e-05 9.99999228e-01 -1.42310240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.841400513 meters 0.07804499748994508 Centerline is valid? [True, True] Translation: X:453.09, Y:42.29, Z:-1.42 [[ 9.99675712e-01 -2.54252741e-02 -1.42371045e-03 4.53092072e+02] [ 2.54250918e-02 9.99676719e-01 -1.45968811e-04 4.22935707e+01] [ 1.42696149e-03 1.09723506e-04 9.99998976e-01 -1.42323200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.901400513 meters 0.08244159991148033 Centerline is valid? [True, True] Translation: X:453.15, Y:42.30, Z:-1.42 [[ 9.99636914e-01 -2.68979431e-02 -1.59413869e-03 4.53150452e+02] [ 2.68977163e-02 9.99638178e-01 -1.63524658e-04 4.23033233e+01] [ 1.59796037e-03 1.20586594e-04 9.99998716e-01 -1.42362757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.961400513 meters 0.0802838070974922 Centerline is valid? [True, True] Translation: X:453.21, Y:42.31, Z:-1.42 [[ 9.99593278e-01 -2.84837879e-02 -1.39727169e-03 4.53209828e+02] [ 2.84836152e-02 9.99594249e-01 -1.43358875e-04 4.23073202e+01] [ 1.40078815e-03 1.03501219e-04 9.99999014e-01 -1.42320541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.021400513 meters 0.07367464855853179 Centerline is valid? [True, True] Translation: X:453.27, Y:42.31, Z:-1.43 [[ 9.99542605e-01 -3.00771953e-02 -3.15317197e-03 4.53270453e+02] [ 3.00763233e-02 9.99547553e-01 -3.23614718e-04 4.23074216e+01] [ 3.16147875e-03 2.28630879e-04 9.99994976e-01 -1.42631303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.081400513 meters 0.07319890136516084 Centerline is valid? [True, True] Translation: X:453.33, Y:42.31, Z:-1.43 [[ 9.99548684e-01 -2.98840225e-02 -3.06167229e-03 4.53328666e+02] [ 2.98831983e-02 9.99553348e-01 -3.14605954e-04 4.23135212e+01] [ 3.06970648e-03 2.22971408e-04 9.99995264e-01 -1.42558540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.141400513 meters 0.0826423548345655 Centerline is valid? [True, True] Translation: X:453.39, Y:42.34, Z:-1.43 [[ 9.99592280e-01 -2.83347070e-02 -3.52404461e-03 4.53386002e+02] [ 2.83336048e-02 9.99598457e-01 -3.62318035e-04 4.23364488e+01] [ 3.53289573e-03 2.62321423e-04 9.99993725e-01 -1.42644146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.201400513 meters 0.07548489848380247 Centerline is valid? [True, True] Translation: X:453.45, Y:42.34, Z:-1.43 [[ 9.99635011e-01 -2.66252247e-02 -4.57626415e-03 4.53446740e+02] [ 2.66233481e-02 9.99645425e-01 -4.70522164e-04 4.23374679e+01] [ 4.58716928e-03 3.48514956e-04 9.99989418e-01 -1.42789108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.261400513 meters 0.07865255265529505 Centerline is valid? [True, True] Translation: X:453.51, Y:42.35, Z:-1.43 [[ 9.99693201e-01 -2.45603394e-02 -3.20850964e-03 4.53505966e+02] [ 2.45594063e-02 9.99698318e-01 -3.29908143e-04 4.23529209e+01] [ 3.21564435e-03 2.51007835e-04 9.99994798e-01 -1.42529687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.321400513 meters 0.07388255128830205 Centerline is valid? [True, True] Translation: X:453.57, Y:42.35, Z:-1.43 [[ 9.99677843e-01 -2.49900162e-02 -4.43947052e-03 4.53565356e+02] [ 2.49882312e-02 9.99687641e-01 -4.57086272e-04 4.23537336e+01] [ 4.44950640e-03 3.46004503e-04 9.99990041e-01 -1.42748228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.381400513 meters 0.0727684741822421 Centerline is valid? [True, True] Translation: X:453.62, Y:42.36, Z:-1.43 [[ 9.99653743e-01 -2.59909705e-02 -4.10648198e-03 4.53624285e+02] [ 2.59894509e-02 9.99662128e-01 -4.22994951e-04 4.23644496e+01] [ 4.11608856e-03 3.16123274e-04 9.99991479e-01 -1.42727162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.441400513 meters 0.08086937699986124 Centerline is valid? [True, True] Translation: X:453.68, Y:42.38, Z:-1.43 [[ 9.99541564e-01 -3.01570432e-02 -2.68593289e-03 4.53682557e+02] [ 3.01564079e-02 9.99545154e-01 -2.76703320e-04 4.23828384e+01] [ 2.69305576e-03 1.95578382e-04 9.99996355e-01 -1.42584260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.501400513 meters 0.06887823459039838 Centerline is valid? [True, True] Translation: X:453.74, Y:42.37, Z:-1.43 [[ 9.99397117e-01 -3.45977984e-02 -2.89734959e-03 4.53744784e+02] [ 3.45970778e-02 9.99401297e-01 -2.98503845e-04 4.23713056e+01] [ 2.90594251e-03 1.98084054e-04 9.99995758e-01 -1.42582030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.561400513 meters 0.07178857930636927 Centerline is valid? [True, True] Translation: X:453.80, Y:42.38, Z:-1.42 [[ 9.99420286e-01 -3.39949008e-02 -1.85458124e-03 4.53802315e+02] [ 3.39946044e-02 9.99421998e-01 -1.91134519e-04 4.23787461e+01] [ 1.86000689e-03 1.27977960e-04 9.99998262e-01 -1.42368901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.621400513 meters 0.07796366932345479 Centerline is valid? [True, True] Translation: X:453.86, Y:42.39, Z:-1.42 [[ 9.99511013e-01 -3.12006361e-02 -2.06292921e-03 4.53860263e+02] [ 3.12002634e-02 9.99513131e-01 -2.12616599e-04 4.23923708e+01] [ 2.06855860e-03 1.48148697e-04 9.99997850e-01 -1.42430697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.681400513 meters 0.07782361553728538 Centerline is valid? [True, True] Translation: X:453.92, Y:42.40, Z:-1.42 [[ 9.99627405e-01 -2.72660424e-02 -1.27041435e-03 4.53920143e+02] [ 2.72658979e-02 9.99628208e-01 -1.30926926e-04 4.23968266e+01] [ 1.27351188e-03 9.62391553e-05 9.99999184e-01 -1.42319971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74140051300003 meters 0.07971331476162845 Centerline is valid? [True, True] Translation: X:453.98, Y:42.40, Z:-1.42 [[ 9.99664038e-01 -2.58628100e-02 -1.71073447e-03 4.53980218e+02] [ 2.58625459e-02 9.99665493e-01 -1.76315995e-04 4.24047762e+01] [ 1.71472225e-03 1.32012810e-04 9.99998521e-01 -1.42422184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.801400513 meters 0.0856862636012321 Centerline is valid? [True, True] Translation: X:454.04, Y:42.42, Z:-1.42 [[ 9.99633453e-01 -2.70006601e-02 -1.98075260e-03 4.54037813e+02] [ 2.70003082e-02 9.99635404e-01 -2.04185514e-04 4.24160849e+01] [ 1.98554357e-03 1.50629740e-04 9.99998017e-01 -1.42415857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.861400513 meters 0.07116462647752399 Centerline is valid? [True, True] Translation: X:454.10, Y:42.40, Z:-1.43 [[ 9.99602468e-01 -2.79745584e-02 -3.51148556e-03 4.54098990e+02] [ 2.79734568e-02 9.99608601e-01 -3.62446375e-04 4.23998953e+01] [ 3.52025045e-03 2.64073901e-04 9.99993769e-01 -1.42666500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.921400513 meters 0.07635439009240792 Centerline is valid? [True, True] Translation: X:454.16, Y:42.41, Z:-1.43 [[ 9.99602228e-01 -2.77721287e-02 -4.90863042e-03 4.54155443e+02] [ 2.77699710e-02 9.99614211e-01 -5.07196292e-04 4.24131872e+01] [ 4.92082265e-03 3.70682020e-04 9.99987824e-01 -1.42843127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.981400513 meters 0.07967838779391496 Centerline is valid? [True, True] Translation: X:454.22, Y:42.42, Z:-1.43 [[ 9.99658187e-01 -2.56629651e-02 -4.99205260e-03 4.54215201e+02] [ 2.56607068e-02 9.99670577e-01 -5.15909793e-04 4.24244340e+01] [ 5.00364788e-03 3.87633850e-04 9.99987407e-01 -1.42878653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.041400513 meters 0.08154039981231946 Centerline is valid? [True, True] Translation: X:454.27, Y:42.43, Z:-1.43 [[ 9.99739953e-01 -2.24485967e-02 -4.01072725e-03 4.54274309e+02] [ 2.24471132e-02 9.99747946e-01 -4.14518710e-04 4.24346302e+01] [ 4.01902170e-03 3.24381667e-04 9.99991871e-01 -1.42717178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.101400513 meters 0.09175417700432997 Centerline is valid? [True, True] Translation: X:454.33, Y:42.46, Z:-1.43 [[ 9.99832333e-01 -1.78684651e-02 -4.00300738e-03 4.54331468e+02] [ 1.78669505e-02 9.99840288e-01 -4.13795796e-04 4.24571774e+01] [ 4.00976194e-03 3.42204881e-04 9.99991902e-01 -1.42677757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.161400513 meters 0.09072338082597226 Centerline is valid? [True, True] Translation: X:454.39, Y:42.46, Z:-1.42 [[ 9.99868064e-01 -1.60107111e-02 -2.74081196e-03 4.54390993e+02] [ 1.60099941e-02 9.99871792e-01 -2.83343877e-04 4.24649403e+01] [ 2.74499710e-03 2.39426111e-04 9.99996204e-01 -1.42475187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.221400513 meters 0.09401138542603786 Centerline is valid? [True, True] Translation: X:454.45, Y:42.48, Z:-1.42 [[ 9.99853083e-01 -1.71373213e-02 -3.51973856e-04 4.54448243e+02] [ 1.71373096e-02 9.99853145e-01 -3.63739530e-05 4.24805851e+01] [ 3.52545519e-04 3.03367241e-05 9.99999937e-01 -1.42089288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.281400513 meters 0.08508085892612709 Centerline is valid? [True, True] Translation: X:454.51, Y:42.48, Z:-1.42 [[ 9.99794536e-01 -2.02586308e-02 -6.88286437e-04 4.54508646e+02] [ 2.02585865e-02 9.99794771e-01 -7.11768479e-05 4.24793705e+01] [ 6.89587127e-04 5.72185133e-05 9.99999761e-01 -1.42171645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.341400513 meters 0.08131739419466745 Centerline is valid? [True, True] Translation: X:454.57, Y:42.48, Z:-1.43 [[ 9.99706959e-01 -2.40525632e-02 -2.73318759e-03 4.54568731e+02] [ 2.40518796e-02 9.99710672e-01 -2.82709898e-04 4.24834595e+01] [ 2.73919670e-03 2.16888753e-04 9.99996225e-01 -1.42506534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.401400513 meters 0.07972614756382154 Centerline is valid? [True, True] Translation: X:454.63, Y:42.49, Z:-1.42 [[ 9.99705839e-01 -2.41719721e-02 -1.98797223e-03 4.54626860e+02] [ 2.41716102e-02 9.99707803e-01 -2.05851028e-04 4.24899792e+01] [ 1.99236717e-03 1.57737985e-04 9.99998003e-01 -1.42404216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.461400513 meters 0.09199868084148216 Centerline is valid? [True, True] Translation: X:454.68, Y:42.51, Z:-1.43 [[ 9.99750577e-01 -2.21028636e-02 -3.20104877e-03 4.54684387e+02] [ 2.21019142e-02 9.99755668e-01 -3.31682467e-04 4.25148696e+01] [ 3.20759779e-03 2.60850432e-04 9.99994822e-01 -1.42679931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.521400513 meters 0.089402630516466 Centerline is valid? [True, True] Translation: X:454.74, Y:42.52, Z:-1.43 [[ 9.99748807e-01 -2.20233663e-02 -4.15866433e-03 4.54743159e+02] [ 2.20217610e-02 9.99757399e-01 -4.31421547e-04 4.25206524e+01] [ 4.16715679e-03 3.39732065e-04 9.99991260e-01 -1.42842656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.581400513 meters 0.08232052531395244 Centerline is valid? [True, True] Translation: X:454.80, Y:42.52, Z:-1.43 [[ 9.99683550e-01 -2.48624367e-02 -3.82871723e-03 4.54803446e+02] [ 2.48610961e-02 9.99690836e-01 -3.97351944e-04 4.25200702e+01] [ 3.83741266e-03 3.02040095e-04 9.99992591e-01 -1.42846415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.641400513 meters 0.07674663146337912 Centerline is valid? [True, True] Translation: X:454.86, Y:42.52, Z:-1.43 [[ 9.99653740e-01 -2.60340939e-02 -3.82442941e-03 4.54863677e+02] [ 2.60327647e-02 9.99661011e-01 -3.96954772e-04 4.25202431e+01] [ 3.83346733e-03 2.97256851e-04 9.99992608e-01 -1.42823623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.701400513 meters 0.0878409602451104 Centerline is valid? [True, True] Translation: X:454.92, Y:42.54, Z:-1.43 [[ 9.99660007e-01 -2.57811530e-02 -3.89899429e-03 4.54919082e+02] [ 2.57797687e-02 9.99667565e-01 -4.04879305e-04 4.25449310e+01] [ 3.90813638e-03 3.04226478e-04 9.99992317e-01 -1.42944204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.761400513 meters 0.09077224380636718 Centerline is valid? [True, True] Translation: X:454.98, Y:42.56, Z:-1.43 [[ 9.99743825e-01 -2.23299432e-02 -3.69561619e-03 4.54978209e+02] [ 2.23286759e-02 9.99750610e-01 -3.83831166e-04 4.25597251e+01] [ 3.70326547e-03 3.01214622e-04 9.99993098e-01 -1.42906683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.821400513 meters 0.09409863724684224 Centerline is valid? [True, True] Translation: X:455.04, Y:42.58, Z:-1.43 [[ 9.99816257e-01 -1.89175480e-02 -3.09507938e-03 4.55037278e+02] [ 1.89166429e-02 9.99821013e-01 -3.21462462e-04 4.25775596e+01] [ 3.10060668e-03 2.62854884e-04 9.99995159e-01 -1.42890532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.881400513 meters 0.09167335140619813 Centerline is valid? [True, True] Translation: X:455.10, Y:42.59, Z:-1.43 [[ 9.99775065e-01 -2.07697906e-02 -4.29359269e-03 4.55097390e+02] [ 2.07680656e-02 9.99784221e-01 -4.45950393e-04 4.25854118e+01] [ 4.30192852e-03 3.56680468e-04 9.99990683e-01 -1.43134578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.941400513 meters 0.0802815695467626 Centerline is valid? [True, True] Translation: X:455.16, Y:42.58, Z:-1.43 [[ 9.99693105e-01 -2.41654271e-02 -5.45240097e-03 4.55158832e+02] [ 2.41626955e-02 9.99707879e-01 -5.66303072e-04 4.25828920e+01] [ 5.46449316e-03 4.34384572e-04 9.99984975e-01 -1.43107497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.001400513 meters 0.0804800859789705 Centerline is valid? [True, True] Translation: X:455.22, Y:42.59, Z:-1.43 [[ 9.99696270e-01 -2.42746079e-02 -4.25581681e-03 4.55215557e+02] [ 2.42729420e-02 9.99705271e-01 -4.42654962e-04 4.25943896e+01] [ 4.26530777e-03 3.39219320e-04 9.99990846e-01 -1.42915174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.061400513 meters 0.07693768133755999 Centerline is valid? [True, True] Translation: X:455.27, Y:42.60, Z:-1.43 [[ 9.99720973e-01 -2.34498755e-02 -2.84250086e-03 4.55274613e+02] [ 2.34491286e-02 9.99724988e-01 -2.95794587e-04 4.26041498e+01] [ 2.84865548e-03 2.29057884e-04 9.99995916e-01 -1.42770256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.121400513 meters 0.08219504079715736 Centerline is valid? [True, True] Translation: X:455.33, Y:42.62, Z:-1.43 [[ 9.99706133e-01 -2.41266278e-02 -2.35651696e-03 4.55331251e+02] [ 2.41261160e-02 9.99708893e-01 -2.45364948e-04 4.26170644e+01] [ 2.36175079e-03 1.88439242e-04 9.99997193e-01 -1.42710317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.181400513 meters 0.08030298322326915 Centerline is valid? [True, True] Translation: X:455.39, Y:42.63, Z:-1.43 [[ 9.99647716e-01 -2.64761676e-02 -1.85910991e-03 4.55390127e+02] [ 2.64758530e-02 9.99649434e-01 -1.93637416e-04 4.26259354e+01] [ 1.86358495e-03 1.44347679e-04 9.99998253e-01 -1.42669579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24140051300003 meters 0.07932047637987961 Centerline is valid? [True, True] Translation: X:455.45, Y:42.63, Z:-1.42 [[ 9.99605047e-01 -2.80855500e-02 9.75925810e-04 4.55449326e+02] [ 2.80854641e-02 9.99605520e-01 1.01693227e-04 4.26325851e+01] [-9.78396937e-04 -7.42437341e-05 9.99999519e-01 -1.42256192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.301400513 meters 0.08541403822507694 Centerline is valid? [True, True] Translation: X:455.51, Y:42.65, Z:-1.42 [[ 9.99703354e-01 -2.43445294e-02 7.40033168e-04 4.55507452e+02] [ 2.43444789e-02 9.99703626e-01 7.71317004e-05 4.26479663e+01] [-7.41691576e-04 -5.90930977e-05 9.99999723e-01 -1.42219012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.361400513 meters 0.08772310019958401 Centerline is valid? [True, True] Translation: X:455.57, Y:42.66, Z:-1.42 [[ 9.99814184e-01 -1.92745072e-02 3.00953725e-04 4.55566798e+02] [ 1.92744987e-02 9.99814229e-01 3.13663623e-05 4.26612033e+01] [-3.01502388e-04 -2.55598018e-05 9.99999954e-01 -1.42337944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.421400513 meters 0.10222886162711575 Centerline is valid? [True, False] Translation: X:455.57, Y:42.67, Z:-1.42 [[ 9.99941810e-01 -8.50238228e-03 -6.63973068e-03 4.55566604e+02] [ 8.44975554e-03 9.99932981e-01 -7.91426754e-03 4.26686411e+01] [ 6.70657582e-03 7.85770291e-03 9.99946638e-01 -1.41852703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.481400513 meters 0.0930925531955102 Centerline is valid? [False, True] Translation: X:455.57, Y:42.67, Z:-1.42 [[ 9.99968450e-01 -4.09448745e-03 -6.80693796e-03 4.55567190e+02] [ 4.07103972e-03 9.99985745e-01 -3.45497533e-03 4.26680799e+01] [ 6.82098727e-03 3.42715501e-03 9.99970864e-01 -1.41893966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.541400513 meters 0.08549485290863597 Centerline is valid? [True, True] Translation: X:455.63, Y:42.67, Z:-1.42 [[ 9.99936449e-01 -7.63850601e-03 -8.29158519e-03 4.55628191e+02] [ 7.63240802e-03 9.99970579e-01 -7.66837116e-04 4.26677843e+01] [ 8.29719873e-03 7.03503622e-04 9.99965330e-01 -1.41967275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.601400513 meters 0.08007457859370017 Centerline is valid? [True, True] Translation: X:455.69, Y:42.67, Z:-1.42 [[ 9.99906625e-01 -1.05911343e-02 -8.63537135e-03 4.55688418e+02] [ 1.05846289e-02 9.99943662e-01 -7.98699162e-04 4.26696612e+01] [ 8.64334398e-03 7.07222382e-04 9.99962396e-01 -1.41891045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.661400513 meters 0.08189791432673929 Centerline is valid? [True, True] Translation: X:455.75, Y:42.68, Z:-1.42 [[ 9.99897175e-01 -1.20345502e-02 -7.79802295e-03 4.55746744e+02] [ 1.20292874e-02 9.99927385e-01 -7.21433647e-04 4.26838957e+01] [ 7.80613883e-03 6.27554806e-04 9.99969335e-01 -1.41647900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.721400513 meters 0.07729226442854892 Centerline is valid? [True, True] Translation: X:455.81, Y:42.69, Z:-1.42 [[ 9.99867656e-01 -1.46079683e-02 -7.16085833e-03 4.55806742e+02] [ 1.46035951e-02 9.99893142e-01 -6.62612963e-04 4.26907882e+01] [ 7.16977257e-03 5.57950995e-04 9.99974141e-01 -1.41569189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.781400513 meters 0.07021713309883991 Centerline is valid? [True, True] Translation: X:455.87, Y:42.69, Z:-1.41 [[ 9.99818753e-01 -1.82057061e-02 -5.56899049e-03 4.55866587e+02] [ 1.82031166e-02 9.99834177e-01 -5.15316574e-04 4.26917232e+01] [ 5.57744873e-03 4.13850191e-04 9.99984360e-01 -1.41417423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.841400513 meters 0.07160330832005028 Centerline is valid? [True, True] Translation: X:455.93, Y:42.70, Z:-1.42 [[ 9.99775338e-01 -2.00451579e-02 -6.88954956e-03 4.55925332e+02] [ 2.00412370e-02 9.99798951e-01 -6.37680623e-04 4.27007111e+01] [ 6.90094683e-03 4.99462264e-04 9.99976063e-01 -1.41563323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.901400513 meters 0.07160056507849608 Centerline is valid? [True, True] Translation: X:455.98, Y:42.71, Z:-1.42 [[ 9.99842646e-01 -1.60155006e-02 -7.62804960e-03 4.55984618e+02] [ 1.60105761e-02 9.99871573e-01 -7.06204614e-04 4.27113132e+01] [ 7.63838018e-03 5.83964021e-04 9.99970657e-01 -1.41612479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.961400513 meters 0.08055418232271658 Centerline is valid? [True, True] Translation: X:456.04, Y:42.73, Z:-1.42 [[ 9.99925553e-01 -9.94541720e-03 -7.06941895e-03 4.56042201e+02] [ 9.94103645e-03 9.99950372e-01 -6.54546117e-04 4.27315124e+01] [ 7.07557784e-03 5.84220036e-04 9.99974797e-01 -1.41535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.021400513 meters 0.09188168616573149 Centerline is valid? [True, True] Translation: X:456.10, Y:42.76, Z:-1.41 [[ 9.99972584e-01 -5.40502428e-03 -5.06134581e-03 4.56099432e+02] [ 5.40272104e-03 9.99985295e-01 -4.68625143e-04 4.27597734e+01] [ 5.06380431e-03 4.41267255e-04 9.99987082e-01 -1.41347553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.081400513 meters 0.09282563251199119 Centerline is valid? [True, True] Translation: X:456.16, Y:42.77, Z:-1.41 [[ 9.99975789e-01 -4.66628604e-03 -5.16203641e-03 4.56158244e+02] [ 4.66388062e-03 9.99989010e-01 -4.77922954e-04 4.27685100e+01] [ 5.16420980e-03 4.53836262e-04 9.99986562e-01 -1.41234884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.141400513 meters 0.09144917879144061 Centerline is valid? [True, True] Translation: X:456.22, Y:42.78, Z:-1.42 [[ 9.99951576e-01 -5.70883540e-03 -8.01595920e-03 4.56217078e+02] [ 5.70306414e-03 9.99983462e-01 -7.42645171e-04 4.27792632e+01] [ 8.02006626e-03 6.96893680e-04 9.99967596e-01 -1.41618918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.201400513 meters 0.08791667972865005 Centerline is valid? [True, True] Translation: X:456.28, Y:42.79, Z:-1.42 [[ 9.99946573e-01 -5.07626906e-03 -9.00463506e-03 4.56275980e+02] [ 5.06895855e-03 9.99986805e-01 -8.34497556e-04 4.27866522e+01] [ 9.00875237e-03 7.88808849e-04 9.99959109e-01 -1.41720359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.261400513 meters 0.08359555168352042 Centerline is valid? [True, True] Translation: X:456.33, Y:42.79, Z:-1.42 [[ 9.99948364e-01 -4.78006027e-03 -8.96769949e-03 4.56334238e+02] [ 4.77279139e-03 9.99988264e-01 -8.31788424e-04 4.27938393e+01] [ 8.97157025e-03 7.88944515e-04 9.99959443e-01 -1.41640655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.321400513 meters 0.08103974367710298 Centerline is valid? [True, True] Translation: X:456.39, Y:42.80, Z:-1.42 [[ 9.99919751e-01 -7.66780284e-03 -1.00845007e-02 4.56393819e+02] [ 7.65874475e-03 9.99970233e-01 -9.36531253e-04 4.27995096e+01] [ 1.00913816e-02 8.59221480e-04 9.99948712e-01 -1.41688279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.381400513 meters 0.0757228104034992 Centerline is valid? [True, True] Translation: X:456.45, Y:42.80, Z:-1.42 [[ 9.99832650e-01 -1.49749685e-02 -1.05081906e-02 4.56454719e+02] [ 1.49655328e-02 9.99887534e-01 -9.76002734e-04 4.28024830e+01] [ 1.05216244e-02 8.18578728e-04 9.99944311e-01 -1.41661490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.441400513 meters 0.08049638277703842 Centerline is valid? [True, True] Translation: X:456.51, Y:42.82, Z:-1.41 [[ 9.99800887e-01 -1.78209915e-02 -8.97768924e-03 4.56513464e+02] [ 1.78142182e-02 9.99840966e-01 -8.33870520e-04 4.28182682e+01] [ 8.99112189e-03 6.73773970e-04 9.99959352e-01 -1.41445782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.501400513 meters 0.07381445808545097 Centerline is valid? [True, True] Translation: X:456.57, Y:42.82, Z:-1.41 [[ 9.99802333e-01 -1.82270052e-02 -7.94177142e-03 4.56572255e+02] [ 1.82217147e-02 9.99833698e-01 -7.38007886e-04 4.28218426e+01] [ 7.95390237e-03 5.93149312e-04 9.99968191e-01 -1.41099235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.561400513 meters 0.08046347393192882 Centerline is valid? [True, True] Translation: X:456.63, Y:42.84, Z:-1.41 [[ 9.99818798e-01 -1.71434066e-02 -8.27493800e-03 4.56629830e+02] [ 1.71376171e-02 9.99852844e-01 -7.70049766e-04 4.28377573e+01] [ 8.28692157e-03 6.28097513e-04 9.99965466e-01 -1.41074694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.621400513 meters 0.07788302668792942 Centerline is valid? [True, True] Translation: X:456.69, Y:42.84, Z:-1.41 [[ 9.99846126e-01 -1.56635963e-02 -7.89786964e-03 4.56689740e+02] [ 1.56582748e-02 9.99877131e-01 -7.35178193e-04 4.28432870e+01] [ 7.90841478e-03 6.11398055e-04 9.99968541e-01 -1.40911155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.681400513 meters 0.08078080272513655 Centerline is valid? [True, True] Translation: X:456.75, Y:42.86, Z:-1.41 [[ 9.99878055e-01 -1.31517151e-02 -8.42062640e-03 4.56749674e+02] [ 1.31455767e-02 9.99913286e-01 -7.83912041e-04 4.28562262e+01] [ 8.43020601e-03 6.73122457e-04 9.99964239e-01 -1.40909066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74140051300003 meters 0.07985818493842677 Centerline is valid? [True, True] Translation: X:456.81, Y:42.87, Z:-1.41 [[ 9.99897899e-01 -1.18639057e-02 -7.96485539e-03 4.56808794e+02] [ 1.18583728e-02 9.99929412e-01 -7.41531347e-04 4.28660940e+01] [ 7.97309062e-03 6.47005412e-04 9.99968005e-01 -1.40804331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.801400513 meters 0.08638396482517573 Centerline is valid? [True, True] Translation: X:456.87, Y:42.88, Z:-1.40 [[ 9.99927379e-01 -1.05394856e-02 -5.84431732e-03 4.56867049e+02] [ 1.05364837e-02 9.99944342e-01 -5.44205499e-04 4.28828042e+01] [ 5.84972769e-03 4.82587424e-04 9.99982774e-01 -1.40423787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.861400513 meters 0.08722057316541304 Centerline is valid? [True, True] Translation: X:456.93, Y:42.90, Z:-1.40 [[ 9.99964184e-01 -5.81317043e-03 -6.15125858e-03 4.56925787e+02] [ 5.80975565e-03 9.99982959e-01 -5.72858699e-04 4.28989813e+01] [ 6.15448388e-03 5.37100872e-04 9.99980917e-01 -1.40418272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.921400513 meters 0.09022647458017731 Centerline is valid? [True, True] Translation: X:456.98, Y:42.92, Z:-1.41 [[ 9.99976813e-01 -2.27985637e-03 -6.41684795e-03 4.56984539e+02] [ 2.27606802e-03 9.99997231e-01 -5.97616712e-04 4.29173099e+01] [ 6.41819266e-03 5.82997673e-04 9.99979233e-01 -1.40560693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.981400513 meters 0.09708394128640972 Centerline is valid? [True, True] Translation: X:457.04, Y:42.94, Z:-1.41 [[ 9.99963546e-01 -1.57916743e-03 -8.39125107e-03 4.57041066e+02] [ 1.57266279e-03 9.99998458e-01 -7.81712059e-04 4.29375427e+01] [ 8.39247258e-03 7.68486954e-04 9.99964487e-01 -1.40857468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.041400513 meters 0.10770568553532338 Centerline is valid? [True, False] Translation: X:457.04, Y:42.95, Z:-1.41 [[ 9.99962291e-01 -2.32263671e-03 -8.36787236e-03 4.57041087e+02] [ 2.29603020e-03 9.99992283e-01 -3.18780824e-03 4.29479308e+01] [ 8.37521191e-03 3.16847514e-03 9.99959907e-01 -1.40938843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.101400513 meters 0.10137363950953787 Centerline is valid? [False, False] Translation: X:457.06, Y:42.96, Z:-1.42 [[ 9.99997408e-01 1.35157826e-03 -1.83225550e-03 4.57062037e+02] [-1.36978968e-03 9.99949312e-01 -9.97479557e-03 4.29630000e+01] [ 1.81868091e-03 9.97727952e-03 9.99948572e-01 -1.41571363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.161400513 meters 0.10472241447498891 Centerline is valid? [False, False] Translation: X:457.06, Y:42.97, Z:-1.42 [[ 9.99985822e-01 5.01342995e-03 -1.79473537e-03 4.57061916e+02] [-5.02627844e-03 9.99961249e-01 -7.22752595e-03 4.29702456e+01] [ 1.75843113e-03 7.23644432e-03 9.99972271e-01 -1.41568782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.221400513 meters 0.10463121276230648 Centerline is valid? [False, False] Translation: X:457.06, Y:42.97, Z:-1.42 [[ 9.99999124e-01 1.24045238e-03 4.62822929e-04 4.57063533e+02] [-1.24455602e-03 9.99958957e-01 8.97418206e-03 4.29690689e+01] [-4.51671888e-04 -8.97475021e-03 9.99959624e-01 -1.41972490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.281400513 meters 0.10196783777590553 Centerline is valid? [False, False] Translation: X:457.06, Y:42.98, Z:-1.42 [[ 9.99999668e-01 -3.72496560e-04 7.25413172e-04 4.57061391e+02] [ 3.68529773e-04 9.99985022e-01 5.46079102e-03 4.29839799e+01] [-7.27436432e-04 -5.46052187e-03 9.99984827e-01 -1.41782897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.341400513 meters 0.09647277451927032 Centerline is valid? [False, True] Translation: X:457.04, Y:43.00, Z:-1.41 [[ 9.99980846e-01 -3.58677205e-03 -5.04409894e-03 4.57039093e+02] [ 3.54224570e-03 9.99954928e-01 -8.80881482e-03 4.30008569e+01] [ 5.07546680e-03 8.79077866e-03 9.99948480e-01 -1.41074954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.401400513 meters 0.08323527981857515 Centerline is valid? [True, True] Translation: X:457.10, Y:42.99, Z:-1.41 [[ 9.99941968e-01 -9.14221816e-03 -5.69917634e-03 4.57101186e+02] [ 9.13942285e-03 9.99958101e-01 -5.16327962e-04 4.29877468e+01] [ 5.70365794e-03 4.64210816e-04 9.99983626e-01 -1.41151518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.461400513 meters 0.07614134734208637 Centerline is valid? [True, True] Translation: X:457.16, Y:42.99, Z:-1.41 [[ 9.99842614e-01 -1.68381720e-02 -5.58770000e-03 4.57162117e+02] [ 1.68356043e-02 9.99858143e-01 -5.06237309e-04 4.29881645e+01] [ 5.59543146e-03 4.12085328e-04 9.99984261e-01 -1.41110229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.521400513 meters 0.07173358254057897 Centerline is valid? [True, True] Translation: X:457.22, Y:42.99, Z:-1.41 [[ 9.99742153e-01 -2.22840440e-02 -4.36450704e-03 4.57222993e+02] [ 2.22825291e-02 9.99751635e-01 -3.95436960e-04 4.29898931e+01] [ 4.37223499e-03 2.98082743e-04 9.99990397e-01 -1.40945618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.581400513 meters 0.06702500755802215 Centerline is valid? [True, True] Translation: X:457.28, Y:42.98, Z:-1.41 [[ 9.99606749e-01 -2.78120494e-02 -3.58287523e-03 4.57284112e+02] [ 2.78110637e-02 9.99613145e-01 -3.24633808e-04 4.29849763e+01] [ 3.59051791e-03 2.24862574e-04 9.99993529e-01 -1.40868136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.641400513 meters 0.06523192736644395 Centerline is valid? [True, True] Translation: X:457.34, Y:42.99, Z:-1.41 [[ 9.99617851e-01 -2.72830058e-02 -4.44854835e-03 4.57343644e+02] [ 2.72814808e-02 9.99627710e-01 -4.03145418e-04 4.29876801e+01] [ 4.45789122e-03 2.81628370e-04 9.99990024e-01 -1.40909553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.701400513 meters 0.06784199728685109 Centerline is valid? [True, True] Translation: X:457.40, Y:42.99, Z:-1.41 [[ 9.99663901e-01 -2.56458408e-02 -3.79147386e-03 4.57403158e+02] [ 2.56447209e-02 9.99671061e-01 -3.43683035e-04 4.29938330e+01] [ 3.79904074e-03 2.46336234e-04 9.99992753e-01 -1.40777744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.761400513 meters 0.06520295059465625 Centerline is valid? [True, True] Translation: X:457.46, Y:42.99, Z:-1.41 [[ 9.99637926e-01 -2.63087909e-02 -5.64482878e-03 4.57462502e+02] [ 2.63063150e-02 9.99653798e-01 -5.12419556e-04 4.29910864e+01] [ 5.65635566e-03 3.63739379e-04 9.99983937e-01 -1.41146697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.821400513 meters 0.07037050816863226 Centerline is valid? [True, True] Translation: X:457.52, Y:43.00, Z:-1.41 [[ 9.99589802e-01 -2.78453578e-02 -6.69809534e-03 4.57521207e+02] [ 2.78419032e-02 9.99612154e-01 -6.08470342e-04 4.29957831e+01] [ 6.71244058e-03 4.21733026e-04 9.99977382e-01 -1.41348698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.881400513 meters 0.07027959087066517 Centerline is valid? [True, True] Translation: X:457.58, Y:43.00, Z:-1.41 [[ 9.99579993e-01 -2.81878614e-02 -6.72915242e-03 4.57580084e+02] [ 2.81843766e-02 9.99602554e-01 -6.12152733e-04 4.29971192e+01] [ 6.74373323e-03 4.22238659e-04 9.99977172e-01 -1.41309240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.941400513 meters 0.07243429223832644 Centerline is valid? [True, True] Translation: X:457.64, Y:43.00, Z:-1.41 [[ 9.99641778e-01 -2.58271202e-02 -7.01969037e-03 4.57640310e+02] [ 2.58232675e-02 9.99666320e-01 -6.38942405e-04 4.29985756e+01] [ 7.03385008e-03 4.57442179e-04 9.99975158e-01 -1.41438555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.001400513 meters 0.07508674826591209 Centerline is valid? [True, True] Translation: X:457.70, Y:43.00, Z:-1.41 [[ 9.99676725e-01 -2.45254727e-02 -6.70417915e-03 4.57699422e+02] [ 2.45219281e-02 9.99699106e-01 -6.10423970e-04 4.29993192e+01] [ 6.71713284e-03 4.45827236e-04 9.99977340e-01 -1.41394337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.061400513 meters 0.06885361932841476 Centerline is valid? [True, True] Translation: X:457.76, Y:42.99, Z:-1.41 [[ 9.99655179e-01 -2.56466516e-02 -5.63674972e-03 4.57759767e+02] [ 2.56441598e-02 9.99671002e-01 -5.13892781e-04 4.29912947e+01] [ 5.64807487e-03 3.69165870e-04 9.99983981e-01 -1.41170812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.121400513 meters 0.07204024074552079 Centerline is valid? [True, True] Translation: X:457.82, Y:42.99, Z:-1.41 [[ 9.99658883e-01 -2.54590823e-02 -5.82684836e-03 4.57817565e+02] [ 2.54564137e-02 9.99675792e-01 -5.31718158e-04 4.29899450e+01] [ 5.83849630e-03 3.83206118e-04 9.99982882e-01 -1.41351921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.181400513 meters 0.07964717966877669 Centerline is valid? [True, True] Translation: X:457.88, Y:43.00, Z:-1.41 [[ 9.99754793e-01 -2.16653857e-02 -4.57873456e-03 4.57875917e+02] [ 2.16636980e-02 9.99765227e-01 -4.17870268e-04 4.29989167e+01] [ 4.58671292e-03 3.18575481e-04 9.99989430e-01 -1.41174885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24140051300003 meters 0.08515617614796148 Centerline is valid? [True, True] Translation: X:457.94, Y:43.01, Z:-1.41 [[ 9.99872441e-01 -1.56020925e-02 -3.41705160e-03 4.57935752e+02] [ 1.56011174e-02 9.99878247e-01 -3.11854711e-04 4.30069868e+01] [ 3.42150115e-03 2.58505108e-04 9.99994113e-01 -1.40990159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.301400513 meters 0.07942606213479574 Centerline is valid? [True, True] Translation: X:458.00, Y:43.00, Z:-1.41 [[ 9.99919174e-01 -1.20911937e-02 -3.93039564e-03 4.57996906e+02] [ 1.20898764e-02 9.99926850e-01 -3.58743198e-04 4.29998666e+01] [ 3.93444577e-03 3.11196205e-04 9.99992212e-01 -1.41063936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.361400513 meters 0.07868517673122812 Centerline is valid? [True, True] Translation: X:458.06, Y:43.00, Z:-1.41 [[ 9.99934066e-01 -1.10945486e-02 -2.96222707e-03 4.58056086e+02] [ 1.10937959e-02 9.99938425e-01 -2.70435623e-04 4.30033657e+01] [ 2.96504504e-03 2.37555450e-04 9.99995576e-01 -1.40867909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.421400513 meters 0.08473203620423192 Centerline is valid? [True, True] Translation: X:458.11, Y:43.02, Z:-1.41 [[ 9.99970314e-01 -7.48548924e-03 -1.82717362e-03 4.58114513e+02] [ 7.48519677e-03 9.99971972e-01 -1.66848501e-04 4.30170821e+01] [ 1.82837135e-03 1.53166794e-04 9.99998317e-01 -1.40721137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.481400513 meters 0.08628781240979069 Centerline is valid? [True, True] Translation: X:458.17, Y:43.02, Z:-1.41 [[ 9.99977319e-01 -6.20367478e-03 -2.62228795e-03 4.58174036e+02] [ 6.20306792e-03 9.99980732e-01 -2.39490449e-04 4.30235834e+01] [ 2.62372315e-03 2.23218787e-04 9.99996533e-01 -1.40802118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.541400513 meters 0.09348846916745873 Centerline is valid? [True, True] Translation: X:458.23, Y:43.04, Z:-1.41 [[ 9.99975672e-01 -4.66900946e-03 -5.18220453e-03 4.58231725e+02] [ 4.66661835e-03 9.99988999e-01 -4.73402385e-04 4.30390590e+01] [ 5.18435784e-03 4.49207497e-04 9.99986460e-01 -1.41108072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.601400513 meters 0.09099114801974195 Centerline is valid? [True, True] Translation: X:458.29, Y:43.04, Z:-1.41 [[ 9.99981574e-01 -4.18804847e-03 -4.39454698e-03 4.58289929e+02] [ 4.18632355e-03 9.99991157e-01 -4.01639120e-04 4.30437544e+01] [ 4.39619020e-03 3.83234724e-04 9.99990263e-01 -1.41055290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.661400513 meters 0.09605940042403094 Centerline is valid? [True, True] Translation: X:458.35, Y:43.06, Z:-1.42 [[ 9.99970377e-01 -1.58171494e-03 -7.53283717e-03 4.58349538e+02] [ 1.57657209e-03 9.99998520e-01 -6.88613998e-04 4.30569627e+01] [ 7.53391522e-03 6.76717539e-04 9.99971391e-01 -1.41590026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.721400513 meters 0.0982507338881821 Centerline is valid? [True, True] Translation: X:458.41, Y:43.07, Z:-1.42 [[ 9.99963882e-01 -4.22640355e-04 -8.48854207e-03 4.58407835e+02] [ 4.16067638e-04 9.99999612e-01 -7.76055556e-04 4.30729614e+01] [ 8.48886677e-03 7.72495719e-04 9.99963671e-01 -1.41687762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.781400513 meters 0.0941153013989941 Centerline is valid? [True, True] Translation: X:458.47, Y:43.08, Z:-1.41 [[ 9.99982838e-01 -2.49017441e-03 -5.30316098e-03 4.58468509e+02] [ 2.48763807e-03 9.99996788e-01 -4.84811525e-04 4.30789827e+01] [ 5.30435122e-03 4.71610859e-04 9.99985821e-01 -1.41187814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.841400513 meters 0.08911014232765216 Centerline is valid? [True, True] Translation: X:458.53, Y:43.08, Z:-1.41 [[ 9.99961445e-01 -7.30143648e-03 -4.87836167e-03 4.58528580e+02] [ 7.29934705e-03 9.99973260e-01 -4.45972436e-04 4.30835026e+01] [ 4.88148747e-03 4.10346387e-04 9.99988001e-01 -1.41115545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.901400513 meters 0.08519537900087061 Centerline is valid? [True, True] Translation: X:458.59, Y:43.09, Z:-1.41 [[ 9.99950860e-01 -9.20328216e-03 -3.68483501e-03 4.58588744e+02] [ 9.20210285e-03 9.99957603e-01 -3.36871108e-04 4.30875099e+01] [ 3.68777911e-03 3.02946323e-04 9.99993154e-01 -1.40757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.961400513 meters 0.09230332908415023 Centerline is valid? [True, True] Translation: X:458.65, Y:43.11, Z:-1.41 [[ 9.99964250e-01 -7.72302925e-03 -3.44301751e-03 4.58645930e+02] [ 7.72199078e-03 9.99970135e-01 -3.14809957e-04 4.31091196e+01] [ 3.44534597e-03 2.88211753e-04 9.99994023e-01 -1.40727373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.021400513 meters 0.08689636063105154 Centerline is valid? [True, True] Translation: X:458.71, Y:43.11, Z:-1.41 [[ 9.99972510e-01 -4.46490492e-03 -5.91985780e-03 4.58706722e+02] [ 4.46177763e-03 9.99989900e-01 -5.41373276e-04 4.31117365e+01] [ 5.92221519e-03 5.14945304e-04 9.99982331e-01 -1.41183838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.081400513 meters 0.09163408206880892 Centerline is valid? [True, True] Translation: X:458.77, Y:43.13, Z:-1.41 [[ 9.99974695e-01 -1.14339803e-03 -7.02159519e-03 4.58765368e+02] [ 1.13891661e-03 9.99999145e-01 -6.42198494e-04 4.31302433e+01] [ 7.02232348e-03 6.34185231e-04 9.99975142e-01 -1.41281940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.141400513 meters 0.0926390000832011 Centerline is valid? [True, True] Translation: X:458.82, Y:43.14, Z:-1.41 [[ 9.99989487e-01 -3.88302180e-03 -2.43897786e-03 4.58823499e+02] [ 3.88248914e-03 9.99992438e-01 -2.23092124e-04 4.31448231e+01] [ 2.43982569e-03 2.13620474e-04 9.99997001e-01 -1.40554640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.201400513 meters 0.0874629838805726 Centerline is valid? [True, True] Translation: X:458.88, Y:43.15, Z:-1.40 [[ 9.99968253e-01 -7.96799360e-03 6.77967559e-05 4.58883491e+02] [ 7.96799320e-03 9.99968255e-01 6.22512399e-06 4.31466471e+01] [-6.78442054e-05 -5.68472227e-06 9.99999998e-01 -1.40239959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.261400513 meters 0.0811407801215607 Centerline is valid? [True, True] Translation: X:458.95, Y:43.14, Z:-1.41 [[ 9.99882171e-01 -1.52408160e-02 -1.83351403e-03 4.58945486e+02] [ 1.52405338e-02 9.99883842e-01 -1.67757985e-04 4.31396927e+01] [ 1.83585783e-03 1.39794485e-04 9.99998305e-01 -1.40609845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.321400513 meters 0.07495731776808125 Centerline is valid? [True, True] Translation: X:459.01, Y:43.13, Z:-1.41 [[ 9.99783250e-01 -2.07568045e-02 -1.61524987e-03 4.59006581e+02] [ 2.07565927e-02 9.99784548e-01 -1.47781984e-04 4.31334798e+01] [ 1.61796934e-03 1.14222869e-04 9.99998685e-01 -1.40539435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.381400513 meters 0.06750477546835798 Centerline is valid? [True, True] Translation: X:459.07, Y:43.12, Z:-1.41 [[ 9.99684369e-01 -2.50136274e-02 -2.34111252e-03 4.59068748e+02] [ 2.50131941e-02 9.99687098e-01 -2.14191964e-04 4.31193896e+01] [ 2.34573770e-03 1.55565656e-04 9.99997237e-01 -1.40623501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.441400513 meters 0.06983182655370639 Centerline is valid? [True, True] Translation: X:459.13, Y:43.12, Z:-1.41 [[ 9.99694254e-01 -2.41380847e-02 -5.36210875e-03 4.59128863e+02] [ 2.41357989e-02 9.99708569e-01 -4.90595427e-04 4.31207144e+01] [ 5.37238810e-03 3.61026651e-04 9.99985503e-01 -1.41111826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.501400513 meters 0.07945946129331118 Centerline is valid? [True, True] Translation: X:459.19, Y:43.13, Z:-1.41 [[ 9.99796414e-01 -1.91014331e-02 -6.50126778e-03 4.59187717e+02] [ 1.90979664e-02 9.99817440e-01 -5.94908248e-04 4.31308467e+01] [ 6.51144451e-03 4.70626139e-04 9.99978690e-01 -1.41475026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.561400513 meters 0.07508289522574861 Centerline is valid? [True, True] Translation: X:459.25, Y:43.12, Z:-1.42 [[ 9.99799722e-01 -1.86759042e-02 -7.19213627e-03 4.59247294e+02] [ 1.86716438e-02 9.99825452e-01 -6.59066577e-04 4.31224155e+01] [ 7.20318957e-03 5.24645574e-04 9.99973919e-01 -1.41530503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.621400513 meters 0.06979929975882744 Centerline is valid? [True, True] Translation: X:459.31, Y:43.12, Z:-1.42 [[ 9.99736724e-01 -2.13878007e-02 -8.30931079e-03 4.59308741e+02] [ 2.13822045e-02 9.99771084e-01 -7.61757936e-04 4.31162174e+01] [ 8.32370098e-03 5.83886002e-04 9.99965187e-01 -1.41708976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.681400513 meters 0.06948480338014117 Centerline is valid? [True, True] Translation: X:459.37, Y:43.11, Z:-1.41 [[ 9.99681518e-01 -2.44669946e-02 -6.18294627e-03 4.59368859e+02] [ 2.44639543e-02 9.99700552e-01 -5.66889175e-04 4.31129755e+01] [ 6.19496487e-03 4.15449316e-04 9.99980725e-01 -1.41424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74140051300003 meters 0.0744958829483377 Centerline is valid? [True, True] Translation: X:459.43, Y:43.12, Z:-1.41 [[ 9.99684901e-01 -2.45022908e-02 -5.45311783e-03 4.59425591e+02] [ 2.44999246e-02 9.99699707e-01 -5.00305586e-04 4.31196708e+01] [ 5.46373893e-03 3.66546965e-04 9.99985006e-01 -1.41253013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.801400513 meters 0.06866024194599846 Centerline is valid? [True, True] Translation: X:459.48, Y:43.11, Z:-1.41 [[ 9.99681509e-01 -2.44296872e-02 -6.33016791e-03 4.59484945e+02] [ 2.44264945e-02 9.99701460e-01 -5.81199456e-04 4.31108444e+01] [ 6.34247662e-03 4.26390538e-04 9.99979795e-01 -1.41220154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.861400513 meters 0.07496691268402451 Centerline is valid? [True, True] Translation: X:459.54, Y:43.12, Z:-1.41 [[ 9.99751291e-01 -2.21800096e-02 -2.32464868e-03 4.59544121e+02] [ 2.21795729e-02 9.99753980e-01 -2.13478655e-04 4.31175726e+01] [ 2.32881173e-03 1.61865846e-04 9.99997275e-01 -1.40541509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.921400513 meters 0.07901848071738922 Centerline is valid? [True, True] Translation: X:459.60, Y:43.13, Z:-1.40 [[ 9.99824409e-01 -1.87372316e-02 -2.57872717e-04 4.59603548e+02] [ 1.87372261e-02 9.99824442e-01 -2.36689814e-05 4.31265690e+01] [ 2.58270936e-04 1.88330060e-05 9.99999966e-01 -1.40260047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.981400513 meters 0.07970891818548441 Centerline is valid? [True, True] Translation: X:459.66, Y:43.13, Z:-1.41 [[ 9.99915444e-01 -1.29567011e-02 -1.10870904e-03 4.59664254e+02] [ 1.29565961e-02 9.99916055e-01 -1.01837124e-04 4.31278997e+01] [ 1.10993544e-03 8.74634182e-05 9.99999380e-01 -1.40500271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.041400513 meters 0.08053220643958969 Centerline is valid? [True, True] Translation: X:459.72, Y:43.13, Z:-1.41 [[ 9.99963109e-01 -7.34997328e-03 -4.44511966e-03 4.59724097e+02] [ 7.34823032e-03 9.99972918e-01 -4.08311824e-04 4.31347951e+01] [ 4.44800036e-03 3.75632998e-04 9.99990037e-01 -1.40873134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.101400513 meters 0.08286555813455715 Centerline is valid? [True, True] Translation: X:459.78, Y:43.14, Z:-1.41 [[ 9.99962756e-01 -5.85528635e-03 -6.34046540e-03 4.59783702e+02] [ 5.85170979e-03 9.99982709e-01 -5.82489959e-04 4.31421335e+01] [ 6.34376641e-03 5.45365702e-04 9.99979729e-01 -1.41211766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.161400513 meters 0.0925553688540102 Centerline is valid? [True, True] Translation: X:459.84, Y:43.16, Z:-1.41 [[ 9.99966129e-01 -6.36320409e-03 -5.22012111e-03 4.59840308e+02] [ 6.36078499e-03 9.99979655e-01 -4.79890033e-04 4.31578227e+01] [ 5.22306854e-03 4.46669711e-04 9.99986260e-01 -1.41095982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.221400513 meters 0.08612865758540314 Centerline is valid? [True, True] Translation: X:459.90, Y:43.15, Z:-1.41 [[ 9.99960395e-01 -7.62963554e-03 -4.58217700e-03 4.59900852e+02] [ 7.62778409e-03 9.99970819e-01 -4.21396937e-04 4.31545983e+01] [ 4.58525839e-03 3.86428391e-04 9.99989413e-01 -1.40958390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.281400513 meters 0.07967070479533703 Centerline is valid? [True, True] Translation: X:459.96, Y:43.15, Z:-1.41 [[ 9.99938615e-01 -9.90671682e-03 -4.96222419e-03 4.59962133e+02] [ 9.90457322e-03 9.99950844e-01 -4.56374331e-04 4.31498396e+01] [ 4.96650144e-03 4.07197604e-04 9.99987584e-01 -1.40958111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.341400513 meters 0.09491688058136542 Centerline is valid? [True, True] Translation: X:460.02, Y:43.17, Z:-1.41 [[ 9.99908548e-01 -1.21380710e-02 -5.96353413e-03 4.60019630e+02] [ 1.21350141e-02 9.99926218e-01 -5.48530157e-04 4.31735207e+01] [ 5.96975223e-03 4.76112422e-04 9.99982068e-01 -1.41177486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.401400513 meters 0.07694511478688505 Centerline is valid? [True, True] Translation: X:460.08, Y:43.16, Z:-1.41 [[ 9.99857576e-01 -1.52847510e-02 -7.15573679e-03 4.60081777e+02] [ 1.52804292e-02 9.99883031e-01 -6.58252431e-04 4.31563782e+01] [ 7.16496101e-03 5.48815951e-04 9.99974181e-01 -1.41169784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.461400513 meters 0.07447244701985924 Centerline is valid? [True, True] Translation: X:460.14, Y:43.16, Z:-1.41 [[ 9.99802101e-01 -1.86623130e-02 -6.89041236e-03 4.60141988e+02] [ 1.86583852e-02 9.99825716e-01 -6.33893694e-04 4.31580909e+01] [ 6.90104140e-03 5.05204278e-04 9.99976060e-01 -1.41111168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.521400513 meters 0.0728596896526457 Centerline is valid? [True, True] Translation: X:460.20, Y:43.16, Z:-1.41 [[ 9.99704190e-01 -2.38168284e-02 -4.92858244e-03 4.60200981e+02] [ 2.38148810e-02 9.99716283e-01 -4.53438941e-04 4.31632476e+01] [ 4.93798359e-03 3.35931204e-04 9.99987752e-01 -1.40848935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.581400513 meters 0.07092437392996209 Centerline is valid? [True, True] Translation: X:460.26, Y:43.17, Z:-1.41 [[ 9.99582221e-01 -2.83291341e-02 -5.73085647e-03 4.60260412e+02] [ 2.83265748e-02 9.99598583e-01 -5.27274448e-04 4.31680957e+01] [ 5.74349323e-03 3.64718630e-04 9.99983439e-01 -1.40969390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.641400513 meters 0.06615790944202754 Centerline is valid? [True, True] Translation: X:460.32, Y:43.17, Z:-1.41 [[ 9.99455285e-01 -3.24884454e-02 -5.79952659e-03 4.60320283e+02] [ 3.24858937e-02 9.99472052e-01 -5.33677828e-04 4.31680104e+01] [ 5.81380310e-03 3.44984321e-04 9.99983040e-01 -1.40927372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.701400513 meters 0.059731015568633875 Centerline is valid? [True, True] Translation: X:460.38, Y:43.17, Z:-1.41 [[ 9.99143004e-01 -4.12482141e-02 -3.44122182e-03 4.60379716e+02] [ 4.12473673e-02 9.99148915e-01 -3.16705554e-04 4.31662232e+01] [ 3.45135658e-03 1.74492798e-04 9.99994029e-01 -1.40614544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.761400513 meters 0.04661147826819951 Centerline is valid? [True, True] Translation: X:460.44, Y:43.16, Z:-1.40 [[ 9.98797437e-01 -4.89543097e-02 -2.67513882e-03 4.60441346e+02] [ 4.89538255e-02 9.98801012e-01 -2.46220172e-04 4.31560252e+01] [ 2.68398490e-03 1.14965798e-04 9.99996391e-01 -1.40425259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.821400513 meters 0.029636706624869277 Centerline is valid? [True, True] Translation: X:460.50, Y:43.14, Z:-1.40 [[ 9.98103693e-01 -6.15030065e-02 -2.52928601e-03 4.60503397e+02] [ 6.15026139e-02 9.98106895e-01 -2.32804214e-04 4.31383824e+01] [ 2.53881597e-03 7.68050451e-05 9.99996774e-01 -1.40286559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.881400513 meters 0.024543089807947196 Centerline is valid? [True, True] Translation: X:460.56, Y:43.13, Z:-1.40 [[ 9.97595631e-01 -6.92823442e-02 -1.70709528e-03 4.60563213e+02] [ 6.92821767e-02 9.97597091e-01 -1.57131995e-04 4.31345331e+01] [ 1.71387976e-03 3.84829142e-05 9.99998531e-01 -1.40295439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.941400513 meters 0.024767283782170125 Centerline is valid? [True, True] Translation: X:460.62, Y:43.12, Z:-1.40 [[ 9.96986281e-01 -7.75665798e-02 -1.33489637e-03 4.60622459e+02] [ 7.75723311e-02 9.96974203e-01 4.99724196e-03 4.31191133e+01] [ 9.43238272e-04 -5.08573270e-03 9.99986623e-01 -1.40396769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.001400513 meters 0.012945687118592316 Centerline is valid? [True, True] Translation: X:460.68, Y:43.12, Z:-1.41 [[ 9.96676180e-01 -8.14025457e-02 -3.19659381e-03 4.60683040e+02] [ 8.13853208e-02 9.96669186e-01 -5.19252639e-03 4.31233475e+01] [ 3.60863142e-03 4.91511155e-03 9.99981410e-01 -1.40529324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.061400513 meters 0.015986656042178936 Centerline is valid? [True, True] Translation: X:460.74, Y:43.13, Z:-1.40 [[ 9.96952581e-01 -7.79562365e-02 -2.89419283e-03 4.60741409e+02] [ 7.79557904e-02 9.96956781e-01 -2.66803690e-04 4.31255907e+01] [ 2.90618418e-03 4.03715376e-05 9.99995776e-01 -1.40365748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.121400513 meters 0.021226935111647433 Centerline is valid? [True, True] Translation: X:460.80, Y:43.13, Z:-1.41 [[ 9.97341731e-01 -7.26563133e-02 -5.52558255e-03 4.60800309e+02] [ 7.26546035e-02 9.97357032e-01 -5.09791112e-04 4.31340403e+01] [ 5.54801816e-03 1.06976940e-04 9.99984604e-01 -1.40744078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.181400513 meters 0.026280350551585722 Centerline is valid? [True, True] Translation: X:460.86, Y:43.14, Z:-1.41 [[ 9.97541319e-01 -6.98908303e-02 -5.15637229e-03 4.60858920e+02] [ 6.98893036e-02 9.97554639e-01 -4.75910585e-04 4.31413164e+01] [ 5.17702488e-03 1.14365205e-04 9.99986593e-01 -1.40713047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24140051300003 meters 0.03462633401314561 Centerline is valid? [True, True] Translation: X:460.92, Y:43.14, Z:-1.40 [[ 9.97899490e-01 -6.46591163e-02 -3.97562350e-03 4.60919041e+02] [ 6.46581669e-02 9.97907404e-01 -3.67004711e-04 4.31426631e+01] [ 3.99103432e-03 1.09177287e-04 9.99992030e-01 -1.40444858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.301400513 meters 0.040431672615919186 Centerline is valid? [True, True] Translation: X:460.98, Y:43.16, Z:-1.41 [[ 9.98339363e-01 -5.73626396e-02 -5.29562051e-03 4.60977369e+02] [ 5.73608523e-02 9.98353391e-01 -4.88890450e-04 4.31585258e+01] [ 5.31494474e-03 1.84317275e-04 9.99985859e-01 -1.40842010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.361400513 meters 0.0388064318979549 Centerline is valid? [True, True] Translation: X:461.04, Y:43.16, Z:-1.41 [[ 9.98586187e-01 -5.28173932e-02 -5.99588923e-03 4.61037708e+02] [ 5.28150200e-02 9.98604159e-01 -5.53567845e-04 4.31587500e+01] [ 6.01675793e-03 2.36112194e-04 9.99981871e-01 -1.40884269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.421400513 meters 0.04667805212822574 Centerline is valid? [True, True] Translation: X:461.10, Y:43.17, Z:-1.41 [[ 9.98773162e-01 -4.92507257e-02 -5.15132561e-03 4.61095925e+02] [ 4.92489261e-02 9.98786422e-01 -4.75688900e-04 4.31680735e+01] [ 5.16850210e-03 2.21408052e-04 9.99986619e-01 -1.40755425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.481400513 meters 0.050364574423754256 Centerline is valid? [True, True] Translation: X:461.16, Y:43.17, Z:-1.41 [[ 9.98973216e-01 -4.48262670e-02 -6.56651278e-03 4.61156392e+02] [ 4.48232470e-02 9.98994749e-01 -6.06417227e-04 4.31740871e+01] [ 6.58709521e-03 3.11462143e-04 9.99978256e-01 -1.40925114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.541400513 meters 0.059573671949483056 Centerline is valid? [True, True] Translation: X:461.21, Y:43.19, Z:-1.41 [[ 9.99189464e-01 -3.95299582e-02 -7.60246524e-03 4.61214416e+02] [ 3.95257563e-02 9.99218305e-01 -7.02222232e-04 4.31902414e+01] [ 7.62428124e-03 4.01159868e-04 9.99970854e-01 -1.41162598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.601400513 meters 0.06614947555235083 Centerline is valid? [True, True] Translation: X:461.27, Y:43.20, Z:-1.41 [[ 9.99460144e-01 -3.22481008e-02 -6.28342063e-03 4.61273515e+02] [ 3.22450865e-02 9.99479823e-01 -5.80462757e-04 4.32047792e+01] [ 6.29887097e-03 3.77539949e-04 9.99980091e-01 -1.40917331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.661400513 meters 0.06783364575938171 Centerline is valid? [True, True] Translation: X:461.33, Y:43.21, Z:-1.41 [[ 9.99516934e-01 -3.05660180e-02 -5.62297355e-03 4.61332667e+02] [ 3.05635769e-02 9.99532690e-01 -5.19555068e-04 4.32138506e+01] [ 5.63622661e-03 3.47445903e-04 9.99984056e-01 -1.40808983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.721400513 meters 0.06065862733873763 Centerline is valid? [True, True] Translation: X:461.39, Y:43.21, Z:-1.41 [[ 9.99462522e-01 -3.24169351e-02 -4.87943433e-03 4.61393353e+02] [ 3.24151183e-02 9.99474390e-01 -4.50979202e-04 4.32122623e+01] [ 4.89148901e-03 2.92569370e-04 9.99987994e-01 -1.40734600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.781400513 meters 0.0653225995344517 Centerline is valid? [True, True] Translation: X:461.45, Y:43.22, Z:-1.41 [[ 9.99451153e-01 -3.29179441e-02 -3.71512862e-03 4.61451480e+02] [ 3.29168928e-02 9.99458033e-01 -3.43765536e-04 4.32187828e+01] [ 3.72443119e-03 2.21286370e-04 9.99993040e-01 -1.40535547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.841400513 meters 0.07584819444693028 Centerline is valid? [True, True] Translation: X:461.51, Y:43.25, Z:-1.40 [[ 9.99574096e-01 -2.91331541e-02 -1.69879150e-03 4.61507948e+02] [ 2.91329287e-02 9.99575534e-01 -1.57307945e-04 4.32491276e+01] [ 1.70265329e-03 1.07750176e-04 9.99998545e-01 -1.40245644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.901400513 meters 0.06668628704752277 Centerline is valid? [True, True] Translation: X:461.57, Y:43.25, Z:-1.40 [[ 9.99668248e-01 -2.55760527e-02 -3.04291775e-03 4.61568621e+02] [ 2.55753127e-02 9.99672858e-01 -2.81839985e-04 4.32459967e+01] [ 3.04913064e-03 2.03922911e-04 9.99995331e-01 -1.40391213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.961400513 meters 0.07062542376385089 Centerline is valid? [True, True] Translation: X:461.63, Y:43.26, Z:-1.41 [[ 9.99695259e-01 -2.42098499e-02 -4.82410867e-03 4.61625748e+02] [ 2.42079735e-02 9.99706844e-01 -4.46981609e-04 4.32599439e+01] [ 4.83351582e-03 3.30063501e-04 9.99988264e-01 -1.40626421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.021400513 meters 0.07455191690101477 Centerline is valid? [True, True] Translation: X:461.68, Y:43.27, Z:-1.41 [[ 9.99663648e-01 -2.52914852e-02 -5.73854650e-03 4.61682425e+02] [ 2.52888459e-02 9.99680044e-01 -5.32035771e-04 4.32722753e+01] [ 5.75016640e-03 3.86735602e-04 9.99983393e-01 -1.40795082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.081400513 meters 0.06934712404123988 Centerline is valid? [True, True] Translation: X:461.74, Y:43.27, Z:-1.40 [[ 9.99688835e-01 -2.46341326e-02 -3.92339143e-03 4.61740943e+02] [ 2.46328931e-02 9.99696498e-01 -3.63947574e-04 4.32736184e+01] [ 3.93116621e-03 2.67189845e-04 9.99992237e-01 -1.40492916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.141400513 meters 0.0782897020956618 Centerline is valid? [True, True] Translation: X:461.80, Y:43.29, Z:-1.41 [[ 9.99771085e-01 -2.06941459e-02 -5.43417061e-03 4.61798862e+02] [ 2.06917092e-02 9.99785777e-01 -5.04249926e-04 4.32930804e+01] [ 5.44344151e-03 3.91692217e-04 9.99985108e-01 -1.40731008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.201400513 meters 0.0766313907666375 Centerline is valid? [True, True] Translation: X:461.86, Y:43.30, Z:-1.41 [[ 9.99822244e-01 -1.74700912e-02 -7.09059112e-03 4.61859091e+02] [ 1.74658618e-02 9.99847244e-01 -6.57966953e-04 4.32976626e+01] [ 7.10100273e-03 5.34006710e-04 9.99974645e-01 -1.41025165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.261400513 meters 0.07647311349433174 Centerline is valid? [True, True] Translation: X:461.92, Y:43.30, Z:-1.41 [[ 9.99868346e-01 -1.51895583e-02 -5.70690824e-03 4.61918959e+02] [ 1.51867816e-02 9.99884534e-01 -5.29586896e-04 4.33047185e+01] [ 5.71429348e-03 4.42847605e-04 9.99983575e-01 -1.40795271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.321400513 meters 0.08049515033041908 Centerline is valid? [True, True] Translation: X:461.98, Y:43.32, Z:-1.41 [[ 9.99878895e-01 -1.40545912e-02 -6.68313190e-03 4.61976395e+02] [ 1.40507560e-02 9.99901091e-01 -6.20462783e-04 4.33164523e+01] [ 6.69119123e-03 5.26484586e-04 9.99977475e-01 -1.40832748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.381400513 meters 0.08188993793850197 Centerline is valid? [True, True] Translation: X:462.03, Y:43.33, Z:-1.41 [[ 9.99864986e-01 -1.40244354e-02 -8.56298196e-03 4.62034953e+02] [ 1.40181275e-02 9.99901424e-01 -7.96220264e-04 4.33256835e+01] [ 8.57330440e-03 6.76075790e-04 9.99963020e-01 -1.41189362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.441400513 meters 0.07443889829176809 Centerline is valid? [True, True] Translation: X:462.10, Y:43.32, Z:-1.41 [[ 9.99859830e-01 -1.55434189e-02 -6.22270562e-03 4.62095433e+02] [ 1.55401152e-02 9.99879078e-01 -5.78904628e-04 4.33249632e+01] [ 6.23095131e-03 4.82121920e-04 9.99980471e-01 -1.40813670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.501400513 meters 0.07187707289109116 Centerline is valid? [True, True] Translation: X:462.15, Y:43.33, Z:-1.41 [[ 9.99848265e-01 -1.63857960e-02 -5.91208861e-03 4.62153809e+02] [ 1.63828271e-02 9.99865641e-01 -5.50254262e-04 4.33300743e+01] [ 5.92031063e-03 4.53314043e-04 9.99982372e-01 -1.40790460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.561400513 meters 0.08245249213200707 Centerline is valid? [True, True] Translation: X:462.21, Y:43.35, Z:-1.41 [[ 9.99853240e-01 -1.59992339e-02 -6.12567720e-03 4.62209934e+02] [ 1.59960373e-02 9.99871892e-01 -5.70480900e-04 4.33478231e+01] [ 6.13401971e-03 4.72410614e-04 9.99981075e-01 -1.40838675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.621400513 meters 0.08100959236181449 Centerline is valid? [True, True] Translation: X:462.27, Y:43.35, Z:-1.41 [[ 9.99850208e-01 -1.64530301e-02 -5.37206568e-03 4.62268553e+02] [ 1.64505744e-02 9.99864555e-01 -5.00992328e-04 4.33508969e+01] [ 5.37958090e-03 4.12543717e-04 9.99985445e-01 -1.40748782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.681400513 meters 0.08074970972818629 Centerline is valid? [True, True] Translation: X:462.33, Y:43.35, Z:-1.41 [[ 9.99851200e-01 -1.68125531e-02 -3.86202229e-03 4.62327452e+02] [ 1.68112845e-02 9.99858615e-01 -3.60715041e-04 4.33523050e+01] [ 3.86754080e-03 2.95735811e-04 9.99992477e-01 -1.40618721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74140051300003 meters 0.07276409063078257 Centerline is valid? [True, True] Translation: X:462.39, Y:43.34, Z:-1.41 [[ 9.99834844e-01 -1.75821594e-02 -4.59921350e-03 4.62387224e+02] [ 1.75803647e-02 9.99845361e-01 -4.30366497e-04 4.33438844e+01] [ 4.60606906e-03 3.49439569e-04 9.99989331e-01 -1.40679994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.801400513 meters 0.07881523952569368 Centerline is valid? [True, True] Translation: X:462.45, Y:43.35, Z:-1.40 [[ 9.99819352e-01 -1.86836271e-02 -3.49079812e-03 4.62445946e+02] [ 1.86825990e-02 9.99825412e-01 -3.26882398e-04 4.33517526e+01] [ 3.49629601e-03 2.61606166e-04 9.99993854e-01 -1.40491416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.861400513 meters 0.07700622430645433 Centerline is valid? [True, True] Translation: X:462.50, Y:43.35, Z:-1.41 [[ 9.99821195e-01 -1.83810636e-02 -4.44005308e-03 4.62504622e+02] [ 1.83793952e-02 9.99830998e-01 -4.16292302e-04 4.33522677e+01] [ 4.44695460e-03 3.34612377e-04 9.99990056e-01 -1.40636670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.921400513 meters 0.08076618908345781 Centerline is valid? [True, True] Translation: X:462.56, Y:43.36, Z:-1.41 [[ 9.99823270e-01 -1.78944758e-02 -5.76330898e-03 4.62561339e+02] [ 1.78916523e-02 9.99839785e-01 -5.41100340e-04 4.33622559e+01] [ 5.77206832e-03 4.37889592e-04 9.99983246e-01 -1.40844470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.981400513 meters 0.07916927323590459 Centerline is valid? [True, True] Translation: X:462.62, Y:43.36, Z:-1.41 [[ 9.99820170e-01 -1.78725242e-02 -6.34040353e-03 4.62618011e+02] [ 1.78246881e-02 9.99812828e-01 -7.52259314e-03 4.33646059e+01] [ 6.47366451e-03 7.40822464e-03 9.99951604e-01 -1.40778110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.041400513 meters 0.07676804606029146 Centerline is valid? [True, True] Translation: X:462.68, Y:43.36, Z:-1.41 [[ 9.99699577e-01 -2.32514037e-02 -7.75423277e-03 4.62679975e+02] [ 2.32994673e-02 9.99709511e-01 6.16671852e-03 4.33595648e+01] [ 7.60859539e-03 -6.34553539e-03 9.99950921e-01 -1.41017398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.101400513 meters 0.0736781631950461 Centerline is valid? [True, True] Translation: X:462.74, Y:43.36, Z:-1.41 [[ 9.99666741e-01 -2.47745806e-02 -7.25441307e-03 4.62739616e+02] [ 2.47702816e-02 9.99692937e-01 -6.81863910e-04 4.33628835e+01] [ 7.26907840e-03 5.01942818e-04 9.99973454e-01 -1.40988689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.161400513 meters 0.06687416625487332 Centerline is valid? [True, True] Translation: X:462.80, Y:43.37, Z:-1.41 [[ 9.99659703e-01 -2.53276235e-02 -6.24418895e-03 4.62798996e+02] [ 2.53244465e-02 9.99679112e-01 -5.87353070e-04 4.33659126e+01] [ 6.25706152e-03 4.29022567e-04 9.99980332e-01 -1.40883655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.221400513 meters 0.07016267725881438 Centerline is valid? [True, True] Translation: X:462.86, Y:43.38, Z:-1.41 [[ 9.99620597e-01 -2.63524969e-02 -8.01298247e-03 4.62855715e+02] [ 2.63472922e-02 9.99652565e-01 -7.54425825e-04 4.33769479e+01] [ 8.03007948e-03 5.43019203e-04 9.99967611e-01 -1.41122204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.281400513 meters 0.06741653248129245 Centerline is valid? [True, True] Translation: X:462.91, Y:43.38, Z:-1.41 [[ 9.99568702e-01 -2.77002649e-02 -9.75222985e-03 4.62914777e+02] [ 2.76926142e-02 9.99616064e-01 -9.18706359e-04 4.33775372e+01] [ 9.77393402e-03 6.48245384e-04 9.99952024e-01 -1.41279166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.341400513 meters 0.064684070213796 Centerline is valid? [True, True] Translation: X:462.98, Y:43.38, Z:-1.41 [[ 9.99507607e-01 -3.06259184e-02 -6.82623544e-03 4.62975485e+02] [ 3.06222379e-02 9.99530822e-01 -6.43060540e-04 4.33820645e+01] [ 6.84272704e-03 4.33709295e-04 9.99976494e-01 -1.40811102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.401400513 meters 0.07077976647718782 Centerline is valid? [True, True] Translation: X:463.03, Y:43.39, Z:-1.41 [[ 9.99488602e-01 -3.11589576e-02 -7.18705664e-03 4.63032593e+02] [ 3.11548891e-02 9.99514339e-01 -6.77366653e-04 4.33937344e+01] [ 7.20467221e-03 4.53108296e-04 9.99973943e-01 -1.40857597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.461400513 meters 0.06224982622596997 Centerline is valid? [True, True] Translation: X:463.09, Y:43.39, Z:-1.41 [[ 9.99491879e-01 -3.09039540e-02 -7.80568666e-03 4.63091973e+02] [ 3.08991384e-02 9.99522236e-01 -7.36817151e-04 4.33887107e+01] [ 7.82472795e-03 4.95253766e-04 9.99969264e-01 -1.40782553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.521400513 meters 0.06495164783646123 Centerline is valid? [True, True] Translation: X:463.15, Y:43.40, Z:-1.41 [[ 9.99564556e-01 -2.86767803e-02 -6.95280072e-03 4.63151952e+02] [ 2.86729044e-02 9.99588632e-01 -6.56530985e-04 4.33977926e+01] [ 6.96876776e-03 4.56888112e-04 9.99975613e-01 -1.40676735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.581400513 meters 0.07514515316736493 Centerline is valid? [True, True] Translation: X:463.21, Y:43.42, Z:-1.40 [[ 9.99730552e-01 -2.27325504e-02 -4.69615680e-03 4.63209488e+02] [ 2.27307169e-02 9.99741526e-01 -4.43449363e-04 4.34200670e+01] [ 4.70502370e-03 3.36582866e-04 9.99988875e-01 -1.40281514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.641400513 meters 0.08287368798137139 Centerline is valid? [True, True] Translation: X:463.27, Y:43.44, Z:-1.40 [[ 9.99817377e-01 -1.84613409e-02 -4.93887616e-03 4.63267291e+02] [ 1.84592608e-02 9.99829505e-01 -4.66436040e-04 4.34351962e+01] [ 4.94664514e-03 3.75182855e-04 9.99987695e-01 -1.40344482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.701400513 meters 0.08155527966418145 Centerline is valid? [True, True] Translation: X:463.33, Y:43.44, Z:-1.40 [[ 9.99828574e-01 -1.78104021e-02 -5.06090581e-03 4.63326426e+02] [ 1.78082086e-02 9.99841307e-01 -4.78153746e-04 4.34374243e+01] [ 5.06861879e-03 3.87946112e-04 9.99987079e-01 -1.40420168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.761400513 meters 0.07634851321833616 Centerline is valid? [True, True] Translation: X:463.39, Y:43.43, Z:-1.40 [[ 9.99768952e-01 -2.10728267e-02 -4.24020968e-03 4.63386863e+02] [ 2.10713156e-02 9.99777895e-01 -4.00728917e-04 4.34332782e+01] [ 4.24771240e-03 3.11289533e-04 9.99990930e-01 -1.40297670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.821400513 meters 0.07326216506745545 Centerline is valid? [True, True] Translation: X:463.45, Y:43.43, Z:-1.40 [[ 9.99714068e-01 -2.35334258e-02 -4.23800899e-03 4.63447466e+02] [ 2.35319381e-02 9.99723005e-01 -4.00558118e-04 4.34309143e+01] [ 4.24626159e-03 3.00715020e-04 9.99990939e-01 -1.40293640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.881400513 meters 0.06845992510226019 Centerline is valid? [True, True] Translation: X:463.51, Y:43.42, Z:-1.40 [[ 9.99682981e-01 -2.45223165e-02 -5.70904307e-03 4.63507615e+02] [ 2.45196291e-02 9.99699203e-01 -5.40249757e-04 4.34245249e+01] [ 5.72057398e-03 4.00094869e-04 9.99983557e-01 -1.40470424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.941400513 meters 0.07162633031277572 Centerline is valid? [True, True] Translation: X:463.57, Y:43.43, Z:-1.41 [[ 9.99733532e-01 -2.19351881e-02 -7.19114018e-03 4.63566679e+02] [ 2.19308551e-02 9.99759258e-01 -6.80865323e-04 4.34298743e+01] [ 7.20434388e-03 5.22976041e-04 9.99973912e-01 -1.40589826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.001400513 meters 0.08382924725720638 Centerline is valid? [True, True] Translation: X:463.62, Y:43.45, Z:-1.41 [[ 9.99846833e-01 -1.62508083e-02 -6.49780427e-03 4.63624380e+02] [ 1.62471515e-02 9.99867817e-01 -6.15165177e-04 4.34470259e+01] [ 6.50694230e-03 5.09500143e-04 9.99978700e-01 -1.40657240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.061400513 meters 0.08609240600922598 Centerline is valid? [True, True] Translation: X:463.68, Y:43.45, Z:-1.40 [[ 9.99898544e-01 -1.28809432e-02 -6.08131481e-03 4.63684870e+02] [ 1.28776784e-02 9.99916914e-01 -5.75710704e-04 4.34520821e+01] [ 6.08822523e-03 4.97339079e-04 9.99981343e-01 -1.40497819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.121400513 meters 0.08594470354574439 Centerline is valid? [True, True] Translation: X:463.74, Y:43.46, Z:-1.41 [[ 9.99918143e-01 -9.66244724e-03 -8.38717483e-03 4.63745000e+02] [ 9.65612415e-03 9.99953063e-01 -7.94068431e-04 4.34574423e+01] [ 8.39445381e-03 7.13015830e-04 9.99964512e-01 -1.40708537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.181400513 meters 0.0816503107735377 Centerline is valid? [True, True] Translation: X:463.80, Y:43.46, Z:-1.41 [[ 9.99948513e-01 -6.65248352e-03 -7.66262058e-03 4.63804961e+02] [ 6.64711742e-03 9.99977644e-01 -7.25551647e-04 4.34594611e+01] [ 7.66727600e-03 6.74579952e-04 9.99970378e-01 -1.40545439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24140051300003 meters 0.10205966012872701 Centerline is valid? [True, False] Translation: X:463.81, Y:43.46, Z:-1.41 [[ 9.99953143e-01 -4.32737740e-03 -8.65946740e-03 4.63811836e+02] [ 4.34101181e-03 9.99989367e-01 1.55633318e-03 4.34592898e+01] [ 8.65264048e-03 -1.59385110e-03 9.99961295e-01 -1.41048135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.301400513 meters 0.08996099545155753 Centerline is valid? [False, True] Translation: X:463.81, Y:43.47, Z:-1.41 [[ 9.99950745e-01 -5.03223536e-03 -8.55482836e-03 4.63811809e+02] [ 5.02749028e-03 9.99987196e-01 -5.76081224e-04 4.34685329e+01] [ 8.55761780e-03 5.33043532e-04 9.99963241e-01 -1.41155845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.361400513 meters 0.0873212197915293 Centerline is valid? [True, True] Translation: X:463.87, Y:43.48, Z:-1.41 [[ 9.99951416e-01 -6.83480608e-03 -7.10294099e-03 4.63871943e+02] [ 6.83015183e-03 9.99976444e-01 -6.79307778e-04 4.34752959e+01] [ 7.10741661e-03 6.30760609e-04 9.99974543e-01 -1.40840574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.421400513 meters 0.08812634870368763 Centerline is valid? [True, True] Translation: X:463.93, Y:43.49, Z:-1.40 [[ 9.99927237e-01 -1.16599650e-02 -3.09281061e-03 4.63930232e+02] [ 1.16591054e-02 9.99931987e-01 -2.95815710e-04 4.34902243e+01] [ 3.09604946e-03 2.59734781e-04 9.99995173e-01 -1.40182273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.481400513 meters 0.08824763318051312 Centerline is valid? [True, True] Translation: X:463.99, Y:43.50, Z:-1.40 [[ 9.99887985e-01 -1.41932545e-02 -4.75062482e-03 4.63989123e+02] [ 1.41912546e-02 9.99899196e-01 -4.54415141e-04 4.35039257e+01] [ 4.75659556e-03 3.86946913e-04 9.99988612e-01 -1.40495303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.541400513 meters 0.07813216676026324 Centerline is valid? [True, True] Translation: X:464.05, Y:43.51, Z:-1.41 [[ 9.99860259e-01 -1.51049921e-02 -7.16257712e-03 4.64047795e+02] [ 1.51004672e-02 9.99885747e-01 -6.85406051e-04 4.35055173e+01] [ 7.17211183e-03 5.77152010e-04 9.99974114e-01 -1.40722468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.601400513 meters 0.0810262056842137 Centerline is valid? [True, True] Translation: X:464.11, Y:43.52, Z:-1.41 [[ 9.99860735e-01 -1.43932115e-02 -8.44670753e-03 4.64105413e+02] [ 1.43868906e-02 9.99896176e-01 -8.08608989e-04 4.35208330e+01] [ 8.45746904e-03 6.86974520e-04 9.99963999e-01 -1.40862460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.661400513 meters 0.088893476042155 Centerline is valid? [True, True] Translation: X:464.16, Y:43.55, Z:-1.41 [[ 9.99893035e-01 -1.22906562e-02 -7.92826235e-03 4.64162261e+02] [ 1.22850216e-02 9.99924248e-01 -7.59016443e-04 4.35463671e+01] [ 7.93699058e-03 6.61536381e-04 9.99968283e-01 -1.40841408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.721400513 meters 0.08899626994715541 Centerline is valid? [True, True] Translation: X:464.22, Y:43.56, Z:-1.41 [[ 9.99909653e-01 -1.15562585e-02 -6.86582573e-03 4.64220839e+02] [ 1.15520148e-02 9.99933057e-01 -6.57428997e-04 4.35584330e+01] [ 6.87296353e-03 5.78055480e-04 9.99976214e-01 -1.40658469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.781400513 meters 0.08160661612658726 Centerline is valid? [True, True] Translation: X:464.28, Y:43.56, Z:-1.41 [[ 9.99896872e-01 -1.25658779e-02 -6.95295497e-03 4.64280525e+02] [ 1.25615489e-02 9.99920879e-01 -6.65934761e-04 4.35628988e+01] [ 6.96077290e-03 5.78526201e-04 9.99975606e-01 -1.40576863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.841400513 meters 0.08996769408362627 Centerline is valid? [True, True] Translation: X:464.34, Y:43.58, Z:-1.41 [[ 9.99881528e-01 -1.34904356e-02 -7.41207917e-03 4.64336863e+02] [ 1.34855384e-02 9.99908814e-01 -7.10295521e-04 4.35836780e+01] [ 7.42098549e-03 6.10255493e-04 9.99972278e-01 -1.40721431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.901400513 meters 0.08580671876369328 Centerline is valid? [True, True] Translation: X:464.40, Y:43.59, Z:-1.41 [[ 9.99870372e-01 -1.39706257e-02 -8.00382400e-03 4.64395545e+02] [ 1.39649213e-02 9.99902191e-01 -7.68155380e-04 4.35892392e+01] [ 8.01377276e-03 6.56283034e-04 9.99967674e-01 -1.40806831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.961400513 meters 0.08821357087401083 Centerline is valid? [True, True] Translation: X:464.45, Y:43.61, Z:-1.41 [[ 9.99876354e-01 -1.38647768e-02 -7.41925221e-03 4.64452457e+02] [ 1.38598684e-02 9.99903693e-01 -7.12591589e-04 4.36068946e+01] [ 7.42841761e-03 6.09673621e-04 9.99972223e-01 -1.40649119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.021400513 meters 0.0896543168530066 Centerline is valid? [True, True] Translation: X:464.51, Y:43.62, Z:-1.41 [[ 9.99875365e-01 -1.36139670e-02 -7.99465845e-03 4.64510117e+02] [ 1.36082506e-02 9.99907108e-01 -7.68991919e-04 4.36228129e+01] [ 8.00438484e-03 6.60102760e-04 9.99967747e-01 -1.40656644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.081400513 meters 0.09001335576598217 Centerline is valid? [True, True] Translation: X:464.57, Y:43.64, Z:-1.41 [[ 9.99886929e-01 -1.20761789e-02 -8.96078403e-03 4.64569090e+02] [ 1.20689332e-02 9.99926796e-01 -8.62240427e-04 4.36359844e+01] [ 8.97054064e-03 7.53995829e-04 9.99959480e-01 -1.40856431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.141400513 meters 0.09621094855032603 Centerline is valid? [True, True] Translation: X:464.63, Y:43.66, Z:-1.41 [[ 9.99916680e-01 -9.77468758e-03 -8.43139037e-03 4.64626876e+02] [ 9.76819143e-03 9.99951961e-01 -8.11310290e-04 4.36576988e+01] [ 8.43891564e-03 7.28883257e-04 9.99964126e-01 -1.40776433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.201400513 meters 0.08677624686345746 Centerline is valid? [True, True] Translation: X:464.69, Y:43.66, Z:-1.41 [[ 9.99934439e-01 -7.97995292e-03 -8.21204852e-03 4.64687223e+02] [ 7.97373032e-03 9.99967897e-01 -7.90202243e-04 4.36632800e+01] [ 8.21809066e-03 7.24669777e-04 9.99965968e-01 -1.40514916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.261400513 meters 0.087138036430361 Centerline is valid? [True, True] Translation: X:464.75, Y:43.68, Z:-1.40 [[ 9.99924066e-01 -9.99279662e-03 -7.21147854e-03 4.64746097e+02] [ 9.98804939e-03 9.99949877e-01 -6.94004433e-04 4.36759210e+01] [ 7.21805213e-03 6.21923131e-04 9.99973756e-01 -1.40254305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.321400513 meters 0.08339584900228258 Centerline is valid? [True, True] Translation: X:464.81, Y:43.68, Z:-1.40 [[ 9.99863061e-01 -1.53867159e-02 -6.09170079e-03 4.64806105e+02] [ 1.53834278e-02 9.99881496e-01 -5.86253274e-04 4.36842444e+01] [ 6.09999941e-03 4.92461754e-04 9.99981274e-01 -1.40080576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.381400513 meters 0.0839571839980078 Centerline is valid? [True, True] Translation: X:464.86, Y:43.69, Z:-1.40 [[ 9.99792056e-01 -1.95268205e-02 -5.87769744e-03 4.64864789e+02] [ 1.95238301e-02 9.99809232e-01 -5.65716129e-04 4.36926107e+01] [ 5.88762280e-03 4.50843325e-04 9.99982566e-01 -1.39995097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.441400513 meters 0.07450043023577564 Centerline is valid? [True, True] Translation: X:464.92, Y:43.69, Z:-1.40 [[ 9.99725888e-01 -2.29911202e-02 -4.42239913e-03 4.64924868e+02] [ 2.29894607e-02 9.99735617e-01 -4.25725996e-04 4.36894521e+01] [ 4.43101784e-03 3.23940728e-04 9.99990131e-01 -1.39629519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.501400513 meters 0.07949904676780886 Centerline is valid? [True, True] Translation: X:464.98, Y:43.70, Z:-1.40 [[ 9.99766601e-01 -2.12223605e-02 -4.04408237e-03 4.64983237e+02] [ 2.12209582e-02 9.99774734e-01 -3.89361236e-04 4.37024237e+01] [ 4.05143454e-03 3.03451056e-04 9.99991747e-01 -1.39590502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.561400513 meters 0.07800498188061818 Centerline is valid? [True, True] Translation: X:465.04, Y:43.71, Z:-1.39 [[ 9.99815772e-01 -1.89716708e-02 -2.91513394e-03 4.65043132e+02] [ 1.89709326e-02 9.99819996e-01 -2.80687219e-04 4.37072720e+01] [ 2.91993431e-03 2.25332699e-04 9.99995712e-01 -1.39386411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.621400513 meters 0.07745876468366991 Centerline is valid? [True, True] Translation: X:465.10, Y:43.72, Z:-1.40 [[ 9.99819262e-01 -1.84533732e-02 -4.57349640e-03 4.65102076e+02] [ 1.84515503e-02 9.99829659e-01 -4.40455803e-04 4.37159315e+01] [ 4.58084524e-03 3.55988097e-04 9.99989445e-01 -1.39632325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.681400513 meters 0.08128667886131556 Centerline is valid? [True, True] Translation: X:465.16, Y:43.73, Z:-1.40 [[ 9.99811091e-01 -1.82348961e-02 -6.72843430e-03 4.65159530e+02] [ 1.82309441e-02 9.99833592e-01 -6.48239145e-04 4.37257168e+01] [ 6.73913521e-03 5.25450977e-04 9.99977154e-01 -1.39995072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74140051300003 meters 0.07865534085822497 Centerline is valid? [True, True] Translation: X:465.22, Y:43.73, Z:-1.40 [[ 9.99804610e-01 -1.86263619e-02 -6.61819896e-03 4.65218245e+02] [ 1.86225406e-02 9.99826382e-01 -6.38551777e-04 4.37322280e+01] [ 6.62894381e-03 5.15179332e-04 9.99977896e-01 -1.39929374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.801400513 meters 0.07790818037288107 Centerline is valid? [True, True] Translation: X:465.28, Y:43.74, Z:-1.40 [[ 9.99822903e-01 -1.77012766e-02 -6.38967411e-03 4.65276671e+02] [ 1.76976929e-02 9.99843193e-01 -6.16969442e-04 4.37443161e+01] [ 6.39959331e-03 5.03777689e-04 9.99979395e-01 -1.39810656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.861400513 meters 0.08361554286575099 Centerline is valid? [True, True] Translation: X:465.33, Y:43.76, Z:-1.40 [[ 9.99818093e-01 -1.75945022e-02 -7.36302747e-03 4.65332712e+02] [ 1.75897374e-02 9.99845036e-01 -7.11386647e-04 4.37624772e+01] [ 7.37440295e-03 5.81743520e-04 9.99972640e-01 -1.39967543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.921400513 meters 0.07944961830948533 Centerline is valid? [True, True] Translation: X:465.39, Y:43.77, Z:-1.40 [[ 9.99767842e-01 -2.05817617e-02 -6.37594315e-03 4.65392914e+02] [ 2.05782486e-02 9.99788056e-01 -6.16115272e-04 4.37663593e+01] [ 6.38727254e-03 4.84766493e-04 9.99979484e-01 -1.39783682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.981400513 meters 0.07163501603111823 Centerline is valid? [True, True] Translation: X:465.45, Y:43.77, Z:-1.39 [[ 9.99591898e-01 -2.82621540e-02 -4.15787541e-03 4.65453878e+02] [ 2.82607261e-02 9.99600505e-01 -4.01794647e-04 4.37658187e+01] [ 4.16756994e-03 2.84126096e-04 9.99991275e-01 -1.39346579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.041400513 meters 0.06731467739507516 Centerline is valid? [True, True] Translation: X:465.51, Y:43.77, Z:-1.39 [[ 9.99464001e-01 -3.24973764e-02 -3.95356303e-03 4.65514512e+02] [ 3.24961182e-02 9.99471789e-01 -3.82077246e-04 4.37669039e+01] [ 3.96389122e-03 2.53397002e-04 9.99992112e-01 -1.39338547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.101400513 meters 0.07036847000438029 Centerline is valid? [True, True] Translation: X:465.57, Y:43.78, Z:-1.39 [[ 9.99422072e-01 -3.37791458e-02 -3.80667168e-03 4.65573203e+02] [ 3.37779884e-02 9.99429293e-01 -3.67950352e-04 4.37761912e+01] [ 3.81692823e-03 2.39155992e-04 9.99992687e-01 -1.39310363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.161400513 meters 0.06685158702736642 Centerline is valid? [True, True] Translation: X:465.63, Y:43.78, Z:-1.39 [[ 9.99428672e-01 -3.36139559e-02 -3.52581242e-03 4.65632504e+02] [ 3.36129616e-02 9.99434867e-01 -3.40909468e-04 4.37778715e+01] [ 3.53527919e-03 2.22201699e-04 9.99993726e-01 -1.39202492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.221400513 meters 0.07225001200935127 Centerline is valid? [True, True] Translation: X:465.69, Y:43.79, Z:-1.40 [[ 9.99525672e-01 -2.94958867e-02 -8.85567892e-03 4.65691827e+02] [ 2.94894511e-02 9.99564725e-01 -8.56449358e-04 4.37894231e+01] [ 8.87708600e-03 5.94894010e-04 9.99960421e-01 -1.40016900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.281400513 meters 0.0794965925356574 Centerline is valid? [True, True] Translation: X:465.75, Y:43.81, Z:-1.40 [[ 9.99644031e-01 -2.53916835e-02 -8.18982527e-03 4.65749297e+02] [ 2.53860409e-02 9.99677409e-01 -7.92220197e-04 4.38063836e+01] [ 8.20729911e-03 5.84030952e-04 9.99966149e-01 -1.40010568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.341400513 meters 0.07747346246077973 Centerline is valid? [True, True] Translation: X:465.81, Y:43.81, Z:-1.39 [[ 9.99769546e-01 -2.08545426e-02 -5.09337418e-03 4.65809879e+02] [ 2.08523016e-02 9.99782446e-01 -4.92706745e-04 4.38101270e+01] [ 5.10254127e-03 3.86384624e-04 9.99986907e-01 -1.39457591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.401400513 meters 0.07904033884711338 Centerline is valid? [True, True] Translation: X:465.87, Y:43.82, Z:-1.40 [[ 9.99792202e-01 -1.93307505e-02 -6.47106042e-03 4.65869375e+02] [ 1.93271010e-02 9.99813018e-01 -6.26036179e-04 4.38202217e+01] [ 6.48195220e-03 5.00839252e-04 9.99978867e-01 -1.39719568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.461400513 meters 0.08544701026832488 Centerline is valid? [True, True] Translation: X:465.93, Y:43.83, Z:-1.40 [[ 9.99772147e-01 -2.01714229e-02 -6.98344039e-03 4.65926652e+02] [ 2.01671909e-02 9.99796393e-01 -6.75890002e-04 4.38337886e+01] [ 6.99565218e-03 5.34899623e-04 9.99975387e-01 -1.39946545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.521400513 meters 0.07827035001070866 Centerline is valid? [True, True] Translation: X:465.99, Y:43.83, Z:-1.40 [[ 9.99715883e-01 -2.29693209e-02 -6.36902078e-03 4.65987634e+02] [ 2.29658569e-02 9.99736060e-01 -6.16489773e-04 4.38324044e+01] [ 6.38150009e-03 4.70044597e-04 9.99979528e-01 -1.39815143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.581400513 meters 0.07185836518584682 Centerline is valid? [True, True] Translation: X:466.05, Y:43.83, Z:-1.40 [[ 9.99569275e-01 -2.82026743e-02 -8.11620891e-03 4.66048867e+02] [ 2.81972204e-02 9.99602071e-01 -7.85636578e-04 4.38285949e+01] [ 8.13513628e-03 5.56443654e-04 9.99966754e-01 -1.40066784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.641400513 meters 0.0703591630946868 Centerline is valid? [True, True] Translation: X:466.11, Y:43.83, Z:-1.40 [[ 9.99489255e-01 -3.08523354e-02 -8.32838081e-03 4.66108762e+02] [ 3.08466834e-02 9.99523803e-01 -8.06280655e-04 4.38315568e+01] [ 8.34929049e-03 5.48965925e-04 9.99964993e-01 -1.40024277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.701400513 meters 0.0671149389852054 Centerline is valid? [True, True] Translation: X:466.17, Y:43.83, Z:-1.40 [[ 9.99371799e-01 -3.44929014e-02 -8.13927512e-03 4.66169101e+02] [ 3.44876223e-02 9.99404814e-01 -7.88109941e-04 4.38316499e+01] [ 8.16161494e-03 5.06910603e-04 9.99966565e-01 -1.40050504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.761400513 meters 0.06187154094638652 Centerline is valid? [True, True] Translation: X:466.23, Y:43.83, Z:-1.40 [[ 9.99278504e-01 -3.72933454e-02 -7.18870565e-03 4.66230281e+02] [ 3.72892992e-02 9.99304270e-01 -6.96115778e-04 4.38300367e+01] [ 7.20966474e-03 4.27551738e-04 9.99973919e-01 -1.39823357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.821400513 meters 0.06309228557519739 Centerline is valid? [True, True] Translation: X:466.29, Y:43.84, Z:-1.40 [[ 9.99311447e-01 -3.66972053e-02 -5.47246896e-03 4.66288520e+02] [ 3.66948477e-02 9.99326376e-01 -5.30627460e-04 4.38355454e+01] [ 5.48825512e-03 3.29450680e-04 9.99984885e-01 -1.39504827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.881400513 meters 0.06664225136302271 Centerline is valid? [True, True] Translation: X:466.35, Y:43.84, Z:-1.40 [[ 9.99409417e-01 -3.37353467e-02 -6.53792190e-03 4.66348702e+02] [ 3.37319168e-02 9.99430716e-01 -6.34207232e-04 4.38448566e+01] [ 6.55559516e-03 4.13296042e-04 9.99978426e-01 -1.39677968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.941400513 meters 0.0700544860065754 Centerline is valid? [True, True] Translation: X:466.41, Y:43.86, Z:-1.39 [[ 9.99580971e-01 -2.86199813e-02 -4.33348153e-03 4.66408572e+02] [ 2.86184266e-02 9.99590321e-01 -4.20363691e-04 4.38561741e+01] [ 4.34373700e-03 2.96170123e-04 9.99990522e-01 -1.39178468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.001400513 meters 0.07426261589175079 Centerline is valid? [True, True] Translation: X:466.47, Y:43.87, Z:-1.39 [[ 9.99661825e-01 -2.56831203e-02 -4.07581872e-03 4.66468565e+02] [ 2.56817207e-02 9.99670092e-01 -3.95377035e-04 4.38656632e+01] [ 4.08462859e-03 2.90569291e-04 9.99991616e-01 -1.39113288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.061400513 meters 0.07579750098870201 Centerline is valid? [True, True] Translation: X:466.53, Y:43.87, Z:-1.39 [[ 9.99686901e-01 -2.44044540e-02 -5.52480539e-03 4.66528093e+02] [ 2.44018622e-02 9.99702087e-01 -5.36042048e-04 4.38726230e+01] [ 5.53624129e-03 4.01058673e-04 9.99984594e-01 -1.39352860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.121400513 meters 0.07944091108434029 Centerline is valid? [True, True] Translation: X:466.59, Y:43.88, Z:-1.39 [[ 9.99741791e-01 -2.21587711e-02 -5.03389105e-03 4.66587485e+02] [ 2.21565909e-02 9.99754393e-01 -4.88469356e-04 4.38831906e+01] [ 5.04347857e-03 3.76809365e-04 9.99987211e-01 -1.39302352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.181400513 meters 0.08099291589927997 Centerline is valid? [True, True] Translation: X:466.65, Y:43.89, Z:-1.39 [[ 9.99787713e-01 -2.00442801e-02 -4.77022140e-03 4.66646900e+02] [ 2.00422982e-02 9.99799026e-01 -4.62921943e-04 4.38929438e+01] [ 4.77854164e-03 3.67217471e-04 9.99988515e-01 -1.39337823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24140051300003 meters 0.08608876309209654 Centerline is valid? [True, True] Translation: X:466.70, Y:43.91, Z:-1.40 [[ 9.99793653e-01 -1.94701027e-02 -5.79362017e-03 4.66704288e+02] [ 1.94671686e-02 9.99810339e-01 -5.62404462e-04 4.39063895e+01] [ 5.80347142e-03 4.49503031e-04 9.99983059e-01 -1.39598920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.301400513 meters 0.08530233994815649 Centerline is valid? [True, True] Translation: X:466.76, Y:43.91, Z:-1.40 [[ 9.99759983e-01 -2.11805299e-02 -5.60008526e-03 4.66764235e+02] [ 2.11778147e-02 9.99775577e-01 -5.43709578e-04 4.39115400e+01] [ 5.61034453e-03 4.24981511e-04 9.99984172e-01 -1.39545573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.361400513 meters 0.0733447361926607 Centerline is valid? [True, True] Translation: X:466.83, Y:43.90, Z:-1.40 [[ 9.99645900e-01 -2.57970624e-02 -6.52578299e-03 4.66825319e+02] [ 2.57934731e-02 9.99667092e-01 -6.33608671e-04 4.39040745e+01] [ 6.53995575e-03 4.65061702e-04 9.99978506e-01 -1.39644844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.421400513 meters 0.07525039336799037 Centerline is valid? [True, True] Translation: X:466.88, Y:43.91, Z:-1.40 [[ 9.99615849e-01 -2.69038488e-02 -6.65865600e-03 4.66882589e+02] [ 2.69001341e-02 9.99637917e-01 -6.46825260e-04 4.39131707e+01] [ 6.67364710e-03 4.67458043e-04 9.99977622e-01 -1.39579185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.481400513 meters 0.08076271533717312 Centerline is valid? [True, True] Translation: X:466.94, Y:43.93, Z:-1.40 [[ 9.99738021e-01 -2.12726891e-02 -8.44761405e-03 4.66942362e+02] [ 2.12665094e-02 9.99773505e-01 -8.20695992e-04 4.39273546e+01] [ 8.46315912e-03 6.40829724e-04 9.99963981e-01 -1.39746179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.541400513 meters 0.08129718042264206 Centerline is valid? [True, True] Translation: X:467.00, Y:43.94, Z:-1.40 [[ 9.99839661e-01 -1.59046841e-02 -8.22764677e-03 4.67002282e+02] [ 1.58986411e-02 9.99873289e-01 -7.99352856e-04 4.39372597e+01] [ 8.23931769e-03 6.68416284e-04 9.99965833e-01 -1.39620346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.601400513 meters 0.08674708938956399 Centerline is valid? [True, True] Translation: X:467.06, Y:43.95, Z:-1.39 [[ 9.99913250e-01 -1.17736740e-02 -5.90532174e-03 4.67060971e+02] [ 1.17704892e-02 9.99930561e-01 -5.73769139e-04 4.39533162e+01] [ 5.91166705e-03 5.04210839e-04 9.99982399e-01 -1.39271401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.661400513 meters 0.09362626414054842 Centerline is valid? [True, True] Translation: X:467.12, Y:43.97, Z:-1.39 [[ 9.99944533e-01 -9.18985455e-03 -5.14566585e-03 4.67118891e+02] [ 9.18740225e-03 9.99957670e-01 -5.00012303e-04 4.39697866e+01] [ 5.15004307e-03 4.52709267e-04 9.99986636e-01 -1.39110344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.721400513 meters 0.0879650610076417 Centerline is valid? [True, True] Translation: X:467.18, Y:43.97, Z:-1.39 [[ 9.99930105e-01 -1.09011439e-02 -4.57720033e-03 4.67179407e+02] [ 1.08992209e-02 9.99940503e-01 -4.44860405e-04 4.39702330e+01] [ 4.58177748e-03 3.94941394e-04 9.99989426e-01 -1.38979788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.781400513 meters 0.08841531871189566 Centerline is valid? [True, True] Translation: X:467.24, Y:43.98, Z:-1.39 [[ 9.99900513e-01 -1.35637255e-02 -3.87162671e-03 4.67238352e+02] [ 1.35623693e-02 9.99907956e-01 -3.76353720e-04 4.39764592e+01] [ 3.87637511e-03 3.23807846e-04 9.99992434e-01 -1.38755099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.841400513 meters 0.09424501742678142 Centerline is valid? [True, True] Translation: X:467.30, Y:43.99, Z:-1.39 [[ 9.99877862e-01 -1.50417636e-02 -4.24350449e-03 4.67295949e+02] [ 1.50401471e-02 9.99886805e-01 -4.12594857e-04 4.39941995e+01] [ 4.24923031e-03 3.48721532e-04 9.99990911e-01 -1.38945494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.901400513 meters 0.0816918809605189 Centerline is valid? [True, True] Translation: X:467.36, Y:43.99, Z:-1.39 [[ 9.99845327e-01 -1.67344959e-02 -5.41106910e-03 4.67357163e+02] [ 1.67318916e-02 9.99859874e-01 -5.26203606e-04 4.39862116e+01] [ 5.41911661e-03 4.35584795e-04 9.99985222e-01 -1.39073275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.961400513 meters 0.07981335695151218 Centerline is valid? [True, True] Translation: X:467.42, Y:43.99, Z:-1.39 [[ 9.99782300e-01 -1.94813506e-02 -7.47186375e-03 4.67417123e+02] [ 1.94764608e-02 9.99810052e-01 -7.26641240e-04 4.39911587e+01] [ 7.48460044e-03 5.80957589e-04 9.99971821e-01 -1.39412727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.021400513 meters 0.07387456392132631 Centerline is valid? [True, True] Translation: X:467.48, Y:43.99, Z:-1.39 [[ 9.99723307e-01 -2.27062637e-02 -6.14282402e-03 4.67477423e+02] [ 2.27030187e-02 9.99742075e-01 -5.97485127e-04 4.39907531e+01] [ 6.15480629e-03 4.57859159e-04 9.99980954e-01 -1.39245152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.081400513 meters 0.07717626913339032 Centerline is valid? [True, True] Translation: X:467.53, Y:44.00, Z:-1.39 [[ 9.99733342e-01 -2.28784377e-02 -3.13404074e-03 4.67534975e+02] [ 2.28775936e-02 9.99738227e-01 -3.04925993e-04 4.40020231e+01] [ 3.14019656e-03 2.33145372e-04 9.99995042e-01 -1.38805450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.141400513 meters 0.07906709463970492 Centerline is valid? [True, True] Translation: X:467.60, Y:44.01, Z:-1.39 [[ 9.99781042e-01 -2.05287617e-02 -4.05442000e-03 4.67595029e+02] [ 2.05273294e-02 9.99789214e-01 -3.94553275e-04 4.40100954e+01] [ 4.06166508e-03 3.11240469e-04 9.99991703e-01 -1.38981165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.201400513 meters 0.08906751878828587 Centerline is valid? [True, True] Translation: X:467.65, Y:44.03, Z:-1.40 [[ 9.99818063e-01 -1.72787077e-02 -8.07999184e-03 4.67652662e+02] [ 1.72729138e-02 9.99850503e-01 -7.86305479e-04 4.40280536e+01] [ 8.09237025e-03 6.46597419e-04 9.99967047e-01 -1.39655469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.261400513 meters 0.08841515711517117 Centerline is valid? [True, True] Translation: X:467.71, Y:44.03, Z:-1.39 [[ 9.99859952e-01 -1.47719537e-02 -7.86542674e-03 4.67712563e+02] [ 1.47663863e-02 9.99890678e-01 -7.65428271e-04 4.40325982e+01] [ 7.87587375e-03 6.49177144e-04 9.99968774e-01 -1.39441734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.321400513 meters 0.0868507817649 Centerline is valid? [True, True] Translation: X:467.77, Y:44.04, Z:-1.39 [[ 9.99866310e-01 -1.40161126e-02 -8.42086728e-03 4.67771524e+02] [ 1.40097017e-02 9.99901523e-01 -8.19827096e-04 4.40363496e+01] [ 8.43152881e-03 7.01743655e-04 9.99964208e-01 -1.39472678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.381400513 meters 0.08488801795378129 Centerline is valid? [True, True] Translation: X:467.83, Y:44.04, Z:-1.40 [[ 9.99865087e-01 -1.40085983e-02 -8.57716215e-03 4.67830037e+02] [ 1.40019360e-02 9.99901618e-01 -8.36312076e-04 4.40395045e+01] [ 8.58803387e-03 7.16102371e-04 9.99962866e-01 -1.39514194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.441400513 meters 0.07487163685841804 Centerline is valid? [True, True] Translation: X:467.89, Y:44.03, Z:-1.39 [[ 9.99772385e-01 -2.02051151e-02 -6.85067333e-03 4.67891816e+02] [ 2.02010081e-02 9.99795716e-01 -6.68169553e-04 4.40293152e+01] [ 6.86277429e-03 5.29626960e-04 9.99976311e-01 -1.39125113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.501400513 meters 0.07593068197155693 Centerline is valid? [True, True] Translation: X:467.95, Y:44.03, Z:-1.39 [[ 9.99652943e-01 -2.54240104e-02 -6.90026524e-03 4.67951110e+02] [ 2.54199672e-02 9.99676634e-01 -6.73045600e-04 4.40335712e+01] [ 6.91514544e-03 4.97407499e-04 9.99975966e-01 -1.39211541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.561400513 meters 0.07799601080917076 Centerline is valid? [True, True] Translation: X:468.01, Y:44.04, Z:-1.39 [[ 9.99535645e-01 -3.00041350e-02 -5.31473129e-03 4.68010577e+02] [ 3.00018005e-02 9.99549710e-01 -5.18452113e-04 4.40350556e+01] [ 5.32789383e-03 3.58759859e-04 9.99985742e-01 -1.39100330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.621400513 meters 0.0695242737004609 Centerline is valid? [True, True] Translation: X:468.07, Y:44.03, Z:-1.39 [[ 9.99485785e-01 -3.19762956e-02 -2.38373155e-03 4.68071246e+02] [ 3.19758314e-02 9.99488615e-01 -2.32565931e-04 4.40273769e+01] [ 2.38994915e-03 1.56224544e-04 9.99997132e-01 -1.38522871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.681400513 meters 0.07158748525957621 Centerline is valid? [True, True] Translation: X:468.13, Y:44.03, Z:-1.39 [[ 9.99445663e-01 -3.31610407e-02 -2.95172957e-03 4.68131005e+02] [ 3.31603341e-02 9.99450003e-01 -2.88020203e-04 4.40309554e+01] [ 2.95965718e-03 1.89980204e-04 9.99995602e-01 -1.38604895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74140051300003 meters 0.06869753616155314 Centerline is valid? [True, True] Translation: X:468.19, Y:44.03, Z:-1.39 [[ 9.99431813e-01 -3.34058260e-02 -4.48349413e-03 4.68192609e+02] [ 3.34041982e-02 9.99441828e-01 -4.37484823e-04 4.40262929e+01] [ 4.49560612e-03 2.87468723e-04 9.99989853e-01 -1.38867260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.801400513 meters 0.06746644268074954 Centerline is valid? [True, True] Translation: X:468.25, Y:44.03, Z:-1.39 [[ 9.99464346e-01 -3.25871765e-02 -3.01615789e-03 4.68252789e+02] [ 3.25864360e-02 9.99468878e-01 -2.94347265e-04 4.40263935e+01] [ 3.02414789e-03 1.95903761e-04 9.99995408e-01 -1.38657467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.861400513 meters 0.07504112675001542 Centerline is valid? [True, True] Translation: X:468.31, Y:44.03, Z:-1.39 [[ 9.99507008e-01 -3.09594494e-02 -5.22051081e-03 4.68311159e+02] [ 3.09572080e-02 9.99520581e-01 -5.09615842e-04 4.40330591e+01] [ 5.23378542e-03 3.47752166e-04 9.99986243e-01 -1.39072530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.921400513 meters 0.07405771389596634 Centerline is valid? [True, True] Translation: X:468.37, Y:44.03, Z:-1.39 [[ 9.99498639e-01 -3.11038364e-02 -5.91787873e-03 4.68370687e+02] [ 3.11009542e-02 9.99516081e-01 -5.78464196e-04 4.40314396e+01] [ 5.93300742e-03 3.94122502e-04 9.99982322e-01 -1.39179838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.981400513 meters 0.07034168970871113 Centerline is valid? [True, True] Translation: X:468.43, Y:44.02, Z:-1.39 [[ 9.99532177e-01 -2.98257445e-02 -6.77142444e-03 4.68431544e+02] [ 2.98219392e-02 9.99555008e-01 -6.62265954e-04 4.40219985e+01] [ 6.78816379e-03 4.60019123e-04 9.99976854e-01 -1.39255402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.041400513 meters 0.08030856860107627 Centerline is valid? [True, True] Translation: X:468.49, Y:44.03, Z:-1.40 [[ 9.99613963e-01 -2.64680530e-02 -8.44795022e-03 4.68489533e+02] [ 2.64620112e-02 9.99649478e-01 -8.26174672e-04 4.40342981e+01] [ 8.46685627e-03 6.02305984e-04 9.99963974e-01 -1.39641391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.101400513 meters 0.07822490481610665 Centerline is valid? [True, True] Translation: X:468.55, Y:44.03, Z:-1.40 [[ 9.99723490e-01 -2.19584070e-02 -8.41256859e-03 4.68550053e+02] [ 2.19522566e-02 9.99758682e-01 -8.22743179e-04 4.40317589e+01] [ 8.42860461e-03 6.37840818e-04 9.99964275e-01 -1.39580971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.161400513 meters 0.0842161104564608 Centerline is valid? [True, True] Translation: X:468.61, Y:44.04, Z:-1.40 [[ 9.99860180e-01 -1.43783608e-02 -8.53711052e-03 4.68610003e+02] [ 1.43717521e-02 9.99896372e-01 -8.34967483e-04 4.40418000e+01] [ 8.54823131e-03 7.12157502e-04 9.99963210e-01 -1.39588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.221400513 meters 0.09128446108882839 Centerline is valid? [True, True] Translation: X:468.67, Y:44.06, Z:-1.40 [[ 9.99911242e-01 -1.09363902e-02 -7.60943535e-03 4.68668080e+02] [ 1.09310397e-02 9.99939977e-01 -7.44380636e-04 4.40555415e+01] [ 7.61711945e-03 6.61135526e-04 9.99970771e-01 -1.39539121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.281400513 meters 0.08788867133231335 Centerline is valid? [True, True] Translation: X:468.73, Y:44.06, Z:-1.39 [[ 9.99913848e-01 -1.11297594e-02 -6.95888090e-03 4.68725781e+02] [ 1.11252818e-02 9.99937880e-01 -6.81819288e-04 4.40597096e+01] [ 6.96603710e-03 6.04341037e-04 9.99975554e-01 -1.39483349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.341400513 meters 0.0879747433071078 Centerline is valid? [True, True] Translation: X:468.78, Y:44.07, Z:-1.39 [[ 9.99911896e-01 -1.14278257e-02 -6.75309074e-03 4.68784181e+02] [ 1.14236081e-02 9.99934529e-01 -6.62783848e-04 4.40694830e+01] [ 6.76022279e-03 5.85580792e-04 9.99976978e-01 -1.39476061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.401400513 meters 0.0907347816239721 Centerline is valid? [True, True] Translation: X:468.84, Y:44.08, Z:-1.39 [[ 9.99868424e-01 -1.53298538e-02 -5.30378745e-03 4.68842219e+02] [ 1.53273056e-02 9.99882394e-01 -5.20763865e-04 4.40824253e+01] [ 5.31114693e-03 4.39402574e-04 9.99985799e-01 -1.39196552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.461400513 meters 0.0863091356100709 Centerline is valid? [True, True] Translation: X:468.90, Y:44.08, Z:-1.39 [[ 9.99793027e-01 -1.96209005e-02 -5.37796679e-03 4.68903059e+02] [ 1.96183420e-02 9.99807402e-01 -5.28078336e-04 4.40839811e+01] [ 5.38729238e-03 4.22462246e-04 9.99985399e-01 -1.39267935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.521400513 meters 0.08141964276346207 Centerline is valid? [True, True] Translation: X:468.96, Y:44.08, Z:-1.39 [[ 9.99684506e-01 -2.46286492e-02 -4.93130133e-03 4.68963783e+02] [ 2.46265586e-02 9.99696603e-01 -4.84225249e-04 4.40830675e+01] [ 4.94173100e-03 3.62631498e-04 9.99987724e-01 -1.39222888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.581400513 meters 0.07517836745369205 Centerline is valid? [True, True] Translation: X:469.02, Y:44.08, Z:-1.39 [[ 9.99661095e-01 -2.54919848e-02 -5.27759012e-03 4.69023070e+02] [ 2.54896013e-02 9.99674953e-01 -5.18416435e-04 4.40823354e+01] [ 5.28909012e-03 3.83717073e-04 9.99985939e-01 -1.39170206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.641400513 meters 0.07433622616474213 Centerline is valid? [True, True] Translation: X:469.08, Y:44.08, Z:-1.39 [[ 9.99672398e-01 -2.49135217e-02 -5.86631733e-03 4.69081479e+02] [ 2.49105648e-02 9.99689517e-01 -5.76586397e-04 4.40847342e+01] [ 5.87886074e-03 4.30264228e-04 9.99982627e-01 -1.39241508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.701400513 meters 0.0830679866164501 Centerline is valid? [True, True] Translation: X:469.14, Y:44.10, Z:-1.39 [[ 9.99693216e-01 -2.37747935e-02 -6.94494453e-03 4.69138565e+02] [ 2.37706195e-02 9.99717206e-01 -6.82959737e-04 4.40976862e+01] [ 6.95921776e-03 5.17664583e-04 9.99975650e-01 -1.39488771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.761400513 meters 0.0780553165719296 Centerline is valid? [True, True] Translation: X:469.20, Y:44.09, Z:-1.39 [[ 9.99722270e-01 -2.26636888e-02 -6.46067965e-03 4.69198132e+02] [ 2.26600519e-02 9.99743026e-01 -6.35575615e-04 4.40948401e+01] [ 6.47342391e-03 4.88999760e-04 9.99978928e-01 -1.39410535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.821400513 meters 0.07828360001028666 Centerline is valid? [True, True] Translation: X:469.26, Y:44.10, Z:-1.40 [[ 9.99722502e-01 -2.25878690e-02 -6.68635264e-03 4.69256735e+02] [ 2.25839658e-02 9.99744733e-01 -6.58702791e-04 4.40990464e+01] [ 6.69952453e-03 5.07515643e-04 9.99977429e-01 -1.39531976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.881400513 meters 0.07303567026577515 Centerline is valid? [True, True] Translation: X:469.32, Y:44.09, Z:-1.39 [[ 9.99666504e-01 -2.50963506e-02 -6.08717748e-03 4.69317894e+02] [ 2.50931606e-02 9.99684937e-01 -5.99880645e-04 4.40936272e+01] [ 6.10031445e-03 4.46934065e-04 9.99981293e-01 -1.39454040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.941400513 meters 0.07415815116042633 Centerline is valid? [True, True] Translation: X:469.38, Y:44.10, Z:-1.39 [[ 9.99639723e-01 -2.61407427e-02 -6.08987919e-03 4.69375957e+02] [ 2.61375677e-02 9.99658175e-01 -6.00374022e-04 4.40997875e+01] [ 6.10349174e-03 4.40983091e-04 9.99981276e-01 -1.39418107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.001400513 meters 0.07247135646266469 Centerline is valid? [True, True] Translation: X:469.44, Y:44.10, Z:-1.40 [[ 9.99591781e-01 -2.78147686e-02 -6.52758847e-03 4.69435717e+02] [ 2.78111551e-02 9.99612988e-01 -6.43714683e-04 4.40995227e+01] [ 6.54296699e-03 4.61912131e-04 9.99978488e-01 -1.39517756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.061400513 meters 0.07646834041789173 Centerline is valid? [True, True] Translation: X:469.49, Y:44.11, Z:-1.39 [[ 9.99490707e-01 -3.15313637e-02 -4.90921535e-03 4.69494536e+02] [ 3.15293640e-02 9.99502709e-01 -4.84212325e-04 4.41067814e+01] [ 4.92204191e-03 3.29181282e-04 9.99987832e-01 -1.39294541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.121400513 meters 0.06960559215675963 Centerline is valid? [True, True] Translation: X:469.56, Y:44.10, Z:-1.39 [[ 9.99452374e-01 -3.27978963e-02 -4.38755788e-03 4.69555002e+02] [ 3.27963108e-02 9.99461963e-01 -4.32853732e-04 4.41012014e+01] [ 4.39939390e-03 2.88720978e-04 9.99990281e-01 -1.39048712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.181400513 meters 0.07052049339795342 Centerline is valid? [True, True] Translation: X:469.61, Y:44.10, Z:-1.39 [[ 9.99433170e-01 -3.29338967e-02 -6.97836543e-03 4.69613494e+02] [ 3.29298823e-02 9.99457427e-01 -6.89419625e-04 4.41036228e+01] [ 6.99728443e-03 4.59232089e-04 9.99975413e-01 -1.39442642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24140051300003 meters 0.06742093641004694 Centerline is valid? [True, True] Translation: X:469.67, Y:44.10, Z:-1.40 [[ 9.99448729e-01 -3.23600702e-02 -7.42047041e-03 4.69672098e+02] [ 3.23555094e-02 9.99476154e-01 -7.33880349e-04 4.41032142e+01] [ 7.44033165e-03 4.93382682e-04 9.99972199e-01 -1.39519936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.301400513 meters 0.06872859537104538 Centerline is valid? [True, True] Translation: X:469.73, Y:44.10, Z:-1.39 [[ 9.99470931e-01 -3.20198500e-02 -5.70855161e-03 4.69731114e+02] [ 3.20171406e-02 9.99487160e-01 -5.65389228e-04 4.41041068e+01] [ 5.72372772e-03 3.82318598e-04 9.99983546e-01 -1.39068187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.361400513 meters 0.06656610977858002 Centerline is valid? [True, True] Translation: X:469.79, Y:44.11, Z:-1.39 [[ 9.99539194e-01 -2.99394515e-02 -5.00298820e-03 4.69791692e+02] [ 2.99373436e-02 9.99551654e-01 -4.95697860e-04 4.41075955e+01] [ 5.01558606e-03 3.45693263e-04 9.99987362e-01 -1.38993042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.421400513 meters 0.07084074282137241 Centerline is valid? [True, True] Translation: X:469.85, Y:44.12, Z:-1.39 [[ 9.99667117e-01 -2.53335039e-02 -4.88555419e-03 4.69851186e+02] [ 2.53314389e-02 9.99678990e-01 -4.84100206e-04 4.41154547e+01] [ 4.89624983e-03 3.60180940e-04 9.99987948e-01 -1.39067557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.481400513 meters 0.07549398552587949 Centerline is valid? [True, True] Translation: X:469.91, Y:44.13, Z:-1.39 [[ 9.99690063e-01 -2.43367806e-02 -5.24403260e-03 4.69908728e+02] [ 2.43343867e-02 9.99703740e-01 -5.19823323e-04 4.41268428e+01] [ 5.25512982e-03 3.92051893e-04 9.99986115e-01 -1.39071266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.541400513 meters 0.07570546942564842 Centerline is valid? [True, True] Translation: X:469.97, Y:44.13, Z:-1.39 [[ 9.99695238e-01 -2.40728461e-02 -5.47080806e-03 4.69966779e+02] [ 2.40702351e-02 9.99710123e-01 -5.42611740e-04 4.41323448e+01] [ 5.48228441e-03 4.10762736e-04 9.99984888e-01 -1.39041924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.601400513 meters 0.07822672808829623 Centerline is valid? [True, True] Translation: X:470.03, Y:44.14, Z:-1.39 [[ 9.99764680e-01 -2.10317902e-02 -5.31488904e-03 4.70026582e+02] [ 2.10292827e-02 9.99778721e-01 -5.27240985e-04 4.41422922e+01] [ 5.32480179e-03 4.15348610e-04 9.99985737e-01 -1.38987111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.661400513 meters 0.08340129050501559 Centerline is valid? [True, True] Translation: X:470.09, Y:44.16, Z:-1.39 [[ 9.99854284e-01 -1.64843188e-02 -4.43598244e-03 4.70086136e+02] [ 1.64825276e-02 9.99864057e-01 -4.40061699e-04 4.41573652e+01] [ 4.44263352e-03 3.66881372e-04 9.99990064e-01 -1.38792306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.721400513 meters 0.08813196522360467 Centerline is valid? [True, True] Translation: X:470.15, Y:44.17, Z:-1.39 [[ 9.99909875e-01 -1.24886723e-02 -4.92686430e-03 4.70145435e+02] [ 1.24864144e-02 9.99921922e-01 -4.88778286e-04 4.41717249e+01] [ 4.93258382e-03 4.27215366e-04 9.99987743e-01 -1.38764703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.781400513 meters 0.08356751586357372 Centerline is valid? [True, True] Translation: X:470.20, Y:44.17, Z:-1.39 [[ 9.99902587e-01 -1.32248508e-02 -4.46318727e-03 4.70204564e+02] [ 1.32230045e-02 9.99912474e-01 -4.42932745e-04 4.41721846e+01] [ 4.46865434e-03 3.83872852e-04 9.99989942e-01 -1.38740892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.841400513 meters 0.09382491751696471 Centerline is valid? [True, True] Translation: X:470.26, Y:44.19, Z:-1.39 [[ 9.99886848e-01 -1.45955319e-02 -3.64166404e-03 4.70262438e+02] [ 1.45943114e-02 9.99893432e-01 -3.61508420e-04 4.41892284e+01] [ 3.64655237e-03 3.08319936e-04 9.99993304e-01 -1.38674850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.901400513 meters 0.09106432827462801 Centerline is valid? [True, True] Translation: X:470.32, Y:44.19, Z:-1.39 [[ 9.99884587e-01 -1.48531941e-02 -3.19301639e-03 4.70321106e+02] [ 1.48522561e-02 9.99889649e-01 -3.17297626e-04 4.41887418e+01] [ 3.19737692e-03 2.69837509e-04 9.99994852e-01 -1.38678165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.961400513 meters 0.09438015446234223 Centerline is valid? [True, True] Translation: X:470.38, Y:44.20, Z:-1.39 [[ 9.99914392e-01 -1.24582500e-02 -4.00007282e-03 4.70379405e+02] [ 1.24567575e-02 9.99922332e-01 -3.97818549e-04 4.41995905e+01] [ 4.00471827e-03 3.47956556e-04 9.99991921e-01 -1.38734118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.021400513 meters 0.08911018964725698 Centerline is valid? [True, True] Translation: X:470.44, Y:44.20, Z:-1.39 [[ 9.99955797e-01 -6.31447872e-03 -6.96644635e-03 4.70439832e+02] [ 6.30980333e-03 9.99979853e-01 -6.92905723e-04 4.42022103e+01] [ 6.97068133e-03 6.48918188e-04 9.99975494e-01 -1.38954119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.081400513 meters 0.10420038415734567 Centerline is valid? [True, False] Translation: X:470.46, Y:44.21, Z:-1.39 [[ 9.99997996e-01 -1.58651538e-03 -1.22103052e-03 4.70457973e+02] [ 1.57855393e-03 9.99977669e-01 -6.49384573e-03 4.42074531e+01] [ 1.23130584e-03 6.49190525e-03 9.99978169e-01 -1.39223310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.141400513 meters 0.0915956329204426 Centerline is valid? [False, True] Translation: X:470.45, Y:44.20, Z:-1.39 [[ 9.99999741e-01 5.85572714e-04 -4.18401438e-04 4.70451965e+02] [-5.87188380e-04 9.99992332e-01 -3.87188951e-03 4.42044738e+01] [ 4.16130956e-04 3.87213418e-03 9.99992417e-01 -1.38755912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.201400513 meters 0.09199176248286067 Centerline is valid? [True, True] Translation: X:470.51, Y:44.21, Z:-1.39 [[ 9.99992991e-01 -2.01720734e-03 -3.15424666e-03 4.70512385e+02] [ 2.01627413e-03 9.99997923e-01 -2.99009802e-04 4.42073881e+01] [ 3.15484327e-03 2.92647881e-04 9.99994981e-01 -1.39158153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.261400513 meters 0.09820051750929783 Centerline is valid? [True, True] Translation: X:470.57, Y:44.22, Z:-1.39 [[ 9.99993707e-01 -2.15438250e-03 -2.81868875e-03 4.70568563e+02] [ 2.15363678e-03 9.99997645e-01 -2.67574448e-04 4.42237569e+01] [ 2.81925857e-03 2.61502332e-04 9.99995992e-01 -1.39105689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.321400513 meters 0.09045422043732844 Centerline is valid? [True, True] Translation: X:470.63, Y:44.23, Z:-1.39 [[ 9.99988913e-01 -1.31396132e-03 -4.52189708e-03 4.70627877e+02] [ 1.31203381e-03 9.99999047e-01 -4.29200632e-04 4.42254666e+01] [ 4.52245672e-03 4.23262992e-04 9.99989684e-01 -1.39293118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.381400513 meters 0.091779778204854 Centerline is valid? [True, True] Translation: X:470.69, Y:44.24, Z:-1.39 [[ 9.99993633e-01 -2.35574871e-03 -2.68043801e-03 4.70685950e+02] [ 2.35507476e-03 9.99997194e-01 -2.54563118e-04 4.42352370e+01] [ 2.68103018e-03 2.48248866e-04 9.99996375e-01 -1.39017280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.441400513 meters 0.09148403227227828 Centerline is valid? [True, True] Translation: X:470.75, Y:44.24, Z:-1.39 [[ 9.99984331e-01 -5.51386951e-03 -9.66681839e-04 4.70745314e+02] [ 5.51378333e-03 9.99984795e-01 -9.17862716e-05 4.42442302e+01] [ 9.67173238e-04 8.64547592e-05 9.99999529e-01 -1.38870906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.501400513 meters 0.08445411288348598 Centerline is valid? [True, True] Translation: X:470.81, Y:44.24, Z:-1.39 [[ 9.99923708e-01 -1.22151798e-02 -1.83503369e-03 4.70805952e+02] [ 1.22148806e-02 9.99925380e-01 -1.74208019e-04 4.42417854e+01] [ 1.83702474e-03 1.51780011e-04 9.99998301e-01 -1.39119984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.561400513 meters 0.081395794656191 Centerline is valid? [True, True] Translation: X:470.87, Y:44.24, Z:-1.39 [[ 9.99878417e-01 -1.55597393e-02 -1.02224590e-03 4.70865653e+02] [ 1.55596480e-02 9.99878937e-01 -9.71356774e-05 4.42438719e+01] [ 1.02363355e-03 8.12180810e-05 9.99999473e-01 -1.38867967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.621400513 meters 0.07728340664638995 Centerline is valid? [True, True] Translation: X:470.93, Y:44.25, Z:-1.39 [[ 9.99846612e-01 -1.75127032e-02 2.38779457e-04 4.70925732e+02] [ 1.75126983e-02 9.99846641e-01 2.26596089e-05 4.42469100e+01] [-2.39139669e-04 -1.84744606e-05 9.99999971e-01 -1.38648938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.681400513 meters 0.08036956041134677 Centerline is valid? [True, True] Translation: X:470.99, Y:44.26, Z:-1.39 [[ 9.99847727e-01 -1.74345564e-02 -7.47189079e-04 4.70985305e+02] [ 1.74345083e-02 9.99848005e-01 -7.08958250e-05 4.42552044e+01] [ 7.48311547e-04 5.78581553e-05 9.99999718e-01 -1.38982104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74140051300003 meters 0.07855293596840346 Centerline is valid? [True, True] Translation: X:471.05, Y:44.26, Z:-1.39 [[ 9.99837119e-01 -1.80038309e-02 -1.26376773e-03 4.71045464e+02] [ 1.80036936e-02 9.99837913e-01 -1.19984138e-04 4.42581132e+01] [ 1.26572307e-03 9.72121077e-05 9.99999194e-01 -1.39017991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.801400513 meters 0.08429892476841806 Centerline is valid? [True, True] Translation: X:471.10, Y:44.27, Z:-1.39 [[ 9.99835055e-01 -1.80006686e-02 -2.41616304e-03 4.71104993e+02] [ 1.80001667e-02 9.99837958e-01 -2.29323290e-04 4.42706148e+01] [ 2.41989949e-03 1.85794127e-04 9.99997055e-01 -1.39212146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.861400513 meters 0.07908122879380944 Centerline is valid? [True, True] Translation: X:471.17, Y:44.27, Z:-1.39 [[ 9.99862589e-01 -1.60147720e-02 -4.28145801e-03 4.71165988e+02] [ 1.60131773e-02 9.99871698e-01 -4.06476426e-04 4.42684112e+01] [ 4.28741832e-03 3.37860825e-04 9.99990752e-01 -1.39473909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.921400513 meters 0.08538296854298459 Centerline is valid? [True, True] Translation: X:471.22, Y:44.28, Z:-1.39 [[ 9.99890345e-01 -1.45105899e-02 -2.95644095e-03 4.71224432e+02] [ 1.45098226e-02 9.99894688e-01 -2.80825196e-04 4.42762362e+01] [ 2.96020454e-03 2.37896969e-04 9.99995590e-01 -1.39272215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.981400513 meters 0.07951522648362558 Centerline is valid? [True, True] Translation: X:471.29, Y:44.27, Z:-1.39 [[ 9.99859061e-01 -1.66885846e-02 -1.83015633e-03 4.71285319e+02] [ 1.66882942e-02 9.99860726e-01 -1.73800680e-04 4.42708083e+01] [ 1.83280193e-03 1.43233997e-04 9.99998310e-01 -1.39174219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.041400513 meters 0.07885006473007432 Centerline is valid? [True, True] Translation: X:471.35, Y:44.27, Z:-1.39 [[ 9.99792789e-01 -2.02955865e-02 -1.57108348e-03 4.71345003e+02] [ 2.02953768e-02 9.99794016e-01 -1.49261827e-04 4.42722992e+01] [ 1.57378922e-03 1.17345167e-04 9.99998755e-01 -1.39213632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.101400513 meters 0.07162510640865052 Centerline is valid? [True, True] Translation: X:471.41, Y:44.26, Z:-1.39 [[ 9.99692050e-01 -2.47893176e-02 -1.13799104e-03 4.71407160e+02] [ 2.47892105e-02 9.99692694e-01 -1.08103357e-04 4.42604847e+01] [ 1.14032113e-03 7.98601675e-05 9.99999347e-01 -1.38981349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.161400513 meters 0.06975895039063686 Centerline is valid? [True, True] Translation: X:471.47, Y:44.26, Z:-1.39 [[ 9.99664903e-01 -2.58856934e-02 -1.11038779e-04 4.71466985e+02] [ 2.58856924e-02 9.99664909e-01 -1.06370170e-05 4.42607529e+01] [ 1.11276918e-04 7.75913691e-06 9.99999994e-01 -1.38813549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.221400513 meters 0.06822758283953144 Centerline is valid? [True, True] Translation: X:471.53, Y:44.26, Z:-1.39 [[ 9.99702167e-01 -2.43713440e-02 -1.27109390e-03 4.71527368e+02] [ 2.43712100e-02 9.99702971e-01 -1.20816923e-04 4.42587646e+01] [ 1.27366081e-03 8.98028434e-05 9.99999185e-01 -1.38927035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.281400513 meters 0.07461433413399826 Centerline is valid? [True, True] Translation: X:471.59, Y:44.27, Z:-1.39 [[ 9.99731052e-01 -2.30049946e-02 -2.93143238e-03 4.71586113e+02] [ 2.30042760e-02 9.99735328e-01 -2.78607111e-04 4.42719792e+01] [ 2.93706586e-03 2.11096701e-04 9.99995665e-01 -1.39230088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.341400513 meters 0.07263892296713383 Centerline is valid? [True, True] Translation: X:471.65, Y:44.28, Z:-1.39 [[ 9.99701705e-01 -2.43947795e-02 -1.18142535e-03 4.71645866e+02] [ 2.43946638e-02 9.99702400e-01 -1.12323717e-04 4.42761628e+01] [ 1.18381387e-03 8.34697372e-05 9.99999296e-01 -1.38829203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.401400513 meters 0.06833535765744973 Centerline is valid? [True, True] Translation: X:471.71, Y:44.28, Z:-1.39 [[ 9.99594925e-01 -2.84320551e-02 -1.26636589e-03 4.71705807e+02] [ 2.84319253e-02 9.99595724e-01 -1.20453432e-04 4.42760227e+01] [ 1.26927867e-03 8.43994193e-05 9.99999191e-01 -1.38861816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.461400513 meters 0.06706703209157439 Centerline is valid? [True, True] Translation: X:471.77, Y:44.28, Z:-1.39 [[ 9.99436401e-01 -3.35679426e-02 -2.71470865e-04 4.71765391e+02] [ 3.35679368e-02 9.99436438e-01 -2.58594058e-05 4.42808224e+01] [ 2.72185921e-04 1.67321146e-05 9.99999963e-01 -1.38892424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.521400513 meters 0.05552715486795525 Centerline is valid? [True, True] Translation: X:471.83, Y:44.27, Z:-1.39 [[ 9.99122149e-01 -4.18895379e-02 -4.43910833e-04 4.71827783e+02] [ 4.18895233e-02 9.99122248e-01 -4.21798502e-05 4.42694717e+01] [ 4.45288083e-04 2.35476095e-05 9.99999901e-01 -1.38940996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.581400513 meters 0.05272393415357831 Centerline is valid? [True, True] Translation: X:471.89, Y:44.27, Z:-1.39 [[ 9.99022965e-01 -4.41687476e-02 -1.49590998e-03 4.71888067e+02] [ 4.41685837e-02 9.99024082e-01 -1.42386333e-04 4.42683763e+01] [ 1.50073912e-03 7.61749918e-05 9.99998871e-01 -1.39143580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.641400513 meters 0.05553130205214703 Centerline is valid? [True, True] Translation: X:471.95, Y:44.27, Z:-1.39 [[ 9.99024474e-01 -4.41593653e-02 2.25558816e-04 4.71945269e+02] [ 4.41593617e-02 9.99024499e-01 2.12448706e-05 4.42748145e+01] [-2.26276943e-04 -1.12636123e-05 9.99999974e-01 -1.38842957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.701400513 meters 0.047413990068761534 Centerline is valid? [True, True] Translation: X:472.01, Y:44.27, Z:-1.39 [[ 9.98909194e-01 -4.66945856e-02 -1.94089791e-04 4.72006252e+02] [ 4.66945829e-02 9.98909213e-01 -1.85965387e-05 4.42650182e+01] [ 1.94746438e-04 9.51331165e-06 9.99999981e-01 -1.38923366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.761400513 meters 0.04518377389564188 Centerline is valid? [True, True] Translation: X:472.07, Y:44.26, Z:-1.39 [[ 9.98625181e-01 -5.24187547e-02 -1.47169846e-04 4.72065572e+02] [ 5.24187532e-02 9.98625192e-01 -1.41310713e-05 4.42626338e+01] [ 1.47708249e-04 6.39718384e-06 9.99999989e-01 -1.38995354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.821400513 meters 0.036058966754245886 Centerline is valid? [True, True] Translation: X:472.13, Y:44.25, Z:-1.39 [[ 9.97953158e-01 -6.39399973e-02 -1.08216828e-03 4.72127832e+02] [ 6.39399231e-02 9.97953744e-01 -1.03049176e-04 4.42460968e+01] [ 1.08654285e-03 3.36444939e-05 9.99999409e-01 -1.38994638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.881400513 meters 0.026407775205601287 Centerline is valid? [True, True] Translation: X:472.19, Y:44.24, Z:-1.39 [[ 9.97470684e-01 -7.10765471e-02 -5.99580795e-04 4.72187869e+02] [ 7.10765256e-02 9.97470864e-01 -5.71554286e-05 4.42397479e+01] [ 6.02126784e-04 1.43947447e-05 9.99999819e-01 -1.38967397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.941400513 meters 0.021646714386128918 Centerline is valid? [True, True] Translation: X:472.25, Y:44.23, Z:-1.39 [[ 9.97133101e-01 -7.56620063e-02 9.16657561e-04 4.72248430e+02] [ 7.56619581e-02 9.97133522e-01 8.72314792e-05 4.42347129e+01] [-9.20630090e-04 -1.76252895e-05 9.99999576e-01 -1.38767078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.001400513 meters 0.029293084925776588 Centerline is valid? [True, True] Translation: X:472.31, Y:44.23, Z:-1.39 [[ 9.97063108e-01 -7.65798764e-02 8.25458153e-04 4.72307070e+02] [ 7.65798377e-02 9.97063449e-01 7.83844364e-05 4.42322535e+01] [-8.29036824e-04 -1.49407783e-05 9.99999656e-01 -1.38875019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.061400513 meters 0.020941132226928776 Centerline is valid? [True, True] Translation: X:472.37, Y:44.23, Z:-1.39 [[ 9.97208710e-01 -7.46616501e-02 -6.53259608e-04 4.72366718e+02] [ 7.46616248e-02 9.97208924e-01 -6.30637836e-05 4.42279077e+01] [ 6.56144757e-04 1.41143305e-05 9.99999785e-01 -1.39079027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.121400513 meters 0.03358860495857031 Centerline is valid? [True, True] Translation: X:472.42, Y:44.24, Z:-1.39 [[ 9.98005875e-01 -6.31199501e-02 -3.81565871e-04 4.72424217e+02] [ 6.31199408e-02 9.98005948e-01 -3.64450033e-05 4.42442962e+01] [ 3.83105416e-04 1.22879123e-05 9.99999927e-01 -1.39012979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.181400513 meters 0.04500300000162709 Centerline is valid? [True, True] Translation: X:472.48, Y:44.27, Z:-1.39 [[ 9.98753400e-01 -4.98587810e-02 -2.39764096e-03 4.72483030e+02] [ 4.98583744e-02 9.98756272e-01 -2.29076775e-04 4.42650862e+01] [ 2.40608044e-03 1.09248727e-04 9.99997099e-01 -1.39316396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24140051300003 meters 0.05185309887819063 Centerline is valid? [True, True] Translation: X:472.54, Y:44.28, Z:-1.39 [[ 9.98905258e-01 -4.67407419e-02 -1.89461595e-03 4.72540614e+02] [ 4.67404822e-02 9.98907050e-01 -1.81129939e-04 4.42812228e+01] [ 1.90101137e-03 9.23763852e-05 9.99998189e-01 -1.39335877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.301400513 meters 0.0488049917017021 Centerline is valid? [True, True] Translation: X:472.60, Y:44.28, Z:-1.40 [[ 9.98575561e-01 -5.33213949e-02 -1.91792714e-03 4.72599812e+02] [ 5.33211410e-02 9.98577399e-01 -1.83327348e-04 4.42846786e+01] [ 1.92497397e-03 8.08001452e-05 9.99998144e-01 -1.39536316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.361400513 meters 0.03465323087133296 Centerline is valid? [True, True] Translation: X:472.66, Y:44.27, Z:-1.39 [[ 9.98095775e-01 -6.16825326e-02 -2.99193986e-04 4.72661121e+02] [ 6.16825268e-02 9.98095820e-01 -2.86415680e-05 4.42741288e+01] [ 3.00390951e-04 1.01319869e-05 9.99999955e-01 -1.39228890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.421400513 meters 0.031005707017156554 Centerline is valid? [True, True] Translation: X:472.72, Y:44.28, Z:-1.39 [[ 9.97758686e-01 -6.68966661e-02 1.56238307e-03 4.72721175e+02] [ 6.68965143e-02 9.97759908e-01 1.49296484e-04 4.42751289e+01] [-1.56887062e-03 -4.44438831e-05 9.99998768e-01 -1.38804216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.481400513 meters 0.0312733240833857 Centerline is valid? [True, True] Translation: X:472.78, Y:44.28, Z:-1.39 [[ 9.97849257e-01 -6.55504416e-02 -2.84291356e-05 4.72779616e+02] [ 6.55504415e-02 9.97849257e-01 -3.35823642e-06 4.42819049e+01] [ 2.85881257e-05 1.48747132e-06 1.00000000e+00 -1.39040744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.541400513 meters 0.03194548457878266 Centerline is valid? [True, True] Translation: X:472.84, Y:44.29, Z:-1.39 [[ 9.98039069e-01 -6.25911949e-02 -5.99017346e-04 4.72839009e+02] [ 6.25911716e-02 9.98039249e-01 -5.74725096e-05 4.42898004e+01] [ 6.01440095e-04 1.98666125e-05 9.99999819e-01 -1.39211196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.601400513 meters 0.03911083192303125 Centerline is valid? [True, True] Translation: X:472.90, Y:44.30, Z:-1.39 [[ 9.98340557e-01 -5.75314654e-02 2.50273661e-03 4.72897850e+02] [ 5.75310449e-02 9.98343689e-01 2.39726696e-04 4.43006568e+01] [-2.51238313e-03 -9.53438312e-05 9.99996839e-01 -1.38794467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.661400513 meters 0.04463517086708341 Centerline is valid? [True, True] Translation: X:472.96, Y:44.31, Z:-1.39 [[ 9.98448883e-01 -5.56670326e-02 1.00503613e-03 4.72956087e+02] [ 5.56669640e-02 9.98449388e-01 9.61273038e-05 4.43094293e+01] [-1.00882883e-03 -4.00308888e-05 9.99999490e-01 -1.39158421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.721400513 meters 0.04189659137294276 Centerline is valid? [True, True] Translation: X:473.02, Y:44.31, Z:-1.39 [[ 9.98485142e-01 -5.50123136e-02 1.03259681e-03 4.73015092e+02] [ 5.50122411e-02 9.98485675e-01 9.85188569e-05 4.43086510e+01] [-1.03645287e-03 -4.15641502e-05 9.99999462e-01 -1.39133563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.781400513 meters 0.04955703450864206 Centerline is valid? [True, True] Translation: X:473.07, Y:44.32, Z:-1.39 [[ 9.98640391e-01 -5.20824466e-02 2.18811061e-03 4.73074124e+02] [ 5.20821111e-02 9.98642784e-01 2.10073906e-04 4.43160446e+01] [-2.19608203e-03 -9.58268684e-05 9.99997584e-01 -1.38986978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.841400513 meters 0.05030981716949335 Centerline is valid? [True, True] Translation: X:473.13, Y:44.32, Z:-1.39 [[ 9.98888319e-01 -4.71296280e-02 9.60914274e-04 4.73134565e+02] [ 4.71295610e-02 9.98888781e-01 9.22641028e-05 4.43156620e+01] [-9.64194860e-04 -4.68740667e-05 9.99999534e-01 -1.39281646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.901400513 meters 0.05851805418525321 Centerline is valid? [True, True] Translation: X:473.19, Y:44.33, Z:-1.39 [[ 9.99117001e-01 -4.19742335e-02 1.83895520e-03 4.73193167e+02] [ 4.19739794e-02 9.99118689e-01 1.76582968e-04 4.43274014e+01] [-1.84474644e-03 -9.92387778e-05 9.99998294e-01 -1.39168237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.961400513 meters 0.069113228544545 Centerline is valid? [True, True] Translation: X:473.25, Y:44.34, Z:-1.40 [[ 9.99507472e-01 -3.13807948e-02 -2.44472256e-04 4.73252468e+02] [ 3.13807900e-02 9.99507501e-01 -2.34693162e-05 4.43432498e+01] [ 2.45088340e-04 1.57860243e-05 9.99999970e-01 -1.39521134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.021400513 meters 0.07854460248800064 Centerline is valid? [True, True] Translation: X:473.31, Y:44.36, Z:-1.40 [[ 9.99618270e-01 -2.74790773e-02 -2.86596575e-03 4.73310824e+02] [ 2.74784006e-02 9.99622360e-01 -2.75225022e-04 4.43564256e+01] [ 2.87244638e-03 1.96367806e-04 9.99995855e-01 -1.40094729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.081400513 meters 0.07206680852518543 Centerline is valid? [True, True] Translation: X:473.37, Y:44.35, Z:-1.40 [[ 9.99568242e-01 -2.93617210e-02 -1.10399573e-03 4.73372363e+02] [ 2.93616216e-02 9.99568849e-01 -1.06075674e-04 4.43461060e+01] [ 1.10663430e-03 7.36147706e-05 9.99999385e-01 -1.39744264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.141400513 meters 0.06913409575326279 Centerline is valid? [True, True] Translation: X:473.43, Y:44.34, Z:-1.40 [[ 9.99516219e-01 -3.10322470e-02 -2.08033751e-03 4.73432564e+02] [ 3.10318978e-02 9.99518375e-01 -1.99938555e-04 4.43416098e+01] [ 2.08554011e-03 1.35285007e-04 9.99997816e-01 -1.39858488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.201400513 meters 0.07303093555926175 Centerline is valid? [True, True] Translation: X:473.49, Y:44.35, Z:-1.40 [[ 9.99623994e-01 -2.71597426e-02 -3.77086717e-03 4.73492511e+02] [ 2.71585681e-02 9.99631072e-01 -3.62337295e-04 4.43478576e+01] [ 3.77931698e-03 2.59789701e-04 9.99992825e-01 -1.40175712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.261400513 meters 0.07569246446677212 Centerline is valid? [True, True] Translation: X:473.55, Y:44.36, Z:-1.40 [[ 9.99752614e-01 -2.21437364e-02 -2.08925901e-03 4.73552508e+02] [ 2.21433650e-02 9.99754785e-01 -2.00757444e-04 4.43565580e+01] [ 2.09319221e-03 1.54444554e-04 9.99997797e-01 -1.39851924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.321400513 meters 0.07404892905733836 Centerline is valid? [True, True] Translation: X:473.61, Y:44.36, Z:-1.40 [[ 9.99800552e-01 -1.99667515e-02 -4.29625635e-04 4.73612242e+02] [ 1.99667356e-02 9.99800644e-01 -4.13283698e-05 4.43616156e+01] [ 4.30365179e-04 3.27419055e-05 9.99999907e-01 -1.39565076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.381400513 meters 0.0896346385214001 Centerline is valid? [True, True] Translation: X:473.67, Y:44.39, Z:-1.40 [[ 9.99737625e-01 -2.28682881e-02 -1.31259136e-03 4.73669299e+02] [ 2.28681420e-02 9.99738482e-01 -1.26201701e-04 4.43875600e+01] [ 1.31513411e-03 9.61520628e-05 9.99999131e-01 -1.39988801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.441400513 meters 0.0751048369272227 Centerline is valid? [True, True] Translation: X:473.73, Y:44.38, Z:-1.40 [[ 9.99636081e-01 -2.69739233e-02 -3.35262434e-04 4.73731318e+02] [ 2.69739140e-02 9.99636137e-01 -3.22111337e-05 4.43786303e+01] [ 3.36009305e-04 2.31560714e-05 9.99999943e-01 -1.39819019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.501400513 meters 0.06931892866095496 Centerline is valid? [True, True] Translation: X:473.79, Y:44.38, Z:-1.39 [[ 9.99516667e-01 -3.09149897e-02 3.27044429e-03 4.73791293e+02] [ 3.09141261e-02 9.99521995e-01 3.14298858e-04 4.43807101e+01] [-3.27859754e-03 -2.13044021e-04 9.99994603e-01 -1.39160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.561400513 meters 0.06398773515631259 Centerline is valid? [True, True] Translation: X:473.85, Y:44.38, Z:-1.39 [[ 9.99497041e-01 -3.16257153e-02 2.34087441e-03 4.73851130e+02] [ 3.16252747e-02 9.99499771e-01 2.24983410e-04 4.43807487e+01] [-2.34681870e-03 -1.50839456e-04 9.99997235e-01 -1.39326149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.621400513 meters 0.06383949333308465 Centerline is valid? [True, True] Translation: X:473.91, Y:44.39, Z:-1.40 [[ 9.99531682e-01 -3.05907146e-02 7.89998093e-04 4.73910363e+02] [ 3.05906642e-02 9.99531993e-01 7.58872567e-05 4.43886399e+01] [-7.91949814e-04 -5.16851510e-05 9.99999685e-01 -1.39676995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.681400513 meters 0.061769616880308506 Centerline is valid? [True, True] Translation: X:473.97, Y:44.39, Z:-1.40 [[ 9.99491174e-01 -3.18684382e-02 -1.33977925e-03 4.73969742e+02] [ 3.18682930e-02 9.99492069e-01 -1.29636747e-04 4.43911277e+01] [ 1.34323006e-03 8.68743063e-05 9.99999094e-01 -1.40028051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74140051300003 meters 0.06734015324813086 Centerline is valid? [True, True] Translation: X:474.03, Y:44.40, Z:-1.40 [[ 9.99433976e-01 -3.35315689e-02 -2.71325902e-03 4.74027737e+02] [ 3.35309820e-02 9.99437644e-01 -2.61513223e-04 4.44028798e+01] [ 2.72050215e-03 1.70386961e-04 9.99996285e-01 -1.40343918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.801400513 meters 0.05959327632806885 Centerline is valid? [True, True] Translation: X:474.09, Y:44.40, Z:-1.40 [[ 9.99329131e-01 -3.65283347e-02 -2.63993012e-03 4.74089040e+02] [ 3.65277897e-02 9.99332605e-01 -2.54373571e-04 4.43952587e+01] [ 2.64746009e-03 1.57772107e-04 9.99996483e-01 -1.40255267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.861400513 meters 0.059456793490267286 Centerline is valid? [True, True] Translation: X:474.15, Y:44.39, Z:-1.41 [[ 9.99184839e-01 -4.01526547e-02 -4.17383643e-03 4.74149398e+02] [ 4.01513239e-02 9.99193530e-01 -4.02178045e-04 4.43939528e+01] [ 4.18661887e-03 2.34265147e-04 9.99991209e-01 -1.40507034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.921400513 meters 0.061126833383823985 Centerline is valid? [True, True] Translation: X:474.21, Y:44.40, Z:-1.41 [[ 9.99184842e-01 -4.00898047e-02 -4.73904632e-03 4.74207824e+02] [ 4.00880820e-02 9.99196045e-01 -4.57982005e-04 4.43969347e+01] [ 4.75359675e-03 2.67629399e-04 9.99988666e-01 -1.40760089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.981400513 meters 0.061337551681812014 Centerline is valid? [True, True] Translation: X:474.27, Y:44.39, Z:-1.40 [[ 9.99221573e-01 -3.93484089e-02 -2.81974130e-03 4.74267338e+02] [ 3.93477941e-02 9.99225538e-01 -2.73198931e-04 4.43945894e+01] [ 2.82830746e-03 1.62035665e-04 9.99995987e-01 -1.40482199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.041400513 meters 0.05915327558075977 Centerline is valid? [True, True] Translation: X:474.33, Y:44.39, Z:-1.40 [[ 9.99267087e-01 -3.82412678e-02 -1.70103453e-03 4.74328160e+02] [ 3.82410428e-02 9.99268530e-01 -1.64575383e-04 4.43887147e+01] [ 1.70608385e-03 9.94054298e-05 9.99998540e-01 -1.40179826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.101400513 meters 0.06622729092897504 Centerline is valid? [True, True] Translation: X:474.39, Y:44.39, Z:-1.40 [[ 9.99406594e-01 -3.44412132e-02 5.13326789e-04 4.74388092e+02] [ 3.44411922e-02 9.99406725e-01 4.96022399e-05 4.43912244e+01] [-5.14730606e-04 -3.18932191e-05 9.99999867e-01 -1.39957059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.161400513 meters 0.07223552560799289 Centerline is valid? [True, True] Translation: X:474.45, Y:44.39, Z:-1.40 [[ 9.99595169e-01 -2.82750737e-02 3.16507909e-03 4.74448798e+02] [ 2.82742456e-02 9.99600157e-01 3.06091944e-04 4.43945367e+01] [-3.17246833e-03 -2.16477805e-04 9.99994944e-01 -1.39668938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.221400513 meters 0.07301112206329356 Centerline is valid? [True, True] Translation: X:474.51, Y:44.39, Z:-1.40 [[ 9.99707737e-01 -2.40785349e-02 2.15985146e-03 4.74509663e+02] [ 2.40781395e-02 9.99710058e-01 2.08889907e-04 4.43938036e+01] [-2.16425499e-03 -1.56823652e-04 9.99997646e-01 -1.39749582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.281400513 meters 0.0868765147618227 Centerline is valid? [True, True] Translation: X:474.57, Y:44.41, Z:-1.40 [[ 9.99804106e-01 -1.97908640e-02 -2.65778255e-04 4.74567833e+02] [ 1.97908578e-02 9.99804141e-01 -2.57682411e-05 4.44089525e+01] [ 2.66236176e-04 2.05032136e-05 9.99999964e-01 -1.40127383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.341400513 meters 0.08296608216796483 Centerline is valid? [True, True] Translation: X:474.63, Y:44.40, Z:-1.40 [[ 9.99853277e-01 -1.71249763e-02 3.98443671e-04 4.74628895e+02] [ 1.71249623e-02 9.99853356e-01 3.85044085e-05 4.44019014e+01] [-3.99044629e-04 -3.16754262e-05 9.99999920e-01 -1.40078971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.401400513 meters 0.08462405021036638 Centerline is valid? [True, True] Translation: X:474.69, Y:44.40, Z:-1.40 [[ 9.99844400e-01 -1.76271051e-02 6.78407518e-04 4.74686644e+02] [ 1.76270647e-02 9.99844629e-01 6.54600358e-05 4.44048979e+01] [-6.79455984e-04 -5.34915170e-05 9.99999768e-01 -1.40149448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.461400513 meters 0.081301762635207 Centerline is valid? [True, True] Translation: X:474.75, Y:44.40, Z:-1.40 [[ 9.99825490e-01 -1.86626810e-02 -8.32899985e-04 4.74746189e+02] [ 1.86626201e-02 9.99825835e-01 -8.08229681e-05 4.44009292e+01] [ 8.34263296e-04 6.52647677e-05 9.99999650e-01 -1.40406180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.521400513 meters 0.07808961505932402 Centerline is valid? [True, True] Translation: X:474.81, Y:44.40, Z:-1.41 [[ 9.99774021e-01 -2.11089191e-02 -2.51418085e-03 4.74807428e+02] [ 2.11083732e-02 9.99777164e-01 -2.43485264e-04 4.43964237e+01] [ 2.51876031e-03 1.90359974e-04 9.99996810e-01 -1.40681979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.581400513 meters 0.07155939308037633 Centerline is valid? [True, True] Translation: X:474.87, Y:44.39, Z:-1.41 [[ 9.99771120e-01 -2.12875959e-02 -2.13191915e-03 4.74866006e+02] [ 2.12872015e-02 9.99773380e-01 -2.07556338e-04 4.43895096e+01] [ 2.13585439e-03 1.62126240e-04 9.99997706e-01 -1.40607191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.641400513 meters 0.07284681202804048 Centerline is valid? [True, True] Translation: X:474.93, Y:44.40, Z:-1.41 [[ 9.99788094e-01 -2.05061442e-02 -1.80722105e-03 4.74925379e+02] [ 2.05058603e-02 9.99789717e-01 -1.75481273e-04 4.43960916e+01] [ 1.81043946e-03 1.38385465e-04 9.99998352e-01 -1.40572607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.701400513 meters 0.078617792399979 Centerline is valid? [True, True] Translation: X:474.98, Y:44.41, Z:-1.41 [[ 9.99823243e-01 -1.87365987e-02 -1.55659317e-03 4.74984208e+02] [ 1.87363859e-02 9.99824447e-01 -1.51131458e-04 4.44065778e+01] [ 1.55915159e-03 1.21939814e-04 9.99998777e-01 -1.40649791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.761400513 meters 0.07763364004108124 Centerline is valid? [True, True] Translation: X:475.04, Y:44.41, Z:-1.41 [[ 9.99836275e-01 -1.79330009e-02 -2.41473282e-03 4.75044069e+02] [ 1.79324865e-02 9.99839173e-01 -2.34522936e-04 4.44090507e+01] [ 2.41855017e-03 1.91182375e-04 9.99997057e-01 -1.40890320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.821400513 meters 0.08474635574919925 Centerline is valid? [True, True] Translation: X:475.10, Y:44.42, Z:-1.41 [[ 9.99871252e-01 -1.60278483e-02 -7.66688259e-04 4.75102083e+02] [ 1.60277959e-02 9.99871544e-01 -7.44902329e-05 4.44203784e+01] [ 7.67783692e-04 6.21923195e-05 9.99999703e-01 -1.40614179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.881400513 meters 0.08704036067364374 Centerline is valid? [True, True] Translation: X:475.16, Y:44.43, Z:-1.41 [[ 9.99917814e-01 -1.28016913e-02 -6.94080220e-04 4.75161826e+02] [ 1.28016476e-02 9.99918053e-01 -6.74253710e-05 4.44324146e+01] [ 6.94886501e-04 5.85344592e-05 9.99999757e-01 -1.40671672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.941400513 meters 0.08702397763896914 Centerline is valid? [True, True] Translation: X:475.22, Y:44.44, Z:-1.41 [[ 9.99937934e-01 -1.10667224e-02 -1.28705815e-03 4.75221242e+02] [ 1.10665706e-02 9.99938756e-01 -1.25027075e-04 4.44394643e+01] [ 1.28836297e-03 1.10775995e-04 9.99999164e-01 -1.40722742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.001400513 meters 0.08911644713535276 Centerline is valid? [True, True] Translation: X:475.28, Y:44.45, Z:-1.41 [[ 9.99910913e-01 -1.33130426e-02 -9.64150094e-04 4.75280249e+02] [ 1.33129584e-02 9.99911374e-01 -9.36939653e-05 4.44508515e+01] [ 9.65311998e-04 8.08499282e-05 9.99999531e-01 -1.40705827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.061400513 meters 0.08943526200271192 Centerline is valid? [True, True] Translation: X:475.34, Y:44.46, Z:-1.41 [[ 9.99843374e-01 -1.76966520e-02 -2.34733797e-04 4.75339544e+02] [ 1.76966472e-02 9.99843402e-01 -2.28193444e-05 4.44584383e+01] [ 2.35100864e-04 1.86617691e-05 9.99999972e-01 -1.40695532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.121400513 meters 0.07637150583846056 Centerline is valid? [True, True] Translation: X:475.40, Y:44.45, Z:-1.41 [[ 9.99738999e-01 -2.28457826e-02 -6.44926513e-05 4.75401148e+02] [ 2.28457822e-02 9.99739001e-01 -6.26295840e-06 4.44483785e+01] [ 6.46189009e-05 4.78793870e-06 9.99999998e-01 -1.40683778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.181400513 meters 0.07768771408025486 Centerline is valid? [True, True] Translation: X:475.46, Y:44.46, Z:-1.41 [[ 9.99647817e-01 -2.65162755e-02 -1.06274290e-03 4.75459593e+02] [ 2.65161806e-02 9.99648379e-01 -1.03317907e-04 4.44577795e+01] [ 1.06510882e-03 7.51016375e-05 9.99999430e-01 -1.40767176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24140051300003 meters 0.08100443028443881 Centerline is valid? [True, True] Translation: X:475.52, Y:44.47, Z:-1.41 [[ 9.99660667e-01 -2.60457487e-02 -4.11193541e-04 4.75516363e+02] [ 2.60457344e-02 9.99660752e-01 -4.01722659e-05 4.44683072e+01] [ 4.12100361e-04 2.94487964e-05 9.99999915e-01 -1.40738393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.301400513 meters 0.08592687713920405 Centerline is valid? [True, True] Translation: X:475.57, Y:44.48, Z:-1.41 [[ 9.99732946e-01 -2.30956470e-02 7.92374374e-04 4.75574345e+02] [ 2.30955931e-02 9.99733258e-01 7.70814161e-05 4.44813783e+01] [-7.93943260e-04 -5.87604750e-05 9.99999683e-01 -1.40672956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.361400513 meters 0.07935270399287254 Centerline is valid? [True, True] Translation: X:475.64, Y:44.48, Z:-1.41 [[ 9.99765833e-01 -2.15483972e-02 -1.98644434e-03 4.75635049e+02] [ 2.15480558e-02 9.99767795e-01 -1.93138166e-04 4.44791053e+01] [ 1.99014490e-03 1.50288926e-04 9.99998008e-01 -1.41053038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.421400513 meters 0.084856827085977 Centerline is valid? [True, True] Translation: X:475.69, Y:44.49, Z:-1.41 [[ 9.99746021e-01 -2.22852985e-02 -3.35557607e-03 4.75691591e+02] [ 2.22843267e-02 9.99751620e-01 -3.26742549e-04 4.44923775e+01] [ 3.36202416e-03 2.51882810e-04 9.99994317e-01 -1.41373219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.481400513 meters 0.06989800195357122 Centerline is valid? [True, True] Translation: X:475.75, Y:44.48, Z:-1.41 [[ 9.99703984e-01 -2.43294541e-02 -1.50879459e-04 4.75754006e+02] [ 2.43294522e-02 9.99703995e-01 -1.46881188e-05 4.44779355e+01] [ 1.51192152e-04 1.10129563e-05 9.99999989e-01 -1.40856585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.541400513 meters 0.07449505793481329 Centerline is valid? [True, True] Translation: X:475.81, Y:44.49, Z:-1.41 [[ 9.99674239e-01 -2.55081871e-02 8.65141442e-04 4.75811831e+02] [ 2.55081238e-02 9.99674611e-01 8.40656328e-05 4.44905164e+01] [-8.67004297e-04 -6.19701124e-05 9.99999622e-01 -1.40787680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.601400513 meters 0.08140117329549666 Centerline is valid? [True, True] Translation: X:475.87, Y:44.51, Z:-1.41 [[ 9.99682228e-01 -2.52077298e-02 -1.18458689e-04 4.75868790e+02] [ 2.52077286e-02 9.99682235e-01 -1.17420433e-05 4.45057192e+01] [ 1.18717037e-04 8.75223748e-06 9.99999993e-01 -1.41040525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.661400513 meters 0.07746891297635343 Centerline is valid? [True, True] Translation: X:475.93, Y:44.51, Z:-1.41 [[ 9.99722851e-01 -2.34467684e-02 2.11447635e-03 4.75929028e+02] [ 2.34463851e-02 9.99725075e-01 2.05874201e-04 4.45093947e+01] [-2.11872211e-03 -1.56240317e-04 9.99997743e-01 -1.40650787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.721400513 meters 0.07461993598231653 Centerline is valid? [True, True] Translation: X:475.99, Y:44.51, Z:-1.40 [[ 9.99704883e-01 -2.40960693e-02 3.08639321e-03 4.75988190e+02] [ 2.40952558e-02 9.99709622e-01 3.00487436e-04 4.45128467e+01] [-3.09273756e-03 -2.26031323e-04 9.99995192e-01 -1.40483833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.781400513 meters 0.07583558145794143 Centerline is valid? [True, True] Translation: X:476.05, Y:44.52, Z:-1.41 [[ 9.99634826e-01 -2.69143992e-02 2.41443065e-03 4.76046965e+02] [ 2.69139086e-02 9.99637727e-01 2.35476773e-04 4.45205454e+01] [-2.41989369e-03 -1.70409018e-04 9.99997058e-01 -1.40608330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.841400513 meters 0.06778098111874196 Centerline is valid? [True, True] Translation: X:476.11, Y:44.51, Z:-1.40 [[ 9.99402812e-01 -3.43624544e-02 3.63883119e-03 4.76107956e+02] [ 3.43613888e-02 9.99409410e-01 3.54964427e-04 4.45124212e+01] [-3.64887958e-03 -2.29717153e-04 9.99993316e-01 -1.40388828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.901400513 meters 0.05900709272070206 Centerline is valid? [True, True] Translation: X:476.17, Y:44.50, Z:-1.41 [[ 9.99173149e-01 -4.05398172e-02 3.08902275e-03 4.76170160e+02] [ 4.05390786e-02 9.99177908e-01 3.01368641e-04 4.45017613e+01] [-3.09870072e-03 -1.75893318e-04 9.99995184e-01 -1.40620564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.961400513 meters 0.05650432771490827 Centerline is valid? [True, True] Translation: X:476.23, Y:44.50, Z:-1.41 [[ 9.99154239e-01 -4.10067861e-02 3.04151359e-03 4.76230112e+02] [ 4.10060724e-02 9.99158853e-01 2.96647266e-04 4.44967415e+01] [-3.05111978e-03 -1.71675847e-04 9.99995331e-01 -1.40712118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.021400513 meters 0.06195526215266654 Centerline is valid? [True, True] Translation: X:476.29, Y:44.50, Z:-1.41 [[ 9.99252019e-01 -3.86105527e-02 2.15109380e-03 4.76289559e+02] [ 3.86101893e-02 9.99254327e-01 2.10211688e-04 4.44999566e+01] [-2.15760618e-03 -1.27000315e-04 9.99997664e-01 -1.40769525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.081400513 meters 0.07449251196014854 Centerline is valid? [True, True] Translation: X:476.35, Y:44.51, Z:-1.41 [[ 9.99510616e-01 -3.12778687e-02 4.73023571e-04 4.76348185e+02] [ 3.12778503e-02 9.99510727e-01 4.62019112e-05 4.45123898e+01] [-4.74237231e-04 -3.13841403e-05 9.99999887e-01 -1.41168178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.141400513 meters 0.08024505037961625 Centerline is valid? [True, True] Translation: X:476.41, Y:44.52, Z:-1.41 [[ 9.99683377e-01 -2.51623654e-02 2.40980113e-05 4.76408251e+02] [ 2.51623653e-02 9.99683378e-01 2.33434110e-06 4.45197259e+01] [-2.41491188e-05 -1.72723903e-06 1.00000000e+00 -1.41247910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.201400513 meters 0.08322091720568318 Centerline is valid? [True, True] Translation: X:476.47, Y:44.52, Z:-1.41 [[ 9.99852506e-01 -1.71282069e-02 -1.26156307e-03 4.76468718e+02] [ 1.71280648e-02 9.99853296e-01 -1.23359465e-04 4.45246561e+01] [ 1.26349092e-03 1.01733136e-04 9.99999197e-01 -1.41437650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.261400513 meters 0.08556636687279383 Centerline is valid? [True, True] Translation: X:476.53, Y:44.53, Z:-1.41 [[ 9.99905465e-01 -1.37486322e-02 1.90552578e-04 4.76528419e+02] [ 1.37486289e-02 9.99905483e-01 1.85939589e-05 4.45302832e+01] [-1.90790209e-04 -1.59723644e-05 9.99999982e-01 -1.41299675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.321400513 meters 0.08959554653738483 Centerline is valid? [True, True] Translation: X:476.59, Y:44.54, Z:-1.41 [[ 9.99933400e-01 -1.12792548e-02 2.44396741e-03 4.76588940e+02] [ 1.12787042e-02 9.99936365e-01 2.38954271e-04 4.45357719e+01] [-2.44650712e-03 -2.11373572e-04 9.99996985e-01 -1.41007488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.381400513 meters 0.09667407479794544 Centerline is valid? [True, True] Translation: X:476.65, Y:44.55, Z:-1.41 [[ 9.99968276e-01 -7.89681525e-03 1.04226319e-03 4.76647066e+02] [ 7.89671330e-03 9.99968815e-01 1.01898799e-04 4.45535553e+01] [-1.04303536e-03 -9.36651124e-05 9.99999452e-01 -1.41163322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.441400513 meters 0.0995388254394294 Centerline is valid? [True, True] Translation: X:476.71, Y:44.56, Z:-1.41 [[ 9.99984896e-01 -5.49157985e-03 2.24401785e-04 4.76706714e+02] [ 5.49157506e-03 9.99984921e-01 2.19255006e-05 4.45641891e+01] [-2.24518806e-04 -2.06928502e-05 9.99999975e-01 -1.41333303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.501400513 meters 0.0919215488350746 Centerline is valid? [True, True] Translation: X:476.77, Y:44.56, Z:-1.41 [[ 9.99985061e-01 -4.98858996e-03 2.23439641e-03 4.76766785e+02] [ 4.98811416e-03 9.99987535e-01 2.18462860e-04 4.45639694e+01] [-2.23545839e-03 -2.07314172e-04 9.99997480e-01 -1.41008449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.561400513 meters 0.09063349325601625 Centerline is valid? [True, True] Translation: X:476.83, Y:44.57, Z:-1.41 [[ 9.99978910e-01 -5.88635424e-03 2.74400358e-03 4.76827828e+02] [ 5.88563973e-03 9.99982643e-01 2.68394435e-04 4.45686060e+01] [-2.74553582e-03 -2.52238558e-04 9.99996199e-01 -1.40931986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.621400513 meters 0.09553910708175847 Centerline is valid? [True, True] Translation: X:476.89, Y:44.58, Z:-1.41 [[ 9.99952150e-01 -9.36283698e-03 2.83443289e-03 4.76886552e+02] [ 9.36208850e-03 9.99956136e-01 2.77220158e-04 4.45819427e+01] [-2.83690413e-03 -2.50670682e-04 9.99995945e-01 -1.40872123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.681400513 meters 0.0807524076769795 Centerline is valid? [True, True] Translation: X:476.95, Y:44.57, Z:-1.41 [[ 9.99887116e-01 -1.48718948e-02 2.14067510e-03 4.76948407e+02] [ 1.48714803e-02 9.99889391e-01 2.09396710e-04 4.45741426e+01] [-2.14355245e-03 -1.77538065e-04 9.99997687e-01 -1.40871251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74140051300003 meters 0.0819154287872917 Centerline is valid? [True, True] Translation: X:477.01, Y:44.58, Z:-1.41 [[ 9.99873667e-01 -1.57480527e-02 2.15626533e-03 4.77007682e+02] [ 1.57476343e-02 9.99875976e-01 2.10869416e-04 4.45845445e+01] [-2.15931868e-03 -1.76886698e-04 9.99997653e-01 -1.40875178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.801400513 meters 0.08646919826451488 Centerline is valid? [True, True] Translation: X:477.07, Y:44.60, Z:-1.41 [[ 9.99884912e-01 -1.50364685e-02 2.01695357e-03 4.77066710e+02] [ 1.50361010e-02 9.99886932e-01 1.97246492e-04 4.45974906e+01] [-2.01969141e-03 -1.66896674e-04 9.99997946e-01 -1.40979159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.861400513 meters 0.08569320436347758 Centerline is valid? [True, True] Translation: X:477.13, Y:44.62, Z:-1.41 [[ 9.99898941e-01 -1.40256291e-02 2.32143312e-03 4.77125135e+02] [ 1.40251395e-02 9.99901617e-01 2.27087211e-04 4.46154871e+01] [-2.32438977e-03 -1.94505839e-04 9.99997280e-01 -1.40877023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.921400513 meters 0.08456168342540143 Centerline is valid? [True, True] Translation: X:477.18, Y:44.63, Z:-1.41 [[ 9.99861085e-01 -1.64926066e-02 2.40937870e-03 4.77184643e+02] [ 1.64920860e-02 9.99863969e-01 2.35774175e-04 4.46274031e+01] [-2.41293947e-03 -1.96005741e-04 9.99997070e-01 -1.40957713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.981400513 meters 0.08145637766775543 Centerline is valid? [True, True] Translation: X:477.24, Y:44.63, Z:-1.41 [[ 9.99787139e-01 -2.04322187e-02 2.86368962e-03 4.77244954e+02] [ 2.04314993e-02 9.99791216e-01 2.80238303e-04 4.46345953e+01] [-2.86881762e-03 -2.21669179e-04 9.99995860e-01 -1.40878149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.041400513 meters 0.07262753722826228 Centerline is valid? [True, True] Translation: X:477.31, Y:44.63, Z:-1.41 [[ 9.99650587e-01 -2.62058039e-02 3.45819482e-03 4.77305597e+02] [ 2.62047891e-02 9.99656538e-01 3.38420630e-04 4.46348630e+01] [-3.46587565e-03 -2.47681115e-04 9.99993963e-01 -1.40684838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.101400513 meters 0.0699775531065302 Centerline is valid? [True, True] Translation: X:477.37, Y:44.64, Z:-1.41 [[ 9.99596517e-01 -2.81256589e-02 3.96866821e-03 4.77365659e+02] [ 2.81243375e-02 9.99604357e-01 3.88391578e-04 4.46403706e+01] [-3.97802180e-03 -2.76618704e-04 9.99992049e-01 -1.40654827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.161400513 meters 0.07288715024252936 Centerline is valid? [True, True] Translation: X:477.42, Y:44.65, Z:-1.41 [[ 9.99569692e-01 -2.91414119e-02 3.34788819e-03 4.77424317e+02] [ 2.91404772e-02 9.99575272e-01 3.27657520e-04 4.46476717e+01] [-3.35601465e-03 -2.29957467e-04 9.99994342e-01 -1.40715849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.221400513 meters 0.07395039201207518 Centerline is valid? [True, True] Translation: X:477.48, Y:44.66, Z:-1.41 [[ 9.99612419e-01 -2.78307926e-02 6.78009421e-04 4.77481378e+02] [ 2.78307540e-02 9.99612647e-01 6.62534125e-05 4.46649635e+01] [-6.79590677e-04 -4.73582205e-05 9.99999768e-01 -1.41171914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.281400513 meters 0.07555068734924718 Centerline is valid? [True, True] Translation: X:477.54, Y:44.68, Z:-1.41 [[ 9.99675727e-01 -2.54446309e-02 -1.00585833e-03 4.77541160e+02] [ 2.54445446e-02 9.99676230e-01 -9.85465288e-05 4.46757781e+01] [ 1.00804014e-03 7.29209658e-05 9.99999489e-01 -1.41405042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.341400513 meters 0.07799719650006107 Centerline is valid? [True, True] Translation: X:477.60, Y:44.69, Z:-1.41 [[ 9.99760788e-01 -2.15279764e-02 3.86177141e-03 4.77600250e+02] [ 2.15266747e-02 9.99768203e-01 3.78327899e-04 4.46905405e+01] [-3.86902090e-03 -2.95106301e-04 9.99992472e-01 -1.40681363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.401400513 meters 0.08455412963676336 Centerline is valid? [True, True] Translation: X:477.66, Y:44.71, Z:-1.41 [[ 9.99815118e-01 -1.85006680e-02 5.23966647e-03 4.77657892e+02] [ 1.84982299e-02 9.99828761e-01 5.13399994e-04 4.47079451e+01] [-5.24826748e-03 -4.16380521e-04 9.99986141e-01 -1.40559099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.461400513 meters 0.09436395296838937 Centerline is valid? [True, True] Translation: X:477.72, Y:44.73, Z:-1.41 [[ 9.99911193e-01 -1.29690892e-02 3.06753109e-03 4.77715542e+02] [ 1.29682275e-02 9.99915864e-01 3.00614500e-04 4.47329470e+01] [-3.07117169e-03 -2.60807362e-04 9.99995250e-01 -1.40953164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.521400513 meters 0.09116057571461221 Centerline is valid? [True, True] Translation: X:477.78, Y:44.74, Z:-1.41 [[ 9.99934027e-01 -1.08248813e-02 3.84236533e-03 4.77775997e+02] [ 1.08235137e-02 9.99941353e-01 3.76530180e-04 4.47383422e+01] [-3.84621588e-03 -3.34917445e-04 9.99992547e-01 -1.40784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.581400513 meters 0.08858185420519342 Centerline is valid? [True, True] Translation: X:477.84, Y:44.74, Z:-1.41 [[ 9.99949180e-01 -9.57599220e-03 3.15251991e-03 4.77837272e+02] [ 9.57506544e-03 9.99954110e-01 3.08936118e-04 4.47426527e+01] [-3.15533361e-03 -2.78734834e-04 9.99994983e-01 -1.40969725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.641400513 meters 0.0901227602331501 Centerline is valid? [True, True] Translation: X:477.90, Y:44.75, Z:-1.41 [[ 9.99950861e-01 -9.72671444e-03 1.91492818e-03 4.77897326e+02] [ 9.72637283e-03 9.99952680e-01 1.87625549e-04 4.47528257e+01] [-1.91666255e-03 -1.68991023e-04 9.99998149e-01 -1.41253191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.701400513 meters 0.08426233158098996 Centerline is valid? [True, True] Translation: X:477.96, Y:44.75, Z:-1.41 [[ 9.99949890e-01 -9.82148351e-03 1.93799006e-03 4.77958855e+02] [ 9.82113380e-03 9.99951753e-01 1.89883930e-04 4.47519969e+01] [-1.93976150e-03 -1.70841155e-04 9.99998104e-01 -1.41318748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.761400513 meters 0.0890541355137593 Centerline is valid? [True, True] Translation: X:478.02, Y:44.76, Z:-1.41 [[ 9.99944753e-01 -1.02854781e-02 2.16789260e-03 4.78018237e+02] [ 1.02850418e-02 9.99947085e-01 2.12331242e-04 4.47649395e+01] [-2.16996182e-03 -1.90022646e-04 9.99997628e-01 -1.41368634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.821400513 meters 0.09405429328485375 Centerline is valid? [True, True] Translation: X:478.08, Y:44.78, Z:-1.41 [[ 9.99945760e-01 -1.03441013e-02 1.21524692e-03 4.78078014e+02] [ 1.03439643e-02 9.99946493e-01 1.19029772e-04 4.47778960e+01] [-1.21641315e-03 -1.06452845e-04 9.99999255e-01 -1.41464834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.881400513 meters 0.08929276622911402 Centerline is valid? [True, True] Translation: X:478.14, Y:44.78, Z:-1.41 [[ 9.99943677e-01 -1.05133007e-02 1.45339948e-03 4.78138345e+02] [ 1.05131049e-02 9.99944726e-01 1.42306584e-04 4.47784613e+01] [-1.45481525e-03 -1.27018828e-04 9.99998934e-01 -1.41367898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.941400513 meters 0.0878248816905681 Centerline is valid? [True, True] Translation: X:478.20, Y:44.78, Z:-1.41 [[ 9.99930404e-01 -1.15928415e-02 2.18948055e-03 4.78198333e+02] [ 1.15923997e-02 9.99932783e-01 2.14378430e-04 4.47844243e+01] [-2.19181864e-03 -1.88982177e-04 9.99997580e-01 -1.41274890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.001400513 meters 0.09229988590869108 Centerline is valid? [True, True] Translation: X:478.26, Y:44.80, Z:-1.42 [[ 9.99932979e-01 -1.15708756e-02 3.89266705e-04 4.78257997e+02] [ 1.15708616e-02 9.99933055e-01 3.81517373e-05 4.47983742e+01] [-3.89682094e-04 -3.36450292e-05 9.99999924e-01 -1.41617867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.061400513 meters 0.08165857639413661 Centerline is valid? [True, True] Translation: X:478.32, Y:44.80, Z:-1.42 [[ 9.99922464e-01 -1.24403243e-02 5.51565723e-04 4.78318458e+02] [ 1.24402965e-02 9.99922615e-01 5.39257994e-05 4.47950042e+01] [-5.52193895e-04 -4.70599771e-05 9.99999846e-01 -1.41506474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.121400513 meters 0.08537240191449562 Centerline is valid? [True, True] Translation: X:478.38, Y:44.81, Z:-1.41 [[ 9.99855358e-01 -1.66971781e-02 3.23526359e-03 4.78377174e+02] [ 1.66962398e-02 9.99860558e-01 3.16805643e-04 4.48069144e+01] [-3.24010222e-03 -2.62743082e-04 9.99994716e-01 -1.41038404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.181400513 meters 0.08271465032524228 Centerline is valid? [True, True] Translation: X:478.44, Y:44.81, Z:-1.41 [[ 9.99815099e-01 -1.88612864e-02 3.74438496e-03 4.78437923e+02] [ 1.88600444e-02 9.99822066e-01 3.66719979e-04 4.48112536e+01] [-3.75063552e-03 -2.96032905e-04 9.99992923e-01 -1.40950051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24140051300003 meters 0.08470228197551684 Centerline is valid? [True, True] Translation: X:478.50, Y:44.82, Z:-1.41 [[ 9.99832014e-01 -1.79530071e-02 3.69243637e-03 4.78497801e+02] [ 1.79517933e-02 9.99838788e-01 3.61625328e-04 4.48234698e+01] [-3.69833336e-03 -2.95278726e-04 9.99993118e-01 -1.40937278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.301400513 meters 0.08866512675890242 Centerline is valid? [True, True] Translation: X:478.56, Y:44.84, Z:-1.41 [[ 9.99908876e-01 -1.32839947e-02 2.40296961e-03 4.78557246e+02] [ 1.32834674e-02 9.99911743e-01 2.35287418e-04 4.48414681e+01] [-2.40588309e-03 -2.03346209e-04 9.99997085e-01 -1.41157353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.361400513 meters 0.08078857015535412 Centerline is valid? [True, True] Translation: X:478.62, Y:44.84, Z:-1.41 [[ 9.99928537e-01 -1.17156373e-02 2.38004032e-03 4.78618018e+02] [ 1.17151155e-02 9.99931349e-01 2.33042185e-04 4.48423652e+01] [-2.38260716e-03 -2.05143084e-04 9.99997141e-01 -1.41256980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.421400513 meters 0.08762430948637365 Centerline is valid? [True, True] Translation: X:478.68, Y:44.86, Z:-1.41 [[ 9.99924351e-01 -1.19660814e-02 2.84690127e-03 4.78677527e+02] [ 1.19653359e-02 9.99928374e-01 2.78731002e-04 4.48578711e+01] [-2.85003268e-03 -2.44645786e-04 9.99995909e-01 -1.41259759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.481400513 meters 0.08497110851277109 Centerline is valid? [True, True] Translation: X:478.74, Y:44.87, Z:-1.42 [[ 9.99902850e-01 -1.38856357e-02 1.21642236e-03 4.78737866e+02] [ 1.38855010e-02 9.99903585e-01 1.19094330e-04 4.48685391e+01] [-1.21795878e-03 -1.02192126e-04 9.99999253e-01 -1.41526449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.541400513 meters 0.08653441414910215 Centerline is valid? [True, True] Translation: X:478.80, Y:44.88, Z:-1.42 [[ 9.99901263e-01 -1.40297410e-02 7.93613892e-04 4.78796935e+02] [ 1.40296837e-02 9.99901576e-01 7.76829418e-05 4.48836351e+01] [-7.94625653e-04 -6.65411198e-05 9.99999682e-01 -1.41628735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.601400513 meters 0.08927135201679513 Centerline is valid? [True, True] Translation: X:478.85, Y:44.91, Z:-1.41 [[ 9.99889913e-01 -1.47828486e-02 1.27624960e-03 4.78854593e+02] [ 1.47827011e-02 9.99890722e-01 1.24898258e-04 4.49060319e+01] [-1.27795649e-03 -1.06018092e-04 9.99999178e-01 -1.41452266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.661400513 meters 0.07771252226015335 Centerline is valid? [True, True] Translation: X:478.92, Y:44.90, Z:-1.42 [[ 9.99844977e-01 -1.75804892e-02 9.73462587e-04 4.78915286e+02] [ 1.75804047e-02 9.99845448e-01 9.52971765e-05 4.49049464e+01] [-9.74987507e-04 -7.81685371e-05 9.99999522e-01 -1.41523654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.721400513 meters 0.0810174572479462 Centerline is valid? [True, True] Translation: X:478.97, Y:44.92, Z:-1.42 [[ 9.99747575e-01 -2.24418460e-02 1.07217804e-03 4.78973917e+02] [ 2.24417463e-02 9.99748147e-01 1.04932347e-04 4.49177742e+01] [-1.07426288e-03 -8.08443122e-05 9.99999420e-01 -1.41510876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.781400513 meters 0.07574714085862135 Centerline is valid? [True, True] Translation: X:479.03, Y:44.92, Z:-1.41 [[ 9.99564459e-01 -2.94536394e-02 1.83723036e-03 4.79033174e+02] [ 2.94533583e-02 9.99566140e-01 1.79854594e-04 4.49186563e+01] [-1.84173063e-03 -1.25663656e-04 9.99998296e-01 -1.41353920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.841400513 meters 0.06097140009513929 Centerline is valid? [True, True] Translation: X:479.10, Y:44.90, Z:-1.41 [[ 9.99204466e-01 -3.97463885e-02 3.26488916e-03 4.79095686e+02] [ 3.97455553e-02 9.99209782e-01 3.19702996e-04 4.49046084e+01] [-3.27501622e-03 -1.89683829e-04 9.99994619e-01 -1.41077853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.901400513 meters 0.06123742528887023 Centerline is valid? [True, True] Translation: X:479.16, Y:44.91, Z:-1.41 [[ 9.99078582e-01 -4.26122820e-02 5.11659546e-03 4.79155372e+02] [ 4.26102732e-02 9.99091644e-01 5.01037832e-04 4.49076967e+01] [-5.13329814e-03 -2.82556637e-04 9.99986785e-01 -1.40752517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.961400513 meters 0.058020757919358255 Centerline is valid? [True, True] Translation: X:479.21, Y:44.91, Z:-1.41 [[ 9.99097506e-01 -4.21008635e-02 5.62954167e-03 4.79214873e+02] [ 4.20984229e-02 9.99113316e-01 5.51391752e-04 4.49066566e+01] [-5.64776412e-03 -3.13899298e-04 9.99984002e-01 -1.40638730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.021400513 meters 0.06178731725510644 Centerline is valid? [True, True] Translation: X:479.27, Y:44.91, Z:-1.41 [[ 9.99360712e-01 -3.52344100e-02 6.05838258e-03 4.79274534e+02] [ 3.52314567e-02 9.99379003e-01 5.93540386e-04 4.49127732e+01] [-6.07553338e-03 -3.79715299e-04 9.99981472e-01 -1.40682196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.081400513 meters 0.07334163574216493 Centerline is valid? [True, True] Translation: X:479.33, Y:44.93, Z:-1.41 [[ 9.99512028e-01 -3.06745243e-02 5.89744237e-03 4.79332728e+02] [ 3.06716466e-02 9.99529347e-01 5.77803702e-04 4.49298630e+01] [-5.91239057e-03 -3.96637481e-04 9.99982443e-01 -1.40782672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.141400513 meters 0.07181151801969168 Centerline is valid? [True, True] Translation: X:479.39, Y:44.93, Z:-1.41 [[ 9.99580948e-01 -2.84914251e-02 5.11540015e-03 4.79393510e+02] [ 2.84892314e-02 9.99593974e-01 5.01203499e-04 4.49310866e+01] [-5.12760317e-03 -3.55259649e-04 9.99986791e-01 -1.40947973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.201400513 meters 0.07485284524474548 Centerline is valid? [True, True] Translation: X:479.45, Y:44.94, Z:-1.41 [[ 9.99671759e-01 -2.51074422e-02 5.09808548e-03 4.79453871e+02] [ 2.51052198e-02 9.99684690e-01 4.99474639e-04 4.49379699e+01] [-5.10901853e-03 -3.71322135e-04 9.99986880e-01 -1.41123469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.261400513 meters 0.07937766347565563 Centerline is valid? [True, True] Translation: X:479.51, Y:44.95, Z:-1.41 [[ 9.99734329e-01 -2.23387454e-02 5.67900322e-03 4.79513098e+02] [ 2.23359431e-02 9.99750367e-01 5.56399852e-04 4.49488198e+01] [-5.69001483e-03 -4.29406141e-04 9.99983720e-01 -1.41157328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.321400513 meters 0.0872782862995175 Centerline is valid? [True, True] Translation: X:479.57, Y:44.97, Z:-1.42 [[ 9.99870552e-01 -1.59847372e-02 1.83527275e-03 4.79572603e+02] [ 1.59844339e-02 9.99872225e-01 1.79834340e-04 4.49673699e+01] [-1.83791285e-03 -1.50475265e-04 9.99998300e-01 -1.41832237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.381400513 meters 0.08778226350668446 Centerline is valid? [True, True] Translation: X:479.63, Y:44.98, Z:-1.42 [[ 9.99905377e-01 -1.37559830e-02 -9.94581425e-05 4.79632618e+02] [ 1.37559821e-02 9.99905382e-01 -9.74373044e-06 4.49771941e+01] [ 9.95827666e-05 8.37466403e-06 9.99999995e-01 -1.42153005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.441400513 meters 0.08907246230336426 Centerline is valid? [True, True] Translation: X:479.69, Y:44.99, Z:-1.42 [[ 9.99911682e-01 -1.32844445e-02 3.90334608e-04 4.79691668e+02] [ 1.32844306e-02 9.99911757e-01 3.81676929e-05 4.49886300e+01] [-3.90807200e-04 -3.29789490e-05 9.99999923e-01 -1.42153248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.501400513 meters 0.08823876106497779 Centerline is valid? [True, True] Translation: X:479.75, Y:45.00, Z:-1.42 [[ 9.99885340e-01 -1.51420667e-02 1.54283250e-04 4.79751544e+02] [ 1.51420646e-02 9.99885352e-01 1.50971517e-05 4.49966328e+01] [-1.54494164e-04 -1.27592537e-05 9.99999988e-01 -1.42291531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.561400513 meters 0.08546201899014545 Centerline is valid? [True, True] Translation: X:479.81, Y:45.00, Z:-1.42 [[ 9.99838653e-01 -1.79629818e-02 -1.12962577e-05 4.79811126e+02] [ 1.79629818e-02 9.99838653e-01 -1.17126697e-06 4.50013258e+01] [ 1.13154745e-05 9.68163521e-07 1.00000000e+00 -1.42412093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.621400513 meters 0.07604190474502558 Centerline is valid? [True, True] Translation: X:479.87, Y:45.00, Z:-1.43 [[ 9.99777671e-01 -2.10764163e-02 -6.26299413e-04 4.79871405e+02] [ 2.10763819e-02 9.99777867e-01 -6.14855892e-05 4.49965038e+01] [ 6.27456186e-04 4.82717936e-05 9.99999802e-01 -1.42541113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.681400513 meters 0.07597812825546191 Centerline is valid? [True, True] Translation: X:479.93, Y:45.00, Z:-1.42 [[ 9.99647872e-01 -2.64391291e-02 2.25935361e-03 4.79931200e+02] [ 2.64386956e-02 9.99650412e-01 2.21512904e-04 4.50015007e+01] [-2.26442037e-03 -1.61700541e-04 9.99997423e-01 -1.42178901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74140051300003 meters 0.06587053606830694 Centerline is valid? [True, True] Translation: X:479.99, Y:44.99, Z:-1.42 [[ 9.99565334e-01 -2.90882232e-02 4.79767380e-03 4.79993001e+02] [ 2.90862990e-02 9.99576793e-01 4.70373960e-04 4.49939294e+01] [-4.80932573e-03 -3.30622931e-04 9.99988380e-01 -1.41727926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.801400513 meters 0.07207024156690012 Centerline is valid? [True, True] Translation: X:480.05, Y:45.01, Z:-1.42 [[ 9.99544482e-01 -2.97276734e-02 5.20513319e-03 4.80052342e+02] [ 2.97254174e-02 9.99557972e-01 5.10256343e-04 4.50072394e+01] [-5.21800111e-03 -3.55299155e-04 9.99986323e-01 -1.41673001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.861400513 meters 0.07325968542231995 Centerline is valid? [True, True] Translation: X:480.11, Y:45.02, Z:-1.42 [[ 9.99574391e-01 -2.87830447e-02 4.75113336e-03 4.80112762e+02] [ 2.87811554e-02 9.99585628e-01 4.65556033e-04 4.50167680e+01] [-4.76256474e-03 -3.28614781e-04 9.99988605e-01 -1.41858944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.921400513 meters 0.07634198161217101 Centerline is valid? [True, True] Translation: X:480.17, Y:45.03, Z:-1.42 [[ 9.99573450e-01 -2.86430136e-02 5.70058299e-03 4.80171930e+02] [ 2.86402922e-02 9.99589627e-01 5.58467304e-04 4.50282279e+01] [-5.71423981e-03 -3.94962727e-04 9.99983596e-01 -1.41737884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.981400513 meters 0.07149153470771641 Centerline is valid? [True, True] Translation: X:480.23, Y:45.03, Z:-1.42 [[ 9.99471491e-01 -3.20389913e-02 5.49929219e-03 4.80232749e+02] [ 3.20365101e-02 9.99486554e-01 5.38698257e-04 4.50283944e+01] [-5.51372795e-03 -3.62235421e-04 9.99984734e-01 -1.41793146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.041400513 meters 0.05796544008077781 Centerline is valid? [True, True] Translation: X:480.30, Y:45.01, Z:-1.42 [[ 9.99196061e-01 -3.95970960e-02 6.26910439e-03 4.80295387e+02] [ 3.95940199e-02 9.99215661e-01 6.14077109e-04 4.50121120e+01] [-6.28850296e-03 -3.65364385e-04 9.99980160e-01 -1.41767160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.101400513 meters 0.05561019566308228 Centerline is valid? [True, True] Translation: X:480.36, Y:45.01, Z:-1.42 [[ 9.99120276e-01 -4.13699707e-02 6.87023248e-03 4.80356341e+02] [ 4.13663182e-02 9.99143821e-01 6.72944395e-04 4.50104087e+01] [-6.89219002e-03 -3.88156167e-04 9.99976173e-01 -1.41707004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.161400513 meters 0.06759663094921392 Centerline is valid? [True, True] Translation: X:480.41, Y:45.02, Z:-1.42 [[ 9.99404545e-01 -3.42628558e-02 4.07587904e-03 4.80414720e+02] [ 3.42615114e-02 9.99412822e-01 3.99231638e-04 4.50221075e+01] [-4.08716459e-03 -2.59348137e-04 9.99991614e-01 -1.42141735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.221400513 meters 0.0704067480613603 Centerline is valid? [True, True] Translation: X:480.47, Y:45.03, Z:-1.42 [[ 9.99629791e-01 -2.69209912e-02 3.94226029e-03 4.80474320e+02] [ 2.69196768e-02 9.99637525e-01 3.86106394e-04 4.50281519e+01] [-3.95122569e-03 -2.79839081e-04 9.99992155e-01 -1.42149242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.281400513 meters 0.08230099449338431 Centerline is valid? [True, True] Translation: X:480.53, Y:45.05, Z:-1.42 [[ 9.99791650e-01 -2.01197683e-02 3.44260449e-03 4.80532428e+02] [ 2.01187257e-02 9.99797541e-01 3.37199467e-04 4.50469654e+01] [-3.44869188e-03 -2.67868396e-04 9.99994017e-01 -1.42275886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.341400513 meters 0.08616862611675236 Centerline is valid? [True, True] Translation: X:480.59, Y:45.06, Z:-1.42 [[ 9.99843804e-01 -1.73916035e-02 3.14653283e-03 4.80592194e+02] [ 1.73907191e-02 9.99848723e-01 3.08203814e-04 4.50567133e+01] [-3.15141699e-03 -2.53435205e-04 9.99995002e-01 -1.42361511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.401400513 meters 0.0891347326790364 Centerline is valid? [True, True] Translation: X:480.65, Y:45.07, Z:-1.42 [[ 9.99916485e-01 -1.23776637e-02 3.71708609e-03 4.80652080e+02] [ 1.23763952e-02 9.99923343e-01 3.64081513e-04 4.50672660e+01] [-3.72130763e-03 -3.18046980e-04 9.99993025e-01 -1.42344577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.461400513 meters 0.0903776113242968 Centerline is valid? [True, True] Translation: X:480.71, Y:45.08, Z:-1.42 [[ 9.99934391e-01 -1.09722332e-02 3.28999152e-03 4.80712719e+02] [ 1.09712319e-02 9.99939762e-01 3.22248317e-04 4.50781644e+01] [-3.29332912e-03 -2.86131915e-04 9.99994536e-01 -1.42481599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.521400513 meters 0.08350184959879017 Centerline is valid? [True, True] Translation: X:480.77, Y:45.08, Z:-1.43 [[ 9.99940246e-01 -1.06104878e-02 2.63095984e-03 4.80774333e+02] [ 1.06098464e-02 9.99943681e-01 2.57656171e-04 4.50794935e+01] [-2.63354552e-03 -2.29726695e-04 9.99996506e-01 -1.42616563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.581400513 meters 0.0922314982708985 Centerline is valid? [True, True] Translation: X:480.83, Y:45.10, Z:-1.43 [[ 9.99918476e-01 -1.27172218e-02 1.14570307e-03 4.80832607e+02] [ 1.27171016e-02 9.99919128e-01 1.12137724e-04 4.51002713e+01] [-1.14703650e-03 -9.75585596e-05 9.99999337e-01 -1.42892810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.641400513 meters 0.08556922077339252 Centerline is valid? [True, True] Translation: X:480.89, Y:45.10, Z:-1.43 [[ 9.99878955e-01 -1.55433986e-02 6.90966355e-04 4.80893742e+02] [ 1.55433555e-02 9.99879192e-01 6.76809991e-05 4.51024430e+01] [-6.91934873e-04 -5.69328710e-05 9.99999759e-01 -1.42923958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.701400513 meters 0.08494018090175146 Centerline is valid? [True, True] Translation: X:480.95, Y:45.11, Z:-1.43 [[ 9.99839903e-01 -1.77521892e-02 2.24225015e-03 4.80953331e+02] [ 1.77517412e-02 9.99842401e-01 2.19513493e-04 4.51130083e+01] [-2.24579362e-03 -1.79674505e-04 9.99997462e-01 -1.42804960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.761400513 meters 0.08038975379866531 Centerline is valid? [True, True] Translation: X:481.01, Y:45.12, Z:-1.42 [[ 9.99857112e-01 -1.61606240e-02 4.95879016e-03 4.81013879e+02] [ 1.61584138e-02 9.99869326e-01 4.85466061e-04 4.51197443e+01] [-4.96598761e-03 -4.05270511e-04 9.99987587e-01 -1.42401963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.821400513 meters 0.08778895517359579 Centerline is valid? [True, True] Translation: X:481.07, Y:45.14, Z:-1.43 [[ 9.99897541e-01 -1.37021730e-02 4.14229346e-03 4.81071458e+02] [ 1.37006098e-02 9.99906060e-01 4.05506904e-04 4.51406369e+01] [-4.14746066e-03 -3.48713410e-04 9.99991338e-01 -1.42557448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.881400513 meters 0.09166282480761463 Centerline is valid? [True, True] Translation: X:481.13, Y:45.16, Z:-1.43 [[ 9.99924942e-01 -1.17565974e-02 3.44857549e-03 4.81129467e+02] [ 1.17555026e-02 9.99930845e-01 3.37578161e-04 4.51579671e+01] [-3.45230577e-03 -2.97013085e-04 9.99993997e-01 -1.42687848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.941400513 meters 0.09391019666845171 Centerline is valid? [True, True] Translation: X:481.19, Y:45.18, Z:-1.43 [[ 9.99942741e-01 -1.00804335e-02 3.59159709e-03 4.81188578e+02] [ 1.00792351e-02 9.99949141e-01 3.51615271e-04 4.51771902e+01] [-3.59495886e-03 -3.15394587e-04 9.99993488e-01 -1.42675041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.001400513 meters 0.09118651324908449 Centerline is valid? [True, True] Translation: X:481.25, Y:45.19, Z:-1.43 [[ 9.99928082e-01 -1.15481062e-02 3.23610975e-03 4.81248784e+02] [ 1.15471409e-02 9.99933279e-01 3.16803417e-04 4.51898064e+01] [-3.23955231e-03 -2.79412818e-04 9.99994714e-01 -1.42814884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.061400513 meters 0.08878855861486297 Centerline is valid? [True, True] Translation: X:481.31, Y:45.20, Z:-1.43 [[ 9.99909200e-01 -1.31120666e-02 3.10886468e-03 4.81308906e+02] [ 1.31111833e-02 9.99913998e-01 3.04313522e-04 4.51993281e+01] [-3.11258749e-03 -2.63524995e-04 9.99995121e-01 -1.42907976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.121400513 meters 0.08182784347317895 Centerline is valid? [True, True] Translation: X:481.37, Y:45.21, Z:-1.43 [[ 9.99887410e-01 -1.48551681e-02 2.11929982e-03 4.81369548e+02] [ 1.48547616e-02 9.99889640e-01 2.07439276e-04 4.52050382e+01] [-2.12214748e-03 -1.75934227e-04 9.99997733e-01 -1.43036822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.181400513 meters 0.0848752418594173 Centerline is valid? [True, True] Translation: X:481.43, Y:45.22, Z:-1.43 [[ 9.99820624e-01 -1.87897877e-02 2.37970016e-03 4.81427701e+02] [ 1.87892863e-02 9.99823439e-01 2.32874603e-04 4.52245325e+01] [-2.38365566e-03 -1.88119964e-04 9.99997141e-01 -1.42967369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24140051300003 meters 0.08401278799175772 Centerline is valid? [True, True] Translation: X:481.49, Y:45.24, Z:-1.43 [[ 9.99765298e-01 -2.15691747e-02 2.02968852e-03 4.81486744e+02] [ 2.15688156e-02 9.99767346e-01 1.98639752e-04 4.52365646e+01] [-2.03350080e-03 -1.54815153e-04 9.99997920e-01 -1.43010706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.301400513 meters 0.07670306554576672 Centerline is valid? [True, True] Translation: X:481.55, Y:45.24, Z:-1.43 [[ 9.99723771e-01 -2.33855268e-02 2.34477444e-03 4.81547496e+02] [ 2.33850525e-02 9.99726506e-01 2.29475101e-04 4.52404138e+01] [-2.34949956e-03 -1.74579040e-04 9.99997225e-01 -1.42985549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.361400513 meters 0.06915985100209382 Centerline is valid? [True, True] Translation: X:481.61, Y:45.24, Z:-1.43 [[ 9.99647244e-01 -2.65136984e-02 1.55292724e-03 4.81608370e+02] [ 2.65134942e-02 9.99648444e-01 1.51976195e-04 4.52444348e+01] [-1.55641075e-03 -1.10749057e-04 9.99998783e-01 -1.43230077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.421400513 meters 0.06896649435369263 Centerline is valid? [True, True] Translation: X:481.67, Y:45.25, Z:-1.43 [[ 9.99546969e-01 -3.00400814e-02 1.85775620e-03 4.81667217e+02] [ 3.00397953e-02 9.99548687e-01 1.81733056e-04 4.52528577e+01] [-1.86237704e-03 -1.25844109e-04 9.99998258e-01 -1.43206976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.481400513 meters 0.06785112923423695 Centerline is valid? [True, True] Translation: X:481.73, Y:45.26, Z:-1.43 [[ 9.99410931e-01 -3.42806726e-02 1.62089277e-03 4.81727239e+02] [ 3.42804603e-02 9.99412240e-01 1.58600838e-04 4.52567617e+01] [-1.62537702e-03 -1.02942461e-04 9.99998674e-01 -1.43262806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.541400513 meters 0.0664774753407884 Centerline is valid? [True, True] Translation: X:481.79, Y:45.26, Z:-1.43 [[ 9.99333460e-01 -3.64876455e-02 1.13473053e-03 4.81788428e+02] [ 3.64875428e-02 9.99334102e-01 1.11063632e-04 4.52584397e+01] [-1.13802736e-03 -6.95860750e-05 9.99999350e-01 -1.43441538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.601400513 meters 0.06648902530340106 Centerline is valid? [True, True] Translation: X:481.85, Y:45.26, Z:-1.43 [[ 9.99488319e-01 -3.18953502e-02 2.40540502e-03 4.81848777e+02] [ 3.18948758e-02 9.99491201e-01 2.35343911e-04 4.52642853e+01] [-2.41168753e-03 -1.58503396e-04 9.99997079e-01 -1.43261437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.661400513 meters 0.076051215496555 Centerline is valid? [True, True] Translation: X:481.91, Y:45.28, Z:-1.43 [[ 9.99696011e-01 -2.45629322e-02 2.13267039e-03 4.81907232e+02] [ 2.45625426e-02 9.99698273e-01 2.08678053e-04 4.52816376e+01] [-2.13715265e-03 -1.56230810e-04 9.99997704e-01 -1.43313791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.721400513 meters 0.08027244579973868 Centerline is valid? [True, True] Translation: X:481.97, Y:45.29, Z:-1.43 [[ 9.99859456e-01 -1.67437580e-02 8.45402828e-04 4.81966488e+02] [ 1.67436940e-02 9.99859811e-01 8.27040206e-05 4.52944507e+01] [-8.46669088e-04 -6.85372308e-05 9.99999639e-01 -1.43497010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.781400513 meters 0.09099942650425376 Centerline is valid? [True, True] Translation: X:482.02, Y:45.31, Z:-1.44 [[ 9.99895659e-01 -1.44128601e-02 9.69419202e-04 4.82024310e+02] [ 1.44127749e-02 9.99896126e-01 9.48525418e-05 4.53141704e+01] [-9.70685601e-04 -8.08706241e-05 9.99999526e-01 -1.43527064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.841400513 meters 0.08279095063329488 Centerline is valid? [True, True] Translation: X:482.09, Y:45.31, Z:-1.44 [[ 9.99863229e-01 -1.64822587e-02 1.36308847e-03 4.82086214e+02] [ 1.64820922e-02 9.99864152e-01 1.33336855e-04 4.53080579e+01] [-1.36510099e-03 -1.10852068e-04 9.99999062e-01 -1.43516337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.901400513 meters 0.0786411991306918 Centerline is valid? [True, True] Translation: X:482.15, Y:45.30, Z:-1.44 [[ 9.99742301e-01 -2.26944573e-02 5.41468527e-04 4.82147629e+02] [ 2.26944319e-02 9.99742447e-01 5.29890342e-05 4.53044746e+01] [-5.42531628e-04 -4.06870584e-05 9.99999852e-01 -1.43807765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.961400513 meters 0.07587456520316584 Centerline is valid? [True, True] Translation: X:482.21, Y:45.30, Z:-1.44 [[ 9.99662952e-01 -2.59604138e-02 1.99714788e-04 4.82208931e+02] [ 2.59604104e-02 9.99662972e-01 1.95670472e-05 4.53024625e+01] [-2.00155447e-04 -1.43757743e-05 9.99999980e-01 -1.43913290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.021400513 meters 0.07282824195828658 Centerline is valid? [True, True] Translation: X:482.27, Y:45.30, Z:-1.44 [[ 9.99622848e-01 -2.74614254e-02 -1.77670553e-04 4.82269584e+02] [ 2.74614228e-02 9.99622864e-01 -1.74203575e-05 4.53000683e+01] [ 1.78081935e-04 1.25347012e-05 9.99999984e-01 -1.43934822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.081400513 meters 0.07806779727029038 Centerline is valid? [True, True] Translation: X:482.33, Y:45.31, Z:-1.45 [[ 9.99640372e-01 -2.65023692e-02 -4.09291711e-03 4.82328316e+02] [ 2.65009504e-02 9.99648708e-01 -4.00488561e-04 4.53070947e+01] [ 4.10209319e-03 2.91878340e-04 9.99991544e-01 -1.44559847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.141400513 meters 0.0749097394985308 Centerline is valid? [True, True] Translation: X:482.39, Y:45.31, Z:-1.45 [[ 9.99699672e-01 -2.41626318e-02 -4.09057261e-03 4.82388699e+02] [ 2.41611954e-02 9.99707996e-01 -4.00205231e-04 4.53051516e+01] [ 4.09904816e-03 3.01251914e-04 9.99991553e-01 -1.44519082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.201400513 meters 0.08160008825199276 Centerline is valid? [True, True] Translation: X:482.45, Y:45.32, Z:-1.44 [[ 9.99780705e-01 -2.08949841e-02 -1.39338269e-03 4.82446869e+02] [ 2.08948144e-02 9.99781670e-01 -1.36210981e-04 4.53169973e+01] [ 1.39592460e-03 1.07066638e-04 9.99999020e-01 -1.44168188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.261400513 meters 0.0848235131949782 Centerline is valid? [True, True] Translation: X:482.51, Y:45.32, Z:-1.44 [[ 9.99852227e-01 -1.71465669e-02 -1.23291101e-03 4.82507167e+02] [ 1.71464311e-02 9.99852982e-01 -1.20635418e-04 4.53233772e+01] [ 1.23479823e-03 9.94775681e-05 9.99999233e-01 -1.44162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.321400513 meters 0.0856976647841767 Centerline is valid? [True, True] Translation: X:482.57, Y:45.33, Z:-1.44 [[ 9.99900724e-01 -1.39551962e-02 -1.94821429e-03 4.82567640e+02] [ 1.39548512e-02 9.99902608e-01 -1.90568064e-04 4.53257313e+01] [ 1.95068396e-03 1.63362105e-04 9.99998084e-01 -1.44281649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.381400513 meters 0.08554778210052943 Centerline is valid? [True, True] Translation: X:482.63, Y:45.33, Z:-1.44 [[ 9.99944491e-01 -1.04896547e-02 -9.90690956e-04 4.82627770e+02] [ 1.04895638e-02 9.99944978e-01 -9.69573156e-05 4.53290747e+01] [ 9.91653495e-04 8.65600176e-05 9.99999505e-01 -1.44095859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.441400513 meters 0.08911016976239555 Centerline is valid? [True, True] Translation: X:482.69, Y:45.34, Z:-1.44 [[ 9.99972772e-01 -7.35832995e-03 -5.57229443e-04 4.82687556e+02] [ 7.35830070e-03 9.99972926e-01 -5.45090908e-05 4.53402189e+01] [ 5.57615452e-04 5.04073448e-05 9.99999843e-01 -1.44083373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.501400513 meters 0.10067566696649226 Centerline is valid? [True, False] Translation: X:482.71, Y:45.35, Z:-1.44 [[ 9.99998848e-01 1.25567974e-03 8.52804869e-04 4.82705396e+02] [-1.25302405e-03 9.99994387e-01 -3.10749738e-03 4.53451906e+01] [-8.56702103e-04 3.10642521e-03 9.99994808e-01 -1.43809081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.561400513 meters 0.10435266660130686 Centerline is valid? [False, False] Translation: X:482.71, Y:45.35, Z:-1.44 [[ 9.99999151e-01 9.04227251e-04 9.38640958e-04 4.82705123e+02] [-9.00259241e-04 9.99990694e-01 -4.21924925e-03 4.53500684e+01] [-9.42447383e-04 4.21840064e-03 9.99990658e-01 -1.43820884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.621400513 meters 0.10211158276601105 Centerline is valid? [False, False] Translation: X:482.69, Y:45.35, Z:-1.44 [[ 9.99996025e-01 -5.00242900e-05 -2.81901367e-03 4.82687643e+02] [ 6.65383049e-05 9.99982838e-01 5.85829335e-03 4.53487531e+01] [ 2.81867223e-03 -5.85845764e-03 9.99978867e-01 -1.43823431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.681400513 meters 0.10235458055790737 Centerline is valid? [False, False] Translation: X:482.69, Y:45.36, Z:-1.44 [[ 9.99995946e-01 -1.14235885e-03 -2.60835622e-03 4.82687199e+02] [ 1.14947864e-03 9.99995614e-01 2.72974262e-03 4.53620369e+01] [ 2.60522643e-03 -2.73272981e-03 9.99992872e-01 -1.43898960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74140051300003 meters 0.10560499573900989 Centerline is valid? [False, False] Translation: X:482.69, Y:45.37, Z:-1.44 [[ 9.99992028e-01 2.94376967e-03 -2.69785860e-03 4.82687344e+02] [-2.92660789e-03 9.99975599e-01 6.34328191e-03 4.53652483e+01] [ 2.71646593e-03 -6.33533577e-03 9.99976242e-01 -1.43875063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.801400513 meters 0.09305527499639452 Centerline is valid? [False, True] Translation: X:482.65, Y:45.38, Z:-1.44 [[ 9.99990941e-01 -7.10160181e-04 -4.19696934e-03 4.82646560e+02] [ 7.14940625e-04 9.99999097e-01 1.13763223e-03 4.53765947e+01] [ 4.19615766e-03 -1.14062250e-03 9.99990546e-01 -1.44013071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.861400513 meters 0.09850941890752023 Centerline is valid? [True, True] Translation: X:482.70, Y:45.40, Z:-1.44 [[ 9.99978159e-01 -4.27795625e-03 -5.03796883e-03 4.82703877e+02] [ 4.27557436e-03 9.99990743e-01 -4.83463936e-04 4.53973861e+01] [ 5.03999043e-03 4.61913166e-04 9.99987192e-01 -1.44327078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.921400513 meters 0.09425341327299945 Centerline is valid? [True, True] Translation: X:482.76, Y:45.40, Z:-1.44 [[ 9.99965785e-01 -7.35180566e-03 -3.79204270e-03 4.82764460e+02] [ 7.35047827e-03 9.99972919e-01 -3.63864021e-04 4.54034138e+01] [ 3.79461506e-03 3.35978244e-04 9.99992744e-01 -1.44183146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.981400513 meters 0.08771082008224232 Centerline is valid? [True, True] Translation: X:482.82, Y:45.41, Z:-1.44 [[ 9.99934383e-01 -1.00357529e-02 -5.52382693e-03 4.82824746e+02] [ 1.00329767e-02 9.99949528e-01 -5.30066646e-04 4.54077359e+01] [ 5.52886775e-03 4.74611438e-04 9.99984603e-01 -1.44354292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.041400513 meters 0.09495588801990264 Centerline is valid? [True, True] Translation: X:482.88, Y:45.43, Z:-1.44 [[ 9.99930733e-01 -1.04911767e-02 -5.33521717e-03 4.82880948e+02] [ 1.04885910e-02 9.99944862e-01 -5.12408973e-04 4.54269224e+01] [ 5.34029877e-03 4.56414569e-04 9.99985636e-01 -1.44388417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.101400513 meters 0.08725544509306672 Centerline is valid? [True, True] Translation: X:482.94, Y:45.43, Z:-1.44 [[ 9.99932935e-01 -1.10667685e-02 -3.41340950e-03 4.82940366e+02] [ 1.10657105e-02 9.99938719e-01 -3.28675085e-04 4.54263146e+01] [ 3.41683769e-03 2.90881241e-04 9.99994120e-01 -1.44020649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.161400513 meters 0.09074732450616119 Centerline is valid? [True, True] Translation: X:483.00, Y:45.44, Z:-1.44 [[ 9.99905499e-01 -1.34983453e-02 -2.60538697e-03 4.82998357e+02] [ 1.34977377e-02 9.99908870e-01 -2.50641517e-04 4.54408134e+01] [ 2.60853279e-03 2.15451001e-04 9.99996575e-01 -1.43915493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.221400513 meters 0.08416572313747869 Centerline is valid? [True, True] Translation: X:483.06, Y:45.44, Z:-1.44 [[ 9.99818266e-01 -1.90105043e-02 -1.42662974e-03 4.83059574e+02] [ 1.90103277e-02 9.99819278e-01 -1.37207602e-04 4.54390934e+01] [ 1.42898031e-03 1.10061968e-04 9.99998973e-01 -1.43741224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.281400513 meters 0.07172570229556859 Centerline is valid? [True, True] Translation: X:483.12, Y:45.43, Z:-1.44 [[ 9.99624750e-01 -2.73923486e-02 1.35287148e-04 4.83121371e+02] [ 2.73923471e-02 9.99624759e-01 1.30041738e-05 4.54262476e+01] [-1.35592598e-04 -9.29346145e-06 9.99999991e-01 -1.43516522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.341400513 meters 0.05952440688524121 Centerline is valid? [True, True] Translation: X:483.18, Y:45.41, Z:-1.44 [[ 9.99201662e-01 -3.99232779e-02 -1.47318305e-03 4.83184146e+02] [ 3.99231123e-02 9.99202745e-01 -1.41690232e-04 4.54107990e+01] [ 1.47766529e-03 8.27630631e-05 9.99998905e-01 -1.43758129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.401400513 meters 0.05476453522752022 Centerline is valid? [True, True] Translation: X:483.25, Y:45.41, Z:-1.44 [[ 9.98971061e-01 -4.53153420e-02 -1.82726930e-03 4.83245474e+02] [ 4.53150961e-02 9.98972728e-01 -1.75764642e-04 4.54057197e+01] [ 1.83335703e-03 9.27809074e-05 9.99998315e-01 -1.43856060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.461400513 meters 0.05310120021296653 Centerline is valid? [True, True] Translation: X:483.30, Y:45.40, Z:-1.44 [[ 9.98731569e-01 -5.03474294e-02 -6.24503817e-04 4.83304943e+02] [ 5.03474016e-02 9.98731764e-01 -6.01619896e-05 4.53997303e+01] [ 6.26740800e-04 2.86435338e-05 9.99999803e-01 -1.43687636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.521400513 meters 0.0460936798959577 Centerline is valid? [True, True] Translation: X:483.37, Y:45.39, Z:-1.44 [[ 9.98620888e-01 -5.24794487e-02 -1.49319997e-03 4.83365727e+02] [ 5.24792923e-02 9.98622002e-01 -1.43765481e-04 4.53901654e+01] [ 1.49868708e-03 6.52051341e-05 9.99998875e-01 -1.43830189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.581400513 meters 0.04706783691082499 Centerline is valid? [True, True] Translation: X:483.43, Y:45.39, Z:-1.44 [[ 9.98468848e-01 -5.52738538e-02 -2.18184128e-03 4.83425366e+02] [ 5.52735264e-02 9.98471228e-01 -2.10091959e-04 4.53904065e+01] [ 2.19011833e-03 8.91722142e-05 9.99997598e-01 -1.44013830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.641400513 meters 0.03988362638712743 Centerline is valid? [True, True] Translation: X:483.49, Y:45.38, Z:-1.44 [[ 9.98215908e-01 -5.96946727e-02 -1.24407548e-03 4.83487053e+02] [ 5.96945698e-02 9.98216682e-01 -1.19768481e-04 4.53775400e+01] [ 1.24900644e-03 4.52902519e-05 9.99999219e-01 -1.43877557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.701400513 meters 0.03577062454351816 Centerline is valid? [True, True] Translation: X:483.55, Y:45.37, Z:-1.44 [[ 9.97985318e-01 -6.34225093e-02 -1.70020713e-03 4.83548495e+02] [ 6.34223223e-02 9.97986765e-01 -1.63722983e-04 4.53699956e+01] [ 1.70716793e-03 5.55620492e-05 9.99998541e-01 -1.43974970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.761400513 meters 0.030614838298971846 Centerline is valid? [True, True] Translation: X:483.61, Y:45.36, Z:-1.44 [[ 9.97738995e-01 -6.71536465e-02 -2.69902127e-03 4.83609336e+02] [ 6.71531888e-02 9.97742643e-01 -2.59920582e-04 4.53644685e+01] [ 2.71038323e-03 7.80850151e-05 9.99996324e-01 -1.44087645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.821400513 meters 0.026399425004814417 Centerline is valid? [True, True] Translation: X:483.67, Y:45.36, Z:-1.44 [[ 9.97402669e-01 -7.19318485e-02 -3.70471519e-03 4.83670595e+02] [ 7.19310187e-02 9.97409545e-01 -3.56908969e-04 4.53585266e+01] [ 3.72079141e-03 8.94980203e-05 9.99993074e-01 -1.44175621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.881400513 meters 0.022538864297478898 Centerline is valid? [True, True] Translation: X:483.73, Y:45.36, Z:-1.44 [[ 9.97167065e-01 -7.51474555e-02 -3.27184104e-03 4.83730154e+02] [ 7.51468249e-02 9.97172430e-01 -3.15424823e-04 4.53561950e+01] [ 3.28629305e-03 6.86627790e-05 9.99994598e-01 -1.44074773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.941400513 meters 0.02099446780482963 Centerline is valid? [True, True] Translation: X:483.79, Y:45.36, Z:-1.44 [[ 9.96902915e-01 -7.86121968e-02 -2.16793170e-03 4.83788532e+02] [ 7.86119278e-02 9.96905272e-01 -2.09146454e-04 4.53579272e+01] [ 2.17766400e-03 3.80734197e-05 9.99997628e-01 -1.43959244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.001400513 meters 0.014466215248575965 Centerline is valid? [True, True] Translation: X:483.85, Y:45.35, Z:-1.44 [[ 9.96453961e-01 -8.41156340e-02 -2.01562774e-03 4.83849442e+02] [ 8.41154126e-02 9.96456000e-01 -1.94504560e-04 4.53512059e+01] [ 2.02484523e-03 2.42694804e-05 9.99997950e-01 -1.43912073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.061400513 meters 0.010834585165592842 Centerline is valid? [True, True] Translation: X:483.91, Y:45.35, Z:-1.44 [[ 9.95999810e-01 -8.92977006e-02 -3.20938384e-03 4.83907782e+02] [ 8.92971656e-02 9.96004980e-01 -3.09898177e-04 4.53505350e+01] [ 3.22423549e-03 2.20696448e-05 9.99994802e-01 -1.44205948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.121400513 meters 0.016099391268534796 Centerline is valid? [True, True] Translation: X:483.97, Y:45.35, Z:-1.44 [[ 9.95829079e-01 -9.11915789e-02 -2.92254646e-03 4.83966735e+02] [ 9.11911412e-02 9.95833367e-01 -2.82946831e-04 4.53529990e+01] [ 2.93617165e-03 1.52563353e-05 9.99995689e-01 -1.44116479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.181400513 meters 0.008504629267645093 Centerline is valid? [True, True] Translation: X:484.02, Y:45.36, Z:-1.44 [[ 9.95767664e-01 -9.18813219e-02 -2.14044956e-03 4.84024646e+02] [ 9.18810874e-02 9.95769965e-01 -2.07835967e-04 4.53577323e+01] [ 2.15049163e-03 1.02895020e-05 9.99997688e-01 -1.43952044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24140051300003 meters 0.007697335482774836 Centerline is valid? [True, True] Translation: X:484.08, Y:45.36, Z:-1.44 [[ 9.95611835e-01 -9.35598723e-02 -1.90386597e-03 4.84082821e+02] [ 9.35596890e-02 9.95613655e-01 -1.85301517e-04 4.53625984e+01] [ 1.91285174e-03 6.36327517e-06 9.99998170e-01 -1.43928164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.301400513 meters 0.007723217040944648 Centerline is valid? [True, True] Translation: X:484.14, Y:45.36, Z:-1.44 [[ 9.95070727e-01 -9.91516849e-02 -1.78650844e-03 4.84140035e+02] [ 9.91515323e-02 9.95072331e-01 -1.73993056e-04 4.53610074e+01] [ 1.79495682e-03 -3.99965306e-06 9.99998389e-01 -1.43953458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.361400513 meters 0.010240321484189019 Centerline is valid? [True, True] Translation: X:484.20, Y:45.36, Z:-1.44 [[ 9.94626240e-01 -1.03523937e-01 -1.19867014e-03 4.84199419e+02] [ 1.03523871e-01 9.94626962e-01 -1.17137911e-04 4.53617452e+01] [ 1.20435622e-03 -7.58253311e-06 9.99999275e-01 -1.43838825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.421400513 meters 0.015366274871506819 Centerline is valid? [True, True] Translation: X:484.26, Y:45.36, Z:-1.44 [[ 9.93959319e-01 -1.09737415e-01 -1.60362381e-03 4.84258614e+02] [ 1.09737304e-01 9.93960613e-01 -1.56855374e-04 4.53611615e+01] [ 1.61115181e-03 -2.00694934e-05 9.99998702e-01 -1.43957115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.481400513 meters 0.01829648349223537 Centerline is valid? [True, True] Translation: X:484.32, Y:45.36, Z:-1.44 [[ 9.93598354e-01 -1.12947490e-01 -2.27499451e-03 4.84317004e+02] [ 1.12947276e-01 9.93600958e-01 -2.22364216e-04 4.53628124e+01] [ 2.28555220e-03 -3.60137141e-05 9.99997387e-01 -1.44070036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.541400513 meters 0.021644077874804723 Centerline is valid? [True, True] Translation: X:484.38, Y:45.37, Z:-1.45 [[ 9.93358889e-01 -1.14916586e-01 -5.68301311e-03 4.84375174e+02] [ 1.14915289e-01 9.93375140e-01 -5.55398187e-04 4.53650003e+01] [ 5.70918840e-03 -1.01355367e-04 9.99983697e-01 -1.44589964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.601400513 meters 0.02097502345652017 Centerline is valid? [True, True] Translation: X:484.43, Y:45.38, Z:-1.45 [[ 9.93379300e-01 -1.14747081e-01 -5.53838513e-03 4.84432671e+02] [ 1.14745838e-01 9.93394734e-01 -5.42661586e-04 4.53753666e+01] [ 5.56407146e-03 -9.64378584e-05 9.99984516e-01 -1.44590171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.661400513 meters 0.01991697290883728 Centerline is valid? [True, True] Translation: X:484.49, Y:45.39, Z:-1.44 [[ 9.93449196e-01 -1.14213701e-01 -3.73155801e-03 4.84491287e+02] [ 1.14213131e-01 9.93456203e-01 -3.66279716e-04 4.53853012e+01] [ 3.74897361e-03 -6.23126322e-05 9.99992971e-01 -1.44250665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.721400513 meters 0.019346402668784787 Centerline is valid? [True, True] Translation: X:484.55, Y:45.40, Z:-1.44 [[ 9.93444356e-01 -1.14222344e-01 -4.64407841e-03 4.84548324e+02] [ 1.14221456e-01 9.93455208e-01 -4.56764546e-04 4.53969168e+01] [ 4.66585660e-03 -7.66832384e-05 9.99989112e-01 -1.44422797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.781400513 meters 0.020036686474229497 Centerline is valid? [True, True] Translation: X:484.61, Y:45.40, Z:-1.45 [[ 9.93291794e-01 -1.15544393e-01 -4.57222255e-03 4.84607080e+02] [ 1.15543543e-01 9.93302314e-01 -4.50441077e-04 4.54032789e+01] [ 4.59364518e-03 -8.08713667e-05 9.99989446e-01 -1.44504305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.841400513 meters 0.022017056835778506 Centerline is valid? [True, True] Translation: X:484.66, Y:45.41, Z:-1.45 [[ 9.93182405e-01 -1.16483596e-01 -4.50369271e-03 4.84664860e+02] [ 1.16482780e-01 9.93192612e-01 -4.43907271e-04 4.54089555e+01] [ 4.52474224e-03 -8.37217574e-05 9.99989760e-01 -1.44548354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.901400513 meters 0.019845183409057856 Centerline is valid? [True, True] Translation: X:484.72, Y:45.43, Z:-1.44 [[ 9.93416373e-01 -1.14477661e-01 -4.33299566e-03 4.84722139e+02] [ 1.14476883e-01 9.93425820e-01 -4.28001656e-04 4.54254123e+01] [ 4.35350639e-03 -7.08439831e-05 9.99990521e-01 -1.44449101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.961400513 meters 0.01776420548832902 Centerline is valid? [True, True] Translation: X:484.78, Y:45.44, Z:-1.45 [[ 9.93651528e-01 -1.12408022e-01 -4.59104334e-03 4.84779532e+02] [ 1.12407123e-01 9.93662132e-01 -4.54235261e-04 4.54408892e+01] [ 4.61300560e-03 -6.47144126e-05 9.99989358e-01 -1.44521558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.021400513 meters 0.01598303359561075 Centerline is valid? [True, True] Translation: X:484.84, Y:45.46, Z:-1.44 [[ 9.93700258e-01 -1.12042503e-01 -2.50500987e-03 4.84836823e+02] [ 1.12042232e-01 9.93703415e-01 -2.48479358e-04 4.54559961e+01] [ 2.51707711e-03 -3.37528950e-05 9.99996832e-01 -1.44148850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.081400513 meters 0.019339645282443987 Centerline is valid? [True, True] Translation: X:484.90, Y:45.47, Z:-1.44 [[ 9.93216264e-01 -1.16252871e-01 -2.59271581e-03 4.84895312e+02] [ 1.16252596e-01 9.93219647e-01 -2.56928844e-04 4.54653875e+01] [ 2.60500500e-03 -4.62240376e-05 9.99996606e-01 -1.44093091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.141400513 meters 0.02348693665052368 Centerline is valid? [True, True] Translation: X:484.95, Y:45.47, Z:-1.44 [[ 9.92677380e-01 -1.20698981e-01 -4.83473329e-03 4.84954877e+02] [ 1.20698079e-01 9.92689148e-01 -4.79114841e-04 4.54718914e+01] [ 4.85721594e-03 -1.07936553e-04 9.99988198e-01 -1.44383590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.201400513 meters 0.0366081286401118 Centerline is valid? [True, True] Translation: X:485.01, Y:45.47, Z:-1.44 [[ 9.91790694e-01 -1.27791111e-01 -4.54430559e-03 4.85014137e+02] [ 1.27790389e-01 9.91801096e-01 -4.50293235e-04 4.54725601e+01] [ 4.56459074e-03 -1.34121937e-04 9.99989573e-01 -1.44278537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.261400513 meters 0.03618434103279509 Centerline is valid? [True, True] Translation: X:485.07, Y:45.48, Z:-1.45 [[ 9.91569941e-01 -1.29444328e-01 -5.76353048e-03 4.85072753e+02] [ 1.29443191e-01 9.91586675e-01 -5.71389212e-04 4.54784490e+01] [ 5.78900311e-03 -1.79477410e-04 9.99983227e-01 -1.44608603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.321400513 meters 0.03338445701284193 Centerline is valid? [True, True] Translation: X:485.13, Y:45.49, Z:-1.44 [[ 9.91508550e-01 -1.29937366e-01 -5.20350865e-03 4.85130117e+02] [ 1.29936439e-01 9.91522191e-01 -5.17284233e-04 4.54926395e+01] [ 5.22660884e-03 -1.63233643e-04 9.99986328e-01 -1.44445706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.381400513 meters 0.03442589612181464 Centerline is valid? [True, True] Translation: X:485.19, Y:45.50, Z:-1.44 [[ 9.91462906e-01 -1.30357931e-01 -2.84878864e-03 4.85186819e+02] [ 1.30357655e-01 9.91466995e-01 -2.83258039e-04 4.55045315e+01] [ 2.86140484e-03 -9.05215679e-05 9.99995902e-01 -1.43993415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.441400513 meters 0.03515419584140412 Centerline is valid? [True, True] Translation: X:485.25, Y:45.51, Z:-1.44 [[ 9.91246285e-01 -1.32004127e-01 -2.38998160e-03 4.85245081e+02] [ 1.32003936e-01 9.91249163e-01 -2.38332431e-04 4.55137227e+01] [ 2.40052813e-03 -7.92408423e-05 9.99997116e-01 -1.43951801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.501400513 meters 0.04193028224247823 Centerline is valid? [True, True] Translation: X:485.31, Y:45.52, Z:-1.44 [[ 9.90481391e-01 -1.37631860e-01 -2.02138438e-03 4.85305406e+02] [ 1.37631735e-01 9.90483450e-01 -2.01246909e-04 4.55180530e+01] [ 2.02984576e-03 -7.88753212e-05 9.99997937e-01 -1.43900549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.561400513 meters 0.048766562807265525 Centerline is valid? [True, True] Translation: X:485.37, Y:45.52, Z:-1.44 [[ 9.89609459e-01 -1.43695379e-01 -4.97568765e-03 4.85365810e+02] [ 1.43694700e-01 9.89621942e-01 -4.95392872e-04 4.55242171e+01] [ 4.99523534e-03 -2.24734474e-04 9.99987498e-01 -1.44283875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.621400513 meters 0.04852454633314051 Centerline is valid? [True, True] Translation: X:485.42, Y:45.53, Z:-1.45 [[ 9.89318265e-01 -1.45636228e-01 -6.28165900e-03 4.85424517e+02] [ 1.45635184e-01 9.89338163e-01 -6.25712793e-04 4.55276973e+01] [ 6.30581143e-03 -2.95801471e-04 9.99980074e-01 -1.44509374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.681400513 meters 0.04991641918290475 Centerline is valid? [True, True] Translation: X:485.48, Y:45.53, Z:-1.44 [[ 9.89352271e-01 -1.45473747e-01 -4.41279861e-03 4.85482375e+02] [ 1.45473229e-01 9.89362091e-01 -4.39902995e-04 4.55336407e+01] [ 4.42985000e-03 -2.06725036e-04 9.99990167e-01 -1.44199475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74140051300003 meters 0.04296107815075994 Centerline is valid? [True, True] Translation: X:485.54, Y:45.55, Z:-1.44 [[ 9.89657404e-01 -1.43418948e-01 -3.03784379e-03 4.85540540e+02] [ 1.43418693e-01 9.89662057e-01 -3.02871327e-04 4.55513781e+01] [ 3.04987622e-03 -1.35944734e-04 9.99995340e-01 -1.43939655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.801400513 meters 0.05275348454270372 Centerline is valid? [True, True] Translation: X:485.60, Y:45.55, Z:-1.44 [[ 9.89610775e-01 -1.43710220e-01 -4.22922473e-03 4.85599401e+02] [ 1.43709726e-01 9.89619794e-01 -4.21973735e-04 4.55470759e+01] [ 4.24596644e-03 -1.90190973e-04 9.99990968e-01 -1.44353413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.861400513 meters 0.045389120971873705 Centerline is valid? [True, True] Translation: X:485.66, Y:45.56, Z:-1.44 [[ 9.89497177e-01 -1.44462437e-01 -5.09320870e-03 4.85657350e+02] [ 1.44461726e-01 9.89510258e-01 -5.09285948e-04 4.55624411e+01] [ 5.11335495e-03 -2.31836712e-04 9.99986900e-01 -1.44330549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.921400513 meters 0.05031767661042008 Centerline is valid? [True, True] Translation: X:485.72, Y:45.57, Z:-1.45 [[ 9.89440998e-01 -1.44778876e-01 -6.75198456e-03 4.85715167e+02] [ 1.44777633e-01 9.89463987e-01 -6.75149393e-04 4.55676081e+01] [ 6.77859294e-03 -3.09515854e-04 9.99976977e-01 -1.44655863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.981400513 meters 0.051543638046289864 Centerline is valid? [True, True] Translation: X:485.77, Y:45.58, Z:-1.44 [[ 9.89298765e-01 -1.45788341e-01 -5.80633790e-03 4.85773818e+02] [ 1.45787431e-01 9.89315767e-01 -5.81868169e-04 4.55762879e+01] [ 5.82913123e-03 -2.70849627e-04 9.99982974e-01 -1.44415618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.041400513 meters 0.0573882242497686 Centerline is valid? [True, True] Translation: X:485.83, Y:45.57, Z:-1.44 [[ 9.89231965e-01 -1.46262569e-01 -5.23268285e-03 4.85831860e+02] [ 1.46261835e-01 9.89245773e-01 -5.24693870e-04 4.55746955e+01] [ 5.25315247e-03 -2.46297849e-04 9.99986172e-01 -1.44411364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.101400513 meters 0.05050696503185651 Centerline is valid? [True, True] Translation: X:485.89, Y:45.59, Z:-1.44 [[ 9.89286755e-01 -1.45903448e-01 -4.88885966e-03 4.85888836e+02] [ 1.45902798e-01 9.89298808e-01 -4.91249956e-04 4.55923134e+01] [ 4.90821810e-03 -2.27311229e-04 9.99987929e-01 -1.44151338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.161400513 meters 0.0467386855890845 Centerline is valid? [True, True] Translation: X:485.95, Y:45.60, Z:-1.44 [[ 9.89580343e-01 -1.43953471e-01 -2.85347020e-03 4.85947174e+02] [ 1.43953242e-01 9.89584449e-01 -2.86611327e-04 4.56032909e+01] [ 2.86500843e-03 -1.27141350e-04 9.99995888e-01 -1.43940824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.221400513 meters 0.04317711285872174 Centerline is valid? [True, True] Translation: X:486.00, Y:45.62, Z:-1.44 [[ 9.89660991e-01 -1.43411819e-01 -2.04267279e-03 4.86004637e+02] [ 1.43411699e-01 9.89663095e-01 -2.05894550e-04 4.56184306e+01] [ 2.05108559e-03 -8.91773720e-05 9.99997893e-01 -1.43706087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.281400513 meters 0.04697578540250166 Centerline is valid? [True, True] Translation: X:486.06, Y:45.62, Z:-1.44 [[ 9.88978382e-01 -1.48037984e-01 -2.55248033e-03 4.86064902e+02] [ 1.48037813e-01 9.88981668e-01 -2.56780430e-04 4.56244456e+01] [ 2.56236951e-03 -1.23913311e-04 9.99996709e-01 -1.43786038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.341400513 meters 0.05616861095227001 Centerline is valid? [True, True] Translation: X:486.12, Y:45.62, Z:-1.44 [[ 9.88081265e-01 -1.53856407e-01 -4.86011743e-03 4.86124443e+02] [ 1.53855857e-01 9.88093182e-01 -4.88935205e-04 4.56194848e+01] [ 4.87747471e-03 -2.64649817e-04 9.99988070e-01 -1.44181801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.401400513 meters 0.06800717349542584 Centerline is valid? [True, True] Translation: X:486.18, Y:45.61, Z:-1.44 [[ 9.86882105e-01 -1.61317066e-01 -6.36507140e-03 4.86184879e+02] [ 1.61316278e-01 9.86902553e-01 -6.40392939e-04 4.56129505e+01] [ 6.38501153e-03 -3.94797296e-04 9.99979538e-01 -1.44419615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.461400513 meters 0.06152699359883905 Centerline is valid? [True, True] Translation: X:486.24, Y:45.62, Z:-1.44 [[ 9.86725153e-01 -1.62340364e-01 -4.36792974e-03 4.86243275e+02] [ 1.62339998e-01 9.86734783e-01 -4.40585281e-04 4.56236630e+01] [ 4.38151298e-03 -2.74353125e-04 9.99990363e-01 -1.44122070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.521400513 meters 0.061730127961432214 Centerline is valid? [True, True] Translation: X:486.30, Y:45.63, Z:-1.44 [[ 9.87002362e-01 -1.60680032e-01 -2.87491939e-03 4.86301960e+02] [ 1.60679867e-01 9.87006533e-01 -2.89843786e-04 4.56283186e+01] [ 2.88413633e-03 -1.75865165e-04 9.99995825e-01 -1.43917545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.581400513 meters 0.06258654254536468 Centerline is valid? [True, True] Translation: X:486.36, Y:45.63, Z:-1.44 [[ 9.87871504e-01 -1.55261248e-01 -1.95854732e-03 4.86361304e+02] [ 1.55261160e-01 9.87873440e-01 -1.97491672e-04 4.56320702e+01] [ 1.96545968e-03 -1.08989934e-04 9.99998063e-01 -1.43756889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.641400513 meters 0.05329748875673718 Centerline is valid? [True, True] Translation: X:486.42, Y:45.65, Z:-1.44 [[ 9.88583286e-01 -1.50644457e-01 -3.05526742e-03 4.86419313e+02] [ 1.50644222e-01 9.88587995e-01 -3.08116923e-04 4.56540309e+01] [ 3.06681680e-03 -1.55659144e-04 9.99995285e-01 -1.43898112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.701400513 meters 0.04795180564751732 Centerline is valid? [True, True] Translation: X:486.48, Y:45.67, Z:-1.44 [[ 9.89361720e-01 -1.45470444e-01 -1.31807869e-03 4.86477746e+02] [ 1.45470395e-01 9.89362596e-01 -1.32998245e-04 4.56738283e+01] [ 1.32340507e-03 -6.01580560e-05 9.99999122e-01 -1.43727149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.761400513 meters 0.050743211927483475 Centerline is valid? [True, True] Translation: X:486.54, Y:45.68, Z:-1.44 [[ 9.88792804e-01 -1.49291032e-01 -9.89481178e-04 4.86537413e+02] [ 1.49291007e-01 9.88793298e-01 -9.98075333e-05 4.56848661e+01] [ 9.93292726e-04 -4.90316707e-05 9.99999505e-01 -1.43707127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.821400513 meters 0.05509094449009105 Centerline is valid? [True, True] Translation: X:486.60, Y:45.69, Z:-1.44 [[ 9.87956903e-01 -1.54723767e-01 -1.30912194e-03 4.86597831e+02] [ 1.54723727e-01 9.87957768e-01 -1.32034962e-04 4.56880239e+01] [ 1.31378613e-03 -7.21073732e-05 9.99999134e-01 -1.43779538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.881400513 meters 0.05777597046129374 Centerline is valid? [True, True] Translation: X:486.66, Y:45.70, Z:-1.44 [[ 9.86982485e-01 -1.60815863e-01 -1.95779055e-03 4.86657541e+02] [ 1.60815786e-01 9.86984419e-01 -1.97481664e-04 4.56954652e+01] [ 1.96406696e-03 -1.19932684e-04 9.99998064e-01 -1.43817351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.941400513 meters 0.07502789904373458 Centerline is valid? [True, True] Translation: X:486.72, Y:45.69, Z:-1.44 [[ 9.85784530e-01 -1.67993904e-01 -2.62823917e-03 4.86717980e+02] [ 1.67993792e-01 9.85788018e-01 -2.65083451e-04 4.56853538e+01] [ 2.63541909e-03 -1.80212698e-04 9.99996511e-01 -1.44072296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.001400513 meters 0.07127262471959588 Centerline is valid? [True, True] Translation: X:486.78, Y:45.70, Z:-1.44 [[ 9.85064404e-01 -1.72155674e-01 -3.24712453e-03 4.86777379e+02] [ 1.72155525e-01 9.85069727e-01 -3.27574617e-04 4.56973372e+01] [ 3.25503791e-03 -2.36328333e-04 9.99994674e-01 -1.44092862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.061400513 meters 0.07921923959869757 Centerline is valid? [True, True] Translation: X:486.84, Y:45.69, Z:-1.44 [[ 9.84274600e-01 -1.76615391e-01 -3.24266832e-03 4.86837352e+02] [ 1.76615266e-01 9.84279910e-01 -3.27124156e-04 4.56916638e+01] [ 3.24946844e-03 -2.50724731e-04 9.99994689e-01 -1.44153648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.121400513 meters 0.07723221978076922 Centerline is valid? [True, True] Translation: X:486.90, Y:45.70, Z:-1.44 [[ 9.84105082e-01 -1.77554062e-01 -3.42690542e-03 4.86896063e+02] [ 1.77553927e-01 9.84111012e-01 -3.45993882e-04 4.57014060e+01] [ 3.43388798e-03 -2.67966176e-04 9.99994068e-01 -1.44145739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.181400513 meters 0.07878581538382194 Centerline is valid? [True, True] Translation: X:486.96, Y:45.70, Z:-1.45 [[ 9.84351033e-01 -1.76107375e-01 -6.26381818e-03 4.86955950e+02] [ 1.76106895e-01 9.84370845e-01 -6.32397725e-04 4.56970993e+01] [ 6.27728991e-03 -4.80600220e-04 9.99980182e-01 -1.44688119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24140051300003 meters 0.08213118836737895 Centerline is valid? [True, True] Translation: X:487.01, Y:45.69, Z:-1.45 [[ 9.84558658e-01 -1.74960968e-01 -5.73659285e-03 4.87014970e+02] [ 1.74960545e-01 9.84575275e-01 -5.79396680e-04 4.56941229e+01] [ 5.74947928e-03 -4.33227393e-04 9.99983378e-01 -1.44732961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.301400513 meters 0.07593514913125252 Centerline is valid? [True, True] Translation: X:487.07, Y:45.70, Z:-1.44 [[ 9.84996523e-01 -1.72554861e-01 -2.58261095e-03 4.87074509e+02] [ 1.72554767e-01 9.84999891e-01 -2.60860263e-04 4.57025149e+01] [ 2.58888421e-03 -1.88695379e-04 9.99996631e-01 -1.44195268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.361400513 meters 0.07498751266748589 Centerline is valid? [True, True] Translation: X:487.13, Y:45.71, Z:-1.45 [[ 9.85259848e-01 -1.70991373e-01 -4.99829416e-03 4.87134073e+02] [ 1.70991001e-01 9.85272461e-01 -5.04895028e-04 4.57090233e+01] [ 5.01101428e-03 -3.57210520e-04 9.99987381e-01 -1.44558392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.421400513 meters 0.07583128325607631 Centerline is valid? [True, True] Translation: X:487.19, Y:45.71, Z:-1.45 [[ 9.85049295e-01 -1.72123906e-01 -7.15870934e-03 4.87193764e+02] [ 1.72123170e-01 9.85075170e-01 -7.23311133e-04 4.57123818e+01] [ 7.17636596e-03 -5.19682625e-04 9.99974115e-01 -1.45042076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.481400513 meters 0.07625833818048502 Centerline is valid? [True, True] Translation: X:487.25, Y:45.71, Z:-1.45 [[ 9.84581884e-01 -1.74831868e-01 -5.68617552e-03 4.87254694e+02] [ 1.74831449e-01 9.84598210e-01 -5.74561545e-04 4.57084625e+01] [ 5.69904991e-03 -4.28419417e-04 9.99983669e-01 -1.44837211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.541400513 meters 0.07988021955340716 Centerline is valid? [True, True] Translation: X:487.32, Y:45.70, Z:-1.45 [[ 9.83778558e-01 -1.79335742e-01 -4.29417314e-03 4.87315811e+02] [ 1.79335545e-01 9.83787870e-01 -4.33939540e-04 4.57028471e+01] [ 4.30237632e-03 -3.43197467e-04 9.99990686e-01 -1.44609822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.601400513 meters 0.08327045129376302 Centerline is valid? [True, True] Translation: X:487.38, Y:45.70, Z:-1.45 [[ 9.83418489e-01 -1.81302751e-01 -4.16992325e-03 4.87376689e+02] [ 1.81302583e-01 9.83427270e-01 -4.21452228e-04 4.57008850e+01] [ 4.17722669e-03 -3.41553944e-04 9.99991217e-01 -1.44595189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.661400513 meters 0.08131008100272206 Centerline is valid? [True, True] Translation: X:487.44, Y:45.71, Z:-1.45 [[ 9.83334851e-01 -1.81744908e-01 -4.62157204e-03 4.87435006e+02] [ 1.81744701e-01 9.83345638e-01 -4.68217410e-04 4.57081830e+01] [ 4.62969884e-03 -3.79531731e-04 9.99989211e-01 -1.44544880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.721400513 meters 0.07417883508572781 Centerline is valid? [True, True] Translation: X:487.49, Y:45.72, Z:-1.44 [[ 9.83815346e-01 -1.79128645e-01 -4.50489239e-03 4.87493951e+02] [ 1.79128422e-01 9.83825594e-01 -4.56093289e-04 4.57245921e+01] [ 4.51372781e-03 -3.58242691e-04 9.99989749e-01 -1.44420200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.781400513 meters 0.07442978788739683 Centerline is valid? [True, True] Translation: X:487.55, Y:45.73, Z:-1.44 [[ 9.84256934e-01 -1.76700462e-01 -3.90325903e-03 4.87553333e+02] [ 1.76700276e-01 9.84264627e-01 -3.95277498e-04 4.57288737e+01] [ 3.91168551e-03 -3.00652329e-04 9.99992304e-01 -1.44388609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.841400513 meters 0.07323929238946646 Centerline is valid? [True, True] Translation: X:487.61, Y:45.74, Z:-1.44 [[ 9.85058888e-01 -1.72188615e-01 -3.17312271e-03 4.87611569e+02] [ 1.72188468e-01 9.85063972e-01 -3.21399071e-04 4.57379667e+01] [ 3.18107012e-03 -2.29778129e-04 9.99994914e-01 -1.44224552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.901400513 meters 0.06831097733784758 Centerline is valid? [True, True] Translation: X:487.67, Y:45.75, Z:-1.44 [[ 9.85588106e-01 -1.69150887e-01 -2.01585409e-03 4.87670609e+02] [ 1.69150821e-01 9.85590157e-01 -2.04219672e-04 4.57528382e+01] [ 2.02134989e-03 -1.39706896e-04 9.99997947e-01 -1.44045482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.961400513 meters 0.06682797090610577 Centerline is valid? [True, True] Translation: X:487.73, Y:45.76, Z:-1.44 [[ 9.85852503e-01 -1.67603675e-01 -1.96253315e-03 4.87729436e+02] [ 1.67603609e-01 9.85854447e-01 -1.98887007e-04 4.57629322e+01] [ 1.96810623e-03 -1.32854386e-04 9.99998054e-01 -1.44058489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.021400513 meters 0.06888419584445221 Centerline is valid? [True, True] Translation: X:487.79, Y:45.77, Z:-1.45 [[ 9.86416027e-01 -1.64214439e-01 -4.12802965e-03 4.87787582e+02] [ 1.64214120e-01 9.86424629e-01 -4.18377036e-04 4.57743930e+01] [ 4.14069366e-03 -2.65186942e-04 9.99991392e-01 -1.44517825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.081400513 meters 0.05793436948132677 Centerline is valid? [True, True] Translation: X:487.85, Y:45.80, Z:-1.45 [[ 9.86578951e-01 -1.63202999e-01 -5.17238780e-03 4.87845174e+02] [ 1.63202482e-01 9.86592456e-01 -5.24778319e-04 4.57958419e+01] [ 5.18868418e-03 -3.26411284e-04 9.99986485e-01 -1.44560429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.141400513 meters 0.05674730587005365 Centerline is valid? [True, True] Translation: X:487.90, Y:45.81, Z:-1.45 [[ 9.86904139e-01 -1.61232802e-01 -4.91967793e-03 4.87903801e+02] [ 1.61232309e-01 9.86916356e-01 -4.99126330e-04 4.58073961e+01] [ 4.93578615e-03 -3.00621192e-04 9.99987774e-01 -1.44570204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.201400513 meters 0.053873731990515886 Centerline is valid? [True, True] Translation: X:487.96, Y:45.83, Z:-1.44 [[ 9.87599942e-01 -1.56953102e-01 -3.47532308e-03 4.87962031e+02] [ 1.56952830e-01 9.87606037e-01 -3.52663626e-04 4.58252807e+01] [ 3.48760171e-03 -1.97171216e-04 9.99993899e-01 -1.44266502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.261400513 meters 0.05504571029485512 Centerline is valid? [True, True] Translation: X:488.02, Y:45.84, Z:-1.44 [[ 9.88027063e-01 -1.54222945e-01 -4.21966549e-03 4.88020603e+02] [ 1.54222518e-01 9.88036048e-01 -4.28296238e-04 4.58373029e+01] [ 4.23523472e-03 -2.27599163e-04 9.99991005e-01 -1.44414716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.321400513 meters 0.059504512911828254 Centerline is valid? [True, True] Translation: X:488.08, Y:45.85, Z:-1.44 [[ 9.88020714e-01 -1.54314047e-01 -1.49766472e-03 4.88077533e+02] [ 1.54313993e-01 9.88021846e-01 -1.52223753e-04 4.58464800e+01] [ 1.50321573e-03 -8.07104014e-05 9.99998867e-01 -1.44168990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.381400513 meters 0.05911353746913283 Centerline is valid? [True, True] Translation: X:488.14, Y:45.87, Z:-1.44 [[ 9.87604663e-01 -1.56925819e-01 -3.36413951e-03 4.88135793e+02] [ 1.56925562e-01 9.87610374e-01 -3.41680539e-04 4.58653131e+01] [ 3.37607758e-03 -1.90474192e-04 9.99994283e-01 -1.44238076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.441400513 meters 0.06295501483012823 Centerline is valid? [True, True] Translation: X:488.19, Y:45.88, Z:-1.45 [[ 9.86948071e-01 -1.60908947e-01 -6.46659254e-03 4.88193965e+02] [ 1.60908084e-01 9.86969177e-01 -6.56930510e-04 4.58755174e+01] [ 6.48803352e-03 -3.92170718e-04 9.99978876e-01 -1.44647250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.501400513 meters 0.06255647749186946 Centerline is valid? [True, True] Translation: X:488.25, Y:45.89, Z:-1.44 [[ 9.86508491e-01 -1.63645072e-01 -4.61391218e-03 4.88252783e+02] [ 1.63644662e-01 9.86519237e-01 -4.68765595e-04 4.58910631e+01] [ 4.62842430e-03 -2.92600861e-04 9.99989246e-01 -1.44389176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.561400513 meters 0.06413612076297158 Centerline is valid? [True, True] Translation: X:488.31, Y:45.90, Z:-1.44 [[ 9.86074022e-01 -1.66278551e-01 -3.07672542e-03 4.88312246e+02] [ 1.66278381e-01 9.86078801e-01 -3.12634184e-04 4.59007202e+01] [ 3.08587808e-03 -2.03312475e-04 9.99995218e-01 -1.44279029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.621400513 meters 0.07160366138538735 Centerline is valid? [True, True] Translation: X:488.37, Y:45.90, Z:-1.44 [[ 9.85085338e-01 -1.72024239e-01 -3.81277870e-03 4.88372247e+02] [ 1.72024021e-01 9.85092679e-01 -3.87405921e-04 4.59000934e+01] [ 3.82258359e-03 -2.74261629e-04 9.99992656e-01 -1.44496952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.681400513 meters 0.07948544893329919 Centerline is valid? [True, True] Translation: X:488.43, Y:45.90, Z:-1.45 [[ 9.84287075e-01 -1.76529807e-01 -4.02271651e-03 4.88432336e+02] [ 1.76529602e-01 9.84295247e-01 -4.08747613e-04 4.58991494e+01] [ 4.03169687e-03 -3.07803551e-04 9.99991825e-01 -1.44576684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74140051300003 meters 0.0821570745143706 Centerline is valid? [True, True] Translation: X:488.49, Y:45.91, Z:-1.45 [[ 9.83855223e-01 -1.78918990e-01 -4.11032649e-03 4.88491723e+02] [ 1.78918796e-01 9.83863756e-01 -4.17732480e-04 4.59077516e+01] [ 4.11874153e-03 -3.24426385e-04 9.99991465e-01 -1.44611926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.801400513 meters 0.0719561989001365 Centerline is valid? [True, True] Translation: X:488.55, Y:45.93, Z:-1.44 [[ 9.84261296e-01 -1.76664985e-01 -4.37989530e-03 4.88549654e+02] [ 1.76664743e-01 9.84270984e-01 -4.45120574e-04 4.59322524e+01] [ 4.38964108e-03 -3.35658125e-04 9.99990309e-01 -1.44488951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.861400513 meters 0.07084547245341329 Centerline is valid? [True, True] Translation: X:488.61, Y:45.95, Z:-1.45 [[ 9.85468779e-01 -1.69797477e-01 -4.48365254e-03 4.88607340e+02] [ 1.69797152e-01 9.85478929e-01 -4.55715441e-04 4.59508527e+01] [ 4.49592444e-03 -3.12218094e-04 9.99989845e-01 -1.44553174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.921400513 meters 0.06522436230799461 Centerline is valid? [True, True] Translation: X:488.67, Y:45.97, Z:-1.44 [[ 9.86143139e-01 -1.65878950e-01 -2.42575831e-03 4.88665401e+02] [ 1.65878843e-01 9.86146109e-01 -2.46618559e-04 4.59710964e+01] [ 2.43306095e-03 -1.59180781e-04 9.99997027e-01 -1.44308231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.981400513 meters 0.06728924133799379 Centerline is valid? [True, True] Translation: X:488.72, Y:45.99, Z:-1.44 [[ 9.86390277e-01 -1.64395444e-01 -2.89133617e-03 4.88723804e+02] [ 1.64395286e-01 9.86394497e-01 -2.93968012e-04 4.59923863e+01] [ 2.90032509e-03 -1.85354847e-04 9.99995777e-01 -1.44408906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.041400513 meters 0.07140342052317204 Centerline is valid? [True, True] Translation: X:488.78, Y:46.00, Z:-1.45 [[ 9.85971703e-01 -1.66824068e-01 -5.43433098e-03 4.88782859e+02] [ 1.66823545e-01 9.85986612e-01 -5.52574474e-04 4.59955613e+01] [ 5.45036031e-03 -3.61751564e-04 9.99985081e-01 -1.44835873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.101400513 meters 0.06989438156845795 Centerline is valid? [True, True] Translation: X:488.84, Y:46.01, Z:-1.45 [[ 9.84318156e-01 -1.76344939e-01 -4.49783525e-03 4.88842448e+02] [ 1.76344680e-01 9.84328372e-01 -4.57367086e-04 4.60103277e+01] [ 4.50800122e-03 -3.42974590e-04 9.99989780e-01 -1.44540319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.161400513 meters 0.07568124284938255 Centerline is valid? [True, True] Translation: X:488.90, Y:46.01, Z:-1.45 [[ 9.83175251e-01 -1.82595849e-01 -5.01825526e-03 4.88902408e+02] [ 1.82595606e-01 9.83187970e-01 -5.10268479e-04 4.60061378e+01] [ 5.02706111e-03 -4.14628023e-04 9.99987278e-01 -1.44698152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.221400513 meters 0.080881181414407 Centerline is valid? [True, True] Translation: X:488.96, Y:46.01, Z:-1.45 [[ 9.82572201e-01 -1.85765919e-01 -6.54931287e-03 4.88962358e+02] [ 1.85765575e-01 9.82593867e-01 -6.66046195e-04 4.60082261e+01] [ 6.55904335e-03 -5.62198399e-04 9.99978331e-01 -1.44912172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.281400513 meters 0.08517087193766174 Centerline is valid? [True, True] Translation: X:489.02, Y:46.01, Z:-1.45 [[ 9.82843416e-01 -1.84340185e-01 -6.12508122e-03 4.89021601e+02] [ 1.84339856e-01 9.82862365e-01 -6.23076866e-04 4.60090845e+01] [ 6.13496992e-03 -5.16709598e-04 9.99981047e-01 -1.44859434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.341400513 meters 0.07664615463631864 Centerline is valid? [True, True] Translation: X:489.08, Y:46.03, Z:-1.45 [[ 9.83474141e-01 -1.80987544e-01 -4.70345195e-03 4.89080618e+02] [ 1.80987312e-01 9.83485315e-01 -4.78443570e-04 4.60279688e+01] [ 4.71236824e-03 -3.80728245e-04 9.99988824e-01 -1.44659371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.401400513 meters 0.06533477589741071 Centerline is valid? [True, True] Translation: X:489.14, Y:46.06, Z:-1.44 [[ 9.83685112e-01 -1.79852061e-01 -4.10318846e-03 4.89137721e+02] [ 1.79851874e-01 9.83693615e-01 -4.17538469e-04 4.60564025e+01] [ 4.11137544e-03 -3.27239759e-04 9.99991495e-01 -1.44449005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.461400513 meters 0.08750165710424551 Centerline is valid? [True, True] Translation: X:489.20, Y:46.04, Z:-1.45 [[ 9.83235358e-01 -1.82316861e-01 -2.96529484e-03 4.89199626e+02] [ 1.82316775e-01 9.83239799e-01 -3.01694990e-04 4.60375432e+01] [ 2.97059998e-03 -2.43985810e-04 9.99995558e-01 -1.44633717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.521400513 meters 0.08090468962435315 Centerline is valid? [True, True] Translation: X:489.26, Y:46.05, Z:-1.45 [[ 9.82385204e-01 -1.86850263e-01 -2.50786952e-03 4.89258439e+02] [ 1.86850216e-01 9.82388381e-01 -2.55157954e-04 4.60535749e+01] [ 2.51137820e-03 -2.17932561e-04 9.99996823e-01 -1.44511325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.581400513 meters 0.08204916050831094 Centerline is valid? [True, True] Translation: X:489.32, Y:46.06, Z:-1.44 [[ 9.81929806e-01 -1.89236203e-01 -1.87489588e-03 4.89318120e+02] [ 1.89236181e-01 9.81931582e-01 -1.90808943e-04 4.60600410e+01] [ 1.87712743e-03 -1.67437147e-04 9.99998224e-01 -1.44297121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.641400513 meters 0.0940046508403288 Centerline is valid? [True, True] Translation: X:489.38, Y:46.05, Z:-1.44 [[ 9.81477423e-01 -1.91567536e-01 -1.98675340e-03 4.89379551e+02] [ 1.91567516e-01 9.81479417e-01 -2.02169651e-04 4.60475183e+01] [ 1.98868671e-03 -1.82172465e-04 9.99998006e-01 -1.44441168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.701400513 meters 0.09360917516227099 Centerline is valid? [True, True] Translation: X:489.44, Y:46.05, Z:-1.45 [[ 9.81129660e-01 -1.93316962e-01 -3.62518894e-03 4.89439791e+02] [ 1.93316907e-01 9.81136299e-01 -3.68904952e-04 4.60549473e+01] [ 3.62812005e-03 -3.38866722e-04 9.99993361e-01 -1.44753726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.761400513 meters 0.09795989930143847 Centerline is valid? [True, True] Translation: X:489.50, Y:46.05, Z:-1.45 [[ 9.81003999e-01 -1.93922244e-01 -5.03157341e-03 4.89499346e+02] [ 1.93922144e-01 9.81016789e-01 -5.12260112e-04 4.60509537e+01] [ 5.03539662e-03 -4.73204287e-04 9.99987210e-01 -1.44974167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.821400513 meters 0.09175948294139612 Centerline is valid? [True, True] Translation: X:489.56, Y:46.06, Z:-1.45 [[ 9.81777776e-01 -1.89965958e-01 -5.03316275e-03 4.89558994e+02] [ 1.89965807e-01 9.81790573e-01 -5.12383081e-04 4.60576604e+01] [ 5.03884709e-03 -4.53082502e-04 9.99987202e-01 -1.44881054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.881400513 meters 0.08093113554924682 Centerline is valid? [True, True] Translation: X:489.62, Y:46.08, Z:-1.45 [[ 9.82282916e-01 -1.87335410e-01 -5.07112454e-03 4.89617654e+02] [ 1.87335222e-01 9.82295907e-01 -5.16280864e-04 4.60762822e+01] [ 5.07806257e-03 -4.42866370e-04 9.99987008e-01 -1.44847901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.941400513 meters 0.07806736775469857 Centerline is valid? [True, True] Translation: X:489.68, Y:46.08, Z:-1.45 [[ 9.84257154e-01 -1.76694706e-01 -4.10320859e-03 4.89675167e+02] [ 1.76691257e-01 9.84265605e-01 -1.19124035e-03 4.60825246e+01] [ 4.24913294e-03 4.47485751e-04 9.99990872e-01 -1.44877321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.001400513 meters 0.07826147991636292 Centerline is valid? [True, True] Translation: X:489.74, Y:46.08, Z:-1.45 [[ 9.84829039e-01 -1.73449761e-01 -5.19077639e-03 4.89736440e+02] [ 1.73453255e-01 9.84842077e-01 2.27366614e-04 4.60821528e+01] [ 5.07265831e-03 -1.12427431e-03 9.99986502e-01 -1.45044652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.061400513 meters 0.06112252965790149 Centerline is valid? [True, True] Translation: X:489.79, Y:46.11, Z:-1.45 [[ 9.85621397e-01 -1.68946155e-01 -2.76734415e-03 4.89794309e+02] [ 1.68946026e-01 9.85625264e-01 -2.81907681e-04 4.61062873e+01] [ 2.77519153e-03 -1.89677554e-04 9.99996131e-01 -1.44639575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.121400513 meters 0.0669142773699898 Centerline is valid? [True, True] Translation: X:489.85, Y:46.10, Z:-1.45 [[ 9.86146966e-01 -1.65848437e-01 -2.90813358e-03 4.89854486e+02] [ 1.65848282e-01 9.86151236e-01 -2.96309791e-04 4.61026006e+01] [ 2.91700204e-03 -1.90103956e-04 9.99995727e-01 -1.44734110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.181400513 meters 0.054705573129150496 Centerline is valid? [True, True] Translation: X:489.91, Y:46.11, Z:-1.45 [[ 9.87025023e-01 -1.60564942e-01 -7.09645745e-04 4.89911437e+02] [ 1.60565699e-01 9.86996341e-01 7.54189172e-03 4.61145356e+01] [-5.10545654e-04 -7.55798061e-03 9.99971308e-01 -1.44733648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24140051300003 meters 0.05809148596677315 Centerline is valid? [True, True] Translation: X:489.97, Y:46.13, Z:-1.45 [[ 9.87682797e-01 -1.56445500e-01 -2.73837174e-03 4.89971040e+02] [ 1.56419841e-01 9.87659069e-01 -7.89912394e-03 4.61344899e+01] [ 3.94036008e-03 7.37349315e-03 9.99965052e-01 -1.44679258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.301400513 meters 0.04405006409670815 Centerline is valid? [True, True] Translation: X:490.03, Y:46.15, Z:-1.45 [[ 9.89444179e-01 -1.44900155e-01 -2.03983452e-03 4.90031117e+02] [ 1.44900034e-01 9.89446278e-01 -2.07957251e-04 4.61454634e+01] [ 2.04843971e-03 -8.98099998e-05 9.99997898e-01 -1.44510568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.361400513 meters 0.03983487371788996 Centerline is valid? [True, True] Translation: X:490.09, Y:46.16, Z:-1.45 [[ 9.90702274e-01 -1.36021235e-01 -2.68859767e-03 4.90089536e+02] [ 1.36020991e-01 9.90705917e-01 -2.74155991e-04 4.61576094e+01] [ 2.70090066e-03 -9.40987568e-05 9.99996348e-01 -1.44713704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.421400513 meters 0.031418882799204656 Centerline is valid? [True, True] Translation: X:490.15, Y:46.17, Z:-1.45 [[ 9.91149843e-01 -1.32706718e-01 -3.30385878e-03 4.90147801e+02] [ 1.32706331e-01 9.91155344e-01 -3.36992209e-04 4.61734050e+01] [ 3.31935841e-03 -1.04433203e-04 9.99994485e-01 -1.44673457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.481400513 meters 0.028239905047594653 Centerline is valid? [True, True] Translation: X:490.21, Y:46.18, Z:-1.44 [[ 9.91705671e-01 -1.28520221e-01 -1.55422553e-03 4.90206505e+02] [ 1.28520131e-01 9.91706888e-01 -1.58598933e-04 4.61805071e+01] [ 1.56171933e-03 -4.24658061e-05 9.99998780e-01 -1.44485167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.541400513 meters 0.022945555504581817 Centerline is valid? [True, True] Translation: X:490.26, Y:46.19, Z:-1.44 [[ 9.92501589e-01 -1.22231169e-01 -3.70201287e-04 4.90264904e+02] [ 1.22231163e-01 9.92501658e-01 -3.78089329e-05 4.61925485e+01] [ 3.72046821e-04 -7.72470783e-06 9.99999931e-01 -1.44360390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.601400513 meters 0.019785714216962843 Centerline is valid? [True, True] Translation: X:490.32, Y:46.20, Z:-1.45 [[ 9.92967694e-01 -1.18375727e-01 -1.53162462e-03 4.90323361e+02] [ 1.18375626e-01 9.92968875e-01 -1.56353437e-04 4.62025013e+01] [ 1.53936403e-03 -2.60531116e-05 9.99998815e-01 -1.44537223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.661400513 meters 0.013611728451195933 Centerline is valid? [True, True] Translation: X:490.38, Y:46.22, Z:-1.45 [[ 9.93654043e-01 -1.12466813e-01 -1.69085980e-03 4.90381544e+02] [ 1.12466682e-01 9.93655481e-01 -1.72645276e-04 4.62173068e+01] [ 1.69954898e-03 -1.86157143e-05 9.99998556e-01 -1.44647189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.721400513 meters 0.01093504157795491 Centerline is valid? [True, True] Translation: X:490.44, Y:46.23, Z:-1.45 [[ 9.94073634e-01 -1.08696865e-01 -1.61304049e-03 4.90440194e+02] [ 1.08696741e-01 9.94074943e-01 -1.64691116e-04 4.62271636e+01] [ 1.62138454e-03 -1.16171485e-05 9.99998685e-01 -1.44631566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.781400513 meters 0.008439501338089142 Centerline is valid? [True, True] Translation: X:490.50, Y:46.24, Z:-1.45 [[ 9.94575679e-01 -1.04003337e-01 -1.58910927e-03 4.90499736e+02] [ 1.04003210e-01 9.94576948e-01 -1.62218346e-04 4.62383770e+01] [ 1.59736270e-03 -3.93404422e-06 9.99998724e-01 -1.44528000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.841400513 meters 0.013647683945935744 Centerline is valid? [True, True] Translation: X:490.56, Y:46.25, Z:-1.44 [[ 9.94729033e-01 -1.02537142e-01 -5.34624272e-04 4.90559090e+02] [ 1.02537128e-01 9.94729176e-01 -5.45751427e-05 4.62489104e+01] [ 5.37402341e-04 -5.31358273e-07 9.99999856e-01 -1.44482461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.901400513 meters 0.019501789678577602 Centerline is valid? [True, True] Translation: X:490.62, Y:46.26, Z:-1.45 [[ 9.95000809e-01 -9.98243325e-02 -2.91416416e-03 4.90620001e+02] [ 9.98238901e-02 9.95005077e-01 -2.97213626e-04 4.62615697e+01] [ 2.92927729e-03 4.82459571e-06 9.99995710e-01 -1.44794566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.961400513 meters 0.009939616580147055 Centerline is valid? [True, True] Translation: X:490.68, Y:46.28, Z:-1.45 [[ 9.95334683e-01 -9.64147879e-02 -3.61343996e-03 4.90679696e+02] [ 9.64140854e-02 9.95341242e-01 -3.68536278e-04 4.62776534e+01] [ 3.63213817e-03 1.84304300e-05 9.99993404e-01 -1.44807113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.021400513 meters 0.012064793285916286 Centerline is valid? [True, True] Translation: X:490.74, Y:46.29, Z:-1.45 [[ 9.95642787e-01 -9.31752274e-02 -3.71720513e-03 4.90739984e+02] [ 9.31744616e-02 9.95649726e-01 -3.79029118e-04 4.62927305e+01] [ 3.73635039e-03 3.10290209e-05 9.99993019e-01 -1.44907230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.081400513 meters 0.013610539823761113 Centerline is valid? [True, True] Translation: X:490.80, Y:46.31, Z:-1.45 [[ 9.95871216e-01 -9.07730701e-02 -8.77855320e-04 4.90800640e+02] [ 9.07730265e-02 9.95871603e-01 -8.93594764e-05 4.63079650e+01] [ 8.82342619e-04 9.30494619e-06 9.99999611e-01 -1.44564964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.141400513 meters 0.01265458155884104 Centerline is valid? [True, True] Translation: X:490.86, Y:46.32, Z:-1.44 [[ 9.95811323e-01 -9.14258996e-02 1.05546432e-03 4.90861864e+02] [ 9.14258368e-02 9.95811882e-01 1.07658667e-04 4.63161985e+01] [-1.06088670e-03 -1.07110109e-05 9.99999437e-01 -1.44281519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.201400513 meters 0.01299967706847455 Centerline is valid? [True, True] Translation: X:490.92, Y:46.32, Z:-1.44 [[ 9.95828037e-01 -9.12458958e-02 8.40860466e-04 4.90922235e+02] [ 9.12458560e-02 9.95828392e-01 8.57305691e-05 4.63233402e+01] [-8.45175288e-04 -8.64787144e-06 9.99999643e-01 -1.44415542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.261400513 meters 0.01980105076372064 Centerline is valid? [True, True] Translation: X:490.98, Y:46.34, Z:-1.45 [[ 9.96362448e-01 -8.52153735e-02 -4.61580849e-04 4.90981050e+02] [ 8.52153609e-02 9.96362555e-01 -4.69744733e-05 4.63406309e+01] [ 4.63904821e-04 7.46982254e-06 9.99999892e-01 -1.44685551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.321400513 meters 0.024944782374014273 Centerline is valid? [True, True] Translation: X:491.04, Y:46.35, Z:-1.45 [[ 9.96806547e-01 -7.98507627e-02 7.50059580e-04 4.91041653e+02] [ 7.98507278e-02 9.96806830e-01 7.64229906e-05 4.63536731e+01] [-7.53766946e-04 -1.62861340e-05 9.99999716e-01 -1.44539450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.381400513 meters 0.02992514142980065 Centerline is valid? [True, True] Translation: X:491.10, Y:46.37, Z:-1.45 [[ 9.97238937e-01 -7.42594045e-02 2.06330662e-04 4.91102268e+02] [ 7.42594017e-02 9.97238959e-01 2.10622663e-05 4.63657176e+01] [-2.07325046e-04 -5.68212051e-06 9.99999978e-01 -1.44735568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.441400513 meters 0.030303073104506837 Centerline is valid? [True, True] Translation: X:491.16, Y:46.37, Z:-1.45 [[ 9.97234977e-01 -7.42580473e-02 -2.85364040e-03 4.91164319e+02] [ 7.42575206e-02 9.97239057e-01 -2.90198604e-04 4.63663548e+01] [ 2.86731124e-03 7.74919372e-05 9.99995886e-01 -1.45293509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.501400513 meters 0.030023401717332476 Centerline is valid? [True, True] Translation: X:491.23, Y:46.37, Z:-1.45 [[ 9.97179454e-01 -7.50325724e-02 -1.80242665e-03 4.91225478e+02] [ 7.50323637e-02 9.97181082e-01 -1.83217306e-04 4.63693284e+01] [ 1.81109302e-03 4.74602018e-05 9.99998359e-01 -1.45123245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.561400513 meters 0.030226520566767636 Centerline is valid? [True, True] Translation: X:491.29, Y:46.37, Z:-1.45 [[ 9.97161052e-01 -7.52929869e-02 -8.95508625e-04 4.91287666e+02] [ 7.52929356e-02 9.97161454e-01 -9.09114929e-05 4.63728999e+01] [ 8.99811681e-04 2.32279267e-05 9.99999595e-01 -1.45009017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.621400513 meters 0.027852065919780285 Centerline is valid? [True, True] Translation: X:491.35, Y:46.37, Z:-1.45 [[ 9.97205384e-01 -7.47089157e-02 2.20798527e-05 4.91350315e+02] [ 7.47089156e-02 9.97205384e-01 2.36917968e-06 4.63708187e+01] [-2.21951468e-05 -7.12996876e-07 1.00000000e+00 -1.44760289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.681400513 meters 0.031121381348968316 Centerline is valid? [True, True] Translation: X:491.41, Y:46.38, Z:-1.45 [[ 9.97206488e-01 -7.46844485e-02 -1.20527018e-03 4.91411063e+02] [ 7.46843551e-02 9.97207216e-01 -1.22319324e-04 4.63773132e+01] [ 1.21103947e-03 3.19627975e-05 9.99999266e-01 -1.45001744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74140051300003 meters 0.029559349120321012 Centerline is valid? [True, True] Translation: X:491.47, Y:46.38, Z:-1.45 [[ 9.97214457e-01 -7.45710879e-02 -1.57479951e-03 4.91473777e+02] [ 7.45709286e-02 9.97215699e-01 -1.59743822e-04 4.63768196e+01] [ 1.58232707e-03 4.18645866e-05 9.99998747e-01 -1.45040252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.801400513 meters 0.030281435169583842 Centerline is valid? [True, True] Translation: X:491.54, Y:46.38, Z:-1.45 [[ 9.97234049e-01 -7.43203869e-02 -8.55324612e-04 4.91535748e+02] [ 7.43203399e-02 9.97234416e-01 -8.66651910e-05 4.63805818e+01] [ 8.59400130e-04 2.28574635e-05 9.99999630e-01 -1.44931095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.861400513 meters 0.031960575888470545 Centerline is valid? [True, True] Translation: X:491.60, Y:46.39, Z:-1.45 [[ 9.97321370e-01 -7.31441010e-02 -1.62501909e-04 4.91597281e+02] [ 7.31440994e-02 9.97321383e-01 -1.62896161e-05 4.63857731e+01] [ 1.63258118e-04 4.35992649e-06 9.99999987e-01 -1.44829967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.921400513 meters 0.03273747693365699 Centerline is valid? [True, True] Translation: X:491.66, Y:46.39, Z:-1.45 [[ 9.97463123e-01 -7.11820931e-02 -6.54825847e-04 4.91659554e+02] [ 7.11820649e-02 9.97463337e-01 -6.62380311e-05 4.63887201e+01] [ 6.57879736e-04 1.94581374e-05 9.99999783e-01 -1.44976607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.981400513 meters 0.03953056871024284 Centerline is valid? [True, True] Translation: X:491.72, Y:46.40, Z:-1.45 [[ 9.97721171e-01 -6.74644194e-02 -1.00897706e-03 4.91718953e+02] [ 6.74643504e-02 9.97721680e-01 -1.02251786e-04 4.63985660e+01] [ 1.01357664e-03 3.39487899e-05 9.99999486e-01 -1.45066094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.041400513 meters 0.0420096127095414 Centerline is valid? [True, True] Translation: X:491.78, Y:46.40, Z:-1.45 [[ 9.98134285e-01 -6.10561261e-02 3.14842373e-04 4.91778747e+02] [ 6.10561191e-02 9.98134334e-01 3.18841042e-05 4.64044423e+01] [-3.16201702e-04 -1.26015641e-05 9.99999950e-01 -1.44855043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.101400513 meters 0.048880063316969896 Centerline is valid? [True, True] Translation: X:491.84, Y:46.42, Z:-1.45 [[ 9.98363117e-01 -5.71551229e-02 2.09228955e-03 4.91837966e+02] [ 5.71548037e-02 9.98365306e-01 2.12071270e-04 4.64168423e+01] [-2.10099026e-03 -9.21397351e-05 9.99997789e-01 -1.44645273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.161400513 meters 0.04944833777675771 Centerline is valid? [True, True] Translation: X:491.90, Y:46.42, Z:-1.45 [[ 9.98448151e-01 -5.56436226e-02 2.25335820e-03 4.91900013e+02] [ 5.56432487e-02 9.98450688e-01 2.28323592e-04 4.64198668e+01] [-2.26257180e-03 -1.02585098e-04 9.99997435e-01 -1.44649972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.221400513 meters 0.04579265118649864 Centerline is valid? [True, True] Translation: X:491.96, Y:46.41, Z:-1.45 [[ 9.98259770e-01 -5.89631939e-02 -8.79237687e-04 4.91962661e+02] [ 5.89631384e-02 9.98260157e-01 -8.89876996e-05 4.64096055e+01] [ 8.82954950e-04 3.69902272e-05 9.99999610e-01 -1.45146275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.281400513 meters 0.04168020877677148 Centerline is valid? [True, True] Translation: X:492.02, Y:46.40, Z:-1.45 [[ 9.98010736e-01 -6.30441435e-02 8.11308425e-05 4.92024526e+02] [ 6.30441430e-02 9.98010739e-01 8.24435820e-06 4.64005589e+01] [-8.14892107e-05 -3.11313356e-06 9.99999997e-01 -1.45081547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.341400513 meters 0.045132491235083096 Centerline is valid? [True, True] Translation: X:492.08, Y:46.40, Z:-1.45 [[ 9.97911730e-01 -6.45469250e-02 2.42366326e-03 4.92084721e+02] [ 6.45465191e-02 9.97914669e-01 2.45384593e-04 4.64029518e+01] [-2.43444794e-03 -8.84331371e-05 9.99997033e-01 -1.44661352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.401400513 meters 0.04294267081736739 Centerline is valid? [True, True] Translation: X:492.15, Y:46.39, Z:-1.45 [[ 9.98027453e-01 -6.27771741e-02 4.78755816e-04 4.92148277e+02] [ 6.27771580e-02 9.98027568e-01 4.85160180e-05 4.63890914e+01] [-4.80857201e-04 -1.83653883e-05 9.99999884e-01 -1.44930040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.461400513 meters 0.046992335892052546 Centerline is valid? [True, True] Translation: X:492.21, Y:46.39, Z:-1.45 [[ 9.98316060e-01 -5.79977436e-02 -1.14247960e-03 4.92209372e+02] [ 5.79976492e-02 9.98316713e-01 -1.15555137e-04 4.63888696e+01] [ 1.14725842e-03 4.90994182e-05 9.99999341e-01 -1.45187566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.521400513 meters 0.052499204800187646 Centerline is valid? [True, True] Translation: X:492.27, Y:46.39, Z:-1.45 [[ 9.98612155e-01 -5.26446929e-02 -1.51660648e-03 4.92270213e+02] [ 5.26445205e-02 9.98613304e-01 -1.53396831e-04 4.63892130e+01] [ 1.52257894e-03 7.33429190e-05 9.99998838e-01 -1.45316670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.581400513 meters 0.05786610637600919 Centerline is valid? [True, True] Translation: X:492.33, Y:46.39, Z:-1.45 [[ 9.99035329e-01 -4.39134135e-02 -1.54614813e-04 4.92330684e+02] [ 4.39132207e-02 9.99034761e-01 -1.08452325e-03 4.63860397e+01] [ 2.02090691e-04 1.07668741e-03 9.99999400e-01 -1.45137366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.641400513 meters 0.06348558877262743 Centerline is valid? [True, True] Translation: X:492.39, Y:46.39, Z:-1.45 [[ 9.99155717e-01 -4.10723292e-02 -9.57389881e-04 4.92391652e+02] [ 4.10732631e-02 9.99155660e-01 9.77162625e-04 4.63885111e+01] [ 9.16447173e-04 -1.01566075e-03 9.99999064e-01 -1.45390839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.701400513 meters 0.06945853623509657 Centerline is valid? [True, True] Translation: X:492.45, Y:46.39, Z:-1.46 [[ 9.99451725e-01 -3.30396067e-02 -2.15252990e-03 4.92452111e+02] [ 3.30392143e-02 9.99454032e-01 -2.17593703e-04 4.63946046e+01] [ 2.15854390e-03 1.46356505e-04 9.99997660e-01 -1.45500171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.761400513 meters 0.06867966540873549 Centerline is valid? [True, True] Translation: X:492.51, Y:46.39, Z:-1.45 [[ 9.99486936e-01 -3.19934520e-02 -1.51102673e-03 4.92513236e+02] [ 3.19932574e-02 9.99488073e-01 -1.52758704e-04 4.63948623e+01] [ 1.51514047e-03 1.04337662e-04 9.99998847e-01 -1.45368185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.821400513 meters 0.07008358968433508 Centerline is valid? [True, True] Translation: X:492.57, Y:46.40, Z:-1.45 [[ 9.99397828e-01 -3.46936469e-02 5.76521073e-04 4.92573203e+02] [ 3.46936190e-02 9.99397993e-01 5.82820841e-05 4.63978797e+01] [-5.78196022e-04 -3.82453858e-05 9.99999832e-01 -1.45148864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.881400513 meters 0.068680738480434 Centerline is valid? [True, True] Translation: X:492.63, Y:46.40, Z:-1.45 [[ 9.99177859e-01 -4.05342962e-02 7.59562956e-04 4.92633147e+02] [ 4.05342496e-02 9.99178147e-01 7.67703366e-05 4.63971823e+01] [-7.62050538e-04 -4.59189062e-05 9.99999709e-01 -1.45208334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.941400513 meters 0.0568759415714933 Centerline is valid? [True, True] Translation: X:492.70, Y:46.38, Z:-1.45 [[ 9.99030413e-01 -4.40236906e-02 3.86397951e-04 4.92695988e+02] [ 4.40236787e-02 9.99030487e-01 3.90936864e-05 4.63824969e+01] [-3.87744381e-04 -2.20451225e-05 9.99999925e-01 -1.45157101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.001400513 meters 0.05971222884657933 Centerline is valid? [True, True] Translation: X:492.76, Y:46.39, Z:-1.45 [[ 9.98992228e-01 -4.48832678e-02 -1.42193425e-04 4.92755126e+02] [ 4.48832662e-02 9.98992238e-01 -1.44068714e-05 4.63877221e+01] [ 1.42696755e-04 8.01024726e-06 9.99999990e-01 -1.45161184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.061400513 meters 0.06248537164364513 Centerline is valid? [True, True] Translation: X:492.82, Y:46.39, Z:-1.45 [[ 9.99115193e-01 -4.20542711e-02 -5.19890564e-04 4.92815012e+02] [ 4.20542494e-02 9.99115327e-01 -5.25858305e-05 4.63926511e+01] [ 5.21642090e-04 3.06756947e-05 9.99999863e-01 -1.45259339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.121400513 meters 0.06253070362434249 Centerline is valid? [True, True] Translation: X:492.88, Y:46.39, Z:-1.45 [[ 9.99301786e-01 -3.73585762e-02 -5.27404093e-04 4.92875293e+02] [ 3.73585533e-02 9.99301924e-01 -5.33622465e-05 4.63949849e+01] [ 5.29029462e-04 3.36219343e-05 9.99999859e-01 -1.45256994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.181400513 meters 0.08303743027992526 Centerline is valid? [True, True] Translation: X:492.93, Y:46.42, Z:-1.46 [[ 9.99615781e-01 -2.75419340e-02 -3.11961400e-03 4.92932392e+02] [ 2.75410826e-02 9.99620623e-01 -3.15540107e-04 4.64233508e+01] [ 3.12712108e-03 2.29501324e-04 9.99995084e-01 -1.45755813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24140051300003 meters 0.0821690511863386 Centerline is valid? [True, True] Translation: X:492.99, Y:46.43, Z:-1.46 [[ 9.99744008e-01 -2.21245255e-02 -4.73536184e-03 4.92992803e+02] [ 2.21225037e-02 9.99755153e-01 -4.78914225e-04 4.64264006e+01] [ 4.74479815e-03 3.74033567e-04 9.99988673e-01 -1.45944375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.301400513 meters 0.07918578158764714 Centerline is valid? [True, True] Translation: X:493.05, Y:46.43, Z:-1.46 [[ 9.99823560e-01 -1.79514289e-02 -5.53134431e-03 4.93052825e+02] [ 1.79486065e-02 9.99838754e-01 -5.59474301e-04 4.64303088e+01] [ 5.54049576e-03 4.60095665e-04 9.99984545e-01 -1.46074745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.361400513 meters 0.08508935412109819 Centerline is valid? [True, True] Translation: X:493.11, Y:46.44, Z:-1.46 [[ 9.99890731e-01 -1.44505557e-02 -3.11561609e-03 4.93110734e+02] [ 1.44496435e-02 9.99895549e-01 -3.15103689e-04 4.64446600e+01] [ 3.11984409e-03 2.70049717e-04 9.99995097e-01 -1.45858072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.421400513 meters 0.09192053322271831 Centerline is valid? [True, True] Translation: X:493.17, Y:46.46, Z:-1.46 [[ 9.99850554e-01 -1.72408320e-02 -1.27392366e-03 4.93168078e+02] [ 1.72406816e-02 9.99851360e-01 -1.28957222e-04 4.64604223e+01] [ 1.27595763e-03 1.06974638e-04 9.99999180e-01 -1.45614835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.481400513 meters 0.08101993392690551 Centerline is valid? [True, True] Translation: X:493.23, Y:46.45, Z:-1.46 [[ 9.99793849e-01 -2.02720027e-02 -1.14217924e-03 4.93229875e+02] [ 2.02718839e-02 9.99794498e-01 -1.15548896e-04 4.64532959e+01] [ 1.14428693e-03 9.23709505e-05 9.99999341e-01 -1.45663424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.541400513 meters 0.08209058030003517 Centerline is valid? [True, True] Translation: X:493.29, Y:46.46, Z:-1.45 [[ 9.99735324e-01 -2.30032916e-02 3.60001488e-04 4.93289386e+02] [ 2.30032799e-02 9.99735389e-01 3.63948671e-05 4.64578246e+01] [-3.60743430e-04 -2.81040192e-05 9.99999935e-01 -1.45453261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.601400513 meters 0.07977609156145152 Centerline is valid? [True, True] Translation: X:493.35, Y:46.46, Z:-1.45 [[ 9.99671327e-01 -2.56173205e-02 9.95295065e-04 4.93349980e+02] [ 2.56172328e-02 9.99671820e-01 1.00708972e-04 4.64611502e+01] [-9.97548323e-04 -7.51791663e-05 9.99999500e-01 -1.45272792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.661400513 meters 0.07404011965011821 Centerline is valid? [True, True] Translation: X:493.41, Y:46.46, Z:-1.45 [[ 9.99666388e-01 -2.58135154e-02 8.80596024e-04 4.93412096e+02] [ 2.58134468e-02 9.99666773e-01 8.91346998e-05 4.64600582e+01] [-8.82603466e-04 -6.63737447e-05 9.99999608e-01 -1.45262266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.721400513 meters 0.07763121144562701 Centerline is valid? [True, True] Translation: X:493.47, Y:46.47, Z:-1.45 [[ 9.99677450e-01 -2.53761997e-02 1.02247014e-03 4.93471880e+02] [ 2.53761070e-02 9.99677969e-01 1.03476879e-04 4.64695602e+01] [-1.02476672e-03 -7.74971903e-05 9.99999472e-01 -1.45282803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.781400513 meters 0.0868425528676797 Centerline is valid? [True, True] Translation: X:493.53, Y:46.49, Z:-1.45 [[ 9.99704264e-01 -2.42980192e-02 9.95583463e-04 4.93530128e+02] [ 2.42979308e-02 9.99704757e-01 1.00743189e-04 4.64877381e+01] [-9.97737383e-04 -7.65227773e-05 9.99999499e-01 -1.45287528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.841400513 meters 0.08133440053100127 Centerline is valid? [True, True] Translation: X:493.59, Y:46.49, Z:-1.45 [[ 9.99738934e-01 -2.28402138e-02 6.22964064e-04 4.93591250e+02] [ 2.28401789e-02 9.99739127e-01 6.29858763e-05 4.64857545e+01] [-6.24240161e-04 -4.87408221e-05 9.99999804e-01 -1.45328785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.901400513 meters 0.08804410575440871 Centerline is valid? [True, True] Translation: X:493.65, Y:46.50, Z:-1.46 [[ 9.99743149e-01 -2.26582011e-02 -4.92676976e-04 4.93650227e+02] [ 2.26581793e-02 9.99743269e-01 -4.96807805e-05 4.65026437e+01] [ 4.93676168e-04 3.85048566e-05 9.99999877e-01 -1.45681108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.961400513 meters 0.077874267546846 Centerline is valid? [True, True] Translation: X:493.71, Y:46.50, Z:-1.46 [[ 9.99677716e-01 -2.53393550e-02 -1.54343943e-03 4.93711257e+02] [ 2.53391443e-02 9.99678900e-01 -1.55922709e-04 4.64966165e+01] [ 1.54689481e-03 1.16763023e-04 9.99998797e-01 -1.45741277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.021400513 meters 0.07304852049886089 Centerline is valid? [True, True] Translation: X:493.77, Y:46.49, Z:-1.46 [[ 9.99549247e-01 -2.99232632e-02 -2.42908593e-03 4.93771785e+02] [ 2.99227546e-02 9.99552184e-01 -2.45453044e-04 4.64942517e+01] [ 2.43534290e-03 1.72657463e-04 9.99997020e-01 -1.45728203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.081400513 meters 0.06626656371412604 Centerline is valid? [True, True] Translation: X:493.83, Y:46.49, Z:-1.46 [[ 9.99338773e-01 -3.62489969e-02 -2.83305856e-03 4.93833763e+02] [ 3.62483304e-02 9.99342772e-01 -2.86241060e-04 4.64858428e+01] [ 2.84157255e-03 1.83358147e-04 9.99995946e-01 -1.45770272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.141400513 meters 0.06716539080825432 Centerline is valid? [True, True] Translation: X:493.89, Y:46.49, Z:-1.46 [[ 9.99297562e-01 -3.74680794e-02 -7.24629415e-04 4.93893771e+02] [ 3.74680361e-02 9.99297824e-01 -7.33239730e-05 4.64897602e+01] [ 7.26867906e-04 4.61220264e-05 9.99999735e-01 -1.45527928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.201400513 meters 0.07155095909517667 Centerline is valid? [True, True] Translation: X:493.95, Y:46.49, Z:-1.46 [[ 9.99330450e-01 -3.65833577e-02 -5.55971681e-04 4.93953710e+02] [ 3.65833320e-02 9.99330604e-01 -5.62637271e-05 4.64926975e+01] [ 5.57657832e-04 3.58867591e-05 9.99999844e-01 -1.45575298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.261400513 meters 0.06750388077374746 Centerline is valid? [True, True] Translation: X:494.01, Y:46.49, Z:-1.46 [[ 9.99411730e-01 -3.42670500e-02 -1.40132646e-03 4.94014162e+02] [ 3.42668849e-02 9.99412708e-01 -1.41711257e-04 4.64903063e+01] [ 1.40535949e-03 9.36087999e-05 9.99999008e-01 -1.45611662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.321400513 meters 0.07153899166789913 Centerline is valid? [True, True] Translation: X:494.07, Y:46.50, Z:-1.46 [[ 9.99445982e-01 -3.32304949e-02 -1.86089893e-03 4.94072581e+02] [ 3.32302017e-02 9.99447707e-01 -1.88300554e-04 4.64951861e+01] [ 1.86612849e-03 1.26358186e-04 9.99998251e-01 -1.45765390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.381400513 meters 0.07499710466345023 Centerline is valid? [True, True] Translation: X:494.13, Y:46.50, Z:-1.46 [[ 9.99460992e-01 -3.28276054e-02 2.71786637e-04 4.94131502e+02] [ 3.28275992e-02 9.99461029e-01 2.74127751e-05 4.64989024e+01] [-2.72540047e-04 -1.84758966e-05 9.99999963e-01 -1.45564525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.441400513 meters 0.07058949660737858 Centerline is valid? [True, True] Translation: X:494.19, Y:46.49, Z:-1.46 [[ 9.99497297e-01 -3.16766127e-02 1.32145245e-03 4.94192339e+02] [ 3.16764635e-02 9.99498166e-01 1.33684484e-04 4.64937371e+01] [-1.32502397e-03 -9.17583405e-05 9.99999118e-01 -1.45517142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.501400513 meters 0.06492226192368004 Centerline is valid? [True, True] Translation: X:494.25, Y:46.49, Z:-1.46 [[ 9.99556192e-01 -2.97232664e-02 -1.98660156e-03 4.94253297e+02] [ 2.97229252e-02 9.99558156e-01 -2.01072981e-04 4.64873092e+01] [ 1.99170034e-03 1.41936133e-04 9.99998006e-01 -1.45945857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.561400513 meters 0.08347955643079707 Centerline is valid? [True, True] Translation: X:494.31, Y:46.51, Z:-1.46 [[ 9.99673776e-01 -2.54794674e-02 -1.77137207e-03 4.94309815e+02] [ 2.54791894e-02 9.99675337e-01 -1.79287870e-04 4.65145291e+01] [ 1.77536513e-03 1.34096258e-04 9.99998415e-01 -1.45837226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.621400513 meters 0.08822539830673051 Centerline is valid? [True, True] Translation: X:494.37, Y:46.53, Z:-1.46 [[ 9.99836867e-01 -1.80510662e-02 6.31393638e-04 4.94368748e+02] [ 1.80510294e-02 9.99837065e-01 6.38927350e-05 4.65286382e+01] [-6.32444094e-04 -5.24850068e-05 9.99999799e-01 -1.45546875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.681400513 meters 0.08930626363581419 Centerline is valid? [True, True] Translation: X:494.43, Y:46.53, Z:-1.46 [[ 9.99863713e-01 -1.64668419e-02 -1.18285243e-03 4.94429482e+02] [ 1.64667118e-02 9.99864407e-01 -1.19701740e-04 4.65325143e+01] [ 1.18466315e-03 1.00207736e-04 9.99999293e-01 -1.45884452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74140051300003 meters 0.0865523757134022 Centerline is valid? [True, True] Translation: X:494.49, Y:46.53, Z:-1.46 [[ 9.99779156e-01 -2.05875469e-02 -4.21817881e-03 4.94490796e+02] [ 2.05859278e-02 9.99787996e-01 -4.26914925e-04 4.65284233e+01] [ 4.22607367e-03 3.39985519e-04 9.99991012e-01 -1.46338431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.801400513 meters 0.07864852572597104 Centerline is valid? [True, True] Translation: X:494.55, Y:46.52, Z:-1.46 [[ 9.99698669e-01 -2.45119065e-02 -1.31854895e-03 4.94552769e+02] [ 2.45117517e-02 9.99699533e-01 -1.33450710e-04 4.65196814e+01] [ 1.32142390e-03 1.01090553e-04 9.99999122e-01 -1.45853187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.861400513 meters 0.08131380304116298 Centerline is valid? [True, True] Translation: X:494.61, Y:46.53, Z:-1.46 [[ 9.99665641e-01 -2.58572744e-02 -8.40106678e-05 4.94611857e+02] [ 2.58572738e-02 9.99665645e-01 -8.56125292e-06 4.65250182e+01] [ 8.42039491e-05 6.38610355e-06 9.99999996e-01 -1.45740073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.921400513 meters 0.08801304792291949 Centerline is valid? [True, True] Translation: X:494.67, Y:46.54, Z:-1.46 [[ 9.99759438e-01 -2.18357728e-02 -2.06534745e-03 4.94670060e+02] [ 2.18353872e-02 9.99761558e-01 -2.09083354e-04 4.65352004e+01] [ 2.06942048e-03 1.63935396e-04 9.99997845e-01 -1.46100707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.981400513 meters 0.09465207488891397 Centerline is valid? [True, True] Translation: X:494.73, Y:46.55, Z:-1.46 [[ 9.99855913e-01 -1.69585140e-02 -7.49434479e-04 4.94729377e+02] [ 1.69584619e-02 9.99856192e-01 -7.58635324e-05 4.65497027e+01] [ 7.50613238e-04 6.31433454e-05 9.99999716e-01 -1.45877419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.041400513 meters 0.09271590705998593 Centerline is valid? [True, True] Translation: X:494.79, Y:46.55, Z:-1.46 [[ 9.99914346e-01 -1.30878508e-02 -8.99245721e-05 4.94789431e+02] [ 1.30878500e-02 9.99914350e-01 -9.11484959e-06 4.65536836e+01] [ 9.00361638e-05 7.93714956e-06 9.99999996e-01 -1.45764662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.101400513 meters 0.09641584938191096 Centerline is valid? [True, True] Translation: X:494.85, Y:46.56, Z:-1.46 [[ 9.99911283e-01 -1.33021781e-02 -6.91661904e-04 4.94848548e+02] [ 1.33021328e-02 9.99911520e-01 -7.00210143e-05 4.65648357e+01] [ 6.92532138e-04 6.08142237e-05 9.99999758e-01 -1.45933615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.161400513 meters 0.08946125052238608 Centerline is valid? [True, True] Translation: X:494.91, Y:46.56, Z:-1.46 [[ 9.99854355e-01 -1.70652014e-02 2.20420572e-04 4.94909469e+02] [ 1.70651968e-02 9.99854379e-01 2.23037157e-05 4.65628322e+01] [-2.20769092e-04 -1.85389468e-05 9.99999975e-01 -1.45918908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.221400513 meters 0.08041251003488553 Centerline is valid? [True, True] Translation: X:494.97, Y:46.55, Z:-1.46 [[ 9.99749208e-01 -2.23942400e-02 1.40152226e-04 4.94971087e+02] [ 2.23942382e-02 9.99749218e-01 1.41887497e-05 4.65535478e+01] [-1.40434824e-04 -1.10465890e-05 9.99999990e-01 -1.45876417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.281400513 meters 0.07608023382415427 Centerline is valid? [True, True] Translation: X:495.03, Y:46.55, Z:-1.46 [[ 9.99719940e-01 -2.36619737e-02 -3.90210856e-04 4.95031360e+02] [ 2.36619600e-02 9.99720016e-01 -3.95390285e-05 4.65531130e+01] [ 3.91037175e-04 3.02948015e-05 9.99999923e-01 -1.45952250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.341400513 meters 0.08653591909632452 Centerline is valid? [True, True] Translation: X:495.09, Y:46.57, Z:-1.46 [[ 9.99728681e-01 -2.32737548e-02 9.46765980e-04 4.95089856e+02] [ 2.32736744e-02 9.99729127e-01 9.58445645e-05 4.65696111e+01] [-9.48740189e-04 -7.37838369e-05 9.99999547e-01 -1.45950608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.401400513 meters 0.09222341586260954 Centerline is valid? [True, True] Translation: X:495.15, Y:46.58, Z:-1.46 [[ 9.99775654e-01 -2.10613889e-02 2.24951250e-03 4.95148627e+02] [ 2.10609293e-02 9.99778168e-01 2.27794757e-04 4.65778806e+01] [-2.25381116e-03 -1.80366828e-04 9.99997444e-01 -1.45792895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.461400513 meters 0.08019321157233446 Centerline is valid? [True, True] Translation: X:495.21, Y:46.57, Z:-1.46 [[ 9.99800090e-01 -1.99937679e-02 1.70234027e-04 4.95210516e+02] [ 1.99937652e-02 9.99800105e-01 1.72659019e-05 4.65698723e+01] [-1.70545208e-04 -1.38588311e-05 9.99999985e-01 -1.46053637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.521400513 meters 0.09031268928495674 Centerline is valid? [True, True] Translation: X:495.27, Y:46.59, Z:-1.46 [[ 9.99817635e-01 -1.90648775e-02 -1.10786783e-03 4.95268522e+02] [ 1.90647648e-02 9.99818245e-01 -1.12217424e-04 4.65876613e+01] [ 1.10980588e-03 9.10757194e-05 9.99999380e-01 -1.46344906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.581400513 meters 0.08707058947537559 Centerline is valid? [True, True] Translation: X:495.33, Y:46.59, Z:-1.46 [[ 9.99825604e-01 -1.85914197e-02 -1.76628882e-03 4.95328438e+02] [ 1.85911324e-02 9.99827154e-01 -1.78960119e-04 4.65897658e+01] [ 1.76931064e-03 1.46091600e-04 9.99998424e-01 -1.46353487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.641400513 meters 0.08555807994856977 Centerline is valid? [True, True] Translation: X:495.39, Y:46.60, Z:-1.46 [[ 9.99818610e-01 -1.88472991e-02 -2.74348493e-03 4.95387246e+02] [ 1.88466048e-02 9.99822348e-01 -2.78717420e-04 4.65950315e+01] [ 2.74825061e-03 2.26961488e-04 9.99996198e-01 -1.46460832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.701400513 meters 0.08313995708196492 Centerline is valid? [True, True] Translation: X:495.45, Y:46.60, Z:-1.46 [[ 9.99811347e-01 -1.92629455e-02 -2.49196513e-03 4.95445709e+02] [ 1.92623728e-02 9.99814431e-01 -2.53609774e-04 4.65999459e+01] [ 2.49638797e-03 2.05560769e-04 9.99996863e-01 -1.46458740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.761400513 meters 0.09726435679089131 Centerline is valid? [True, True] Translation: X:495.50, Y:46.62, Z:-1.46 [[ 9.99798597e-01 -2.00146787e-02 -1.47602442e-03 4.95502517e+02] [ 2.00144787e-02 9.99799679e-01 -1.50114330e-04 4.66239878e+01] [ 1.47873323e-03 1.20542237e-04 9.99998899e-01 -1.46364075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.821400513 meters 0.0815799499374769 Centerline is valid? [True, True] Translation: X:495.56, Y:46.61, Z:-1.46 [[ 9.99756032e-01 -2.20871177e-02 -1.88607492e-04 4.95564609e+02] [ 2.20871145e-02 9.99756050e-01 -1.91771253e-05 4.66114475e+01] [ 1.88985049e-04 1.50066514e-05 9.99999982e-01 -1.46012472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.881400513 meters 0.07669934776409669 Centerline is valid? [True, True] Translation: X:495.62, Y:46.61, Z:-1.46 [[ 9.99684184e-01 -2.51064810e-02 1.09387722e-03 4.95624578e+02] [ 2.51063743e-02 9.99684779e-01 1.11164085e-04 4.66103379e+01] [-1.09632334e-03 -8.36656865e-05 9.99999396e-01 -1.45929634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.941400513 meters 0.07840686169976846 Centerline is valid? [True, True] Translation: X:495.68, Y:46.62, Z:-1.46 [[ 9.99728593e-01 -2.31665900e-02 2.45943577e-03 4.95682780e+02] [ 2.31777999e-02 9.99720629e-01 -4.63170015e-03 4.66203213e+01] [-2.35144798e-03 4.68744738e-03 9.99986249e-01 -1.45606561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.001400513 meters 0.08907247415322257 Centerline is valid? [True, True] Translation: X:495.74, Y:46.63, Z:-1.45 [[ 9.99792961e-01 -1.96921192e-02 5.12401685e-03 4.95743200e+02] [ 1.96645208e-02 9.99792150e-01 5.38185073e-03 4.66337467e+01] [-5.22893187e-03 -5.27997514e-03 9.99972390e-01 -1.45174128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.061400513 meters 0.09158051689080567 Centerline is valid? [True, True] Translation: X:495.80, Y:46.65, Z:-1.45 [[ 9.99957126e-01 -8.06511337e-03 4.54971639e-03 4.95802829e+02] [ 8.06308932e-03 9.99967386e-01 4.63040953e-04 4.66510117e+01] [-4.55330248e-03 -4.26336331e-04 9.99989543e-01 -1.45426063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.121400513 meters 0.09782011678787389 Centerline is valid? [True, True] Translation: X:495.86, Y:46.67, Z:-1.46 [[ 9.99996751e-01 -9.46242201e-04 2.36698654e-03 4.95861726e+02] [ 9.45674639e-04 9.99999524e-01 2.40890219e-04 4.66681696e+01] [-2.36721335e-03 -2.38651037e-04 9.99997170e-01 -1.45716044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.181400513 meters 0.09931019497502727 Centerline is valid? [True, True] Translation: X:495.92, Y:46.68, Z:-1.46 [[ 9.99992672e-01 3.70986740e-03 9.45423687e-04 4.95920992e+02] [-3.70996001e-03 9.99993113e-01 9.62176925e-05 4.66808625e+01] [-9.45060221e-04 -9.97244715e-05 9.99999548e-01 -1.45963344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24140051300003 meters 0.10937719488128106 Centerline is valid? [True, False] Translation: X:495.92, Y:46.69, Z:-1.46 [[ 9.99994324e-01 3.14391516e-03 1.21136627e-03 4.95920427e+02] [-3.14139376e-03 9.99992907e-01 -2.07776664e-03 4.66900890e+01] [-1.21789000e-03 2.07394947e-03 9.99997108e-01 -1.46073780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.301400513 meters 0.10958368865610164 Centerline is valid? [False, False] Translation: X:495.92, Y:46.69, Z:-1.46 [[ 9.99972125e-01 7.38053162e-03 1.13007215e-03 4.95920785e+02] [-7.38278431e-03 9.99970742e-01 2.00237942e-03 4.66912379e+01] [-1.11526046e-03 -2.01066668e-03 9.99997357e-01 -1.46081712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.361400513 meters 0.10586110831092822 Centerline is valid? [False, False] Translation: X:495.92, Y:46.70, Z:-1.46 [[ 9.99975083e-01 6.95892905e-03 1.18569582e-03 4.95920444e+02] [-6.96001513e-03 9.99975361e-01 9.14337696e-04 4.66961588e+01] [-1.17930379e-03 -9.22567374e-04 9.99998879e-01 -1.46050464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.421400513 meters 0.1256173590605315 Centerline is valid? [False, False] Translation: X:495.92, Y:46.70, Z:-1.46 [[ 9.99977083e-01 6.67933994e-03 1.10422618e-03 4.95920852e+02] [-6.67951043e-03 9.99977680e-01 1.50785758e-04 4.66995542e+01] [-1.10319439e-03 -1.58157993e-04 9.99999379e-01 -1.46093139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.481400513 meters 0.09995109897979901 Centerline is valid? [False, True] Translation: X:495.90, Y:46.70, Z:-1.46 [[ 9.99995817e-01 -2.85527684e-03 4.61130004e-04 4.95901660e+02] [ 2.85471046e-03 9.99995176e-01 1.22425083e-03 4.67025743e+01] [-4.64623354e-04 -1.22292932e-03 9.99999144e-01 -1.46358443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.541400513 meters 0.08745198421976844 Centerline is valid? [True, True] Translation: X:495.96, Y:46.70, Z:-1.46 [[ 9.99962906e-01 -8.41398850e-03 1.84184269e-03 4.95962770e+02] [ 8.41366429e-03 9.99964588e-01 1.83700075e-04 4.66964984e+01] [-1.84332311e-03 -1.68196615e-04 9.99998287e-01 -1.46020064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.601400513 meters 0.09575993011621947 Centerline is valid? [True, True] Translation: X:496.02, Y:46.72, Z:-1.46 [[ 9.99945140e-01 -1.04022258e-02 1.22870786e-03 4.96020472e+02] [ 1.04020831e-02 9.99945889e-01 1.22498748e-04 4.67154634e+01] [-1.22991563e-03 -1.09710906e-04 9.99999238e-01 -1.46134406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.661400513 meters 0.09511037289624767 Centerline is valid? [True, True] Translation: X:496.08, Y:46.73, Z:-1.46 [[ 9.99926860e-01 -1.20905113e-02 -3.08497599e-04 4.96080520e+02] [ 1.20905024e-02 9.99926907e-01 -3.07101866e-05 4.67253074e+01] [ 3.08846352e-04 2.69780495e-05 9.99999952e-01 -1.46417043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.721400513 meters 0.09272770112374877 Centerline is valid? [True, True] Translation: X:496.14, Y:46.73, Z:-1.46 [[ 9.99860934e-01 -1.62877683e-02 3.58078597e-03 4.96139940e+02] [ 1.62827006e-02 9.99866391e-01 1.43987956e-03 4.67284242e+01] [-3.60375997e-03 -1.38137446e-03 9.99992552e-01 -1.45917170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.781400513 meters 0.08758514044005668 Centerline is valid? [True, True] Translation: X:496.20, Y:46.73, Z:-1.46 [[ 9.99761400e-01 -2.14154886e-02 4.30352935e-03 4.96201922e+02] [ 2.14185193e-02 9.99770380e-01 -6.59398779e-04 4.67324092e+01] [-4.28841982e-03 7.51416673e-04 9.99990522e-01 -1.45744152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.841400513 meters 0.07753529771752622 Centerline is valid? [True, True] Translation: X:496.26, Y:46.73, Z:-1.46 [[ 9.99711040e-01 -2.37724547e-02 3.56462836e-03 4.96263829e+02] [ 2.37713369e-02 9.99717359e-01 3.55621145e-04 4.67267490e+01] [-3.57207484e-03 -2.70782403e-04 9.99993583e-01 -1.45880856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.901400513 meters 0.0774697026232013 Centerline is valid? [True, True] Translation: X:496.33, Y:46.73, Z:-1.46 [[ 9.99716425e-01 -2.33451810e-02 4.69805306e-03 4.96325676e+02] [ 2.33432347e-02 9.99727400e-01 4.68694078e-04 4.67326273e+01] [-4.70771412e-03 -3.58893414e-04 9.99988854e-01 -1.45636636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.961400513 meters 0.08395104543266539 Centerline is valid? [True, True] Translation: X:496.39, Y:46.74, Z:-1.46 [[ 9.99704717e-01 -2.38739023e-02 4.52942716e-03 4.96386421e+02] [ 2.38720995e-02 9.99714919e-01 4.51666816e-04 4.67448760e+01] [-4.53891896e-03 -3.43406510e-04 9.99989640e-01 -1.45704509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.021400513 meters 0.0757068520383058 Centerline is valid? [True, True] Translation: X:496.45, Y:46.74, Z:-1.46 [[ 9.99699622e-01 -2.44778706e-02 1.22424282e-03 4.96449458e+02] [ 2.44777392e-02 9.99700368e-01 1.22190240e-04 4.67376919e+01] [-1.22686695e-03 -9.21868401e-05 9.99999243e-01 -1.46320949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.081400513 meters 0.08015802351434792 Centerline is valid? [True, True] Translation: X:496.51, Y:46.74, Z:-1.46 [[ 9.99719805e-01 -2.36498012e-02 9.99404329e-04 4.96510030e+02] [ 2.36497134e-02 9.99720301e-01 9.96067987e-05 4.67405202e+01] [-1.00148048e-03 -7.59432634e-05 9.99999496e-01 -1.46376090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.141400513 meters 0.08553243588615426 Centerline is valid? [True, True] Translation: X:496.57, Y:46.75, Z:-1.46 [[ 9.99755499e-01 -2.21003167e-02 7.20067730e-04 4.96569414e+02] [ 2.21002707e-02 9.99755757e-01 7.18485543e-05 4.67494664e+01] [-7.21479734e-04 -5.59172956e-05 9.99999738e-01 -1.46492890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.201400513 meters 0.09045537999550217 Centerline is valid? [True, True] Translation: X:496.63, Y:46.76, Z:-1.47 [[ 9.99831686e-01 -1.82946087e-02 -1.38093747e-03 4.96629303e+02] [ 1.82944361e-02 9.99832633e-01 -1.37520340e-04 4.67592786e+01] [ 1.38322223e-03 1.12233721e-04 9.99999037e-01 -1.46912041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.261400513 meters 0.0890492351683041 Centerline is valid? [True, True] Translation: X:496.69, Y:46.76, Z:-1.47 [[ 9.99928348e-01 -1.17748279e-02 -2.15687196e-03 4.96689927e+02] [ 1.17743917e-02 9.99930656e-01 -2.14806361e-04 4.67600435e+01] [ 2.15925170e-03 1.89395115e-04 9.99997651e-01 -1.47019886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.321400513 meters 0.10170718357579928 Centerline is valid? [True, False] Translation: X:496.69, Y:46.77, Z:-1.47 [[ 9.99992114e-01 1.14612451e-03 3.80228361e-03 4.96691076e+02] [-1.12174800e-03 9.99978846e-01 -6.40696853e-03 4.67686252e+01] [-3.80954636e-03 6.40265281e-03 9.99972246e-01 -1.47495881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.381400513 meters 0.09990274402871865 Centerline is valid? [False, True] Translation: X:496.69, Y:46.77, Z:-1.47 [[ 9.99977142e-01 5.61026807e-03 3.77374057e-03 4.96690992e+02] [-5.60401284e-03 9.99982909e-01 -1.66610426e-03 4.67668636e+01] [-3.78302336e-03 1.64491808e-03 9.99991491e-01 -1.47436557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.441400513 meters 0.10661052574669475 Centerline is valid? [True, False] Translation: X:496.67, Y:46.77, Z:-1.48 [[ 9.99999024e-01 1.26022481e-03 6.03790119e-04 4.96673633e+02] [-1.26321379e-03 9.99986823e-01 4.97582053e-03 4.67661034e+01] [-5.97511510e-04 -4.97657839e-03 9.99987438e-01 -1.47535393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.501400513 meters 0.09180705142109355 Centerline is valid? [False, True] Translation: X:496.65, Y:46.77, Z:-1.47 [[ 9.99992549e-01 2.79414443e-03 -2.66361159e-03 4.96651713e+02] [-2.80574567e-03 9.99986552e-01 -4.36171259e-03 4.67714895e+01] [ 2.65138851e-03 4.36915351e-03 9.99986940e-01 -1.47158538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.561400513 meters 0.09335366580521948 Centerline is valid? [True, True] Translation: X:496.71, Y:46.79, Z:-1.47 [[ 9.99996886e-01 -1.73697776e-03 -1.79163697e-03 4.96709742e+02] [ 1.73668017e-03 9.99998478e-01 -1.67644412e-04 4.67879531e+01] [ 1.79192544e-03 1.64532389e-04 9.99998381e-01 -1.46949961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.621400513 meters 0.09380498132593909 Centerline is valid? [True, True] Translation: X:496.77, Y:46.80, Z:-1.47 [[ 9.99997882e-01 -1.98656622e-03 5.37901911e-04 4.96768295e+02] [ 1.98653947e-03 9.99998026e-01 5.02683922e-05 4.68023464e+01] [-5.38000710e-04 -4.91997224e-05 9.99999854e-01 -1.46567285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.681400513 meters 0.09271031723450804 Centerline is valid? [True, True] Translation: X:496.83, Y:46.82, Z:-1.46 [[ 9.99998850e-01 8.65008108e-05 1.51386682e-03 4.96827507e+02] [-8.67153570e-05 9.99999986e-01 1.41655645e-04 4.68179499e+01] [-1.51385455e-03 -1.41786758e-04 9.99998844e-01 -1.46460959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74140051300003 meters 0.09450127439985659 Centerline is valid? [True, True] Translation: X:496.89, Y:46.84, Z:-1.47 [[ 9.99997304e-01 2.14036273e-03 9.00871068e-04 4.96885726e+02] [-2.14043953e-03 9.99997706e-01 8.42971393e-05 4.68421867e+01] [-9.00688574e-04 -8.62251721e-05 9.99999591e-01 -1.46600550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.801400513 meters 0.09111948144725082 Centerline is valid? [True, True] Translation: X:496.95, Y:46.85, Z:-1.47 [[ 9.99999807e-01 -2.60014571e-04 5.63951855e-04 4.96945359e+02] [ 2.59984854e-04 9.99999965e-01 5.27660092e-05 4.68549432e+01] [-5.63965555e-04 -5.26193800e-05 9.99999840e-01 -1.46594273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.861400513 meters 0.09477221525919766 Centerline is valid? [True, True] Translation: X:497.00, Y:46.87, Z:-1.47 [[ 9.99982052e-01 -5.89862638e-03 -1.04967025e-03 4.97003672e+02] [ 5.89852648e-03 9.99982599e-01 -9.82377171e-05 4.68733089e+01] [ 1.05023146e-03 9.20444462e-05 9.99999444e-01 -1.46968166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.921400513 meters 0.0880436039431187 Centerline is valid? [True, True] Translation: X:497.06, Y:46.88, Z:-1.47 [[ 9.99875980e-01 -1.57463840e-02 -2.76988953e-04 4.97062596e+02] [ 1.57463774e-02 9.99876018e-01 -2.59297060e-05 4.68793588e+01] [ 2.77362911e-04 2.15649176e-05 9.99999961e-01 -1.46895879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.981400513 meters 0.07164743584398554 Centerline is valid? [True, True] Translation: X:497.12, Y:46.87, Z:-1.47 [[ 9.99752372e-01 -2.22529464e-02 1.48808782e-05 4.97124773e+02] [ 2.22529464e-02 9.99752373e-01 1.42011696e-06 4.68693733e+01] [-1.49087951e-05 -1.08862191e-06 1.00000000e+00 -1.46812773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.041400513 meters 0.07594134031898815 Centerline is valid? [True, True] Translation: X:497.18, Y:46.88, Z:-1.47 [[ 9.99585517e-01 -2.87805977e-02 -6.86771101e-04 4.97183769e+02] [ 2.87805603e-02 9.99585752e-01 -6.43041682e-05 4.68784660e+01] [ 6.88337320e-04 4.45118581e-05 9.99999762e-01 -1.47117217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.101400513 meters 0.06018608336264678 Centerline is valid? [True, True] Translation: X:497.25, Y:46.86, Z:-1.47 [[ 9.99292752e-01 -3.75268064e-02 -2.39473648e-03 4.97246319e+02] [ 3.75263768e-02 9.99295612e-01 -2.24074460e-04 4.68586644e+01] [ 2.40145845e-03 1.34050200e-04 9.99997108e-01 -1.47322160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.161400513 meters 0.06273353333140687 Centerline is valid? [True, True] Translation: X:497.31, Y:46.86, Z:-1.47 [[ 9.99249360e-01 -3.86360101e-02 -2.82413985e-03 4.97305636e+02] [ 3.86354169e-02 9.99253339e-01 -2.64333901e-04 4.68603307e+01] [ 2.83224398e-03 1.55023661e-04 9.99995977e-01 -1.47414371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.221400513 meters 0.0653685045511213 Centerline is valid? [True, True] Translation: X:497.37, Y:46.86, Z:-1.47 [[ 9.99452925e-01 -3.29867643e-02 -2.39229842e-03 4.97365642e+02] [ 3.29863224e-02 9.99455778e-01 -2.23956538e-04 4.68603552e+01] [ 2.39838408e-03 1.44920890e-04 9.99997113e-01 -1.47348690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.281400513 meters 0.06897881984443133 Centerline is valid? [True, True] Translation: X:497.43, Y:46.87, Z:-1.47 [[ 9.99612621e-01 -2.77252272e-02 -2.43298963e-03 4.97425459e+02] [ 2.77247546e-02 9.99615569e-01 -2.27765994e-04 4.68668371e+01] [ 2.43836918e-03 1.60223722e-04 9.99997014e-01 -1.47455340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.341400513 meters 0.07557686347726293 Centerline is valid? [True, True] Translation: X:497.49, Y:46.87, Z:-1.47 [[ 9.99749138e-01 -2.23558538e-02 -1.36963993e-03 4.97485622e+02] [ 2.23556990e-02 9.99750072e-01 -1.28224152e-04 4.68740730e+01] [ 1.37216418e-03 9.75727278e-05 9.99999054e-01 -1.47339628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.401400513 meters 0.08218251306176057 Centerline is valid? [True, True] Translation: X:497.54, Y:46.89, Z:-1.47 [[ 9.99792087e-01 -2.03782815e-02 -7.13518294e-04 4.97543907e+02] [ 2.03782390e-02 9.99792340e-01 -6.68273636e-05 4.68865162e+01] [ 7.14731951e-04 5.22732230e-05 9.99999743e-01 -1.47272123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4614005130001 meters 0.0852486557210371 Centerline is valid? [True, True] Translation: X:497.60, Y:46.90, Z:-1.47 [[ 9.99837654e-01 -1.79889280e-02 -1.03122193e-03 4.97603851e+02] [ 1.79888379e-02 9.99838183e-01 -9.65389371e-05 4.68963321e+01] [ 1.03279169e-03 7.79727803e-05 9.99999464e-01 -1.47353410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.521400513 meters 0.07977162789628689 Centerline is valid? [True, True] Translation: X:497.66, Y:46.90, Z:-1.47 [[ 9.99899625e-01 -1.41396181e-02 9.00348540e-04 4.97664374e+02] [ 1.41395479e-02 9.99900028e-01 8.42717227e-05 4.68976237e+01] [-9.01450101e-04 -7.15327426e-05 9.99999591e-01 -1.47000815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.581400513 meters 0.07919062391402762 Centerline is valid? [True, True] Translation: X:497.73, Y:46.90, Z:-1.47 [[ 9.99910788e-01 -1.33568374e-02 -1.07546868e-04 4.97725617e+02] [ 1.33568364e-02 9.99910793e-01 -1.00013682e-05 4.69010911e+01] [ 1.07670861e-04 8.56399002e-06 9.99999994e-01 -1.47122192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.641400513 meters 0.08267404731376268 Centerline is valid? [True, True] Translation: X:497.79, Y:46.91, Z:-1.47 [[ 9.99901821e-01 -1.40123601e-02 -4.88272576e-05 4.97785694e+02] [ 1.40123599e-02 9.99901822e-01 -4.42147387e-06 4.69091509e+01] [ 4.88844191e-05 3.73685466e-06 9.99999999e-01 -1.47153941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.701400513 meters 0.0795281690299302 Centerline is valid? [True, True] Translation: X:497.85, Y:46.91, Z:-1.47 [[ 9.99888932e-01 -1.48496434e-02 1.26979809e-03 4.97847104e+02] [ 1.48495045e-02 9.99889733e-01 1.18810892e-04 4.69091437e+01] [-1.27142238e-03 -9.99418234e-05 9.99999187e-01 -1.47042679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.761400513 meters 0.08269174413594309 Centerline is valid? [True, True] Translation: X:497.91, Y:46.92, Z:-1.47 [[ 9.99910341e-01 -1.33797250e-02 -5.42104892e-04 4.97906814e+02] [ 1.33796995e-02 9.99910487e-01 -5.07090137e-05 4.69173663e+01] [ 5.42734839e-04 4.34512666e-05 9.99999852e-01 -1.47319123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.821400513 meters 0.0913233822300278 Centerline is valid? [True, True] Translation: X:497.97, Y:46.93, Z:-1.48 [[ 9.99922053e-01 -1.22912963e-02 -2.19362147e-03 4.97966143e+02] [ 1.22908756e-02 9.99924443e-01 -2.05136247e-04 4.69298650e+01] [ 2.19597712e-03 1.78158728e-04 9.99997573e-01 -1.47594057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.881400513 meters 0.08533264558486547 Centerline is valid? [True, True] Translation: X:498.03, Y:46.92, Z:-1.47 [[ 9.99951275e-01 -9.83633702e-03 -8.33664798e-04 4.98027868e+02] [ 9.83627541e-03 9.99951620e-01 -7.79743621e-05 4.69237474e+01] [ 8.34391447e-04 6.97704062e-05 9.99999649e-01 -1.47205392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.941400513 meters 0.0929943295261697 Centerline is valid? [True, True] Translation: X:498.09, Y:46.94, Z:-1.47 [[ 9.99972658e-01 -7.34442065e-03 -8.62332981e-04 4.98085998e+02] [ 7.34435379e-03 9.99973027e-01 -8.06696214e-05 4.69379256e+01] [ 8.62902193e-04 7.43341372e-05 9.99999625e-01 -1.47317355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.001400513 meters 0.09431775038916106 Centerline is valid? [True, True] Translation: X:498.15, Y:46.95, Z:-1.47 [[ 9.99988323e-01 -4.64602338e-03 -1.32994880e-03 4.98146265e+02] [ 4.64586201e-03 9.99989200e-01 -1.24392847e-04 4.69455497e+01] [ 1.33051237e-03 1.18212635e-04 9.99999108e-01 -1.47404885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.061400513 meters 0.08892246204918462 Centerline is valid? [True, True] Translation: X:498.21, Y:46.95, Z:-1.47 [[ 9.99995669e-01 -2.45998687e-03 -1.61543743e-03 4.98206725e+02] [ 2.45974596e-03 9.99996963e-01 -1.51100360e-04 4.69470595e+01] [ 1.61580423e-03 1.47126140e-04 9.99998684e-01 -1.47335274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.121400513 meters 0.08486319398697725 Centerline is valid? [True, True] Translation: X:498.27, Y:46.95, Z:-1.47 [[ 9.99978474e-01 -6.08212601e-03 -2.46153661e-03 4.98267795e+02] [ 6.08157748e-03 9.99981481e-01 -2.30262664e-04 4.69476144e+01] [ 2.46289151e-03 2.15287682e-04 9.99996944e-01 -1.47486047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.181400513 meters 0.07874891897332034 Centerline is valid? [True, True] Translation: X:498.33, Y:46.95, Z:-1.47 [[ 9.99901925e-01 -1.39859881e-02 -7.29731100e-04 4.98328218e+02] [ 1.39859420e-02 9.99902190e-01 -6.82759952e-05 4.69456470e+01] [ 7.30614632e-04 5.80633222e-05 9.99999731e-01 -1.47314942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.241400513 meters 0.06886354528391478 Centerline is valid? [True, True] Translation: X:498.39, Y:46.93, Z:-1.47 [[ 9.99668047e-01 -2.56891219e-02 1.96600481e-03 4.98390444e+02] [ 2.56888096e-02 9.99669971e-01 1.83913708e-04 4.69341322e+01] [-1.97008055e-03 -1.33348334e-04 9.99998050e-01 -1.46814239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.301400513 meters 0.06858923821603868 Centerline is valid? [True, True] Translation: X:498.45, Y:46.94, Z:-1.47 [[ 9.99561185e-01 -2.95157649e-02 2.50156567e-03 4.98449779e+02] [ 2.95152713e-02 9.99564302e-01 2.33985294e-04 4.69393501e+01] [-2.50738199e-03 -1.60048228e-04 9.99996844e-01 -1.46797064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.361400513 meters 0.0681532307334138 Centerline is valid? [True, True] Translation: X:498.51, Y:46.94, Z:-1.47 [[ 9.99551131e-01 -2.98725987e-02 2.27238028e-03 4.98510945e+02] [ 2.98721922e-02 9.99553704e-01 2.12591535e-04 4.69434437e+01] [-2.27771678e-03 -1.44615129e-04 9.99997396e-01 -1.46874767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.421400513 meters 0.07392933918207903 Centerline is valid? [True, True] Translation: X:498.57, Y:46.95, Z:-1.47 [[ 9.99632484e-01 -2.70889581e-02 1.04130348e-03 4.98570354e+02] [ 2.70888713e-02 9.99633024e-01 9.73729089e-05 4.69493261e+01] [-1.04355908e-03 -6.91293868e-05 9.99999453e-01 -1.47109066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.481400513 meters 0.0766508081409354 Centerline is valid? [True, True] Translation: X:498.63, Y:46.96, Z:-1.47 [[ 9.99673014e-01 -2.55704614e-02 1.31596390e-04 4.98629660e+02] [ 2.55704599e-02 9.99673022e-01 1.24108965e-05 4.69561036e+01] [-1.31870714e-04 -9.04185803e-06 9.99999991e-01 -1.47384250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.541400513 meters 0.0666434688620265 Centerline is valid? [True, True] Translation: X:498.69, Y:46.94, Z:-1.47 [[ 9.99616259e-01 -2.76600778e-02 1.50190536e-03 4.98692285e+02] [ 2.76598978e-02 9.99617382e-01 1.40439544e-04 4.69429354e+01] [-1.50521528e-03 -9.88431030e-05 9.99998862e-01 -1.47041766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.601400513 meters 0.06629282209091544 Centerline is valid? [True, True] Translation: X:498.75, Y:46.94, Z:-1.47 [[ 9.99565294e-01 -2.94119064e-02 2.04016912e-03 4.98752371e+02] [ 2.94115782e-02 9.99567368e-01 1.90715643e-04 4.69379353e+01] [-2.04489579e-03 -1.30628144e-04 9.99997901e-01 -1.46896088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.661400513 meters 0.06606079915544452 Centerline is valid? [True, True] Translation: X:498.81, Y:46.94, Z:-1.47 [[ 9.99647837e-01 -2.65131235e-02 1.12125286e-03 4.98813899e+02] [ 2.65130225e-02 9.99648463e-01 1.04836621e-04 4.69351242e+01] [-1.12363825e-03 -7.50718985e-05 9.99999366e-01 -1.47196318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.721400513 meters 0.07582497364768312 Centerline is valid? [True, True] Translation: X:498.87, Y:46.94, Z:-1.47 [[ 9.99750566e-01 -2.23319050e-02 3.02826816e-04 4.98872157e+02] [ 2.23318975e-02 9.99750612e-01 2.83301131e-05 4.69438872e+01] [-3.03383960e-04 -2.15603492e-05 9.99999954e-01 -1.47251334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.781400513 meters 0.07795197855344448 Centerline is valid? [True, True] Translation: X:498.93, Y:46.94, Z:-1.47 [[ 9.99849572e-01 -1.73443602e-02 -7.91548003e-05 4.98933288e+02] [ 1.73443597e-02 9.99849575e-01 -7.40187490e-06 4.69388037e+01] [ 7.92712742e-05 6.02787213e-06 9.99999997e-01 -1.47326063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.841400513 meters 0.07713158730608748 Centerline is valid? [True, True] Translation: X:498.99, Y:46.93, Z:-1.48 [[ 9.99870690e-01 -1.60785043e-02 -2.91827550e-04 4.98994392e+02] [ 1.60784970e-02 9.99870732e-01 -2.73292971e-05 4.69290797e+01] [ 2.92229241e-04 2.26336147e-05 9.99999957e-01 -1.47557258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.901400513 meters 0.07936219260825551 Centerline is valid? [True, True] Translation: X:499.06, Y:46.93, Z:-1.47 [[ 9.99879186e-01 -1.54877122e-02 1.32038861e-03 4.99055035e+02] [ 1.54875626e-02 9.99880053e-01 1.23460249e-04 4.69278261e+01] [-1.32214235e-03 -1.02995732e-04 9.99999121e-01 -1.47308351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9614005130001 meters 0.07844395970468886 Centerline is valid? [True, True] Translation: X:499.12, Y:46.92, Z:-1.47 [[ 9.99899573e-01 -1.41437546e-02 8.93372614e-04 4.99116031e+02] [ 1.41436856e-02 9.99899970e-01 8.35329871e-05 4.69237355e+01] [-8.94464719e-04 -7.08890167e-05 9.99999597e-01 -1.47378174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.021400513 meters 0.0858371978251311 Centerline is valid? [True, True] Translation: X:499.18, Y:46.93, Z:-1.48 [[ 9.99972721e-01 -7.14794658e-03 -1.86104857e-03 4.99175086e+02] [ 7.14763493e-03 9.99974440e-01 -1.74059776e-04 4.69323623e+01] [ 1.86224518e-03 1.60752932e-04 9.99998253e-01 -1.47965070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.081400513 meters 0.0874182362910402 Centerline is valid? [True, True] Translation: X:499.24, Y:46.94, Z:-1.48 [[ 9.99994136e-01 -3.19821372e-03 -1.22476242e-03 4.99235912e+02] [ 3.19807587e-03 9.99994880e-01 -1.14496065e-04 4.69359339e+01] [ 1.22512233e-03 1.10578510e-04 9.99999243e-01 -1.47913492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.141400513 meters 0.08590610854232295 Centerline is valid? [True, True] Translation: X:499.30, Y:46.94, Z:-1.48 [[ 9.99990932e-01 -3.94754091e-03 -1.59748610e-03 4.99295877e+02] [ 3.94730713e-03 9.99992198e-01 -1.49473097e-04 4.69363291e+01] [ 1.59806369e-03 1.43165974e-04 9.99998713e-01 -1.47993088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.201400513 meters 0.08279685929008128 Centerline is valid? [True, True] Translation: X:499.36, Y:46.93, Z:-1.48 [[ 9.99955592e-01 -9.08954718e-03 -2.48880855e-03 4.99357400e+02] [ 9.08899582e-03 9.99958667e-01 -2.32757026e-04 4.69325473e+01] [ 2.49082133e-03 2.10125919e-04 9.99996876e-01 -1.48167502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.261400513 meters 0.08232380501070645 Centerline is valid? [True, True] Translation: X:499.42, Y:46.94, Z:-1.48 [[ 9.99937863e-01 -1.09564565e-02 -2.05592078e-03 4.99417299e+02] [ 1.09560841e-02 9.99939962e-01 -1.92350047e-04 4.69354204e+01] [ 2.05790482e-03 1.69813254e-04 9.99997868e-01 -1.48100301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.321400513 meters 0.08465932970311883 Centerline is valid? [True, True] Translation: X:499.48, Y:46.94, Z:-1.48 [[ 9.99942573e-01 -1.05077379e-02 -2.10688330e-03 4.99475872e+02] [ 1.05073441e-02 9.99944777e-01 -1.97855544e-04 4.69433945e+01] [ 2.10884596e-03 1.75706434e-04 9.99997761e-01 -1.48176388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.381400513 meters 0.09861737320700906 Centerline is valid? [True, True] Translation: X:499.53, Y:46.97, Z:-1.48 [[ 9.99934505e-01 -1.11385640e-02 -2.63036284e-03 4.99532580e+02] [ 1.11379534e-02 9.99937941e-01 -2.46646056e-04 4.69669422e+01] [ 2.63294689e-03 2.17333043e-04 9.99996510e-01 -1.48363181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.441400513 meters 0.09385901644380427 Centerline is valid? [True, True] Translation: X:499.59, Y:46.97, Z:-1.48 [[ 9.99907880e-01 -1.34961323e-02 -1.44409138e-03 4.99593409e+02] [ 1.34959507e-02 9.99908916e-01 -1.35367487e-04 4.69681970e+01] [ 1.44578678e-03 1.15865630e-04 9.99998948e-01 -1.48143365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.501400513 meters 0.08040968990373497 Centerline is valid? [True, True] Translation: X:499.66, Y:46.96, Z:-1.48 [[ 9.99841069e-01 -1.77521708e-02 1.64234389e-03 4.99655175e+02] [ 1.77519417e-02 9.99842410e-01 1.53941238e-04 4.69572426e+01] [-1.64481787e-03 -1.24761979e-04 9.99998640e-01 -1.47566801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.561400513 meters 0.07467958876517752 Centerline is valid? [True, True] Translation: X:499.72, Y:46.96, Z:-1.48 [[ 9.99845946e-01 -1.75485043e-02 3.65310131e-04 4.99716613e+02] [ 1.75484929e-02 9.99846013e-01 3.42997079e-05 4.69555220e+01] [-3.65855786e-04 -2.78837817e-05 9.99999933e-01 -1.47712063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.621400513 meters 0.09152166957992344 Centerline is valid? [True, True] Translation: X:499.77, Y:46.98, Z:-1.48 [[ 9.99884014e-01 -1.52267846e-02 -3.21451147e-04 4.99773794e+02] [ 1.52267757e-02 9.99884065e-01 -3.01648856e-05 4.69797290e+01] [ 3.21873194e-04 2.52667224e-05 9.99999948e-01 -1.47914125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.681400513 meters 0.08503873158034791 Centerline is valid? [True, True] Translation: X:499.84, Y:46.98, Z:-1.48 [[ 9.99944568e-01 -1.05260031e-02 -2.54392123e-04 4.99835235e+02] [ 1.05259974e-02 9.99944600e-01 -2.38437647e-05 4.69758234e+01] [ 2.54629009e-04 2.11647122e-05 9.99999967e-01 -1.47945287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.741400513 meters 0.08450432502078005 Centerline is valid? [True, True] Translation: X:499.90, Y:46.98, Z:-1.48 [[ 9.99967591e-01 -8.04677436e-03 -2.59357390e-04 4.99895779e+02] [ 8.04676832e-03 9.99967624e-01 -2.43087655e-05 4.69804724e+01] [ 2.59544600e-04 2.22209888e-05 9.99999966e-01 -1.47974209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.801400513 meters 0.098506265549892 Centerline is valid? [True, True] Translation: X:499.95, Y:47.00, Z:-1.48 [[ 9.99980708e-01 -6.18332459e-03 -5.91930796e-04 4.99952814e+02] [ 6.18329280e-03 9.99980882e-01 -5.55279526e-05 4.70046716e+01] [ 5.92262826e-04 5.18667999e-05 9.99999823e-01 -1.48095895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.861400513 meters 0.09021811164004276 Centerline is valid? [True, True] Translation: X:500.01, Y:47.00, Z:-1.48 [[ 9.99990983e-01 -4.04578372e-03 -1.29042747e-03 5.00014025e+02] [ 4.04563094e-03 9.99991809e-01 -1.20979627e-04 4.70015489e+01] [ 1.29090636e-03 1.15757943e-04 9.99999160e-01 -1.48235654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.921400513 meters 0.09769869250827506 Centerline is valid? [True, True] Translation: X:500.07, Y:47.02, Z:-1.48 [[ 9.99993507e-01 -2.72160026e-03 -2.36201071e-03 5.00071917e+02] [ 2.72108461e-03 9.99996273e-01 -2.21494091e-04 4.70177035e+01] [ 2.36260473e-03 2.15065421e-04 9.99997186e-01 -1.48465267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.981400513 meters 0.09684420525155213 Centerline is valid? [True, True] Translation: X:500.13, Y:47.03, Z:-1.49 [[ 9.99994150e-01 -9.86828974e-04 -3.27518500e-03 5.00132055e+02] [ 9.85828429e-04 9.99999467e-01 -3.07093180e-04 4.70258349e+01] [ 3.27548631e-03 3.03862613e-04 9.99994589e-01 -1.48510649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.041400513 meters 0.09181816440066404 Centerline is valid? [True, True] Translation: X:500.19, Y:47.03, Z:-1.48 [[ 9.99993049e-01 2.33993859e-03 -2.90283741e-03 5.00191929e+02] [-2.34073860e-03 9.99997223e-01 -2.72231909e-04 4.70308986e+01] [ 2.90219234e-03 2.79024801e-04 9.99995750e-01 -1.48359274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.101400513 meters 0.11325606941557842 Centerline is valid? [True, False] Translation: X:500.19, Y:47.03, Z:-1.48 [[ 9.99993955e-01 2.03234687e-03 -2.82134970e-03 5.00191637e+02] [-2.03539775e-03 9.99997347e-01 -1.07890516e-03 4.70345392e+01] [ 2.81914950e-03 1.08464121e-03 9.99995438e-01 -1.48356327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.161400513 meters 0.08759736971656111 Centerline is valid? [False, True] Translation: X:500.19, Y:47.03, Z:-1.48 [[ 9.99993502e-01 2.09439990e-03 -2.93417324e-03 5.00191734e+02] [-2.09694947e-03 9.99997426e-01 -8.66118695e-04 4.70336602e+01] [ 2.93235169e-03 8.72265880e-04 9.99995320e-01 -1.48280029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.221400513 meters 0.09114707728366184 Centerline is valid? [True, True] Translation: X:500.25, Y:47.05, Z:-1.48 [[ 9.99993019e-01 -2.01115447e-03 -3.14929581e-03 5.00249944e+02] [ 2.01030174e-03 9.99997942e-01 -2.73910684e-04 4.70451253e+01] [ 3.14984020e-03 2.67577737e-04 9.99995003e-01 -1.48292222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.281400513 meters 0.09238532870937827 Centerline is valid? [True, True] Translation: X:500.31, Y:47.05, Z:-1.48 [[ 9.99988501e-01 -2.75871859e-03 -3.92254312e-03 5.00308374e+02] [ 2.75740067e-03 9.99996140e-01 -3.41354530e-04 4.70536158e+01] [ 3.92346968e-03 3.30534582e-04 9.99992249e-01 -1.48390103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.341400513 meters 0.09222776920314366 Centerline is valid? [True, True] Translation: X:500.37, Y:47.06, Z:-1.49 [[ 9.99986565e-01 3.37645150e-04 -5.17256125e-03 5.00367678e+02] [-3.39978172e-04 9.99999841e-01 -4.50165405e-04 4.70621349e+01] [ 5.17240843e-03 4.51917915e-04 9.99986521e-01 -1.48550794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.401400513 meters 0.0984146999397959 Centerline is valid? [True, True] Translation: X:500.43, Y:47.08, Z:-1.48 [[ 9.99983841e-01 3.46250897e-03 -4.50877251e-03 5.00425501e+02] [-3.46431359e-03 9.99993922e-01 -3.92497418e-04 4.70789926e+01] [ 4.50738608e-03 4.08110877e-04 9.99989758e-01 -1.48476399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4614005130001 meters 0.09312996942133261 Centerline is valid? [True, True] Translation: X:500.48, Y:47.08, Z:-1.48 [[ 9.99986082e-01 4.04384026e-03 -3.38860323e-03 5.00484343e+02] [-4.04486345e-03 9.99991776e-01 -2.95150961e-04 4.70826018e+01] [ 3.38738182e-03 3.08853290e-04 9.99994215e-01 -1.48266634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.521400513 meters 0.09532025868520093 Centerline is valid? [True, True] Translation: X:500.54, Y:47.09, Z:-1.48 [[ 9.99994707e-01 1.42656166e-03 -2.92415611e-03 5.00543164e+02] [-1.42731261e-03 9.99998949e-01 -2.54738761e-04 4.70924833e+01] [ 2.92378963e-03 2.58911098e-04 9.99995692e-01 -1.48205134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.581400513 meters 0.08518435326107343 Centerline is valid? [True, True] Translation: X:500.60, Y:47.09, Z:-1.48 [[ 9.99997652e-01 -1.58208639e-03 -1.48101359e-03 5.00603366e+02] [ 1.58189699e-03 9.99998740e-01 -1.29052967e-04 4.70899932e+01] [ 1.48121590e-03 1.26709853e-04 9.99998895e-01 -1.47969336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.641400513 meters 0.08502064884842069 Centerline is valid? [True, True] Translation: X:500.66, Y:47.10, Z:-1.48 [[ 9.99991282e-01 -2.88516215e-03 -3.01867400e-03 5.00662710e+02] [ 2.88438097e-03 9.99995806e-01 -2.63104128e-04 4.70976460e+01] [ 3.01942044e-03 2.54394828e-04 9.99995409e-01 -1.48218170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.701400513 meters 0.0870183519040036 Centerline is valid? [True, True] Translation: X:500.72, Y:47.11, Z:-1.48 [[ 9.99991850e-01 -3.71242871e-03 -1.58669319e-03 5.00719378e+02] [ 3.71221374e-03 9.99993100e-01 -1.38406702e-04 4.71114979e+01] [ 1.58719607e-03 1.32515429e-04 9.99998732e-01 -1.48055463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.761400513 meters 0.08152530709951271 Centerline is valid? [True, True] Translation: X:500.78, Y:47.11, Z:-1.48 [[ 9.99988377e-01 -4.81768994e-03 1.91458074e-04 5.00778911e+02] [ 4.81768683e-03 9.99988395e-01 1.66911215e-05 4.71138412e+01] [-1.91536265e-04 -1.57685425e-05 9.99999982e-01 -1.47764523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.821400513 meters 0.07914721591503948 Centerline is valid? [True, True] Translation: X:500.84, Y:47.12, Z:-1.48 [[ 9.99981182e-01 -5.17182043e-03 -3.29959702e-03 5.00838705e+02] [ 5.17089861e-03 9.99986589e-01 -2.87843771e-04 4.71216242e+01] [ 3.30104144e-03 2.70776473e-04 9.99994515e-01 -1.48265280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.881400513 meters 0.0900927684125393 Centerline is valid? [True, True] Translation: X:500.90, Y:47.15, Z:-1.48 [[ 9.99990582e-01 -3.75404247e-03 -2.17788841e-03 5.00896184e+02] [ 3.75363745e-03 9.99992937e-01 -1.90026849e-04 4.71466943e+01] [ 2.17858639e-03 1.81850056e-04 9.99997610e-01 -1.48088667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.941400513 meters 0.08433510315953134 Centerline is valid? [True, True] Translation: X:500.96, Y:47.15, Z:-1.48 [[ 9.99993184e-01 -2.24073313e-03 -2.93442410e-03 5.00956126e+02] [ 2.23999129e-03 9.99997458e-01 -2.56067715e-04 4.71490056e+01] [ 2.93499042e-03 2.49492885e-04 9.99995662e-01 -1.48103501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.001400513 meters 0.08802315841263054 Centerline is valid? [True, True] Translation: X:501.01, Y:47.16, Z:-1.48 [[ 9.99988596e-01 -1.37331414e-03 -4.57399307e-03 5.01013290e+02] [ 1.37150168e-03 9.99998980e-01 -3.99366612e-04 4.71611817e+01] [ 4.57453685e-03 3.93088818e-04 9.99989459e-01 -1.48379572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.061400513 meters 0.09279317675625397 Centerline is valid? [True, True] Translation: X:501.07, Y:47.18, Z:-1.49 [[ 9.99982602e-01 -9.40324687e-04 -5.82337835e-03 5.01070274e+02] [ 9.37377629e-04 9.99999431e-01 -5.08782401e-04 4.71764699e+01] [ 5.82385345e-03 5.03314844e-04 9.99982915e-01 -1.48632902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.121400513 meters 0.09215643724824052 Centerline is valid? [True, True] Translation: X:501.13, Y:47.18, Z:-1.49 [[ 9.99980391e-01 -2.58759769e-03 -5.70288452e-03 5.01129593e+02] [ 2.58479768e-03 9.99996535e-01 -4.98296245e-04 4.71840805e+01] [ 5.70415415e-03 4.83545671e-04 9.99983614e-01 -1.48615774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.181400513 meters 0.09451040022561757 Centerline is valid? [True, True] Translation: X:501.19, Y:47.20, Z:-1.48 [[ 9.99982821e-01 -5.03177747e-03 -3.00632223e-03 5.01187852e+02] [ 5.03101006e-03 9.99987310e-01 -2.62772588e-04 4.71953772e+01] [ 3.00760629e-03 2.47643237e-04 9.99995446e-01 -1.48195248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.241400513 meters 0.08211197026602876 Centerline is valid? [True, True] Translation: X:501.25, Y:47.19, Z:-1.48 [[ 9.99959744e-01 -8.64460840e-03 -2.40452834e-03 5.01249408e+02] [ 8.64412789e-03 9.99962617e-01 -2.10157781e-04 4.71860941e+01] [ 2.40625518e-03 1.89364271e-04 9.99997087e-01 -1.48050241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.301400513 meters 0.08110229806048093 Centerline is valid? [True, True] Translation: X:501.31, Y:47.19, Z:-1.48 [[ 9.99935234e-01 -1.09878296e-02 -2.96579064e-03 5.01309868e+02] [ 1.09871088e-02 9.99939606e-01 -2.59222790e-04 4.71927572e+01] [ 2.96845982e-03 2.26620537e-04 9.99995568e-01 -1.48121910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.361400513 meters 0.07604085645328582 Centerline is valid? [True, True] Translation: X:501.37, Y:47.19, Z:-1.48 [[ 9.99915442e-01 -1.28893380e-02 -1.72452242e-03 5.01370050e+02] [ 1.28890970e-02 9.99916921e-01 -1.50754718e-04 4.71920090e+01] [ 1.72632227e-03 1.28514434e-04 9.99998502e-01 -1.47968401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.421400513 meters 0.07933920972651559 Centerline is valid? [True, True] Translation: X:501.43, Y:47.20, Z:-1.48 [[ 9.99890822e-01 -1.46555396e-02 -1.88653836e-03 5.01428509e+02] [ 1.46552543e-02 9.99892592e-01 -1.64966310e-04 4.72033192e+01] [ 1.88875340e-03 1.37300600e-04 9.99998207e-01 -1.48049514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.481400513 meters 0.0788789754375277 Centerline is valid? [True, True] Translation: X:501.49, Y:47.21, Z:-1.48 [[ 9.99882160e-01 -1.49786682e-02 -3.36240219e-03 5.01487858e+02] [ 1.49777635e-02 9.99887784e-01 -2.94089209e-04 4.72077420e+01] [ 3.36642994e-03 2.43693289e-04 9.99994304e-01 -1.48205434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.541400513 meters 0.07747175176707347 Centerline is valid? [True, True] Translation: X:501.55, Y:47.21, Z:-1.48 [[ 9.99906593e-01 -1.34395278e-02 -2.48691572e-03 5.01548342e+02] [ 1.34390282e-02 9.99909669e-01 -2.17507798e-04 4.72114655e+01] [ 2.48961427e-03 1.84065751e-04 9.99996884e-01 -1.48045958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.601400513 meters 0.09514117658894906 Centerline is valid? [True, True] Translation: X:501.60, Y:47.24, Z:-1.48 [[ 9.99951719e-01 -9.19579800e-03 -3.46364331e-03 5.01604763e+02] [ 9.19480329e-03 9.99957681e-01 -3.02999803e-04 4.72425000e+01] [ 3.46628306e-03 2.71137655e-04 9.99993956e-01 -1.48291411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.661400513 meters 0.08052353205287169 Centerline is valid? [True, True] Translation: X:501.67, Y:47.23, Z:-1.48 [[ 9.99969576e-01 -5.51514937e-03 -5.51638380e-03 5.01666004e+02] [ 5.51257027e-03 9.99984689e-01 -4.82631287e-04 4.72338671e+01] [ 5.51896112e-03 4.52207150e-04 9.99984668e-01 -1.48466631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.721400513 meters 0.10168514825456916 Centerline is valid? [True, False] Translation: X:501.67, Y:47.24, Z:-1.48 [[ 9.99983745e-01 -1.48941084e-03 -5.50377362e-03 5.01665644e+02] [ 1.50604148e-03 9.99994309e-01 3.01877149e-03 4.72376618e+01] [ 5.49924611e-03 -3.02701133e-03 9.99980298e-01 -1.48417743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.781400513 meters 0.08467138043905198 Centerline is valid? [False, True] Translation: X:501.62, Y:47.24, Z:-1.49 [[ 9.99972632e-01 -2.86913563e-03 -6.81933261e-03 5.01624010e+02] [ 2.87856165e-03 9.99994915e-01 1.37283682e-03 4.72396731e+01] [ 6.81535907e-03 -1.39242912e-03 9.99975806e-01 -1.48510491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.841400513 meters 0.07980185048230745 Centerline is valid? [True, True] Translation: X:501.68, Y:47.24, Z:-1.49 [[ 9.99950901e-01 -5.34744265e-03 -8.34268816e-03 5.01684599e+02] [ 5.34171147e-03 9.99985482e-01 -7.09102179e-04 4.72444308e+01] [ 8.34635892e-03 6.64503130e-04 9.99964948e-01 -1.48705403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.901400513 meters 0.07999336310040721 Centerline is valid? [True, True] Translation: X:501.74, Y:47.25, Z:-1.49 [[ 9.99932209e-01 -7.72491455e-03 -8.71228289e-03 5.01743877e+02] [ 7.71875380e-03 9.99969936e-01 -7.40536833e-04 4.72548292e+01] [ 8.71774154e-03 6.73238664e-04 9.99961773e-01 -1.48682885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9614005130001 meters 0.07628432376244881 Centerline is valid? [True, True] Translation: X:501.80, Y:47.26, Z:-1.48 [[ 9.99943067e-01 -9.28942450e-03 -5.25071720e-03 5.01803228e+02] [ 9.28720807e-03 9.99956773e-01 -4.46346042e-04 4.72627180e+01] [ 5.25463653e-03 3.97556127e-04 9.99986115e-01 -1.48119197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.021400513 meters 0.08212440579813898 Centerline is valid? [True, True] Translation: X:501.86, Y:47.28, Z:-1.48 [[ 9.99944728e-01 -9.71495178e-03 -4.02007319e-03 5.01859683e+02] [ 9.71365547e-03 9.99952763e-01 -3.41860758e-04 4.72789204e+01] [ 4.02320445e-03 3.02792256e-04 9.99991861e-01 -1.48006015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.081400513 meters 0.07922052279299847 Centerline is valid? [True, True] Translation: X:501.92, Y:47.29, Z:-1.48 [[ 9.99959458e-01 -8.24846120e-03 -3.61181332e-03 5.01919430e+02] [ 8.24740483e-03 9.99965942e-01 -3.07273659e-04 4.72881496e+01] [ 3.61422484e-03 2.77473115e-04 9.99993430e-01 -1.47889970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.141400513 meters 0.08152154378127366 Centerline is valid? [True, True] Translation: X:501.98, Y:47.30, Z:-1.48 [[ 9.99970045e-01 -6.41034513e-03 -4.33783666e-03 5.01978416e+02] [ 6.40880395e-03 9.99979395e-01 -3.69095835e-04 4.73007922e+01] [ 4.34011331e-03 3.41284434e-04 9.99990523e-01 -1.47984476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.201400513 meters 0.08524160646044748 Centerline is valid? [True, True] Translation: X:502.04, Y:47.31, Z:-1.48 [[ 9.99973909e-01 -5.53763935e-03 -4.63858243e-03 5.02036526e+02] [ 5.53586720e-03 9.99984599e-01 -3.94798942e-04 4.73130279e+01] [ 4.64069725e-03 3.69110065e-04 9.99989164e-01 -1.48036180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.261400513 meters 0.09059783955700398 Centerline is valid? [True, True] Translation: X:502.09, Y:47.34, Z:-1.48 [[ 9.99986881e-01 -2.92667478e-03 -4.20393490e-03 5.02094547e+02] [ 2.92519587e-03 9.99995658e-01 -3.57896976e-04 4.73369538e+01] [ 4.20496409e-03 3.45594947e-04 9.99991099e-01 -1.47940024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.321400513 meters 0.08581000792534847 Centerline is valid? [True, True] Translation: X:502.15, Y:47.34, Z:-1.48 [[ 9.99984995e-01 -1.85604813e-03 -5.15416371e-03 5.02153763e+02] [ 1.85381027e-03 9.99998185e-01 -4.38928771e-04 4.73420269e+01] [ 5.15496903e-03 4.29367343e-04 9.99986621e-01 -1.47988214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.381400513 meters 0.08037386366116904 Centerline is valid? [True, True] Translation: X:502.21, Y:47.35, Z:-1.48 [[ 9.99981818e-01 -2.04373427e-03 -5.67335520e-03 5.02211674e+02] [ 2.04102153e-03 9.99997800e-01 -4.83903237e-04 4.73458814e+01] [ 5.67433169e-03 4.72314999e-04 9.99983789e-01 -1.48003274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.441400513 meters 0.0898099307748017 Centerline is valid? [True, True] Translation: X:502.27, Y:47.37, Z:-1.48 [[ 9.99988230e-01 -1.82653144e-03 -4.49487995e-03 5.02267656e+02] [ 1.82482436e-03 9.99998261e-01 -3.83856644e-04 4.73743190e+01] [ 4.49557326e-03 3.75649759e-04 9.99989824e-01 -1.47924110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.501400513 meters 0.09496800134716049 Centerline is valid? [True, True] Translation: X:502.32, Y:47.39, Z:-1.48 [[ 9.99983464e-01 -8.40994154e-04 -5.68890202e-03 5.02324584e+02] [ 8.38241755e-04 9.99999530e-01 -4.86186228e-04 4.73938977e+01] [ 5.68930823e-03 4.81409514e-04 9.99983700e-01 -1.48107959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.561400513 meters 0.08918288598670004 Centerline is valid? [True, True] Translation: X:502.38, Y:47.40, Z:-1.48 [[ 9.99969202e-01 -4.77580039e-04 -7.83364824e-03 5.02383224e+02] [ 4.72341413e-04 9.99999664e-01 -6.70570390e-04 4.74002880e+01] [ 7.83396586e-03 6.66849582e-04 9.99969092e-01 -1.48401838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.621400513 meters 0.09451928257919744 Centerline is valid? [True, True] Translation: X:502.44, Y:47.42, Z:-1.48 [[ 9.99965778e-01 -3.53000290e-03 -7.48209231e-03 5.02441239e+02] [ 3.52530550e-03 9.99993581e-01 -6.40914234e-04 4.74184030e+01] [ 7.48430671e-03 6.14515640e-04 9.99971803e-01 -1.48417861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.681400513 meters 0.08406137871757606 Centerline is valid? [True, True] Translation: X:502.50, Y:47.41, Z:-1.48 [[ 9.99962217e-01 -5.65767095e-03 -6.59961087e-03 5.02502751e+02] [ 5.65406204e-03 9.99983856e-01 -5.65366545e-04 4.74141196e+01] [ 6.60270299e-03 5.28030575e-04 9.99978063e-01 -1.48166478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.741400513 meters 0.08513165146038137 Centerline is valid? [True, True] Translation: X:502.56, Y:47.43, Z:-1.48 [[ 9.99967953e-01 -6.26020896e-03 -4.99028339e-03 5.02560626e+02] [ 6.25815233e-03 9.99980326e-01 -4.27634917e-04 4.74250498e+01] [ 4.99286229e-03 3.96391258e-04 9.99987457e-01 -1.48001311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.801400513 meters 0.08425269320835865 Centerline is valid? [True, True] Translation: X:502.62, Y:47.43, Z:-1.48 [[ 9.99976237e-01 -2.73230444e-03 -6.32927299e-03 5.02620791e+02] [ 2.72892508e-03 9.99996129e-01 -5.42500526e-04 4.74328695e+01] [ 6.33073077e-03 5.25215522e-04 9.99979823e-01 -1.48160434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.861400513 meters 0.09882305648236797 Centerline is valid? [True, True] Translation: X:502.68, Y:47.46, Z:-1.48 [[ 9.99968338e-01 8.70448049e-04 -7.90979481e-03 5.02677575e+02] [-8.75838851e-04 9.99999387e-01 -6.78096618e-04 4.74590648e+01] [ 7.90919971e-03 6.85002854e-04 9.99968487e-01 -1.48398697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.921400513 meters 0.09158608497543183 Centerline is valid? [True, True] Translation: X:502.74, Y:47.46, Z:-1.48 [[ 9.99966160e-01 2.30485712e-03 -7.89724882e-03 5.02738246e+02] [-2.31027613e-03 9.99997102e-01 -6.77136296e-04 4.74567265e+01] [ 7.89566523e-03 6.95358207e-04 9.99968587e-01 -1.48374093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.981400513 meters 0.09034372472871449 Centerline is valid? [True, True] Translation: X:502.80, Y:47.46, Z:-1.48 [[ 9.99989562e-01 5.52023054e-04 -4.53554378e-03 5.02798146e+02] [-5.53792638e-04 9.99999771e-01 -3.88912600e-04 4.74641853e+01] [ 4.53532806e-03 3.91420291e-04 9.99989639e-01 -1.47817910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.041400513 meters 0.08942639217272198 Centerline is valid? [True, True] Translation: X:502.86, Y:47.47, Z:-1.48 [[ 9.99995055e-01 -9.19154739e-04 -3.00762945e-03 5.02858271e+02] [ 9.18383163e-04 9.99999545e-01 -2.57910461e-04 4.74690589e+01] [ 3.00786514e-03 2.55147029e-04 9.99995444e-01 -1.47609638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.101400513 meters 0.0863340364113824 Centerline is valid? [True, True] Translation: X:502.92, Y:47.47, Z:-1.48 [[ 9.99988384e-01 -2.82818756e-03 -3.90286833e-03 5.02918338e+02] [ 2.82690258e-03 9.99995948e-01 -3.34717315e-04 4.74709059e+01] [ 3.90379916e-03 3.23680398e-04 9.99992328e-01 -1.47706428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.161400513 meters 0.08918667877964222 Centerline is valid? [True, True] Translation: X:502.98, Y:47.48, Z:-1.48 [[ 9.99962042e-01 -6.09132680e-03 -6.22976301e-03 5.02976562e+02] [ 6.08811487e-03 9.99981324e-01 -5.34412662e-04 4.74798513e+01] [ 6.23290194e-03 4.96464864e-04 9.99980452e-01 -1.48107635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.221400513 meters 0.08352184905948508 Centerline is valid? [True, True] Translation: X:503.04, Y:47.48, Z:-1.48 [[ 9.99943867e-01 -7.96519992e-03 -6.98703350e-03 5.03036719e+02] [ 7.96120381e-03 9.99968129e-01 -5.99559441e-04 4.74785847e+01] [ 6.99158643e-03 5.43900588e-04 9.99975411e-01 -1.48155360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.281400513 meters 0.08316728170935367 Centerline is valid? [True, True] Translation: X:503.10, Y:47.48, Z:-1.48 [[ 9.99945950e-01 -8.37776012e-03 -6.15704895e-03 5.03095008e+02] [ 8.37466052e-03 9.99964792e-01 -5.29033670e-04 4.74832441e+01] [ 6.16126429e-03 4.77441881e-04 9.99980905e-01 -1.47946036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.341400513 meters 0.08203009469300498 Centerline is valid? [True, True] Translation: X:503.16, Y:47.49, Z:-1.48 [[ 9.99968480e-01 -5.35579532e-03 -5.86121593e-03 5.03155342e+02] [ 5.35293275e-03 9.99985546e-01 -5.03969845e-04 4.74872122e+01] [ 5.86383037e-03 4.72579265e-04 9.99982696e-01 -1.47892393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.401400513 meters 0.08866421339060059 Centerline is valid? [True, True] Translation: X:503.21, Y:47.50, Z:-1.48 [[ 9.99968995e-01 -2.71397582e-03 -7.39211284e-03 5.03213344e+02] [ 2.70934987e-03 9.99996128e-01 -6.35737343e-04 4.75007932e+01] [ 7.39380959e-03 6.15689812e-04 9.99972476e-01 -1.48267549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4614005130001 meters 0.08868742420380063 Centerline is valid? [True, True] Translation: X:503.27, Y:47.51, Z:-1.48 [[ 9.99953862e-01 -7.02855717e-04 -9.58019703e-03 5.03273263e+02] [ 6.94993350e-04 9.99999419e-01 -8.23993908e-04 4.75068046e+01] [ 9.58077061e-03 8.17297717e-04 9.99953769e-01 -1.48416841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.521400513 meters 0.09043863598568203 Centerline is valid? [True, True] Translation: X:503.33, Y:47.52, Z:-1.48 [[ 9.99959935e-01 -1.47869810e-04 -8.95025376e-03 5.03330951e+02] [ 1.40981825e-04 9.99999693e-01 -7.70211473e-04 4.75181899e+01] [ 8.95036491e-03 7.68918791e-04 9.99959649e-01 -1.48192370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.581400513 meters 0.08621592266234636 Centerline is valid? [True, True] Translation: X:503.39, Y:47.52, Z:-1.48 [[ 9.99977530e-01 -2.85704796e-03 -6.06432537e-03 5.03390723e+02] [ 2.85393436e-03 9.99995791e-01 -5.22020661e-04 4.75181624e+01] [ 6.06579129e-03 5.04701744e-04 9.99981476e-01 -1.47814024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.641400513 meters 0.08545123421299479 Centerline is valid? [True, True] Translation: X:503.45, Y:47.52, Z:-1.48 [[ 9.99951802e-01 -7.74101787e-03 -6.03911828e-03 5.03449617e+02] [ 7.73801801e-03 9.99969926e-01 -5.19946893e-04 4.75223988e+01] [ 6.04296158e-03 4.73191027e-04 9.99981629e-01 -1.47836965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.701400513 meters 0.08317501572479227 Centerline is valid? [True, True] Translation: X:503.51, Y:47.52, Z:-1.48 [[ 9.99845905e-01 -1.62311241e-02 -6.68701473e-03 5.03509639e+02] [ 1.62276346e-02 9.99868157e-01 -5.75767470e-04 4.75225836e+01] [ 6.69547845e-03 4.67164316e-04 9.99977476e-01 -1.48062878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.761400513 meters 0.07147736769468455 Centerline is valid? [True, True] Translation: X:503.57, Y:47.51, Z:-1.48 [[ 9.99739048e-01 -2.21767585e-02 -5.47975510e-03 5.03571961e+02] [ 2.21745041e-02 9.99754004e-01 -4.71829972e-04 4.75086243e+01] [ 5.48887076e-03 3.50195995e-04 9.99984875e-01 -1.47810312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.821400513 meters 0.06167710999437838 Centerline is valid? [True, True] Translation: X:503.63, Y:47.50, Z:-1.48 [[ 9.99643066e-01 -2.61771744e-02 -5.33815705e-03 5.03632960e+02] [ 2.61750914e-02 9.99657268e-01 -4.59701749e-04 4.74977656e+01] [ 5.34836119e-03 3.19810917e-04 9.99985646e-01 -1.47673334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.881400513 meters 0.06051261053934575 Centerline is valid? [True, True] Translation: X:503.69, Y:47.49, Z:-1.48 [[ 9.99578497e-01 -2.85334424e-02 -5.35450707e-03 5.03693900e+02] [ 2.85313800e-02 9.99592791e-01 -4.61188022e-04 4.74934418e+01] [ 5.36548595e-03 3.08222154e-04 9.99985558e-01 -1.47662542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.941400513 meters 0.06208043388715351 Centerline is valid? [True, True] Translation: X:503.75, Y:47.50, Z:-1.48 [[ 9.99571466e-01 -2.86840281e-02 -5.84051949e-03 5.03752844e+02] [ 2.86815759e-02 9.99588472e-01 -5.03208398e-04 4.74972586e+01] [ 5.85255000e-03 3.35477453e-04 9.99982817e-01 -1.47816345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.001400513 meters 0.06652004713159945 Centerline is valid? [True, True] Translation: X:503.81, Y:47.50, Z:-1.48 [[ 9.99580679e-01 -2.80018670e-02 -7.37306872e-03 5.03811452e+02] [ 2.79979384e-02 9.99607779e-01 -6.35530598e-04 4.75037951e+01] [ 7.38797289e-03 4.28833383e-04 9.99972617e-01 -1.48104129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.061400513 meters 0.06370580774849617 Centerline is valid? [True, True] Translation: X:503.87, Y:47.50, Z:-1.48 [[ 9.99574931e-01 -2.76299701e-02 -9.30279704e-03 5.03870562e+02] [ 2.76236879e-02 9.99618070e-01 -8.03142741e-04 4.75015467e+01] [ 9.32143484e-03 5.45823788e-04 9.99956406e-01 -1.48252903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.121400513 meters 0.06151023719025904 Centerline is valid? [True, True] Translation: X:503.93, Y:47.50, Z:-1.48 [[ 9.99550130e-01 -2.85134804e-02 -9.30160285e-03 5.03930103e+02] [ 2.85072243e-02 9.99593263e-01 -8.04507363e-04 4.75022271e+01] [ 9.32075884e-03 5.38982560e-04 9.99956416e-01 -1.48261657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.181400513 meters 0.06098743239256627 Centerline is valid? [True, True] Translation: X:503.99, Y:47.50, Z:-1.48 [[ 9.99488241e-01 -3.11399589e-02 -7.31846138e-03 5.03989414e+02] [ 3.11361537e-02 9.99514952e-01 -6.33326581e-04 4.75009238e+01] [ 7.33463333e-03 4.05133732e-04 9.99973019e-01 -1.48052055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.241400513 meters 0.05491569515974534 Centerline is valid? [True, True] Translation: X:504.05, Y:47.49, Z:-1.48 [[ 9.99403360e-01 -3.37179760e-02 -7.48476022e-03 5.04050180e+02] [ 3.37140673e-02 9.99431309e-01 -6.47815894e-04 4.74927992e+01] [ 7.50234675e-03 3.95087671e-04 9.99971779e-01 -1.48099157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.301400513 meters 0.05355705462824363 Centerline is valid? [True, True] Translation: X:504.11, Y:47.49, Z:-1.48 [[ 9.99316754e-01 -3.63211608e-02 -6.84097234e-03 5.04110307e+02] [ 3.63179555e-02 9.99340110e-01 -5.92231109e-04 4.74856959e+01] [ 6.85796857e-03 3.43376340e-04 9.99976425e-01 -1.48038182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.361400513 meters 0.05766219399380039 Centerline is valid? [True, True] Translation: X:504.17, Y:47.49, Z:-1.48 [[ 9.99314375e-01 -3.67020670e-02 -4.87216105e-03 5.04167843e+02] [ 3.67004443e-02 9.99326223e-01 -4.22065243e-04 4.74887127e+01] [ 4.88436897e-03 2.42965389e-04 9.99988042e-01 -1.47629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.421400513 meters 0.0538713783327628 Centerline is valid? [True, True] Translation: X:504.23, Y:47.48, Z:-1.48 [[ 9.99375229e-01 -3.49587637e-02 -5.19975120e-03 5.04227758e+02] [ 3.49568903e-02 9.99388719e-01 -4.50758231e-04 4.74828541e+01] [ 5.21233064e-03 2.68709478e-04 9.99986380e-01 -1.47500956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.481400513 meters 0.06658718448641598 Centerline is valid? [True, True] Translation: X:504.29, Y:47.49, Z:-1.48 [[ 9.99503150e-01 -3.06423820e-02 -7.38230637e-03 5.04285191e+02] [ 3.06185124e-02 9.99525613e-01 -3.32499376e-03 4.74948583e+01] [ 7.48069003e-03 3.09730650e-03 9.99967222e-01 -1.47791337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.541400513 meters 0.06487407386618037 Centerline is valid? [True, True] Translation: X:504.35, Y:47.49, Z:-1.48 [[ 9.99667282e-01 -2.50685646e-02 -6.07382764e-03 5.04347405e+02] [ 2.50818965e-02 9.99683133e-01 2.12881847e-03 4.74869855e+01] [ 6.01853663e-03 -2.28045329e-03 9.99979288e-01 -1.47687368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.601400513 meters 0.06711747134287192 Centerline is valid? [True, True] Translation: X:504.41, Y:47.49, Z:-1.47 [[ 9.99764063e-01 -2.12071407e-02 -4.69847433e-03 5.04407895e+02] [ 2.12054595e-02 9.99775056e-01 -4.07343635e-04 4.74918485e+01] [ 4.70605603e-03 3.07614220e-04 9.99988879e-01 -1.47390211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.661400513 meters 0.08725104256202379 Centerline is valid? [True, True] Translation: X:504.47, Y:47.52, Z:-1.48 [[ 9.99853265e-01 -1.64942608e-02 -4.62468286e-03 5.04465417e+02] [ 1.64925818e-02 9.99863908e-01 -4.00970707e-04 4.75185016e+01] [ 4.63066720e-03 3.24638910e-04 9.99989226e-01 -1.47514179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.721400513 meters 0.07662508014532343 Centerline is valid? [True, True] Translation: X:504.53, Y:47.51, Z:-1.48 [[ 9.99932738e-01 -1.01116413e-02 -5.68098938e-03 5.04527152e+02] [ 1.01090051e-02 9.99948781e-01 -4.92577114e-04 4.75073053e+01] [ 5.68567917e-03 4.35114832e-04 9.99983742e-01 -1.47587036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.781400513 meters 0.07984750004231432 Centerline is valid? [True, True] Translation: X:504.59, Y:47.51, Z:-1.47 [[ 9.99949195e-01 -8.60984944e-03 -5.24191287e-03 5.04586607e+02] [ 8.60758425e-03 9.99962851e-01 -4.54538970e-04 4.75138624e+01] [ 5.24563165e-03 4.09395671e-04 9.99986158e-01 -1.47481924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.841400513 meters 0.08504148913856532 Centerline is valid? [True, True] Translation: X:504.64, Y:47.52, Z:-1.48 [[ 9.99950655e-01 -8.50114534e-03 -5.13991849e-03 5.04644123e+02] [ 8.49896499e-03 9.99963784e-01 -4.45892810e-04 4.75228335e+01] [ 5.14352294e-03 4.02186820e-04 9.99986691e-01 -1.47531302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.901400513 meters 0.0807979328160483 Centerline is valid? [True, True] Translation: X:504.70, Y:47.52, Z:-1.48 [[ 9.99939704e-01 -8.12356731e-03 -7.38885533e-03 5.04703250e+02] [ 8.11904356e-03 9.99966834e-01 -6.42029531e-04 4.75207315e+01] [ 7.39382584e-03 5.82000381e-04 9.99972496e-01 -1.47866983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9614005130001 meters 0.08144962860960889 Centerline is valid? [True, True] Translation: X:504.76, Y:47.53, Z:-1.48 [[ 9.99940230e-01 -5.45542347e-03 -9.47491049e-03 5.04763222e+02] [ 5.44786051e-03 9.99984821e-01 -8.23836175e-04 4.75253545e+01] [ 9.47926104e-03 7.72168944e-04 9.99954773e-01 -1.48150194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.021400513 meters 0.08650991976612972 Centerline is valid? [True, True] Translation: X:504.82, Y:47.54, Z:-1.48 [[ 9.99947196e-01 -1.46166839e-03 -1.01719192e-02 5.04822021e+02] [ 1.45274628e-03 9.99998554e-01 -8.84464936e-04 4.75363461e+01] [ 1.01731973e-02 8.69641016e-04 9.99947874e-01 -1.48190458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.081400513 meters 0.08805801809082733 Centerline is valid? [True, True] Translation: X:504.88, Y:47.55, Z:-1.48 [[ 9.99933626e-01 2.76284465e-03 -1.11852776e-02 5.04881495e+02] [-2.77389536e-03 9.99995680e-01 -9.72575327e-04 4.75452775e+01] [ 1.11825422e-02 1.00353756e-03 9.99936970e-01 -1.48324868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.141400513 meters 0.09465463391678298 Centerline is valid? [True, True] Translation: X:504.94, Y:47.56, Z:-1.48 [[ 9.99961391e-01 6.16571036e-03 -6.26101688e-03 5.04939184e+02] [-6.16923876e-03 9.99980822e-01 -5.44395359e-04 4.75628676e+01] [ 6.25754022e-03 5.83000048e-04 9.99980251e-01 -1.47788706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.201400513 meters 0.09159301962164333 Centerline is valid? [True, True] Translation: X:505.00, Y:47.57, Z:-1.48 [[ 9.99969304e-01 5.75217329e-03 -5.32001532e-03 5.04998187e+02] [-5.75471574e-03 9.99983334e-01 -4.62718222e-04 4.75670469e+01] [ 5.31726502e-03 4.93319194e-04 9.99985742e-01 -1.47608240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.261400513 meters 0.08829952889866875 Centerline is valid? [True, True] Translation: X:505.06, Y:47.57, Z:-1.48 [[ 9.99963201e-01 3.95761168e-03 -7.61148994e-03 5.05058112e+02] [-3.96276586e-03 9.99991929e-01 -6.62196323e-04 4.75702320e+01] [ 7.60880780e-03 6.92334507e-04 9.99970813e-01 -1.47935723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.321400513 meters 0.08787689659904452 Centerline is valid? [True, True] Translation: X:505.12, Y:47.57, Z:-1.48 [[ 9.99971716e-01 -2.65403389e-03 -7.03726465e-03 5.05117124e+02] [ 2.64978995e-03 9.99996302e-01 -6.12322493e-04 4.75725445e+01] [ 7.03886375e-03 5.93657901e-04 9.99975051e-01 -1.47863895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.381400513 meters 0.08120420311027339 Centerline is valid? [True, True] Translation: X:505.18, Y:47.57, Z:-1.47 [[ 9.99960259e-01 -7.47024770e-03 -4.86570065e-03 5.05178287e+02] [ 7.46827535e-03 9.99972022e-01 -4.23402059e-04 4.75674980e+01] [ 4.86872744e-03 3.87046840e-04 9.99988073e-01 -1.47482076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.441400513 meters 0.08024462762345473 Centerline is valid? [True, True] Translation: X:505.24, Y:47.57, Z:-1.47 [[ 9.99928656e-01 -1.10426140e-02 -4.55458821e-03 5.05237422e+02] [ 1.10409223e-02 9.99938969e-01 -3.96410423e-04 4.75672644e+01] [ 4.55868764e-03 3.46095287e-04 9.99989549e-01 -1.47425137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.501400513 meters 0.08065445862242678 Centerline is valid? [True, True] Translation: X:505.30, Y:47.56, Z:-1.48 [[ 9.99887009e-01 -1.35113113e-02 -6.58891514e-03 5.05297530e+02] [ 1.35078231e-02 9.99908601e-01 -5.73630303e-04 4.75649756e+01] [ 6.59606341e-03 4.84563588e-04 9.99978128e-01 -1.47612439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.561400513 meters 0.08603595091517588 Centerline is valid? [True, True] Translation: X:505.36, Y:47.57, Z:-1.48 [[ 9.99902191e-01 -1.23815870e-02 -6.50427427e-03 5.05355148e+02] [ 1.23781625e-02 9.99923227e-01 -5.66487897e-04 4.75737065e+01] [ 6.51078894e-03 4.85921525e-04 9.99978687e-01 -1.47626630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.621400513 meters 0.07840682506153877 Centerline is valid? [True, True] Translation: X:505.42, Y:47.56, Z:-1.48 [[ 9.99919245e-01 -1.09521053e-02 -6.44638081e-03 5.05416233e+02] [ 1.09487111e-02 9.99939903e-01 -5.61593934e-04 4.75649742e+01] [ 6.45214404e-03 4.90969021e-04 9.99979064e-01 -1.47557280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.681400513 meters 0.08086326784220008 Centerline is valid? [True, True] Translation: X:505.47, Y:47.57, Z:-1.48 [[ 9.99910101e-01 -1.14321604e-02 -7.00687394e-03 5.05473589e+02] [ 1.14281590e-02 9.99934510e-01 -6.10844082e-04 4.75689460e+01] [ 7.01339833e-03 5.30713498e-04 9.99975265e-01 -1.47591953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.741400513 meters 0.07779362241148849 Centerline is valid? [True, True] Translation: X:505.53, Y:47.56, Z:-1.47 [[ 9.99865390e-01 -1.50576647e-02 -6.51676889e-03 5.05534430e+02] [ 1.50542787e-02 9.99886516e-01 -5.68317877e-04 4.75625869e+01] [ 6.52458689e-03 4.70136120e-04 9.99978604e-01 -1.47495911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.801400513 meters 0.07053594115582099 Centerline is valid? [True, True] Translation: X:505.60, Y:47.55, Z:-1.47 [[ 9.99796095e-01 -1.93853761e-02 -5.65478396e-03 5.05595496e+02] [ 1.93828952e-02 9.99812012e-01 -4.93193841e-04 4.75527842e+01] [ 5.66328168e-03 3.83487191e-04 9.99983890e-01 -1.47280619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.861400513 meters 0.06692780768421079 Centerline is valid? [True, True] Translation: X:505.66, Y:47.55, Z:-1.47 [[ 9.99714996e-01 -2.30487185e-02 -6.21966994e-03 5.05656448e+02] [ 2.30457875e-02 9.99734263e-01 -5.42508767e-04 4.75504048e+01] [ 6.23052128e-03 3.99016958e-04 9.99980511e-01 -1.47324290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.921400513 meters 0.06823942233003892 Centerline is valid? [True, True] Translation: X:505.72, Y:47.55, Z:-1.47 [[ 9.99635039e-01 -2.62309961e-02 -6.45937107e-03 5.05715430e+02] [ 2.62279006e-02 9.99655831e-01 -5.63489279e-04 4.75532751e+01] [ 6.47192884e-03 3.93867885e-04 9.99978979e-01 -1.47479199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.981400513 meters 0.06349286888923442 Centerline is valid? [True, True] Translation: X:505.78, Y:47.55, Z:-1.47 [[ 9.99544129e-01 -2.97798028e-02 -4.96961547e-03 5.05776404e+02] [ 2.97780140e-02 9.99556443e-01 -4.33557573e-04 4.75492306e+01] [ 4.98032242e-03 2.85374647e-04 9.99987557e-01 -1.47130315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.041400513 meters 0.05673575050760617 Centerline is valid? [True, True] Translation: X:505.84, Y:47.54, Z:-1.47 [[ 9.99451928e-01 -3.26789825e-02 -5.28466494e-03 5.05837505e+02] [ 3.26770001e-02 9.99465858e-01 -4.61070544e-04 4.75446344e+01] [ 5.29690949e-03 2.88130848e-04 9.99985930e-01 -1.47099320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.101400513 meters 0.050769704796675745 Centerline is valid? [True, True] Translation: X:505.90, Y:47.54, Z:-1.47 [[ 9.99093461e-01 -4.22389881e-02 -5.30315756e-03 5.05898214e+02] [ 4.22371258e-02 9.99107507e-01 -4.62723062e-04 4.75380875e+01] [ 5.31796948e-03 2.38313453e-04 9.99985831e-01 -1.47171283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.161400513 meters 0.04235897295056844 Centerline is valid? [True, True] Translation: X:505.96, Y:47.53, Z:-1.47 [[ 9.98872860e-01 -4.71190592e-02 -5.72739363e-03 5.05959542e+02] [ 4.71169669e-02 9.98889254e-01 -4.99764051e-04 4.75301217e+01] [ 5.74458036e-03 2.29343331e-04 9.99983473e-01 -1.47204434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.221400513 meters 0.03885607032422021 Centerline is valid? [True, True] Translation: X:506.02, Y:47.53, Z:-1.47 [[ 9.98627298e-01 -5.20435465e-02 -5.91521061e-03 5.06019087e+02] [ 5.20414007e-02 9.98644795e-01 -5.16209691e-04 4.75283435e+01] [ 5.93405967e-03 2.07665244e-04 9.99982372e-01 -1.47226845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.281400513 meters 0.03226250698814278 Centerline is valid? [True, True] Translation: X:506.08, Y:47.52, Z:-1.47 [[ 9.98290115e-01 -5.81898791e-02 -5.54828852e-03 5.06080688e+02] [ 5.81880858e-02 9.98305520e-01 -4.84224231e-04 4.75219587e+01] [ 5.56706400e-03 1.60551975e-04 9.99984491e-01 -1.47108777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.341400513 meters 0.020266084436940515 Centerline is valid? [True, True] Translation: X:506.14, Y:47.51, Z:-1.47 [[ 9.97701862e-01 -6.75236795e-02 -5.61668208e-03 5.06142843e+02] [ 6.75219894e-02 9.97717666e-01 -4.90204268e-04 4.75061254e+01] [ 5.63696333e-03 1.09828163e-04 9.99984106e-01 -1.46875887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.401400513 meters 0.021415188079732295 Centerline is valid? [True, True] Translation: X:506.20, Y:47.51, Z:-1.47 [[ 9.97361961e-01 -7.21799059e-02 -7.69282410e-03 5.06200693e+02] [ 7.21768712e-02 9.97391622e-01 -6.71749550e-04 4.75062324e+01] [ 7.72124512e-03 1.14733475e-04 9.99970184e-01 -1.47313881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4614005130001 meters 0.014508770342614372 Centerline is valid? [True, True] Translation: X:506.26, Y:47.50, Z:-1.47 [[ 9.97081747e-01 -7.59954491e-02 -7.25814342e-03 5.06260274e+02] [ 7.59928460e-02 9.97108161e-01 -6.34160366e-04 4.74980168e+01] [ 7.28534734e-03 8.07427511e-05 9.99973458e-01 -1.47099598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.521400513 meters 0.009442739806176508 Centerline is valid? [True, True] Translation: X:506.32, Y:47.49, Z:-1.47 [[ 9.96695279e-01 -8.11205531e-02 -4.23991092e-03 5.06320289e+02] [ 8.11197105e-02 9.96704297e-01 -3.70609807e-04 4.74885585e+01] [ 4.25600150e-03 2.54446985e-05 9.99990943e-01 -1.46537956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.581400513 meters 0.008219466048536163 Centerline is valid? [True, True] Translation: X:506.38, Y:47.49, Z:-1.47 [[ 9.96534307e-01 -8.30358212e-02 -4.94241981e-03 5.06378874e+02] [ 8.30346965e-02 9.96546563e-01 -4.32676408e-04 4.74857215e+01] [ 4.96127911e-03 2.07845557e-05 9.99987693e-01 -1.46726050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.641400513 meters 0.02286149447988966 Centerline is valid? [True, True] Translation: X:506.44, Y:47.48, Z:-1.47 [[ 9.96636682e-01 -8.18498334e-02 -3.99116889e-03 5.06437155e+02] [ 8.18645105e-02 9.96636733e-01 3.66395767e-03 4.74827621e+01] [ 3.67785120e-03 -3.97836970e-03 9.99985323e-01 -1.46869048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.701400513 meters 0.008919699073641481 Centerline is valid? [True, True] Translation: X:506.50, Y:47.49, Z:-1.47 [[ 9.96591294e-01 -8.23144602e-02 -5.48847138e-03 5.06495477e+02] [ 8.22916756e-02 9.96599201e-01 -4.25580552e-03 4.74918381e+01] [ 5.82012053e-03 3.78964322e-03 9.99975882e-01 -1.46793136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.761400513 meters 0.011561495430200597 Centerline is valid? [True, True] Translation: X:506.55, Y:47.49, Z:-1.47 [[ 9.96870437e-01 -7.89409583e-02 -4.20212340e-03 5.06554041e+02] [ 7.89400999e-02 9.96879292e-01 -3.69991078e-04 4.74940693e+01] [ 4.21821725e-03 3.71171263e-05 9.99991103e-01 -1.46505708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.821400513 meters 0.015739314356633404 Centerline is valid? [True, True] Translation: X:506.61, Y:47.51, Z:-1.46 [[ 9.97156431e-01 -7.53158657e-02 -2.56368818e-03 5.06611133e+02] [ 7.53155336e-02 9.97159726e-01 -2.25975917e-04 4.75062293e+01] [ 2.57342618e-03 3.22477955e-05 9.99996688e-01 -1.46283592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.881400513 meters 0.017877103526402392 Centerline is valid? [True, True] Translation: X:506.67, Y:47.51, Z:-1.46 [[ 9.97394280e-01 -7.20822428e-02 -2.96648766e-03 5.06669600e+02] [ 7.20817830e-02 9.97398691e-01 -2.61780757e-04 4.75148027e+01] [ 2.97764065e-03 4.72689104e-05 9.99995566e-01 -1.46332562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.941400513 meters 0.018188446645441857 Centerline is valid? [True, True] Translation: X:506.73, Y:47.52, Z:-1.47 [[ 9.97403118e-01 -7.17290492e-02 -6.47792511e-03 5.06727560e+02] [ 7.17268422e-02 9.97424149e-01 -5.72689039e-04 4.75220180e+01] [ 6.50231738e-03 1.06560721e-04 9.99978854e-01 -1.46818682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.001400513 meters 0.019217470191820744 Centerline is valid? [True, True] Translation: X:506.79, Y:47.53, Z:-1.47 [[ 9.97345236e-01 -7.25703754e-02 -6.00179635e-03 5.06785210e+02] [ 7.25684939e-02 9.97363290e-01 -5.30954324e-04 4.75280885e+01] [ 6.02450291e-03 9.40034435e-05 9.99981848e-01 -1.46710534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.061400513 meters 0.017628980490980776 Centerline is valid? [True, True] Translation: X:506.84, Y:47.53, Z:-1.46 [[ 9.97358292e-01 -7.24708652e-02 -4.94080032e-03 5.06843064e+02] [ 7.24695856e-02 9.97370527e-01 -4.37763490e-04 4.75303178e+01] [ 4.95953371e-03 7.85492955e-05 9.99987698e-01 -1.46485060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.121400513 meters 0.022765754212370853 Centerline is valid? [True, True] Translation: X:506.90, Y:47.54, Z:-1.46 [[ 9.97670062e-01 -6.80674623e-02 -4.61179063e-03 5.06901093e+02] [ 6.80662980e-02 9.97680716e-01 -4.09122618e-04 4.75423146e+01] [ 4.62894251e-03 9.42618725e-05 9.99989282e-01 -1.46457880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.181400513 meters 0.027600505106479184 Centerline is valid? [True, True] Translation: X:506.96, Y:47.55, Z:-1.46 [[ 9.97987346e-01 -6.32039662e-02 -5.14933958e-03 5.06960273e+02] [ 6.32024491e-02 9.98000622e-01 -4.56966186e-04 4.75522384e+01] [ 5.16792618e-03 1.30595598e-04 9.99986638e-01 -1.46488496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.241400513 meters 0.03220389340585536 Centerline is valid? [True, True] Translation: X:507.02, Y:47.56, Z:-1.47 [[ 9.98397861e-01 -5.62597283e-02 -6.04594383e-03 5.07020511e+02] [ 5.62575095e-02 9.98416148e-01 -5.36565995e-04 4.75612737e+01] [ 6.06655501e-03 1.95576600e-04 9.99981579e-01 -1.46557198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.301400513 meters 0.0365650742138728 Centerline is valid? [True, True] Translation: X:507.08, Y:47.57, Z:-1.47 [[ 9.98530108e-01 -5.38377156e-02 -6.25490684e-03 5.07077968e+02] [ 5.38352920e-02 9.98549675e-01 -5.55318103e-04 4.75705175e+01] [ 6.27573224e-03 2.17767109e-04 9.99980284e-01 -1.46598251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.361400513 meters 0.04253232952654161 Centerline is valid? [True, True] Translation: X:507.14, Y:47.58, Z:-1.46 [[ 9.98870550e-01 -4.72277724e-02 -5.21162005e-03 5.07137357e+02] [ 4.72259994e-02 9.98884123e-01 -4.62812802e-04 4.75801780e+01] [ 5.22766214e-03 2.16166113e-04 9.99986312e-01 -1.46454560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.421400513 meters 0.04966703575181298 Centerline is valid? [True, True] Translation: X:507.20, Y:47.59, Z:-1.46 [[ 9.99041742e-01 -4.34953157e-02 -4.87396702e-03 5.07197411e+02] [ 4.34937206e-02 9.99053607e-01 -4.32848051e-04 4.75886374e+01] [ 4.88818119e-03 2.20446311e-04 9.99988028e-01 -1.46375924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.481400513 meters 0.05114139831160445 Centerline is valid? [True, True] Translation: X:507.26, Y:47.60, Z:-1.47 [[ 9.99118222e-01 -4.15984338e-02 -5.68759205e-03 5.07255663e+02] [ 4.15962302e-02 9.99134375e-01 -5.05231808e-04 4.75968075e+01] [ 5.70368558e-03 2.68203917e-04 9.99983698e-01 -1.46554739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.541400513 meters 0.05376430977876994 Centerline is valid? [True, True] Translation: X:507.31, Y:47.60, Z:-1.47 [[ 9.99161957e-01 -4.03184694e-02 -7.05724529e-03 5.07314984e+02] [ 4.03150434e-02 9.99186821e-01 -6.27103281e-04 4.76013774e+01] [ 7.07679033e-03 3.42064591e-04 9.99974901e-01 -1.46870397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.601400513 meters 0.05012485941179677 Centerline is valid? [True, True] Translation: X:507.37, Y:47.60, Z:-1.47 [[ 9.99071742e-01 -4.22703527e-02 -8.29891457e-03 5.07374860e+02] [ 4.22656740e-02 9.99106134e-01 -7.38433769e-04 4.75980025e+01] [ 8.32271031e-03 3.86989094e-04 9.99965291e-01 -1.46924468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.661400513 meters 0.045966044015203024 Centerline is valid? [True, True] Translation: X:507.43, Y:47.60, Z:-1.47 [[ 9.98973158e-01 -4.45588186e-02 -8.19392771e-03 5.07434952e+02] [ 4.45543306e-02 9.99006696e-01 -7.29542131e-04 4.75951472e+01] [ 8.21829619e-03 3.63718043e-04 9.99966163e-01 -1.46901179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.721400513 meters 0.045370702686084126 Centerline is valid? [True, True] Translation: X:507.49, Y:47.59, Z:-1.47 [[ 9.98837228e-01 -4.75720854e-02 -7.81597458e-03 5.07494056e+02] [ 4.75680920e-02 9.98867755e-01 -6.96138810e-04 4.75916985e+01] [ 7.84024176e-03 3.23538361e-04 9.99969212e-01 -1.46938356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.781400513 meters 0.043814481850681486 Centerline is valid? [True, True] Translation: X:507.55, Y:47.59, Z:-1.47 [[ 9.98757212e-01 -4.94866839e-02 -5.92454900e-03 5.07554482e+02] [ 4.94844225e-02 9.98774756e-01 -5.27775585e-04 4.75911583e+01] [ 5.94340785e-03 2.33946785e-04 9.99982310e-01 -1.46560718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.841400513 meters 0.04314362083210308 Centerline is valid? [True, True] Translation: X:507.61, Y:47.59, Z:-1.46 [[ 9.98677966e-01 -5.12274333e-02 -4.25090126e-03 5.07612484e+02] [ 5.12262842e-02 9.98687000e-01 -3.78824332e-04 4.75904347e+01] [ 4.26472603e-03 1.60565637e-04 9.99990893e-01 -1.46329687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.901400513 meters 0.04078752131247561 Centerline is valid? [True, True] Translation: X:507.67, Y:47.59, Z:-1.46 [[ 9.98616542e-01 -5.23433667e-02 -5.01727276e-03 5.07672045e+02] [ 5.23417769e-02 9.98629129e-01 -4.47736605e-04 4.75880840e+01] [ 5.03383077e-03 1.84504209e-04 9.99987313e-01 -1.46381842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9614005130001 meters 0.040015876396492844 Centerline is valid? [True, True] Translation: X:507.73, Y:47.59, Z:-1.46 [[ 9.98676130e-01 -5.12301050e-02 -4.63298956e-03 5.07730896e+02] [ 5.12287340e-02 9.98686860e-01 -4.14175213e-04 4.75873407e+01] [ 4.64812404e-03 1.76284708e-04 9.99989182e-01 -1.46280404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.021400513 meters 0.05008036068915025 Centerline is valid? [True, True] Translation: X:507.79, Y:47.59, Z:-1.46 [[ 9.98793930e-01 -4.90040280e-02 -3.04809808e-03 5.07788667e+02] [ 4.90034234e-02 9.98798573e-01 -2.72759973e-04 4.75942252e+01] [ 3.05780235e-03 1.23063764e-04 9.99995317e-01 -1.46129229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.081400513 meters 0.051256904719147726 Centerline is valid? [True, True] Translation: X:507.85, Y:47.59, Z:-1.46 [[ 9.98900866e-01 -4.67168358e-02 -3.82051915e-03 5.07848046e+02] [ 4.67158685e-02 9.98908159e-01 -3.42061275e-04 4.75924876e+01] [ 3.83232777e-03 1.63206433e-04 9.99992643e-01 -1.46286369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.141400513 meters 0.05549706729750424 Centerline is valid? [True, True] Translation: X:507.91, Y:47.60, Z:-1.47 [[ 9.99053999e-01 -4.29715798e-02 -6.67455864e-03 5.07906892e+02] [ 4.29685435e-02 9.99076247e-01 -5.97706786e-04 4.75983046e+01] [ 6.69407740e-03 3.10345291e-04 9.99977546e-01 -1.46718288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.201400513 meters 0.054099362750712296 Centerline is valid? [True, True] Translation: X:507.97, Y:47.59, Z:-1.46 [[ 9.99261264e-01 -3.79746972e-02 -5.90321989e-03 5.07967412e+02] [ 3.79722349e-02 9.99278655e-01 -5.28672341e-04 4.75940074e+01] [ 5.91903781e-03 3.04123339e-04 9.99982436e-01 -1.46472075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.261400513 meters 0.06171942780276067 Centerline is valid? [True, True] Translation: X:508.03, Y:47.60, Z:-1.46 [[ 9.99460340e-01 -3.25963275e-02 -4.06303380e-03 5.08025990e+02] [ 3.25951166e-02 9.99468572e-01 -3.63889769e-04 4.76032907e+01] [ 4.07273606e-03 2.31258332e-04 9.99991680e-01 -1.46137349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.321400513 meters 0.07601664201250946 Centerline is valid? [True, True] Translation: X:508.08, Y:47.62, Z:-1.46 [[ 9.99692308e-01 -2.45631686e-02 -3.45539549e-03 5.08084517e+02] [ 2.45622451e-02 9.99698255e-01 -3.09469667e-04 4.76172978e+01] [ 3.46195440e-03 2.24502174e-04 9.99993982e-01 -1.46194787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.381400513 meters 0.07644351681330233 Centerline is valid? [True, True] Translation: X:508.15, Y:47.62, Z:-1.46 [[ 9.99782490e-01 -2.03159939e-02 -4.71518277e-03 5.08145259e+02] [ 2.03142271e-02 9.99793556e-01 -4.22291166e-04 4.76187885e+01] [ 4.72278861e-03 3.26414019e-04 9.99988794e-01 -1.46467054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.441400513 meters 0.08023407321255598 Centerline is valid? [True, True] Translation: X:508.21, Y:47.63, Z:-1.47 [[ 9.99831989e-01 -1.69972529e-02 -6.86194111e-03 5.08205553e+02] [ 1.69934334e-02 9.99855412e-01 -6.14546226e-04 4.76265497e+01] [ 6.87139455e-03 4.97835037e-04 9.99976268e-01 -1.46914122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.501400513 meters 0.07621996623376823 Centerline is valid? [True, True] Translation: X:508.27, Y:47.62, Z:-1.47 [[ 9.99848287e-01 -1.58777590e-02 -7.16244026e-03 5.08265374e+02] [ 1.58735678e-02 9.99873801e-01 -6.41630475e-04 4.76204980e+01] [ 7.17172402e-03 5.27839650e-04 9.99974144e-01 -1.46949351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.561400513 meters 0.0807960823938174 Centerline is valid? [True, True] Translation: X:508.32, Y:47.63, Z:-1.47 [[ 9.99798185e-01 -1.78708026e-02 -9.17736309e-03 5.08324249e+02] [ 1.78640028e-02 9.99840088e-01 -8.22381936e-04 4.76276092e+01] [ 9.19059214e-03 6.58271528e-04 9.99957549e-01 -1.47389163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.621400513 meters 0.08021547897265592 Centerline is valid? [True, True] Translation: X:508.38, Y:47.63, Z:-1.48 [[ 9.99783658e-01 -1.84962078e-02 -9.51463057e-03 5.08382858e+02] [ 1.84889158e-02 9.99828701e-01 -8.53793435e-04 4.76325498e+01] [ 9.52879266e-03 6.77693520e-04 9.99954370e-01 -1.47517207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.681400513 meters 0.07455686546012652 Centerline is valid? [True, True] Translation: X:508.44, Y:47.63, Z:-1.47 [[ 9.99809683e-01 -1.77922662e-02 -8.00206186e-03 5.08441945e+02] [ 1.77870812e-02 9.99841539e-01 -7.18664914e-04 4.76275818e+01] [ 8.01358052e-03 5.76194816e-04 9.99967725e-01 -1.47134183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.741400513 meters 0.077208723197148 Centerline is valid? [True, True] Translation: X:508.50, Y:47.64, Z:-1.47 [[ 9.99828774e-01 -1.62655445e-02 -8.82355135e-03 5.08501407e+02] [ 1.62591793e-02 9.99867497e-01 -7.92647387e-04 4.76363476e+01] [ 8.83527504e-03 6.49047961e-04 9.99960758e-01 -1.47260512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.801400513 meters 0.07750644994686706 Centerline is valid? [True, True] Translation: X:508.56, Y:47.64, Z:-1.47 [[ 9.99843901e-01 -1.48482057e-02 -9.57621914e-03 5.08561912e+02] [ 1.48406433e-02 9.99889502e-01 -8.60286955e-04 4.76414996e+01] [ 9.58793470e-03 7.18035413e-04 9.99953777e-01 -1.47358717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.861400513 meters 0.0689876067930692 Centerline is valid? [True, True] Translation: X:508.62, Y:47.63, Z:-1.47 [[ 9.99831736e-01 -1.73631787e-02 -5.91774791e-03 5.08623292e+02] [ 1.73603346e-02 9.99849157e-01 -5.31632540e-04 4.76318494e+01] [ 5.92608609e-03 4.28809001e-04 9.99982349e-01 -1.46746121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.921400513 meters 0.08031421808738474 Centerline is valid? [True, True] Translation: X:508.68, Y:47.65, Z:-1.47 [[ 9.99779336e-01 -2.03456361e-02 -5.22819555e-03 5.08682006e+02] [ 2.03434566e-02 9.99792940e-01 -4.69731242e-04 4.76465302e+01] [ 5.23666999e-03 3.63268020e-04 9.99986223e-01 -1.46682636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.981400513 meters 0.0709324215095495 Centerline is valid? [True, True] Translation: X:508.74, Y:47.64, Z:-1.47 [[ 9.99711189e-01 -2.32676364e-02 -6.01299149e-03 5.08743614e+02] [ 2.32648057e-02 9.99729192e-01 -5.40280922e-04 4.76354319e+01] [ 6.02393418e-03 4.00233804e-04 9.99981776e-01 -1.46808467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.041400513 meters 0.06011423889936452 Centerline is valid? [True, True] Translation: X:508.81, Y:47.62, Z:-1.46 [[ 9.99670139e-01 -2.54268038e-02 -3.61803318e-03 5.08805600e+02] [ 2.54257929e-02 9.99676659e-01 -3.25127309e-04 4.76210286e+01] [ 3.62513027e-03 2.33028700e-04 9.99993402e-01 -1.46380747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.101400513 meters 0.0672454386331563 Centerline is valid? [True, True] Translation: X:508.86, Y:47.63, Z:-1.46 [[ 9.99676847e-01 -2.52768604e-02 -2.69865226e-03 5.08862648e+02] [ 2.52762972e-02 9.99680474e-01 -2.42582855e-04 4.76306364e+01] [ 2.70392170e-03 1.74292527e-04 9.99996329e-01 -1.46195071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.161400513 meters 0.06963379338871939 Centerline is valid? [True, True] Translation: X:508.92, Y:47.64, Z:-1.46 [[ 9.99692676e-01 -2.46818167e-02 -2.31547747e-03 5.08920534e+02] [ 2.46814003e-02 9.99695346e-01 -2.08257853e-04 4.76359244e+01] [ 2.31991223e-03 1.51044624e-04 9.99997298e-01 -1.46060159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.221400513 meters 0.06948073110144234 Centerline is valid? [True, True] Translation: X:508.98, Y:47.64, Z:-1.46 [[ 9.99691912e-01 -2.45419365e-02 -3.71139264e-03 5.08979336e+02] [ 2.45408640e-02 9.99698772e-01 -3.34252284e-04 4.76414187e+01] [ 3.71847786e-03 2.43068523e-04 9.99993057e-01 -1.46456456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.281400513 meters 0.06516339282360153 Centerline is valid? [True, True] Translation: X:509.04, Y:47.64, Z:-1.47 [[ 9.99600791e-01 -2.74102560e-02 -6.85098727e-03 5.09040484e+02] [ 2.74066643e-02 9.99624176e-01 -6.17611172e-04 4.76411580e+01] [ 6.86534138e-03 4.29601908e-04 9.99976341e-01 -1.47015929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.341400513 meters 0.058225444872119086 Centerline is valid? [True, True] Translation: X:509.10, Y:47.63, Z:-1.48 [[ 9.99338065e-01 -3.47328813e-02 -1.08193807e-02 5.09101766e+02] [ 3.47243504e-02 9.99396452e-01 -9.75393797e-04 4.76329080e+01] [ 1.08467289e-02 5.99052184e-04 9.99940993e-01 -1.47568380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.401400513 meters 0.05842188087543018 Centerline is valid? [True, True] Translation: X:509.16, Y:47.64, Z:-1.47 [[ 9.99299716e-01 -3.60863116e-02 -9.89217908e-03 5.09160381e+02] [ 3.60792445e-02 9.99348534e-01 -8.91999781e-04 4.76381898e+01] [ 9.91792364e-03 5.34472781e-04 9.99950673e-01 -1.47398240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4614005130001 meters 0.059692746007286517 Centerline is valid? [True, True] Translation: X:509.22, Y:47.65, Z:-1.47 [[ 9.99410951e-01 -3.32225218e-02 -8.60324860e-03 5.09220072e+02] [ 3.32170694e-02 9.99447860e-01 -7.75922361e-04 4.76471052e+01] [ 8.62427650e-03 4.89690599e-04 9.99962690e-01 -1.47086288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.521400513 meters 0.07227027254978523 Centerline is valid? [True, True] Translation: X:509.28, Y:47.67, Z:-1.47 [[ 9.99601400e-01 -2.72940660e-02 -7.21624209e-03 5.09278007e+02] [ 2.72900753e-02 9.99627345e-01 -6.50924076e-04 4.76689888e+01] [ 7.23131929e-03 4.53732828e-04 9.99973751e-01 -1.46943166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.581400513 meters 0.06954661036814025 Centerline is valid? [True, True] Translation: X:509.34, Y:47.67, Z:-1.47 [[ 9.99683530e-01 -2.44835305e-02 -5.77890013e-03 5.09338818e+02] [ 2.44809243e-02 9.99700161e-01 -5.21299983e-04 4.76716796e+01] [ 5.78993066e-03 3.79662191e-04 9.99983166e-01 -1.46614163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.641400513 meters 0.07160175401745317 Centerline is valid? [True, True] Translation: X:509.40, Y:47.68, Z:-1.47 [[ 9.99716590e-01 -2.25927266e-02 -7.50383181e-03 5.09398023e+02] [ 2.25882788e-02 9.99744623e-01 -6.76967574e-04 4.76834611e+01] [ 7.51721004e-03 5.07277070e-04 9.99971617e-01 -1.46828437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.701400513 meters 0.07002210761012401 Centerline is valid? [True, True] Translation: X:509.46, Y:47.69, Z:-1.47 [[ 9.99699430e-01 -2.26464520e-02 -9.39085340e-03 5.09456294e+02] [ 2.26394769e-02 9.99743334e-01 -8.48399570e-04 4.76898494e+01] [ 9.40765633e-03 6.35540558e-04 9.99955545e-01 -1.47015985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.761400513 meters 0.06637677221614847 Centerline is valid? [True, True] Translation: X:509.52, Y:47.69, Z:-1.47 [[ 9.99637415e-01 -2.57496420e-02 -7.87361575e-03 5.09517349e+02] [ 2.57448329e-02 9.99668294e-01 -7.11549056e-04 4.76907967e+01] [ 7.88932616e-03 5.08586138e-04 9.99968749e-01 -1.46647558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.821400513 meters 0.06903534590204473 Centerline is valid? [True, True] Translation: X:509.58, Y:47.70, Z:-1.46 [[ 9.99587015e-01 -2.79282497e-02 -6.76845763e-03 5.09576133e+02] [ 2.79247451e-02 9.99609841e-01 -6.11763710e-04 4.76963239e+01] [ 6.78290234e-03 4.22503607e-04 9.99976907e-01 -1.46470928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.881400513 meters 0.062100374093065604 Centerline is valid? [True, True] Translation: X:509.64, Y:47.70, Z:-1.46 [[ 9.99482573e-01 -3.18730192e-02 -4.32404566e-03 5.09635647e+02] [ 3.18716253e-02 9.99491894e-01 -3.90897440e-04 4.76991001e+01] [ 4.33430766e-03 2.52880816e-04 9.99990575e-01 -1.46056554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.941400513 meters 0.055499045098872934 Centerline is valid? [True, True] Translation: X:509.70, Y:47.70, Z:-1.46 [[ 9.99343844e-01 -3.61954570e-02 -1.33029804e-03 5.09695752e+02] [ 3.61953289e-02 9.99344727e-01 -1.20258335e-04 4.76975559e+01] [ 1.33377914e-03 7.20288515e-05 9.99999108e-01 -1.45681953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.001400513 meters 0.059044570236659696 Centerline is valid? [True, True] Translation: X:509.75, Y:47.70, Z:-1.46 [[ 9.99271853e-01 -3.80793938e-02 -2.39245727e-03 5.09753944e+02] [ 3.80789846e-02 9.99274709e-01 -2.16353043e-04 4.77037282e+01] [ 2.39896064e-03 1.25093162e-04 9.99997115e-01 -1.45772730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.061400513 meters 0.055598550703350874 Centerline is valid? [True, True] Translation: X:509.81, Y:47.71, Z:-1.46 [[ 9.99267339e-01 -3.80355359e-02 -4.25238945e-03 5.09813218e+02] [ 3.80342411e-02 9.99276362e-01 -3.84985542e-04 4.77066334e+01] [ 4.26395539e-03 2.22967073e-04 9.99990884e-01 -1.46060253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.121400513 meters 0.06022266858351776 Centerline is valid? [True, True] Translation: X:509.87, Y:47.72, Z:-1.46 [[ 9.99456930e-01 -3.27567542e-02 -3.58321270e-03 5.09872463e+02] [ 3.27557999e-02 9.99463332e-01 -3.24693504e-04 4.77171101e+01] [ 3.59192561e-03 2.07146174e-04 9.99993528e-01 -1.45935250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.181400513 meters 0.06787459854353078 Centerline is valid? [True, True] Translation: X:509.93, Y:47.73, Z:-1.46 [[ 9.99648148e-01 -2.61563754e-02 -4.40738404e-03 5.09931287e+02] [ 2.61548676e-02 9.99657823e-01 -3.99412030e-04 4.77321850e+01] [ 4.41632311e-03 2.83996950e-04 9.99990208e-01 -1.45987917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.241400513 meters 0.08067888641879169 Centerline is valid? [True, True] Translation: X:509.99, Y:47.75, Z:-1.46 [[ 9.99775405e-01 -2.02252939e-02 -6.33061515e-03 5.09988641e+02] [ 2.02220649e-02 9.99795349e-01 -5.73658143e-04 4.77549819e+01] [ 6.34092199e-03 4.45511192e-04 9.99979797e-01 -1.46347059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.301400513 meters 0.07628007932794773 Centerline is valid? [True, True] Translation: X:510.05, Y:47.76, Z:-1.46 [[ 9.99846662e-01 -1.62851945e-02 -6.43779744e-03 5.10048761e+02] [ 1.62817739e-02 9.99867273e-01 -5.83387683e-04 4.77550510e+01] [ 6.44644356e-03 4.78479465e-04 9.99979107e-01 -1.46417315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.361400513 meters 0.0792346693979761 Centerline is valid? [True, True] Translation: X:510.11, Y:47.76, Z:-1.47 [[ 9.99822496e-01 -1.68551609e-02 -8.41904509e-03 5.10106306e+02] [ 1.68493277e-02 9.99857749e-01 -7.63310291e-04 4.77616730e+01] [ 8.43071319e-03 6.21319551e-04 9.99964268e-01 -1.46735085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.421400513 meters 0.08091129318114189 Centerline is valid? [True, True] Translation: X:510.16, Y:47.77, Z:-1.47 [[ 9.99772493e-01 -1.79181885e-02 -1.15715797e-02 5.10164325e+02] [ 1.79072207e-02 9.99839101e-01 -1.05074785e-03 4.77683174e+01] [ 1.15885454e-02 8.43293965e-04 9.99932495e-01 -1.47251822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.481400513 meters 0.07390370103623803 Centerline is valid? [True, True] Translation: X:510.22, Y:47.76, Z:-1.47 [[ 9.99810711e-01 -1.75592863e-02 -8.37935196e-03 5.10224037e+02] [ 1.75535124e-02 9.99845635e-01 -7.62117271e-04 4.77623693e+01] [ 8.39144072e-03 6.14885952e-04 9.99964602e-01 -1.46646775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.541400513 meters 0.07692936265583036 Centerline is valid? [True, True] Translation: X:510.28, Y:47.77, Z:-1.46 [[ 9.99846990e-01 -1.59519927e-02 -7.17846279e-03 5.10282800e+02] [ 1.59477112e-02 9.99872614e-01 -6.53290084e-04 4.77698583e+01] [ 7.18796963e-03 5.38710072e-04 9.99974021e-01 -1.46423083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.601400513 meters 0.08152809200567197 Centerline is valid? [True, True] Translation: X:510.34, Y:47.78, Z:-1.47 [[ 9.99839965e-01 -1.52508725e-02 -9.35175905e-03 5.10340311e+02] [ 1.52435718e-02 9.99883447e-01 -8.51459261e-04 4.77806760e+01] [ 9.36365458e-03 7.08768787e-04 9.99955909e-01 -1.46751488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.661400513 meters 0.08000593644926429 Centerline is valid? [True, True] Translation: X:510.40, Y:47.78, Z:-1.47 [[ 9.99837072e-01 -1.58349766e-02 -8.66503105e-03 5.10398832e+02] [ 1.58287209e-02 9.99874406e-01 -7.90056752e-04 4.77833560e+01] [ 8.67645330e-03 6.52771671e-04 9.99962146e-01 -1.46679937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.721400513 meters 0.06885140112821357 Centerline is valid? [True, True] Translation: X:510.46, Y:47.78, Z:-1.47 [[ 9.99768818e-01 -1.92744270e-02 -9.52922632e-03 5.10459376e+02] [ 1.92670119e-02 9.99813996e-01 -8.69344201e-04 4.77783383e+01] [ 9.54420996e-03 6.85543508e-04 9.99954218e-01 -1.46655725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.781400513 meters 0.06903959453129671 Centerline is valid? [True, True] Translation: X:510.52, Y:47.79, Z:-1.46 [[ 9.99653512e-01 -2.52998619e-02 -7.26443315e-03 5.10518309e+02] [ 2.52957108e-02 9.99679793e-01 -6.62761175e-04 4.77879136e+01] [ 7.27887480e-03 4.78772537e-04 9.99973394e-01 -1.46396568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.841400513 meters 0.06599798712456716 Centerline is valid? [True, True] Translation: X:510.58, Y:47.79, Z:-1.46 [[ 9.99592477e-01 -2.77627171e-02 -6.64162569e-03 5.10578369e+02] [ 2.77593013e-02 9.99614453e-01 -6.05951500e-04 4.77911754e+01] [ 6.65588789e-03 4.21337672e-04 9.99977761e-01 -1.46193517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.901400513 meters 0.07308622189598239 Centerline is valid? [True, True] Translation: X:510.64, Y:47.81, Z:-1.46 [[ 9.99559082e-01 -2.91624706e-02 -5.58493933e-03 5.10635672e+02] [ 2.91600763e-02 9.99574625e-01 -5.09667298e-04 4.78061069e+01] [ 5.59742679e-03 3.46585319e-04 9.99984274e-01 -1.46039136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9614005130001 meters 0.06264679620913446 Centerline is valid? [True, True] Translation: X:510.70, Y:47.80, Z:-1.46 [[ 9.99507423e-01 -3.10587238e-02 -4.50179609e-03 5.10696383e+02] [ 3.10571869e-02 9.99517525e-01 -4.10906193e-04 4.77999550e+01] [ 4.51238631e-03 2.70890668e-04 9.99989782e-01 -1.45775574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.021400513 meters 0.0585679339207949 Centerline is valid? [True, True] Translation: X:510.76, Y:47.80, Z:-1.46 [[ 9.99361310e-01 -3.54702254e-02 -4.33992572e-03 5.10756133e+02] [ 3.54688382e-02 9.99370704e-01 -3.96196866e-04 4.78022400e+01] [ 4.35124781e-03 2.42011696e-04 9.99990504e-01 -1.45673180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.081400513 meters 0.05557224634519005 Centerline is valid? [True, True] Translation: X:510.82, Y:47.80, Z:-1.46 [[ 9.99208992e-01 -3.94304626e-02 -5.16039330e-03 5.10816851e+02] [ 3.94285537e-02 9.99222281e-01 -4.71150672e-04 4.78044476e+01] [ 5.17495765e-03 2.67311143e-04 9.99986574e-01 -1.45796721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.141400513 meters 0.052912878966942925 Centerline is valid? [True, True] Translation: X:510.88, Y:47.80, Z:-1.46 [[ 9.98984171e-01 -4.47861825e-02 -4.98226589e-03 5.10875729e+02] [ 4.47844692e-02 9.98996569e-01 -4.54980643e-04 4.78048872e+01] [ 4.99764338e-03 2.31390327e-04 9.99987485e-01 -1.45778487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.201400513 meters 0.04350588153272548 Centerline is valid? [True, True] Translation: X:510.94, Y:47.79, Z:-1.46 [[ 9.98487093e-01 -5.47200350e-02 -5.40759876e-03 5.10936479e+02] [ 5.47181615e-02 9.98501717e-01 -4.93916018e-04 4.77923886e+01] [ 5.42652375e-03 1.97274907e-04 9.99985257e-01 -1.45827097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.261400513 meters 0.03530409139885893 Centerline is valid? [True, True] Translation: X:511.00, Y:47.78, Z:-1.46 [[ 9.98287257e-01 -5.81613101e-02 -6.30988253e-03 5.10997763e+02] [ 5.81588274e-02 9.98307176e-01 -5.76396298e-04 4.77834963e+01] [ 6.33272497e-03 2.08433710e-04 9.99979926e-01 -1.45857175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.321400513 meters 0.03897557766067951 Centerline is valid? [True, True] Translation: X:511.06, Y:47.79, Z:-1.46 [[ 9.98249439e-01 -5.89210933e-02 -5.13434208e-03 5.11055374e+02] [ 5.89194585e-02 9.98262629e-01 -4.69209518e-04 4.77911380e+01] [ 5.15306816e-03 1.65875483e-04 9.99986709e-01 -1.45700900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.381400513 meters 0.03404495311851401 Centerline is valid? [True, True] Translation: X:511.11, Y:47.79, Z:-1.45 [[ 9.98301627e-01 -5.82091061e-02 -2.35822540e-03 5.11114409e+02] [ 5.82087590e-02 9.98304409e-01 -2.15614914e-04 4.77873845e+01] [ 2.36677757e-03 7.79793456e-05 9.99997196e-01 -1.45091353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.441400513 meters 0.041418176265870306 Centerline is valid? [True, True] Translation: X:511.17, Y:47.80, Z:-1.45 [[ 9.98375297e-01 -5.69196307e-02 -2.63078515e-03 5.11170674e+02] [ 5.69191932e-02 9.98378759e-01 -2.40955594e-04 4.78019600e+01] [ 2.64023512e-03 9.08219445e-05 9.99996510e-01 -1.45215483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.501400513 meters 0.038507480694643 Centerline is valid? [True, True] Translation: X:511.23, Y:47.80, Z:-1.46 [[ 9.98434151e-01 -5.57847618e-02 -4.16012514e-03 5.11229270e+02] [ 5.57836563e-02 9.98442807e-01 -3.81377563e-04 4.78030512e+01] [ 4.17492208e-03 1.48713392e-04 9.99991274e-01 -1.45501193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.561400513 meters 0.037317498295694154 Centerline is valid? [True, True] Translation: X:511.29, Y:47.81, Z:-1.46 [[ 9.98374244e-01 -5.66655077e-02 -6.15539429e-03 5.11288181e+02] [ 5.66630991e-02 9.98393196e-01 -5.65132013e-04 4.78088746e+01] [ 6.17752727e-03 2.15429530e-04 9.99980896e-01 -1.45715789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.621400513 meters 0.042262276033282684 Centerline is valid? [True, True] Translation: X:511.34, Y:47.82, Z:-1.46 [[ 9.98355101e-01 -5.68821603e-02 -7.17722642e-03 5.11344098e+02] [ 5.68788854e-02 9.98380868e-01 -6.59745966e-04 4.78211531e+01] [ 7.20313331e-03 2.50428112e-04 9.99974026e-01 -1.45977381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.681400513 meters 0.03841974003706412 Centerline is valid? [True, True] Translation: X:511.40, Y:47.82, Z:-1.46 [[ 9.98394775e-01 -5.62828238e-02 -6.33387259e-03 5.11403553e+02] [ 5.62802560e-02 9.98414840e-01 -5.83059129e-04 4.78215525e+01] [ 6.35664861e-03 2.25651217e-04 9.99979771e-01 -1.45680472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.741400513 meters 0.04340109451224512 Centerline is valid? [True, True] Translation: X:511.46, Y:47.83, Z:-1.46 [[ 9.98406986e-01 -5.60660696e-02 -6.33131871e-03 5.11461829e+02] [ 5.60634931e-02 9.98427035e-01 -5.83842000e-04 4.78284243e+01] [ 6.35409350e-03 2.27956089e-04 9.99979787e-01 -1.45681200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.801400513 meters 0.041859876713250574 Centerline is valid? [True, True] Translation: X:511.52, Y:47.84, Z:-1.46 [[ 9.98527193e-01 -5.39346872e-02 -5.87319388e-03 5.11520831e+02] [ 5.39324309e-02 9.98544440e-01 -5.41988833e-04 4.78373613e+01] [ 5.89387709e-03 2.24434965e-04 9.99982606e-01 -1.45653508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.861400513 meters 0.040783411575664986 Centerline is valid? [True, True] Translation: X:511.58, Y:47.84, Z:-1.45 [[ 9.98689821e-01 -5.09626364e-02 -4.63159811e-03 5.11581326e+02] [ 5.09612011e-02 9.98700542e-01 -4.27449052e-04 4.78402576e+01] [ 4.64736347e-03 1.90857214e-04 9.99989183e-01 -1.45499323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.921400513 meters 0.04678563771731768 Centerline is valid? [True, True] Translation: X:511.64, Y:47.85, Z:-1.45 [[ 9.98855636e-01 -4.76480626e-02 -4.13297264e-03 5.11639660e+02] [ 4.76468912e-02 9.98864169e-01 -3.81480309e-04 4.78485104e+01] [ 4.14645508e-03 1.84120458e-04 9.99991386e-01 -1.45394199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.981400513 meters 0.04507327025306845 Centerline is valid? [True, True] Translation: X:511.70, Y:47.85, Z:-1.46 [[ 9.98926412e-01 -4.59803212e-02 -5.64211229e-03 5.11699724e+02] [ 4.59781108e-02 9.98942312e-01 -5.20928139e-04 4.78474739e+01] [ 5.66009714e-03 2.60955213e-04 9.99983947e-01 -1.45639776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.041400513 meters 0.05266143936642394 Centerline is valid? [True, True] Translation: X:511.76, Y:47.86, Z:-1.46 [[ 9.98996211e-01 -4.44885962e-02 -5.22834717e-03 5.11757547e+02] [ 4.44866768e-02 9.99009861e-01 -4.82883309e-04 4.78572050e+01] [ 5.24465318e-03 2.49806805e-04 9.99986216e-01 -1.45663117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.101400513 meters 0.05319504360731511 Centerline is valid? [True, True] Translation: X:511.82, Y:47.86, Z:-1.45 [[ 9.99150579e-01 -4.10437685e-02 -3.67828356e-03 5.11818021e+02] [ 4.10427950e-02 9.99157332e-01 -3.39778466e-04 4.78559602e+01] [ 3.68912977e-03 1.88522813e-04 9.99993177e-01 -1.45426617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.161400513 meters 0.057409056553499586 Centerline is valid? [True, True] Translation: X:511.88, Y:47.86, Z:-1.46 [[ 9.99261114e-01 -3.80550977e-02 -5.38851247e-03 5.11877332e+02] [ 3.80529649e-02 9.99275600e-01 -4.97822616e-04 4.78628672e+01] [ 5.40355372e-03 2.92405906e-04 9.99985358e-01 -1.45710847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.221400513 meters 0.05737442697750175 Centerline is valid? [True, True] Translation: X:511.94, Y:47.87, Z:-1.46 [[ 9.99356220e-01 -3.50602192e-02 -7.61089253e-03 5.11937710e+02] [ 3.50558772e-02 9.99385106e-01 -7.03194205e-04 4.78652564e+01] [ 7.63086678e-03 4.35934989e-04 9.99970789e-01 -1.46018358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.281400513 meters 0.06674780898984348 Centerline is valid? [True, True] Translation: X:512.00, Y:47.88, Z:-1.46 [[ 9.99474335e-01 -3.19644369e-02 -5.41549292e-03 5.11995615e+02] [ 3.19621934e-02 9.99488953e-01 -5.00353450e-04 4.78802899e+01] [ 5.42871887e-03 3.26999400e-04 9.99985211e-01 -1.45712882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.341400513 meters 0.07699989284309088 Centerline is valid? [True, True] Translation: X:512.05, Y:47.90, Z:-1.46 [[ 9.99527406e-01 -3.02603325e-02 -5.41072579e-03 5.12053789e+02] [ 3.02580678e-02 9.99541995e-01 -4.99947231e-04 4.78985810e+01] [ 5.42337622e-03 3.35992851e-04 9.99985237e-01 -1.45766163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.401400513 meters 0.057632257937561986 Centerline is valid? [True, True] Translation: X:512.11, Y:47.88, Z:-1.46 [[ 9.99536740e-01 -2.98021766e-02 -6.17546195e-03 5.12114320e+02] [ 2.97992134e-02 9.99555742e-01 -5.71319827e-04 4.78816663e+01] [ 6.18974503e-03 3.87031249e-04 9.99980768e-01 -1.45777002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4614005130001 meters 0.06438274464596976 Centerline is valid? [True, True] Translation: X:512.17, Y:47.90, Z:-1.46 [[ 9.99564657e-01 -2.87983301e-02 -6.41507015e-03 5.12171101e+02] [ 2.87951082e-02 9.99585158e-01 -5.94047423e-04 4.78991230e+01] [ 6.42951649e-03 4.09066169e-04 9.99979247e-01 -1.45812415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.521400513 meters 0.06408144404955729 Centerline is valid? [True, True] Translation: X:512.23, Y:47.91, Z:-1.46 [[ 9.99532941e-01 -2.97972792e-02 -6.78391515e-03 5.12229342e+02] [ 2.97936970e-02 9.99555872e-01 -6.28520243e-04 4.79077166e+01] [ 6.79963041e-03 4.26108775e-04 9.99976791e-01 -1.45806526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.581400513 meters 0.06745145890417922 Centerline is valid? [True, True] Translation: X:512.29, Y:47.92, Z:-1.46 [[ 9.99448755e-01 -3.26043419e-02 -6.25638892e-03 5.12288226e+02] [ 3.26013490e-02 9.99468267e-01 -5.79788347e-04 4.79190765e+01] [ 6.27196581e-03 3.75502023e-04 9.99980261e-01 -1.45849838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.641400513 meters 0.05325771423358371 Centerline is valid? [True, True] Translation: X:512.35, Y:47.90, Z:-1.45 [[ 9.99158491e-01 -4.08279995e-02 -3.92227090e-03 5.12350291e+02] [ 4.08268863e-02 9.99166169e-01 -3.63498400e-04 4.79019772e+01] [ 3.93384130e-03 2.03058404e-04 9.99992242e-01 -1.45441960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.701400513 meters 0.044681076443816185 Centerline is valid? [True, True] Translation: X:512.41, Y:47.89, Z:-1.45 [[ 9.98934732e-01 -4.60071590e-02 -3.56970689e-03 5.12411569e+02] [ 4.60062698e-02 9.98941096e-01 -3.30855056e-04 4.78910402e+01] [ 3.58114861e-03 1.66273708e-04 9.99993574e-01 -1.45331780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.761400513 meters 0.046332880280293406 Centerline is valid? [True, True] Translation: X:512.47, Y:47.89, Z:-1.45 [[ 9.98850106e-01 -4.78405507e-02 -3.12197463e-03 5.12470192e+02] [ 4.78398793e-02 9.98854976e-01 -2.89422365e-04 4.78923874e+01] [ 3.13224601e-03 1.39734670e-04 9.99995085e-01 -1.45170486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.821400513 meters 0.051058142371594985 Centerline is valid? [True, True] Translation: X:512.53, Y:47.90, Z:-1.45 [[ 9.99026730e-01 -4.40582155e-02 -2.11342934e-03 5.12529102e+02] [ 4.40578993e-02 9.99028960e-01 -1.95960358e-04 4.78985894e+01] [ 2.12001078e-03 1.02656378e-04 9.99997748e-01 -1.45067778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.881400513 meters 0.05486115337054501 Centerline is valid? [True, True] Translation: X:512.59, Y:47.91, Z:-1.45 [[ 9.99193331e-01 -4.01553063e-02 -4.89480524e-04 5.12588698e+02] [ 4.01552889e-02 9.99193450e-01 -4.53665660e-05 4.79051212e+01] [ 4.90907442e-04 2.56747383e-05 9.99999879e-01 -1.44797841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.941400513 meters 0.060210062527191396 Centerline is valid? [True, True] Translation: X:512.65, Y:47.91, Z:-1.45 [[ 9.99362156e-01 -3.57082592e-02 -4.47980403e-04 5.12647348e+02] [ 3.57082442e-02 9.99362256e-01 -4.15583624e-05 4.79136546e+01] [ 4.49178683e-04 2.55352611e-05 9.99999899e-01 -1.44699137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.001400513 meters 0.06369377382757462 Centerline is valid? [True, True] Translation: X:512.71, Y:47.92, Z:-1.45 [[ 9.99497235e-01 -3.16783216e-02 -1.32710901e-03 5.12707080e+02] [ 3.16781861e-02 9.99498113e-01 -1.23043264e-04 4.79205615e+01] [ 1.33034075e-03 8.09409962e-05 9.99999112e-01 -1.44927524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.061400513 meters 0.06002592995759961 Centerline is valid? [True, True] Translation: X:512.77, Y:47.92, Z:-1.45 [[ 9.99535390e-01 -3.04791855e-02 1.54785465e-04 5.12767388e+02] [ 3.04791836e-02 9.99535402e-01 1.44049325e-05 4.79187131e+01] [-1.55152603e-04 -9.68050520e-06 9.99999988e-01 -1.44731315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.121400513 meters 0.05909367784479039 Centerline is valid? [True, True] Translation: X:512.83, Y:47.92, Z:-1.45 [[ 9.99561183e-01 -2.95138124e-02 -2.52497256e-03 5.12826618e+02] [ 2.95133145e-02 9.99564360e-01 -2.34219809e-04 4.79226858e+01] [ 2.53078530e-03 1.59596720e-04 9.99996785e-01 -1.45141204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.181400513 meters 0.06719125720336663 Centerline is valid? [True, True] Translation: X:512.88, Y:47.94, Z:-1.46 [[ 9.99578318e-01 -2.85703056e-02 -5.18882754e-03 5.12884460e+02] [ 2.85681891e-02 9.99591730e-01 -4.81580671e-04 4.79369445e+01] [ 5.20046800e-03 3.33142191e-04 9.99986422e-01 -1.45656395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.241400513 meters 0.07161644087372136 Centerline is valid? [True, True] Translation: X:512.94, Y:47.95, Z:-1.45 [[ 9.99598041e-01 -2.81252394e-02 -3.56752627e-03 5.12941823e+02] [ 2.81242356e-02 9.99604381e-01 -3.31238701e-04 4.79461959e+01] [ 3.57543106e-03 2.30771607e-04 9.99993581e-01 -1.45472748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.301400513 meters 0.06796170489707572 Centerline is valid? [True, True] Translation: X:513.00, Y:47.95, Z:-1.45 [[ 9.99607382e-01 -2.78933274e-02 -2.65398166e-03 5.13000381e+02] [ 2.78927706e-02 9.99610891e-01 -2.46595697e-04 4.79475573e+01] [ 2.65982734e-03 1.72471978e-04 9.99996448e-01 -1.45276738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.361400513 meters 0.06105057217082623 Centerline is valid? [True, True] Translation: X:513.06, Y:47.95, Z:-1.45 [[ 9.99597328e-01 -2.81527061e-02 -3.55072302e-03 5.13058961e+02] [ 2.81517085e-02 9.99603607e-01 -3.30623855e-04 4.79465763e+01] [ 3.55862350e-03 2.30531802e-04 9.99993642e-01 -1.45323344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.421400513 meters 0.06818305785208521 Centerline is valid? [True, True] Translation: X:513.12, Y:47.96, Z:-1.45 [[ 9.99599183e-01 -2.80854990e-02 -3.56075465e-03 5.13116047e+02] [ 2.80844937e-02 9.99605498e-01 -3.32028147e-04 4.79617964e+01] [ 3.56867510e-03 2.31893073e-04 9.99993605e-01 -1.45354710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.481400513 meters 0.06313736829177136 Centerline is valid? [True, True] Translation: X:513.18, Y:47.97, Z:-1.45 [[ 9.99548574e-01 -2.98056223e-02 -3.77804459e-03 5.13175166e+02] [ 2.98045022e-02 9.99555685e-01 -3.52454449e-04 4.79693709e+01] [ 3.78687107e-03 2.39692604e-04 9.99992801e-01 -1.45265689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.541400513 meters 0.06966004809919794 Centerline is valid? [True, True] Translation: X:513.23, Y:47.99, Z:-1.45 [[ 9.99476161e-01 -3.21532346e-02 -3.68414764e-03 5.13233190e+02] [ 3.21521850e-02 9.99482926e-01 -3.43776951e-04 4.79877440e+01] [ 3.69329621e-03 2.25143471e-04 9.99993154e-01 -1.45182421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.601400513 meters 0.05943750246394068 Centerline is valid? [True, True] Translation: X:513.29, Y:47.98, Z:-1.45 [[ 9.99474907e-01 -3.21799466e-02 -3.78952167e-03 5.13293034e+02] [ 3.21788350e-02 9.99482065e-01 -3.53938719e-04 4.79841060e+01] [ 3.79894867e-03 2.31810476e-04 9.99992757e-01 -1.45158021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.661400513 meters 0.06496338528913151 Centerline is valid? [True, True] Translation: X:513.35, Y:48.00, Z:-1.45 [[ 9.99501804e-01 -3.14041403e-02 -3.15011168e-03 5.13349495e+02] [ 3.14033671e-02 9.99506749e-01 -2.94607932e-04 4.79963501e+01] [ 3.15780979e-03 1.95537046e-04 9.99994995e-01 -1.45015523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.721400513 meters 0.06729389739194852 Centerline is valid? [True, True] Translation: X:513.41, Y:48.00, Z:-1.44 [[ 9.99614793e-01 -2.77409504e-02 8.39489877e-04 5.13409446e+02] [ 2.77408942e-02 9.99615144e-01 7.85652653e-05 4.80047480e+01] [-8.41346269e-04 -5.52468016e-05 9.99999645e-01 -1.44422030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.781400513 meters 0.07852247064547965 Centerline is valid? [True, True] Translation: X:513.47, Y:48.02, Z:-1.45 [[ 9.99711580e-01 -2.40139400e-02 -2.96382327e-04 5.13467781e+02] [ 2.40139329e-02 9.99711624e-01 -2.77517865e-05 4.80158615e+01] [ 2.96963287e-04 2.06264770e-05 9.99999956e-01 -1.44575889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.841400513 meters 0.07193949986649914 Centerline is valid? [True, True] Translation: X:513.53, Y:48.01, Z:-1.45 [[ 9.99769557e-01 -2.14650901e-02 -2.86096463e-04 5.13528748e+02] [ 2.14650833e-02 9.99769598e-01 -2.67715435e-05 4.80085507e+01] [ 2.86605200e-04 2.06242898e-05 9.99999959e-01 -1.44683965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.901400513 meters 0.07636397716860728 Centerline is valid? [True, True] Translation: X:513.59, Y:48.02, Z:-1.45 [[ 9.99837786e-01 -1.80111022e-02 4.73744521e-05 5.13588763e+02] [ 1.80111020e-02 9.99837787e-01 4.44646755e-06 4.80150737e+01] [-4.74468531e-05 -3.59248018e-06 9.99999999e-01 -1.44591049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9614005130001 meters 0.08095997557132883 Centerline is valid? [True, True] Translation: X:513.65, Y:48.02, Z:-1.45 [[ 9.99948136e-01 -9.68692175e-03 -3.14452291e-03 5.13648675e+02] [ 9.68604384e-03 9.99953046e-01 -2.94296400e-04 4.80215516e+01] [ 3.14722609e-03 2.63823150e-04 9.99995013e-01 -1.44990311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.021400513 meters 0.08935912866616519 Centerline is valid? [True, True] Translation: X:513.71, Y:48.04, Z:-1.45 [[ 9.99989994e-01 -2.76389906e-03 -3.51740794e-03 5.13707074e+02] [ 2.76275802e-03 9.99996129e-01 -3.29215640e-04 4.80386251e+01] [ 3.51830425e-03 3.19494599e-04 9.99993760e-01 -1.45132045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.081400513 meters 0.10231155408600198 Centerline is valid? [True, False] Translation: X:513.71, Y:48.04, Z:-1.45 [[ 9.99992277e-01 1.71412951e-03 -3.53657795e-03 5.13706937e+02] [-1.69885870e-03 9.99989241e-01 4.31645787e-03 4.80372668e+01] [ 3.54393886e-03 -4.31041639e-03 9.99984430e-01 -1.45088997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.141400513 meters 0.09256750123421045 Centerline is valid? [False, True] Translation: X:513.71, Y:48.04, Z:-1.45 [[ 9.99993087e-01 1.18979002e-03 -3.52296350e-03 5.13707262e+02] [-1.17895307e-03 9.99994572e-01 3.07656964e-03 4.80428707e+01] [ 3.52660485e-03 -3.07239497e-03 9.99989062e-01 -1.45174097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.201400513 meters 0.08642658501537338 Centerline is valid? [True, True] Translation: X:513.77, Y:48.05, Z:-1.45 [[ 9.99989468e-01 -3.69480250e-03 -2.72261685e-03 5.13767401e+02] [ 3.69413202e-03 9.99993145e-01 -2.51250998e-04 4.80491012e+01] [ 2.72352651e-03 2.41190645e-04 9.99996262e-01 -1.45072129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.261400513 meters 0.09235532531414722 Centerline is valid? [True, True] Translation: X:513.82, Y:48.07, Z:-1.45 [[ 9.99947568e-01 -9.65676258e-03 -3.40693923e-03 5.13824667e+02] [ 9.65574690e-03 9.99953333e-01 -3.14442057e-04 4.80705172e+01] [ 3.40981673e-03 2.81529027e-04 9.99994147e-01 -1.45156619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.321400513 meters 0.0806710685865461 Centerline is valid? [True, True] Translation: X:513.89, Y:48.07, Z:-1.45 [[ 9.99904902e-01 -1.30966045e-02 -4.32040575e-03 5.13885344e+02] [ 1.30950029e-02 9.99914177e-01 -3.98789761e-04 4.80679107e+01] [ 4.32525776e-03 3.42176111e-04 9.99990587e-01 -1.45245841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.381400513 meters 0.07127181479092812 Centerline is valid? [True, True] Translation: X:513.95, Y:48.07, Z:-1.45 [[ 9.99851215e-01 -1.69100927e-02 -3.40524960e-03 5.13946236e+02] [ 1.69091197e-02 9.99856981e-01 -3.14317507e-04 4.80672354e+01] [ 3.41007772e-03 2.56690968e-04 9.99994153e-01 -1.45006618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.441400513 meters 0.06986087048899965 Centerline is valid? [True, True] Translation: X:514.01, Y:48.07, Z:-1.45 [[ 9.99636658e-01 -2.69512111e-02 -4.29836767e-04 5.14005177e+02] [ 2.69511965e-02 9.99636750e-01 -3.96741717e-05 4.80734748e+01] [ 4.30749896e-04 2.80751412e-05 9.99999907e-01 -1.44678664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.501400513 meters 0.06623426867430718 Centerline is valid? [True, True] Translation: X:514.07, Y:48.07, Z:-1.45 [[ 9.99430778e-01 -3.37265180e-02 -8.01613350e-04 5.14065451e+02] [ 3.37264695e-02 9.99431098e-01 -7.39971145e-05 4.80739151e+01] [ 8.03652975e-04 4.69194055e-05 9.99999676e-01 -1.44750433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.561400513 meters 0.05726801977434273 Centerline is valid? [True, True] Translation: X:514.13, Y:48.07, Z:-1.45 [[ 9.99271131e-01 -3.81418842e-02 -1.55004262e-03 5.14126102e+02] [ 3.81417079e-02 9.99272330e-01 -1.43105664e-04 4.80664146e+01] [ 1.55437302e-03 8.38800861e-05 9.99998788e-01 -1.44865700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.621400513 meters 0.050709698007914625 Centerline is valid? [True, True] Translation: X:514.19, Y:48.06, Z:-1.45 [[ 9.99287237e-01 -3.77445781e-02 -6.03958979e-04 5.14185628e+02] [ 3.77445513e-02 9.99287419e-01 -5.57576356e-05 4.80620812e+01] [ 6.05633158e-04 3.29217329e-05 9.99999816e-01 -1.44689344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.681400513 meters 0.058191403357709406 Centerline is valid? [True, True] Translation: X:514.24, Y:48.07, Z:-1.45 [[ 9.99360582e-01 -3.57415303e-02 -9.84548246e-04 5.14243742e+02] [ 3.57414579e-02 9.99361066e-01 -9.10711871e-05 4.80720011e+01] [ 9.87174208e-04 5.58237649e-05 9.99999511e-01 -1.44728818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.741400513 meters 0.061371273580267276 Centerline is valid? [True, True] Translation: X:514.30, Y:48.07, Z:-1.45 [[ 9.99515979e-01 -3.09910577e-02 -2.71314207e-03 5.14304006e+02] [ 3.09904901e-02 9.99519648e-01 -2.50997412e-04 4.80734226e+01] [ 2.71961748e-03 1.66794321e-04 9.99996288e-01 -1.44973256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.801400513 meters 0.0678404320082113 Centerline is valid? [True, True] Translation: X:514.36, Y:48.08, Z:-1.45 [[ 9.99650063e-01 -2.64132313e-02 -1.44636945e-03 5.14362224e+02] [ 2.64130651e-02 9.99651105e-01 -1.33826930e-04 4.80824222e+01] [ 1.44939962e-03 9.55770490e-05 9.99998945e-01 -1.44853073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.861400513 meters 0.07244162166548516 Centerline is valid? [True, True] Translation: X:514.42, Y:48.09, Z:-1.45 [[ 9.99781221e-01 -2.09152854e-02 -2.46665892e-04 5.14421659e+02] [ 2.09152804e-02 9.99781251e-01 -2.28240924e-05 4.80930384e+01] [ 2.47089306e-04 1.76600127e-05 9.99999969e-01 -1.44688192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.921400513 meters 0.07893702840949751 Centerline is valid? [True, True] Translation: X:514.48, Y:48.11, Z:-1.45 [[ 9.99909178e-01 -1.32976778e-02 -2.19247709e-03 5.14480779e+02] [ 1.32972647e-02 9.99911567e-01 -2.02894919e-04 4.81066161e+01] [ 2.19498123e-03 1.73722544e-04 9.99997576e-01 -1.44969951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.981400513 meters 0.09882431012085921 Centerline is valid? [True, True] Translation: X:514.54, Y:48.14, Z:-1.45 [[ 9.99941527e-01 -1.04465186e-02 -2.79520945e-03 5.14537865e+02] [ 1.04458361e-02 9.99945407e-01 -2.58686254e-04 4.81376087e+01] [ 2.79775922e-03 2.29472828e-04 9.99996060e-01 -1.45163259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.041400513 meters 0.07661555094071978 Centerline is valid? [True, True] Translation: X:514.60, Y:48.11, Z:-1.45 [[ 9.99925392e-01 -1.15910481e-02 -3.85464465e-03 5.14600319e+02] [ 1.15897583e-02 9.99932773e-01 -3.56774159e-04 4.81144753e+01] [ 3.85852090e-03 3.12073141e-04 9.99992507e-01 -1.45139531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.101400513 meters 0.07911120379680064 Centerline is valid? [True, True] Translation: X:514.66, Y:48.12, Z:-1.45 [[ 9.99889418e-01 -1.44163878e-02 -3.64959931e-03 5.14659104e+02] [ 1.44152500e-02 9.99896038e-01 -3.37886668e-04 4.81200060e+01] [ 3.65409100e-03 2.85239417e-04 9.99993283e-01 -1.45003264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.161400513 meters 0.07333909647949108 Centerline is valid? [True, True] Translation: X:514.72, Y:48.11, Z:-1.45 [[ 9.99815856e-01 -1.89706580e-02 -2.89277968e-03 5.14720336e+02] [ 1.89699620e-02 9.99820018e-01 -2.67837886e-04 4.81141522e+01] [ 2.89734010e-03 2.12912644e-04 9.99995780e-01 -1.44969221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.221400513 meters 0.07839246825055757 Centerline is valid? [True, True] Translation: X:514.78, Y:48.12, Z:-1.45 [[ 9.99709594e-01 -2.38449114e-02 -3.48524493e-03 5.14780003e+02] [ 2.38439305e-02 9.99715641e-01 -3.22733992e-04 4.81171624e+01] [ 3.49194943e-03 2.39538330e-04 9.99993874e-01 -1.44974853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.281400513 meters 0.0747662014319106 Centerline is valid? [True, True] Translation: X:514.84, Y:48.12, Z:-1.45 [[ 9.99787843e-01 -2.03689409e-02 -3.06198460e-03 5.14841044e+02] [ 2.03681675e-02 9.99792507e-01 -2.83545823e-04 4.81160182e+01] [ 3.06712479e-03 2.21118652e-04 9.99995272e-01 -1.44780106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.341400513 meters 0.08213274569121841 Centerline is valid? [True, True] Translation: X:514.90, Y:48.13, Z:-1.45 [[ 9.99928044e-01 -1.18645105e-02 -1.77208873e-03 5.14899813e+02] [ 1.18642382e-02 9.99929604e-01 -1.64105452e-04 4.81320804e+01] [ 1.77391102e-03 1.43069161e-04 9.99998416e-01 -1.44672581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.401400513 meters 0.08439656764038182 Centerline is valid? [True, True] Translation: X:514.96, Y:48.14, Z:-1.45 [[ 9.99956018e-01 -8.88170574e-03 -3.01285605e-03 5.14959357e+02] [ 8.88090506e-03 9.99960525e-01 -2.79029824e-04 4.81406426e+01] [ 3.01521538e-03 2.52260664e-04 9.99995422e-01 -1.44834145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4614005130001 meters 0.07711248656730119 Centerline is valid? [True, True] Translation: X:515.02, Y:48.14, Z:-1.45 [[ 9.99940737e-01 -1.06944724e-02 -2.03751846e-03 5.15020585e+02] [ 1.06941099e-02 9.99942799e-01 -1.88709072e-04 4.81364818e+01] [ 2.03942006e-03 1.66908442e-04 9.99997906e-01 -1.44698191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.521400513 meters 0.07146182992735269 Centerline is valid? [True, True] Translation: X:515.08, Y:48.13, Z:-1.45 [[ 9.99908416e-01 -1.34681667e-02 -1.32997609e-03 5.15081569e+02] [ 1.34680147e-02 9.99909295e-01 -1.23181497e-04 4.81342742e+01] [ 1.33151449e-03 1.05258078e-04 9.99999108e-01 -1.44559698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.581400513 meters 0.07172721577015463 Centerline is valid? [True, True] Translation: X:515.14, Y:48.14, Z:-1.44 [[ 9.99739977e-01 -2.28022115e-02 1.96167013e-04 5.15141423e+02] [ 2.28022084e-02 9.99739996e-01 1.81806206e-05 4.81375727e+01] [-1.96530567e-04 -1.37028521e-05 9.99999981e-01 -1.44424029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.641400513 meters 0.06589739514855157 Centerline is valid? [True, True] Translation: X:515.20, Y:48.13, Z:-1.45 [[ 9.99656362e-01 -2.61934629e-02 -1.02965176e-03 5.15202351e+02] [ 2.61933785e-02 9.99656890e-01 -9.53874328e-05 4.81313776e+01] [ 1.03179701e-03 6.83845958e-05 9.99999465e-01 -1.44606475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.701400513 meters 0.06295618025306825 Centerline is valid? [True, True] Translation: X:515.26, Y:48.13, Z:-1.45 [[ 9.99680379e-01 -2.49452399e-02 -4.10787750e-03 5.15261853e+02] [ 2.49438850e-02 9.99688780e-01 -3.80721281e-04 4.81284348e+01] [ 4.11609623e-03 2.78133170e-04 9.99991490e-01 -1.44972335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.761400513 meters 0.07518915497707454 Centerline is valid? [True, True] Translation: X:515.32, Y:48.15, Z:-1.45 [[ 9.99764482e-01 -2.12505839e-02 -4.40368412e-03 5.15319631e+02] [ 2.12489910e-02 9.99774131e-01 -4.08200976e-04 4.81500119e+01] [ 4.41136397e-03 3.14530993e-04 9.99990220e-01 -1.45194059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.821400513 meters 0.07328869389730194 Centerline is valid? [True, True] Translation: X:515.38, Y:48.15, Z:-1.45 [[ 9.99805582e-01 -1.94033239e-02 -3.50831836e-03 5.15380368e+02] [ 1.94023016e-02 9.99811705e-01 -3.25210190e-04 4.81521733e+01] [ 3.51396792e-03 2.57077513e-04 9.99993793e-01 -1.45120870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.881400513 meters 0.07461375852048602 Centerline is valid? [True, True] Translation: X:515.44, Y:48.16, Z:-1.45 [[ 9.99752147e-01 -2.20608014e-02 -2.99434314e-03 5.15439741e+02] [ 2.20600685e-02 9.99756609e-01 -2.77597144e-04 4.81573387e+01] [ 2.99973835e-03 2.11472926e-04 9.99995478e-01 -1.45088676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.941400513 meters 0.07063054041992434 Centerline is valid? [True, True] Translation: X:515.50, Y:48.15, Z:-1.45 [[ 9.99703062e-01 -2.41310784e-02 -3.38791875e-03 5.15500461e+02] [ 2.41301518e-02 9.99708776e-01 -3.14123409e-04 4.81547206e+01] [ 3.39451224e-03 2.32279140e-04 9.99994212e-01 -1.45163422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.001400513 meters 0.07077974666955726 Centerline is valid? [True, True] Translation: X:515.56, Y:48.16, Z:-1.45 [[ 9.99713516e-01 -2.36677148e-02 -3.56731794e-03 5.15558939e+02] [ 2.36666829e-02 9.99719850e-01 -3.31221842e-04 4.81584442e+01] [ 3.57415782e-03 2.46700370e-04 9.99993582e-01 -1.45206437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.061400513 meters 0.07278867343447447 Centerline is valid? [True, True] Translation: X:515.62, Y:48.17, Z:-1.45 [[ 9.99791676e-01 -2.01353153e-02 -3.34272583e-03 5.15618789e+02] [ 2.01343892e-02 9.99797234e-01 -3.10480614e-04 4.81652926e+01] [ 3.34829967e-03 2.43112191e-04 9.99994365e-01 -1.45102114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.121400513 meters 0.07735686711627497 Centerline is valid? [True, True] Translation: X:515.68, Y:48.18, Z:-1.45 [[ 9.99863986e-01 -1.62526464e-02 -2.80360092e-03 5.15677999e+02] [ 1.62519797e-02 9.99867894e-01 -2.60430532e-04 4.81752045e+01] [ 2.80746323e-03 2.14831045e-04 9.99996036e-01 -1.45017975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.181400513 meters 0.07959913752833848 Centerline is valid? [True, True] Translation: X:515.74, Y:48.18, Z:-1.45 [[ 9.99918571e-01 -1.24679186e-02 -2.72078895e-03 5.15737397e+02] [ 1.24672767e-02 9.99922249e-01 -2.52765047e-04 4.81820366e+01] [ 2.72372886e-03 2.18823636e-04 9.99996267e-01 -1.45037481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.241400513 meters 0.08010644747170223 Centerline is valid? [True, True] Translation: X:515.80, Y:48.19, Z:-1.45 [[ 9.99921247e-01 -1.22880300e-02 -2.55022923e-03 5.15796092e+02] [ 1.22874647e-02 9.99924478e-01 -2.37225001e-04 4.81886336e+01] [ 2.55295166e-03 2.05870468e-04 9.99996720e-01 -1.45077624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.301400513 meters 0.08605591707867893 Centerline is valid? [True, True] Translation: X:515.85, Y:48.20, Z:-1.45 [[ 9.99904646e-01 -1.33614229e-02 -3.48872834e-03 5.15854221e+02] [ 1.33603707e-02 9.99910694e-01 -3.24726201e-04 4.82032161e+01] [ 3.49275557e-03 2.78084533e-04 9.99993862e-01 -1.45212649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.361400513 meters 0.09703633952791967 Centerline is valid? [True, True] Translation: X:515.91, Y:48.22, Z:-1.45 [[ 9.99902067e-01 -1.37979291e-02 -2.33974850e-03 5.15910267e+02] [ 1.37974567e-02 9.99904787e-01 -2.17924699e-04 4.82231869e+01] [ 2.34253264e-03 1.85620778e-04 9.99997239e-01 -1.45063980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.421400513 meters 0.08714186130012934 Centerline is valid? [True, True] Translation: X:515.97, Y:48.22, Z:-1.45 [[ 9.99894683e-01 -1.44786880e-02 -9.95263248e-04 5.15970417e+02] [ 1.44786028e-02 9.99895175e-01 -9.27697289e-05 4.82179380e+01] [ 9.96502103e-04 7.83499374e-05 9.99999500e-01 -1.44788665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.481400513 meters 0.07669104842077838 Centerline is valid? [True, True] Translation: X:516.03, Y:48.21, Z:-1.45 [[ 9.99898069e-01 -1.38054424e-02 -3.64167681e-03 5.16030760e+02] [ 1.38042957e-02 9.99904658e-01 -3.39841265e-04 4.82123428e+01] [ 3.64602127e-03 2.89535842e-04 9.99993311e-01 -1.45078268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.541400513 meters 0.08155890228813456 Centerline is valid? [True, True] Translation: X:516.09, Y:48.23, Z:-1.45 [[ 9.99934731e-01 -1.05230890e-02 -4.44944444e-03 5.16089744e+02] [ 1.05213445e-02 9.99944563e-01 -4.15278206e-04 4.82270294e+01] [ 4.45356779e-03 3.68436964e-04 9.99990015e-01 -1.45175076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.601400513 meters 0.09070958509221963 Centerline is valid? [True, True] Translation: X:516.15, Y:48.25, Z:-1.45 [[ 9.99974320e-01 -6.41694823e-03 -3.19082992e-03 5.16147334e+02] [ 6.41603025e-03 9.99979373e-01 -2.97844608e-04 4.82493884e+01] [ 3.19267535e-03 2.77364498e-04 9.99994865e-01 -1.45156718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.661400513 meters 0.08921844574967491 Centerline is valid? [True, True] Translation: X:516.21, Y:48.26, Z:-1.45 [[ 9.99996041e-01 -1.83188907e-03 -2.13580355e-03 5.16207097e+02] [ 1.83146740e-03 9.99998303e-01 -1.99368004e-04 4.82597877e+01] [ 2.13616515e-03 1.95455560e-04 9.99997699e-01 -1.45028140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.721400513 meters 0.08917884303915957 Centerline is valid? [True, True] Translation: X:516.27, Y:48.27, Z:-1.45 [[ 9.99983531e-01 -1.85538538e-03 -5.43091971e-03 5.16265166e+02] [ 1.85265517e-03 9.99998155e-01 -5.07703454e-04 4.82695554e+01] [ 5.43185167e-03 4.97633472e-04 9.99985124e-01 -1.45454691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.781400513 meters 0.08764042829462025 Centerline is valid? [True, True] Translation: X:516.32, Y:48.28, Z:-1.45 [[ 9.99986345e-01 -3.18623924e-03 -4.14217386e-03 5.16324255e+02] [ 3.18466172e-03 9.99994854e-01 -3.87382351e-04 4.82769108e+01] [ 4.14338684e-03 3.74185639e-04 9.99991346e-01 -1.45311477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.841400513 meters 0.07904018961766293 Centerline is valid? [True, True] Translation: X:516.39, Y:48.28, Z:-1.45 [[ 9.99983522e-01 -5.39561720e-03 -1.96024508e-03 5.16385464e+02] [ 5.39526813e-03 9.99985429e-01 -1.83319342e-04 4.82765310e+01] [ 1.96120564e-03 1.72740273e-04 9.99998062e-01 -1.45049024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.901400513 meters 0.08584336190205288 Centerline is valid? [True, True] Translation: X:516.44, Y:48.29, Z:-1.45 [[ 9.99966733e-01 -7.47016397e-03 -3.27567000e-03 5.16443704e+02] [ 7.46920018e-03 9.99972058e-01 -3.06362187e-04 4.82927331e+01] [ 3.27786705e-03 2.81885360e-04 9.99994588e-01 -1.45276710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9614005130001 meters 0.08335495267124286 Centerline is valid? [True, True] Translation: X:516.50, Y:48.30, Z:-1.46 [[ 9.99941464e-01 -9.20327540e-03 -5.68931812e-03 5.16503473e+02] [ 9.20039542e-03 9.99957534e-01 -5.32173982e-04 4.82964148e+01] [ 5.69397426e-03 4.79798855e-04 9.99983674e-01 -1.45675129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.021400513 meters 0.08360475641622261 Centerline is valid? [True, True] Translation: X:516.56, Y:48.30, Z:-1.46 [[ 9.99940835e-01 -9.05687748e-03 -6.02484019e-03 5.16562008e+02] [ 9.05364001e-03 9.99958856e-01 -5.64412296e-04 4.83022838e+01] [ 6.02970411e-03 5.09832169e-04 9.99981691e-01 -1.45700966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.081400513 meters 0.09707169726372457 Centerline is valid? [True, True] Translation: X:516.62, Y:48.33, Z:-1.46 [[ 9.99970542e-01 -4.15113024e-03 -6.45629095e-03 5.16619580e+02] [ 4.14731002e-03 9.99991217e-01 -6.04980984e-04 4.83282850e+01] [ 6.45874560e-03 5.78186923e-04 9.99978975e-01 -1.45800026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.141400513 meters 0.09632328700764832 Centerline is valid? [True, True] Translation: X:516.68, Y:48.34, Z:-1.46 [[ 9.99983421e-01 -7.05762983e-04 -5.71479655e-03 5.16679675e+02] [ 7.02713898e-04 9.99999610e-01 -5.35532606e-04 4.83365202e+01] [ 5.71517228e-03 5.31507860e-04 9.99983527e-01 -1.45646910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.201400513 meters 0.10576292412479005 Centerline is valid? [True, False] Translation: X:516.72, Y:48.34, Z:-1.46 [[ 9.99990801e-01 1.31199213e-03 -4.08381811e-03 5.16721305e+02] [-1.31951607e-03 9.99997436e-01 -1.84023143e-03 4.83447692e+01] [ 4.08139327e-03 1.84560316e-03 9.99989968e-01 -1.45756376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.261400513 meters 0.09484055111734548 Centerline is valid? [False, True] Translation: X:516.72, Y:48.35, Z:-1.46 [[ 9.99976349e-01 5.49104811e-03 -4.14129975e-03 5.16721479e+02] [-5.48274317e-03 9.99982941e-01 2.01408821e-03 4.83469339e+01] [ 4.15228856e-03 -1.99133489e-03 9.99989396e-01 -1.45748037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.321400513 meters 0.09630999109926679 Centerline is valid? [True, True] Translation: X:516.78, Y:48.36, Z:-1.46 [[ 9.99989647e-01 3.85894040e-03 -2.41114076e-03 5.16780103e+02] [-3.85946894e-03 9.99992529e-01 -2.14593728e-04 4.83610548e+01] [ 2.41029464e-03 2.23897229e-04 9.99997070e-01 -1.45513783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.381400513 meters 0.09238308588907919 Centerline is valid? [True, True] Translation: X:516.84, Y:48.37, Z:-1.45 [[ 9.99996993e-01 2.38389182e-03 -5.74814133e-04 5.16839972e+02] [-2.38392163e-03 9.99997157e-01 -5.11755787e-05 4.83651000e+01] [ 5.74690502e-04 5.25457367e-05 9.99999833e-01 -1.45140386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.441400513 meters 0.10035505901684695 Centerline is valid? [True, False] Translation: X:516.84, Y:48.37, Z:-1.45 [[ 9.99998002e-01 1.93813998e-03 -4.90288845e-04 5.16840024e+02] [-1.93870486e-03 9.99997454e-01 -1.15431476e-03 4.83700597e+01] [ 4.88050374e-04 1.15526298e-03 9.99999214e-01 -1.45217026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.501400513 meters 0.08185942205922625 Centerline is valid? [False, True] Translation: X:516.83, Y:48.37, Z:-1.45 [[ 9.99993777e-01 3.50843467e-03 3.69820535e-04 5.16833743e+02] [-3.50853092e-03 9.99993811e-01 2.59938535e-04 4.83725073e+01] [-3.68906269e-04 -2.61234444e-04 9.99999898e-01 -1.44745615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.561400513 meters 0.08768204148993859 Centerline is valid? [True, True] Translation: X:516.89, Y:48.39, Z:-1.45 [[ 9.99992774e-01 3.51739688e-03 1.44246757e-03 5.16893376e+02] [-3.51757960e-03 9.99993806e-01 1.24155607e-04 4.83885001e+01] [-1.44202193e-03 -1.29228704e-04 9.99998952e-01 -1.44546036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.621400513 meters 0.0906681225468671 Centerline is valid? [True, True] Translation: X:516.95, Y:48.40, Z:-1.44 [[ 9.99986035e-01 1.02973115e-03 5.18360693e-03 5.16952258e+02] [-1.03205676e-03 9.99999368e-01 4.45992592e-04 4.84038524e+01] [-5.18314441e-03 -4.51336140e-04 9.99986466e-01 -1.44001564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.681400513 meters 0.08623644890128027 Centerline is valid? [True, True] Translation: X:517.01, Y:48.41, Z:-1.44 [[ 9.99989218e-01 -1.77079017e-03 4.29280069e-03 5.17013290e+02] [ 1.76922089e-03 9.99998367e-01 3.69331789e-04 4.84076020e+01] [-4.29344769e-03 -3.61732894e-04 9.99990718e-01 -1.44242680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.741400513 meters 0.0845476397252346 Centerline is valid? [True, True] Translation: X:517.07, Y:48.42, Z:-1.44 [[ 9.99988560e-01 -3.58557717e-03 3.16583448e-03 5.17073673e+02] [ 3.58473280e-03 9.99993538e-01 2.72349676e-04 4.84158506e+01] [-3.16679055e-03 -2.60997890e-04 9.99994952e-01 -1.44392594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.801400513 meters 0.08582636542571724 Centerline is valid? [True, True] Translation: X:517.13, Y:48.43, Z:-1.45 [[ 9.99975577e-01 -6.59752670e-03 2.30611582e-03 5.17132452e+02] [ 6.59708665e-03 9.99978219e-01 1.98374436e-04 4.84303507e+01] [-2.30737438e-03 -1.83155945e-04 9.99997321e-01 -1.44520016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.861400513 meters 0.07788909912040476 Centerline is valid? [True, True] Translation: X:517.19, Y:48.43, Z:-1.45 [[ 9.99956249e-01 -9.32988476e-03 6.72640704e-04 5.17193897e+02] [ 9.32984794e-03 9.99956474e-01 5.78569187e-05 4.84263579e+01] [-6.73151225e-04 -5.15787519e-05 9.99999772e-01 -1.44775758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.921400513 meters 0.08367355384193097 Centerline is valid? [True, True] Translation: X:517.25, Y:48.44, Z:-1.45 [[ 9.99941148e-01 -1.08448648e-02 -2.98292163e-04 5.17252107e+02] [ 1.08448576e-02 9.99941192e-01 -2.57042155e-05 4.84412644e+01] [ 2.98553379e-04 2.24677667e-05 9.99999955e-01 -1.45021631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.981400513 meters 0.08108758465414485 Centerline is valid? [True, True] Translation: X:517.31, Y:48.45, Z:-1.45 [[ 9.99950530e-01 -9.93584728e-03 4.65252955e-04 5.17311323e+02] [ 9.93582976e-03 9.99950638e-01 3.99437559e-05 4.84463755e+01] [-4.65626864e-04 -3.53191057e-05 9.99999891e-01 -1.44884720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.041400513 meters 0.07942068955850631 Centerline is valid? [True, True] Translation: X:517.37, Y:48.45, Z:-1.45 [[ 9.99965191e-01 -8.33863196e-03 -2.89675288e-04 5.17371387e+02] [ 8.33862508e-03 9.99965233e-01 -2.49247927e-05 4.84542163e+01] [ 2.89873055e-04 2.25084315e-05 9.99999958e-01 -1.44921295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.101400513 meters 0.08029328920748671 Centerline is valid? [True, True] Translation: X:517.43, Y:48.47, Z:-1.45 [[ 9.99969365e-01 -7.79625983e-03 6.98621550e-04 5.17430477e+02] [ 7.79621977e-03 9.99969607e-01 6.00375650e-05 4.84652200e+01] [-6.99068385e-04 -5.45891186e-05 9.99999754e-01 -1.44948028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.161400513 meters 0.0728286658609636 Centerline is valid? [True, True] Translation: X:517.49, Y:48.46, Z:-1.45 [[ 9.99949863e-01 -9.90593564e-03 1.46403073e-03 5.17491640e+02] [ 9.90576172e-03 9.99950929e-01 1.25997130e-04 4.84645798e+01] [-1.46520701e-03 -1.11488474e-04 9.99998920e-01 -1.44768274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.221400513 meters 0.07443304023796145 Centerline is valid? [True, True] Translation: X:517.55, Y:48.48, Z:-1.45 [[ 9.99922025e-01 -1.23646968e-02 1.74870351e-03 5.17550507e+02] [ 1.23644524e-02 9.99923546e-01 1.50486248e-04 4.84751319e+01] [-1.75043053e-03 -1.28852753e-04 9.99998460e-01 -1.44805481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.281400513 meters 0.07468764940462523 Centerline is valid? [True, True] Translation: X:517.61, Y:48.48, Z:-1.45 [[ 9.99904752e-01 -1.37066517e-02 1.61709384e-03 5.17610110e+02] [ 1.37064445e-02 9.99906053e-01 1.39122845e-04 4.84812654e+01] [-1.61884883e-03 -1.16944987e-04 9.99998683e-01 -1.44898045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.341400513 meters 0.07553148231245516 Centerline is valid? [True, True] Translation: X:517.67, Y:48.49, Z:-1.45 [[ 9.99907270e-01 -1.35978747e-02 7.40646164e-04 5.17669752e+02] [ 1.35978312e-02 9.99907543e-01 6.37780567e-05 4.84894348e+01] [-7.41444932e-04 -5.37009611e-05 9.99999724e-01 -1.44983581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.401400513 meters 0.07692687266049873 Centerline is valid? [True, True] Translation: X:517.73, Y:48.50, Z:-1.45 [[ 9.99919540e-01 -1.26169931e-02 1.31311139e-03 5.17728141e+02] [ 1.26168555e-02 9.99920398e-01 1.12982846e-04 4.85021490e+01] [-1.31443237e-03 -9.64064183e-05 9.99999131e-01 -1.44898929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4614005130001 meters 0.0691357533768236 Centerline is valid? [True, True] Translation: X:517.79, Y:48.50, Z:-1.45 [[ 9.99921815e-01 -1.25039322e-02 1.21724565e-04 5.17788268e+02] [ 1.25039310e-02 9.99921823e-01 1.04859918e-05 4.85036651e+01] [-1.21846165e-04 -8.96313636e-06 9.99999993e-01 -1.45046019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.521400513 meters 0.0673200592527256 Centerline is valid? [True, True] Translation: X:517.85, Y:48.51, Z:-1.45 [[ 9.99904638e-01 -1.37359778e-02 -1.42752662e-03 5.17846868e+02] [ 1.37358150e-02 9.99905652e-01 -1.23813392e-04 4.85120277e+01] [ 1.42909264e-03 1.04193344e-04 9.99998973e-01 -1.45310975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.581400513 meters 0.0756081098947045 Centerline is valid? [True, True] Translation: X:517.90, Y:48.53, Z:-1.45 [[ 9.99882531e-01 -1.52962098e-02 -9.74846318e-04 5.17904469e+02] [ 1.52961349e-02 9.99883004e-01 -8.42461530e-05 4.85322637e+01] [ 9.76020912e-04 6.93248759e-05 9.99999521e-01 -1.45283582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.641400513 meters 0.07158658323098634 Centerline is valid? [True, True] Translation: X:517.96, Y:48.54, Z:-1.45 [[ 9.99855197e-01 -1.70059811e-02 -6.17180081e-04 5.17964284e+02] [ 1.70059514e-02 9.99855387e-01 -5.33295003e-05 4.85377253e+01] [ 6.17997749e-04 4.28260436e-05 9.99999808e-01 -1.45127450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.701400513 meters 0.07349272195056779 Centerline is valid? [True, True] Translation: X:518.02, Y:48.55, Z:-1.45 [[ 9.99812426e-01 -1.93454521e-02 9.30375799e-04 5.18022478e+02] [ 1.93453857e-02 9.99812857e-01 8.02821385e-05 4.85537311e+01] [-9.31754780e-04 -6.22686010e-05 9.99999564e-01 -1.44993765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.761400513 meters 0.07224910253908932 Centerline is valid? [True, True] Translation: X:518.08, Y:48.56, Z:-1.45 [[ 9.99798026e-01 -2.00859854e-02 6.78012097e-04 5.18081273e+02] [ 2.00859504e-02 9.99798255e-01 5.82763088e-05 4.85614589e+01] [-6.79045849e-04 -4.46460212e-05 9.99999768e-01 -1.45094712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.821400513 meters 0.06852724102747683 Centerline is valid? [True, True] Translation: X:518.14, Y:48.57, Z:-1.45 [[ 9.99778668e-01 -2.09734723e-02 -1.65203543e-03 5.18140870e+02] [ 2.09732647e-02 9.99780027e-01 -1.42912510e-04 4.85652596e+01] [ 1.65466940e-03 1.08232303e-04 9.99998625e-01 -1.45407156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.881400513 meters 0.06691363085914441 Centerline is valid? [True, True] Translation: X:518.20, Y:48.57, Z:-1.45 [[ 9.99757467e-01 -2.19514292e-02 -1.77238320e-03 5.18199578e+02] [ 2.19511915e-02 9.99759032e-01 -1.53489882e-04 4.85720363e+01] [ 1.77532544e-03 1.14546733e-04 9.99998418e-01 -1.45456545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.941400513 meters 0.07129231480839374 Centerline is valid? [True, True] Translation: X:518.26, Y:48.59, Z:-1.45 [[ 9.99786520e-01 -2.06535574e-02 -5.87527034e-04 5.18257204e+02] [ 2.06535310e-02 9.99786692e-01 -5.09754654e-05 4.85872310e+01] [ 5.88454535e-04 3.88300754e-05 9.99999826e-01 -1.45370000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.001400513 meters 0.0734971899591967 Centerline is valid? [True, True] Translation: X:518.32, Y:48.60, Z:-1.45 [[ 9.99829302e-01 -1.84754583e-02 -1.52962127e-04 5.18317049e+02] [ 1.84754565e-02 9.99829314e-01 -1.32360600e-05 4.85989235e+01] [ 1.53180561e-04 1.04077555e-05 9.99999988e-01 -1.45275929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.061400513 meters 0.07751377610046327 Centerline is valid? [True, True] Translation: X:518.38, Y:48.62, Z:-1.45 [[ 9.99885407e-01 -1.51380751e-02 1.05327791e-04 5.18376313e+02] [ 1.51380742e-02 9.99885413e-01 9.11636831e-06 4.86162458e+01] [-1.05453726e-04 -7.52086372e-06 9.99999994e-01 -1.45224012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.121400513 meters 0.07885641512573446 Centerline is valid? [True, True] Translation: X:518.44, Y:48.63, Z:-1.45 [[ 9.99933988e-01 -1.14887818e-02 -1.65905017e-04 5.18435672e+02] [ 1.14887796e-02 9.99934002e-01 -1.44022380e-05 4.86304375e+01] [ 1.66059532e-04 1.24952411e-05 9.99999986e-01 -1.45242889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.181400513 meters 0.08394686891837003 Centerline is valid? [True, True] Translation: X:518.49, Y:48.65, Z:-1.45 [[ 9.99939658e-01 -1.07117628e-02 2.43697811e-03 5.18494094e+02] [ 1.07112805e-02 9.99942610e-01 2.10883929e-04 4.86466362e+01] [-2.43909719e-03 -1.84768047e-04 9.99997008e-01 -1.44903336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.241400513 meters 0.08237349438917071 Centerline is valid? [True, True] Translation: X:518.55, Y:48.65, Z:-1.45 [[ 9.99943622e-01 -1.00954105e-02 3.29177363e-03 5.18554977e+02] [ 1.00945269e-02 9.99949008e-01 2.84929844e-04 4.86548337e+01] [-3.29448226e-03 -2.51684883e-04 9.99994542e-01 -1.44724082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.301400513 meters 0.07558160860123178 Centerline is valid? [True, True] Translation: X:518.62, Y:48.66, Z:-1.45 [[ 9.99958131e-01 -9.04790746e-03 1.36811315e-03 5.18616349e+02] [ 9.04775382e-03 9.99959061e-01 1.18445604e-04 4.86566071e+01] [-1.36912883e-03 -1.06062293e-04 9.99999057e-01 -1.45018193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.361400513 meters 0.0844916203972114 Centerline is valid? [True, True] Translation: X:518.67, Y:48.68, Z:-1.45 [[ 9.99970626e-01 -7.66036590e-03 -2.56177101e-04 5.18674498e+02] [ 7.66036047e-03 9.99970659e-01 -2.21612609e-05 4.86780826e+01] [ 2.56339348e-04 2.01982010e-05 9.99999967e-01 -1.45273894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.421400513 meters 0.08723637450812809 Centerline is valid? [True, True] Translation: X:518.73, Y:48.69, Z:-1.45 [[ 9.99983661e-01 -5.59183019e-03 -1.18730908e-03 5.18734187e+02] [ 5.59171214e-03 9.99984361e-01 -1.02722804e-04 4.86904664e+01] [ 1.18786492e-03 9.60820352e-05 9.99999290e-01 -1.45424877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.481400513 meters 0.08632985456182882 Centerline is valid? [True, True] Translation: X:518.79, Y:48.70, Z:-1.45 [[ 9.99992505e-01 -3.86036131e-03 -2.94723832e-04 5.18793615e+02] [ 3.86035395e-03 9.99992548e-01 -2.55451480e-05 4.86974948e+01] [ 2.94820249e-04 2.44072183e-05 9.99999956e-01 -1.45318451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.541400513 meters 0.08193945557856254 Centerline is valid? [True, True] Translation: X:518.85, Y:48.70, Z:-1.45 [[ 9.99992651e-01 -3.66288597e-03 1.13193395e-03 5.18854196e+02] [ 3.66277745e-03 9.99993287e-01 9.79362145e-05 4.87000685e+01] [-1.13228508e-03 -9.37894726e-05 9.99999355e-01 -1.45202537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.601400513 meters 0.08892085766127199 Centerline is valid? [True, True] Translation: X:518.91, Y:48.72, Z:-1.45 [[ 9.99991051e-01 -4.22146713e-03 -2.78271467e-04 5.18913511e+02] [ 4.22146061e-03 9.99991089e-01 -2.40270938e-05 4.87183082e+01] [ 2.78370417e-04 2.28521667e-05 9.99999961e-01 -1.45407394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.661400513 meters 0.08470721930622005 Centerline is valid? [True, True] Translation: X:518.97, Y:48.72, Z:-1.46 [[ 9.99980428e-01 -5.46441115e-03 -3.04693846e-03 5.18973932e+02] [ 5.46363319e-03 9.99985040e-01 -2.63589489e-04 4.87203019e+01] [ 3.04833323e-03 2.46936976e-04 9.99995323e-01 -1.45795417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.721400513 meters 0.07915416576245826 Centerline is valid? [True, True] Translation: X:519.03, Y:48.72, Z:-1.46 [[ 9.99973000e-01 -6.57649765e-03 -3.27855009e-03 5.19034570e+02] [ 6.57560205e-03 9.99978340e-01 -2.83873203e-04 4.87183407e+01] [ 3.28034596e-03 2.62307097e-04 9.99994585e-01 -1.45726679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.781400513 meters 0.07923805176085749 Centerline is valid? [True, True] Translation: X:519.10, Y:48.72, Z:-1.45 [[ 9.99962455e-01 -8.65028045e-03 -5.10631125e-04 5.19095229e+02] [ 8.65025899e-03 9.99962585e-01 -4.42074751e-05 4.87207801e+01] [ 5.10994427e-04 3.97887238e-05 9.99999869e-01 -1.45279633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.841400513 meters 0.07992725394839728 Centerline is valid? [True, True] Translation: X:519.15, Y:48.73, Z:-1.45 [[ 9.99947843e-01 -1.01576465e-02 1.06435768e-03 5.19154225e+02] [ 1.01575542e-02 9.99948406e-01 9.20736073e-05 4.87305286e+01] [-1.06523802e-03 -8.12575341e-05 9.99999429e-01 -1.45206360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.901400513 meters 0.07621517883497761 Centerline is valid? [True, True] Translation: X:519.22, Y:48.73, Z:-1.45 [[ 9.99916647e-01 -1.28371319e-02 1.38070886e-03 5.19215497e+02] [ 1.28369790e-02 9.99917595e-01 1.19544845e-04 4.87300635e+01] [-1.38212970e-03 -1.01810750e-04 9.99999040e-01 -1.45255053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9614005130001 meters 0.06937193698722899 Centerline is valid? [True, True] Translation: X:519.28, Y:48.73, Z:-1.45 [[ 9.99839413e-01 -1.78451797e-02 1.64265418e-03 5.19276708e+02] [ 1.78449700e-02 9.99840756e-01 1.42178074e-04 4.87272990e+01] [-1.64492979e-03 -1.12842128e-04 9.99998641e-01 -1.45239040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.021400513 meters 0.07397552918570506 Centerline is valid? [True, True] Translation: X:519.34, Y:48.74, Z:-1.45 [[ 9.99797299e-01 -1.98656915e-02 3.27353538e-03 5.19336286e+02] [ 1.98648699e-02 9.99802634e-01 2.83321588e-04 4.87377791e+01] [-3.27851767e-03 -2.18235804e-04 9.99994602e-01 -1.45104760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.081400513 meters 0.064749714779326 Centerline is valid? [True, True] Translation: X:519.40, Y:48.73, Z:-1.45 [[ 9.99788171e-01 -2.02200333e-02 3.84226156e-03 5.19398632e+02] [ 2.02189039e-02 9.99795522e-01 3.32548052e-04 4.87319673e+01] [-3.84820003e-03 -2.54791291e-04 9.99992563e-01 -1.45063616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.141400513 meters 0.07208845912590796 Centerline is valid? [True, True] Translation: X:519.46, Y:48.75, Z:-1.45 [[ 9.99803733e-01 -1.97914007e-02 8.92335748e-04 5.19458434e+02] [ 1.97913395e-02 9.99804129e-01 7.73074931e-05 4.87450073e+01] [-8.93690989e-04 -5.96318004e-05 9.99999599e-01 -1.45489272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.201400513 meters 0.0648859133828667 Centerline is valid? [True, True] Translation: X:519.52, Y:48.74, Z:-1.46 [[ 9.99837524e-01 -1.79321150e-02 -1.83435245e-03 5.19519317e+02] [ 1.79318539e-02 9.99839199e-01 -1.58660419e-04 4.87423330e+01] [ 1.83690260e-03 1.25741301e-04 9.99998305e-01 -1.45942898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.261400513 meters 0.06569435360927427 Centerline is valid? [True, True] Translation: X:519.58, Y:48.75, Z:-1.46 [[ 9.99839780e-01 -1.75893018e-02 -3.32127536e-03 5.19578286e+02] [ 1.75884401e-02 9.99845270e-01 -2.88497386e-04 4.87461786e+01] [ 3.32583593e-03 2.30035111e-04 9.99994443e-01 -1.46272369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.321400513 meters 0.07344980972252003 Centerline is valid? [True, True] Translation: X:519.64, Y:48.76, Z:-1.46 [[ 9.99833799e-01 -1.80924424e-02 -2.24462198e-03 5.19635120e+02] [ 1.80920502e-02 9.99836306e-01 -1.94893418e-04 4.87572357e+01] [ 2.24778065e-03 1.54251213e-04 9.99997462e-01 -1.46098624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.381400513 meters 0.06801116123224493 Centerline is valid? [True, True] Translation: X:519.69, Y:48.75, Z:-1.46 [[ 9.99849291e-01 -1.73607155e-02 4.22741818e-05 5.19694677e+02] [ 1.73607154e-02 9.99849291e-01 3.01088313e-06 4.87539736e+01] [-4.23200818e-05 -2.27651932e-06 9.99999999e-01 -1.45636094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.441400513 meters 0.0697408258071447 Centerline is valid? [True, True] Translation: X:519.75, Y:48.76, Z:-1.46 [[ 9.99880871e-01 -1.54321205e-02 -3.05544917e-04 5.19754115e+02] [ 1.54321131e-02 9.99880917e-01 -2.65986480e-05 4.87594921e+01] [ 3.05919006e-04 2.18802756e-05 9.99999953e-01 -1.45813156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.501400513 meters 0.07636731051189526 Centerline is valid? [True, True] Translation: X:519.81, Y:48.77, Z:-1.46 [[ 9.99925187e-01 -1.21905695e-02 -1.00486076e-03 5.19812421e+02] [ 1.21904878e-02 9.99925689e-01 -8.73624150e-05 4.87730856e+01] [ 1.00585109e-03 7.51061363e-05 9.99999491e-01 -1.45959587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.561400513 meters 0.08184839631911034 Centerline is valid? [True, True] Translation: X:519.87, Y:48.78, Z:-1.46 [[ 9.99954197e-01 -9.56324462e-03 -3.85130616e-04 5.19871205e+02] [ 9.56323242e-03 9.99954271e-01 -3.35210691e-05 4.87849301e+01] [ 3.85433574e-04 2.98364401e-05 9.99999925e-01 -1.45805416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.621400513 meters 0.08427030195552267 Centerline is valid? [True, True] Translation: X:519.93, Y:48.79, Z:-1.46 [[ 9.99948437e-01 -1.01550117e-02 -5.63122402e-06 5.19930078e+02] [ 1.01550117e-02 9.99948437e-01 -5.34224581e-07 4.87918787e+01] [ 5.63635871e-06 4.77011888e-07 1.00000000e+00 -1.45760862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.681400513 meters 0.08479441937848302 Centerline is valid? [True, True] Translation: X:519.99, Y:48.80, Z:-1.46 [[ 9.99953877e-01 -9.47110022e-03 1.59465804e-03 5.19990362e+02] [ 9.47089112e-03 9.99955140e-01 1.38622743e-04 4.87966655e+01] [-1.59589942e-03 -1.23513517e-04 9.99998719e-01 -1.45663239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.741400513 meters 0.08707411399640387 Centerline is valid? [True, True] Translation: X:520.05, Y:48.80, Z:-1.45 [[ 9.99979387e-01 -5.54082643e-03 3.24429545e-03 5.20050564e+02] [ 5.53994041e-03 9.99984615e-01 2.82025086e-04 4.88044350e+01] [-3.24580819e-03 -2.64046069e-04 9.99994697e-01 -1.45495591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.801400513 meters 0.09034514538146449 Centerline is valid? [True, True] Translation: X:520.11, Y:48.82, Z:-1.46 [[ 9.99993618e-01 -1.53320683e-03 3.22710258e-03 5.20110383e+02] [ 1.53230945e-03 9.99998787e-01 2.80530482e-04 4.88158502e+01] [-3.22752877e-03 -2.75583772e-04 9.99994754e-01 -1.45548202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.861400513 meters 0.09128525603419206 Centerline is valid? [True, True] Translation: X:520.17, Y:48.82, Z:-1.46 [[ 9.99993917e-01 2.53021601e-03 2.40096045e-03 5.20170598e+02] [-2.53072435e-03 9.99996776e-01 2.08712491e-04 4.88226889e+01] [-2.40042462e-03 -2.14787390e-04 9.99997096e-01 -1.45620270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.921400513 meters 0.09332728088331298 Centerline is valid? [True, True] Translation: X:520.23, Y:48.83, Z:-1.46 [[ 9.99975790e-01 6.51334270e-03 2.44862972e-03 5.20230298e+02] [-6.51388327e-03 9.99978762e-01 2.12851085e-04 4.88342941e+01] [-2.44719134e-03 -2.28796020e-04 9.99996979e-01 -1.45623747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.981400513 meters 0.09735328600881006 Centerline is valid? [True, True] Translation: X:520.29, Y:48.85, Z:-1.46 [[ 9.99974609e-01 7.04664774e-03 1.06149231e-03 5.20290494e+02] [-7.04674987e-03 9.99975167e-01 9.25090027e-05 4.88474080e+01] [-1.06081407e-03 -9.99867246e-05 9.99999432e-01 -1.45948351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.041400513 meters 0.09695547352519036 Centerline is valid? [True, True] Translation: X:520.35, Y:48.86, Z:-1.46 [[ 9.99978712e-01 6.43206544e-03 1.09716652e-03 5.20351190e+02] [-6.43217389e-03 9.99979309e-01 9.53436356e-05 4.88589190e+01] [-1.09653056e-03 -1.02398772e-04 9.99999394e-01 -1.46014943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.101400513 meters 0.09318076504357596 Centerline is valid? [True, True] Translation: X:520.41, Y:48.86, Z:-1.46 [[ 9.99993890e-01 3.46286711e-03 4.77609178e-04 5.20411533e+02] [-3.46288732e-03 9.99994003e-01 4.14903826e-05 4.88622246e+01] [-4.77462638e-04 -4.31440358e-05 9.99999885e-01 -1.46048095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.161400513 meters 0.08746007061954258 Centerline is valid? [True, True] Translation: X:520.47, Y:48.86, Z:-1.46 [[ 9.99999933e-01 3.01977430e-04 2.07074268e-04 5.20472266e+02] [-3.01981167e-04 9.99999954e-01 1.80159043e-05 4.88641751e+01] [-2.07068818e-04 -1.80784356e-05 9.99999978e-01 -1.46135217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.221400513 meters 0.08993884761109154 Centerline is valid? [True, True] Translation: X:520.53, Y:48.88, Z:-1.46 [[ 9.99996342e-01 2.66883296e-03 4.38556652e-04 5.20532309e+02] [-2.66884991e-03 9.99996438e-01 3.80690985e-05 4.88765166e+01] [-4.38453490e-04 -3.92394011e-05 9.99999903e-01 -1.46118416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.281400513 meters 0.09478324717032581 Centerline is valid? [True, True] Translation: X:520.59, Y:48.89, Z:-1.46 [[ 9.99990450e-01 4.36802402e-03 -1.40943794e-04 5.20591284e+02] [-4.36802578e-03 9.99990460e-01 -1.21616012e-05 4.88902496e+01] [ 1.40889327e-04 1.27771312e-05 9.99999990e-01 -1.46210538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.341400513 meters 0.09263545412935478 Centerline is valid? [True, True] Translation: X:520.65, Y:48.90, Z:-1.46 [[ 9.99972407e-01 7.20929966e-03 -1.79199103e-03 5.20650853e+02] [-7.20958992e-03 9.99973998e-01 -1.55571197e-04 4.88978996e+01] [ 1.79082288e-03 1.68486425e-04 9.99998382e-01 -1.46401246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.401400513 meters 0.09131187658231683 Centerline is valid? [True, True] Translation: X:520.71, Y:48.91, Z:-1.46 [[ 9.99984263e-01 5.51106929e-03 1.04981593e-03 5.20710391e+02] [-5.51116796e-03 9.99984809e-01 9.11096797e-05 4.89088755e+01] [-1.04929787e-03 -9.68939578e-05 9.99999445e-01 -1.46023763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4614005130001 meters 0.08680568549656546 Centerline is valid? [True, True] Translation: X:520.77, Y:48.91, Z:-1.46 [[ 9.99997021e-01 2.00425888e-03 1.39328066e-03 5.20770745e+02] [-2.00442929e-03 9.99997984e-01 1.20925458e-04 4.89120151e+01] [-1.39303548e-03 -1.23717831e-04 9.99999022e-01 -1.45977585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.521400513 meters 0.08897635234756475 Centerline is valid? [True, True] Translation: X:520.83, Y:48.92, Z:-1.46 [[ 9.99996914e-01 -2.07210171e-03 -1.37041708e-03 5.20829063e+02] [ 2.07194057e-03 9.99997846e-01 -1.18990857e-04 4.89240295e+01] [ 1.37066069e-03 1.16151067e-04 9.99999054e-01 -1.46423945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.581400513 meters 0.08361395919970398 Centerline is valid? [True, True] Translation: X:520.89, Y:48.93, Z:-1.46 [[ 9.99961350e-01 -8.69921168e-03 1.27348469e-03 5.20889009e+02] [ 8.69907792e-03 9.99962156e-01 1.10540670e-04 4.89275474e+01] [-1.27439812e-03 -9.94582552e-05 9.99999183e-01 -1.46025606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.641400513 meters 0.08192970170823044 Centerline is valid? [True, True] Translation: X:520.95, Y:48.93, Z:-1.46 [[ 9.99932237e-01 -1.14562787e-02 2.06776815e-03 5.20949199e+02] [ 1.14559318e-02 9.99934363e-01 1.79500178e-04 4.89296034e+01] [-2.06968883e-03 -1.55799804e-04 9.99997846e-01 -1.45879979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.701400513 meters 0.07734544983902344 Centerline is valid? [True, True] Translation: X:521.01, Y:48.93, Z:-1.46 [[ 9.99933331e-01 -1.15147671e-02 8.62758140e-04 5.21010717e+02] [ 1.15147067e-02 9.99933701e-01 7.49610751e-05 4.89305298e+01] [-8.63564100e-04 -6.50216705e-05 9.99999625e-01 -1.46012743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.761400513 meters 0.08070681639593344 Centerline is valid? [True, True] Translation: X:521.07, Y:48.94, Z:-1.46 [[ 9.99964398e-01 -8.26061292e-03 1.72218457e-03 5.21070627e+02] [ 8.26036770e-03 9.99965871e-01 1.49451739e-04 4.89424464e+01] [-1.72336036e-03 -1.35220540e-04 9.99998506e-01 -1.45954331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.821400513 meters 0.08521426837065435 Centerline is valid? [True, True] Translation: X:521.13, Y:48.95, Z:-1.46 [[ 9.99977896e-01 -6.45360317e-03 1.59940302e-03 5.21129303e+02] [ 6.45338928e-03 9.99979167e-01 1.38853364e-04 4.89545511e+01] [-1.60026581e-03 -1.28528724e-04 9.99998711e-01 -1.46001934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.881400513 meters 0.08086028528237825 Centerline is valid? [True, True] Translation: X:521.19, Y:48.96, Z:-1.46 [[ 9.99985290e-01 -5.41896141e-03 2.33598728e-04 5.21190185e+02] [ 5.41895682e-03 9.99985317e-01 2.03086380e-05 4.89556352e+01] [-2.33705350e-04 -1.90424778e-05 9.99999973e-01 -1.46220630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.941400513 meters 0.08410958168892053 Centerline is valid? [True, True] Translation: X:521.25, Y:48.96, Z:-1.46 [[ 9.99984070e-01 -5.34915812e-03 1.80201009e-03 5.21250550e+02] [ 5.34888504e-03 9.99985682e-01 1.56328038e-04 4.89630920e+01] [-1.80282051e-03 -1.46686803e-04 9.99998364e-01 -1.45996645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.001400513 meters 0.09218217050266726 Centerline is valid? [True, True] Translation: X:521.31, Y:48.97, Z:-1.46 [[ 9.99981638e-01 -4.41442733e-03 4.15178837e-03 5.21309818e+02] [ 4.41297020e-03 9.99990198e-01 3.60060698e-04 4.89725757e+01] [-4.15333713e-03 -3.41732368e-04 9.99991316e-01 -1.45701443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.061400513 meters 0.080328666019061 Centerline is valid? [True, True] Translation: X:521.37, Y:48.96, Z:-1.46 [[ 9.99978886e-01 -5.50657277e-03 3.45052009e-03 5.21372648e+02] [ 5.50557338e-03 9.99984799e-01 2.99068730e-04 4.89573642e+01] [-3.45211449e-03 -2.80065324e-04 9.99994002e-01 -1.45866824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.121400513 meters 0.07894757506030202 Centerline is valid? [True, True] Translation: X:521.43, Y:48.96, Z:-1.46 [[ 9.99970623e-01 -7.23993989e-03 2.51736452e-03 5.21433868e+02] [ 7.23941354e-03 9.99973771e-01 2.18137541e-04 4.89562083e+01] [-2.51887780e-03 -1.99906890e-04 9.99996808e-01 -1.46065834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.181400513 meters 0.08485490877284603 Centerline is valid? [True, True] Translation: X:521.49, Y:48.96, Z:-1.46 [[ 9.99960114e-01 -8.81747088e-03 1.42224567e-03 5.21493676e+02] [ 8.81730449e-03 9.99961119e-01 1.23215757e-04 4.89614456e+01] [-1.42327682e-03 -1.10670470e-04 9.99998981e-01 -1.46302618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.241400513 meters 0.07509400473686494 Centerline is valid? [True, True] Translation: X:521.56, Y:48.94, Z:-1.46 [[ 9.99962745e-01 -8.53428004e-03 1.29396786e-03 5.21557004e+02] [ 8.53414200e-03 9.99963577e-01 1.12166846e-04 4.89429789e+01] [-1.29487800e-03 -1.01119762e-04 9.99999157e-01 -1.46236570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.301400513 meters 0.0841486719461357 Centerline is valid? [True, True] Translation: X:521.62, Y:48.96, Z:-1.46 [[ 9.99981010e-01 -6.06212928e-03 1.10884770e-03 5.21615792e+02] [ 6.06202652e-03 9.99981621e-01 9.60099050e-05 4.89556247e+01] [-1.10940935e-03 -8.92862177e-05 9.99999381e-01 -1.46345215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.361400513 meters 0.0832914285578286 Centerline is valid? [True, True] Translation: X:521.68, Y:48.95, Z:-1.47 [[ 9.99997745e-01 -2.05718826e-03 -5.27063305e-04 5.21677275e+02] [ 2.05716449e-03 9.99997883e-01 -4.56388050e-05 4.89522823e+01] [ 5.27156077e-04 4.45544462e-05 9.99999860e-01 -1.46650208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.421400513 meters 0.08776238591151941 Centerline is valid? [True, True] Translation: X:521.74, Y:48.97, Z:-1.47 [[ 9.99993733e-01 3.53955114e-03 -7.99186850e-05 5.21735398e+02] [-3.53955171e-03 9.99993736e-01 -6.94924028e-06 4.89664710e+01] [ 7.98935872e-05 7.23207304e-06 9.99999997e-01 -1.46634515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.481400513 meters 0.08967929512300062 Centerline is valid? [True, True] Translation: X:521.79, Y:48.98, Z:-1.46 [[ 9.99989978e-01 4.26113530e-03 1.37358942e-03 5.21794873e+02] [-4.26130273e-03 9.99990914e-01 1.18985488e-04 4.89778901e+01] [-1.37306992e-03 -1.24837576e-04 9.99999050e-01 -1.46491203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.541400513 meters 0.08801160315014825 Centerline is valid? [True, True] Translation: X:521.86, Y:48.98, Z:-1.47 [[ 9.99995110e-01 2.84732902e-03 1.29316048e-03 5.21855461e+02] [-2.84747628e-03 9.99995940e-01 1.12049602e-04 4.89839091e+01] [-1.29283619e-03 -1.15731298e-04 9.99999158e-01 -1.46556820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.601400513 meters 0.08921629730206057 Centerline is valid? [True, True] Translation: X:521.91, Y:48.99, Z:-1.47 [[ 9.99987293e-01 -5.03429182e-03 -2.65363502e-04 5.21914554e+02] [ 5.03428590e-03 9.99987328e-01 -2.29734003e-05 4.89932984e+01] [ 2.65475794e-04 2.16371926e-05 9.99999965e-01 -1.46782422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.661400513 meters 0.08108205651219516 Centerline is valid? [True, True] Translation: X:521.98, Y:48.99, Z:-1.47 [[ 9.99925423e-01 -1.21920205e-02 7.08945872e-04 5.21975725e+02] [ 1.21919800e-02 9.99925673e-01 6.14169450e-05 4.89873613e+01] [-7.09641975e-04 -5.27689108e-05 9.99999747e-01 -1.46637234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.721400513 meters 0.06730369847954375 Centerline is valid? [True, True] Translation: X:522.04, Y:48.97, Z:-1.46 [[ 9.99826855e-01 -1.85228856e-02 1.77836940e-03 5.22037818e+02] [ 1.85226409e-02 9.99828429e-01 1.54012346e-04 4.89727463e+01] [-1.78091703e-03 -1.21045582e-04 9.99998407e-01 -1.46491735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.781400513 meters 0.06749379457703418 Centerline is valid? [True, True] Translation: X:522.10, Y:48.97, Z:-1.47 [[ 9.99732044e-01 -2.31092237e-02 1.34346513e-03 5.22097682e+02] [ 2.31090881e-02 9.99732943e-01 1.16349872e-04 4.89723500e+01] [-1.34579510e-03 -8.52724409e-05 9.99999091e-01 -1.46569651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.841400513 meters 0.06800133092512817 Centerline is valid? [True, True] Translation: X:522.16, Y:48.97, Z:-1.47 [[ 9.99762551e-01 -2.17570249e-02 1.21345998e-03 5.22157967e+02] [ 2.17569134e-02 9.99763285e-01 1.05063368e-04 4.89727178e+01] [-1.21545861e-03 -7.86372770e-05 9.99999258e-01 -1.46598300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.901400513 meters 0.07519896079121595 Centerline is valid? [True, True] Translation: X:522.22, Y:48.98, Z:-1.47 [[ 9.99830479e-01 -1.83644580e-02 1.32653476e-03 5.22216710e+02] [ 1.83643216e-02 9.99831355e-01 1.14885083e-04 4.89818756e+01] [-1.32842085e-03 -9.05046964e-05 9.99999114e-01 -1.46739246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9614005130001 meters 0.07921658909643783 Centerline is valid? [True, True] Translation: X:522.28, Y:48.99, Z:-1.47 [[ 9.99898481e-01 -1.41937857e-02 1.25085732e-03 5.22276764e+02] [ 1.41936613e-02 9.99899259e-01 1.08310713e-04 4.89858478e+01] [-1.25226865e-03 -9.05454724e-05 9.99999212e-01 -1.46763547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.021400513 meters 0.08049031810859994 Centerline is valid? [True, True] Translation: X:522.34, Y:48.99, Z:-1.47 [[ 9.99922264e-01 -1.22894499e-02 2.10623589e-03 5.22336720e+02] [ 1.22890927e-02 9.99924470e-01 1.82467071e-04 4.89895245e+01] [-2.10831923e-03 -1.56569158e-04 9.99997765e-01 -1.46569903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.081400513 meters 0.07282884545594512 Centerline is valid? [True, True] Translation: X:522.40, Y:48.98, Z:-1.47 [[ 9.99935031e-01 -1.12510670e-02 1.82977963e-03 5.22398888e+02] [ 1.12507954e-02 9.99936695e-01 1.58614351e-04 4.89828785e+01] [-1.83144837e-03 -1.38017570e-04 9.99998313e-01 -1.46661221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.141400513 meters 0.0748937511939962 Centerline is valid? [True, True] Translation: X:522.46, Y:48.99, Z:-1.47 [[ 9.99939331e-01 -1.08966220e-02 1.61181644e-03 5.22458747e+02] [ 1.08964110e-02 9.99940623e-01 1.39665285e-04 4.89879643e+01] [-1.61324261e-03 -1.22093798e-04 9.99998691e-01 -1.46682026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.201400513 meters 0.07557850580627971 Centerline is valid? [True, True] Translation: X:522.52, Y:48.99, Z:-1.47 [[ 9.99934162e-01 -1.13561919e-02 1.64556319e-03 5.22520368e+02] [ 1.13559725e-02 9.99935509e-01 1.42596273e-04 4.89850709e+01] [-1.64707642e-03 -1.23899915e-04 9.99998636e-01 -1.46726684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.261400513 meters 0.08049909358755686 Centerline is valid? [True, True] Translation: X:522.58, Y:48.99, Z:-1.47 [[ 9.99930951e-01 -1.16075890e-02 1.83211929e-03 5.22580417e+02] [ 1.16073174e-02 9.99932620e-01 1.58754671e-04 4.89906004e+01] [-1.83383860e-03 -1.37477719e-04 9.99998309e-01 -1.46751204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.321400513 meters 0.07491138971209121 Centerline is valid? [True, True] Translation: X:522.64, Y:48.98, Z:-1.47 [[ 9.99952416e-01 -9.50342783e-03 2.20234077e-03 5.22642346e+02] [ 9.50303088e-03 9.99954827e-01 1.90636824e-04 4.89811863e+01] [-2.20405298e-03 -1.69698840e-04 9.99997557e-01 -1.46717934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.381400513 meters 0.08204104336308936 Centerline is valid? [True, True] Translation: X:522.70, Y:48.99, Z:-1.47 [[ 9.99975916e-01 -6.51475525e-03 2.39257585e-03 5.22701852e+02] [ 6.51427832e-03 9.99978760e-01 2.07078565e-04 4.89890441e+01] [-2.39387410e-03 -1.91487673e-04 9.99997116e-01 -1.46736716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.441400513 meters 0.08075438607481113 Centerline is valid? [True, True] Translation: X:522.76, Y:48.99, Z:-1.47 [[ 9.99991295e-01 -3.68458307e-03 1.95788279e-03 5.22763676e+02] [ 3.68425827e-03 9.99993199e-01 1.69473300e-04 4.89866095e+01] [-1.95849391e-03 -1.62258479e-04 9.99998069e-01 -1.46811506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.501400513 meters 0.08880983661085773 Centerline is valid? [True, True] Translation: X:522.82, Y:48.99, Z:-1.47 [[ 9.99994868e-01 -2.46061410e-03 2.05176455e-03 5.22823106e+02] [ 2.46025500e-03 9.99996958e-01 1.77527084e-04 4.89933042e+01] [-2.05219514e-03 -1.72478309e-04 9.99997879e-01 -1.46916418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.561400513 meters 0.08993207030458594 Centerline is valid? [True, True] Translation: X:522.88, Y:48.99, Z:-1.47 [[ 9.99997434e-01 -1.52360787e-03 1.67673790e-03 5.22884985e+02] [ 1.52336666e-03 9.99998829e-01 1.45129768e-04 4.89875422e+01] [-1.67695706e-03 -1.42575109e-04 9.99998584e-01 -1.47059941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.621400513 meters 0.09854287272391896 Centerline is valid? [True, True] Translation: X:522.94, Y:48.99, Z:-1.47 [[ 9.99999516e-01 9.41177614e-04 2.86911652e-04 5.22944371e+02] [-9.41184796e-04 9.99999557e-01 2.48974999e-05 4.89944766e+01] [-2.86888092e-04 -2.51675247e-05 9.99999959e-01 -1.47325164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.681400513 meters 0.08865005292225064 Centerline is valid? [True, True] Translation: X:523.01, Y:48.98, Z:-1.47 [[ 9.99980909e-01 6.16624082e-03 -3.99961845e-04 5.23005881e+02] [-6.16625515e-03 9.99980988e-01 -3.46026306e-05 4.89825036e+01] [ 3.99740872e-04 3.70682368e-05 9.99999919e-01 -1.47349394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.741400513 meters 0.09460169843844991 Centerline is valid? [True, True] Translation: X:523.06, Y:48.99, Z:-1.47 [[ 9.99952252e-01 9.75346394e-03 6.02758072e-04 5.23064359e+02] [-9.75349710e-03 9.99952432e-01 5.20950871e-05 4.89926568e+01] [-6.02221292e-04 -5.79715988e-05 9.99999817e-01 -1.47250459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.801400513 meters 0.10887801213438687 Centerline is valid? [True, False] Translation: X:523.09, Y:48.99, Z:-1.47 [[ 9.99959675e-01 8.64115243e-03 2.44523072e-03 5.23085723e+02] [-8.66395233e-03 9.99917600e-01 9.47254162e-03 4.89884431e+01] [-2.36317556e-03 -9.49334500e-03 9.99952145e-01 -1.47328540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.861400513 meters 0.09046606669587126 Centerline is valid? [False, True] Translation: X:523.09, Y:48.99, Z:-1.47 [[ 9.99989373e-01 3.89660848e-03 2.46389835e-03 5.23085971e+02] [-3.90666604e-03 9.99984003e-01 4.09041982e-03 4.89931125e+01] [-2.44792017e-03 -4.10000198e-03 9.99988599e-01 -1.47425636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.921400513 meters 0.08650149682309155 Centerline is valid? [True, True] Translation: X:523.15, Y:48.99, Z:-1.47 [[ 9.99993410e-01 -2.93555707e-03 2.13618388e-03 5.23146875e+02] [ 2.93516774e-03 9.99995675e-01 1.85365376e-04 4.89941546e+01] [-2.13671880e-03 -1.79094096e-04 9.99997701e-01 -1.47466814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.981400513 meters 0.08079833987520155 Centerline is valid? [True, True] Translation: X:523.21, Y:48.99, Z:-1.47 [[ 9.99937005e-01 -1.08787137e-02 2.76391508e-03 5.23208463e+02] [ 1.08780921e-02 9.99940803e-01 2.39807927e-04 4.89912283e+01] [-2.76636027e-03 -2.09726698e-04 9.99996152e-01 -1.47338712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.041400513 meters 0.07053404623455894 Centerline is valid? [True, True] Translation: X:523.27, Y:48.98, Z:-1.47 [[ 9.99769490e-01 -2.09543377e-02 4.67790916e-03 5.23270434e+02] [ 2.09526674e-02 9.99780386e-01 4.05798809e-04 4.89771149e+01] [-4.68538507e-03 -3.07690594e-04 9.99988976e-01 -1.47205902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.101400513 meters 0.06523502545130071 Centerline is valid? [True, True] Translation: X:523.33, Y:48.97, Z:-1.47 [[ 9.99716837e-01 -2.35515846e-02 3.40141642e-03 5.23332205e+02] [ 2.35507164e-02 9.99722600e-01 2.95061692e-04 4.89706392e+01] [-3.40742204e-03 -2.14872347e-04 9.99994172e-01 -1.47428235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.161400513 meters 0.07009337632604953 Centerline is valid? [True, True] Translation: X:523.39, Y:48.98, Z:-1.48 [[ 9.99774922e-01 -2.11495927e-02 1.67309615e-03 5.23390974e+02] [ 2.11493795e-02 9.99776316e-01 1.45039719e-04 4.89800493e+01] [-1.67578944e-03 -1.09622129e-04 9.99998590e-01 -1.47757260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.221400513 meters 0.07284771096330239 Centerline is valid? [True, True] Translation: X:523.45, Y:48.98, Z:-1.47 [[ 9.99843285e-01 -1.73396827e-02 3.56953120e-03 5.23451241e+02] [ 1.73386871e-02 9.99849626e-01 3.09678660e-04 4.89843700e+01] [-3.57436416e-03 -2.47739145e-04 9.99993581e-01 -1.47473224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.281400513 meters 0.07604679286270735 Centerline is valid? [True, True] Translation: X:523.51, Y:48.99, Z:-1.48 [[ 9.99852547e-01 -1.67461105e-02 3.80161442e-03 5.23510726e+02] [ 1.67449763e-02 9.99859739e-01 3.29983289e-04 4.89912184e+01] [-3.80660714e-03 -2.66276688e-04 9.99992719e-01 -1.47570880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.341400513 meters 0.07239789956639758 Centerline is valid? [True, True] Translation: X:523.57, Y:48.99, Z:-1.48 [[ 9.99866532e-01 -1.61568624e-02 2.42378686e-03 5.23571665e+02] [ 1.61564002e-02 9.99869455e-01 2.10139448e-04 4.89880691e+01] [-2.42686564e-03 -1.70951730e-04 9.99997041e-01 -1.47888735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.401400513 meters 0.07482847069002545 Centerline is valid? [True, True] Translation: X:523.63, Y:49.00, Z:-1.48 [[ 9.99873889e-01 -1.55772301e-02 3.09117125e-03 5.23632030e+02] [ 1.55764756e-02 9.99878643e-01 2.68000883e-04 4.89953425e+01] [-3.09497083e-03 -2.19817532e-04 9.99995186e-01 -1.47778836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4614005130001 meters 0.0744909626886877 Centerline is valid? [True, True] Translation: X:523.69, Y:49.00, Z:-1.48 [[ 9.99883393e-01 -1.50794819e-02 2.41038854e-03 5.23692293e+02] [ 1.50790217e-02 9.99886283e-01 2.08977829e-04 4.89999254e+01] [-2.41326572e-03 -1.72607160e-04 9.99997073e-01 -1.47941767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.521400513 meters 0.07210107381729265 Centerline is valid? [True, True] Translation: X:523.75, Y:49.00, Z:-1.48 [[ 9.99847090e-01 -1.69588297e-02 4.26555522e-03 5.23752513e+02] [ 1.69574058e-02 9.99856144e-01 3.69748159e-04 4.90017917e+01] [-4.27121209e-03 -2.97358870e-04 9.99990834e-01 -1.47680364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.581400513 meters 0.06613820193485408 Centerline is valid? [True, True] Translation: X:523.81, Y:49.00, Z:-1.47 [[ 9.99739082e-01 -2.18441231e-02 6.67847595e-03 5.23813934e+02] [ 2.18407393e-02 9.99761295e-01 5.79191609e-04 4.89972649e+01] [-6.68953370e-03 -4.33177635e-04 9.99977531e-01 -1.47402089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.641400513 meters 0.06492075924832956 Centerline is valid? [True, True] Translation: X:523.87, Y:48.99, Z:-1.47 [[ 9.99527119e-01 -2.97709833e-02 7.69585332e-03 5.23874762e+02] [ 2.97667242e-02 9.99556650e-01 6.67394619e-04 4.89895725e+01] [-7.71231036e-03 -4.37998678e-04 9.99970164e-01 -1.47153102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.701400513 meters 0.05888538236069171 Centerline is valid? [True, True] Translation: X:523.94, Y:48.98, Z:-1.47 [[ 9.99487552e-01 -3.10207490e-02 7.89595665e-03 5.23935770e+02] [ 3.10163040e-02 9.99518644e-01 6.84817609e-04 4.89824533e+01] [-7.91339944e-03 -4.39563284e-04 9.99968592e-01 -1.47203169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.761400513 meters 0.06763286466636098 Centerline is valid? [True, True] Translation: X:523.99, Y:48.99, Z:-1.47 [[ 9.99638634e-01 -2.58056991e-02 7.52782846e-03 5.23994432e+02] [ 2.58015095e-02 9.99666872e-01 6.53156552e-04 4.89903663e+01] [-7.54217589e-03 -4.58691186e-04 9.99971452e-01 -1.47230981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.821400513 meters 0.07766735484438772 Centerline is valid? [True, True] Translation: X:524.05, Y:49.00, Z:-1.48 [[ 9.99792290e-01 -1.96437232e-02 5.43152150e-03 5.24052625e+02] [ 1.96414508e-02 9.99806977e-01 4.71395491e-04 4.90039315e+01] [-5.43973306e-03 -3.64614615e-04 9.99985138e-01 -1.47635737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.881400513 meters 0.07590210096050581 Centerline is valid? [True, True] Translation: X:524.11, Y:49.00, Z:-1.48 [[ 9.99906344e-01 -1.31044997e-02 3.94656427e-03 5.24113273e+02] [ 1.31032498e-02 9.99914090e-01 3.42388831e-04 4.90029643e+01] [-3.95071205e-03 -2.90643947e-04 9.99992154e-01 -1.47995092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.941400513 meters 0.0821287971294719 Centerline is valid? [True, True] Translation: X:524.17, Y:49.01, Z:-1.48 [[ 9.99965046e-01 -7.43316458e-03 3.82815651e-03 5.24173380e+02] [ 7.43194710e-03 9.99972328e-01 3.32159703e-04 4.90111098e+01] [-3.83051957e-03 -3.03697436e-04 9.99992617e-01 -1.48078661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.001400513 meters 0.09230129847400875 Centerline is valid? [True, True] Translation: X:524.23, Y:49.03, Z:-1.48 [[ 9.99987282e-01 -2.68639600e-03 4.26838734e-03 5.24231657e+02] [ 2.68483962e-03 9.99996327e-01 3.70317785e-04 4.90267216e+01] [-4.26936649e-03 -3.58853139e-04 9.99990822e-01 -1.48068860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.061400513 meters 0.0904994962498524 Centerline is valid? [True, True] Translation: X:524.29, Y:49.03, Z:-1.48 [[ 9.99985834e-01 1.61872465e-03 5.07059213e-03 5.24292508e+02] [-1.62097632e-03 9.99998589e-01 4.39986213e-04 4.90279985e+01] [-5.06987276e-03 -4.48199290e-04 9.99987048e-01 -1.48006990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.121400513 meters 0.10207218945294858 Centerline is valid? [True, False] Translation: X:524.29, Y:49.03, Z:-1.48 [[ 9.99985891e-01 1.57181672e-03 5.07425812e-03 5.24292794e+02] [-1.57339123e-03 9.99998715e-01 3.06315709e-04 4.90285007e+01] [-5.07377013e-03 -3.14295181e-04 9.99987079e-01 -1.48085537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.181400513 meters 0.09634709025076545 Centerline is valid? [False, True] Translation: X:524.29, Y:49.03, Z:-1.48 [[ 9.99986179e-01 1.45593262e-03 5.05197712e-03 5.24293008e+02] [-1.45579988e-03 9.99998940e-01 -2.99526098e-05 4.90299579e+01] [-5.05201537e-03 2.25975281e-05 9.99987238e-01 -1.48125594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.241400513 meters 0.10306355723963607 Centerline is valid? [True, False] Translation: X:524.27, Y:49.02, Z:-1.48 [[ 9.99999749e-01 -6.60986300e-04 -2.53674095e-04 5.24272090e+02] [ 6.63321551e-04 9.99956359e-01 9.31877011e-03 4.90206785e+01] [ 2.47503445e-04 -9.31893605e-03 9.99956547e-01 -1.47512688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.301400513 meters 0.0904765204223035 Centerline is valid? [False, True] Translation: X:524.29, Y:49.03, Z:-1.47 [[ 9.99985518e-01 1.26322197e-03 -5.23147706e-03 5.24292462e+02] [-1.25801257e-03 9.99998710e-01 9.98951944e-04 4.90274827e+01] [ 5.23273221e-03 -9.92356213e-04 9.99985817e-01 -1.46906845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.361400513 meters 0.098848196487377 Centerline is valid? [True, True] Translation: X:524.35, Y:49.04, Z:-1.47 [[ 9.99983255e-01 -3.56973929e-04 -5.77599683e-03 5.24350048e+02] [ 3.53900482e-04 9.99999795e-01 -5.33120082e-04 4.90447751e+01] [ 5.77618596e-03 5.31067027e-04 9.99983177e-01 -1.47009269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.421400513 meters 0.09225471468368406 Centerline is valid? [True, True] Translation: X:524.41, Y:49.04, Z:-1.47 [[ 9.99971522e-01 -3.15221277e-03 -6.85701115e-03 5.24410353e+02] [ 3.14794631e-03 9.99994845e-01 -6.32907607e-04 4.90438180e+01] [ 6.85897086e-03 6.11304081e-04 9.99976290e-01 -1.47058924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.481400513 meters 0.09124328232313 Centerline is valid? [True, True] Translation: X:524.47, Y:49.05, Z:-1.47 [[ 9.99967928e-01 -4.76284976e-03 -6.43876899e-03 5.24470551e+02] [ 4.75912064e-03 9.99988499e-01 -5.94364912e-04 4.90488757e+01] [ 6.44152580e-03 5.63702971e-04 9.99979094e-01 -1.47071268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.541400513 meters 0.08626008795054224 Centerline is valid? [True, True] Translation: X:524.53, Y:49.05, Z:-1.47 [[ 9.99958384e-01 -7.48186736e-03 -5.22042224e-03 5.24530639e+02] [ 7.47945244e-03 9.99971912e-01 -4.81960636e-04 4.90480237e+01] [ 5.22388157e-03 4.42894679e-04 9.99986257e-01 -1.46850005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.601400513 meters 0.07832217203868795 Centerline is valid? [True, True] Translation: X:524.59, Y:49.04, Z:-1.47 [[ 9.99877998e-01 -1.46025590e-02 -5.54568926e-03 5.24591834e+02] [ 1.45999423e-02 9.99893284e-01 -5.12044018e-04 4.90419020e+01] [ 5.55257460e-03 4.31014805e-04 9.99984491e-01 -1.46821383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.661400513 meters 0.07486644667448811 Centerline is valid? [True, True] Translation: X:524.65, Y:49.04, Z:-1.47 [[ 9.99796586e-01 -1.95962659e-02 -4.77209737e-03 5.24652475e+02] [ 1.95943848e-02 9.99807915e-01 -4.40626235e-04 4.90380610e+01] [ 4.77981535e-03 3.47030293e-04 9.99988516e-01 -1.46625796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.721400513 meters 0.07235837588691343 Centerline is valid? [True, True] Translation: X:524.71, Y:49.04, Z:-1.47 [[ 9.99738103e-01 -2.23797137e-02 -4.78260203e-03 5.24713026e+02] [ 2.23778560e-02 9.99749487e-01 -4.41603512e-04 4.90353440e+01] [ 4.79128688e-03 3.34463478e-04 9.99988466e-01 -1.46619259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.781400513 meters 0.07126643160117005 Centerline is valid? [True, True] Translation: X:524.77, Y:49.03, Z:-1.47 [[ 9.99729091e-01 -2.26764776e-02 -5.24611704e-03 5.24771276e+02] [ 2.26742435e-02 9.99742789e-01 -4.84954009e-04 4.90347654e+01] [ 5.25576473e-03 3.65870895e-04 9.99986121e-01 -1.46707779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.841400513 meters 0.07918027401625406 Centerline is valid? [True, True] Translation: X:524.83, Y:49.04, Z:-1.47 [[ 9.99692657e-01 -2.42033112e-02 -5.36568841e-03 5.24829642e+02] [ 2.42009934e-02 9.99706990e-01 -4.96485670e-04 4.90430887e+01] [ 5.37613280e-03 3.66478089e-04 9.99985481e-01 -1.46918430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.901400513 meters 0.07341158637217175 Centerline is valid? [True, True] Translation: X:524.89, Y:49.03, Z:-1.47 [[ 9.99653062e-01 -2.60839564e-02 -3.65835519e-03 5.24890772e+02] [ 2.60828913e-02 9.99659726e-01 -3.38571993e-04 4.90346380e+01] [ 3.66594164e-03 2.43034049e-04 9.99993251e-01 -1.46684441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9614005130001 meters 0.07296471298635565 Centerline is valid? [True, True] Translation: X:524.95, Y:49.03, Z:-1.47 [[ 9.99652601e-01 -2.61124776e-02 -3.57979996e-03 5.24949988e+02] [ 2.61114570e-02 9.99658983e-01 -3.31558323e-04 4.90334485e+01] [ 3.58723699e-03 2.37969348e-04 9.99993538e-01 -1.46628493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.021400513 meters 0.08492870111990707 Centerline is valid? [True, True] Translation: X:525.01, Y:49.05, Z:-1.47 [[ 9.99692328e-01 -2.43552196e-02 -4.69807788e-03 5.25007953e+02] [ 2.43534402e-02 9.99703316e-01 -4.35597197e-04 4.90501879e+01] [ 4.70729310e-03 3.21048817e-04 9.99988869e-01 -1.46890358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.081400513 meters 0.07262385950553324 Centerline is valid? [True, True] Translation: X:525.07, Y:49.04, Z:-1.47 [[ 9.99812173e-01 -1.88924553e-02 -4.32353599e-03 5.25070020e+02] [ 1.88908974e-02 9.99821471e-01 -4.00894938e-04 4.90368471e+01] [ 4.33033800e-03 3.19144165e-04 9.99990573e-01 -1.46724347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.141400513 meters 0.08356658456189107 Centerline is valid? [True, True] Translation: X:525.13, Y:49.05, Z:-1.47 [[ 9.99957622e-01 -7.67552158e-03 -5.08334808e-03 5.25129261e+02] [ 7.67322381e-03 9.99970449e-01 -4.71366627e-04 4.90510218e+01] [ 5.08681585e-03 4.32340984e-04 9.99986969e-01 -1.46897653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.201400513 meters 0.08890799080671963 Centerline is valid? [True, True] Translation: X:525.19, Y:49.06, Z:-1.47 [[ 9.99975564e-01 -1.99878395e-03 -6.69896798e-03 5.25189378e+02] [ 1.99466690e-03 9.99997818e-01 -6.21205003e-04 4.90622305e+01] [ 6.70019502e-03 6.07827613e-04 9.99977369e-01 -1.47161259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.261400513 meters 0.09625943017590681 Centerline is valid? [True, True] Translation: X:525.25, Y:49.08, Z:-1.47 [[ 9.99975177e-01 2.08149465e-03 -6.73154791e-03 5.25247231e+02] [-2.08574285e-03 9.99997630e-01 -6.24129691e-04 4.90781008e+01] [ 6.73023284e-03 6.38154475e-04 9.99977148e-01 -1.47209458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.321400513 meters 0.0887880216498357 Centerline is valid? [True, True] Translation: X:525.31, Y:49.08, Z:-1.47 [[ 9.99971873e-01 4.86328168e-03 -5.70982788e-03 5.25307227e+02] [-4.86638302e-03 9.99988019e-01 -5.29391729e-04 4.90790559e+01] [ 5.70718489e-03 5.57163048e-04 9.99983559e-01 -1.47041817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.381400513 meters 0.10603067436742156 Centerline is valid? [True, False] Translation: X:525.31, Y:49.08, Z:-1.47 [[ 9.99972802e-01 4.70101285e-03 -5.68289388e-03 5.25307087e+02] [-4.70646580e-03 9.99988477e-01 -9.46546095e-04 4.90809627e+01] [ 5.67837867e-03 9.73266696e-04 9.99983404e-01 -1.47032582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.441400513 meters 0.09091671604375068 Centerline is valid? [False, True] Translation: X:525.33, Y:49.08, Z:-1.47 [[ 9.99988165e-01 -2.10575143e-04 -4.86063429e-03 5.25327279e+02] [ 2.29759689e-04 9.99992185e-01 3.94670127e-03 4.90800352e+01] [ 4.85976523e-03 -3.94777134e-03 9.99980399e-01 -1.46829606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.501400513 meters 0.08304332493869634 Centerline is valid? [True, True] Translation: X:525.39, Y:49.08, Z:-1.47 [[ 9.99953168e-01 -9.08078953e-03 -3.34676370e-03 5.25388083e+02] [ 9.07981324e-03 9.99958731e-01 -3.06792020e-04 4.90783243e+01] [ 3.34941149e-03 2.76389663e-04 9.99994353e-01 -1.46693821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.561400513 meters 0.07670778355697254 Centerline is valid? [True, True] Translation: X:525.45, Y:49.07, Z:-1.47 [[ 9.99875395e-01 -1.53371209e-02 -3.73733595e-03 5.25449105e+02] [ 1.53359468e-02 9.99882339e-01 -3.42605873e-04 4.90737725e+01] [ 3.74215080e-03 2.85247597e-04 9.99992957e-01 -1.46795922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.621400513 meters 0.07305190344432058 Centerline is valid? [True, True] Translation: X:525.51, Y:49.07, Z:-1.47 [[ 9.99801449e-01 -1.96587795e-02 -3.25511216e-03 5.25509768e+02] [ 1.96579116e-02 9.99806720e-01 -2.98410066e-04 4.90711721e+01] [ 3.26034939e-03 2.34362109e-04 9.99994658e-01 -1.46731415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.681400513 meters 0.0759487485237758 Centerline is valid? [True, True] Translation: X:525.57, Y:49.08, Z:-1.47 [[ 9.99781862e-01 -2.08187740e-02 -1.67526895e-03 5.25568542e+02] [ 2.08185457e-02 9.99783259e-01 -1.53558600e-04 4.90771047e+01] [ 1.67810275e-03 1.18648440e-04 9.99998585e-01 -1.46542898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.741400513 meters 0.07582950906928247 Centerline is valid? [True, True] Translation: X:525.63, Y:49.08, Z:-1.47 [[ 9.99770892e-01 -2.13315585e-02 -1.76840344e-03 5.25627605e+02] [ 2.13313051e-02 9.99772449e-01 -1.62016364e-04 4.90808995e+01] [ 1.77145710e-03 1.24256891e-04 9.99998423e-01 -1.46533254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.801400513 meters 0.08634338230561539 Centerline is valid? [True, True] Translation: X:525.68, Y:49.10, Z:-1.46 [[ 9.99791633e-01 -2.03430157e-02 -1.68907915e-03 5.25684657e+02] [ 2.03427826e-02 9.99793052e-01 -1.55099267e-04 4.90982327e+01] [ 1.69188479e-03 1.20706379e-04 9.99998561e-01 -1.46461149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.861400513 meters 0.0854494773732538 Centerline is valid? [True, True] Translation: X:525.74, Y:49.11, Z:-1.47 [[ 9.99888116e-01 -1.47239752e-02 -2.63823242e-03 5.25744642e+02] [ 1.47233865e-02 9.99891576e-01 -2.42437431e-04 4.91057620e+01] [ 2.64151601e-03 2.03566590e-04 9.99996490e-01 -1.46685666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.921400513 meters 0.07889095090640073 Centerline is valid? [True, True] Translation: X:525.81, Y:49.11, Z:-1.47 [[ 9.99935183e-01 -1.06893169e-02 -3.92012709e-03 5.25805287e+02] [ 1.06879863e-02 9.99942817e-01 -3.60236678e-04 4.91054331e+01] [ 3.92375361e-03 3.18315064e-04 9.99992251e-01 -1.46905399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.981400513 meters 0.08143186949739004 Centerline is valid? [True, True] Translation: X:525.86, Y:49.11, Z:-1.47 [[ 9.99946816e-01 -9.55612860e-03 -3.87889453e-03 5.25864463e+02] [ 9.55481715e-03 9.99954288e-01 -3.56490871e-04 4.91145859e+01] [ 3.88212389e-03 3.19409784e-04 9.99992414e-01 -1.46848868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.041400513 meters 0.08022561425556128 Centerline is valid? [True, True] Translation: X:525.92, Y:49.12, Z:-1.47 [[ 9.99940078e-01 -1.03971136e-02 -3.42646748e-03 5.25922689e+02] [ 1.03960949e-02 9.99945910e-01 -3.14996435e-04 4.91221754e+01] [ 3.42955720e-03 2.79355679e-04 9.99994080e-01 -1.46821498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.101400513 meters 0.07869750726751347 Centerline is valid? [True, True] Translation: X:525.98, Y:49.13, Z:-1.47 [[ 9.99896821e-01 -1.31916745e-02 -5.68562452e-03 5.25982362e+02] [ 1.31889129e-02 9.99912886e-01 -5.22930722e-04 4.91290167e+01] [ 5.69202755e-03 4.47889560e-04 9.99983700e-01 -1.47191243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.161400513 meters 0.08032221033879604 Centerline is valid? [True, True] Translation: X:526.04, Y:49.14, Z:-1.47 [[ 9.99837962e-01 -1.68547333e-02 -6.32202528e-03 5.26041309e+02] [ 1.68513911e-02 9.99857836e-01 -5.81549585e-04 4.91414363e+01] [ 6.33092838e-03 4.74920431e-04 9.99979847e-01 -1.47238273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.221400513 meters 0.07651896313150769 Centerline is valid? [True, True] Translation: X:526.10, Y:49.15, Z:-1.47 [[ 9.99827387e-01 -1.81200330e-02 -4.10622489e-03 5.26100862e+02] [ 1.81186335e-02 9.99835773e-01 -3.77772168e-04 4.91453989e+01] [ 4.11239578e-03 3.03307776e-04 9.99991498e-01 -1.46849769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.281400513 meters 0.07471501121151188 Centerline is valid? [True, True] Translation: X:526.16, Y:49.15, Z:-1.47 [[ 9.99801747e-01 -1.94834161e-02 -4.10643385e-03 5.26160620e+02] [ 1.94820276e-02 9.99810136e-01 -3.77866687e-04 4.91518930e+01] [ 4.11301632e-03 2.97790116e-04 9.99991497e-01 -1.46752135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.341400513 meters 0.07331842787529158 Centerline is valid? [True, True] Translation: X:526.22, Y:49.16, Z:-1.47 [[ 9.99780519e-01 -2.06796190e-02 -3.35654195e-03 5.26218917e+02] [ 2.06786976e-02 9.99786125e-01 -3.08982900e-04 4.91634374e+01] [ 3.36221372e-03 2.39506168e-04 9.99994319e-01 -1.46648291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.401400513 meters 0.08107581270664647 Centerline is valid? [True, True] Translation: X:526.28, Y:49.18, Z:-1.46 [[ 9.99773372e-01 -2.11476365e-02 -2.44574869e-03 5.26275739e+02] [ 2.11471480e-02 9.99776349e-01 -2.25412052e-04 4.91799255e+01] [ 2.44996863e-03 1.73640357e-04 9.99996984e-01 -1.46482379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4614005130001 meters 0.07120683540661259 Centerline is valid? [True, True] Translation: X:526.34, Y:49.18, Z:-1.46 [[ 9.99763576e-01 -2.16332181e-02 -2.18989661e-03 5.26335129e+02] [ 2.16328275e-02 9.99765963e-01 -2.01884361e-04 4.91753508e+01] [ 2.19375150e-03 1.54462975e-04 9.99997582e-01 -1.46399789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.521400513 meters 0.08059140585787494 Centerline is valid? [True, True] Translation: X:526.39, Y:49.20, Z:-1.46 [[ 9.99821079e-01 -1.88427572e-02 -1.66121629e-03 5.26393141e+02] [ 1.88425281e-02 9.99822452e-01 -1.53469921e-04 4.91954584e+01] [ 1.66381314e-03 1.22140947e-04 9.99998608e-01 -1.46314010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.581400513 meters 0.08588401590294341 Centerline is valid? [True, True] Translation: X:526.45, Y:49.21, Z:-1.46 [[ 9.99880003e-01 -1.54387742e-02 -1.27428730e-03 5.26451940e+02] [ 1.54386366e-02 9.99880810e-01 -1.17711814e-04 4.92081619e+01] [ 1.27595275e-03 9.80244305e-05 9.99999181e-01 -1.46332156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.641400513 meters 0.0833136266476796 Centerline is valid? [True, True] Translation: X:526.51, Y:49.21, Z:-1.46 [[ 9.99954285e-01 -9.55063248e-03 -4.62836258e-04 5.26512035e+02] [ 9.55061372e-03 9.99954391e-01 -4.27444919e-05 4.92135549e+01] [ 4.63223386e-04 3.83221675e-05 9.99999892e-01 -1.46342465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.701400513 meters 0.08789176624189621 Centerline is valid? [True, True] Translation: X:526.57, Y:49.22, Z:-1.46 [[ 9.99972226e-01 -7.24909709e-03 -1.73137840e-03 5.26572013e+02] [ 7.24883088e-03 9.99973714e-01 -1.59982694e-04 4.92239469e+01] [ 1.73249262e-03 1.47427781e-04 9.99998488e-01 -1.46454161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.761400513 meters 0.08425269816174044 Centerline is valid? [True, True] Translation: X:526.63, Y:49.23, Z:-1.47 [[ 9.99974706e-01 -6.92563808e-03 -1.61977619e-03 5.26630473e+02] [ 6.92540493e-03 9.99976008e-01 -1.49508433e-04 4.92302058e+01] [ 1.62077277e-03 1.38287045e-04 9.99998677e-01 -1.46536782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.821400513 meters 0.09227649390797943 Centerline is valid? [True, True] Translation: X:526.69, Y:49.25, Z:-1.47 [[ 9.99953465e-01 -9.57408941e-03 -1.18487950e-03 5.26688337e+02] [ 9.57396615e-03 9.99954163e-01 -1.09652873e-04 4.92501935e+01] [ 1.18587501e-03 9.83037741e-05 9.99999292e-01 -1.46621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.881400513 meters 0.0814892381140183 Centerline is valid? [True, True] Translation: X:526.75, Y:49.24, Z:-1.47 [[ 9.99932925e-01 -1.13556392e-02 -2.27926318e-03 5.26749489e+02] [ 1.13551876e-02 9.99935506e-01 -2.11015494e-04 4.92444371e+01] [ 2.28151239e-03 1.85119880e-04 9.99997380e-01 -1.46782045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.941400513 meters 0.08930889733313808 Centerline is valid? [True, True] Translation: X:526.81, Y:49.26, Z:-1.47 [[ 9.99907896e-01 -1.31607349e-02 -3.31580738e-03 5.26807319e+02] [ 1.31597888e-02 9.99913359e-01 -3.07008302e-04 4.92608511e+01] [ 3.31956055e-03 2.63344701e-04 9.99994456e-01 -1.46883140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.001400513 meters 0.08205741551595268 Centerline is valid? [True, True] Translation: X:526.87, Y:49.26, Z:-1.47 [[ 9.99856003e-01 -1.63461636e-02 -4.55817086e-03 5.26868070e+02] [ 1.63444079e-02 9.99866332e-01 -4.22150033e-04 4.92590382e+01] [ 4.56446211e-03 3.47588641e-04 9.99989522e-01 -1.46971094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.061400513 meters 0.0791991052262716 Centerline is valid? [True, True] Translation: X:526.93, Y:49.27, Z:-1.47 [[ 9.99843848e-01 -1.73788266e-02 -3.20262672e-03 5.26927445e+02] [ 1.73779650e-02 9.99848948e-01 -2.96662188e-04 4.92654878e+01] [ 3.20729860e-03 2.40960728e-04 9.99994828e-01 -1.46798633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.121400513 meters 0.07844395980306419 Centerline is valid? [True, True] Translation: X:526.99, Y:49.27, Z:-1.47 [[ 9.99859878e-01 -1.65926224e-02 -2.21573297e-03 5.26986271e+02] [ 1.65922080e-02 9.99862319e-01 -2.05275849e-04 4.92744901e+01] [ 2.21883397e-03 1.68483183e-04 9.99997524e-01 -1.46675537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.181400513 meters 0.0778670808118889 Centerline is valid? [True, True] Translation: X:527.04, Y:49.29, Z:-1.47 [[ 9.99859237e-01 -1.61428387e-02 -4.57319712e-03 5.27044329e+02] [ 1.61410668e-02 9.99869635e-01 -4.24101842e-04 4.92866549e+01] [ 4.57944714e-03 3.50225864e-04 9.99989453e-01 -1.47052430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.241400513 meters 0.07707980852030062 Centerline is valid? [True, True] Translation: X:527.10, Y:49.30, Z:-1.47 [[ 9.99836870e-01 -1.78353038e-02 -2.85208201e-03 5.27103053e+02] [ 1.78346207e-02 9.99840915e-01 -2.64760283e-04 4.92980250e+01] [ 2.85635037e-03 2.13851292e-04 9.99995898e-01 -1.46804275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.301400513 meters 0.07021034785776308 Centerline is valid? [True, True] Translation: X:527.16, Y:49.30, Z:-1.46 [[ 9.99629822e-01 -2.71885416e-02 1.00106102e-03 5.27163938e+02] [ 2.71884621e-02 9.99630321e-01 9.29664273e-05 4.92997907e+01] [-1.00321857e-03 -6.57147037e-05 9.99999495e-01 -1.46218477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.361400513 meters 0.06083169898892284 Centerline is valid? [True, True] Translation: X:527.23, Y:49.29, Z:-1.46 [[ 9.99373200e-01 -3.54006627e-02 1.67701626e-05 5.27225553e+02] [ 3.54006627e-02 9.99373200e-01 1.56772915e-06 4.92933866e+01] [-1.68151497e-05 -9.73071623e-07 1.00000000e+00 -1.46457344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.421400513 meters 0.05251492415420592 Centerline is valid? [True, True] Translation: X:527.29, Y:49.28, Z:-1.47 [[ 9.99088108e-01 -4.26875282e-02 -8.53044852e-04 5.27286750e+02] [ 4.26874760e-02 9.99088471e-01 -7.92084123e-05 4.92845378e+01] [ 8.55648489e-04 4.27218511e-05 9.99999633e-01 -1.46570268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.481400513 meters 0.04645840900310284 Centerline is valid? [True, True] Translation: X:527.35, Y:49.27, Z:-1.46 [[ 9.98893797e-01 -4.70129877e-02 -9.80894967e-04 5.27348893e+02] [ 4.70129209e-02 9.98894277e-01 -9.10785666e-05 4.92743618e+01] [ 9.84092244e-04 4.48630777e-05 9.99999515e-01 -1.46492089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.541400513 meters 0.05293602339461913 Centerline is valid? [True, True] Translation: X:527.41, Y:49.29, Z:-1.47 [[ 9.99099158e-01 -4.23695432e-02 -2.38647022e-03 5.27407801e+02] [ 4.23691344e-02 9.99102000e-01 -2.21624966e-04 4.92868166e+01] [ 2.39371732e-03 1.20312640e-04 9.99997128e-01 -1.46657985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.601400513 meters 0.0627009696416503 Centerline is valid? [True, True] Translation: X:527.47, Y:49.30, Z:-1.47 [[ 9.99465974e-01 -3.25220811e-02 -3.17502543e-03 5.27467599e+02] [ 3.25213078e-02 9.99470999e-01 -2.94899314e-04 4.93006350e+01] [ 3.18293658e-03 1.91485851e-04 9.99994916e-01 -1.46839815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.661400513 meters 0.059287061482283784 Centerline is valid? [True, True] Translation: X:527.53, Y:49.30, Z:-1.47 [[ 9.99566782e-01 -2.92336338e-02 -3.41217692e-03 5.27529152e+02] [ 2.92327215e-02 9.99572582e-01 -3.16938444e-04 4.92955195e+01] [ 3.41998376e-03 2.17053923e-04 9.99994128e-01 -1.46806273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.721400513 meters 0.06980084229274325 Centerline is valid? [True, True] Translation: X:527.59, Y:49.31, Z:-1.47 [[ 9.99611154e-01 -2.76355227e-02 -3.71736638e-03 5.27585826e+02] [ 2.76344287e-02 9.99618037e-01 -3.45344374e-04 4.93117880e+01] [ 3.72549025e-03 2.42482792e-04 9.99993031e-01 -1.46909195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.781400513 meters 0.06510376135492135 Centerline is valid? [True, True] Translation: X:527.65, Y:49.31, Z:-1.47 [[ 9.99653503e-01 -2.58760419e-02 -4.82750110e-03 5.27646466e+02] [ 2.58741755e-02 9.99665107e-01 -4.48667568e-04 4.93053018e+01] [ 4.83749415e-03 3.23604495e-04 9.99988247e-01 -1.47100263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.841400513 meters 0.07644855075525812 Centerline is valid? [True, True] Translation: X:527.70, Y:49.32, Z:-1.47 [[ 9.99719801e-01 -2.28968761e-02 -6.00439831e-03 5.27704565e+02] [ 2.28939349e-02 9.99737744e-01 -5.58124977e-04 4.93209669e+01] [ 6.01560293e-03 4.20504287e-04 9.99981818e-01 -1.47300351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.901400513 meters 0.07810935923830463 Centerline is valid? [True, True] Translation: X:527.76, Y:49.33, Z:-1.47 [[ 9.99766131e-01 -2.06245834e-02 -6.50466980e-03 5.27764698e+02] [ 2.06210836e-02 9.99787180e-01 -6.04669513e-04 4.93282819e+01] [ 6.51575653e-03 4.70394759e-04 9.99978662e-01 -1.47394512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9614005130001 meters 0.08459357784812431 Centerline is valid? [True, True] Translation: X:527.82, Y:49.34, Z:-1.47 [[ 9.99903653e-01 -1.19077676e-02 -7.13363954e-03 5.27824035e+02] [ 1.19033374e-02 9.99928933e-01 -6.63163321e-04 4.93422057e+01] [ 7.14102936e-03 5.78185309e-04 9.99974335e-01 -1.47461246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.021400513 meters 0.09111308285722854 Centerline is valid? [True, True] Translation: X:527.88, Y:49.36, Z:-1.47 [[ 9.99938414e-01 -8.92143796e-03 -6.60125373e-03 5.27882348e+02] [ 8.91757942e-03 9.99960049e-01 -6.13720321e-04 4.93591135e+01] [ 6.60646527e-03 5.54815320e-04 9.99978023e-01 -1.47345864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.081400513 meters 0.0908184297491318 Centerline is valid? [True, True] Translation: X:527.94, Y:49.37, Z:-1.47 [[ 9.99935871e-01 -9.57429907e-03 -6.04861197e-03 5.27941004e+02] [ 9.57107039e-03 9.99954038e-01 -5.62510722e-04 4.93665267e+01] [ 6.05371961e-03 5.04582958e-04 9.99981549e-01 -1.47278655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.141400513 meters 0.0785718486351809 Centerline is valid? [True, True] Translation: X:528.00, Y:49.36, Z:-1.47 [[ 9.99877231e-01 -1.48806273e-02 -4.90814764e-03 5.28002203e+02] [ 1.48785644e-02 9.99889204e-01 -4.56552872e-04 4.93572587e+01] [ 4.91439763e-03 3.83470631e-04 9.99987851e-01 -1.47000991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.201400513 meters 0.06824343784521006 Centerline is valid? [True, True] Translation: X:528.06, Y:49.35, Z:-1.47 [[ 9.99804244e-01 -1.88320541e-02 -6.06858174e-03 5.28063409e+02] [ 1.88289726e-02 9.99822560e-01 -5.64505388e-04 4.93500233e+01] [ 6.07813572e-03 4.50129723e-04 9.99981427e-01 -1.47117246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.261400513 meters 0.07302899685027532 Centerline is valid? [True, True] Translation: X:528.12, Y:49.36, Z:-1.47 [[ 9.99762216e-01 -2.07148790e-02 -6.81214577e-03 5.28121344e+02] [ 2.07110387e-02 9.99785303e-01 -6.33812745e-04 4.93607869e+01] [ 6.82381257e-03 4.92575420e-04 9.99976596e-01 -1.47226028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.321400513 meters 0.07568958585115482 Centerline is valid? [True, True] Translation: X:528.18, Y:49.37, Z:-1.47 [[ 9.99773935e-01 -2.09015759e-02 -3.89919962e-03 5.28178558e+02] [ 2.09003185e-02 9.99781499e-01 -3.62942010e-04 4.93682361e+01] [ 3.90593370e-03 2.81365448e-04 9.99992332e-01 -1.46806616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.381400513 meters 0.07416572553835536 Centerline is valid? [True, True] Translation: X:528.24, Y:49.37, Z:-1.47 [[ 9.99764870e-01 -2.13622892e-02 -3.72254137e-03 5.28237847e+02] [ 2.13611449e-02 9.99771765e-01 -3.46874936e-04 4.93686818e+01] [ 3.72910179e-03 2.67275630e-04 9.99993011e-01 -1.46828261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.441400513 meters 0.08032204451223439 Centerline is valid? [True, True] Translation: X:528.29, Y:49.37, Z:-1.47 [[ 9.99826227e-01 -1.84293172e-02 -2.80637888e-03 5.28292049e+02] [ 1.84504049e-02 9.99800253e-01 7.68347667e-03 4.93656206e+01] [ 2.66421709e-03 -7.73392032e-03 9.99966544e-01 -1.46761016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.501400513 meters 0.07786761239962307 Centerline is valid? [True, True] Translation: X:528.36, Y:49.38, Z:-1.47 [[ 9.99733949e-01 -2.26186080e-02 -4.52002713e-03 5.28356190e+02] [ 2.25812166e-02 9.99711718e-01 -8.15895646e-03 4.93770918e+01] [ 4.70326833e-03 8.05471805e-03 9.99956499e-01 -1.47191652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.561400513 meters 0.07490326680491051 Centerline is valid? [True, True] Translation: X:528.41, Y:49.36, Z:-1.47 [[ 9.99863862e-01 -1.61775074e-02 -3.24750168e-03 5.28409257e+02] [ 1.62009691e-02 9.99841864e-01 7.33314175e-03 4.93640237e+01] [ 3.12835617e-03 -7.38475611e-03 9.99967839e-01 -1.46802297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.621400513 meters 0.08068388450384871 Centerline is valid? [True, True] Translation: X:528.47, Y:49.39, Z:-1.47 [[ 9.99847342e-01 -1.65448500e-02 -5.61791477e-03 5.28473486e+02] [ 1.64986324e-02 9.99830461e-01 -8.17586012e-03 4.93911950e+01] [ 5.75223069e-03 8.08192410e-03 9.99950796e-01 -1.47279454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.681400513 meters 0.08693441240026052 Centerline is valid? [True, True] Translation: X:528.53, Y:49.40, Z:-1.47 [[ 9.99866488e-01 -1.51781030e-02 -6.05240315e-03 5.28532324e+02] [ 1.51749550e-02 9.99884694e-01 -5.65701556e-04 4.93977064e+01] [ 6.06029154e-03 4.73781083e-04 9.99981524e-01 -1.47131041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.741400513 meters 0.08124101693354294 Centerline is valid? [True, True] Translation: X:528.59, Y:49.39, Z:-1.47 [[ 9.99834820e-01 -1.76349866e-02 -4.39772269e-03 5.28593310e+02] [ 1.76333482e-02 9.99844436e-01 -4.11053145e-04 4.93898702e+01] [ 4.40428747e-03 3.33438672e-04 9.99990245e-01 -1.46916792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.801400513 meters 0.07809500871133727 Centerline is valid? [True, True] Translation: X:528.65, Y:49.39, Z:-1.47 [[ 9.99763580e-01 -2.11858724e-02 -4.89315460e-03 5.28651882e+02] [ 2.11838860e-02 9.99775492e-01 -4.57431357e-04 4.93935157e+01] [ 4.90174713e-03 3.53667181e-04 9.99987924e-01 -1.46805724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.861400513 meters 0.07250032116420835 Centerline is valid? [True, True] Translation: X:528.71, Y:49.39, Z:-1.47 [[ 9.99713927e-01 -2.33691087e-02 -5.09406575e-03 5.28712880e+02] [ 2.33669836e-02 9.99726841e-01 -4.76300329e-04 4.93916630e+01] [ 5.10380497e-03 3.57131121e-04 9.99986912e-01 -1.46831949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.921400513 meters 0.07287388216407654 Centerline is valid? [True, True] Translation: X:528.77, Y:49.40, Z:-1.47 [[ 9.99734514e-01 -2.22094765e-02 -6.13524895e-03 5.28772184e+02] [ 2.22063716e-02 9.99753243e-01 -5.73738918e-04 4.93983631e+01] [ 6.14647747e-03 4.37344980e-04 9.99981015e-01 -1.46972248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.981400513 meters 0.08357873123219535 Centerline is valid? [True, True] Translation: X:528.83, Y:49.42, Z:-1.47 [[ 9.99744307e-01 -2.18361931e-02 -5.87369625e-03 5.28827872e+02] [ 2.18333393e-02 9.99761473e-01 -5.49554490e-04 4.94194961e+01] [ 5.88429540e-03 4.21171570e-04 9.99982599e-01 -1.46954392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.041400513 meters 0.0707936447363417 Centerline is valid? [True, True] Translation: X:528.89, Y:49.41, Z:-1.47 [[ 9.99700885e-01 -2.34302346e-02 -7.01177627e-03 5.28888310e+02] [ 2.34262046e-02 9.99725353e-01 -6.56343764e-04 4.94117304e+01] [ 7.02522880e-03 4.91888137e-04 9.99975202e-01 -1.47065981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.101400513 meters 0.06912260538485121 Centerline is valid? [True, True] Translation: X:528.95, Y:49.42, Z:-1.47 [[ 9.99679852e-01 -2.42667352e-02 -7.16376137e-03 5.28947203e+02] [ 2.42625444e-02 9.99705396e-01 -6.71349169e-04 4.94173166e+01] [ 7.17794235e-03 4.97323159e-04 9.99974115e-01 -1.47061053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.161400513 meters 0.06969856197583617 Centerline is valid? [True, True] Translation: X:529.01, Y:49.43, Z:-1.47 [[ 9.99708930e-01 -2.33147150e-02 -6.20324188e-03 5.29006355e+02] [ 2.33115516e-02 9.99728080e-01 -5.81773018e-04 4.94266809e+01] [ 6.21511896e-03 4.36996488e-04 9.99980590e-01 -1.46969715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.221400513 meters 0.07072824480141206 Centerline is valid? [True, True] Translation: X:529.06, Y:49.44, Z:-1.47 [[ 9.99694731e-01 -2.41267021e-02 -5.32423255e-03 5.29064366e+02] [ 2.41243823e-02 9.99708840e-01 -4.99508516e-04 4.94360398e+01] [ 5.33473384e-03 3.70912210e-04 9.99985701e-01 -1.46818595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.281400513 meters 0.06991601271457841 Centerline is valid? [True, True] Translation: X:529.12, Y:49.44, Z:-1.47 [[ 9.99641334e-01 -2.59613482e-02 -6.57358741e-03 5.29123927e+02] [ 2.59578502e-02 9.99662848e-01 -6.16910426e-04 4.94411330e+01] [ 6.58738694e-03 4.46052963e-04 9.99978203e-01 -1.46961004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.341400513 meters 0.0631890992543681 Centerline is valid? [True, True] Translation: X:529.19, Y:49.44, Z:-1.47 [[ 9.99561509e-01 -2.90118210e-02 -5.92490468e-03 5.29185325e+02] [ 2.90090325e-02 9.99578995e-01 -5.56066549e-04 4.94356921e+01] [ 5.93854277e-03 3.83946966e-04 9.99982293e-01 -1.46804756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.401400513 meters 0.06776449811248515 Centerline is valid? [True, True] Translation: X:529.24, Y:49.45, Z:-1.47 [[ 9.99613970e-01 -2.72715190e-02 -5.30808716e-03 5.29243962e+02] [ 2.72692562e-02 9.99628001e-01 -4.98212706e-04 4.94484285e+01] [ 5.31969957e-03 3.53272792e-04 9.99985788e-01 -1.46723423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4614005130001 meters 0.07252326255632413 Centerline is valid? [True, True] Translation: X:529.30, Y:49.46, Z:-1.47 [[ 9.99678137e-01 -2.47993337e-02 -5.34937388e-03 5.29302876e+02] [ 2.47970000e-02 9.99692381e-01 -5.02156232e-04 4.94601817e+01] [ 5.36018145e-03 3.69346183e-04 9.99985566e-01 -1.46719248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.521400513 meters 0.07238239926505706 Centerline is valid? [True, True] Translation: X:529.36, Y:49.46, Z:-1.47 [[ 9.99719655e-01 -2.30535689e-02 -5.39849916e-03 5.29363094e+02] [ 2.30511664e-02 9.99734158e-01 -5.06835498e-04 4.94647291e+01] [ 5.40874838e-03 3.82251707e-04 9.99985300e-01 -1.46630355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.581400513 meters 0.06797607274439353 Centerline is valid? [True, True] Translation: X:529.42, Y:49.46, Z:-1.46 [[ 9.99683991e-01 -2.49720756e-02 -2.88325031e-03 5.29423285e+02] [ 2.49713982e-02 9.99688129e-01 -2.70711370e-04 4.94636267e+01] [ 2.88911133e-03 1.98627031e-04 9.99995807e-01 -1.46171458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.641400513 meters 0.07039693733612663 Centerline is valid? [True, True] Translation: X:529.48, Y:49.47, Z:-1.46 [[ 9.99680035e-01 -2.52392092e-02 -1.67612973e-03 5.29480551e+02] [ 2.52389807e-02 9.99681434e-01 -1.57311416e-04 4.94711174e+01] [ 1.67956619e-03 1.14957276e-04 9.99998583e-01 -1.46056426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.701400513 meters 0.07298485728550763 Centerline is valid? [True, True] Translation: X:529.54, Y:49.48, Z:-1.46 [[ 9.99705854e-01 -2.40771361e-02 -2.91481346e-03 5.29538513e+02] [ 2.40764391e-02 9.99710083e-01 -2.73967806e-04 4.94776979e+01] [ 2.92056476e-03 2.03708891e-04 9.99995714e-01 -1.46137748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.761400513 meters 0.07272860841483672 Centerline is valid? [True, True] Translation: X:529.60, Y:49.48, Z:-1.46 [[ 9.99730001e-01 -2.29937810e-02 -3.34836398e-03 5.29597716e+02] [ 2.29928547e-02 9.99735580e-01 -3.14881886e-04 4.94832921e+01] [ 3.35471893e-03 2.37808421e-04 9.99994345e-01 -1.46127959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.821400513 meters 0.07614982484560998 Centerline is valid? [True, True] Translation: X:529.66, Y:49.50, Z:-1.46 [[ 9.99819031e-01 -1.86559819e-02 -3.72275262e-03 5.29656958e+02] [ 1.86548067e-02 9.99825923e-01 -3.50161624e-04 4.94987516e+01] [ 3.72863718e-03 2.80651025e-04 9.99993009e-01 -1.46085511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.881400513 meters 0.08727539488188188 Centerline is valid? [True, True] Translation: X:529.71, Y:49.52, Z:-1.46 [[ 9.99818804e-01 -1.81353674e-02 -5.78517039e-03 5.29712560e+02] [ 1.81325193e-02 9.99835444e-01 -5.44390543e-04 4.95204344e+01] [ 5.79409113e-03 4.39392188e-04 9.99983118e-01 -1.46467561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.941400513 meters 0.07507020226895632 Centerline is valid? [True, True] Translation: X:529.77, Y:49.51, Z:-1.47 [[ 9.99758478e-01 -2.10524087e-02 -6.30729557e-03 5.29773728e+02] [ 2.10490797e-02 9.99778267e-01 -5.93720749e-04 4.95132448e+01] [ 6.31839629e-03 4.60814585e-04 9.99979933e-01 -1.46511986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.001400513 meters 0.07796909326998971 Centerline is valid? [True, True] Translation: X:529.83, Y:49.52, Z:-1.46 [[ 9.99686822e-01 -2.44509767e-02 -5.32994659e-03 5.29832023e+02] [ 2.44486471e-02 9.99700961e-01 -5.01804448e-04 4.95212347e+01] [ 5.34062234e-03 3.71337311e-04 9.99985670e-01 -1.46292454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.061400513 meters 0.06971512119430827 Centerline is valid? [True, True] Translation: X:529.89, Y:49.51, Z:-1.46 [[ 9.99620556e-01 -2.66553817e-02 -6.94514916e-03 5.29893017e+02] [ 2.66514783e-02 9.99644572e-01 -6.53999246e-04 4.95142650e+01] [ 6.96011326e-03 4.68652598e-04 9.99975668e-01 -1.46424951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.121400513 meters 0.07149096510675046 Centerline is valid? [True, True] Translation: X:529.95, Y:49.52, Z:-1.47 [[ 9.99646766e-01 -2.53244118e-02 -8.06335825e-03 5.29952405e+02] [ 2.53191060e-02 9.99679132e-01 -7.59437210e-04 4.95197029e+01] [ 8.08000327e-03 5.55011929e-04 9.99967202e-01 -1.46593060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.181400513 meters 0.07158381269589285 Centerline is valid? [True, True] Translation: X:530.01, Y:49.52, Z:-1.46 [[ 9.99704709e-01 -2.31576965e-02 -7.36317299e-03 5.30012159e+02] [ 2.31532129e-02 9.99731688e-01 -6.93597715e-04 4.95235894e+01] [ 7.37725949e-03 5.22911790e-04 9.99972651e-01 -1.46414870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.241400513 meters 0.06980875021124772 Centerline is valid? [True, True] Translation: X:530.07, Y:49.52, Z:-1.46 [[ 9.99677659e-01 -2.43677151e-02 -7.12692390e-03 5.30072307e+02] [ 2.43635439e-02 9.99702939e-01 -6.71518946e-04 4.95241145e+01] [ 7.14117015e-03 4.97665364e-04 9.99974378e-01 -1.46374863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.301400513 meters 0.06803098678436104 Centerline is valid? [True, True] Translation: X:530.13, Y:49.53, Z:-1.46 [[ 9.99507357e-01 -3.05559378e-02 -7.16778277e-03 5.30132074e+02] [ 3.05518760e-02 9.99532954e-01 -6.75523223e-04 4.95251254e+01] [ 7.18507633e-03 4.56201222e-04 9.99974083e-01 -1.46340277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.361400513 meters 0.055743710082596806 Centerline is valid? [True, True] Translation: X:530.19, Y:49.51, Z:-1.46 [[ 9.99069309e-01 -4.28378279e-02 -5.04351465e-03 5.30194395e+02] [ 4.28359726e-02 9.99082005e-01 -4.75363358e-04 4.95127599e+01] [ 5.05924827e-03 2.58877086e-04 9.99987168e-01 -1.45929007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.421400513 meters 0.04844156414324612 Centerline is valid? [True, True] Translation: X:530.26, Y:49.51, Z:-1.46 [[ 9.98740710e-01 -4.99646821e-02 -4.53036772e-03 5.30255086e+02] [ 4.99632582e-02 9.98750965e-01 -4.27017045e-04 4.95075064e+01] [ 4.54604490e-03 2.00127375e-04 9.99989647e-01 -1.45715263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.481400513 meters 0.04203464434576614 Centerline is valid? [True, True] Translation: X:530.32, Y:49.51, Z:-1.46 [[ 9.98310459e-01 -5.79036212e-02 -4.83708382e-03 5.30315414e+02] [ 5.79020907e-02 9.98322162e-01 -4.55967040e-04 4.95051565e+01] [ 4.85537012e-03 1.75119400e-04 9.99988197e-01 -1.45740858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.541400513 meters 0.0371765540706018 Centerline is valid? [True, True] Translation: X:530.38, Y:49.50, Z:-1.45 [[ 9.98130976e-01 -6.09668112e-02 -4.19557525e-03 5.30375361e+02] [ 6.09656865e-02 9.98139784e-01 -3.95561833e-04 4.95042178e+01] [ 4.21188671e-03 1.39036393e-04 9.99991120e-01 -1.45498977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.601400513 meters 0.03378522954209965 Centerline is valid? [True, True] Translation: X:530.43, Y:49.51, Z:-1.45 [[ 9.97987631e-01 -6.33249382e-02 -3.26203197e-03 5.30434981e+02] [ 6.33242707e-02 9.97992957e-01 -3.07607641e-04 4.95069000e+01] [ 3.27496417e-03 1.00422826e-04 9.99994632e-01 -1.45266915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.661400513 meters 0.027854707104684854 Centerline is valid? [True, True] Translation: X:530.49, Y:49.51, Z:-1.45 [[ 9.97743694e-01 -6.70518496e-02 -3.40165625e-03 5.30494583e+02] [ 6.70511451e-02 9.97749488e-01 -3.20855480e-04 4.95091511e+01] [ 3.41551474e-03 9.20465842e-05 9.99994163e-01 -1.45317428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.721400513 meters 0.025435620929719984 Centerline is valid? [True, True] Translation: X:530.55, Y:49.51, Z:-1.45 [[ 9.97512289e-01 -7.04168920e-02 -3.27015996e-03 5.30552913e+02] [ 7.04162587e-02 9.97517647e-01 -3.08535384e-04 4.95139787e+01] [ 3.28376837e-03 7.74954074e-05 9.99994605e-01 -1.45259454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.781400513 meters 0.020104222056776613 Centerline is valid? [True, True] Translation: X:530.61, Y:49.52, Z:-1.45 [[ 9.97133273e-01 -7.55194794e-02 -4.69505777e-03 5.30612693e+02] [ 7.55182296e-02 9.97144323e-01 -4.43155272e-04 4.95158523e+01] [ 4.71511706e-03 8.73224164e-05 9.99988880e-01 -1.45451304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.841400513 meters 0.01128209525590494 Centerline is valid? [True, True] Translation: X:530.67, Y:49.51, Z:-1.45 [[ 9.96294107e-01 -8.58840247e-02 -4.68907202e-03 5.30672964e+02] [ 8.58828923e-02 9.96305140e-01 -4.42705291e-04 4.95135386e+01] [ 4.70976787e-03 3.83536051e-05 9.99988908e-01 -1.45384595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.901400513 meters 0.015314128302481694 Centerline is valid? [True, True] Translation: X:530.73, Y:49.51, Z:-1.46 [[ 9.95587024e-01 -9.35977077e-02 -6.77846056e-03 5.30731443e+02] [ 9.35955175e-02 9.95610099e-01 -6.40316146e-04 4.95134155e+01] [ 6.80863591e-03 3.05692155e-06 9.99976821e-01 -1.45584663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9614005130001 meters 0.012295744511927586 Centerline is valid? [True, True] Translation: X:530.79, Y:49.51, Z:-1.46 [[ 9.94753523e-01 -1.02057936e-01 -7.04323232e-03 5.30789281e+02] [ 1.02055779e-01 9.94778455e-01 -6.65883148e-04 4.95128425e+01] [ 7.07441443e-03 -5.64129575e-05 9.99974974e-01 -1.45602963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.021400513 meters 0.01534090954690436 Centerline is valid? [True, True] Translation: X:530.85, Y:49.52, Z:-1.45 [[ 9.94341843e-01 -1.06087006e-01 -5.46314772e-03 5.30847824e+02] [ 1.06085765e-01 9.94356849e-01 -5.17151867e-04 4.95188625e+01] [ 5.48718145e-03 -6.53364669e-05 9.99984943e-01 -1.45359604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.081400513 meters 0.027135190068696916 Centerline is valid? [True, True] Translation: X:530.91, Y:49.52, Z:-1.45 [[ 9.93623361e-01 -1.12606746e-01 -5.68660315e-03 5.30907390e+02] [ 1.12605505e-01 9.93639628e-01 -5.38832542e-04 4.95220166e+01] [ 5.71111042e-03 -1.04946220e-04 9.99983686e-01 -1.45261573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.141400513 meters 0.023384532100554523 Centerline is valid? [True, True] Translation: X:530.97, Y:49.53, Z:-1.45 [[ 9.93296857e-01 -1.15456599e-01 -5.57925244e-03 5.30965702e+02] [ 1.15455449e-01 9.93312519e-01 -5.28999723e-04 4.95262691e+01] [ 5.60301780e-03 -1.18701331e-04 9.99984296e-01 -1.45171308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.201400513 meters 0.022596669980042252 Centerline is valid? [True, True] Translation: X:531.02, Y:49.54, Z:-1.45 [[ 9.93545189e-01 -1.13261661e-01 -6.30505798e-03 5.31022099e+02] [ 1.13260144e-01 9.93565187e-01 -5.98317361e-04 4.95420510e+01] [ 6.33225253e-03 -1.19656440e-04 9.99979944e-01 -1.45368994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.261400513 meters 0.020444068397387116 Centerline is valid? [True, True] Translation: X:531.08, Y:49.56, Z:-1.45 [[ 9.93812084e-01 -1.10942119e-01 -5.42101133e-03 5.31078729e+02] [ 1.10940961e-01 9.93826865e-01 -5.14729598e-04 4.95554880e+01] [ 5.44465189e-03 -8.98677131e-05 9.99985174e-01 -1.45273701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.321400513 meters 0.01882842992445012 Centerline is valid? [True, True] Translation: X:531.14, Y:49.57, Z:-1.45 [[ 9.93835562e-01 -1.10702752e-01 -5.98127195e-03 5.31136038e+02] [ 1.10701333e-01 9.93853556e-01 -5.68755665e-04 4.95675709e+01] [ 6.00747122e-03 -9.68851719e-05 9.99981950e-01 -1.45319308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.381400513 meters 0.022641181571327534 Centerline is valid? [True, True] Translation: X:531.19, Y:49.57, Z:-1.46 [[ 9.93595053e-01 -1.12770808e-01 -7.18433649e-03 5.31193614e+02] [ 1.12768809e-01 9.93621018e-01 -6.84042773e-04 4.95723185e+01] [ 7.21564780e-03 -1.30507555e-04 9.99973958e-01 -1.45594629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.441400513 meters 0.023587280263577995 Centerline is valid? [True, True] Translation: X:531.25, Y:49.58, Z:-1.45 [[ 9.93243399e-01 -1.15819561e-01 -7.30614596e-03 5.31252473e+02] [ 1.15817569e-01 9.93270258e-01 -6.96610839e-04 4.95781589e+01] [ 7.33765864e-03 -1.54275944e-04 9.99973067e-01 -1.45493685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.501400513 meters 0.02598988213990582 Centerline is valid? [True, True] Translation: X:531.31, Y:49.58, Z:-1.46 [[ 9.92934904e-01 -1.18380781e-01 -8.14052714e-03 5.31311409e+02] [ 1.18378381e-01 9.92968254e-01 -7.77625852e-04 4.95834028e+01] [ 8.17534098e-03 -1.91530576e-04 9.99966563e-01 -1.45533180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.561400513 meters 0.03510418066628896 Centerline is valid? [True, True] Translation: X:531.37, Y:49.59, Z:-1.46 [[ 9.92728413e-01 -1.20087393e-01 -8.32564849e-03 5.31369910e+02] [ 1.20084931e-01 9.92763302e-01 -7.96755485e-04 4.95872662e+01] [ 8.36107858e-03 -2.08823118e-04 9.99965024e-01 -1.45609745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.621400513 meters 0.029855347025261242 Centerline is valid? [True, True] Translation: X:531.43, Y:49.59, Z:-1.46 [[ 9.92703691e-01 -1.20309859e-01 -8.05722656e-03 5.31426636e+02] [ 1.20307553e-01 9.92736368e-01 -7.71964670e-04 4.95917037e+01] [ 8.09157679e-03 -2.03013036e-04 9.99967242e-01 -1.45642182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.681400513 meters 0.031883397665921825 Centerline is valid? [True, True] Translation: X:531.48, Y:49.60, Z:-1.46 [[ 9.92660914e-01 -1.20639349e-01 -8.39387129e-03 5.31484885e+02] [ 1.20636848e-01 9.92696380e-01 -8.05461850e-04 4.96019981e+01] [ 8.42973603e-03 -2.13059676e-04 9.99964446e-01 -1.45565471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.741400513 meters 0.03112892655372134 Centerline is valid? [True, True] Translation: X:531.54, Y:49.60, Z:-1.46 [[ 9.92807662e-01 -1.19294367e-01 -1.00896178e-02 5.31542979e+02] [ 1.19290674e-01 9.92858900e-01 -9.69194123e-04 4.96044883e+01] [ 1.01331863e-02 -2.41373959e-04 9.99948629e-01 -1.45865575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.801400513 meters 0.028126231783709096 Centerline is valid? [True, True] Translation: X:531.60, Y:49.62, Z:-1.45 [[ 9.92913010e-01 -1.18591592e-01 -7.73229163e-03 5.31601274e+02] [ 1.18589395e-01 9.92943101e-01 -7.43661186e-04 4.96185222e+01] [ 7.76591760e-03 -1.78576916e-04 9.99969829e-01 -1.45468879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.861400513 meters 0.024650363158033328 Centerline is valid? [True, True] Translation: X:531.66, Y:49.63, Z:-1.45 [[ 9.92937546e-01 -1.18487836e-01 -5.97181719e-03 5.31658848e+02] [ 1.18486518e-01 9.92955495e-01 -5.75243535e-04 4.96348408e+01] [ 5.99790805e-03 -1.36398922e-04 9.99982003e-01 -1.45064996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.921400513 meters 0.028248335859606056 Centerline is valid? [True, True] Translation: X:531.72, Y:49.65, Z:-1.45 [[ 9.92879397e-01 -1.18975653e-01 -5.94119109e-03 5.31715518e+02] [ 1.18974353e-01 9.92897162e-01 -5.72953987e-04 4.96473267e+01] [ 5.96715935e-03 -1.37975157e-04 9.99982187e-01 -1.44986903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.981400513 meters 0.02929694731543489 Centerline is valid? [True, True] Translation: X:531.77, Y:49.66, Z:-1.45 [[ 9.92562660e-01 -1.21536982e-01 -6.93737780e-03 5.31773723e+02] [ 1.21535270e-01 9.92586888e-01 -6.69370835e-04 4.96588557e+01] [ 6.96730355e-03 -1.78743587e-04 9.99975712e-01 -1.45131281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.041400513 meters 0.033543725892913025 Centerline is valid? [True, True] Translation: X:531.83, Y:49.67, Z:-1.45 [[ 9.92189663e-01 -1.24491962e-01 -7.83735396e-03 5.31831735e+02] [ 1.24489867e-01 9.92220591e-01 -7.56505693e-04 4.96669102e+01] [ 7.87056286e-03 -2.25074021e-04 9.99969001e-01 -1.45241483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.101400513 meters 0.034886616059033065 Centerline is valid? [True, True] Translation: X:531.89, Y:49.68, Z:-1.45 [[ 9.91911113e-01 -1.26656948e-01 -8.38815252e-03 5.31889916e+02] [ 1.26654624e-01 9.91946546e-01 -8.09913506e-04 4.96838994e+01] [ 8.42318010e-03 -2.59036094e-04 9.99964491e-01 -1.45133942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.161400513 meters 0.03286015012211796 Centerline is valid? [True, True] Translation: X:531.95, Y:49.70, Z:-1.45 [[ 9.91845390e-01 -1.27247984e-01 -7.11856407e-03 5.31947745e+02] [ 1.27246319e-01 9.91870909e-01 -6.88174921e-04 4.97016981e+01] [ 7.14826549e-03 -2.23247948e-04 9.99974426e-01 -1.44833706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.221400513 meters 0.0359413252160502 Centerline is valid? [True, True] Translation: X:532.00, Y:49.71, Z:-1.45 [[ 9.91775607e-01 -1.27776825e-01 -7.36404810e-03 5.32004617e+02] [ 1.27775051e-01 9.91802918e-01 -7.12821320e-04 4.97140543e+01] [ 7.39476644e-03 -2.33982825e-04 9.99972631e-01 -1.44958927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.281400513 meters 0.03499277811917427 Centerline is valid? [True, True] Translation: X:532.06, Y:49.73, Z:-1.45 [[ 9.91538528e-01 -1.29480365e-01 -9.28346176e-03 5.32062641e+02] [ 1.29477616e-01 9.91581937e-01 -8.99086775e-04 4.97310797e+01] [ 9.32172709e-03 -3.10521321e-04 9.99956504e-01 -1.45217716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.341400513 meters 0.0444884106178096 Centerline is valid? [True, True] Translation: X:532.12, Y:49.74, Z:-1.45 [[ 9.90951736e-01 -1.33800055e-01 -1.05925376e-02 5.32121842e+02] [ 1.33796719e-01 9.91008267e-01 -1.02608074e-03 4.97376049e+01] [ 1.06345820e-02 -4.00450291e-04 9.99943371e-01 -1.45498447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.401400513 meters 0.04653465417590474 Centerline is valid? [True, True] Translation: X:532.18, Y:49.75, Z:-1.45 [[ 9.90365626e-01 -1.38082952e-01 -1.04415529e-02 5.32181699e+02] [ 1.38079948e-01 9.90420570e-01 -1.01157285e-03 4.97458588e+01] [ 1.04812097e-02 -4.39942095e-04 9.99944974e-01 -1.45419820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4614005130001 meters 0.052778821367375287 Centerline is valid? [True, True] Translation: X:532.24, Y:49.76, Z:-1.45 [[ 9.89479211e-01 -1.44329241e-01 -9.99803778e-03 5.32241701e+02] [ 1.44326804e-01 9.89529603e-01 -9.68630521e-04 4.97564299e+01] [ 1.00331561e-02 -4.84545079e-04 9.99949549e-01 -1.45229961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.521400513 meters 0.06052652648862111 Centerline is valid? [True, True] Translation: X:532.30, Y:49.75, Z:-1.46 [[ 9.88209164e-01 -1.52709478e-01 -1.10663497e-02 5.32302063e+02] [ 1.52707014e-01 9.88270923e-01 -1.07222777e-03 4.97494343e+01] [ 1.11002910e-02 -6.30323912e-04 9.99938191e-01 -1.45528839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.581400513 meters 0.06395400901903761 Centerline is valid? [True, True] Translation: X:532.36, Y:49.75, Z:-1.46 [[ 9.87750743e-01 -1.55588059e-01 -1.18669848e-02 5.32361878e+02] [ 1.55585432e-01 9.87821771e-01 -1.14992077e-03 4.97524154e+01] [ 1.19013798e-02 -7.10494848e-04 9.99928924e-01 -1.45592582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.641400513 meters 0.06392220974997988 Centerline is valid? [True, True] Translation: X:532.42, Y:49.76, Z:-1.45 [[ 9.87658012e-01 -1.56223060e-01 -1.12252682e-02 5.32420308e+02] [ 1.56220734e-01 9.87721568e-01 -1.08920083e-03 4.97590708e+01] [ 1.12575978e-02 -6.77861709e-04 9.99936401e-01 -1.45479919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.701400513 meters 0.05556376513500774 Centerline is valid? [True, True] Translation: X:532.48, Y:49.78, Z:-1.45 [[ 9.87981842e-01 -1.54236488e-01 -1.01482336e-02 5.32478966e+02] [ 1.54234476e-01 9.88033783e-01 -9.85311039e-04 4.97750722e+01] [ 1.01787685e-02 -5.91738068e-04 9.99948020e-01 -1.45247715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.761400513 meters 0.06505508020455598 Centerline is valid? [True, True] Translation: X:532.54, Y:49.77, Z:-1.45 [[ 9.88480088e-01 -1.51091022e-01 -8.86671832e-03 5.32539269e+02] [ 1.51089358e-01 9.88519734e-01 -8.61086557e-04 4.97685089e+01] [ 8.89502848e-03 -4.88499863e-04 9.99960319e-01 -1.45135806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.821400513 meters 0.05727913885950688 Centerline is valid? [True, True] Translation: X:532.60, Y:49.79, Z:-1.45 [[ 9.88780510e-01 -1.49193458e-01 -7.37662040e-03 5.32598102e+02] [ 1.49192253e-01 9.88807948e-01 -7.16480771e-04 4.97874373e+01] [ 7.40095513e-03 -3.92092392e-04 9.99972536e-01 -1.44708226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.881400513 meters 0.05036663076886274 Centerline is valid? [True, True] Translation: X:532.66, Y:49.80, Z:-1.45 [[ 9.89111040e-01 -1.47052712e-01 -5.90349263e-03 5.32657623e+02] [ 1.47051901e-01 9.89128611e-01 -5.73523393e-04 4.97978451e+01] [ 5.92365163e-03 -3.00841494e-04 9.99982410e-01 -1.44545233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.941400513 meters 0.051056311220494754 Centerline is valid? [True, True] Translation: X:532.72, Y:49.80, Z:-1.44 [[ 9.89278007e-01 -1.45936321e-01 -5.62270612e-03 5.32715187e+02] [ 1.45935567e-01 9.89293946e-01 -5.46505366e-04 4.98026494e+01] [ 5.64226410e-03 -2.79907063e-04 9.99984043e-01 -1.44470052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.001400513 meters 0.047972731280977884 Centerline is valid? [True, True] Translation: X:532.77, Y:49.81, Z:-1.45 [[ 9.89568857e-01 -1.43846324e-01 -7.85570232e-03 5.32774615e+02] [ 1.43844782e-01 9.89599967e-01 -7.63831885e-04 4.98147012e+01] [ 7.88387716e-03 -3.74137543e-04 9.99968852e-01 -1.44731094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.061400513 meters 0.049024002012814295 Centerline is valid? [True, True] Translation: X:532.83, Y:49.82, Z:-1.45 [[ 9.89609296e-01 -1.43543880e-01 -8.28229656e-03 5.32832763e+02] [ 1.43542148e-01 9.89643876e-01 -8.06309935e-04 4.98212534e+01] [ 8.31226493e-03 -3.90926831e-04 9.99965376e-01 -1.44657175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.121400513 meters 0.05428679477208346 Centerline is valid? [True, True] Translation: X:532.89, Y:49.83, Z:-1.44 [[ 9.89544196e-01 -1.44054423e-01 -7.11391536e-03 5.32890490e+02] [ 1.44053153e-01 9.89569709e-01 -6.93217284e-04 4.98263374e+01] [ 7.13957616e-03 -3.38812799e-04 9.99974456e-01 -1.44455172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.181400513 meters 0.052022083855709986 Centerline is valid? [True, True] Translation: X:532.95, Y:49.85, Z:-1.45 [[ 9.89455695e-01 -1.44575360e-01 -8.68286642e-03 5.32947227e+02] [ 1.44573484e-01 9.89493704e-01 -8.46658194e-04 4.98462458e+01] [ 8.71404757e-03 -4.17581478e-04 9.99961945e-01 -1.44679659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.241400513 meters 0.054641934969832696 Centerline is valid? [True, True] Translation: X:533.00, Y:49.86, Z:-1.45 [[ 9.89336458e-01 -1.45292358e-01 -1.01737033e-02 5.33004588e+02] [ 1.45289805e-01 9.89388642e-01 -9.93486235e-04 4.98616853e+01] [ 1.02100925e-02 -4.95243219e-04 9.99947753e-01 -1.44773004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.301400513 meters 0.050124859778306476 Centerline is valid? [True, True] Translation: X:533.06, Y:49.88, Z:-1.44 [[ 9.89048128e-01 -1.47313058e-01 -9.09191321e-03 5.33063255e+02] [ 1.47311099e-01 9.89089809e-01 -8.88400094e-04 4.98776558e+01] [ 9.12359164e-03 -4.60669280e-04 9.99958273e-01 -1.44478746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.361400513 meters 0.05766075604644585 Centerline is valid? [True, True] Translation: X:533.12, Y:49.88, Z:-1.45 [[ 9.88403404e-01 -1.51479032e-01 -1.06214172e-02 5.33122617e+02] [ 1.51476597e-01 9.88460299e-01 -1.03804521e-03 4.98823847e+01] [ 1.06560913e-02 -5.82888711e-04 9.99943052e-01 -1.44775629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.421400513 meters 0.06868022487453071 Centerline is valid? [True, True] Translation: X:533.18, Y:49.88, Z:-1.45 [[ 9.86769926e-01 -1.61751699e-01 -1.10227736e-02 5.33182313e+02] [ 1.61749712e-01 9.86831227e-01 -1.07740429e-03 4.98839980e+01] [ 1.10518892e-02 -7.19780307e-04 9.99938667e-01 -1.44869076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.481400513 meters 0.07810832697742741 Centerline is valid? [True, True] Translation: X:533.24, Y:49.88, Z:-1.45 [[ 9.85723520e-01 -1.68057711e-01 -1.02833720e-02 5.33242180e+02] [ 1.68056322e-01 9.85776883e-01 -1.00525350e-03 4.98827755e+01] [ 1.03060510e-02 -7.37283653e-04 9.99946619e-01 -1.44739309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.541400513 meters 0.07168764719177498 Centerline is valid? [True, True] Translation: X:533.30, Y:49.90, Z:-1.45 [[ 9.85474333e-01 -1.69483668e-01 -1.07528822e-02 5.33299717e+02] [ 1.69482230e-01 9.85532682e-01 -1.05147212e-03 4.99017511e+01] [ 1.07755242e-02 -7.86223661e-04 9.99941633e-01 -1.44707735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.601400513 meters 0.07426054731160686 Centerline is valid? [True, True] Translation: X:533.36, Y:49.91, Z:-1.45 [[ 9.85900779e-01 -1.67052604e-01 -9.64790078e-03 5.33358097e+02] [ 1.67051329e-01 9.85947749e-01 -9.43647863e-04 4.99102961e+01] [ 9.66996488e-03 -6.81351479e-04 9.99953013e-01 -1.44673596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.661400513 meters 0.07024970759612609 Centerline is valid? [True, True] Translation: X:533.42, Y:49.93, Z:-1.44 [[ 9.86374870e-01 -1.64343650e-01 -7.46865353e-03 5.33416771e+02] [ 1.64342808e-01 9.86403015e-01 -7.30603065e-04 4.99283016e+01] [ 7.48717233e-03 -5.06770987e-04 9.99971842e-01 -1.44325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.721400513 meters 0.06861293862475082 Centerline is valid? [True, True] Translation: X:533.47, Y:49.94, Z:-1.44 [[ 9.86539949e-01 -1.63350547e-01 -7.45172260e-03 5.33474938e+02] [ 1.63349674e-01 9.86567966e-01 -7.29715497e-04 4.99431622e+01] [ 7.47083023e-03 -4.97342972e-04 9.99971969e-01 -1.44306204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.781400513 meters 0.0745996808437646 Centerline is valid? [True, True] Translation: X:533.53, Y:49.95, Z:-1.45 [[ 9.86180069e-01 -1.65454823e-01 -8.57748728e-03 5.33533287e+02] [ 1.65453741e-01 9.86217194e-01 -8.40550902e-04 4.99491327e+01] [ 8.59833864e-03 -5.90242812e-04 9.99962859e-01 -1.44595024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.841400513 meters 0.06827895339802889 Centerline is valid? [True, True] Translation: X:533.59, Y:49.97, Z:-1.45 [[ 9.85825324e-01 -1.67425130e-01 -1.08284961e-02 5.33591444e+02] [ 1.67423521e-01 9.85884495e-01 -1.06131300e-03 4.99676591e+01] [ 1.08533368e-02 -7.66675708e-04 9.99940807e-01 -1.44788130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.901400513 meters 0.0694851703377291 Centerline is valid? [True, True] Translation: X:533.65, Y:49.98, Z:-1.45 [[ 9.85614320e-01 -1.68541663e-01 -1.25745727e-02 5.33650163e+02] [ 1.68539580e-01 9.85694116e-01 -1.23284099e-03 4.99754850e+01] [ 1.26024673e-02 -9.04207452e-04 9.99920177e-01 -1.45025565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9614005130001 meters 0.07487621329174449 Centerline is valid? [True, True] Translation: X:533.71, Y:49.98, Z:-1.45 [[ 9.85504596e-01 -1.69321340e-01 -1.05345053e-02 5.33707988e+02] [ 1.69319916e-01 9.85560601e-01 -1.03337583e-03 4.99823798e+01] [ 1.05573659e-02 -7.65304915e-04 9.99943977e-01 -1.44724451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.021400513 meters 0.07710484895287477 Centerline is valid? [True, True] Translation: X:533.77, Y:49.99, Z:-1.45 [[ 9.85044155e-01 -1.72024317e-01 -9.77995510e-03 5.33767912e+02] [ 1.72023221e-01 9.85092428e-01 -9.59545058e-04 4.99907633e+01] [ 9.79922480e-03 -7.37185126e-04 9.99951715e-01 -1.44728585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.081400513 meters 0.07769412171767723 Centerline is valid? [True, True] Translation: X:533.83, Y:50.00, Z:-1.45 [[ 9.84522828e-01 -1.74991934e-01 -9.62415202e-03 5.33828462e+02] [ 1.74991012e-01 9.84569578e-01 -9.44347382e-04 4.99957869e+01] [ 9.64090046e-03 -7.54408550e-04 9.99953241e-01 -1.44627858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.141400513 meters 0.08754555987197042 Centerline is valid? [True, True] Translation: X:533.89, Y:49.99, Z:-1.45 [[ 9.84359933e-01 -1.75795674e-01 -1.14631317e-02 5.33887414e+02] [ 1.75794417e-01 9.84426258e-01 -1.12513325e-03 4.99935365e+01] [ 1.14824014e-02 -9.07618447e-04 9.99933663e-01 -1.44896112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.201400513 meters 0.07817978921168169 Centerline is valid? [True, True] Translation: X:533.94, Y:50.01, Z:-1.45 [[ 9.84359871e-01 -1.75860863e-01 -1.04211934e-02 5.33944469e+02] [ 1.75859813e-01 9.84414688e-01 -1.02422790e-03 5.00138976e+01] [ 1.04388975e-02 -8.24460285e-04 9.99945173e-01 -1.44586934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.261400513 meters 0.07428543499115331 Centerline is valid? [True, True] Translation: X:534.00, Y:50.03, Z:-1.44 [[ 9.84244746e-01 -1.76685555e-01 -6.67048231e-03 5.34001979e+02] [ 1.76685137e-01 9.84267205e-01 -6.56550977e-04 5.00304865e+01] [ 6.68154006e-03 -5.32368230e-04 9.99977537e-01 -1.43906167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.321400513 meters 0.08713468588628352 Centerline is valid? [True, True] Translation: X:534.06, Y:50.02, Z:-1.44 [[ 9.83849812e-01 -1.78843462e-01 -7.38672035e-03 5.34062136e+02] [ 1.78843005e-01 9.83877355e-01 -7.27622231e-04 5.00237849e+01] [ 7.39775736e-03 -6.05192272e-04 9.99972453e-01 -1.44022535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.381400513 meters 0.08513139120089123 Centerline is valid? [True, True] Translation: X:534.12, Y:50.04, Z:-1.44 [[ 9.82936052e-01 -1.83809452e-01 -7.12766092e-03 5.34121184e+02] [ 1.83809156e-01 9.82961699e-01 -7.02207517e-04 5.00351691e+01] [ 7.13529007e-03 -6.19904257e-04 9.99974351e-01 -1.43933894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.441400513 meters 0.08614830397789029 Centerline is valid? [True, True] Translation: X:534.18, Y:50.04, Z:-1.44 [[ 9.82753534e-01 -1.84812481e-01 -6.31170562e-03 5.34180378e+02] [ 1.84812268e-01 9.82773646e-01 -6.21935230e-04 5.00427877e+01] [ 6.31791934e-03 -5.55271587e-04 9.99979888e-01 -1.43827779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.501400513 meters 0.09478714552468238 Centerline is valid? [True, True] Translation: X:534.24, Y:50.04, Z:-1.44 [[ 9.82981390e-01 -1.83560699e-01 -7.28394576e-03 5.34239920e+02] [ 1.83560381e-01 9.83008174e-01 -7.17913469e-04 5.00392442e+01] [ 7.29195892e-03 -6.31348281e-04 9.99973214e-01 -1.44023530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.561400513 meters 0.08850943229405371 Centerline is valid? [True, True] Translation: X:534.30, Y:50.06, Z:-1.44 [[ 9.83491121e-01 -1.80713730e-01 -9.36817786e-03 5.34298778e+02] [ 1.80713074e-01 9.83535425e-01 -9.23457870e-04 5.00572711e+01] [ 9.38081631e-03 -7.84739605e-04 9.99955691e-01 -1.44296219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.621400513 meters 0.08570985087942369 Centerline is valid? [True, True] Translation: X:534.36, Y:50.07, Z:-1.44 [[ 9.83873255e-01 -1.78640646e-01 -8.99648828e-03 5.34358288e+02] [ 1.78639955e-01 9.83914112e-01 -8.86885972e-04 5.00685593e+01] [ 9.01020566e-03 -7.34548871e-04 9.99959137e-01 -1.44209815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.681400513 meters 0.07982279497151429 Centerline is valid? [True, True] Translation: X:534.42, Y:50.09, Z:-1.44 [[ 9.84130525e-01 -1.77197759e-01 -9.38425782e-03 5.34417047e+02] [ 1.77196941e-01 9.84174978e-01 -9.25213009e-04 5.00860688e+01] [ 9.39969741e-03 -7.52331416e-04 9.99955539e-01 -1.44127753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.741400513 meters 0.0767184180691771 Centerline is valid? [True, True] Translation: X:534.47, Y:50.10, Z:-1.44 [[ 9.84065017e-01 -1.77494633e-01 -1.05686864e-02 5.34474262e+02] [ 1.77493604e-01 9.84121402e-01 -1.04272587e-03 5.01006717e+01] [ 1.05859487e-02 -8.49764186e-04 9.99943606e-01 -1.44274008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.801400513 meters 0.08347978171658052 Centerline is valid? [True, True] Translation: X:534.53, Y:50.10, Z:-1.44 [[ 9.83601943e-01 -1.80070073e-01 -1.00988787e-02 5.34533661e+02] [ 1.80069266e-01 9.83653428e-01 -9.96659948e-04 5.01044997e+01] [ 1.01132653e-02 -8.38181019e-04 9.99948508e-01 -1.44302298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.861400513 meters 0.08297691117015189 Centerline is valid? [True, True] Translation: X:534.59, Y:50.11, Z:-1.44 [[ 9.83296238e-01 -1.81705497e-01 -1.05650709e-02 5.34592962e+02] [ 1.81704706e-01 9.83352588e-01 -1.04278496e-03 5.01134941e+01] [ 1.05786696e-02 -8.94356582e-04 9.99943644e-01 -1.44293676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.921400513 meters 0.08455005274680236 Centerline is valid? [True, True] Translation: X:534.65, Y:50.12, Z:-1.45 [[ 9.83241079e-01 -1.81847807e-01 -1.29752294e-02 5.34651204e+02] [ 1.81846604e-01 9.83326074e-01 -1.28238450e-03 5.01199152e+01] [ 1.29920802e-02 -1.09860827e-03 9.99914996e-01 -1.44590120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.981400513 meters 0.08118701831802556 Centerline is valid? [True, True] Translation: X:534.71, Y:50.13, Z:-1.44 [[ 9.83567892e-01 -1.80264224e-01 -9.95048036e-03 5.34710386e+02] [ 1.80263432e-01 9.83617877e-01 -9.83822586e-04 5.01330775e+01] [ 9.96481838e-03 -8.26051438e-04 9.99950009e-01 -1.43965503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.041400513 meters 0.08923316212274655 Centerline is valid? [True, True] Translation: X:534.77, Y:50.13, Z:-1.44 [[ 9.84079117e-01 -1.77578893e-01 -7.35039692e-03 5.34769428e+02] [ 1.77578385e-01 9.84106391e-01 -7.26904254e-04 5.01328220e+01] [ 7.36265544e-03 -5.89940318e-04 9.99972721e-01 -1.43623100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.101400513 meters 0.08480281217160915 Centerline is valid? [True, True] Translation: X:534.83, Y:50.15, Z:-1.44 [[ 9.84535667e-01 -1.74999477e-01 -8.04379631e-03 5.34828004e+02] [ 1.74998782e-01 9.84568328e-01 -7.95633551e-04 5.01491866e+01] [ 8.05890254e-03 -6.24324950e-04 9.99967332e-01 -1.43698791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.161400513 meters 0.07455651359219458 Centerline is valid? [True, True] Translation: X:534.89, Y:50.18, Z:-1.44 [[ 9.84875857e-01 -1.72983065e-01 -9.81868685e-03 5.34885254e+02] [ 1.72981927e-01 9.84924520e-01 -9.71400230e-04 5.01764289e+01] [ 9.83870122e-03 -7.41746743e-04 9.99951324e-01 -1.43874027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.221400513 meters 0.07157331285537327 Centerline is valid? [True, True] Translation: X:534.94, Y:50.19, Z:-1.44 [[ 9.84871710e-01 -1.73069396e-01 -8.64291215e-03 5.34942306e+02] [ 1.73068509e-01 9.84909416e-01 -8.56128062e-04 5.01930824e+01] [ 8.66065513e-03 -6.52639611e-04 9.99962283e-01 -1.43644629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.281400513 meters 0.07700291596636455 Centerline is valid? [True, True] Translation: X:535.00, Y:50.20, Z:-1.43 [[ 9.84837131e-01 -1.73356694e-01 -6.57883512e-03 5.35000185e+02] [ 1.73356183e-01 9.84858979e-01 -6.52230001e-04 5.01997146e+01] [ 6.59229328e-03 -4.98141421e-04 9.99978147e-01 -1.43391030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.341400513 meters 0.08400192093208063 Centerline is valid? [True, True] Translation: X:535.06, Y:50.21, Z:-1.44 [[ 9.84578023e-01 -1.74708630e-01 -9.11106285e-03 5.35058891e+02] [ 1.74707705e-01 9.84619927e-01 -9.03528478e-04 5.02080677e+01] [ 9.12878826e-03 -7.02178600e-04 9.99958085e-01 -1.43846317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.401400513 meters 0.08569027953402042 Centerline is valid? [True, True] Translation: X:535.12, Y:50.22, Z:-1.44 [[ 9.84330691e-01 -1.76111426e-01 -8.82359080e-03 5.35118334e+02] [ 1.76110613e-01 9.84369994e-01 -8.75104954e-04 5.02177153e+01] [ 8.83979401e-03 -6.92535325e-04 9.99960688e-01 -1.43772163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4614005130001 meters 0.07743395911780451 Centerline is valid? [True, True] Translation: X:535.18, Y:50.24, Z:-1.44 [[ 9.84352037e-01 -1.75989156e-01 -8.88173506e-03 5.35175503e+02] [ 1.75988318e-01 9.84391860e-01 -8.81914848e-04 5.02384242e+01] [ 8.89831514e-03 -6.94966938e-04 9.99960168e-01 -1.43613392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.521400513 meters 0.0762458132435369 Centerline is valid? [True, True] Translation: X:535.24, Y:50.25, Z:-1.44 [[ 9.84542319e-01 -1.74914246e-01 -9.02373191e-03 5.35235247e+02] [ 1.74913332e-01 9.84583426e-01 -8.96517148e-04 5.02476409e+01] [ 9.04143050e-03 -6.95711945e-04 9.99958883e-01 -1.43598744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.581400513 meters 0.07302462354387426 Centerline is valid? [True, True] Translation: X:535.29, Y:50.26, Z:-1.44 [[ 9.85440821e-01 -1.69793945e-01 -8.74096286e-03 5.35292791e+02] [ 1.69792886e-01 9.85479387e-01 -8.68567824e-04 5.02642059e+01] [ 8.76151627e-03 -6.28231119e-04 9.99961420e-01 -1.43507343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.641400513 meters 0.06697528121669592 Centerline is valid? [True, True] Translation: X:535.35, Y:50.28, Z:-1.43 [[ 9.85657920e-01 -1.68573251e-01 -7.84372843e-03 5.35350868e+02] [ 1.68572358e-01 9.85688973e-01 -7.79579037e-04 5.02817771e+01] [ 7.86289280e-03 -5.53837545e-04 9.99968934e-01 -1.43400305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.701400513 meters 0.07703048445636691 Centerline is valid? [True, True] Translation: X:535.41, Y:50.28, Z:-1.43 [[ 9.84770679e-01 -1.73703265e-01 -7.34072457e-03 5.35410179e+02] [ 1.73702623e-01 9.84797881e-01 -7.29706483e-04 5.02830519e+01] [ 7.35588240e-03 -5.56509567e-04 9.99972790e-01 -1.43468085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.761400513 meters 0.07887778529563755 Centerline is valid? [True, True] Translation: X:535.47, Y:50.29, Z:-1.43 [[ 9.83848864e-01 -1.78835426e-01 -7.70090058e-03 5.35470221e+02] [ 1.78834876e-01 9.83878804e-01 -7.65542957e-04 5.02888654e+01] [ 7.71365905e-03 -6.24011031e-04 9.99970055e-01 -1.43487656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.821400513 meters 0.08334630261488842 Centerline is valid? [True, True] Translation: X:535.53, Y:50.29, Z:-1.43 [[ 9.83430863e-01 -1.81140419e-01 -7.20316927e-03 5.35529752e+02] [ 1.81139999e-01 9.83457060e-01 -7.16124714e-04 5.02935659e+01] [ 7.21372680e-03 -6.00522928e-04 9.99973800e-01 -1.43331093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.881400513 meters 0.08616180854225582 Centerline is valid? [True, True] Translation: X:535.59, Y:50.30, Z:-1.43 [[ 9.83721551e-01 -1.79618394e-01 -5.39844740e-03 5.35588584e+02] [ 1.79618134e-01 9.83736264e-01 -5.36791972e-04 5.03027851e+01] [ 5.40706619e-03 -4.41605220e-04 9.99985284e-01 -1.43048204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.941400513 meters 0.08515622790009865 Centerline is valid? [True, True] Translation: X:535.65, Y:50.32, Z:-1.43 [[ 9.84006402e-01 -1.78023875e-01 -6.23709591e-03 5.35648096e+02] [ 1.78023496e-01 9.84026041e-01 -6.20331227e-04 5.03152471e+01] [ 6.24789857e-03 -4.99939721e-04 9.99980357e-01 -1.43240342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.001400513 meters 0.07352693634815836 Centerline is valid? [True, True] Translation: X:535.70, Y:50.34, Z:-1.44 [[ 9.84154089e-01 -1.77020759e-01 -1.02166729e-02 5.35704693e+02] [ 1.77019684e-01 9.84206786e-01 -1.01658406e-03 5.03390795e+01] [ 1.02352753e-02 -8.08076865e-04 9.99947292e-01 -1.43710526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.061400513 meters 0.0808513358008767 Centerline is valid? [True, True] Translation: X:535.76, Y:50.34, Z:-1.44 [[ 9.84255187e-01 -1.76353428e-01 -1.18825510e-02 5.35762070e+02] [ 1.76351918e-01 9.84326471e-01 -1.18302181e-03 5.03435892e+01] [ 1.19049395e-02 -9.31115312e-04 9.99928700e-01 -1.43872071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.121400513 meters 0.07379789958603956 Centerline is valid? [True, True] Translation: X:535.82, Y:50.37, Z:-1.44 [[ 9.84524345e-01 -1.74913891e-01 -1.08140773e-02 5.35820479e+02] [ 1.74912552e-01 9.84583384e-01 -1.07687714e-03 5.03650321e+01] [ 1.08357216e-02 -8.31306093e-04 9.99940946e-01 -1.43605340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.181400513 meters 0.06769289280892449 Centerline is valid? [True, True] Translation: X:535.88, Y:50.39, Z:-1.43 [[ 9.85107212e-01 -1.71679514e-01 -9.48294559e-03 5.35878466e+02] [ 1.71678333e-01 9.85152606e-01 -9.44495855e-04 5.03854454e+01] [ 9.50429916e-03 -6.97586617e-04 9.99954590e-01 -1.43388606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.241400513 meters 0.06380967788179116 Centerline is valid? [True, True] Translation: X:535.94, Y:50.40, Z:-1.43 [[ 9.85878736e-01 -1.67264367e-01 -8.10861420e-03 5.35937452e+02] [ 1.67263354e-01 9.85911922e-01 -8.07701511e-04 5.04047025e+01] [ 8.12947909e-03 -5.59978265e-04 9.99966798e-01 -1.43179895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.301400513 meters 0.06333376004781108 Centerline is valid? [True, True] Translation: X:536.00, Y:50.42, Z:-1.43 [[ 9.86401558e-01 -1.64124072e-01 -8.67500382e-03 5.35996142e+02] [ 1.64122791e-01 9.86439538e-01 -8.64226623e-04 5.04170899e+01] [ 8.69920715e-03 -5.71291352e-04 9.99961998e-01 -1.43183846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.361400513 meters 0.06044857138595211 Centerline is valid? [True, True] Translation: X:536.05, Y:50.43, Z:-1.43 [[ 9.87335427e-01 -1.58340623e-01 -9.84894635e-03 5.36054159e+02] [ 1.58338683e-01 9.87384372e-01 -9.81322077e-04 5.04337201e+01] [ 9.88007886e-03 -5.90575142e-04 9.99951016e-01 -1.43321098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.421400513 meters 0.04862469583235944 Centerline is valid? [True, True] Translation: X:536.11, Y:50.46, Z:-1.43 [[ 9.88660845e-01 -1.49834484e-01 -9.96803517e-03 5.36111606e+02] [ 1.49832064e-01 9.88710962e-01 -9.93295915e-04 5.04626557e+01] [ 1.00043356e-02 -5.11498506e-04 9.99949825e-01 -1.43231320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.481400513 meters 0.040607202148402875 Centerline is valid? [True, True] Translation: X:536.17, Y:50.49, Z:-1.43 [[ 9.90325958e-01 -1.38630050e-01 -6.01710833e-03 5.36168620e+02] [ 1.38628961e-01 9.90344209e-01 -5.99630963e-04 5.04949318e+01] [ 6.04213526e-03 -2.40315370e-04 9.99981717e-01 -1.42645884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.541400513 meters 0.039935712729407415 Centerline is valid? [True, True] Translation: X:536.23, Y:50.51, Z:-1.43 [[ 9.90674728e-01 -1.36167197e-01 -4.69875764e-03 5.36227835e+02] [ 1.36166505e-01 9.90685855e-01 -4.68264914e-04 5.05071361e+01] [ 4.71875506e-03 -1.75915192e-04 9.99988851e-01 -1.42534979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.601400513 meters 0.03945644049066684 Centerline is valid? [True, True] Translation: X:536.29, Y:50.52, Z:-1.43 [[ 9.90660471e-01 -1.36272689e-01 -4.64597045e-03 5.36286362e+02] [ 1.36272014e-01 9.90671350e-01 -4.63027880e-04 5.05168169e+01] [ 4.66572787e-03 -1.74412333e-04 9.99989100e-01 -1.42683660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.661400513 meters 0.04128280435636323 Centerline is valid? [True, True] Translation: X:536.35, Y:50.53, Z:-1.42 [[ 9.90916024e-01 -1.34429580e-01 -3.75787346e-03 5.36346776e+02] [ 1.34429126e-01 9.90923140e-01 -3.74515223e-04 5.05300436e+01] [ 3.77410969e-03 -1.34054507e-04 9.99992869e-01 -1.42464442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.721400513 meters 0.03064541712287269 Centerline is valid? [True, True] Translation: X:536.41, Y:50.54, Z:-1.43 [[ 9.91505089e-01 -1.29996985e-01 -4.29440341e-03 5.36407314e+02] [ 1.29996350e-01 9.91514380e-01 -4.27895557e-04 5.05410290e+01] [ 4.31358787e-03 -1.33996147e-04 9.99990687e-01 -1.42512110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.781400513 meters 0.025772621018441896 Centerline is valid? [True, True] Translation: X:536.47, Y:50.55, Z:-1.42 [[ 9.92191683e-01 -1.24663212e-01 -3.84038097e-03 5.36466965e+02] [ 1.24662664e-01 9.92199110e-01 -3.82614194e-04 5.05533816e+01] [ 3.85812050e-03 -9.91255009e-05 9.99992553e-01 -1.42402638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.841400513 meters 0.018030142221126106 Centerline is valid? [True, True] Translation: X:536.53, Y:50.57, Z:-1.42 [[ 9.93217530e-01 -1.16206115e-01 -3.88286213e-03 5.36526519e+02] [ 1.16205491e-01 9.93225118e-01 -3.86812144e-04 5.05659928e+01] [ 3.90150613e-03 -6.70212973e-05 9.99992387e-01 -1.42378521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.901400513 meters 0.014016402673230498 Centerline is valid? [True, True] Translation: X:536.59, Y:50.57, Z:-1.43 [[ 9.93759478e-01 -1.11381894e-01 -6.01448735e-03 5.36587226e+02] [ 1.11380308e-01 9.93777675e-01 -5.99073398e-04 5.05727911e+01] [ 6.04378919e-03 -7.45605838e-05 9.99981733e-01 -1.42741214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9614005130001 meters 0.011254127640079123 Centerline is valid? [True, True] Translation: X:536.65, Y:50.58, Z:-1.43 [[ 9.94200606e-01 -1.07362372e-01 -6.20289456e-03 5.36647464e+02] [ 1.07360608e-01 9.94219955e-01 -6.17731139e-04 5.05767510e+01] [ 6.23336263e-03 -5.17978568e-05 9.99980571e-01 -1.42718579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.021400513 meters 0.021878853681942284 Centerline is valid? [True, True] Translation: X:536.71, Y:50.58, Z:-1.43 [[ 9.94388921e-01 -1.05555793e-01 -6.97477965e-03 5.36707500e+02] [ 1.05553519e-01 9.94413381e-01 -6.94379064e-04 5.05787348e+01] [ 7.00910995e-03 -4.57296886e-05 9.99975435e-01 -1.42874249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.081400513 meters 0.009113250315821617 Centerline is valid? [True, True] Translation: X:536.77, Y:50.58, Z:-1.43 [[ 9.94505406e-01 -1.04546034e-01 -5.39675957e-03 5.36768854e+02] [ 1.04544659e-01 9.94520048e-01 -5.37124572e-04 5.05795453e+01] [ 5.42333983e-03 -3.00290977e-05 9.99985293e-01 -1.42557608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.141400513 meters 0.009295302366441206 Centerline is valid? [True, True] Translation: X:536.83, Y:50.57, Z:-1.42 [[ 9.94472493e-01 -1.04926986e-01 -3.84553254e-03 5.36831445e+02] [ 1.04926291e-01 9.94479928e-01 -3.82660635e-04 5.05730173e+01] [ 3.86445635e-03 -2.29519898e-05 9.99992533e-01 -1.42297100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.201400513 meters 0.009575691024153012 Centerline is valid? [True, True] Translation: X:536.89, Y:50.57, Z:-1.42 [[ 9.94434829e-01 -1.05283050e-01 -3.85371666e-03 5.36893043e+02] [ 1.05282354e-01 9.94442295e-01 -3.83381699e-04 5.05697545e+01] [ 3.87266244e-03 -2.44802492e-05 9.99992501e-01 -1.42355514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.261400513 meters 0.008487049142403658 Centerline is valid? [True, True] Translation: X:536.95, Y:50.57, Z:-1.42 [[ 9.94670880e-01 -1.03012713e-01 -4.26872059e-03 5.36953507e+02] [ 1.03011839e-01 9.94680039e-01 -4.24577562e-04 5.05695190e+01] [ 4.28974805e-03 -1.74138220e-05 9.99990799e-01 -1.42413918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.321400513 meters 0.009172794490260833 Centerline is valid? [True, True] Translation: X:537.01, Y:50.58, Z:-1.42 [[ 9.95602734e-01 -9.34842366e-02 -5.99110232e-03 5.37014254e+02] [ 9.34823441e-02 9.95620759e-01 -5.95761415e-04 5.05796161e+01] [ 6.02056014e-03 3.30794051e-05 9.99981876e-01 -1.42450912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.381400513 meters 0.013395873768147914 Centerline is valid? [True, True] Translation: X:537.07, Y:50.59, Z:-1.42 [[ 9.96040131e-01 -8.87273794e-02 -5.61325718e-03 5.37073721e+02] [ 8.87256431e-02 9.96055947e-01 -5.58089906e-04 5.05913057e+01] [ 5.64063605e-03 5.78400908e-05 9.99984090e-01 -1.42422339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.441400513 meters 0.023799818322213416 Centerline is valid? [True, True] Translation: X:537.13, Y:50.61, Z:-1.42 [[ 9.96811286e-01 -7.96635803e-02 -4.57972572e-03 5.37132652e+02] [ 7.96623291e-02 9.96821803e-01 -4.55282758e-04 5.06091168e+01] [ 4.60143990e-03 8.89993741e-05 9.99989409e-01 -1.42311167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.501400513 meters 0.030862451309280656 Centerline is valid? [True, True] Translation: X:537.19, Y:50.62, Z:-1.42 [[ 9.97506344e-01 -7.03923196e-02 -5.10049053e-03 5.37191850e+02] [ 7.03906466e-02 9.97519373e-01 -5.07008761e-04 5.06219697e+01] [ 5.12352764e-03 1.46717629e-04 9.99986864e-01 -1.42393178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.561400513 meters 0.036437024345412884 Centerline is valid? [True, True] Translation: X:537.25, Y:50.63, Z:-1.43 [[ 9.97638594e-01 -6.84390695e-02 -5.77317613e-03 5.37251464e+02] [ 6.84368937e-02 9.97655282e-01 -5.73825439e-04 5.06344539e+01] [ 5.79891174e-03 1.77372163e-04 9.99983170e-01 -1.42530267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.621400513 meters 0.037015452056853124 Centerline is valid? [True, True] Translation: X:537.31, Y:50.64, Z:-1.42 [[ 9.97616700e-01 -6.88643010e-02 -4.31605030e-03 5.37311636e+02] [ 6.88630891e-02 9.97626028e-01 -4.28950465e-04 5.06408542e+01] [ 4.33534349e-03 1.30711591e-04 9.99990594e-01 -1.42201256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.681400513 meters 0.033549780147217725 Centerline is valid? [True, True] Translation: X:537.37, Y:50.64, Z:-1.42 [[ 9.97520314e-01 -7.02348709e-02 -4.50405319e-03 5.37373596e+02] [ 7.02335654e-02 9.97530474e-01 -4.47558456e-04 5.06392285e+01] [ 4.52436453e-03 1.30112937e-04 9.99989757e-01 -1.42242245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.741400513 meters 0.032010091938017966 Centerline is valid? [True, True] Translation: X:537.44, Y:50.64, Z:-1.43 [[ 9.97449147e-01 -7.11406162e-02 -5.84912439e-03 5.37435074e+02] [ 7.11384310e-02 9.97466283e-01 -5.81057329e-04 5.06395099e+01] [ 5.87564115e-03 1.63477605e-04 9.99982725e-01 -1.42522202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.801400513 meters 0.030743723570327956 Centerline is valid? [True, True] Translation: X:537.50, Y:50.64, Z:-1.43 [[ 9.97363717e-01 -7.23301296e-02 -5.82820692e-03 5.37496911e+02] [ 7.23279811e-02 9.97380734e-01 -5.78840291e-04 5.06386813e+01] [ 5.85480889e-03 1.55771865e-04 9.99982848e-01 -1.42528838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.861400513 meters 0.028263659312274928 Centerline is valid? [True, True] Translation: X:537.56, Y:50.63, Z:-1.43 [[ 9.97191628e-01 -7.44983428e-02 -7.67169609e-03 5.37558374e+02] [ 7.44946850e-02 9.97221120e-01 -7.61848123e-04 5.06284974e+01] [ 7.70713379e-03 1.88207986e-04 9.99970282e-01 -1.42805007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.921400513 meters 0.031984311714693604 Centerline is valid? [True, True] Translation: X:537.62, Y:50.63, Z:-1.43 [[ 9.97273498e-01 -7.31298587e-02 -9.87893715e-03 5.37617297e+02] [ 7.31237235e-02 9.97322394e-01 -9.81302361e-04 5.06303951e+01] [ 9.92424776e-03 2.56242169e-04 9.99950721e-01 -1.43254569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.981400513 meters 0.03343001193871577 Centerline is valid? [True, True] Translation: X:537.68, Y:50.63, Z:-1.43 [[ 9.97510015e-01 -7.00690342e-02 -8.00622514e-03 5.37677189e+02] [ 7.00649044e-02 9.97542118e-01 -7.95487150e-04 5.06299211e+01] [ 8.04228580e-03 2.32551000e-04 9.99967633e-01 -1.42874295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.041400513 meters 0.03893985507563016 Centerline is valid? [True, True] Translation: X:537.74, Y:50.63, Z:-1.43 [[ 9.97975049e-01 -6.30743859e-02 -8.21122478e-03 5.37737550e+02] [ 6.30698047e-02 9.98008785e-01 -8.15929971e-04 5.06295045e+01] [ 8.24633875e-03 2.96397408e-04 9.99965954e-01 -1.42818023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.101400513 meters 0.04614220456906295 Centerline is valid? [True, True] Translation: X:537.80, Y:50.64, Z:-1.43 [[ 9.98243457e-01 -5.86249226e-02 -8.55099545e-03 5.37796219e+02] [ 5.86197913e-02 9.98280020e-01 -8.49708613e-04 5.06369799e+01] [ 8.58610201e-03 3.46958494e-04 9.99963079e-01 -1.42953470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.161400513 meters 0.04864375018972644 Centerline is valid? [True, True] Translation: X:537.86, Y:50.64, Z:-1.43 [[ 9.98519369e-01 -5.38060864e-02 -7.99837035e-03 5.37857249e+02] [ 5.38014425e-02 9.98551337e-01 -7.94802866e-04 5.06365707e+01] [ 8.02954864e-03 3.63302195e-04 9.99967697e-01 -1.42734387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.221400513 meters 0.05206618384973645 Centerline is valid? [True, True] Translation: X:537.92, Y:50.64, Z:-1.43 [[ 9.98609575e-01 -5.17877408e-02 -9.84618119e-03 5.37916507e+02] [ 5.17806027e-02 9.98658005e-01 -9.78680014e-04 5.06420939e+01] [ 9.88365129e-03 4.67478037e-04 9.99951046e-01 -1.43009193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.281400513 meters 0.056349145419012266 Centerline is valid? [True, True] Translation: X:537.97, Y:50.65, Z:-1.43 [[ 9.98678635e-01 -5.05044126e-02 -9.50201479e-03 5.37974926e+02] [ 5.04977037e-02 9.98723730e-01 -9.44806353e-04 5.06508194e+01] [ 9.53760455e-03 4.63727992e-04 9.99954408e-01 -1.43034151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.341400513 meters 0.0540164170596035 Centerline is valid? [True, True] Translation: X:538.03, Y:50.65, Z:-1.42 [[ 9.98753619e-01 -4.96434773e-02 -5.17041128e-03 5.38034102e+02] [ 4.96414769e-02 9.98766969e-01 -5.14585540e-04 5.06498581e+01] [ 5.18958182e-03 2.57277318e-04 9.99986501e-01 -1.42260687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.401400513 meters 0.05930510526469888 Centerline is valid? [True, True] Translation: X:538.09, Y:50.66, Z:-1.42 [[ 9.98773755e-01 -4.92096311e-02 -5.42208450e-03 5.38093162e+02] [ 4.92074222e-02 9.98788435e-01 -5.40125394e-04 5.06589429e+01] [ 5.44209467e-03 2.72656267e-04 9.99985155e-01 -1.42392010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.461400513 meters 0.05530657248206558 Centerline is valid? [True, True] Translation: X:538.15, Y:50.66, Z:-1.43 [[ 9.98806930e-01 -4.84591044e-02 -6.03591669e-03 5.38153772e+02] [ 4.84563532e-02 9.98825120e-01 -6.01307132e-04 5.06583171e+01] [ 6.05796402e-03 3.08111219e-04 9.99981603e-01 -1.42537020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.521400513 meters 0.05561109795057707 Centerline is valid? [True, True] Translation: X:538.21, Y:50.66, Z:-1.42 [[ 9.98840590e-01 -4.78135239e-02 -5.59850542e-03 5.38213608e+02] [ 4.78111465e-02 9.98856237e-01 -5.57802926e-04 5.06598260e+01] [ 5.61877258e-03 2.89485242e-04 9.99984173e-01 -1.42454762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.581400513 meters 0.05575179704147483 Centerline is valid? [True, True] Translation: X:538.27, Y:50.66, Z:-1.42 [[ 9.98856360e-01 -4.73614257e-02 -6.54731323e-03 5.38273370e+02] [ 4.73581634e-02 9.98877760e-01 -6.52503984e-04 5.06629325e+01] [ 6.57086909e-03 3.41689024e-04 9.99978353e-01 -1.42478195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.641400513 meters 0.05833965954073776 Centerline is valid? [True, True] Translation: X:538.33, Y:50.67, Z:-1.43 [[ 9.98916311e-01 -4.60211960e-02 -6.94644025e-03 5.38332130e+02] [ 4.60174894e-02 9.98940394e-01 -6.92569336e-04 5.06694809e+01] [ 6.97095263e-03 3.72161065e-04 9.99975633e-01 -1.42668268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.701400513 meters 0.05768189008520555 Centerline is valid? [True, True] Translation: X:538.39, Y:50.67, Z:-1.43 [[ 9.98995227e-01 -4.44148883e-02 -5.98783894e-03 5.38391887e+02] [ 4.44121042e-02 9.99013117e-01 -5.97192572e-04 5.06707628e+01] [ 6.00845388e-03 3.30660002e-04 9.99981894e-01 -1.42500779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.761400513 meters 0.06294410991858192 Centerline is valid? [True, True] Translation: X:538.45, Y:50.68, Z:-1.42 [[ 9.99013806e-01 -4.40814498e-02 -5.31427056e-03 5.38449689e+02] [ 4.40792513e-02 9.99027897e-01 -5.30168318e-04 5.06806046e+01] [ 5.33247513e-03 2.95396401e-04 9.99985739e-01 -1.42326618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.821400513 meters 0.05972678004119413 Centerline is valid? [True, True] Translation: X:538.51, Y:50.68, Z:-1.42 [[ 9.98952019e-01 -4.54188285e-02 -5.65622803e-03 5.38509772e+02] [ 4.54163583e-02 9.98967985e-01 -5.64454675e-04 5.06771145e+01] [ 5.67602759e-03 3.06977858e-04 9.99983844e-01 -1.42286828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.881400513 meters 0.06233040503943197 Centerline is valid? [True, True] Translation: X:538.57, Y:50.68, Z:-1.42 [[ 9.98910179e-01 -4.62002717e-02 -6.63237683e-03 5.38567718e+02] [ 4.61968912e-02 9.98932134e-01 -6.62080324e-04 5.06830644e+01] [ 6.65588263e-03 3.54963584e-04 9.99977786e-01 -1.42465734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.941400513 meters 0.06146132781198736 Centerline is valid? [True, True] Translation: X:538.63, Y:50.68, Z:-1.43 [[ 9.98817870e-01 -4.79773091e-02 -7.81285156e-03 5.38627637e+02] [ 4.79726705e-02 9.98848344e-01 -7.80147085e-04 5.06837621e+01] [ 7.84128320e-03 4.04421495e-04 9.99969175e-01 -1.42662271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.001400513 meters 0.05242434044456186 Centerline is valid? [True, True] Translation: X:538.69, Y:50.67, Z:-1.42 [[ 9.98644585e-01 -5.16560190e-02 -6.37561492e-03 5.38690035e+02] [ 5.16530045e-02 9.98664890e-01 -6.36688752e-04 5.06700453e+01] [ 6.39999157e-03 3.06506108e-04 9.99979473e-01 -1.42410133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.061400513 meters 0.055416106931798666 Centerline is valid? [True, True] Translation: X:538.75, Y:50.67, Z:-1.42 [[ 9.98623014e-01 -5.20501858e-02 -6.54631365e-03 5.38748390e+02] [ 5.20470139e-02 9.98644421e-01 -6.54089290e-04 5.06720234e+01] [ 6.57148508e-03 3.12472541e-04 9.99978359e-01 -1.42463353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.121400513 meters 0.056756288345001155 Centerline is valid? [True, True] Translation: X:538.81, Y:50.67, Z:-1.43 [[ 9.98759755e-01 -4.92204750e-02 -7.50312348e-03 5.38808698e+02] [ 4.92162259e-02 9.98787866e-01 -7.50014385e-04 5.06693124e+01] [ 7.53094475e-03 3.79808763e-04 9.99971570e-01 -1.42503640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.181400513 meters 0.06804897122617633 Centerline is valid? [True, True] Translation: X:538.87, Y:50.69, Z:-1.42 [[ 9.99236558e-01 -3.86290561e-02 -5.83920958e-03 5.38866610e+02] [ 3.86263021e-02 9.99253555e-01 -5.83721326e-04 5.06892038e+01] [ 5.85739954e-03 3.57728616e-04 9.99982781e-01 -1.42165238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.241400513 meters 0.07970445774363345 Centerline is valid? [True, True] Translation: X:538.92, Y:50.71, Z:-1.42 [[ 9.99514013e-01 -3.03000710e-02 -7.32414006e-03 5.38924546e+02] [ 3.02955153e-02 9.99540717e-01 -7.32176309e-04 5.07110090e+01] [ 7.34296120e-03 5.09931884e-04 9.99972910e-01 -1.42379368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.301400513 meters 0.08271694558232359 Centerline is valid? [True, True] Translation: X:538.98, Y:50.72, Z:-1.42 [[ 9.99619147e-01 -2.65547189e-02 -7.51055278e-03 5.38983816e+02] [ 2.65498228e-02 9.99647209e-01 -7.50864653e-04 5.07224502e+01] [ 7.52784212e-03 5.51174839e-04 9.99971513e-01 -1.42380466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.361400513 meters 0.08115062639390233 Centerline is valid? [True, True] Translation: X:539.04, Y:50.73, Z:-1.42 [[ 9.99782105e-01 -2.00119019e-02 -5.93857848e-03 5.39043564e+02] [ 2.00087258e-02 9.99799629e-01 -5.93760734e-04 5.07298485e+01] [ 5.94927084e-03 4.74807967e-04 9.99982190e-01 -1.41996200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.421400513 meters 0.08273990070198105 Centerline is valid? [True, True] Translation: X:539.10, Y:50.74, Z:-1.42 [[ 9.99759823e-01 -2.08609141e-02 -6.71706199e-03 5.39100348e+02] [ 2.08568679e-02 9.99782246e-01 -6.71865126e-04 5.07415579e+01] [ 6.72961505e-03 5.31606885e-04 9.99977215e-01 -1.42060674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.481400513 meters 0.08808748771987296 Centerline is valid? [True, True] Translation: X:539.16, Y:50.76, Z:-1.42 [[ 9.99691915e-01 -2.35408956e-02 -7.86775539e-03 5.39158633e+02] [ 2.35354249e-02 9.99722694e-01 -7.87212756e-04 5.07597420e+01] [ 7.88410530e-03 6.01799261e-04 9.99968739e-01 -1.42389860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.541400513 meters 0.0731803055653769 Centerline is valid? [True, True] Translation: X:539.22, Y:50.75, Z:-1.42 [[ 9.99593790e-01 -2.80546552e-02 -5.01913576e-03 5.39220433e+02] [ 2.80524853e-02 9.99606325e-01 -5.02227744e-04 5.07520011e+01] [ 5.03124968e-03 3.61224502e-04 9.99987278e-01 -1.41840335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.601400513 meters 0.0740556654053388 Centerline is valid? [True, True] Translation: X:539.28, Y:50.76, Z:-1.42 [[ 9.99499134e-01 -3.13553738e-02 -4.28034171e-03 5.39278599e+02] [ 3.13538255e-02 9.99508256e-01 -4.28362064e-04 5.07607718e+01] [ 4.29166833e-03 2.93942425e-04 9.99990748e-01 -1.41712708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.661400513 meters 0.0692204420296736 Centerline is valid? [True, True] Translation: X:539.34, Y:50.76, Z:-1.42 [[ 9.99388399e-01 -3.43033752e-02 -6.79013874e-03 5.39339933e+02] [ 3.42995457e-02 9.99411366e-01 -6.79663139e-04 5.07563632e+01] [ 6.80945657e-03 4.46348783e-04 9.99976716e-01 -1.42167675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.721400513 meters 0.07166840533194967 Centerline is valid? [True, True] Translation: X:539.40, Y:50.76, Z:-1.42 [[ 9.99327314e-01 -3.61810102e-02 -5.98782217e-03 5.39398809e+02] [ 3.61780653e-02 9.99345180e-01 -5.99438915e-04 5.07643259e+01] [ 6.00558952e-03 3.82407859e-04 9.99981893e-01 -1.42082690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.781400513 meters 0.07332473394434166 Centerline is valid? [True, True] Translation: X:539.46, Y:50.77, Z:-1.42 [[ 9.99342737e-01 -3.57774528e-02 -5.83684753e-03 5.39457372e+02] [ 3.57746463e-02 9.99359711e-01 -5.84568225e-04 5.07654085e+01] [ 5.85402462e-03 3.75372854e-04 9.99982795e-01 -1.42067883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.841400513 meters 0.07759195178713021 Centerline is valid? [True, True] Translation: X:539.52, Y:50.77, Z:-1.43 [[ 9.99462625e-01 -3.16640880e-02 -8.47623135e-03 5.39517430e+02] [ 3.16580196e-02 9.99498399e-01 -8.49181768e-04 5.07663903e+01] [ 8.49886823e-03 5.80384740e-04 9.99963716e-01 -1.42548428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.901400513 meters 0.08368310591709562 Centerline is valid? [True, True] Translation: X:539.58, Y:50.77, Z:-1.43 [[ 9.99632619e-01 -2.57989951e-02 -8.30900813e-03 5.39577618e+02] [ 2.57929618e-02 9.99666960e-01 -8.32483819e-04 5.07749375e+01] [ 8.32771814e-03 6.17864051e-04 9.99965133e-01 -1.42511495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.961400513 meters 0.09933402929349773 Centerline is valid? [True, True] Translation: X:539.63, Y:50.80, Z:-1.43 [[ 9.99854649e-01 -1.32112379e-02 -1.07769991e-02 5.39634984e+02] [ 1.32003612e-02 9.99912288e-01 -1.07976343e-03 5.07950819e+01] [ 1.07903188e-02 9.37346204e-04 9.99941343e-01 -1.42777951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.021400513 meters 0.10199335382451762 Centerline is valid? [True, False] Translation: X:539.64, Y:50.80, Z:-1.43 [[ 9.99991491e-01 -2.02390663e-03 -3.59465486e-03 5.39639914e+02] [ 1.99892654e-03 9.99973925e-01 -6.93928105e-03 5.08032296e+01] [ 3.60860559e-03 6.93203655e-03 9.99969462e-01 -1.43467111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.081400513 meters 0.10509608627031373 Centerline is valid? [False, False] Translation: X:539.64, Y:50.80, Z:-1.43 [[ 9.99991030e-01 2.32429187e-03 -3.54077074e-03 5.39639413e+02] [-2.33358797e-03 9.99993836e-01 -2.62357938e-03 5.08033972e+01] [ 3.53465095e-03 2.63181855e-03 9.99990290e-01 -1.43388547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.141400513 meters 0.09085955951846823 Centerline is valid? [False, True] Translation: X:539.62, Y:50.80, Z:-1.44 [[ 9.99993655e-01 -2.89745908e-03 2.07239605e-03 5.39618133e+02] [ 2.89973675e-03 9.99995194e-01 -1.09689177e-03 5.08036716e+01] [-2.06920790e-03 1.10289421e-03 9.99997251e-01 -1.43839431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.201400513 meters 0.09564784160697859 Centerline is valid? [True, True] Translation: X:539.68, Y:50.82, Z:-1.44 [[ 9.99957785e-01 -8.86736720e-03 2.40808898e-03 5.39677158e+02] [ 8.86684706e-03 9.99960663e-01 2.26588121e-04 5.08172634e+01] [-2.41000350e-03 -2.05226399e-04 9.99997075e-01 -1.43821335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.261400513 meters 0.09152942086026869 Centerline is valid? [True, True] Translation: X:539.74, Y:50.82, Z:-1.44 [[ 9.99957698e-01 -9.06262864e-03 1.57209626e-03 5.39739609e+02] [ 9.06240681e-03 9.99958925e-01 1.48168856e-04 5.08205537e+01] [-1.57337449e-03 -1.33915612e-04 9.99998753e-01 -1.43936377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.321400513 meters 0.09060113286549969 Centerline is valid? [True, True] Translation: X:539.80, Y:50.83, Z:-1.44 [[ 9.99982913e-01 -5.67709870e-03 1.39450422e-03 5.39799148e+02] [ 5.67692126e-03 9.99983878e-01 1.31171865e-04 5.08308024e+01] [-1.39522641e-03 -1.23253133e-04 9.99999019e-01 -1.43907266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.381400513 meters 0.10079226063018501 Centerline is valid? [True, False] Translation: X:539.81, Y:50.83, Z:-1.44 [[ 9.99993596e-01 -3.54335238e-03 5.03485490e-04 5.39805543e+02] [ 3.54244414e-03 9.99992117e-01 1.79350097e-03 5.08348572e+01] [-5.09836527e-04 -1.79170592e-03 9.99998265e-01 -1.44414350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.441400513 meters 0.09601086678454752 Centerline is valid? [False, True] Translation: X:539.82, Y:50.85, Z:-1.45 [[ 9.99981848e-01 -1.68874515e-03 5.78369206e-03 5.39823128e+02] [ 1.73295543e-03 9.99969256e-01 -7.64749333e-03 5.08472583e+01] [-5.77059958e-03 7.65737739e-03 9.99954031e-01 -1.44600308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.501400513 meters 0.08890801843157933 Centerline is valid? [True, True] Translation: X:539.88, Y:50.84, Z:-1.45 [[ 9.99987511e-01 -3.20818916e-03 3.83216227e-03 5.39884652e+02] [ 3.20687981e-03 9.99994797e-01 3.47768917e-04 5.08422571e+01] [-3.83325804e-03 -3.35475290e-04 9.99992597e-01 -1.44966441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.561400513 meters 0.09659818868326378 Centerline is valid? [True, True] Translation: X:539.94, Y:50.86, Z:-1.45 [[ 9.99981045e-01 -5.36249169e-03 3.02545163e-03 5.39942792e+02] [ 5.36168568e-03 9.99985588e-01 2.74459702e-04 5.08618309e+01] [-3.02687982e-03 -2.58232979e-04 9.99995386e-01 -1.45160135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.621400513 meters 0.09272753058438778 Centerline is valid? [True, True] Translation: X:540.00, Y:50.86, Z:-1.45 [[ 9.99969258e-01 -7.15001053e-03 3.21861487e-03 5.40003614e+02] [ 7.14910713e-03 9.99974402e-01 2.92096851e-04 5.08636930e+01] [-3.22062097e-03 -2.69077649e-04 9.99994778e-01 -1.45265815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.681400513 meters 0.07877578565826664 Centerline is valid? [True, True] Translation: X:540.07, Y:50.85, Z:-1.45 [[ 9.99894826e-01 -1.41256361e-02 3.28693658e-03 5.40066393e+02] [ 1.41247317e-02 9.99900197e-01 2.98221873e-04 5.08455805e+01] [-3.29082111e-03 -2.51763410e-04 9.99994554e-01 -1.45205378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.741400513 meters 0.07521179118480022 Centerline is valid? [True, True] Translation: X:540.13, Y:50.84, Z:-1.45 [[ 9.99828934e-01 -1.83624217e-02 2.21899655e-03 5.40127318e+02] [ 1.83620199e-02 9.99831384e-01 2.01320028e-04 5.08415354e+01] [-2.22231912e-03 -1.60540331e-04 9.99997518e-01 -1.45397398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.801400513 meters 0.07485303829934911 Centerline is valid? [True, True] Translation: X:540.19, Y:50.84, Z:-1.46 [[ 9.99818487e-01 -1.89731548e-02 1.73545593e-03 5.40188890e+02] [ 1.89729098e-02 9.99819986e-01 1.57573779e-04 5.08401089e+01] [-1.73813319e-03 -1.24618529e-04 9.99998482e-01 -1.45524831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.861400513 meters 0.08523436421784601 Centerline is valid? [True, True] Translation: X:540.25, Y:50.86, Z:-1.46 [[ 9.99873775e-01 -1.58500594e-02 1.09995941e-03 5.40248078e+02] [ 1.58499591e-02 9.99874377e-01 9.98030813e-05 5.08565566e+01] [-1.10140312e-03 -8.23561719e-05 9.99999390e-01 -1.45691504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.921400513 meters 0.08136580343660492 Centerline is valid? [True, True] Translation: X:540.31, Y:50.86, Z:-1.46 [[ 9.99928295e-01 -1.19662728e-02 -4.62729977e-04 5.40309048e+02] [ 1.19662546e-02 9.99928401e-01 -4.19789458e-05 5.08551634e+01] [ 4.63199177e-04 3.64387909e-05 9.99999892e-01 -1.45851406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.981400513 meters 0.08911428895730047 Centerline is valid? [True, True] Translation: X:540.37, Y:50.87, Z:-1.46 [[ 9.99957155e-01 -9.19209322e-03 1.09288932e-03 5.40367373e+02] [ 9.19199010e-03 9.99957748e-01 9.93351614e-05 5.08667011e+01] [-1.09375624e-03 -8.92850775e-05 9.99999398e-01 -1.45747856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.041400513 meters 0.08543526373895992 Centerline is valid? [True, True] Translation: X:540.43, Y:50.87, Z:-1.45 [[ 9.99955633e-01 -8.93079637e-03 2.99540970e-03 5.40429766e+02] [ 8.93002213e-03 9.99960090e-01 2.71749933e-04 5.08670017e+01] [-2.99771709e-03 -2.44988802e-04 9.99995477e-01 -1.45467876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.101400513 meters 0.08517998638044608 Centerline is valid? [True, True] Translation: X:540.49, Y:50.87, Z:-1.46 [[ 9.99979137e-01 -6.45958667e-03 1.11192329e-05 5.40489727e+02] [ 6.45958666e-03 9.99979137e-01 9.40620294e-07 5.08708488e+01] [-1.11250770e-05 -8.68775021e-07 1.00000000e+00 -1.45900999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.161400513 meters 0.09139410154323759 Centerline is valid? [True, True] Translation: X:540.55, Y:50.89, Z:-1.46 [[ 9.99989552e-01 -4.56751273e-03 -1.85419090e-04 5.40548308e+02] [ 4.56750968e-03 9.99989569e-01 -1.68680173e-05 5.08861690e+01] [ 1.85494201e-04 1.60209375e-05 9.99999983e-01 -1.46007357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.221400513 meters 0.08995421984346415 Centerline is valid? [True, True] Translation: X:540.61, Y:50.89, Z:-1.46 [[ 9.99991069e-01 -4.21485988e-03 3.09894287e-04 5.40608699e+02] [ 4.21485138e-03 9.99991117e-01 2.80878595e-05 5.08920903e+01] [-3.10009921e-04 -2.67814503e-05 9.99999952e-01 -1.45942485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.281400513 meters 0.10331509973102797 Centerline is valid? [True, False] Translation: X:540.61, Y:50.89, Z:-1.46 [[ 9.99991001e-01 -4.23031144e-03 3.18601485e-04 5.40608419e+02] [ 4.23031534e-03 9.99991052e-01 -1.15600327e-05 5.08922800e+01] [-3.18549732e-04 1.29077134e-05 9.99999949e-01 -1.45887866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.341400513 meters 0.0856479279730045 Centerline is valid? [False, True] Translation: X:540.61, Y:50.89, Z:-1.46 [[ 9.99991125e-01 -4.19997560e-03 3.31892517e-04 5.40608143e+02] [ 4.19995346e-03 9.99991178e-01 6.73645997e-05 5.08919478e+01] [-3.32172519e-04 -6.59700687e-05 9.99999943e-01 -1.45830665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.401400513 meters 0.0834523667077825 Centerline is valid? [True, True] Translation: X:540.67, Y:50.90, Z:-1.46 [[ 9.99969238e-01 -7.42761366e-03 2.52065804e-03 5.40669184e+02] [ 7.42708131e-03 9.99972395e-01 2.20490043e-04 5.08955566e+01] [-2.52222617e-03 -2.01762128e-04 9.99996799e-01 -1.45507617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.461400513 meters 0.08189451296793586 Centerline is valid? [True, True] Translation: X:540.73, Y:50.90, Z:-1.46 [[ 9.99970631e-01 -7.48760035e-03 1.63504323e-03 5.40730917e+02] [ 7.48737632e-03 9.99971959e-01 1.43092312e-04 5.09019756e+01] [-1.63606880e-03 -1.30845925e-04 9.99998653e-01 -1.45590189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.521400513 meters 0.08493211237470948 Centerline is valid? [True, True] Translation: X:540.79, Y:50.91, Z:-1.46 [[ 9.99977351e-01 -6.65309816e-03 1.01635662e-03 5.40791922e+02] [ 6.65301121e-03 9.99977865e-01 8.89018771e-05 5.09121962e+01] [-1.01692560e-03 -8.21380316e-05 9.99999480e-01 -1.45736025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.581400513 meters 0.0796391659128214 Centerline is valid? [True, True] Translation: X:540.85, Y:50.91, Z:-1.46 [[ 9.99962669e-01 -8.63879054e-03 1.79839912e-04 5.40853213e+02] [ 8.63878784e-03 9.99962685e-01 1.57565516e-05 5.09089635e+01] [-1.79969319e-04 -1.42023646e-05 9.99999984e-01 -1.45844812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.641400513 meters 0.07618303903606366 Centerline is valid? [True, True] Translation: X:540.91, Y:50.90, Z:-1.46 [[ 9.99926899e-01 -1.20800315e-02 -5.19739071e-04 5.40914744e+02] [ 1.20800095e-02 9.99927033e-01 -4.53896292e-05 5.09049479e+01] [ 5.20249455e-04 3.91078582e-05 9.99999864e-01 -1.46111463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.701400513 meters 0.07737007908445866 Centerline is valid? [True, True] Translation: X:540.97, Y:50.91, Z:-1.46 [[ 9.99897976e-01 -1.42691268e-02 6.54733897e-04 5.40974899e+02] [ 1.42690924e-02 9.99898190e-01 5.71841845e-05 5.09068706e+01] [-6.55483207e-04 -4.78358919e-05 9.99999784e-01 -1.45993956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.761400513 meters 0.07577350241815109 Centerline is valid? [True, True] Translation: X:541.04, Y:50.90, Z:-1.46 [[ 9.99888542e-01 -1.49046772e-02 -8.68293160e-04 5.41037157e+02] [ 1.49046171e-02 9.99888917e-01 -7.57089186e-05 5.09043385e+01] [ 8.69325124e-04 6.27589032e-05 9.99999620e-01 -1.46221881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.821400513 meters 0.08247723351086433 Centerline is valid? [True, True] Translation: X:541.10, Y:50.91, Z:-1.47 [[ 9.99909362e-01 -1.30265357e-02 -3.40260334e-03 5.41096973e+02] [ 1.30255998e-02 9.99915119e-01 -2.97060483e-04 5.09094151e+01] [ 3.40618419e-03 2.52712608e-04 9.99994167e-01 -1.46649710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.881400513 meters 0.07744617165474492 Centerline is valid? [True, True] Translation: X:541.16, Y:50.90, Z:-1.46 [[ 9.99929892e-01 -1.16182238e-02 -2.28661699e-03 5.41156887e+02] [ 1.16177969e-02 9.99932491e-01 -1.99886126e-04 5.09030756e+01] [ 2.28878495e-03 1.73306660e-04 9.99997366e-01 -1.46342519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.941400513 meters 0.07943030317097179 Centerline is valid? [True, True] Translation: X:541.22, Y:50.90, Z:-1.46 [[ 9.99938165e-01 -1.09190481e-02 -2.10722594e-03 5.41217058e+02] [ 1.09186839e-02 9.99940372e-01 -1.84220261e-04 5.09006724e+01] [ 2.10911180e-03 1.61200736e-04 9.99997763e-01 -1.46443867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.001400513 meters 0.07811645522126774 Centerline is valid? [True, True] Translation: X:541.28, Y:50.90, Z:-1.46 [[ 9.99919646e-01 -1.26592256e-02 -6.67499122e-04 5.41277729e+02] [ 1.26591895e-02 9.99919868e-01 -5.83782199e-05 5.08970127e+01] [ 6.68184657e-04 4.99235312e-05 9.99999776e-01 -1.46295528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.061400513 meters 0.07652521896221652 Centerline is valid? [True, True] Translation: X:541.34, Y:50.89, Z:-1.46 [[ 9.99914431e-01 -1.30815537e-02 6.64282220e-05 5.41338908e+02] [ 1.30815533e-02 9.99914433e-01 5.80543043e-06 5.08900507e+01] [-6.64984820e-05 -4.93594934e-06 9.99999998e-01 -1.46219732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.121400513 meters 0.07766278123055585 Centerline is valid? [True, True] Translation: X:541.40, Y:50.89, Z:-1.46 [[ 9.99932236e-01 -1.16389279e-02 2.42180391e-04 5.41400043e+02] [ 1.16389231e-02 9.99932265e-01 2.11651218e-05 5.08880544e+01] [-2.42410326e-04 -1.83449686e-05 9.99999970e-01 -1.46198609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.181400513 meters 0.08249521163163404 Centerline is valid? [True, True] Translation: X:541.46, Y:50.89, Z:-1.46 [[ 9.99944182e-01 -1.04746248e-02 1.38354866e-03 5.41459940e+02] [ 1.04744673e-02 9.99945134e-01 1.21019775e-04 5.08916560e+01] [-1.38474038e-03 -1.06521085e-04 9.99999036e-01 -1.46088743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.241400513 meters 0.08642460822268129 Centerline is valid? [True, True] Translation: X:541.52, Y:50.90, Z:-1.46 [[ 9.99960914e-01 -8.65602934e-03 1.80124819e-03 5.41520104e+02] [ 8.65575980e-03 9.99962526e-01 1.57379834e-04 5.08951341e+01] [-1.80254298e-03 -1.41782511e-04 9.99998365e-01 -1.46059624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.301400513 meters 0.08681601300690223 Centerline is valid? [True, True] Translation: X:541.58, Y:50.90, Z:-1.46 [[ 9.99997928e-01 -1.95035605e-03 -5.83231286e-04 5.41581247e+02] [ 1.95032668e-03 9.99998097e-01 -5.09208867e-05 5.08952104e+01] [ 5.83329489e-04 4.97832897e-05 9.99999829e-01 -1.46330486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.361400513 meters 0.09076170471620179 Centerline is valid? [True, True] Translation: X:541.64, Y:50.90, Z:-1.46 [[ 9.99995099e-01 2.85484812e-03 -1.28488848e-03 5.41640752e+02] [-2.85499468e-03 9.99995918e-01 -1.12248337e-04 5.09039717e+01] [ 1.28456278e-03 1.15916137e-04 9.99999168e-01 -1.46428286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.421400513 meters 0.09139164030506337 Centerline is valid? [True, True] Translation: X:541.70, Y:50.91, Z:-1.47 [[ 9.99986378e-01 4.89158347e-03 -1.82101249e-03 5.41700906e+02] [-4.89188113e-03 9.99988022e-01 -1.59035836e-04 5.09117320e+01] [ 1.82021274e-03 1.67941846e-04 9.99998329e-01 -1.46580184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.481400513 meters 0.08624966654559976 Centerline is valid? [True, True] Translation: X:541.76, Y:50.91, Z:-1.47 [[ 9.99995730e-01 7.92992147e-04 -2.81282393e-03 5.41762223e+02] [-7.93686278e-04 9.99999655e-01 -2.45666263e-04 5.09078130e+01] [ 2.81262815e-03 2.47897714e-04 9.99996014e-01 -1.46711875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.541400513 meters 0.08406381347969345 Centerline is valid? [True, True] Translation: X:541.82, Y:50.91, Z:-1.47 [[ 9.99983090e-01 -5.62580257e-03 -1.47291069e-03 5.41822390e+02] [ 5.62561914e-03 9.99984168e-01 -1.28649028e-04 5.09071742e+01] [ 1.47361113e-03 1.20360818e-04 9.99998907e-01 -1.46549830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.601400513 meters 0.07806517349157563 Centerline is valid? [True, True] Translation: X:541.88, Y:50.90, Z:-1.47 [[ 9.99875339e-01 -1.57589429e-02 -9.80555761e-04 5.41883448e+02] [ 1.57588665e-02 9.99875818e-01 -8.56362586e-05 5.08978399e+01] [ 9.81783530e-04 7.01731358e-05 9.99999516e-01 -1.46674424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.661400513 meters 0.07236706037959502 Centerline is valid? [True, True] Translation: X:541.95, Y:50.89, Z:-1.47 [[ 9.99784035e-01 -2.06999954e-02 -1.84207604e-03 5.41945320e+02] [ 2.06997340e-02 9.99785725e-01 -1.60890713e-04 5.08883740e+01] [ 1.84501176e-03 1.22725482e-04 9.99998290e-01 -1.46743243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.721400513 meters 0.0726828662996313 Centerline is valid? [True, True] Translation: X:542.00, Y:50.89, Z:-1.47 [[ 9.99771450e-01 -2.11104538e-02 -3.37584019e-03 5.42004703e+02] [ 2.11095742e-02 9.99777124e-01 -2.95960019e-04 5.08854908e+01] [ 3.38133565e-03 2.24629828e-04 9.99994258e-01 -1.46921310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.781400513 meters 0.07517261465192872 Centerline is valid? [True, True] Translation: X:542.06, Y:50.89, Z:-1.47 [[ 9.99862867e-01 -1.62999478e-02 -2.92556068e-03 5.42064726e+02] [ 1.62992681e-02 9.99867125e-01 -2.56027858e-04 5.08894384e+01] [ 2.92934518e-03 2.08308250e-04 9.99995688e-01 -1.46810592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.841400513 meters 0.08390480662666053 Centerline is valid? [True, True] Translation: X:542.12, Y:50.91, Z:-1.47 [[ 9.99956818e-01 -9.26016608e-03 -7.82321826e-04 5.42123115e+02] [ 9.26011535e-03 9.99957122e-01 -6.84515751e-05 5.09050843e+01] [ 7.82922155e-04 6.12042289e-05 9.99999692e-01 -1.46575718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.901400513 meters 0.0902646390472098 Centerline is valid? [True, True] Translation: X:542.18, Y:50.92, Z:-1.47 [[ 9.99990704e-01 -4.31166057e-03 -4.92878544e-05 5.42181873e+02] [ 4.31166036e-03 9.99990705e-01 -4.35180814e-06 5.09173599e+01] [ 4.93061598e-05 4.13925519e-06 9.99999999e-01 -1.46572912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.961400513 meters 0.08200650742337721 Centerline is valid? [True, True] Translation: X:542.24, Y:50.91, Z:-1.47 [[ 9.99975822e-01 -6.68474366e-03 -1.91584227e-03 5.42242909e+02] [ 6.68443462e-03 9.99977645e-01 -1.67665326e-04 5.09109506e+01] [ 1.91692024e-03 1.54854949e-04 9.99998151e-01 -1.46808332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.021400513 meters 0.08544471574360049 Centerline is valid? [True, True] Translation: X:542.30, Y:50.92, Z:-1.47 [[ 9.99948957e-01 -9.96273890e-03 -1.68159604e-03 5.42301835e+02] [ 9.96250524e-03 9.99950362e-01 -1.47266541e-04 5.09185919e+01] [ 1.68297975e-03 1.30506114e-04 9.99998575e-01 -1.46816842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.081400513 meters 0.0763572046440881 Centerline is valid? [True, True] Translation: X:542.36, Y:50.91, Z:-1.47 [[ 9.99947723e-01 -1.00661897e-02 -1.79533327e-03 5.42362554e+02] [ 1.00659235e-02 9.99949325e-01 -1.57280140e-04 5.09116683e+01] [ 1.79682551e-03 1.39200231e-04 9.99998376e-01 -1.46725419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.141400513 meters 0.08003489666694417 Centerline is valid? [True, True] Translation: X:542.42, Y:50.92, Z:-1.47 [[ 9.99959818e-01 -8.87291953e-03 -1.27852303e-03 5.42420626e+02] [ 8.87278339e-03 9.99960630e-01 -1.12115646e-04 5.09196635e+01] [ 1.27946748e-03 1.00767084e-04 9.99999176e-01 -1.46789255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.201400513 meters 0.0884947385390698 Centerline is valid? [True, True] Translation: X:542.48, Y:50.93, Z:-1.47 [[ 9.99966194e-01 -7.97673207e-03 -1.99552588e-03 5.42478641e+02] [ 7.97639906e-03 9.99968173e-01 -1.74778260e-04 5.09330238e+01] [ 1.99685653e-03 1.58855241e-04 9.99997994e-01 -1.47028597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.261400513 meters 0.08275515010394627 Centerline is valid? [True, True] Translation: X:542.54, Y:50.93, Z:-1.47 [[ 9.99957106e-01 -9.01697894e-03 -2.11650722e-03 5.42539023e+02] [ 9.01660635e-03 9.99959332e-01 -1.85514815e-04 5.09260914e+01] [ 2.11809393e-03 1.66423145e-04 9.99997743e-01 -1.46913981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.321400513 meters 0.0825127360258218 Centerline is valid? [True, True] Translation: X:542.60, Y:50.92, Z:-1.47 [[ 9.99960916e-01 -8.84113161e-03 4.00547339e-05 5.42598085e+02] [ 8.84113150e-03 9.99960916e-01 2.93272180e-06 5.09246125e+01] [-4.00790970e-05 -2.57847801e-06 9.99999999e-01 -1.46715893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.381400513 meters 0.08631558389028293 Centerline is valid? [True, True] Translation: X:542.66, Y:50.93, Z:-1.47 [[ 9.99968726e-01 -7.83437289e-03 -1.08193914e-03 5.42657261e+02] [ 7.83427464e-03 9.99969307e-01 -9.50168684e-05 5.09297795e+01] [ 1.08265033e-03 8.65376884e-05 9.99999410e-01 -1.47009891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.441400513 meters 0.08693181567946426 Centerline is valid? [True, True] Translation: X:542.72, Y:50.93, Z:-1.47 [[ 9.99971914e-01 -6.73041098e-03 -3.29738838e-03 5.42717535e+02] [ 6.72949248e-03 9.99977315e-01 -2.89569647e-04 5.09318457e+01] [ 3.29926250e-03 2.67371763e-04 9.99994522e-01 -1.47295139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.501400513 meters 0.08338730997520291 Centerline is valid? [True, True] Translation: X:542.78, Y:50.93, Z:-1.47 [[ 9.99983519e-01 -4.90696574e-03 -2.98055866e-03 5.42778432e+02] [ 4.90620715e-03 9.99987930e-01 -2.61767777e-04 5.09280868e+01] [ 2.98180717e-03 2.47140225e-04 9.99995524e-01 -1.47185944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.561400513 meters 0.08961692500640708 Centerline is valid? [True, True] Translation: X:542.84, Y:50.94, Z:-1.47 [[ 9.99990878e-01 -3.39989878e-03 -2.58564552e-03 5.42836607e+02] [ 3.39932263e-03 9.99994196e-01 -2.27189660e-04 5.09407036e+01] [ 2.58640293e-03 2.18398145e-04 9.99996631e-01 -1.47320857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.621400513 meters 0.09222138854995648 Centerline is valid? [True, True] Translation: X:542.90, Y:50.95, Z:-1.47 [[ 9.99995514e-01 -2.45980462e-03 -1.70918940e-03 5.42895650e+02] [ 2.45955139e-03 9.99996964e-01 -1.50243795e-04 5.09489358e+01] [ 1.70955378e-03 1.46039281e-04 9.99998528e-01 -1.47313984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.681400513 meters 0.09330033692390546 Centerline is valid? [True, True] Translation: X:542.95, Y:50.96, Z:-1.47 [[ 9.99991766e-01 -3.95253095e-03 -9.19838367e-04 5.42954417e+02] [ 3.95245818e-03 9.99992186e-01 -8.09139604e-05 5.09559222e+01] [ 9.20150994e-04 7.72776714e-05 9.99999574e-01 -1.47108567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.741400513 meters 0.0834766901825586 Centerline is valid? [True, True] Translation: X:543.01, Y:50.95, Z:-1.47 [[ 9.99984691e-01 -5.48223746e-03 -7.50036783e-04 5.43014843e+02] [ 5.48218951e-03 9.99984971e-01 -6.59622782e-05 5.09514247e+01] [ 7.50387132e-04 6.18494246e-05 9.99999717e-01 -1.46945556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.801400513 meters 0.09780941438405137 Centerline is valid? [True, True] Translation: X:543.07, Y:50.98, Z:-1.47 [[ 9.99992401e-01 -2.64808742e-03 -2.86095493e-03 5.43071939e+02] [ 2.64737860e-03 9.99996464e-01 -2.51516683e-04 5.09816811e+01] [ 2.86161085e-03 2.43940741e-04 9.99995876e-01 -1.47450857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.861400513 meters 0.10229857738686675 Centerline is valid? [True, False] Translation: X:543.07, Y:50.99, Z:-1.47 [[ 9.99994936e-01 1.35342781e-03 -2.88041950e-03 5.43071991e+02] [-1.34413859e-03 9.99993898e-01 3.22445165e-03 5.09855862e+01] [ 2.88476599e-03 -3.22056364e-03 9.99990653e-01 -1.47456794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.921400513 meters 0.09129089960611207 Centerline is valid? [False, True] Translation: X:543.07, Y:50.99, Z:-1.47 [[ 9.99996061e-01 7.25533179e-04 -2.71145024e-03 5.43071419e+02] [-7.21474942e-04 9.99998619e-01 1.49738202e-03 5.09933112e+01] [ 2.71253289e-03 -1.49541987e-03 9.99995203e-01 -1.47451772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.981400513 meters 0.08951061485554361 Centerline is valid? [True, True] Translation: X:543.13, Y:51.01, Z:-1.47 [[ 9.99980805e-01 -5.96089467e-03 -1.69033270e-03 5.43130188e+02] [ 5.96065373e-03 9.99982224e-01 -1.47542354e-04 5.10085776e+01] [ 1.69118214e-03 1.37464034e-04 9.99998561e-01 -1.47348582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.041400513 meters 0.08614459041220013 Centerline is valid? [True, True] Translation: X:543.19, Y:51.02, Z:-1.47 [[ 9.99953430e-01 -9.54392138e-03 -1.43232197e-03 5.43190797e+02] [ 9.54375208e-03 9.99954450e-01 -1.24991992e-04 5.10150460e+01] [ 1.43344964e-03 1.11316445e-04 9.99998966e-01 -1.47337578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.101400513 meters 0.07825643223406127 Centerline is valid? [True, True] Translation: X:543.25, Y:51.02, Z:-1.47 [[ 9.99946814e-01 -1.00488256e-02 -2.32163388e-03 5.43250473e+02] [ 1.00483818e-02 9.99949493e-01 -2.02756489e-04 5.10162674e+01] [ 2.32355409e-03 1.79417042e-04 9.99997284e-01 -1.47349768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.161400513 meters 0.08507565904517082 Centerline is valid? [True, True] Translation: X:543.31, Y:51.04, Z:-1.47 [[ 9.99962874e-01 -8.21705382e-03 -2.59449817e-03 5.43308005e+02] [ 8.21649327e-03 9.99966218e-01 -2.26637504e-04 5.10372370e+01] [ 2.59627281e-03 2.05311413e-04 9.99996609e-01 -1.47445298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.221400513 meters 0.08197904838142599 Centerline is valid? [True, True] Translation: X:543.37, Y:51.04, Z:-1.48 [[ 9.99959214e-01 -8.35546597e-03 -3.42865724e-03 5.43366679e+02] [ 8.35448455e-03 9.99965056e-01 -3.00461838e-04 5.10388836e+01] [ 3.43104792e-03 2.71804919e-04 9.99994077e-01 -1.47516466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.281400513 meters 0.08291344606909379 Centerline is valid? [True, True] Translation: X:543.43, Y:51.05, Z:-1.47 [[ 9.99937190e-01 -1.09759552e-02 -2.26792295e-03 5.43425921e+02] [ 1.09755331e-02 9.99939747e-01 -1.98486675e-04 5.10453597e+01] [ 2.26996489e-03 1.73582544e-04 9.99997409e-01 -1.47497240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.341400513 meters 0.07958641835819946 Centerline is valid? [True, True] Translation: X:543.49, Y:51.04, Z:-1.47 [[ 9.99921681e-01 -1.25084002e-02 4.14455885e-04 5.43486345e+02] [ 1.25083862e-02 9.99921766e-01 3.62346325e-05 5.10443508e+01] [-4.14876698e-04 -3.10476204e-05 9.99999913e-01 -1.47024205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.401400513 meters 0.08818996086685496 Centerline is valid? [True, True] Translation: X:543.55, Y:51.06, Z:-1.47 [[ 9.99928796e-01 -1.19278972e-02 3.56956544e-04 5.43545371e+02] [ 1.19278868e-02 9.99928860e-01 3.12380325e-05 5.10573081e+01] [-3.57303754e-04 -2.69780710e-05 9.99999936e-01 -1.47024002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.461400513 meters 0.08752874323486359 Centerline is valid? [True, True] Translation: X:543.61, Y:51.06, Z:-1.48 [[ 9.99972260e-01 -6.52962954e-03 -3.58363666e-03 5.43605509e+02] [ 6.52854701e-03 9.99978640e-01 -3.13691597e-04 5.10611497e+01] [ 3.58560841e-03 2.90286955e-04 9.99993530e-01 -1.47692001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.521400513 meters 0.08299206239068921 Centerline is valid? [True, True] Translation: X:543.67, Y:51.06, Z:-1.48 [[ 9.99984984e-01 -3.85427684e-03 -3.89565373e-03 5.43665847e+02] [ 3.85297727e-03 9.99992519e-01 -3.41043447e-04 5.10607205e+01] [ 3.89693906e-03 3.26028461e-04 9.99992354e-01 -1.47692148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.581400513 meters 0.08511945186488758 Centerline is valid? [True, True] Translation: X:543.72, Y:51.07, Z:-1.47 [[ 9.99986445e-01 -4.81858041e-03 -1.97239530e-03 5.43724042e+02] [ 4.81824882e-03 9.99988377e-01 -1.72829722e-04 5.10699978e+01] [ 1.97320517e-03 1.63323888e-04 9.99998040e-01 -1.47382012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.641400513 meters 0.08239918191638146 Centerline is valid? [True, True] Translation: X:543.78, Y:51.07, Z:-1.47 [[ 9.99923741e-01 -1.22057240e-02 -1.87925718e-03 5.43783723e+02] [ 1.22054361e-02 9.99925497e-01 -1.64587984e-04 5.10706760e+01] [ 1.88112609e-03 1.41638279e-04 9.99998221e-01 -1.47454311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.701400513 meters 0.07428852973261267 Centerline is valid? [True, True] Translation: X:543.85, Y:51.06, Z:-1.48 [[ 9.99786692e-01 -2.05613425e-02 -1.94979980e-03 5.43845749e+02] [ 2.05610485e-02 9.99788585e-01 -1.70748077e-04 5.10620464e+01] [ 1.95289839e-03 1.30621727e-04 9.99998085e-01 -1.47589796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.761400513 meters 0.06203764105577511 Centerline is valid? [True, True] Translation: X:543.91, Y:51.04, Z:-1.47 [[ 9.99483029e-01 -3.20800840e-02 2.13157074e-03 5.43908301e+02] [ 3.20797586e-02 9.99485295e-01 1.86667106e-04 5.10393433e+01] [-2.13646191e-03 -1.18190330e-04 9.99997711e-01 -1.46854623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.821400513 meters 0.05457463351952156 Centerline is valid? [True, True] Translation: X:543.97, Y:51.03, Z:-1.47 [[ 9.99399574e-01 -3.46386088e-02 8.11596135e-04 5.43969303e+02] [ 3.46385625e-02 9.99399902e-01 7.10224004e-05 5.10259319e+01] [-8.13569215e-04 -4.28672332e-05 9.99999668e-01 -1.47032877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.881400513 meters 0.06282858539924566 Centerline is valid? [True, True] Translation: X:544.03, Y:51.03, Z:-1.48 [[ 9.99463012e-01 -3.27444337e-02 -1.22058970e-03 5.44028070e+02] [ 3.27443274e-02 9.99463755e-01 -1.07023561e-04 5.10336791e+01] [ 1.22343959e-03 6.69987019e-05 9.99999249e-01 -1.47556117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.941400513 meters 0.0683061613136182 Centerline is valid? [True, True] Translation: X:544.09, Y:51.03, Z:-1.48 [[ 9.99615637e-01 -2.76671793e-02 -1.76231588e-03 5.44088591e+02] [ 2.76669498e-02 9.99617185e-01 -1.54467291e-04 5.10325772e+01] [ 1.76591491e-03 1.05650015e-04 9.99998435e-01 -1.47628385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.001400513 meters 0.06949046662423 Centerline is valid? [True, True] Translation: X:544.15, Y:51.04, Z:-1.48 [[ 9.99645397e-01 -2.65286758e-02 -2.30416066e-03 5.44148202e+02] [ 2.65282803e-02 9.99648043e-01 -2.02040095e-04 5.10363116e+01] [ 2.30870955e-03 1.40843032e-04 9.99997325e-01 -1.47719364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.061400513 meters 0.0675364309697596 Centerline is valid? [True, True] Translation: X:544.21, Y:51.03, Z:-1.48 [[ 9.99653011e-01 -2.62258475e-02 -2.46209274e-03 5.44207172e+02] [ 2.62253930e-02 9.99656032e-01 -2.16694284e-04 5.10337831e+01] [ 2.46692885e-03 1.52049743e-04 9.99996946e-01 -1.47838314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.121400513 meters 0.06434054501684507 Centerline is valid? [True, True] Translation: X:544.27, Y:51.03, Z:-1.48 [[ 9.99612728e-01 -2.77802001e-02 -1.62923166e-03 5.44267438e+02] [ 2.77800035e-02 9.99614051e-01 -1.43176522e-04 5.10285056e+01] [ 1.63258033e-03 9.78610128e-05 9.99998663e-01 -1.47781693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.181400513 meters 0.059387562639688855 Centerline is valid? [True, True] Translation: X:544.33, Y:51.02, Z:-1.48 [[ 9.99431809e-01 -3.36947803e-02 8.49112954e-04 5.44328719e+02] [ 3.36947291e-02 9.99432169e-01 7.45742216e-05 5.10249787e+01] [-8.51143563e-04 -4.59212183e-05 9.99999637e-01 -1.47503837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.241400513 meters 0.05185590571191361 Centerline is valid? [True, True] Translation: X:544.39, Y:51.02, Z:-1.48 [[ 9.99196869e-01 -4.00649184e-02 6.47871134e-04 5.44390346e+02] [ 4.00648899e-02 9.99197078e-01 5.68966783e-05 5.10164541e+01] [-6.49630505e-04 -3.08940971e-05 9.99999789e-01 -1.47543211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.301400513 meters 0.03785536372005151 Centerline is valid? [True, True] Translation: X:544.45, Y:51.00, Z:-1.47 [[ 9.98653406e-01 -5.18554482e-02 1.54522624e-03 5.44452444e+02] [ 5.18553002e-02 9.98654600e-01 1.35742391e-04 5.09986248e+01] [-1.55018628e-03 -5.54314308e-05 9.99998797e-01 -1.47444849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.361400513 meters 0.03237812883035714 Centerline is valid? [True, True] Translation: X:544.51, Y:50.99, Z:-1.47 [[ 9.98192719e-01 -6.00506673e-02 2.28326067e-03 5.44512686e+02] [ 6.00503656e-02 9.98195328e-01 2.00556830e-04 5.09926288e+01] [-2.29118371e-03 -6.30837291e-05 9.99997373e-01 -1.47386626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.421400513 meters 0.025298657356876805 Centerline is valid? [True, True] Translation: X:544.57, Y:50.98, Z:-1.48 [[ 9.97824972e-01 -6.59083627e-02 1.18882142e-03 5.44573666e+02] [ 6.59082851e-02 9.97825680e-01 1.04410788e-04 5.09847688e+01] [-1.19311808e-03 -2.58305109e-05 9.99999288e-01 -1.47549875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.481400513 meters 0.02301468913501056 Centerline is valid? [True, True] Translation: X:544.63, Y:50.99, Z:-1.48 [[ 9.97641202e-01 -6.86431784e-02 3.81276589e-04 5.44631354e+02] [ 6.86431707e-02 9.97641275e-01 3.33531854e-05 5.09866691e+01] [-3.82666732e-04 -7.10247802e-06 9.99999927e-01 -1.47692794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.541400513 meters 0.02162272555582488 Centerline is valid? [True, True] Translation: X:544.69, Y:50.99, Z:-1.48 [[ 9.97581513e-01 -6.95060691e-02 1.79274564e-04 5.44689978e+02] [ 6.95060675e-02 9.97581529e-01 1.52877478e-05 5.09927612e+01] [-1.79903585e-04 -2.79010459e-06 9.99999984e-01 -1.47671432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.601400513 meters 0.018621321903445516 Centerline is valid? [True, True] Translation: X:544.75, Y:51.00, Z:-1.48 [[ 9.97420587e-01 -7.17766476e-02 -5.34922419e-04 5.44748326e+02] [ 7.17766323e-02 9.97420730e-01 -4.77466191e-05 5.09975278e+01] [ 5.36969802e-04 9.22853111e-06 9.99999856e-01 -1.47735073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.661400513 meters 0.011750793493219563 Centerline is valid? [True, True] Translation: X:544.81, Y:51.00, Z:-1.48 [[ 9.96705124e-01 -8.11060781e-02 8.36317575e-04 5.44806883e+02] [ 8.11060447e-02 9.96705475e-01 7.37482099e-05 5.09988821e+01] [-8.39543734e-04 -5.67480803e-06 9.99999648e-01 -1.47676631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.721400513 meters 0.00877788948282791 Centerline is valid? [True, True] Translation: X:544.87, Y:50.99, Z:-1.48 [[ 9.95998888e-01 -8.93656211e-02 4.23185594e-05 5.44866221e+02] [ 8.93656210e-02 9.95998888e-01 3.22553172e-06 5.09946292e+01] [-4.24374898e-05 5.69198336e-07 9.99999999e-01 -1.47687382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.781400513 meters 0.013493303868570198 Centerline is valid? [True, True] Translation: X:544.92, Y:50.99, Z:-1.48 [[ 9.95347778e-01 -9.63336139e-02 -1.62352656e-03 5.44924782e+02] [ 9.63335072e-02 9.95349102e-01 -1.43935459e-04 5.09908775e+01] [ 1.62984153e-03 -1.31341684e-05 9.99998672e-01 -1.48028772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.841400513 meters 0.01773142187550124 Centerline is valid? [True, True] Translation: X:544.98, Y:50.99, Z:-1.47 [[ 9.94812507e-01 -1.01706999e-01 1.93984288e-03 5.44983920e+02] [ 1.01706857e-01 9.94814398e-01 1.71568590e-04 5.09909702e+01] [-1.94723335e-03 2.66167441e-05 9.99998104e-01 -1.47420191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.901400513 meters 0.01845934767286454 Centerline is valid? [True, True] Translation: X:545.04, Y:51.00, Z:-1.47 [[ 9.94752220e-01 -1.02289230e-01 2.22130476e-03 5.45042621e+02] [ 1.02289045e-01 9.94754700e-01 1.96907393e-04 5.09956662e+01] [-2.22979486e-03 3.13410773e-05 9.99997514e-01 -1.47373988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.961400513 meters 0.020037010679477118 Centerline is valid? [True, True] Translation: X:545.10, Y:51.00, Z:-1.48 [[ 9.94590217e-01 -1.03875985e-01 2.84378726e-04 5.45100973e+02] [ 1.03875982e-01 9.94590257e-01 2.48126699e-05 5.09995860e+01] [-2.85417751e-04 4.86168076e-06 9.99999959e-01 -1.47818928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.021400513 meters 0.02481192865923853 Centerline is valid? [True, True] Translation: X:545.16, Y:50.99, Z:-1.48 [[ 9.94159665e-01 -1.07905993e-01 1.69013791e-03 5.45159915e+02] [ 1.07905893e-01 9.94161101e-01 1.50421258e-04 5.09944277e+01] [-1.69650072e-03 3.28330940e-05 9.99998560e-01 -1.47626352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.081400513 meters 0.02574975643869476 Centerline is valid? [True, True] Translation: X:545.22, Y:50.99, Z:-1.47 [[ 9.93802352e-01 -1.11140471e-01 2.16351373e-03 5.45219878e+02] [ 1.11140315e-01 9.93804706e-01 1.92712841e-04 5.09940388e+01] [-2.17152832e-03 4.89351214e-05 9.99997641e-01 -1.47497517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.141400513 meters 0.029390883925144443 Centerline is valid? [True, True] Translation: X:545.28, Y:50.99, Z:-1.48 [[ 9.93593392e-01 -1.12994094e-01 2.12260123e-03 5.45278343e+02] [ 1.12993948e-01 9.93595658e-01 1.89084296e-04 5.09903993e+01] [-2.13037278e-03 5.19681859e-05 9.99997729e-01 -1.47612941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.201400513 meters 0.02756696786430317 Centerline is valid? [True, True] Translation: X:545.34, Y:51.00, Z:-1.47 [[ 9.93677034e-01 -1.12226533e-01 3.34040023e-03 5.45336570e+02] [ 1.12226165e-01 9.93682645e-01 2.97903672e-04 5.09956691e+01] [-3.35273043e-03 7.88602699e-05 9.99994376e-01 -1.47408543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.261400513 meters 0.029122929405997047 Centerline is valid? [True, True] Translation: X:545.39, Y:51.00, Z:-1.48 [[ 9.93815251e-01 -1.11005279e-01 3.01232926e-03 5.45394800e+02] [ 1.11004973e-01 9.93819814e-01 2.69100147e-04 5.10012646e+01] [-3.02358404e-03 6.69476974e-05 9.99995427e-01 -1.47559849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.321400513 meters 0.02667690764925559 Centerline is valid? [True, True] Translation: X:545.45, Y:51.01, Z:-1.48 [[ 9.93792075e-01 -1.11246961e-01 1.19398629e-03 5.45452156e+02] [ 1.11246913e-01 9.93792792e-01 1.06756834e-04 5.10053021e+01] [-1.19845135e-03 2.67331945e-05 9.99999281e-01 -1.47838274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.381400513 meters 0.02778231354240327 Centerline is valid? [True, True] Translation: X:545.51, Y:51.01, Z:-1.48 [[ 9.93568761e-01 -1.13216696e-01 -1.75958577e-03 5.45510272e+02] [ 1.13216592e-01 9.93570319e-01 -1.58425163e-04 5.10124795e+01] [ 1.76620857e-03 -4.18080119e-05 9.99998439e-01 -1.48397360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.441400513 meters 0.02890229017633387 Centerline is valid? [True, True] Translation: X:545.57, Y:51.02, Z:-1.48 [[ 9.93357428e-01 -1.15054522e-01 -1.86489816e-03 5.45568701e+02] [ 1.15054409e-01 9.93359177e-01 -1.68201720e-04 5.10204421e+01] [ 1.87186607e-03 -4.74803275e-05 9.99998247e-01 -1.48393732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.501400513 meters 0.03320423802612413 Centerline is valid? [True, True] Translation: X:545.63, Y:51.02, Z:-1.49 [[ 9.93096248e-01 -1.17261517e-01 -3.09487358e-03 5.45626996e+02] [ 1.17261218e-01 9.93101067e-01 -2.78480606e-04 5.10247937e+01] [ 3.10617731e-03 -8.63506016e-05 9.99995172e-01 -1.48545380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.561400513 meters 0.03748480975699074 Centerline is valid? [True, True] Translation: X:545.69, Y:51.03, Z:-1.49 [[ 9.92430424e-01 -1.22705329e-01 -5.02542550e-03 5.45686982e+02] [ 1.22704612e-01 9.92443134e-01 -4.52062874e-04 5.10284446e+01] [ 5.04291956e-03 -1.68001934e-04 9.99987270e-01 -1.48934357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.621400513 meters 0.04138198770682836 Centerline is valid? [True, True] Translation: X:545.75, Y:51.03, Z:-1.49 [[ 9.91895289e-01 -1.27012592e-01 -3.39672961e-03 5.45747309e+02] [ 1.27012289e-01 9.91901096e-01 -3.05642795e-04 5.10283356e+01] [ 3.40804031e-03 -1.28260755e-04 9.99994184e-01 -1.48696958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.681400513 meters 0.04884264276715815 Centerline is valid? [True, True] Translation: X:545.81, Y:51.02, Z:-1.49 [[ 9.91369992e-01 -1.31068905e-01 -2.54565831e-03 5.45807120e+02] [ 1.31068748e-01 9.91373255e-01 -2.29102815e-04 5.10233614e+01] [ 2.55372582e-03 -1.06530592e-04 9.99996734e-01 -1.48567148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.741400513 meters 0.04891081355215273 Centerline is valid? [True, True] Translation: X:545.87, Y:51.03, Z:-1.49 [[ 9.91192610e-01 -1.32347372e-01 -4.62418713e-03 5.45866763e+02] [ 1.32346867e-01 9.91203376e-01 -4.16270703e-04 5.10259563e+01] [ 4.63860223e-03 -1.99392237e-04 9.99989222e-01 -1.48899763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.801400513 meters 0.04514214294865872 Centerline is valid? [True, True] Translation: X:545.93, Y:51.03, Z:-1.49 [[ 9.91556077e-01 -1.29664463e-01 -1.91648273e-03 5.45926368e+02] [ 1.29664371e-01 9.91557926e-01 -1.72551601e-04 5.10341229e+01] [ 1.92267745e-03 -7.74049393e-05 9.99998149e-01 -1.48527895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.861400513 meters 0.0406671585407851 Centerline is valid? [True, True] Translation: X:545.99, Y:51.04, Z:-1.48 [[ 9.91903567e-01 -1.26993155e-01 2.28177391e-04 5.45986098e+02] [ 1.26993154e-01 9.91903593e-01 2.05044981e-05 5.10445976e+01] [-2.28933904e-04 8.63848161e-06 9.99999974e-01 -1.48217959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.921400513 meters 0.042514461925171755 Centerline is valid? [True, True] Translation: X:546.04, Y:51.04, Z:-1.48 [[ 9.91976473e-01 -1.26419268e-01 9.19072918e-04 5.46044452e+02] [ 1.26419246e-01 9.91976899e-01 8.26110770e-05 5.10434596e+01] [-9.22142735e-04 3.42402602e-05 9.99999574e-01 -1.48231860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.981400513 meters 0.04237952213125701 Centerline is valid? [True, True] Translation: X:546.10, Y:51.05, Z:-1.48 [[ 9.91847371e-01 -1.27431115e-01 3.21933183e-04 5.46103150e+02] [ 1.27431112e-01 9.91847423e-01 2.85418589e-05 5.10468930e+01] [-3.22945719e-04 1.27151359e-05 9.99999948e-01 -1.48340008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.041400513 meters 0.05052267748914556 Centerline is valid? [True, True] Translation: X:546.16, Y:51.04, Z:-1.48 [[ 9.91576627e-01 -1.29508190e-01 1.84990175e-03 5.46162278e+02] [ 1.29508104e-01 9.91578350e-01 1.66921745e-04 5.10421752e+01] [-1.85594025e-03 7.40615668e-05 9.99998275e-01 -1.48142087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.101400513 meters 0.044819298420933976 Centerline is valid? [True, True] Translation: X:546.22, Y:51.06, Z:-1.48 [[ 9.91056966e-01 -1.33381294e-01 3.93952663e-03 5.46221776e+02] [ 1.33380932e-01 9.91064781e-01 3.55716950e-04 5.10551555e+01] [-3.95177208e-03 1.72921970e-04 9.99992177e-01 -1.47900081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.161400513 meters 0.05144657481610353 Centerline is valid? [True, True] Translation: X:546.28, Y:51.05, Z:-1.48 [[ 9.90828246e-01 -1.35104340e-01 2.49090352e-03 5.46280634e+02] [ 1.35104201e-01 9.90831370e-01 2.24916606e-04 5.10532834e+01] [-2.49845255e-03 1.13677802e-04 9.99996872e-01 -1.48118008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.221400513 meters 0.05333324417162232 Centerline is valid? [True, True] Translation: X:546.34, Y:51.06, Z:-1.48 [[ 9.90603813e-01 -1.36762122e-01 4.54956151e-04 5.46339867e+02] [ 1.36762117e-01 9.90603918e-01 4.10394300e-05 5.10594487e+01] [-4.56293985e-04 2.15669505e-05 9.99999896e-01 -1.48473590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.281400513 meters 0.05516657232986296 Centerline is valid? [True, True] Translation: X:546.40, Y:51.07, Z:-1.48 [[ 9.90565817e-01 -1.37037813e-01 1.33328888e-05 5.46397512e+02] [ 1.37037813e-01 9.90565817e-01 9.38835935e-07 5.10667288e+01] [-1.33357599e-05 8.97131135e-07 1.00000000e+00 -1.48373092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.341400513 meters 0.04988386433490202 Centerline is valid? [True, True] Translation: X:546.46, Y:51.08, Z:-1.48 [[ 9.90715564e-01 -1.35936140e-01 2.00925459e-03 5.46455411e+02] [ 1.35936050e-01 9.90717597e-01 1.81651742e-04 5.10844998e+01] [-2.01529692e-03 9.31649250e-05 9.99997965e-01 -1.48012080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.401400513 meters 0.05121824858337073 Centerline is valid? [True, True] Translation: X:546.51, Y:51.09, Z:-1.48 [[ 9.91016170e-01 -1.33735153e-01 1.36387744e-03 5.46514185e+02] [ 1.33735109e-01 9.91017106e-01 1.23431835e-04 5.10929737e+01] [-1.36813305e-03 6.00753543e-05 9.99999062e-01 -1.48194721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.461400513 meters 0.05148165612411308 Centerline is valid? [True, True] Translation: X:546.57, Y:51.10, Z:-1.48 [[ 9.91434656e-01 -1.30603683e-01 -1.15741996e-05 5.46573055e+02] [ 1.30603683e-01 9.91434656e-01 -1.11872405e-06 5.11017533e+01] [ 1.16211721e-05 -4.02491310e-07 1.00000000e+00 -1.48414910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.521400513 meters 0.04485801624528717 Centerline is valid? [True, True] Translation: X:546.63, Y:51.12, Z:-1.48 [[ 9.91499945e-01 -1.30106762e-01 3.00471011e-04 5.46630728e+02] [ 1.30106760e-01 9.91499990e-01 2.67520933e-05 5.11193307e+01] [-3.01397632e-04 1.25686107e-05 9.99999955e-01 -1.48296266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.581400513 meters 0.044995658376859864 Centerline is valid? [True, True] Translation: X:546.69, Y:51.13, Z:-1.48 [[ 9.91568762e-01 -1.29581220e-01 -3.11820999e-04 5.46688123e+02] [ 1.29581217e-01 9.91568811e-01 -2.84959869e-05 5.11287808e+01] [ 3.12884522e-04 -1.21504142e-05 9.99999951e-01 -1.48401509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.641400513 meters 0.04590136467859533 Centerline is valid? [True, True] Translation: X:546.75, Y:51.14, Z:-1.49 [[ 9.91407364e-01 -1.30797878e-01 -1.83115338e-03 5.46745434e+02] [ 1.30797792e-01 9.91409053e-01 -1.67100550e-04 5.11444911e+01] [ 1.83727844e-03 -7.38461043e-05 9.99998309e-01 -1.48672491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.701400513 meters 0.04481046799919266 Centerline is valid? [True, True] Translation: X:546.80, Y:51.16, Z:-1.48 [[ 9.91289661e-01 -1.31698610e-01 5.33730033e-04 5.46803870e+02] [ 1.31698603e-01 9.91289804e-01 4.81248795e-05 5.11564703e+01] [-5.35419119e-04 2.25858044e-05 9.99999856e-01 -1.48253715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.761400513 meters 0.04651225940381176 Centerline is valid? [True, True] Translation: X:546.86, Y:51.17, Z:-1.48 [[ 9.91182264e-01 -1.32505499e-01 -1.15021587e-04 5.46860390e+02] [ 1.32505498e-01 9.91182270e-01 -1.07666467e-05 5.11719264e+01] [ 1.15433998e-04 -4.56928346e-06 9.99999993e-01 -1.48377396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.821400513 meters 0.049159228836987465 Centerline is valid? [True, True] Translation: X:546.92, Y:51.19, Z:-1.49 [[ 9.91191139e-01 -1.32438690e-01 -3.46420740e-04 5.46916959e+02] [ 1.32438687e-01 9.91191199e-01 -3.18027642e-05 5.11862787e+01] [ 3.47581105e-04 -1.43568897e-05 9.99999939e-01 -1.48577458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.881400513 meters 0.04492656210134979 Centerline is valid? [True, True] Translation: X:546.97, Y:51.22, Z:-1.48 [[ 9.91253546e-01 -1.31947224e-01 2.51750954e-03 5.46973411e+02] [ 1.31947065e-01 9.91256737e-01 2.29718262e-04 5.12153128e+01] [-2.52580898e-03 1.04468954e-04 9.99996805e-01 -1.48066549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.941400513 meters 0.04366757788762403 Centerline is valid? [True, True] Translation: X:547.03, Y:51.24, Z:-1.48 [[ 9.91199196e-01 -1.32367393e-01 1.74003934e-03 5.47030522e+02] [ 1.32367318e-01 9.91200720e-01 1.58893678e-04 5.12408357e+01] [-1.74576059e-03 7.28290549e-05 9.99998474e-01 -1.48252088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.001400513 meters 0.04758722575590561 Centerline is valid? [True, True] Translation: X:547.09, Y:51.25, Z:-1.48 [[ 9.90987935e-01 -1.33943948e-01 1.38951687e-03 5.47088678e+02] [ 1.33943901e-01 9.90988908e-01 1.27252489e-04 5.12511567e+01] [-1.39404050e-03 6.00116272e-05 9.99999027e-01 -1.48332382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.061400513 meters 0.05146380515235637 Centerline is valid? [True, True] Translation: X:547.15, Y:51.27, Z:-1.48 [[ 9.90193955e-01 -1.39623436e-01 4.60725860e-03 5.47147580e+02] [ 1.39622979e-01 9.90204648e-01 4.22312060e-04 5.12727719e+01] [-4.62109354e-03 2.25108323e-04 9.99989297e-01 -1.47821823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.121400513 meters 0.05916439758280332 Centerline is valid? [True, True] Translation: X:547.21, Y:51.28, Z:-1.48 [[ 9.89788505e-01 -1.42523248e-01 2.41660339e-03 5.47205882e+02] [ 1.42523131e-01 9.89791447e-01 2.21494512e-04 5.12823550e+01] [-2.42350149e-03 1.25189160e-04 9.99997055e-01 -1.48129876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.181400513 meters 0.05278052223317186 Centerline is valid? [True, True] Translation: X:547.26, Y:51.31, Z:-1.48 [[ 9.89662855e-01 -1.43413211e-01 -2.88998720e-04 5.47261944e+02] [ 1.43413210e-01 9.89662897e-01 -2.66988287e-05 5.13089250e+01] [ 2.89840276e-04 -1.50233950e-05 9.99999958e-01 -1.48488729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.241400513 meters 0.05280451688207103 Centerline is valid? [True, True] Translation: X:547.32, Y:51.33, Z:-1.48 [[ 9.89775363e-01 -1.42633120e-01 7.24439660e-04 5.47317947e+02] [ 1.42633110e-01 9.89775627e-01 6.62588265e-05 5.13349149e+01] [-7.26483422e-04 3.77477274e-05 9.99999735e-01 -1.48336096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.301400513 meters 0.056447660292381616 Centerline is valid? [True, True] Translation: X:547.37, Y:51.35, Z:-1.48 [[ 9.89740947e-01 -1.42863198e-01 1.72153889e-03 5.47374745e+02] [ 1.42863139e-01 9.89742441e-01 1.57971672e-04 5.13465492e+01] [-1.72644844e-03 8.95934172e-05 9.99998506e-01 -1.48254921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.361400513 meters 0.054761952225885306 Centerline is valid? [True, True] Translation: X:547.43, Y:51.36, Z:-1.48 [[ 9.89450048e-01 -1.44871387e-01 9.39849832e-04 5.47433460e+02] [ 1.44871371e-01 9.89450493e-01 8.63651149e-05 5.13640045e+01] [-9.42446714e-04 5.07033662e-05 9.99999555e-01 -1.48412329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.421400513 meters 0.05505643999669875 Centerline is valid? [True, True] Translation: X:547.49, Y:51.38, Z:-1.48 [[ 9.88951002e-01 -1.48239939e-01 9.14688238e-04 5.47492593e+02] [ 1.48239925e-01 9.88951423e-01 8.40842615e-05 5.13805176e+01] [-9.17046881e-04 5.24381008e-05 9.99999578e-01 -1.48403133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.481400513 meters 0.06761926790026726 Centerline is valid? [True, True] Translation: X:547.55, Y:51.38, Z:-1.48 [[ 9.88693620e-01 -1.49929140e-01 2.48574394e-03 5.47551153e+02] [ 1.49929038e-01 9.88696734e-01 2.28487413e-04 5.13773682e+01] [-2.49190383e-03 1.46781149e-04 9.99996884e-01 -1.48110854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.541400513 meters 0.06110412126164807 Centerline is valid? [True, True] Translation: X:547.61, Y:51.40, Z:-1.48 [[ 9.88411930e-01 -1.51783746e-01 1.88460247e-03 5.47609664e+02] [ 1.51783691e-01 9.88413720e-01 1.73348327e-04 5.13976895e+01] [-1.88907840e-03 1.14712364e-04 9.99998209e-01 -1.48204525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.601400513 meters 0.0737407687479364 Centerline is valid? [True, True] Translation: X:547.67, Y:51.40, Z:-1.48 [[ 9.87996396e-01 -1.54444036e-01 3.18769483e-03 5.47669200e+02] [ 1.54443890e-01 9.88001518e-01 2.93269627e-04 5.13979709e+01] [-3.19474108e-03 2.02570656e-04 9.99994876e-01 -1.48102796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.661400513 meters 0.05546671836074454 Centerline is valid? [True, True] Translation: X:547.72, Y:51.44, Z:-1.48 [[ 9.87846528e-01 -1.55402450e-01 3.05223711e-03 5.47724950e+02] [ 1.55395190e-01 9.87849251e-01 2.48855331e-03 5.14357318e+01] [-3.40187743e-03 -1.98400579e-03 9.99992245e-01 -1.48028209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.721400513 meters 0.0677017295120312 Centerline is valid? [True, True] Translation: X:547.78, Y:51.44, Z:-1.48 [[ 9.87490273e-01 -1.57648191e-01 3.16353808e-03 5.47784260e+02] [ 1.57654587e-01 9.87492522e-01 -1.88443315e-03 5.14377885e+01] [-2.82689272e-03 2.35960570e-03 9.99993220e-01 -1.48124592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.781400513 meters 0.0637723149255754 Centerline is valid? [True, True] Translation: X:547.84, Y:51.45, Z:-1.49 [[ 9.87301415e-01 -1.58857605e-01 4.21843979e-04 5.47842666e+02] [ 1.58857603e-01 9.87301504e-01 3.88269389e-05 5.14529042e+01] [-4.22655150e-04 2.86792314e-05 9.99999910e-01 -1.48575022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.841400513 meters 0.06686631725362309 Centerline is valid? [True, True] Translation: X:547.90, Y:51.46, Z:-1.49 [[ 9.87140310e-01 -1.59852031e-01 1.15599207e-03 5.47900668e+02] [ 1.59852015e-01 9.87140984e-01 1.06508642e-04 5.14587900e+01] [-1.15815277e-03 7.96486880e-05 9.99999326e-01 -1.48584288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.901400513 meters 0.06952958419838157 Centerline is valid? [True, True] Translation: X:547.96, Y:51.47, Z:-1.48 [[ 9.86776522e-01 -1.62061947e-01 2.83232287e-03 5.47960057e+02] [ 1.62061861e-01 9.86780566e-01 2.61312037e-04 5.14687680e+01] [-2.83722990e-03 2.01154932e-04 9.99995955e-01 -1.48356167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.961400513 meters 0.0683548615586167 Centerline is valid? [True, True] Translation: X:548.02, Y:51.49, Z:-1.48 [[ 9.86512879e-01 -1.63669265e-01 2.17062088e-03 5.48019237e+02] [ 1.63669218e-01 9.86515254e-01 2.00301500e-04 5.14857804e+01] [-2.17413381e-03 1.57663813e-04 9.99997624e-01 -1.48383819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.021400513 meters 0.0750749655731649 Centerline is valid? [True, True] Translation: X:548.08, Y:51.49, Z:-1.49 [[ 9.86087416e-01 -1.66225072e-01 -9.12472681e-04 5.48078580e+02] [ 1.66225065e-01 9.86087836e-01 -8.41990424e-05 5.14917153e+01] [ 9.13774203e-04 -6.86482145e-05 9.99999580e-01 -1.48979339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.081400513 meters 0.06520770722481507 Centerline is valid? [True, True] Translation: X:548.14, Y:51.52, Z:-1.49 [[ 9.86336817e-01 -1.64740470e-01 -5.11212569e-04 5.48136117e+02] [ 1.64740467e-01 9.86336949e-01 -4.72165140e-05 5.15190832e+01] [ 5.12006316e-04 -3.76460114e-05 9.99999868e-01 -1.48847699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.141400513 meters 0.06907179238614189 Centerline is valid? [True, True] Translation: X:548.19, Y:51.53, Z:-1.49 [[ 9.86762860e-01 -1.62162684e-01 -1.52367031e-03 5.48194614e+02] [ 1.62162659e-01 9.86764031e-01 -1.40683600e-04 5.15274630e+01] [ 1.52631669e-03 -1.08261077e-04 9.99998829e-01 -1.49053040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.201400513 meters 0.06363983049676508 Centerline is valid? [True, True] Translation: X:548.25, Y:51.55, Z:-1.49 [[ 9.87288740e-01 -1.58934752e-01 -8.29888165e-04 5.48252744e+02] [ 1.58934743e-01 9.87289087e-01 -7.66690346e-05 5.15513117e+01] [ 8.31524903e-04 -5.62035878e-05 9.99999653e-01 -1.48912272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.261400513 meters 0.0645795850024415 Centerline is valid? [True, True] Translation: X:548.31, Y:51.56, Z:-1.49 [[ 9.87445659e-01 -1.57939715e-01 2.47329642e-03 5.48310475e+02] [ 1.57939637e-01 9.87448742e-01 2.28315309e-04 5.15645845e+01] [-2.47831350e-03 1.65182578e-04 9.99996915e-01 -1.48506410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.321400513 meters 0.06844308180626534 Centerline is valid? [True, True] Translation: X:548.37, Y:51.57, Z:-1.49 [[ 9.87089087e-01 -1.60164137e-01 1.60730747e-03 5.48369116e+02] [ 1.60164106e-01 9.87090389e-01 1.48411457e-04 5.15733683e+01] [-1.61032795e-03 1.10937636e-04 9.99998697e-01 -1.48700181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.381400513 meters 0.07713243658451681 Centerline is valid? [True, True] Translation: X:548.43, Y:51.57, Z:-1.49 [[ 9.86598976e-01 -1.63162928e-01 -5.64676513e-04 5.48428827e+02] [ 1.63162924e-01 9.86599137e-01 -5.21759012e-05 5.15732472e+01] [ 5.65622533e-04 -4.06575804e-05 9.99999839e-01 -1.49091185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.441400513 meters 0.07007069218982871 Centerline is valid? [True, True] Translation: X:548.49, Y:51.60, Z:-1.49 [[ 9.86070585e-01 -1.66318599e-01 1.71052758e-03 5.48487735e+02] [ 1.66318573e-01 9.86072060e-01 1.58022942e-04 5.15962865e+01] [-1.71298561e-03 1.28670732e-04 9.99998525e-01 -1.48667463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.501400513 meters 0.06596564019654844 Centerline is valid? [True, True] Translation: X:548.55, Y:51.61, Z:-1.49 [[ 9.86128016e-01 -1.65964970e-01 2.67671671e-03 5.48546485e+02] [ 1.65964907e-01 9.86131628e-01 2.47280051e-04 5.16136578e+01] [-2.68063484e-03 2.00391254e-04 9.99996387e-01 -1.48551989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.561400513 meters 0.06773085075204277 Centerline is valid? [True, True] Translation: X:548.60, Y:51.63, Z:-1.49 [[ 9.86498511e-01 -1.63764424e-01 1.37910634e-03 5.48604898e+02] [ 1.63764405e-01 9.86499470e-01 1.27395257e-04 5.16286781e+01] [-1.38135049e-03 1.00173299e-04 9.99999041e-01 -1.48774335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.621400513 meters 0.06659263660703672 Centerline is valid? [True, True] Translation: X:548.66, Y:51.64, Z:-1.49 [[ 9.86717515e-01 -1.62445435e-01 -1.61719312e-04 5.48664276e+02] [ 1.62445435e-01 9.86717528e-01 -1.49407965e-05 5.16416316e+01] [ 1.61998344e-04 -1.15282184e-05 9.99999987e-01 -1.49092056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.681400513 meters 0.06415317776616793 Centerline is valid? [True, True] Translation: X:548.72, Y:51.66, Z:-1.49 [[ 9.86934802e-01 -1.61113797e-01 -1.42860012e-03 5.48724251e+02] [ 1.61113774e-01 9.86935831e-01 -1.31877592e-04 5.16560789e+01] [ 1.43118395e-03 -1.00012572e-04 9.99998971e-01 -1.49321699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.741400513 meters 0.06497016653793738 Centerline is valid? [True, True] Translation: X:548.78, Y:51.67, Z:-1.49 [[ 9.87825135e-01 -1.55565056e-01 -1.00756017e-03 5.48782401e+02] [ 1.55565042e-01 9.87825647e-01 -9.31083382e-05 5.16696124e+01] [ 1.00977818e-03 -6.47663829e-05 9.99999488e-01 -1.49266646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.801400513 meters 0.0567777125595078 Centerline is valid? [True, True] Translation: X:548.84, Y:51.69, Z:-1.49 [[ 9.88653115e-01 -1.50214187e-01 -8.45771438e-04 5.48841488e+02] [ 1.50214175e-01 9.88653476e-01 -7.81027086e-05 5.16923663e+01] [ 8.47907007e-04 -4.98303726e-05 9.99999639e-01 -1.49186423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.861400513 meters 0.04752679256606843 Centerline is valid? [True, True] Translation: X:548.90, Y:51.72, Z:-1.49 [[ 9.89772259e-01 -1.42652984e-01 1.00039899e-03 5.48900117e+02] [ 1.42652964e-01 9.89772764e-01 9.24152981e-05 5.17214175e+01] [-1.00335099e-03 5.12397828e-05 9.99999495e-01 -1.48937023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.921400513 meters 0.04102211255805253 Centerline is valid? [True, True] Translation: X:548.96, Y:51.74, Z:-1.49 [[ 9.90527378e-01 -1.37278341e-01 3.18903760e-03 5.48958851e+02] [ 1.37278102e-01 9.90532501e-01 2.94551344e-04 5.17444452e+01] [-3.19928091e-03 1.46023859e-04 9.99994872e-01 -1.48614299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.981400513 meters 0.04256893921161977 Centerline is valid? [True, True] Translation: X:549.02, Y:51.76, Z:-1.48 [[ 9.91089103e-01 -1.33104513e-01 5.05752496e-03 5.49017196e+02] [ 1.33103859e-01 9.91101985e-01 4.67156506e-04 5.17579641e+01] [-5.07470367e-03 2.10182367e-04 9.99987102e-01 -1.48324215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.041400513 meters 0.04001799150578193 Centerline is valid? [True, True] Translation: X:549.08, Y:51.78, Z:-1.48 [[ 9.91389402e-01 -1.30848137e-01 5.08118855e-03 5.49076591e+02] [ 1.30847447e-01 9.91402403e-01 4.69327767e-04 5.17791551e+01] [-5.09891320e-03 1.99573975e-04 9.99986981e-01 -1.48386417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.101400513 meters 0.036693506070013884 Centerline is valid? [True, True] Translation: X:549.14, Y:51.80, Z:-1.48 [[ 9.91534316e-01 -1.29763327e-01 4.60204585e-03 5.49137250e+02] [ 1.29762750e-01 9.91544980e-01 4.24936302e-04 5.17970374e+01] [-4.61827661e-03 1.75835199e-04 9.99989320e-01 -1.48469757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.161400513 meters 0.03787217576054079 Centerline is valid? [True, True] Translation: X:549.20, Y:51.81, Z:-1.49 [[ 9.91727315e-01 -1.28282441e-01 4.53303833e-03 5.49197189e+02] [ 1.28281867e-01 9.91737661e-01 4.18388217e-04 5.18081103e+01] [-4.54925669e-03 1.66579595e-04 9.99989638e-01 -1.48517604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.221400513 meters 0.03542640925371155 Centerline is valid? [True, True] Translation: X:549.26, Y:51.83, Z:-1.49 [[ 9.92087357e-01 -1.25486440e-01 3.97870589e-03 5.49256986e+02] [ 1.25485975e-01 9.92095326e-01 3.67141343e-04 5.18259409e+01] [-3.99332677e-03 1.35035505e-04 9.99992018e-01 -1.48641964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.281400513 meters 0.03190251052296405 Centerline is valid? [True, True] Translation: X:549.32, Y:51.84, Z:-1.49 [[ 9.92483266e-01 -1.22324398e-01 3.70250669e-03 5.49316459e+02] [ 1.22323974e-01 9.92490165e-01 3.41589303e-04 5.18414472e+01] [-3.71648618e-03 1.13883666e-04 9.99993087e-01 -1.48753184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.341400513 meters 0.028243585704052068 Centerline is valid? [True, True] Translation: X:549.38, Y:51.86, Z:-1.49 [[ 9.92998415e-01 -1.18059773e-01 4.00461607e-03 5.49376095e+02] [ 1.18059242e-01 9.93006485e-01 3.69451137e-04 5.18559591e+01] [-4.02022705e-03 1.05917547e-04 9.99991913e-01 -1.48784208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.401400513 meters 0.018692930837136634 Centerline is valid? [True, True] Translation: X:549.44, Y:51.88, Z:-1.49 [[ 9.93953216e-01 -1.09764996e-01 2.94098850e-03 5.49435128e+02] [ 1.09764674e-01 9.93957566e-01 2.71299406e-04 5.18783038e+01] [-2.95299695e-03 5.31577257e-05 9.99995638e-01 -1.48888449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.461400513 meters 0.014993023146108552 Centerline is valid? [True, True] Translation: X:549.49, Y:51.89, Z:-1.49 [[ 9.94539257e-01 -1.04337820e-01 2.29885999e-03 5.49494292e+02] [ 1.04337609e-01 9.94541914e-01 2.12067304e-04 5.18913903e+01] [-2.30843926e-03 2.89482950e-05 9.99997335e-01 -1.48995484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.521400513 meters 0.01017682572724541 Centerline is valid? [True, True] Translation: X:549.55, Y:51.91, Z:-1.49 [[ 9.95148522e-01 -9.83391067e-02 2.97293891e-03 5.49554497e+02] [ 9.83387264e-02 9.95152963e-01 2.74205622e-04 5.19086163e+01] [-2.98549410e-03 1.94797068e-05 9.99995543e-01 -1.48877710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.581400513 meters 0.008686187809515784 Centerline is valid? [True, True] Translation: X:549.61, Y:51.93, Z:-1.49 [[ 9.96118537e-01 -8.79523544e-02 3.49909803e-03 5.49614238e+02] [ 8.79517639e-02 9.96124683e-01 3.22583846e-04 5.19329206e+01] [-3.51390993e-03 -1.35799047e-05 9.99993826e-01 -1.48711583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.641400513 meters 0.013543973285022931 Centerline is valid? [True, True] Translation: X:549.68, Y:51.95, Z:-1.49 [[ 9.96692512e-01 -8.11540867e-02 4.24864359e-03 5.49675263e+02] [ 8.11531570e-02 9.96701566e-01 3.91027250e-04 5.19509524e+01] [-4.26636318e-03 -4.49430919e-05 9.99990898e-01 -1.48598017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.701400513 meters 0.016198347343987462 Centerline is valid? [True, True] Translation: X:549.74, Y:51.96, Z:-1.49 [[ 9.96909713e-01 -7.83946253e-02 5.03059350e-03 5.49735842e+02] [ 7.83932892e-02 9.96922403e-01 4.62535066e-04 5.19618626e+01] [-5.05137162e-03 -6.67409296e-05 9.99987240e-01 -1.48512703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.761400513 meters 0.018169845888937247 Centerline is valid? [True, True] Translation: X:549.80, Y:51.97, Z:-1.48 [[ 9.97082357e-01 -7.60435560e-02 6.64454456e-03 5.49797231e+02] [ 7.60411780e-02 9.97104491e-01 6.10156264e-04 5.19718179e+01] [-6.67170368e-03 -1.03117050e-04 9.99977739e-01 -1.48326107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.821400513 meters 0.01663543507264131 Centerline is valid? [True, True] Translation: X:549.86, Y:51.97, Z:-1.48 [[ 9.97013477e-01 -7.69035457e-02 7.06905558e-03 5.49860072e+02] [ 7.69008815e-02 9.97038532e-01 6.48328289e-04 5.19718883e+01] [-7.09797954e-03 -1.02775436e-04 9.99974804e-01 -1.48291384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.881400513 meters 0.01568728223795572 Centerline is valid? [True, True] Translation: X:549.92, Y:51.97, Z:-1.48 [[ 9.96918381e-01 -7.81413081e-02 6.90495640e-03 5.49921494e+02] [ 7.81388033e-02 9.96942289e-01 6.32201355e-04 5.19714839e+01] [-6.93324408e-03 -9.07081213e-05 9.99975961e-01 -1.48440525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.941400513 meters 0.015598669374855633 Centerline is valid? [True, True] Translation: X:549.98, Y:51.97, Z:-1.48 [[ 9.96888580e-01 -7.85126961e-02 6.99391907e-03 5.49982838e+02] [ 7.85101429e-02 9.96913110e-01 6.39288272e-04 5.19733899e+01] [-7.02252185e-03 -8.82055920e-05 9.99975338e-01 -1.48464041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.001400513 meters 0.01795849361233397 Centerline is valid? [True, True] Translation: X:550.04, Y:51.98, Z:-1.49 [[ 9.97105200e-01 -7.58354533e-02 5.49582801e-03 5.50044669e+02] [ 7.58338387e-02 9.97120342e-01 5.01879097e-04 5.19780800e+01] [-5.51806214e-03 -8.36565217e-05 9.99984772e-01 -1.48719850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.061400513 meters 0.02114072573718668 Centerline is valid? [True, True] Translation: X:550.11, Y:51.98, Z:-1.49 [[ 9.97342504e-01 -7.27203358e-02 4.43657902e-03 5.50106502e+02] [ 7.27192536e-02 9.97352368e-01 4.04970392e-04 5.19838897e+01] [-4.45428218e-03 -8.12694692e-05 9.99990076e-01 -1.48922740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.121400513 meters 0.02151926966453539 Centerline is valid? [True, True] Translation: X:550.17, Y:51.98, Z:-1.49 [[ 9.97465335e-01 -7.10137063e-02 4.46749136e-03 5.50168699e+02] [ 7.10125934e-02 9.97475336e-01 4.07433270e-04 5.19825909e+01] [-4.48514579e-03 -8.91524161e-05 9.99989938e-01 -1.49034892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.181400513 meters 0.02143573607028231 Centerline is valid? [True, True] Translation: X:550.23, Y:51.98, Z:-1.49 [[ 9.97430192e-01 -7.15599749e-02 3.49029424e-03 5.50231677e+02] [ 7.15593004e-02 9.97436296e-01 3.17919761e-04 5.19794794e+01] [-3.50409649e-03 -6.73397544e-05 9.99993858e-01 -1.49217145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.241400513 meters 0.02378808862337892 Centerline is valid? [True, True] Translation: X:550.29, Y:51.98, Z:-1.49 [[ 9.97526882e-01 -7.02420534e-02 2.48485437e-03 5.50293502e+02] [ 7.02417075e-02 9.97529975e-01 2.26324838e-04 5.19804899e+01] [-2.49461424e-03 -5.12246956e-05 9.99996887e-01 -1.49424533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.301400513 meters 0.027186613596445572 Centerline is valid? [True, True] Translation: X:550.35, Y:51.98, Z:-1.49 [[ 9.97716416e-01 -6.74966303e-02 2.48149871e-03 5.50354067e+02] [ 6.74962778e-02 9.97719500e-01 2.25598340e-04 5.19838340e+01] [-2.49106678e-03 -5.75912409e-05 9.99996896e-01 -1.49350991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.361400513 meters 0.0331608736695589 Centerline is valid? [True, True] Translation: X:550.41, Y:51.99, Z:-1.50 [[ 9.98087923e-01 -6.17893278e-02 1.60520069e-03 5.50414517e+02] [ 6.17891732e-02 9.98089213e-01 1.45785753e-04 5.19861893e+01] [-1.61114149e-03 -4.63229758e-05 9.99998701e-01 -1.49523850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.421400513 meters 0.032921390778676764 Centerline is valid? [True, True] Translation: X:550.48, Y:51.98, Z:-1.49 [[ 9.98275673e-01 -5.86679149e-02 1.93838479e-03 5.50475825e+02] [ 5.86676836e-02 9.98277553e-01 1.76025987e-04 5.19822877e+01] [-1.94537310e-03 -6.20019146e-05 9.99998106e-01 -1.49495829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.481400513 meters 0.037572891502034494 Centerline is valid? [True, True] Translation: X:550.54, Y:51.98, Z:-1.49 [[ 9.98351964e-01 -5.72957029e-02 3.24937122e-03 5.50536701e+02] [ 5.72950459e-02 9.98357246e-01 2.94999887e-04 5.19849405e+01] [-3.26093553e-03 -1.08340843e-04 9.99994677e-01 -1.49327142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.541400513 meters 0.04182656569612466 Centerline is valid? [True, True] Translation: X:550.60, Y:51.98, Z:-1.49 [[ 9.98545007e-01 -5.37411609e-02 4.44477261e-03 5.50598294e+02] [ 5.37398980e-02 9.98554886e-01 4.03142694e-04 5.19824433e+01] [-4.46001477e-03 -1.63694497e-04 9.99990041e-01 -1.49130568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.601400513 meters 0.046387359800784726 Centerline is valid? [True, True] Translation: X:550.66, Y:51.99, Z:-1.49 [[ 9.98793796e-01 -4.89253273e-02 4.15513521e-03 5.50658461e+02] [ 4.89241822e-02 9.98802424e-01 3.76836146e-04 5.19862580e+01] [-4.16859596e-03 -1.73095013e-04 9.99991296e-01 -1.49175306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.661400513 meters 0.0537267909665705 Centerline is valid? [True, True] Translation: X:550.72, Y:51.99, Z:-1.49 [[ 9.99060903e-01 -4.29652526e-02 5.59463614e-03 5.50718597e+02] [ 4.29630836e-02 9.99076532e-01 5.07357732e-04 5.19945884e+01] [-5.61126842e-03 -2.66518454e-04 9.99984221e-01 -1.48936283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.721400513 meters 0.05945082607701755 Centerline is valid? [True, True] Translation: X:550.78, Y:52.00, Z:-1.49 [[ 9.99279881e-01 -3.72151946e-02 7.39918657e-03 5.50779534e+02] [ 3.72112441e-02 9.99307197e-01 6.70914688e-04 5.19976491e+01] [-7.41902861e-03 -3.95098612e-04 9.99972401e-01 -1.48689469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.781400513 meters 0.05972434715830832 Centerline is valid? [True, True] Translation: X:550.84, Y:52.00, Z:-1.49 [[ 9.99299738e-01 -3.71212572e-02 4.69531267e-03 5.50842102e+02] [ 3.71196659e-02 9.99310737e-01 4.25638721e-04 5.19971948e+01] [-4.70787661e-03 -2.51052225e-04 9.99988886e-01 -1.49147605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.841400513 meters 0.05567230478499257 Centerline is valid? [True, True] Translation: X:550.91, Y:51.99, Z:-1.49 [[ 9.99302423e-01 -3.71577130e-02 3.73782899e-03 5.50905294e+02] [ 3.71567054e-02 9.99309394e-01 3.38690098e-04 5.19916058e+01] [-3.74783257e-03 -1.99568425e-04 9.99992957e-01 -1.49299625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.901400513 meters 0.05552580631656101 Centerline is valid? [True, True] Translation: X:550.97, Y:51.99, Z:-1.49 [[ 9.99269400e-01 -3.79152244e-02 4.80647648e-03 5.50967307e+02] [ 3.79135683e-02 9.99280927e-01 4.35237788e-04 5.19921453e+01] [-4.81952241e-03 -2.52689129e-04 9.99988354e-01 -1.49184638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.961400513 meters 0.05738899595810258 Centerline is valid? [True, True] Translation: X:551.03, Y:52.00, Z:-1.49 [[ 9.99202062e-01 -3.97680991e-02 3.70639837e-03 5.51028192e+02] [ 3.97671275e-02 9.99208919e-01 3.35489466e-04 5.19957953e+01] [-3.71680809e-03 -1.87828950e-04 9.99993075e-01 -1.49395088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.021400513 meters 0.050129302630584946 Centerline is valid? [True, True] Translation: X:551.09, Y:51.99, Z:-1.50 [[ 9.99122334e-01 -4.18487832e-02 1.80033207e-03 5.51090691e+02] [ 4.18485573e-02 9.99123952e-01 1.62970997e-04 5.19878079e+01] [-1.80557503e-03 -8.74866634e-05 9.99998366e-01 -1.49696807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.081400513 meters 0.050171457429542925 Centerline is valid? [True, True] Translation: X:551.15, Y:51.99, Z:-1.50 [[ 9.99023561e-01 -4.41772150e-02 5.46957214e-04 5.51151934e+02] [ 4.41771944e-02 9.99023710e-01 4.95397285e-05 5.19882402e+01] [-5.48611752e-04 -2.53283208e-05 9.99999849e-01 -1.49886435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.141400513 meters 0.050841658773066095 Centerline is valid? [True, True] Translation: X:551.21, Y:51.99, Z:-1.50 [[ 9.99003316e-01 -4.45896738e-02 2.03348497e-03 5.51213301e+02] [ 4.45893915e-02 9.99005382e-01 1.83932819e-04 5.19858639e+01] [-2.03966393e-03 -9.30776382e-05 9.99997916e-01 -1.49700585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.201400513 meters 0.05515655435192164 Centerline is valid? [True, True] Translation: X:551.27, Y:51.99, Z:-1.50 [[ 9.99109686e-01 -4.21142610e-02 2.49472241e-03 5.51273441e+02] [ 4.21138289e-02 9.99112794e-01 2.25521594e-04 5.19927382e+01] [-2.50200675e-03 -1.20258496e-04 9.99996863e-01 -1.49637320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.261400513 meters 0.06194483363204297 Centerline is valid? [True, True] Translation: X:551.33, Y:52.00, Z:-1.50 [[ 9.99368244e-01 -3.54858617e-02 1.96624721e-03 5.51333418e+02] [ 3.54855805e-02 9.99370173e-01 1.77724239e-04 5.20005330e+01] [-1.97131551e-03 -1.07838536e-04 9.99998051e-01 -1.49707709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.321400513 meters 0.06450095943422665 Centerline is valid? [True, True] Translation: X:551.39, Y:52.01, Z:-1.50 [[ 9.99473822e-01 -3.23651995e-02 2.13851875e-03 5.51393395e+02] [ 3.23648598e-02 9.99476102e-01 1.93280961e-04 5.20073411e+01] [-2.14365396e-03 -1.23966401e-04 9.99997695e-01 -1.49734762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.381400513 meters 0.06518812158371355 Centerline is valid? [True, True] Translation: X:551.46, Y:52.01, Z:-1.50 [[ 9.99481197e-01 -3.21365892e-02 2.13939619e-03 5.51455897e+02] [ 3.21362486e-02 9.99483479e-01 1.93398491e-04 5.20113527e+01] [-2.14450632e-03 -1.24545987e-04 9.99997693e-01 -1.49880646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.441400513 meters 0.05943046783843491 Centerline is valid? [True, True] Translation: X:551.52, Y:52.00, Z:-1.50 [[ 9.99336450e-01 -3.63730245e-02 1.91403769e-03 5.51517924e+02] [ 3.63727599e-02 9.99338277e-01 1.72898498e-04 5.20019548e+01] [-1.91905997e-03 -1.03164938e-04 9.99998153e-01 -1.49949270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.501400513 meters 0.058842462557746826 Centerline is valid? [True, True] Translation: X:551.58, Y:52.00, Z:-1.50 [[ 9.99182409e-01 -4.02989974e-02 3.24106615e-03 5.51577647e+02] [ 4.02982593e-02 9.99187652e-01 2.92756160e-04 5.20005865e+01] [-3.25023106e-03 -1.61907481e-04 9.99994705e-01 -1.49749806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.561400513 meters 0.053988534459621006 Centerline is valid? [True, True] Translation: X:551.64, Y:51.99, Z:-1.50 [[ 9.99065190e-01 -4.30222333e-02 4.22293682e-03 5.51639592e+02] [ 4.30210043e-02 9.99074095e-01 3.81475632e-04 5.19923494e+01] [-4.23543871e-03 -1.99444042e-04 9.99991011e-01 -1.49719708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.621400513 meters 0.04942687488130141 Centerline is valid? [True, True] Translation: X:551.70, Y:51.99, Z:-1.50 [[ 9.99055466e-01 -4.32487319e-02 4.20978533e-03 5.51701963e+02] [ 4.32475130e-02 9.99064316e-01 3.80185131e-04 5.19878787e+01] [-4.22228883e-03 -1.97763288e-04 9.99991067e-01 -1.49753658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.681400513 meters 0.05960585217301446 Centerline is valid? [True, True] Translation: X:551.76, Y:52.00, Z:-1.50 [[ 9.99226594e-01 -3.92448200e-02 2.46145951e-03 5.51760674e+02] [ 3.92443914e-02 9.99229617e-01 2.22198081e-04 5.19979490e+01] [-2.46828337e-03 -1.25427751e-04 9.99996946e-01 -1.50079122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.741400513 meters 0.06416953015154139 Centerline is valid? [True, True] Translation: X:551.82, Y:52.00, Z:-1.50 [[ 9.99538452e-01 -3.03753204e-02 4.71499077e-04 5.51821096e+02] [ 3.03753037e-02 9.99538563e-01 4.25619471e-05 5.20031017e+01] [-4.72574343e-04 -2.82203751e-05 9.99999888e-01 -1.50397216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.801400513 meters 0.0664093982480213 Centerline is valid? [True, True] Translation: X:551.88, Y:52.01, Z:-1.50 [[ 9.99648998e-01 -2.64723839e-02 1.04545255e-03 5.51882082e+02] [ 2.64722995e-02 9.99649543e-01 9.44259874e-05 5.20080903e+01] [-1.04758584e-03 -6.67173108e-05 9.99999449e-01 -1.50332042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.861400513 meters 0.07265106435512313 Centerline is valid? [True, True] Translation: X:551.94, Y:52.02, Z:-1.51 [[ 9.99710122e-01 -2.40720730e-02 4.56001558e-04 5.51941218e+02] [ 2.40720566e-02 9.99710225e-01 4.12401120e-05 5.20182763e+01] [-4.56862155e-04 -3.02512621e-05 9.99999895e-01 -1.50522487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.921400513 meters 0.07891637433555121 Centerline is valid? [True, True] Translation: X:552.00, Y:52.03, Z:-1.50 [[ 9.99755892e-01 -2.20015948e-02 2.02127269e-03 5.52000627e+02] [ 2.20012708e-02 9.99757926e-01 1.82410447e-04 5.20308238e+01] [-2.02479672e-03 -1.37895351e-04 9.99997941e-01 -1.50321569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.981400513 meters 0.06987317027064888 Centerline is valid? [True, True] Translation: X:552.06, Y:52.03, Z:-1.50 [[ 9.99794047e-01 -2.01792536e-02 2.15888231e-03 5.52062774e+02] [ 2.01788798e-02 9.99796367e-01 1.94813423e-04 5.20251035e+01] [-2.16237388e-03 -1.51209474e-04 9.99997651e-01 -1.50269518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.041400513 meters 0.0763058775843615 Centerline is valid? [True, True] Translation: X:552.12, Y:52.04, Z:-1.51 [[ 9.99811316e-01 -1.94250374e-02 -8.87228779e-06 5.52122756e+02] [ 1.94250374e-02 9.99811316e-01 -6.87738099e-07 5.20384168e+01] [ 8.88397307e-06 5.15263811e-07 1.00000000e+00 -1.50582080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.101400513 meters 0.07549213500613951 Centerline is valid? [True, True] Translation: X:552.18, Y:52.04, Z:-1.50 [[ 9.99800228e-01 -1.99426146e-02 1.34050946e-03 5.52184258e+02] [ 1.99424703e-02 9.99801122e-01 1.20910810e-04 5.20430887e+01] [-1.34265414e-03 -9.41535851e-05 9.99999094e-01 -1.50288446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.161400513 meters 0.07408898474029332 Centerline is valid? [True, True] Translation: X:552.25, Y:52.05, Z:-1.50 [[ 9.99805138e-01 -1.96243459e-02 2.13782098e-03 5.52246430e+02] [ 1.96239783e-02 9.99807413e-01 1.92755119e-04 5.20469793e+01] [-2.14119196e-03 -1.50765006e-04 9.99997696e-01 -1.50102018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.221400513 meters 0.07317717765806904 Centerline is valid? [True, True] Translation: X:552.31, Y:52.05, Z:-1.50 [[ 9.99833196e-01 -1.80373525e-02 2.86941065e-03 5.52307291e+02] [ 1.80366844e-02 9.99837292e-01 2.58522492e-04 5.20505272e+01] [-2.87360684e-03 -2.06724715e-04 9.99995850e-01 -1.50116087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.281400513 meters 0.0835718960793206 Centerline is valid? [True, True] Translation: X:552.37, Y:52.06, Z:-1.51 [[ 9.99835308e-01 -1.76853259e-02 4.07256021e-03 5.52366831e+02] [ 1.76338720e-02 9.99768342e-01 1.23413814e-02 5.20550196e+01] [-4.28987812e-03 -1.22675338e-02 9.99915549e-01 -1.50615632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.341400513 meters 0.07568107698695414 Centerline is valid? [True, True] Translation: X:552.43, Y:52.07, Z:-1.50 [[ 9.99802765e-01 -1.97368187e-02 2.21129265e-03 5.52428291e+02] [ 1.97618380e-02 9.99733537e-01 -1.19300208e-02 5.20700729e+01] [-1.97524276e-03 1.19713670e-02 9.99926390e-01 -1.50126654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.401400513 meters 0.07286083209708302 Centerline is valid? [True, True] Translation: X:552.49, Y:52.06, Z:-1.50 [[ 9.99773944e-01 -2.09142707e-02 3.82795888e-03 5.52491695e+02] [ 2.09131043e-02 9.99781238e-01 3.44489510e-04 5.20552789e+01] [-3.83432622e-03 -2.64357133e-04 9.99992614e-01 -1.50043509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.461400513 meters 0.06841250213208805 Centerline is valid? [True, True] Translation: X:552.56, Y:52.05, Z:-1.50 [[ 9.99767059e-01 -2.14133265e-02 2.70143854e-03 5.52555167e+02] [ 2.14127475e-02 9.99770691e-01 2.43060361e-04 5.20490530e+01] [-2.70602381e-03 -1.85158520e-04 9.99996322e-01 -1.50186615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.521400513 meters 0.073208880098278 Centerline is valid? [True, True] Translation: X:552.62, Y:52.05, Z:-1.50 [[ 9.99755386e-01 -2.19484117e-02 2.72689858e-03 5.52616254e+02] [ 2.19478243e-02 9.99759087e-01 2.45149325e-04 5.20541645e+01] [-2.73162228e-03 -1.85239867e-04 9.99996252e-01 -1.50422380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.581400513 meters 0.07314854381492053 Centerline is valid? [True, True] Translation: X:552.68, Y:52.05, Z:-1.50 [[ 9.99743310e-01 -2.24053184e-02 3.36383883e-03 5.52678997e+02] [ 2.24044284e-02 9.99748944e-01 3.02031440e-04 5.20524347e+01] [-3.36976143e-03 -2.26589026e-04 9.99994297e-01 -1.50311990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.641400513 meters 0.07169483115107839 Centerline is valid? [True, True] Translation: X:552.74, Y:52.05, Z:-1.51 [[ 9.99742106e-01 -2.27093966e-02 6.36578529e-05 5.52741985e+02] [ 2.27093963e-02 9.99742108e-01 5.85439231e-06 5.20496428e+01] [-6.37743858e-05 -4.40725109e-06 9.99999998e-01 -1.50743518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.701400513 meters 0.06988885217819779 Centerline is valid? [True, True] Translation: X:552.80, Y:52.05, Z:-1.51 [[ 9.99697234e-01 -2.46028512e-02 -3.74407076e-04 5.52803122e+02] [ 2.46028404e-02 9.99697304e-01 -3.35352853e-05 5.20464824e+01] [ 3.75118808e-04 2.43136544e-05 9.99999929e-01 -1.50812934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.761400513 meters 0.0685432237094518 Centerline is valid? [True, True] Translation: X:552.86, Y:52.04, Z:-1.50 [[ 9.99559645e-01 -2.95391240e-02 2.82061473e-03 5.52863915e+02] [ 2.95385274e-02 9.99563610e-01 2.52963234e-04 5.20424656e+01] [-2.82685616e-03 -1.69535035e-04 9.99995990e-01 -1.50297576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.821400513 meters 0.052895365365593 Centerline is valid? [True, True] Translation: X:552.93, Y:52.01, Z:-1.50 [[ 9.99186482e-01 -4.02490408e-02 2.52750041e-03 5.52927587e+02] [ 4.02485959e-02 9.99189671e-01 2.26680076e-04 5.20140110e+01] [-2.53457596e-03 -1.24767325e-04 9.99996780e-01 -1.50412869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.881400513 meters 0.0484484409980732 Centerline is valid? [True, True] Translation: X:552.99, Y:52.00, Z:-1.50 [[ 9.98939170e-01 -4.59704740e-02 2.69261077e-03 5.52988760e+02] [ 4.59699898e-02 9.98942792e-01 2.41480808e-04 5.20016758e+01] [-2.70086511e-03 -1.17445348e-04 9.99996346e-01 -1.50415127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.941400513 meters 0.04775212161592569 Centerline is valid? [True, True] Translation: X:553.05, Y:52.00, Z:-1.50 [[ 9.98800324e-01 -4.88242535e-02 3.75553892e-03 5.53049851e+02] [ 4.88233317e-02 9.98807373e-01 3.36811243e-04 5.19951246e+01] [-3.76750452e-03 -1.53049256e-04 9.99992891e-01 -1.50207587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.001400513 meters 0.042098384974939305 Centerline is valid? [True, True] Translation: X:553.11, Y:51.98, Z:-1.50 [[ 9.98757683e-01 -4.97275713e-02 3.20291647e-03 5.53113669e+02] [ 4.97269054e-02 9.98762811e-01 2.87242927e-04 5.19770694e+01] [-3.21323775e-03 -1.27614956e-04 9.99994829e-01 -1.50332273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.061400513 meters 0.047366191850577825 Centerline is valid? [True, True] Translation: X:553.17, Y:51.98, Z:-1.50 [[ 9.98619409e-01 -5.23902962e-02 3.81210716e-03 5.53174589e+02] [ 5.23893731e-02 9.98626675e-01 3.41682435e-04 5.19773046e+01] [-3.82477275e-03 -1.41496808e-04 9.99992676e-01 -1.50359980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.121400513 meters 0.03721578414823123 Centerline is valid? [True, True] Translation: X:553.24, Y:51.95, Z:-1.50 [[ 9.98079468e-01 -6.16809041e-02 5.73079826e-03 5.53237677e+02] [ 6.16789713e-02 9.98095908e-01 5.13557105e-04 5.19513505e+01] [-5.75156296e-03 -1.59101060e-04 9.99983447e-01 -1.49974975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.181400513 meters 0.02964329641211397 Centerline is valid? [True, True] Translation: X:553.30, Y:51.94, Z:-1.50 [[ 9.97852675e-01 -6.51984265e-02 6.26125143e-03 5.53299685e+02] [ 6.51961887e-02 9.97872308e-01 5.61059713e-04 5.19447869e+01] [-6.28450963e-03 -1.51645205e-04 9.99980241e-01 -1.49965298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.241400513 meters 0.02866277494882876 Centerline is valid? [True, True] Translation: X:553.36, Y:51.94, Z:-1.50 [[ 9.97862960e-01 -6.51175763e-02 5.40505167e-03 5.53361343e+02] [ 6.51159079e-02 9.97877590e-01 4.84251894e-04 5.19435730e+01] [-5.42511324e-03 -1.31262181e-04 9.99985275e-01 -1.50143012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.301400513 meters 0.03178624928298232 Centerline is valid? [True, True] Translation: X:553.42, Y:51.95, Z:-1.50 [[ 9.98059658e-01 -6.21668500e-02 3.49305600e-03 5.53421482e+02] [ 6.21661353e-02 9.98065766e-01 3.12905231e-04 5.19488429e+01] [-3.50575195e-03 -9.51482961e-05 9.99993850e-01 -1.50396363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.361400513 meters 0.03365039467068778 Centerline is valid? [True, True] Translation: X:553.48, Y:51.95, Z:-1.51 [[ 9.98156460e-01 -6.06649371e-02 1.85655854e-03 5.53481163e+02] [ 6.06647327e-02 9.98158185e-01 1.66280946e-04 5.19545218e+01] [-1.86322653e-03 -5.33467731e-05 9.99998263e-01 -1.50618711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.421400513 meters 0.03332591797215147 Centerline is valid? [True, True] Translation: X:553.54, Y:51.96, Z:-1.51 [[ 9.98154097e-01 -6.07077438e-02 1.72318216e-03 5.53540749e+02] [ 6.07075677e-02 9.98155583e-01 1.54370227e-04 5.19593401e+01] [-1.72937536e-03 -4.94750770e-05 9.99998503e-01 -1.50790367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.481400513 meters 0.03125658769754921 Centerline is valid? [True, True] Translation: X:553.60, Y:51.96, Z:-1.51 [[ 9.98101728e-01 -6.15327050e-02 2.58197553e-03 5.53600042e+02] [ 6.15323121e-02 9.98105065e-01 2.31400984e-04 5.19627413e+01] [-2.59132158e-03 -7.20867977e-05 9.99996640e-01 -1.50595016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.541400513 meters 0.030587322873190194 Centerline is valid? [True, True] Translation: X:553.66, Y:51.97, Z:-1.51 [[ 9.98094807e-01 -6.16455652e-02 2.56519569e-03 5.53659417e+02] [ 6.16451777e-02 9.98098101e-01 2.29957953e-04 5.19678254e+01] [-2.57449284e-03 -7.13878949e-05 9.99996683e-01 -1.50585796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.601400513 meters 0.03299898951492541 Centerline is valid? [True, True] Translation: X:553.72, Y:51.98, Z:-1.51 [[ 9.98132840e-01 -6.10748402e-02 8.35765505e-04 5.53717654e+02] [ 6.10747989e-02 9.98133189e-01 7.48670068e-05 5.19798062e+01] [-8.38777779e-04 -2.36830080e-05 9.99999648e-01 -1.51016337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.661400513 meters 0.03299057539314891 Centerline is valid? [True, True] Translation: X:553.78, Y:51.99, Z:-1.51 [[ 9.98206116e-01 -5.98706040e-02 2.45772428e-04 5.53776968e+02] [ 5.98706004e-02 9.98206146e-01 2.19808962e-05 5.19875781e+01] [-2.46647558e-04 -7.22692221e-06 9.99999970e-01 -1.51045302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.721400513 meters 0.034662164031941195 Centerline is valid? [True, True] Translation: X:553.84, Y:52.00, Z:-1.51 [[ 9.98271020e-01 -5.87618489e-02 1.41967429e-03 5.53835523e+02] [ 5.87617271e-02 9.98272029e-01 1.27353970e-04 5.19999223e+01] [-1.42470469e-03 -4.37112644e-05 9.99998984e-01 -1.50777548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.781400513 meters 0.0350772102669287 Centerline is valid? [True, True] Translation: X:553.89, Y:52.01, Z:-1.51 [[ 9.98318369e-01 -5.79152158e-02 2.50239562e-03 5.53894074e+02] [ 5.79148346e-02 9.98321502e-01 2.24589198e-04 5.20093732e+01] [-2.51120248e-03 -7.92856934e-05 9.99996844e-01 -1.50678371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.841400513 meters 0.03746774031124493 Centerline is valid? [True, True] Translation: X:553.95, Y:52.02, Z:-1.51 [[ 9.98302118e-01 -5.81868045e-02 2.67896036e-03 5.53952492e+02] [ 5.81863682e-02 9.98305709e-01 2.40548476e-04 5.20193842e+01] [-2.68841817e-03 -8.42610790e-05 9.99996383e-01 -1.50598258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.901400513 meters 0.03863044189949406 Centerline is valid? [True, True] Translation: X:554.01, Y:52.03, Z:-1.51 [[ 9.98338343e-01 -5.75536667e-02 2.85098567e-03 5.54012430e+02] [ 5.75531700e-02 9.98342410e-01 2.56033297e-04 5.20290834e+01] [-2.86099556e-03 -9.15245946e-05 9.99995903e-01 -1.50637357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.961400513 meters 0.03865764500759585 Centerline is valid? [True, True] Translation: X:554.07, Y:52.04, Z:-1.51 [[ 9.98483370e-01 -5.49828631e-02 2.80084841e-03 5.54073618e+02] [ 5.49823735e-02 9.98487294e-01 2.51536813e-04 5.20367118e+01] [-2.81044176e-03 -9.71580313e-05 9.99996046e-01 -1.50620519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.021400513 meters 0.04007512692521455 Centerline is valid? [True, True] Translation: X:554.13, Y:52.04, Z:-1.51 [[ 9.98579143e-01 -5.31934958e-02 3.18555195e-03 5.54134901e+02] [ 5.31928538e-02 9.98584217e-01 2.86000754e-04 5.20436699e+01] [-3.19625528e-03 -1.16145788e-04 9.99994885e-01 -1.50544494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.081400513 meters 0.04125781785795738 Centerline is valid? [True, True] Translation: X:554.20, Y:52.05, Z:-1.50 [[ 9.98636620e-01 -5.20315460e-02 4.19752716e-03 5.54195533e+02] [ 5.20304214e-02 9.98645429e-01 3.76747256e-04 5.20478370e+01] [-4.21144405e-03 -1.57834500e-04 9.99991119e-01 -1.50387637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.141400513 meters 0.04405914167110529 Centerline is valid? [True, True] Translation: X:554.26, Y:52.06, Z:-1.50 [[ 9.98749881e-01 -4.95136119e-02 6.86127016e-03 5.54255783e+02] [ 4.95105484e-02 9.98773411e-01 6.15725879e-04 5.20556070e+01] [-6.88334101e-03 -2.75250901e-04 9.99976272e-01 -1.50102127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.201400513 meters 0.04712456038993951 Centerline is valid? [True, True] Translation: X:554.32, Y:52.07, Z:-1.50 [[ 9.98924836e-01 -4.58325538e-02 6.96777107e-03 5.54315970e+02] [ 4.58293056e-02 9.98949090e-01 6.25218598e-04 5.20653468e+01] [-6.98910393e-03 -3.05218275e-04 9.99975529e-01 -1.50096193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.261400513 meters 0.051518180655980295 Centerline is valid? [True, True] Translation: X:554.38, Y:52.08, Z:-1.51 [[ 9.99147777e-01 -4.10479520e-02 4.33411879e-03 5.54375491e+02] [ 4.10466504e-02 9.99157155e-01 3.88880272e-04 5.20750490e+01] [-4.34642854e-03 -2.10647800e-04 9.99990532e-01 -1.50506883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.321400513 meters 0.05833660797540606 Centerline is valid? [True, True] Translation: X:554.43, Y:52.09, Z:-1.51 [[ 9.99358862e-01 -3.58029377e-02 1.20511902e-04 5.54434870e+02] [ 3.58029366e-02 9.99358869e-01 1.08814969e-05 5.20853206e+01] [-1.20824228e-04 -6.55984041e-06 9.99999993e-01 -1.51259114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.381400513 meters 0.06395696073331152 Centerline is valid? [True, True] Translation: X:554.49, Y:52.09, Z:-1.51 [[ 9.99418456e-01 -3.40990674e-02 -5.10597090e-05 5.54494253e+02] [ 3.40990672e-02 9.99418458e-01 -4.57995318e-06 5.20947645e+01] [ 5.11861878e-05 2.83620129e-06 9.99999999e-01 -1.51344287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.441400513 meters 0.061794940696829476 Centerline is valid? [True, True] Translation: X:554.55, Y:52.10, Z:-1.51 [[ 9.99534594e-01 -3.05056241e-02 5.54346096e-05 5.54554407e+02] [ 3.05056238e-02 9.99534595e-01 4.95942824e-06 5.20979852e+01] [-5.55601005e-05 -3.26605274e-06 9.99999998e-01 -1.51342314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.501400513 meters 0.06610873285646576 Centerline is valid? [True, True] Translation: X:554.61, Y:52.11, Z:-1.51 [[ 9.99634000e-01 -2.70524018e-02 -1.81319251e-04 5.54613785e+02] [ 2.70523993e-02 9.99634017e-01 -1.62583801e-05 5.21100492e+01] [ 1.81692720e-04 1.13473088e-05 9.99999983e-01 -1.51471566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.561400513 meters 0.07427883624537217 Centerline is valid? [True, True] Translation: X:554.67, Y:52.13, Z:-1.51 [[ 9.99771567e-01 -2.13414205e-02 1.16512584e-03 5.54672105e+02] [ 2.13413132e-02 9.99772243e-01 1.04494829e-04 5.21298147e+01] [-1.16709054e-03 -7.96056431e-05 9.99999316e-01 -1.51344745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.621400513 meters 0.0748594341262798 Centerline is valid? [True, True] Translation: X:554.73, Y:52.14, Z:-1.51 [[ 9.99834375e-01 -1.80425078e-02 2.38541519e-03 5.54732382e+02] [ 1.80420483e-02 9.99837206e-01 2.14005694e-04 5.21409547e+01] [-2.38888805e-03 -1.70932474e-04 9.99997132e-01 -1.51131292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.681400513 meters 0.0784733929884673 Centerline is valid? [True, True] Translation: X:554.79, Y:52.15, Z:-1.51 [[ 9.99879162e-01 -1.53008257e-02 2.74705386e-03 5.54792384e+02] [ 1.53002062e-02 9.99882915e-01 2.46391318e-04 5.21544145e+01] [-2.75050221e-03 -2.04331054e-04 9.99996196e-01 -1.51083879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.741400513 meters 0.0782741282243355 Centerline is valid? [True, True] Translation: X:554.85, Y:52.16, Z:-1.51 [[ 9.99897901e-01 -1.39150785e-02 3.24926771e-03 5.54853144e+02] [ 1.39142045e-02 9.99903150e-01 2.91424141e-04 5.21626849e+01] [-3.25300821e-03 -2.46183411e-04 9.99994679e-01 -1.51038334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.801400513 meters 0.07390124465532896 Centerline is valid? [True, True] Translation: X:554.91, Y:52.17, Z:-1.51 [[ 9.99873242e-01 -1.48558685e-02 5.72741283e-03 5.54914495e+02] [ 1.48531694e-02 9.99889554e-01 5.13496561e-04 5.21669926e+01] [-5.73440870e-03 -4.28361238e-04 9.99983466e-01 -1.50790804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.861400513 meters 0.0816402060910355 Centerline is valid? [True, True] Translation: X:554.97, Y:52.18, Z:-1.51 [[ 9.99851853e-01 -1.59949412e-02 6.35882177e-03 5.54974098e+02] [ 1.59916382e-02 9.99871963e-01 5.69946291e-04 5.21837884e+01] [-6.36712386e-03 -4.68173878e-04 9.99979620e-01 -1.50668912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.921400513 meters 0.0741125292471063 Centerline is valid? [True, True] Translation: X:555.04, Y:52.18, Z:-1.51 [[ 9.99791863e-01 -1.99368046e-02 4.33072400e-03 5.55035374e+02] [ 1.99353096e-02 9.99801197e-01 3.88118151e-04 5.21783102e+01] [-4.33760087e-03 -3.01703045e-04 9.99990547e-01 -1.51128845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.981400513 meters 0.07521407171974112 Centerline is valid? [True, True] Translation: X:555.09, Y:52.18, Z:-1.51 [[ 9.99700665e-01 -2.41639269e-02 3.83217282e-03 5.55094979e+02] [ 2.41627871e-02 9.99707978e-01 3.43450699e-04 5.21803391e+01] [-3.83935286e-03 -2.50751917e-04 9.99992598e-01 -1.51201899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.041400513 meters 0.06925791378589441 Centerline is valid? [True, True] Translation: X:555.16, Y:52.17, Z:-1.51 [[ 9.99621146e-01 -2.74306732e-02 2.26353637e-03 5.55156047e+02] [ 2.74302838e-02 9.99623698e-01 2.02887343e-04 5.21722008e+01] [-2.26824993e-03 -1.40721033e-04 9.99997418e-01 -1.51440992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.101400513 meters 0.06734911974808892 Centerline is valid? [True, True] Translation: X:555.22, Y:52.17, Z:-1.51 [[ 9.99657775e-01 -2.59159035e-02 3.56365691e-03 5.55217388e+02] [ 2.59149288e-02 9.99664101e-01 3.19416292e-04 5.21675462e+01] [-3.57073784e-03 -2.26955065e-04 9.99993599e-01 -1.51282859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.161400513 meters 0.07766498682701166 Centerline is valid? [True, True] Translation: X:555.28, Y:52.18, Z:-1.51 [[ 9.99771021e-01 -2.09757036e-02 4.23385994e-03 5.55275453e+02] [ 2.09742839e-02 9.99779944e-01 3.79457676e-04 5.21824537e+01] [-4.24088764e-03 -2.90568608e-04 9.99990965e-01 -1.51174864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.221400513 meters 0.08173073337919937 Centerline is valid? [True, True] Translation: X:555.34, Y:52.19, Z:-1.51 [[ 9.99871426e-01 -1.58358192e-02 2.52170184e-03 5.55335743e+02] [ 1.58352993e-02 9.99874588e-01 2.26026969e-04 5.21898889e+01] [-2.52496491e-03 -1.86066005e-04 9.99996795e-01 -1.51487071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.281400513 meters 0.08231519521482838 Centerline is valid? [True, True] Translation: X:555.40, Y:52.19, Z:-1.52 [[ 9.99925476e-01 -1.21035764e-02 1.59558077e-03 5.55396353e+02] [ 1.21033635e-02 9.99926741e-01 1.43001786e-04 5.21909066e+01] [-1.59719472e-03 -1.23679234e-04 9.99998717e-01 -1.51552456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.341400513 meters 0.07731221514946035 Centerline is valid? [True, True] Translation: X:555.46, Y:52.19, Z:-1.51 [[ 9.99909270e-01 -1.31892707e-02 2.73770039e-03 5.55458606e+02] [ 1.31886479e-02 9.99912996e-01 2.45410817e-04 5.21874781e+01] [-2.74069899e-03 -2.09281984e-04 9.99996222e-01 -1.51431562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.401400513 meters 0.0719770316250712 Centerline is valid? [True, True] Translation: X:555.52, Y:52.18, Z:-1.51 [[ 9.99845260e-01 -1.71931670e-02 3.72160390e-03 5.55520198e+02] [ 1.71920443e-02 9.99852150e-01 3.33455470e-04 5.21801998e+01] [-3.72678681e-03 -2.69421892e-04 9.99993019e-01 -1.51291233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.461400513 meters 0.07987998540786079 Centerline is valid? [True, True] Translation: X:555.58, Y:52.19, Z:-1.51 [[ 9.99836440e-01 -1.76547251e-02 3.92488556e-03 5.55580963e+02] [ 1.76534802e-02 9.99844103e-01 3.51594146e-04 5.21928232e+01] [-3.93048098e-03 -2.82248750e-04 9.99992236e-01 -1.51228914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.521400513 meters 0.07501102360124334 Centerline is valid? [True, True] Translation: X:555.64, Y:52.19, Z:-1.51 [[ 9.99833549e-01 -1.80247867e-02 2.82503889e-03 5.55644455e+02] [ 1.80241435e-02 9.99837520e-01 2.52979104e-04 5.21861306e+01] [-2.82913978e-03 -2.02018089e-04 9.99995978e-01 -1.51371390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.581400513 meters 0.07114883402434885 Centerline is valid? [True, True] Translation: X:555.71, Y:52.18, Z:-1.51 [[ 9.99811049e-01 -1.86293196e-02 5.55114546e-03 5.55706375e+02] [ 1.86268475e-02 9.99826382e-01 4.96688777e-04 5.21830326e+01] [-5.55943465e-03 -3.93194587e-04 9.99984469e-01 -1.51104328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.641400513 meters 0.07370217288923675 Centerline is valid? [True, True] Translation: X:555.77, Y:52.19, Z:-1.51 [[ 9.99785218e-01 -1.93203192e-02 7.49950298e-03 5.55767964e+02] [ 1.93158289e-02 9.99813207e-01 6.70712499e-04 5.21863028e+01] [-7.51106051e-03 -5.25709326e-04 9.99971653e-01 -1.50854763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.701400513 meters 0.0704938593553692 Centerline is valid? [True, True] Translation: X:555.83, Y:52.18, Z:-1.51 [[ 9.99799248e-01 -1.91753681e-02 5.81103402e-03 5.55831781e+02] [ 1.91726715e-02 9.99816053e-01 5.19399916e-04 5.21814252e+01] [-5.81992478e-03 -4.07882599e-04 9.99982981e-01 -1.51143417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.761400513 meters 0.07303353749360032 Centerline is valid? [True, True] Translation: X:555.89, Y:52.18, Z:-1.51 [[ 9.99869072e-01 -1.56169249e-02 4.23677669e-03 5.55893487e+02] [ 1.56154605e-02 9.99878000e-01 3.78510337e-04 5.21816875e+01] [-4.24217097e-03 -3.12301560e-04 9.99990953e-01 -1.51395966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.821400513 meters 0.08251210568150573 Centerline is valid? [True, True] Translation: X:555.95, Y:52.19, Z:-1.51 [[ 9.99940849e-01 -9.87434712e-03 4.56033203e-03 5.55952453e+02] [ 9.87259132e-03 9.99951182e-01 4.07367478e-04 5.21946269e+01] [-4.56413189e-03 -3.62321088e-04 9.99989519e-01 -1.51382807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.881400513 meters 0.09157722701060965 Centerline is valid? [True, True] Translation: X:556.01, Y:52.21, Z:-1.52 [[ 9.99999592e-01 -3.40035932e-04 8.37333446e-04 5.56012208e+02] [ 3.39973411e-04 9.99999939e-01 7.48087322e-05 5.22067839e+01] [-8.37358832e-04 -7.45240305e-05 9.99999647e-01 -1.52053710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.941400513 meters 0.0963342527736274 Centerline is valid? [True, True] Translation: X:556.07, Y:52.22, Z:-1.52 [[ 9.99994636e-01 3.24520936e-03 4.44213158e-04 5.56072554e+02] [-3.24522732e-03 9.99994733e-01 3.97081187e-05 5.22160920e+01] [-4.44081958e-04 -4.11494784e-05 9.99999901e-01 -1.52185804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.001400513 meters 0.09243445599719648 Centerline is valid? [True, True] Translation: X:556.13, Y:52.22, Z:-1.52 [[ 9.99989048e-01 3.84148405e-03 2.67325711e-03 5.56132970e+02] [-3.84213599e-03 9.99992590e-01 2.38779505e-04 5.22174275e+01] [-2.67232003e-03 -2.49047907e-04 9.99996398e-01 -1.51893077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.061400513 meters 0.08908473811305967 Centerline is valid? [True, True] Translation: X:556.19, Y:52.22, Z:-1.52 [[ 9.99998634e-01 9.31549414e-05 1.65018713e-03 5.56193207e+02] [-9.33983113e-05 9.99999985e-01 1.47403733e-04 5.22199154e+01] [-1.65017337e-03 -1.47557656e-04 9.99998628e-01 -1.52126619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.121400513 meters 0.0831357711246802 Centerline is valid? [True, True] Translation: X:556.25, Y:52.22, Z:-1.52 [[ 9.99983024e-01 -5.74988380e-03 9.43393248e-04 5.56254323e+02] [ 5.74980684e-03 9.99983466e-01 8.42715306e-05 5.22172316e+01] [-9.43862201e-04 -7.88457711e-05 9.99999551e-01 -1.52220548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.181400513 meters 0.08502003721202665 Centerline is valid? [True, True] Translation: X:556.31, Y:52.23, Z:-1.52 [[ 9.99965184e-01 -8.07270603e-03 2.11235778e-03 5.56313094e+02] [ 8.07232542e-03 9.99967400e-01 1.88648402e-04 5.22254608e+01] [-2.11381182e-03 -1.71590194e-04 9.99997751e-01 -1.51973239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.241400513 meters 0.08818097815725359 Centerline is valid? [True, True] Translation: X:556.37, Y:52.24, Z:-1.52 [[ 9.99966188e-01 -7.70659971e-03 2.86894892e-03 5.56373343e+02] [ 7.70589595e-03 9.99970276e-01 2.56276877e-04 5.22378860e+01] [-2.87083867e-03 -2.34160390e-04 9.99995852e-01 -1.51853020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.301400513 meters 0.0862244969427829 Centerline is valid? [True, True] Translation: X:556.43, Y:52.25, Z:-1.52 [[ 9.99989836e-01 -3.89049874e-03 2.27866120e-03 5.56433121e+02] [ 3.89004533e-03 9.99992413e-01 2.03380171e-04 5.22497023e+01] [-2.27943516e-03 -1.94514008e-04 9.99997383e-01 -1.51936369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.361400513 meters 0.08977603630130516 Centerline is valid? [True, True] Translation: X:556.49, Y:52.26, Z:-1.52 [[ 9.99991295e-01 -2.32270658e-03 3.46616459e-03 5.56492167e+02] [ 2.32164810e-03 9.99997257e-01 3.09368202e-04 5.22638393e+01] [-3.46687366e-03 -3.01318294e-04 9.99993945e-01 -1.51776903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.421400513 meters 0.08487712568744574 Centerline is valid? [True, True] Translation: X:556.55, Y:52.27, Z:-1.52 [[ 9.99974683e-01 -5.22433865e-03 4.83111022e-03 5.56553115e+02] [ 5.22231604e-03 9.99986271e-01 4.31184565e-04 5.22672158e+01] [-4.83329654e-03 -4.05944064e-04 9.99988237e-01 -1.51601741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.481400513 meters 0.07618625255002476 Centerline is valid? [True, True] Translation: X:556.61, Y:52.26, Z:-1.52 [[ 9.99860957e-01 -1.63654077e-02 3.20013773e-03 5.56614095e+02] [ 1.63645770e-02 9.99866051e-01 2.85605451e-04 5.22623808e+01] [-3.20438312e-03 -2.33196840e-04 9.99994839e-01 -1.51830665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.541400513 meters 0.07030146776764762 Centerline is valid? [True, True] Translation: X:556.67, Y:52.26, Z:-1.52 [[ 9.99692393e-01 -2.46842513e-02 2.40980754e-03 5.56674268e+02] [ 2.46838043e-02 9.99695285e-01 2.15053827e-04 5.22553804e+01] [-2.41438168e-03 -1.55504457e-04 9.99997073e-01 -1.52017284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.601400513 meters 0.06984683305754112 Centerline is valid? [True, True] Translation: X:556.73, Y:52.26, Z:-1.52 [[ 9.99618892e-01 -2.73588808e-02 3.68274477e-03 5.56734295e+02] [ 2.73578548e-02 9.99625650e-01 3.28715230e-04 5.22580223e+01] [-3.69035941e-03 -2.27837958e-04 9.99993165e-01 -1.51803457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.661400513 meters 0.06787972190445167 Centerline is valid? [True, True] Translation: X:556.80, Y:52.26, Z:-1.52 [[ 9.99612417e-01 -2.76823594e-02 2.94995841e-03 5.56796427e+02] [ 2.76817024e-02 9.99616754e-01 2.63334514e-04 5.22570025e+01] [-2.95611757e-03 -1.81572579e-04 9.99995614e-01 -1.51863073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.721400513 meters 0.07544754701404918 Centerline is valid? [True, True] Translation: X:556.86, Y:52.27, Z:-1.52 [[ 9.99727219e-01 -2.33323097e-02 1.04449061e-03 5.56855362e+02] [ 2.33322250e-02 9.99727762e-01 9.31714701e-05 5.22670273e+01] [-1.04638017e-03 -6.87757647e-05 9.99999450e-01 -1.52172997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.781400513 meters 0.0766073659444137 Centerline is valid? [True, True] Translation: X:556.92, Y:52.27, Z:-1.52 [[ 9.99812964e-01 -1.93400021e-02 -2.27990100e-05 5.56915454e+02] [ 1.93400021e-02 9.99812965e-01 -2.05376661e-06 5.22695472e+01] [ 2.28344656e-05 1.61244958e-06 1.00000000e+00 -1.52407204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.841400513 meters 0.07313597143077358 Centerline is valid? [True, True] Translation: X:556.98, Y:52.27, Z:-1.52 [[ 9.99870992e-01 -1.60557639e-02 -4.60135898e-04 5.56975988e+02] [ 1.60557466e-02 9.99871097e-01 -4.10836451e-05 5.22663134e+01] [ 4.60736215e-04 3.36905196e-05 9.99999893e-01 -1.52365039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.901400513 meters 0.08548693555969275 Centerline is valid? [True, True] Translation: X:557.03, Y:52.29, Z:-1.52 [[ 9.99942933e-01 -1.06083872e-02 1.26171678e-03 5.57034338e+02] [ 1.06082535e-02 9.99943725e-01 1.12585514e-04 5.22863747e+01] [-1.26284013e-03 -9.91944774e-05 9.99999198e-01 -1.52165611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.961400513 meters 0.08421151913664825 Centerline is valid? [True, True] Translation: X:557.10, Y:52.29, Z:-1.52 [[ 9.99971120e-01 -7.16817934e-03 2.52508831e-03 5.57095017e+02] [ 7.16763297e-03 9.99974287e-01 2.25360895e-04 5.22871398e+01] [-2.52663881e-03 -2.07255480e-04 9.99996787e-01 -1.52173640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.021400513 meters 0.08727658741536949 Centerline is valid? [True, True] Translation: X:557.15, Y:52.29, Z:-1.52 [[ 9.99943135e-01 -1.03020189e-02 2.75576960e-03 5.57154764e+02] [ 1.03013800e-02 9.99946909e-01 2.45942358e-04 5.22927761e+01] [-2.75815700e-03 -2.17540143e-04 9.99996173e-01 -1.52096031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.081400513 meters 0.07350662037756972 Centerline is valid? [True, True] Translation: X:557.22, Y:52.28, Z:-1.52 [[ 9.99886611e-01 -1.46360491e-02 3.54289952e-03 5.57216956e+02] [ 1.46350201e-02 9.99892852e-01 3.16190969e-04 5.22770660e+01] [-3.54714770e-03 -2.64304711e-04 9.99993674e-01 -1.52041331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.141400513 meters 0.07469758341757676 Centerline is valid? [True, True] Translation: X:557.28, Y:52.28, Z:-1.52 [[ 9.99823633e-01 -1.84939291e-02 3.26757457e-03 5.57277310e+02] [ 1.84930744e-02 9.99828946e-01 2.91598621e-04 5.22751172e+01] [-3.27240844e-03 -2.31119693e-04 9.99994619e-01 -1.52018803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.201400513 meters 0.07781142773794865 Centerline is valid? [True, True] Translation: X:557.34, Y:52.28, Z:-1.52 [[ 9.99847181e-01 -1.72328673e-02 2.93995331e-03 5.57337789e+02] [ 1.72321700e-02 9.99851481e-01 2.62366047e-04 5.22794234e+01] [-2.94403799e-03 -2.11664177e-04 9.99995644e-01 -1.52080238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.261400513 meters 0.08491209318177957 Centerline is valid? [True, True] Translation: X:557.40, Y:52.29, Z:-1.52 [[ 9.99925981e-01 -1.17865774e-02 3.01802899e-03 5.57397044e+02] [ 1.17858180e-02 9.99930509e-01 2.69297953e-04 5.22886804e+01] [-3.02099337e-03 -2.33708080e-04 9.99995409e-01 -1.52059841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.321400513 meters 0.07882209230747017 Centerline is valid? [True, True] Translation: X:557.46, Y:52.29, Z:-1.52 [[ 9.99952579e-01 -9.36533490e-03 2.67020275e-03 5.57458423e+02] [ 9.36473177e-03 9.99956122e-01 2.38284338e-04 5.22863579e+01] [-2.67231720e-03 -2.13267306e-04 9.99996407e-01 -1.52103111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.381400513 meters 0.08766604704557385 Centerline is valid? [True, True] Translation: X:557.52, Y:52.30, Z:-1.52 [[ 9.99985887e-01 -5.03116885e-03 1.70655005e-03 5.57516859e+02] [ 5.03091622e-03 9.99987333e-01 1.52299802e-04 5.23028900e+01] [-1.70729468e-03 -1.43712143e-04 9.99998532e-01 -1.52292517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.441400513 meters 0.09231824930638378 Centerline is valid? [True, True] Translation: X:557.58, Y:52.31, Z:-1.53 [[ 9.99995510e-01 -2.90981754e-03 7.16344521e-04 5.57575796e+02] [ 2.90977248e-03 9.99995765e-01 6.39351834e-05 5.23147899e+01] [-7.16527527e-04 -6.18504967e-05 9.99999741e-01 -1.52508869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.501400513 meters 0.09144238973343696 Centerline is valid? [True, True] Translation: X:557.64, Y:52.32, Z:-1.53 [[ 9.99989967e-01 -4.46537134e-03 3.56135017e-04 5.57636698e+02] [ 4.46536030e-03 9.99990030e-01 3.18034982e-05 5.23207056e+01] [-3.56273481e-04 -3.02129079e-05 9.99999936e-01 -1.52543780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.561400513 meters 0.08746565531379859 Centerline is valid? [True, True] Translation: X:557.70, Y:52.32, Z:-1.52 [[ 9.99978109e-01 -6.53480208e-03 1.03841956e-03 5.57697835e+02] [ 6.53470938e-03 9.99978644e-01 9.26366173e-05 5.23215568e+01] [-1.03900275e-03 -8.58488194e-05 9.99999457e-01 -1.52377660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.621400513 meters 0.08109470204569198 Centerline is valid? [True, True] Translation: X:557.76, Y:52.32, Z:-1.53 [[ 9.99940994e-01 -1.08624671e-02 -1.25123056e-04 5.57758836e+02] [ 1.08624658e-02 9.99941002e-01 -1.11543575e-05 5.23187008e+01] [ 1.25236837e-04 9.79455444e-06 9.99999992e-01 -1.52680928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.681400513 meters 0.07438756351810469 Centerline is valid? [True, True] Translation: X:557.82, Y:52.31, Z:-1.53 [[ 9.99907383e-01 -1.35827001e-02 8.57247949e-04 5.57819967e+02] [ 1.35826395e-02 9.99907749e-01 7.64607940e-05 5.23131145e+01] [-8.58207411e-04 -6.48100226e-05 9.99999630e-01 -1.52539958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.741400513 meters 0.079619147655433 Centerline is valid? [True, True] Translation: X:557.88, Y:52.32, Z:-1.53 [[ 9.99839078e-01 -1.79319940e-02 5.10988336e-04 5.57879355e+02] [ 1.79319730e-02 9.99839208e-01 4.55801593e-05 5.23229198e+01] [-5.11723517e-04 -3.64097954e-05 9.99999868e-01 -1.52568960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.801400513 meters 0.07401784464479824 Centerline is valid? [True, True] Translation: X:557.94, Y:52.32, Z:-1.53 [[ 9.99773834e-01 -2.12380931e-02 1.10618102e-03 5.57940477e+02] [ 2.12379968e-02 9.99774443e-01 9.86764439e-05 5.23169008e+01] [-1.10802721e-03 -7.51610578e-05 9.99999383e-01 -1.52543414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.861400513 meters 0.0695011546618466 Centerline is valid? [True, True] Translation: X:558.00, Y:52.31, Z:-1.52 [[ 9.99698374e-01 -2.44740369e-02 2.04498643e-03 5.58002136e+02] [ 2.44737147e-02 9.99700457e-01 1.82441745e-04 5.23114321e+01] [-2.04883895e-03 -1.32338301e-04 9.99997892e-01 -1.52458445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.921400513 meters 0.07437283414349583 Centerline is valid? [True, True] Translation: X:558.06, Y:52.31, Z:-1.52 [[ 9.99665240e-01 -2.57523055e-02 2.49542660e-03 5.58061893e+02] [ 2.57518298e-02 9.99668342e-01 2.22592514e-04 5.23146974e+01] [-2.50033124e-03 -1.58256198e-04 9.99996862e-01 -1.52448645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.981400513 meters 0.07637214654451115 Centerline is valid? [True, True] Translation: X:558.12, Y:52.32, Z:-1.52 [[ 9.99743629e-01 -2.24038392e-02 3.27772604e-03 5.58122209e+02] [ 2.24030005e-02 9.99748979e-01 2.92375127e-04 5.23178237e+01] [-3.28345358e-03 -2.18869272e-04 9.99994585e-01 -1.52331587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.041400513 meters 0.07499224836160097 Centerline is valid? [True, True] Translation: X:558.18, Y:52.32, Z:-1.53 [[ 9.99864459e-01 -1.63430168e-02 1.99258113e-03 5.58183111e+02] [ 1.63426948e-02 9.99866433e-01 1.77754153e-04 5.23172944e+01] [-1.99522003e-03 -1.45165915e-04 9.99997999e-01 -1.52614545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.101400513 meters 0.08216398968818746 Centerline is valid? [True, True] Translation: X:558.24, Y:52.33, Z:-1.53 [[ 9.99882085e-01 -1.53082904e-02 1.21320344e-03 5.58242275e+02] [ 1.53081703e-02 9.99882817e-01 1.08221906e-04 5.23270464e+01] [-1.21471797e-03 -8.96372199e-05 9.99999258e-01 -1.52747373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.161400513 meters 0.08595200716717237 Centerline is valid? [True, True] Translation: X:558.30, Y:52.33, Z:-1.53 [[ 9.99864193e-01 -1.64206016e-02 1.39983337e-03 5.58301812e+02] [ 1.64204427e-02 9.99865168e-01 1.24869935e-04 5.23338453e+01] [-1.40169507e-03 -1.01867093e-04 9.99999012e-01 -1.52760587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.221400513 meters 0.07383069576164146 Centerline is valid? [True, True] Translation: X:558.36, Y:52.32, Z:-1.53 [[ 9.99773597e-01 -2.12539612e-02 1.01181584e-03 5.58363701e+02] [ 2.12538807e-02 9.99774107e-01 9.02463040e-05 5.23205783e+01] [-1.01350537e-03 -6.87208588e-05 9.99999484e-01 -1.52786033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.281400513 meters 0.06886111664095688 Centerline is valid? [True, True] Translation: X:558.42, Y:52.31, Z:-1.53 [[ 9.99709880e-01 -2.40743587e-02 7.61868989e-04 5.58421452e+02] [ 2.40729116e-02 9.99708485e-01 1.85469232e-03 5.23128322e+01] [-8.06297421e-04 -1.83581384e-03 9.99997990e-01 -1.52848337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.341400513 meters 0.06281785966951464 Centerline is valid? [True, True] Translation: X:558.49, Y:52.31, Z:-1.53 [[ 9.99568330e-01 -2.93579201e-02 1.12510673e-03 5.58485946e+02] [ 2.93598029e-02 9.99567471e-01 -1.69510734e-03 5.23095799e+01] [-1.07485526e-03 1.72740852e-03 9.99997930e-01 -1.52738238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.401400513 meters 0.06380292267106369 Centerline is valid? [True, True] Translation: X:558.54, Y:52.31, Z:-1.53 [[ 9.99538400e-01 -3.03803685e-02 1.42474381e-04 5.58544938e+02] [ 3.03803670e-02 9.99538410e-01 1.26166949e-05 5.23081357e+01] [-1.42791916e-04 -8.28244707e-06 9.99999990e-01 -1.52785266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.461400513 meters 0.06861786266188055 Centerline is valid? [True, True] Translation: X:558.60, Y:52.32, Z:-1.53 [[ 9.99611291e-01 -2.78614274e-02 1.00374372e-03 5.58603337e+02] [ 2.78613514e-02 9.99611793e-01 8.95924206e-05 5.23162245e+01] [-1.00585023e-03 -6.15919387e-05 9.99999492e-01 -1.52735746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.521400513 meters 0.06369379152009196 Centerline is valid? [True, True] Translation: X:558.66, Y:52.31, Z:-1.53 [[ 9.99686757e-01 -2.49419904e-02 2.06995360e-03 5.58664721e+02] [ 2.49416609e-02 9.99688891e-01 1.84846696e-04 5.23129652e+01] [-2.07392006e-03 -1.33160714e-04 9.99997841e-01 -1.52567880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.581400513 meters 0.07354067452068865 Centerline is valid? [True, True] Translation: X:558.72, Y:52.33, Z:-1.53 [[ 9.99778369e-01 -2.10007409e-02 1.47696073e-03 5.58722712e+02] [ 2.10005689e-02 9.99779455e-01 1.31898794e-04 5.23270972e+01] [-1.47940497e-03 -1.00852546e-04 9.99998901e-01 -1.52705440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.641400513 meters 0.06894381897592591 Centerline is valid? [True, True] Translation: X:558.78, Y:52.32, Z:-1.53 [[ 9.99777348e-01 -2.10782194e-02 9.81148784e-04 5.58783352e+02] [ 2.10781435e-02 9.99777827e-01 8.75677654e-05 5.23199832e+01] [-9.82776572e-04 -6.68674734e-05 9.99999515e-01 -1.52836640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.701400513 meters 0.07247935716201989 Centerline is valid? [True, True] Translation: X:558.84, Y:52.33, Z:-1.53 [[ 9.99758877e-01 -2.18582693e-02 2.09846400e-03 5.58840939e+02] [ 2.18579239e-02 9.99761069e-01 1.87408289e-04 5.23305873e+01] [-2.10205903e-03 -1.41495034e-04 9.99997781e-01 -1.52692578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.761400513 meters 0.0742070891261928 Centerline is valid? [True, True] Translation: X:558.90, Y:52.33, Z:-1.53 [[ 9.99789707e-01 -2.04016081e-02 2.07765089e-03 5.58901022e+02] [ 2.04012662e-02 9.99791855e-01 1.85648764e-04 5.23346907e+01] [-2.08100597e-03 -1.43223015e-04 9.99997824e-01 -1.52648014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.821400513 meters 0.0763784756049777 Centerline is valid? [True, True] Translation: X:558.96, Y:52.34, Z:-1.53 [[ 9.99830125e-01 -1.83350802e-02 1.88331683e-03 5.58960216e+02] [ 1.83347955e-02 9.99831889e-01 1.68301910e-04 5.23423971e+01] [-1.88608606e-03 -1.33743091e-04 9.99998212e-01 -1.52741946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.881400513 meters 0.07763425399690783 Centerline is valid? [True, True] Translation: X:559.02, Y:52.35, Z:-1.53 [[ 9.99900828e-01 -1.39519089e-02 1.91817136e-03 5.59020580e+02] [ 1.39516055e-02 9.99902657e-01 1.71457331e-04 5.23500666e+01] [-1.92037679e-03 -1.44678757e-04 9.99998146e-01 -1.52784962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.941400513 meters 0.08388655691472961 Centerline is valid? [True, True] Translation: X:559.08, Y:52.36, Z:-1.53 [[ 9.99923988e-01 -1.21095657e-02 2.31879271e-03 5.59079549e+02] [ 1.21091174e-02 9.99926660e-01 2.07265633e-04 5.23645686e+01] [-2.32113255e-03 -1.79171346e-04 9.99997290e-01 -1.52772773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.001400513 meters 0.08358358751153781 Centerline is valid? [True, True] Translation: X:559.14, Y:52.37, Z:-1.53 [[ 9.99928223e-01 -1.14590284e-02 3.49864361e-03 5.59140374e+02] [ 1.14580043e-02 9.99934306e-01 3.12615466e-04 5.23704691e+01] [-3.50199604e-03 -2.72505553e-04 9.99993831e-01 -1.52703039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.061400513 meters 0.08824698180245164 Centerline is valid? [True, True] Translation: X:559.20, Y:52.38, Z:-1.53 [[ 9.99926802e-01 -1.15321489e-02 3.66049545e-03 5.59200983e+02] [ 1.15310287e-02 9.99933462e-01 3.26986052e-04 5.23847604e+01] [-3.66402274e-03 -2.84752840e-04 9.99993247e-01 -1.52734934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.121400513 meters 0.08243875624410724 Centerline is valid? [True, True] Translation: X:559.26, Y:52.39, Z:-1.53 [[ 9.99930276e-01 -1.14416900e-02 2.92086316e-03 5.59262020e+02] [ 1.14409766e-02 9.99934516e-01 2.60837877e-04 5.23862441e+01] [-2.92365631e-03 -2.27402163e-04 9.99995700e-01 -1.52817967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.181400513 meters 0.08851921093434961 Centerline is valid? [True, True] Translation: X:559.32, Y:52.40, Z:-1.53 [[ 9.99929087e-01 -1.18853826e-02 7.46863375e-04 5.59321075e+02] [ 1.18853361e-02 9.99929365e-01 6.67041941e-05 5.24027974e+01] [-7.47603425e-04 -5.78227417e-05 9.99999719e-01 -1.53232806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.241400513 meters 0.0794929641217288 Centerline is valid? [True, True] Translation: X:559.38, Y:52.40, Z:-1.53 [[ 9.99923909e-01 -1.23360031e-02 8.70236279e-06 5.59381787e+02] [ 1.23360031e-02 9.99923909e-01 7.76834400e-07 5.23987721e+01] [-8.71128364e-06 -6.69422917e-07 1.00000000e+00 -1.53291580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.301400513 meters 0.079437500185697 Centerline is valid? [True, True] Translation: X:559.44, Y:52.41, Z:-1.53 [[ 9.99908739e-01 -1.35072344e-02 2.61168240e-04 5.59441524e+02] [ 1.35072288e-02 9.99908773e-01 2.32820891e-05 5.24067716e+01] [-2.61458891e-04 -1.97523052e-05 9.99999966e-01 -1.53269764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.361400513 meters 0.07980041713554864 Centerline is valid? [True, True] Translation: X:559.50, Y:52.42, Z:-1.53 [[ 9.99904307e-01 -1.37264045e-02 1.72145123e-03 5.59501245e+02] [ 1.37261601e-02 9.99905780e-01 1.53688284e-04 5.24173795e+01] [-1.72339862e-03 -1.30044662e-04 9.99998506e-01 -1.53013792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.421400513 meters 0.08063986305264546 Centerline is valid? [True, True] Translation: X:559.56, Y:52.44, Z:-1.53 [[ 9.99906868e-01 -1.36400719e-02 -4.51046442e-04 5.59561224e+02] [ 1.36400551e-02 9.99906969e-01 -4.01896232e-05 5.24354683e+01] [ 4.51552670e-04 3.40335820e-05 9.99999897e-01 -1.53447883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.481400513 meters 0.08996317218470333 Centerline is valid? [True, True] Translation: X:559.62, Y:52.46, Z:-1.54 [[ 9.99884787e-01 -1.51532261e-02 -8.89949525e-04 5.59618943e+02] [ 1.51531614e-02 9.99885181e-01 -7.94772646e-05 5.24579315e+01] [ 8.91051679e-04 6.59825591e-05 9.99999601e-01 -1.53547502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.541400513 meters 0.07876886103100697 Centerline is valid? [True, True] Translation: X:559.68, Y:52.46, Z:-1.53 [[ 9.99831185e-01 -1.81990665e-02 2.52898445e-03 5.59679447e+02] [ 1.81985534e-02 9.99834367e-01 2.25751658e-04 5.24596766e+01] [-2.53267403e-03 -1.79689689e-04 9.99996777e-01 -1.52935646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.601400513 meters 0.072289625238672 Centerline is valid? [True, True] Translation: X:559.74, Y:52.47, Z:-1.53 [[ 9.99708602e-01 -2.37924615e-02 4.07794983e-03 5.59739074e+02] [ 2.37911736e-02 9.99716884e-01 3.64046513e-04 5.24694370e+01] [-4.08545686e-03 -2.66921219e-04 9.99991619e-01 -1.52748787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.661400513 meters 0.0637150998951602 Centerline is valid? [True, True] Translation: X:559.80, Y:52.47, Z:-1.53 [[ 9.99600523e-01 -2.77899672e-02 5.14901348e-03 5.59799768e+02] [ 2.77879668e-02 9.99613734e-01 4.59649561e-04 5.24678028e+01] [-5.15979824e-03 -3.16385326e-04 9.99986638e-01 -1.52658865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.721400513 meters 0.06209144048788961 Centerline is valid? [True, True] Translation: X:559.86, Y:52.48, Z:-1.53 [[ 9.99435444e-01 -3.33295544e-02 4.23496518e-03 5.59858721e+02] [ 3.33282507e-02 9.99444388e-01 3.78049068e-04 5.24753627e+01] [-4.24521239e-03 -2.36691657e-04 9.99990961e-01 -1.52773525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.781400513 meters 0.062212228593971096 Centerline is valid? [True, True] Translation: X:559.92, Y:52.48, Z:-1.53 [[ 9.99236773e-01 -3.89354145e-02 3.14717274e-03 5.59917770e+02] [ 3.89347223e-02 9.99241717e-01 2.80932030e-04 5.24811733e+01] [-3.15572450e-03 -1.58183318e-04 9.99995008e-01 -1.53094132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.841400513 meters 0.05455142293428952 Centerline is valid? [True, True] Translation: X:559.98, Y:52.48, Z:-1.53 [[ 9.99243361e-01 -3.85166772e-02 5.40103499e-03 5.59978810e+02] [ 3.85146321e-02 9.99257920e-01 4.82188971e-04 5.24760185e+01] [-5.41559931e-03 -2.73805252e-04 9.99985298e-01 -1.52770140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.901400513 meters 0.06636577616348831 Centerline is valid? [True, True] Translation: X:560.04, Y:52.50, Z:-1.53 [[ 9.99530862e-01 -3.02181903e-02 4.99161294e-03 5.60035967e+02] [ 3.02163405e-02 9.99543283e-01 4.45614739e-04 5.24998295e+01] [-5.00279886e-03 -2.94577408e-04 9.99987443e-01 -1.52907977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.961400513 meters 0.07402656068395232 Centerline is valid? [True, True] Translation: X:560.09, Y:52.52, Z:-1.53 [[ 9.99714937e-01 -2.36841644e-02 3.01742363e-03 5.60094838e+02] [ 2.36834588e-02 9.99719471e-01 2.69352126e-04 5.25150095e+01] [-3.02295654e-03 -1.97812315e-04 9.99995411e-01 -1.53336105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.021400513 meters 0.07510760869349895 Centerline is valid? [True, True] Translation: X:560.15, Y:52.53, Z:-1.53 [[ 9.99823553e-01 -1.82991128e-02 4.24325824e-03 5.60154664e+02] [ 1.82976692e-02 9.99832512e-01 3.78771654e-04 5.25262561e+01] [-4.24947873e-03 -3.01063085e-04 9.99990926e-01 -1.53200315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.081400513 meters 0.07934343678595177 Centerline is valid? [True, True] Translation: X:560.21, Y:52.54, Z:-1.53 [[ 9.99847135e-01 -1.70234561e-02 3.98853521e-03 5.60213676e+02] [ 1.70221708e-02 9.99855049e-01 3.55979109e-04 5.25401242e+01] [-3.99401706e-03 -2.88031165e-04 9.99991982e-01 -1.53350376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.141400513 meters 0.1229069263225981 Centerline is valid? [True, False] Translation: X:560.22, Y:52.55, Z:-1.54 [[ 9.99986038e-01 -3.93206777e-03 3.53032187e-03 5.60217591e+02] [ 3.95512903e-03 9.99970731e-01 -6.54929448e-03 5.25453198e+01] [-3.50446627e-03 6.56316592e-03 9.99972321e-01 -1.53564614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.201400513 meters 0.07978742373594386 Centerline is valid? [False, True] Translation: X:560.22, Y:52.55, Z:-1.54 [[ 9.99993920e-01 9.24101035e-05 3.48594107e-03 5.60217714e+02] [-8.22861838e-05 9.99995779e-01 -2.90424587e-03 5.25485025e+01] [-3.48619473e-03 2.90394136e-03 9.99989707e-01 -1.53567247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.261400513 meters 0.08004350168851597 Centerline is valid? [True, True] Translation: X:560.28, Y:52.56, Z:-1.53 [[ 9.99983377e-01 -9.66960671e-04 5.68427928e-03 5.60279141e+02] [ 9.64540616e-04 9.99999443e-01 4.28471094e-04 5.25570651e+01] [-5.68469043e-03 -4.22981253e-04 9.99983753e-01 -1.53271283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.321400513 meters 0.07276620857444523 Centerline is valid? [True, True] Translation: X:560.34, Y:52.56, Z:-1.53 [[ 9.99980006e-01 -3.05448639e-03 5.53690433e-03 5.60340109e+02] [ 3.05222291e-03 9.99995255e-01 4.17202730e-04 5.25583606e+01] [-5.53815240e-03 -4.00294522e-04 9.99984584e-01 -1.53332646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.381400513 meters 0.07340915509667065 Centerline is valid? [True, True] Translation: X:560.39, Y:52.59, Z:-1.53 [[ 9.99955530e-01 -6.57054009e-03 6.76498820e-03 5.60393483e+02] [ 6.68649894e-03 9.99828616e-01 -1.72635318e-02 5.25860778e+01] [-6.65039806e-03 1.73079982e-02 9.99828088e-01 -1.53175868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.441400513 meters 0.07498782068911282 Centerline is valid? [True, True] Translation: X:560.46, Y:52.57, Z:-1.54 [[ 9.99970681e-01 -6.75122510e-03 3.61359485e-03 5.60459101e+02] [ 6.68299883e-03 9.99805213e-01 1.85707472e-02 5.25684010e+01] [-3.73826627e-03 -1.85460530e-02 9.99821019e-01 -1.53615501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.501400513 meters 0.07416603313864839 Centerline is valid? [True, True] Translation: X:560.52, Y:52.59, Z:-1.54 [[ 9.99976858e-01 -5.86439573e-03 3.44855403e-03 5.60519262e+02] [ 5.86353419e-03 9.99982776e-01 2.59882004e-04 5.25938294e+01] [-3.45001868e-03 -2.39655276e-04 9.99994020e-01 -1.53767621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.561400513 meters 0.06993873163685395 Centerline is valid? [True, True] Translation: X:560.58, Y:52.60, Z:-1.54 [[ 9.99977247e-01 -6.71037693e-03 6.89710694e-04 5.60580606e+02] [ 6.71034263e-03 9.99977484e-01 5.20268401e-05 5.25998125e+01] [-6.90044284e-04 -4.73974613e-05 9.99999761e-01 -1.54040191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.621400513 meters 0.06642857547299162 Centerline is valid? [True, True] Translation: X:560.64, Y:52.60, Z:-1.54 [[ 9.99897612e-01 -1.19415549e-02 7.88443568e-03 5.60641414e+02] [ 1.19099733e-02 9.99920911e-01 4.04043800e-03 5.26034949e+01] [-7.93206122e-03 -3.94612089e-03 9.99960754e-01 -1.53932351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.681400513 meters 0.0659636030749231 Centerline is valid? [True, True] Translation: X:560.69, Y:52.63, Z:-1.54 [[ 9.99911088e-01 -1.12474355e-02 7.16314060e-03 5.60693965e+02] [ 1.13470169e-02 9.99837379e-01 -1.40164212e-02 5.26311873e+01] [-7.00432693e-03 1.40964553e-02 9.99876107e-01 -1.53615664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.741400513 meters 0.0671162994031289 Centerline is valid? [True, True] Translation: X:560.76, Y:52.63, Z:-1.54 [[ 9.99929888e-01 -1.03392735e-02 5.77229222e-03 5.60758052e+02] [ 1.03349012e-02 9.99946284e-01 7.86772162e-04 5.26327239e+01] [-5.78011681e-03 -7.27060930e-04 9.99983031e-01 -1.53792734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.801400513 meters 0.07182850429275386 Centerline is valid? [True, True] Translation: X:560.82, Y:52.65, Z:-1.54 [[ 9.99937422e-01 -8.71834711e-03 7.01013400e-03 5.60816477e+02] [ 8.69034678e-03 9.99954178e-01 4.01485324e-03 5.26537381e+01] [-7.04481567e-03 -3.95368150e-03 9.99967369e-01 -1.53972747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.861400513 meters 0.07175616752419245 Centerline is valid? [True, True] Translation: X:560.88, Y:52.67, Z:-1.54 [[ 9.99941022e-01 -9.04373830e-03 6.01352695e-03 5.60876074e+02] [ 9.05277190e-03 9.99957932e-01 -1.47669370e-03 5.26715966e+01] [-5.99991915e-03 1.53104569e-03 9.99980828e-01 -1.54179675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.921400513 meters 0.08340476155861876 Centerline is valid? [True, True] Translation: X:560.93, Y:52.70, Z:-1.54 [[ 9.99862537e-01 -1.44723665e-02 8.09057776e-03 5.60932071e+02] [ 1.44820808e-02 9.99894475e-01 -1.14339353e-03 5.26995803e+01] [-8.07317640e-03 1.26040476e-03 9.99966617e-01 -1.54228679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.981400513 meters 0.06924614518379216 Centerline is valid? [True, True] Translation: X:560.99, Y:52.69, Z:-1.54 [[ 9.99802847e-01 -1.88982623e-02 6.09285573e-03 5.60993886e+02] [ 1.89229528e-02 9.99812861e-01 -4.02051568e-03 5.26948373e+01] [-6.01573476e-03 4.13501784e-03 9.99973356e-01 -1.53908409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.041400513 meters 0.06714367604688586 Centerline is valid? [True, True] Translation: X:561.05, Y:52.70, Z:-1.54 [[ 9.99753277e-01 -2.17493887e-02 4.51107236e-03 5.61051746e+02] [ 2.17634434e-02 9.99758372e-01 -3.09026769e-03 5.26990928e+01] [-4.44277092e-03 3.18768172e-03 9.99985050e-01 -1.54321707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.101400513 meters 0.0632848243863838 Centerline is valid? [True, True] Translation: X:561.12, Y:52.70, Z:-1.55 [[ 9.99786293e-01 -2.02901256e-02 3.95960613e-03 5.61116419e+02] [ 2.02608017e-02 9.99768002e-01 7.31044888e-03 5.26978876e+01] [-4.10701743e-03 -7.22866179e-03 9.99965439e-01 -1.54744744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.161400513 meters 0.07143442973395833 Centerline is valid? [True, True] Translation: X:561.17, Y:52.73, Z:-1.55 [[ 9.99830119e-01 -1.79134328e-02 4.34071317e-03 5.61172357e+02] [ 1.79327162e-02 9.99829315e-01 -4.44501118e-03 5.27251598e+01] [-4.26034686e-03 4.52209684e-03 9.99980700e-01 -1.54610507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.221400513 meters 0.07158459156427414 Centerline is valid? [True, True] Translation: X:561.24, Y:52.72, Z:-1.55 [[ 9.99944524e-01 -8.82137438e-03 -5.75614830e-03 5.61239750e+02] [ 8.86743746e-03 9.99928469e-01 8.02657302e-03 5.27217265e+01] [ 5.68493115e-03 -8.07717002e-03 9.99951219e-01 -1.54927967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.281400513 meters 0.0789945507851485 Centerline is valid? [True, True] Translation: X:561.30, Y:52.75, Z:-1.55 [[ 9.99958846e-01 -6.67563042e-03 -6.14347625e-03 5.61296744e+02] [ 6.67291656e-03 9.99977629e-01 -4.62137179e-04 5.27468923e+01] [ 6.14642388e-03 4.21123256e-04 9.99981022e-01 -1.54996169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.341400513 meters 0.10917802008934539 Centerline is valid? [True, False] Translation: X:561.30, Y:52.75, Z:-1.55 [[ 9.99978109e-01 -2.42469779e-03 -6.15640993e-03 5.61296270e+02] [ 2.44665322e-03 9.99990666e-01 3.56124831e-03 5.27483353e+01] [ 6.14771751e-03 -3.57623295e-03 9.99974708e-01 -1.54891983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.401400513 meters 0.10549783672312775 Centerline is valid? [False, False] Translation: X:561.30, Y:52.75, Z:-1.55 [[ 9.99977576e-01 -2.69040476e-03 -6.13262967e-03 5.61296117e+02] [ 2.70822629e-03 9.99992129e-01 2.89956828e-03 5.27513532e+01] [ 6.12478038e-03 -2.91611181e-03 9.99976991e-01 -1.54877986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.461400513 meters 0.10590154528255852 Centerline is valid? [False, False] Translation: X:561.30, Y:52.76, Z:-1.55 [[ 9.99952845e-01 -7.52608098e-03 -6.13732689e-03 5.61296265e+02] [ 7.50790778e-03 9.99967379e-01 -2.97877767e-03 5.27580792e+01] [ 6.15954520e-03 2.93255872e-03 9.99976730e-01 -1.54925494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.521400513 meters 0.07249830712765366 Centerline is valid? [False, True] Translation: X:561.30, Y:52.76, Z:-1.55 [[ 9.99952024e-01 -7.59123412e-03 -6.19047103e-03 5.61296060e+02] [ 7.57185490e-03 9.99966378e-01 -3.14794349e-03 5.27588404e+01] [ 6.21415967e-03 3.10091912e-03 9.99975884e-01 -1.54840574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.581400513 meters 0.0706733197939488 Centerline is valid? [True, True] Translation: X:561.36, Y:52.76, Z:-1.54 [[ 9.99959989e-01 -8.12671852e-03 -3.73860464e-03 5.61355255e+02] [ 8.12574132e-03 9.99966947e-01 -2.76495773e-04 5.27596681e+01] [ 3.74072807e-03 2.46105776e-04 9.99992973e-01 -1.54470766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.641400513 meters 0.09828482839866373 Centerline is valid? [True, True] Translation: X:561.40, Y:52.85, Z:-1.51 [[ 9.99913793e-01 -1.22411544e-02 -4.74979371e-03 5.61400272e+02] [ 1.19435031e-02 9.98226887e-01 -5.83132554e-02 5.28450170e+01] [ 5.45519335e-03 5.82514992e-02 9.98287035e-01 -1.50575746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.701400513 meters 0.1057466174982898 Centerline is valid? [True, False] Translation: X:561.44, Y:52.81, Z:-1.51 [[ 9.99871599e-01 -1.08214293e-02 -1.18187493e-02 5.61441049e+02] [ 1.06448632e-02 9.99832301e-01 -1.49015941e-02 5.28088365e+01] [ 1.19780239e-02 1.47738718e-02 9.99819113e-01 -1.50598082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.761400513 meters 0.07388221135809578 Centerline is valid? [False, True] Translation: X:561.46, Y:52.80, Z:-1.51 [[ 9.99928080e-01 -8.77297228e-03 -8.17740510e-03 5.61460685e+02] [ 8.76477162e-03 9.99961050e-01 -1.03814240e-03 5.27996131e+01] [ 8.18619418e-03 9.66394649e-04 9.99966026e-01 -1.50801498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.821400513 meters 0.11189830955716877 Centerline is valid? [True, False] Translation: X:561.46, Y:52.80, Z:-1.51 [[ 9.99928033e-01 -8.78215854e-03 -8.17330282e-03 5.61460742e+02] [ 8.77377116e-03 9.99960946e-01 -1.06148256e-03 5.27997198e+01] [ 8.18230573e-03 9.89695481e-04 9.99966035e-01 -1.50818592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.881400513 meters 0.08340335486706475 Centerline is valid? [False, True] Translation: X:561.48, Y:52.80, Z:-1.51 [[ 9.99974332e-01 -3.26188306e-03 -6.37925877e-03 5.61481114e+02] [ 3.22234661e-03 9.99975599e-01 -6.19814401e-03 5.28005958e+01] [ 6.39932073e-03 6.17742873e-03 9.99960443e-01 -1.50800170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.941400513 meters 0.07884808069888112 Centerline is valid? [True, True] Translation: X:561.54, Y:52.79, Z:-1.51 [[ 9.99953864e-01 -4.13432299e-03 -8.67049248e-03 5.61540869e+02] [ 4.12884825e-03 9.99991266e-01 -6.49227252e-04 5.27881600e+01] [ 8.67310087e-03 6.13398151e-04 9.99962200e-01 -1.51189944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.001400513 meters 0.07290620040234233 Centerline is valid? [True, True] Translation: X:561.60, Y:52.78, Z:-1.51 [[ 9.99955128e-01 -5.65615027e-03 -7.59934697e-03 5.61601956e+02] [ 5.65199189e-03 9.99983866e-01 -5.68567540e-04 5.27801590e+01] [ 7.60244026e-03 5.25590580e-04 9.99970963e-01 -1.50998321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.061400513 meters 0.07623165327930992 Centerline is valid? [True, True] Translation: X:561.66, Y:52.78, Z:-1.51 [[ 9.99941543e-01 -6.39401962e-03 -8.71933322e-03 5.61659690e+02] [ 6.38856697e-03 9.99979380e-01 -6.53060683e-04 5.27838589e+01] [ 8.72332911e-03 5.97318463e-04 9.99961773e-01 -1.51245680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.121400513 meters 0.07877801481478054 Centerline is valid? [True, True] Translation: X:561.72, Y:52.79, Z:-1.51 [[ 9.99940731e-01 -4.69268146e-04 -1.08772010e-02 5.61720175e+02] [ 4.60437407e-04 9.99999562e-01 -8.14347637e-04 5.27899313e+01] [ 1.08775784e-02 8.09291102e-04 9.99940510e-01 -1.51356767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.181400513 meters 0.09319652827656316 Centerline is valid? [True, True] Translation: X:561.78, Y:52.81, Z:-1.52 [[ 9.99938412e-01 4.48069854e-03 -1.01536424e-02 5.61777941e+02] [-4.48864708e-03 9.99989637e-01 -7.60172931e-04 5.28143306e+01] [ 1.01501311e-02 8.05702230e-04 9.99948161e-01 -1.51580442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.241400513 meters 0.0847559809221257 Centerline is valid? [True, True] Translation: X:561.84, Y:52.81, Z:-1.51 [[ 9.99894892e-01 9.83801492e-03 -1.06498022e-02 5.61838909e+02] [-9.84706090e-03 9.99951199e-01 -7.97299346e-04 5.28130129e+01] [ 1.06414386e-02 9.02084794e-04 9.99942971e-01 -1.51317643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.301400513 meters 0.09103674727087663 Centerline is valid? [True, True] Translation: X:561.90, Y:52.83, Z:-1.51 [[ 9.99940763e-01 7.10776877e-03 -8.24323692e-03 5.61896480e+02] [-7.11309934e-03 9.99974511e-01 -6.17522336e-04 5.28308608e+01] [ 8.23863760e-03 6.76120718e-04 9.99965833e-01 -1.51193669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.361400513 meters 0.08571916771346165 Centerline is valid? [True, True] Translation: X:561.96, Y:52.83, Z:-1.51 [[ 9.99976496e-01 2.65999695e-03 -6.31921030e-03 5.61956729e+02] [-2.66304072e-03 9.99996342e-01 -4.73302764e-04 5.28301109e+01] [ 6.31792820e-03 4.90119953e-04 9.99979922e-01 -1.50954500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.421400513 meters 0.07801663320555667 Centerline is valid? [True, True] Translation: X:562.02, Y:52.83, Z:-1.51 [[ 9.99979603e-01 -1.08287694e-03 -6.29459291e-03 5.62016922e+02] [ 1.07992926e-03 9.99999306e-01 -4.71666639e-04 5.28265807e+01] [ 6.29509930e-03 4.64859303e-04 9.99980078e-01 -1.50901638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.481400513 meters 0.07625138165864255 Centerline is valid? [True, True] Translation: X:562.08, Y:52.83, Z:-1.51 [[ 9.99973942e-01 -1.65077982e-03 -7.02775087e-03 5.62076063e+02] [ 1.64711729e-03 9.99998505e-01 -5.26907785e-04 5.28306522e+01] [ 7.02861017e-03 5.15318526e-04 9.99975166e-01 -1.51025510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.541400513 meters 0.08441479554804356 Centerline is valid? [True, True] Translation: X:562.13, Y:52.85, Z:-1.51 [[ 9.99969914e-01 1.78199196e-04 -7.75493331e-03 5.62134616e+02] [-1.82713404e-04 9.99999814e-01 -5.81403298e-04 5.28455177e+01] [ 7.75482826e-03 5.82802737e-04 9.99969761e-01 -1.51346494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.601400513 meters 0.08057004127883864 Centerline is valid? [True, True] Translation: X:562.19, Y:52.85, Z:-1.51 [[ 9.99975706e-01 1.97631258e-03 -6.68448518e-03 5.62194838e+02] [-1.97970705e-03 9.99997915e-01 -5.01235066e-04 5.28460069e+01] [ 6.68348064e-03 5.14456212e-04 9.99977533e-01 -1.51170532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.661400513 meters 0.07686117858121361 Centerline is valid? [True, True] Translation: X:562.26, Y:52.85, Z:-1.51 [[ 9.99967209e-01 4.41682013e-03 -6.78767800e-03 5.62255611e+02] [-4.42037598e-03 9.99990101e-01 -5.08956117e-04 5.28454294e+01] [ 6.78536283e-03 5.38943517e-04 9.99976834e-01 -1.51045725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.721400513 meters 0.08749683983498226 Centerline is valid? [True, True] Translation: X:562.31, Y:52.86, Z:-1.52 [[ 9.99937524e-01 7.83969892e-03 -7.96792187e-03 5.62314359e+02] [-7.84470771e-03 9.99969051e-01 -5.97559934e-04 5.28583242e+01] [ 7.96299058e-03 6.60028619e-04 9.99968077e-01 -1.51566963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.781400513 meters 0.08158238097008251 Centerline is valid? [True, True] Translation: X:562.37, Y:52.86, Z:-1.51 [[ 9.99964181e-01 4.39736620e-03 -7.23181255e-03 5.62374802e+02] [-4.40140342e-03 9.99990167e-01 -5.42437357e-04 5.28571224e+01] [ 7.22935614e-03 5.74248052e-04 9.99973703e-01 -1.51270358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.841400513 meters 0.08001510771367315 Centerline is valid? [True, True] Translation: X:562.44, Y:52.86, Z:-1.51 [[ 9.99984975e-01 2.13277433e-03 -5.04983116e-03 5.62435681e+02] [-2.13471405e-03 9.99997650e-01 -3.78756170e-04 5.28554123e+01] [ 5.04901149e-03 3.89530424e-04 9.99987178e-01 -1.50997759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.901400513 meters 0.08764180021148928 Centerline is valid? [True, True] Translation: X:562.49, Y:52.87, Z:-1.51 [[ 9.99987624e-01 1.98580409e-03 -4.56167972e-03 5.62492962e+02] [-1.98738787e-03 9.99997966e-01 -3.42684405e-04 5.28687267e+01] [ 4.56098994e-03 3.51745991e-04 9.99989537e-01 -1.51019869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.961400513 meters 0.08778549072709528 Centerline is valid? [True, True] Translation: X:562.55, Y:52.87, Z:-1.51 [[ 9.99981852e-01 1.21762877e-03 -5.90030728e-03 5.62551707e+02] [-1.22026584e-03 9.99999157e-01 -4.43358325e-04 5.28733389e+01] [ 5.89976246e-03 4.50550222e-04 9.99982495e-01 -1.51243084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.021400513 meters 0.07182916689157295 Centerline is valid? [True, True] Translation: X:562.62, Y:52.89, Z:-1.50 [[ 9.99939310e-01 -7.88042044e-03 -7.69905103e-03 5.62621221e+02] [ 7.68680392e-03 9.99661338e-01 -2.48620567e-02 5.28869369e+01] [ 7.89236711e-03 2.48013667e-02 9.99661244e-01 -1.50255691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.081400513 meters 0.07403683438149183 Centerline is valid? [True, True] Translation: X:562.67, Y:52.85, Z:-1.51 [[ 9.99972768e-01 -3.13132222e-03 -6.68262290e-03 5.62674081e+02] [ 3.29102206e-03 9.99706010e-01 2.40221232e-02 5.28478888e+01] [ 6.60543727e-03 -2.40434617e-02 9.99689092e-01 -1.51249699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.141400513 meters 0.07616754674325038 Centerline is valid? [True, True] Translation: X:562.73, Y:52.87, Z:-1.51 [[ 9.99955879e-01 -7.36994057e-03 -5.82447365e-03 5.62732345e+02] [ 7.36751291e-03 9.99972764e-01 -4.38150252e-04 5.28706975e+01] [ 5.82754415e-03 3.95219035e-04 9.99982942e-01 -1.51319516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.201400513 meters 0.06382502695933492 Centerline is valid? [True, True] Translation: X:562.79, Y:52.86, Z:-1.51 [[ 9.99855672e-01 -1.64852174e-02 -4.10771454e-03 5.62793107e+02] [ 1.64840866e-02 9.99864080e-01 -3.08990406e-04 5.28638929e+01] [ 4.11225000e-03 2.41233887e-04 9.99991516e-01 -1.50949033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.261400513 meters 0.058090159597589244 Centerline is valid? [True, True] Translation: X:562.85, Y:52.86, Z:-1.51 [[ 9.99676167e-01 -2.51241905e-02 -4.04185952e-03 5.62853013e+02] [ 2.51231659e-02 9.99684317e-01 -3.04092517e-04 5.28591906e+01] [ 4.04822365e-03 2.02449735e-04 9.99991785e-01 -1.50972252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.321400513 meters 0.055082839467753775 Centerline is valid? [True, True] Translation: X:562.91, Y:52.86, Z:-1.51 [[ 9.99605445e-01 -2.76064089e-02 -5.18072822e-03 5.62913107e+02] [ 2.76047583e-02 9.99618840e-01 -3.89847681e-04 5.28623621e+01] [ 5.18951583e-03 2.46681115e-04 9.99986504e-01 -1.51098786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.381400513 meters 0.05321589593730885 Centerline is valid? [True, True] Translation: X:562.97, Y:52.87, Z:-1.51 [[ 9.99611030e-01 -2.73855277e-02 -5.27465697e-03 5.62971789e+02] [ 2.73838056e-02 9.99624914e-01 -3.98438220e-04 5.28689372e+01] [ 5.28358996e-03 2.53843058e-04 9.99986010e-01 -1.51064731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.441400513 meters 0.05411019087016795 Centerline is valid? [True, True] Translation: X:563.03, Y:52.88, Z:-1.51 [[ 9.99570587e-01 -2.89775104e-02 -4.35263099e-03 5.63029859e+02] [ 2.89763543e-02 9.99580043e-01 -3.28465350e-04 5.28792620e+01] [ 4.36032118e-03 2.02200926e-04 9.99990473e-01 -1.50973485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.501400513 meters 0.04682030481203159 Centerline is valid? [True, True] Translation: X:563.09, Y:52.89, Z:-1.51 [[ 9.99467533e-01 -3.25906822e-02 -1.58078624e-03 5.63089739e+02] [ 3.25905343e-02 9.99468780e-01 -1.19260426e-04 5.28876861e+01] [ 1.58383327e-03 6.76782559e-05 9.99998743e-01 -1.50560680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.561400513 meters 0.04312682545166527 Centerline is valid? [True, True] Translation: X:563.15, Y:52.90, Z:-1.50 [[ 9.99374710e-01 -3.53563198e-02 -3.46776882e-04 5.63149662e+02] [ 3.53563129e-02 9.99374770e-01 -2.61600678e-05 5.28970651e+01] [ 3.47484991e-04 1.38829582e-05 9.99999940e-01 -1.50458136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.621400513 meters 0.04001741464057356 Centerline is valid? [True, True] Translation: X:563.21, Y:52.91, Z:-1.51 [[ 9.99235007e-01 -3.90996353e-02 -7.86381811e-04 5.63209543e+02] [ 3.90996008e-02 9.99235316e-01 -5.92547240e-05 5.29102057e+01] [ 7.88097316e-04 2.84621797e-05 9.99999689e-01 -1.50555376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.681400513 meters 0.03082827971206398 Centerline is valid? [True, True] Translation: X:563.27, Y:52.94, Z:-1.50 [[ 9.98928789e-01 -4.61255989e-02 -3.70180614e-03 5.63271556e+02] [ 4.60639700e-02 9.98821427e-01 -1.52927160e-02 5.29350579e+01] [ 4.40282898e-03 1.51058144e-02 9.99876207e-01 -1.50364402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.741400513 meters 0.02973253365136287 Centerline is valid? [True, True] Translation: X:563.33, Y:52.93, Z:-1.51 [[ 9.98813491e-01 -4.86052905e-02 -3.02264436e-03 5.63330222e+02] [ 4.86449349e-02 9.98706069e-01 1.48276104e-02 5.29262282e+01] [ 2.29803295e-03 -1.49570537e-02 9.99885496e-01 -1.51100307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.801400513 meters 0.027505436110225125 Centerline is valid? [True, True] Translation: X:563.39, Y:52.96, Z:-1.51 [[ 9.98617151e-01 -5.25128623e-02 -2.48686362e-03 5.63388745e+02] [ 5.25125585e-02 9.98620246e-01 -1.87359835e-04 5.29604648e+01] [ 2.49327117e-03 5.65091732e-05 9.99996890e-01 -1.51029126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.861400513 meters 0.025380696499853216 Centerline is valid? [True, True] Translation: X:563.45, Y:52.97, Z:-1.51 [[ 9.98571643e-01 -5.33974620e-02 -1.83974336e-03 5.63450555e+02] [ 5.33972976e-02 9.98573337e-01 -1.38390461e-04 5.29730532e+01] [ 1.84450836e-03 3.99554668e-05 9.99998298e-01 -1.50956969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.921400513 meters 0.02598125109644416 Centerline is valid? [True, True] Translation: X:563.51, Y:52.99, Z:-1.51 [[ 9.98639636e-01 -5.21143121e-02 -1.72521686e-03 5.63511497e+02] [ 5.21141658e-02 9.98641125e-01 -1.29676980e-04 5.29887750e+01] [ 1.72963054e-03 3.95923349e-05 9.99998503e-01 -1.50918692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.981400513 meters 0.033109974894366304 Centerline is valid? [True, True] Translation: X:563.57, Y:53.02, Z:-1.51 [[ 9.98998037e-01 -4.47116884e-02 -1.94593538e-03 5.63569633e+02] [ 4.47114878e-02 9.98999931e-01 -1.46485245e-04 5.30179146e+01] [ 1.95053891e-03 5.93328067e-05 9.99998096e-01 -1.50895201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.041400513 meters 0.04798968013078967 Centerline is valid? [True, True] Translation: X:563.63, Y:53.06, Z:-1.51 [[ 9.99422147e-01 -3.39566028e-02 -1.52348227e-03 5.63626036e+02] [ 3.39564673e-02 9.99423306e-01 -1.14744798e-04 5.30569131e+01] [ 1.52650003e-03 6.29464168e-05 9.99998833e-01 -1.50847334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.101400513 meters 0.05127257403424685 Centerline is valid? [True, True] Translation: X:563.69, Y:53.07, Z:-1.51 [[ 9.99570510e-01 -2.92321029e-02 -2.06890102e-03 5.63685571e+02] [ 2.92318430e-02 9.99572646e-01 -1.55761495e-04 5.30726438e+01] [ 2.07257011e-03 9.52168068e-05 9.99997848e-01 -1.50989547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.161400513 meters 0.054482001458427826 Centerline is valid? [True, True] Translation: X:563.75, Y:53.09, Z:-1.51 [[ 9.99600764e-01 -2.82312147e-02 -1.14486463e-03 5.63745364e+02] [ 2.82311347e-02 9.99601418e-01 -8.60015725e-05 5.30885292e+01] [ 1.14683624e-03 5.36464101e-05 9.99999341e-01 -1.50947589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.221400513 meters 0.05070862265833243 Centerline is valid? [True, True] Translation: X:563.81, Y:53.10, Z:-1.51 [[ 9.99563284e-01 -2.95498600e-02 -2.17481103e-04 5.63806323e+02] [ 2.95498572e-02 9.99563307e-01 -1.62586778e-05 5.30955964e+01] [ 2.17866573e-04 9.82504180e-06 9.99999976e-01 -1.50782354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.281400513 meters 0.05182262921113738 Centerline is valid? [True, True] Translation: X:563.87, Y:53.11, Z:-1.51 [[ 9.99482358e-01 -3.21525251e-02 1.10916983e-03 5.63865740e+02] [ 3.21524523e-02 9.99482973e-01 8.34417522e-05 5.31081710e+01] [-1.11127922e-03 -4.77360294e-05 9.99999381e-01 -1.50630677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.341400513 meters 0.051318313987682954 Centerline is valid? [True, True] Translation: X:563.93, Y:53.12, Z:-1.51 [[ 9.99478507e-01 -3.22886798e-02 3.95017676e-04 5.63927547e+02] [ 3.22886705e-02 9.99478584e-01 2.98935003e-05 5.31166194e+01] [-3.95776929e-04 -1.71233155e-05 9.99999922e-01 -1.50839032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.401400513 meters 0.05044339357033779 Centerline is valid? [True, True] Translation: X:563.99, Y:53.13, Z:-1.51 [[ 9.99519432e-01 -3.09978225e-02 -2.00192910e-04 5.63988847e+02] [ 3.09978202e-02 9.99519452e-01 -1.48941389e-05 5.31251586e+01] [ 2.00558393e-04 8.68143746e-06 9.99999980e-01 -1.51010438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.461400513 meters 0.052264633682146545 Centerline is valid? [True, True] Translation: X:564.05, Y:53.14, Z:-1.51 [[ 9.99600092e-01 -2.82312992e-02 -1.62753327e-03 5.64048963e+02] [ 2.82311375e-02 9.99601415e-01 -1.22233780e-04 5.31400108e+01] [ 1.63033537e-03 7.62377827e-05 9.99998668e-01 -1.51131571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.521400513 meters 0.05380180752575108 Centerline is valid? [True, True] Translation: X:564.11, Y:53.15, Z:-1.51 [[ 9.99605722e-01 -2.80054331e-02 -2.02398465e-03 5.64109004e+02] [ 2.80051829e-02 9.99607766e-01 -1.51847454e-04 5.31516620e+01] [ 2.02744333e-03 9.51055239e-05 9.99997940e-01 -1.51189277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.581400513 meters 0.05392643548497739 Centerline is valid? [True, True] Translation: X:564.17, Y:53.16, Z:-1.51 [[ 9.99587293e-01 -2.86871987e-02 -1.51282720e-03 5.64169806e+02] [ 2.86870599e-02 9.99588435e-01 -1.13340809e-04 5.31644978e+01] [ 1.51545600e-03 6.98954676e-05 9.99998849e-01 -1.51130012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.641400513 meters 0.05133566350604547 Centerline is valid? [True, True] Translation: X:564.23, Y:53.17, Z:-1.51 [[ 9.99623621e-01 -2.73560765e-02 -2.06439423e-03 5.64230958e+02] [ 2.73558156e-02 9.99625748e-01 -1.54517287e-04 5.31734204e+01] [ 2.06784861e-03 9.79859418e-05 9.99997857e-01 -1.51171194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.701400513 meters 0.053834172096238975 Centerline is valid? [True, True] Translation: X:564.29, Y:53.19, Z:-1.51 [[ 9.99674141e-01 -2.54462149e-02 -2.02530912e-03 5.64291625e+02] [ 2.54459596e-02 9.99676188e-01 -1.51715393e-04 5.31868019e+01] [ 2.02851388e-03 1.00130021e-04 9.99997938e-01 -1.51238725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.761400513 meters 0.054734061260498894 Centerline is valid? [True, True] Translation: X:564.35, Y:53.20, Z:-1.51 [[ 9.99686950e-01 -2.50182886e-02 2.96149736e-04 5.64353081e+02] [ 2.50182831e-02 9.99686994e-01 2.23881981e-05 5.32022826e+01] [-2.96617154e-04 -1.49720315e-05 9.99999956e-01 -1.50915696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.821400513 meters 0.049485858172384246 Centerline is valid? [True, True] Translation: X:564.41, Y:53.21, Z:-1.51 [[ 9.99599162e-01 -2.83083629e-02 -3.90407082e-04 5.64413491e+02] [ 2.83083536e-02 9.99599238e-01 -2.91681293e-05 5.32085155e+01] [ 3.91076324e-04 1.81046559e-05 9.99999923e-01 -1.51055964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.881400513 meters 0.04988651977933669 Centerline is valid? [True, True] Translation: X:564.47, Y:53.22, Z:-1.51 [[ 9.99512424e-01 -3.11916262e-02 -1.41319245e-03 5.64472692e+02] [ 3.11915077e-02 9.99513421e-01 -1.05840647e-04 5.32182257e+01] [ 1.41580616e-03 6.17094383e-05 9.99998996e-01 -1.51311976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.941400513 meters 0.04890550203927114 Centerline is valid? [True, True] Translation: X:564.54, Y:53.23, Z:-1.51 [[ 9.99486188e-01 -3.20524203e-02 -3.82046108e-05 5.64536274e+02] [ 3.20522237e-02 9.99483047e-01 -2.50861850e-03 5.32264189e+01] [ 1.18592155e-04 2.50610500e-03 9.99996853e-01 -1.51147299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.001400513 meters 0.04863050395833861 Centerline is valid? [True, True] Translation: X:564.60, Y:53.23, Z:-1.51 [[ 9.99458301e-01 -3.28595059e-02 -1.83255697e-03 5.64595954e+02] [ 3.28637126e-02 9.99457162e-01 2.31473507e-03 5.32307473e+01] [ 1.75550114e-03 -2.37370581e-03 9.99995642e-01 -1.51321326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.061400513 meters 0.047879157574906246 Centerline is valid? [True, True] Translation: X:564.66, Y:53.24, Z:-1.51 [[ 9.99464415e-01 -3.27063478e-02 -1.08491462e-03 5.64658894e+02] [ 3.27062793e-02 9.99465003e-01 -8.07971971e-05 5.32410496e+01] [ 1.08697678e-03 4.52704027e-05 9.99999408e-01 -1.51219237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.121400513 meters 0.05121360916280423 Centerline is valid? [True, True] Translation: X:564.72, Y:53.25, Z:-1.51 [[ 9.99496320e-01 -3.17325098e-02 3.91474033e-04 5.64720038e+02] [ 3.17325007e-02 9.99496397e-01 2.94398903e-05 5.32525109e+01] [-3.92211087e-04 -1.70026120e-05 9.99999923e-01 -1.51092328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.181400513 meters 0.05128358976446695 Centerline is valid? [True, True] Translation: X:564.78, Y:53.26, Z:-1.51 [[ 9.99479298e-01 -3.22604019e-02 6.31266989e-04 5.64780960e+02] [ 3.22603784e-02 9.99479497e-01 4.72793999e-05 5.32613046e+01] [-6.32463666e-04 -2.68898695e-05 9.99999800e-01 -1.51107495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.241400513 meters 0.04603589950628908 Centerline is valid? [True, True] Translation: X:564.84, Y:53.26, Z:-1.51 [[ 9.99365689e-01 -3.55986295e-02 9.78628556e-04 5.64842530e+02] [ 3.55985749e-02 9.99366167e-01 7.31060368e-05 5.32600753e+01] [-9.80610744e-04 -3.82218828e-05 9.99999518e-01 -1.51044942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.301400513 meters 0.036024667587199244 Centerline is valid? [True, True] Translation: X:564.90, Y:53.25, Z:-1.51 [[ 9.99012318e-01 -4.44140231e-02 1.33514866e-03 5.64903825e+02] [ 4.44139296e-02 9.99013210e-01 9.96694382e-05 5.32493667e+01] [-1.33825787e-03 -4.02717980e-05 9.99999104e-01 -1.51126188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.361400513 meters 0.031309616317503036 Centerline is valid? [True, True] Translation: X:564.96, Y:53.25, Z:-1.51 [[ 9.98784789e-01 -4.92803043e-02 -6.30383624e-04 5.64964925e+02] [ 4.92802845e-02 9.98784988e-01 -4.69914202e-05 5.32459862e+01] [ 6.31933452e-04 1.58688313e-05 9.99999800e-01 -1.51399539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.421400513 meters 0.031142816890441925 Centerline is valid? [True, True] Translation: X:565.03, Y:53.25, Z:-1.51 [[ 9.98743539e-01 -5.01009206e-02 -1.11390506e-03 5.65025626e+02] [ 5.01008595e-02 9.98744160e-01 -8.26701320e-05 5.32501326e+01] [ 1.11664803e-03 2.67586591e-05 9.99999376e-01 -1.51491169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.481400513 meters 0.028288308487411148 Centerline is valid? [True, True] Translation: X:565.09, Y:53.25, Z:-1.51 [[ 9.98873080e-01 -4.74433101e-02 -1.30468821e-03 5.65087265e+02] [ 4.74432237e-02 9.98873932e-01 -9.70645281e-05 5.32528242e+01] [ 1.30782410e-03 3.50565297e-05 9.99999144e-01 -1.51316330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.541400513 meters 0.03127368269101254 Centerline is valid? [True, True] Translation: X:565.15, Y:53.27, Z:-1.51 [[ 9.99002688e-01 -4.46423667e-02 -8.29450784e-04 5.65148541e+02] [ 4.46423309e-02 9.99003032e-01 -6.15626830e-05 5.32675837e+01] [ 8.31372152e-04 2.44726695e-05 9.99999654e-01 -1.51289096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.601400513 meters 0.03239714897082521 Centerline is valid? [True, True] Translation: X:565.21, Y:53.28, Z:-1.51 [[ 9.98914644e-01 -4.65738759e-02 6.38649150e-04 5.65209373e+02] [ 4.65738550e-02 9.98914848e-01 4.76436984e-05 5.32751243e+01] [-6.40175071e-04 -1.78476352e-05 9.99999795e-01 -1.51072401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.661400513 meters 0.028007151163739794 Centerline is valid? [True, True] Translation: X:565.27, Y:53.28, Z:-1.51 [[ 9.98691088e-01 -5.10907003e-02 2.41892306e-03 5.65268703e+02] [ 5.10904139e-02 9.98694016e-01 1.80067809e-04 5.32839541e+01] [-2.42496378e-03 -5.62483356e-05 9.99997058e-01 -1.50800791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.721400513 meters 0.016202694011019158 Centerline is valid? [True, True] Translation: X:565.33, Y:53.28, Z:-1.51 [[ 9.98175892e-01 -6.02826315e-02 3.30033867e-03 5.65329882e+02] [ 6.02821487e-02 9.98181347e-01 2.45686815e-04 5.32827368e+01] [-3.30914715e-03 -4.62871497e-05 9.99994524e-01 -1.50578616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.781400513 meters 0.022320917758883067 Centerline is valid? [True, True] Translation: X:565.39, Y:53.29, Z:-1.51 [[ 9.97802350e-01 -6.61799769e-02 3.26829320e-03 5.65391575e+02] [ 6.61795349e-02 9.97807702e-01 2.43309415e-04 5.32859656e+01] [-3.27723034e-03 -2.64805826e-05 9.99994630e-01 -1.50629891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.841400513 meters 0.011152206183033211 Centerline is valid? [True, True] Translation: X:565.45, Y:53.29, Z:-1.50 [[ 9.97117878e-01 -7.56761745e-02 5.39011217e-03 5.65453473e+02] [ 7.56751127e-02 9.97132447e-01 4.00960574e-04 5.32885624e+01] [-5.40499890e-03 8.09238895e-06 9.99985393e-01 -1.50364417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.901400513 meters 0.020591126624922393 Centerline is valid? [True, True] Translation: X:565.52, Y:53.29, Z:-1.51 [[ 9.96643776e-01 -8.16822544e-02 5.40301489e-03 5.65515680e+02] [ 8.16812780e-02 9.96658421e-01 4.01512308e-04 5.32920044e+01] [-5.41775672e-03 4.11604180e-05 9.99985323e-01 -1.50542732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.961400513 meters 0.015617513657928801 Centerline is valid? [True, True] Translation: X:565.58, Y:53.30, Z:-1.51 [[ 9.96427427e-01 -8.43325675e-02 4.51665543e-03 5.65576669e+02] [ 8.43319153e-02 9.96437663e-01 3.35004273e-04 5.33038205e+01] [-4.52881735e-03 4.70907573e-05 9.99989744e-01 -1.50667244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.021400513 meters 0.011758117280331742 Centerline is valid? [True, True] Translation: X:565.64, Y:53.32, Z:-1.51 [[ 9.96631673e-01 -8.19747851e-02 2.33305783e-03 5.65637421e+02] [ 8.19746047e-02 9.96634404e-01 1.72990664e-04 5.33161184e+01] [-2.33938657e-03 1.88435181e-05 9.99997263e-01 -1.51039940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.081400513 meters 0.009609417466843673 Centerline is valid? [True, True] Translation: X:565.70, Y:53.33, Z:-1.51 [[ 9.96918043e-01 -7.84461327e-02 7.86969116e-04 5.65698623e+02] [ 7.84461111e-02 9.96918354e-01 5.82898051e-05 5.33348927e+01] [-7.89116566e-04 3.62450829e-06 9.99999689e-01 -1.51351638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.141400513 meters 0.008867861102505196 Centerline is valid? [True, True] Translation: X:565.76, Y:53.37, Z:-1.51 [[ 9.97443729e-01 -7.14554460e-02 -3.55734282e-04 5.65758894e+02] [ 7.14554413e-02 9.97443793e-01 -2.60486692e-05 5.33673519e+01] [ 3.56686271e-04 5.62931641e-07 9.99999936e-01 -1.51487848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.201400513 meters 0.0214473505898421 Centerline is valid? [True, True] Translation: X:565.82, Y:53.39, Z:-1.52 [[ 9.97711394e-01 -6.76159794e-02 2.31466819e-04 5.65819854e+02] [ 6.76159771e-02 9.97711421e-01 1.77543521e-05 5.33875595e+01] [-2.32137567e-04 -2.06286421e-06 9.99999973e-01 -1.51540230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.261400513 meters 0.01828239502449587 Centerline is valid? [True, True] Translation: X:565.88, Y:53.41, Z:-1.51 [[ 9.97652165e-01 -6.84809917e-02 7.15514484e-04 5.65879594e+02] [ 6.84809713e-02 9.97652421e-01 5.29967110e-05 5.34070134e+01] [-7.17464025e-04 -3.87315656e-06 9.99999743e-01 -1.51424096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.321400513 meters 0.019146503124766394 Centerline is valid? [True, True] Translation: X:565.94, Y:53.42, Z:-1.52 [[ 9.97424430e-01 -7.17248411e-02 2.33326857e-04 5.65940228e+02] [ 7.17248389e-02 9.97424457e-01 1.77651997e-05 5.34178898e+01] [-2.34000120e-04 -9.84112925e-07 9.99999973e-01 -1.51589899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.381400513 meters 0.016340671930588024 Centerline is valid? [True, True] Translation: X:566.00, Y:53.43, Z:-1.52 [[ 9.97291636e-01 -7.35272847e-02 -1.76952597e-03 5.66001779e+02] [ 7.35271719e-02 9.97293206e-01 -1.28808748e-04 5.34292679e+01] [ 1.77420719e-03 -1.64835356e-06 9.99998426e-01 -1.51895854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.441400513 meters 0.010711236320577184 Centerline is valid? [True, True] Translation: X:566.06, Y:53.45, Z:-1.51 [[ 9.97605640e-01 -6.91404038e-02 -1.60985951e-03 5.66062830e+02] [ 6.91403054e-02 9.97606939e-01 -1.16798248e-04 5.34526702e+01] [ 1.61408249e-03 5.21241287e-06 9.99998697e-01 -1.51479884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.501400513 meters 0.02086414212608459 Centerline is valid? [True, True] Translation: X:566.12, Y:53.47, Z:-1.51 [[ 9.97876201e-01 -6.51176446e-02 1.66749459e-03 5.66124162e+02] [ 6.51175313e-02 9.97877594e-01 1.22215743e-04 5.34740620e+01] [-1.67191390e-03 -1.33730503e-05 9.99998602e-01 -1.51080630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.561400513 meters 0.014751787488221257 Centerline is valid? [True, True] Translation: X:566.19, Y:53.49, Z:-1.51 [[ 9.98164395e-01 -6.05029155e-02 2.69022201e-03 5.66185504e+02] [ 6.05026065e-02 9.98168020e-01 1.96164133e-04 5.34946819e+01] [-2.69716208e-03 -3.30386096e-05 9.99996362e-01 -1.50965448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.621400513 meters 0.021270896303359495 Centerline is valid? [True, True] Translation: X:566.25, Y:53.51, Z:-1.51 [[ 9.98127889e-01 -6.11465978e-02 1.34570750e-03 5.66245481e+02] [ 6.11465210e-02 9.98128796e-01 9.82138859e-05 5.35109158e+01] [-1.34919485e-03 -1.57446866e-05 9.99999090e-01 -1.51343516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.681400513 meters 0.015387294431322134 Centerline is valid? [True, True] Translation: X:566.31, Y:53.53, Z:-1.51 [[ 9.98036333e-01 -6.26369470e-02 3.01608980e-04 5.66305863e+02] [ 6.26374562e-02 9.98008634e-01 -7.43749505e-03 5.35320304e+01] [ 1.64853618e-04 7.44178230e-03 9.99972296e-01 -1.50889515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.741400513 meters 0.01715707809060182 Centerline is valid? [True, True] Translation: X:566.36, Y:53.55, Z:-1.51 [[ 9.98175270e-01 -6.03763518e-02 -9.09062572e-04 5.66364241e+02] [ 6.03743966e-02 9.98173711e-01 -2.04335484e-03 5.35495868e+01] [ 1.03077267e-03 1.98474217e-03 9.99997499e-01 -1.51180979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.801400513 meters 0.0240895737308741 Centerline is valid? [True, True] Translation: X:566.42, Y:53.58, Z:-1.52 [[ 9.98392594e-01 -5.66715530e-02 -7.49890000e-04 5.66416016e+02] [ 5.66715088e-02 9.98392875e-01 -8.00655767e-05 5.35775585e+01] [ 7.53222274e-04 3.74394811e-05 9.99999716e-01 -1.51622663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.861400513 meters 0.02320900618414217 Centerline is valid? [True, True] Translation: X:566.48, Y:53.58, Z:-1.52 [[ 9.98541392e-01 -5.39376673e-02 2.41163279e-03 5.66478144e+02] [ 5.39083469e-02 9.98486306e-01 1.09081342e-02 5.35767671e+01] [-2.99634163e-03 -1.07622164e-02 9.99937596e-01 -1.52138802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.921400513 meters 0.03006979641140965 Centerline is valid? [True, True] Translation: X:566.54, Y:53.62, Z:-1.50 [[ 9.98705304e-01 -5.07734056e-02 3.12673180e-03 5.66539587e+02] [ 5.08169687e-02 9.98580840e-01 -1.59355721e-02 5.36222963e+01] [-2.31319120e-03 1.60738314e-02 9.99868132e-01 -1.50328776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.981400513 meters 0.04845024079562901 Centerline is valid? [True, True] Translation: X:566.60, Y:53.67, Z:-1.50 [[ 9.98780440e-01 -4.91772964e-02 -4.38468853e-03 5.66599632e+02] [ 4.91237418e-02 9.98725531e-01 -1.15832747e-02 5.36657710e+01] [ 4.94873452e-03 1.13537559e-02 9.99923298e-01 -1.49786750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.041400513 meters 0.03511027090160309 Centerline is valid? [True, True] Translation: X:566.66, Y:53.63, Z:-1.55 [[ 9.99056518e-01 -4.33719979e-02 2.22353469e-03 5.66656574e+02] [ 4.33101768e-02 9.98801444e-01 2.28014148e-02 5.36296387e+01] [-3.20981257e-03 -2.26836004e-02 9.99737541e-01 -1.54633567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.101400513 meters 0.0348306213194268 Centerline is valid? [True, True] Translation: X:566.72, Y:53.66, Z:-1.53 [[ 9.99051498e-01 -4.32434445e-02 5.10962595e-03 5.66720356e+02] [ 4.32311691e-02 9.99061996e-01 2.48898547e-03 5.36611356e+01] [-5.21246541e-03 -2.26572956e-03 9.99983848e-01 -1.53235352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.161400513 meters 0.04578244822152322 Centerline is valid? [True, True] Translation: X:566.78, Y:53.67, Z:-1.55 [[ 9.99061436e-01 -4.21805390e-02 9.85135802e-03 5.66781091e+02] [ 4.19792167e-02 9.98921889e-01 1.98193154e-02 5.36665439e+01] [-1.06767266e-02 -1.93871614e-02 9.99755043e-01 -1.55377121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.221400513 meters 0.05015901990562671 Centerline is valid? [True, True] Translation: X:566.85, Y:53.73, Z:-1.50 [[ 9.98276147e-01 -5.86855996e-02 -8.57451025e-04 5.66847467e+02] [ 5.86382467e-02 9.97882074e-01 -2.81588895e-02 5.37340875e+01] [ 2.50815632e-03 2.80600682e-02 9.99603092e-01 -1.50248414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.281400513 meters 0.03048783880091124 Centerline is valid? [True, True] Translation: X:566.91, Y:53.67, Z:-1.53 [[ 9.99051344e-01 -4.35108771e-02 -1.79299374e-03 5.66910449e+02] [ 4.35304920e-02 9.98968203e-01 1.29469985e-02 5.36731991e+01] [ 1.22780847e-03 -1.30127661e-02 9.99914577e-01 -1.53222776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.341400513 meters 0.02974506031162022 Centerline is valid? [True, True] Translation: X:566.97, Y:53.69, Z:-1.52 [[ 9.99038493e-01 -4.38294759e-02 1.03265082e-03 5.66971843e+02] [ 4.38294234e-02 9.99039026e-01 7.34146502e-05 5.36898751e+01] [-1.03487619e-03 -2.80835717e-05 9.99999464e-01 -1.52216904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.401400513 meters 0.030681301601790254 Centerline is valid? [True, True] Translation: X:567.03, Y:53.70, Z:-1.52 [[ 9.99136149e-01 -4.14991222e-02 2.18596275e-03 5.67033165e+02] [ 4.14988854e-02 9.99138538e-01 1.53582940e-04 5.37034695e+01] [-2.19045319e-03 -6.27352497e-05 9.99997599e-01 -1.52021069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.461400513 meters 0.033883017200461704 Centerline is valid? [True, True] Translation: X:567.09, Y:53.72, Z:-1.52 [[ 9.99240504e-01 -3.88611111e-02 2.86855895e-03 5.67093864e+02] [ 3.88606929e-02 9.99244618e-01 2.01402205e-04 5.37175709e+01] [-2.87421880e-03 -8.97750528e-05 9.99995865e-01 -1.52020053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.521400513 meters 0.035014998131030546 Centerline is valid? [True, True] Translation: X:567.16, Y:53.73, Z:-1.52 [[ 9.99252382e-01 -3.84333810e-02 4.18964963e-03 5.67155964e+02] [ 3.84324867e-02 9.99261156e-01 2.93781023e-04 5.37299635e+01] [-4.19784513e-03 -1.32542733e-04 9.99991180e-01 -1.52041095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.581400513 meters 0.03122866075071911 Centerline is valid? [True, True] Translation: X:567.22, Y:53.73, Z:-1.52 [[ 9.99125345e-01 -4.16067452e-02 4.17407807e-03 5.67217952e+02] [ 4.16058895e-02 9.99134058e-01 2.91671745e-04 5.37316286e+01] [-4.18259907e-03 -1.17750402e-04 9.99991246e-01 -1.52114154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.641400513 meters 0.031156170085870256 Centerline is valid? [True, True] Translation: X:567.28, Y:53.74, Z:-1.52 [[ 9.99108296e-01 -4.20001119e-02 4.31320205e-03 5.67280228e+02] [ 4.19992024e-02 9.99117599e-01 3.01263004e-04 5.37405136e+01] [-4.32204915e-03 -1.19843320e-04 9.99990653e-01 -1.52041889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.701400513 meters 0.03506906580721529 Centerline is valid? [True, True] Translation: X:567.34, Y:53.76, Z:-1.52 [[ 9.99294878e-01 -3.74416609e-02 2.80526785e-03 5.67340418e+02] [ 3.74412587e-02 9.99298811e-01 1.95753731e-04 5.37557271e+01] [-2.81063017e-03 -9.05829417e-05 9.99996046e-01 -1.52338291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.761400513 meters 0.041377136351194964 Centerline is valid? [True, True] Translation: X:567.40, Y:53.77, Z:-1.53 [[ 9.99500616e-01 -3.15062952e-02 2.42314374e-03 5.67399520e+02] [ 3.15059780e-02 9.99503549e-01 1.69006275e-04 5.37728237e+01] [-2.42726553e-03 -9.25783627e-05 9.99997050e-01 -1.52645051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.821400513 meters 0.047824206657431076 Centerline is valid? [True, True] Translation: X:567.46, Y:53.79, Z:-1.53 [[ 9.99728614e-01 -2.32796188e-02 8.70799081e-04 5.67458836e+02] [ 2.32795747e-02 9.99728992e-01 6.07654126e-05 5.37946541e+01] [-8.71977683e-04 -4.04770895e-05 9.99999619e-01 -1.52725818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.881400513 meters 0.05903681255623287 Centerline is valid? [True, True] Translation: X:567.52, Y:53.82, Z:-1.53 [[ 9.99900402e-01 -1.40779457e-02 -9.98435692e-04 5.67516187e+02] [ 1.40778833e-02 9.99900899e-01 -6.94906935e-05 5.38230260e+01] [ 9.99315033e-04 5.54279112e-05 9.99999499e-01 -1.53176802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.941400513 meters 0.05870260353729779 Centerline is valid? [True, True] Translation: X:567.58, Y:53.83, Z:-1.53 [[ 9.99936909e-01 -1.11285698e-02 1.52766172e-03 5.67576961e+02] [ 1.11284199e-02 9.99938072e-01 1.06583153e-04 5.38331118e+01] [-1.52875323e-03 -8.95759677e-05 9.99998827e-01 -1.52954524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.001400513 meters 0.05628256977946455 Centerline is valid? [True, True] Translation: X:567.64, Y:53.84, Z:-1.53 [[ 9.99906955e-01 -1.33704760e-02 2.70419298e-03 5.67637216e+02] [ 1.33700147e-02 9.99910600e-01 1.88595961e-04 5.38418813e+01] [-2.70647284e-03 -1.52423313e-04 9.99996326e-01 -1.52816785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.061400513 meters 0.05591445096624602 Centerline is valid? [True, True] Translation: X:567.70, Y:53.85, Z:-1.53 [[ 9.99901450e-01 -1.37004484e-02 3.06388164e-03 5.67699277e+02] [ 1.36998576e-02 9.99906130e-01 2.13738871e-04 5.38534383e+01] [-3.06652235e-03 -1.71743064e-04 9.99995283e-01 -1.52692742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.121400513 meters 0.057097723332943995 Centerline is valid? [True, True] Translation: X:567.76, Y:53.87, Z:-1.53 [[ 9.99889382e-01 -1.46593798e-02 2.51520132e-03 5.67759328e+02] [ 1.46589846e-02 9.99892536e-01 1.75480226e-04 5.38676328e+01] [-2.51750345e-03 -1.38590517e-04 9.99996821e-01 -1.53009008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.181400513 meters 0.05470576870779991 Centerline is valid? [True, True] Translation: X:567.82, Y:53.88, Z:-1.53 [[ 9.99896008e-01 -1.42481881e-02 2.22768259e-03 5.67820611e+02] [ 1.42478778e-02 9.99898482e-01 1.55112098e-04 5.38771745e+01] [-2.22966650e-03 -1.23356219e-04 9.99997507e-01 -1.52961622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.241400513 meters 0.0496641712016478 Centerline is valid? [True, True] Translation: X:567.88, Y:53.88, Z:-1.53 [[ 9.99830715e-01 -1.77959380e-02 4.67401303e-03 5.67881281e+02] [ 1.77946132e-02 9.99841611e-01 3.24888851e-04 5.38848693e+01] [-4.67905441e-03 -2.41661598e-04 9.99989024e-01 -1.52744015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.301400513 meters 0.047671487889248756 Centerline is valid? [True, True] Translation: X:567.94, Y:53.89, Z:-1.53 [[ 9.99780337e-01 -2.04713327e-02 4.49463948e-03 5.67941818e+02] [ 2.04701348e-02 9.99790416e-01 3.12360412e-04 5.38902408e+01] [-4.50009191e-03 -2.20285922e-04 9.99989850e-01 -1.52824083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.361400513 meters 0.05212774282412157 Centerline is valid? [True, True] Translation: X:568.00, Y:53.90, Z:-1.53 [[ 9.99785021e-01 -2.03520010e-02 3.96333679e-03 5.68003789e+02] [ 2.03510676e-02 9.99792858e-01 2.75700682e-04 5.39020971e+01] [-3.96812688e-03 -1.94983277e-04 9.99992108e-01 -1.53185801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.421400513 meters 0.047913454887475795 Centerline is valid? [True, True] Translation: X:568.07, Y:53.91, Z:-1.53 [[ 9.99774696e-01 -2.10090244e-02 3.02962281e-03 5.68066115e+02] [ 2.10084831e-02 9.99779275e-01 2.10362820e-04 5.39071606e+01] [-3.03337362e-03 -1.46667645e-04 9.99995389e-01 -1.53030181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.481400513 meters 0.04931154002521351 Centerline is valid? [True, True] Translation: X:568.13, Y:53.91, Z:-1.53 [[ 9.99841478e-01 -1.76910512e-02 2.01141487e-03 5.68126020e+02] [ 1.76908072e-02 9.99843496e-01 1.39049447e-04 5.39143032e+01] [-2.01356000e-03 -1.03443852e-04 9.99997967e-01 -1.53238395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.541400513 meters 0.06251413086242356 Centerline is valid? [True, True] Translation: X:568.18, Y:53.94, Z:-1.53 [[ 9.99928565e-01 -1.19513110e-02 1.75152605e-04 5.68183932e+02] [ 1.19513091e-02 9.99928580e-01 1.20498880e-05 5.39423115e+01] [-1.75284107e-04 -9.95572428e-06 9.99999985e-01 -1.53481989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.601400513 meters 0.06123795267132533 Centerline is valid? [True, True] Translation: X:568.24, Y:53.95, Z:-1.53 [[ 9.99981791e-01 -5.89781192e-03 1.27798582e-03 5.68243695e+02] [ 5.89770380e-03 9.99982604e-01 8.83539737e-05 5.39495416e+01] [-1.27848469e-03 -8.08151830e-05 9.99999179e-01 -1.53335330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.661400513 meters 0.06285264995487144 Centerline is valid? [True, True] Translation: X:568.30, Y:53.96, Z:-1.53 [[ 9.99990751e-01 -3.25235261e-03 2.81416515e-03 5.68303410e+02] [ 3.25181795e-03 9.99994694e-01 1.94543705e-04 5.39620639e+01] [-2.81478295e-03 -1.85390753e-04 9.99996021e-01 -1.53228596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.721400513 meters 0.06285534967697275 Centerline is valid? [True, True] Translation: X:568.36, Y:53.98, Z:-1.53 [[ 9.99962528e-01 -7.81061982e-03 3.73325491e-03 5.68362382e+02] [ 7.80971064e-03 9.99969470e-01 2.58052185e-04 5.39778228e+01] [-3.73515649e-03 -2.28886875e-04 9.99992998e-01 -1.53023449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.781400513 meters 0.06074010546302715 Centerline is valid? [True, True] Translation: X:568.42, Y:53.98, Z:-1.53 [[ 9.99967508e-01 -7.35532904e-03 3.29886633e-03 5.68424818e+02] [ 7.35461626e-03 9.99972928e-01 2.28145219e-04 5.39810789e+01] [-3.30045511e-03 -2.03875910e-04 9.99994533e-01 -1.53193917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.841400513 meters 0.060869883631681526 Centerline is valid? [True, True] Translation: X:568.48, Y:54.00, Z:-1.53 [[ 9.99920410e-01 -1.21590007e-02 3.36640362e-03 5.68483771e+02] [ 1.21582865e-02 9.99926058e-01 2.32537172e-04 5.39973351e+01] [-3.36898212e-03 -1.91588965e-04 9.99994307e-01 -1.53250034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.901400513 meters 0.053008107288506634 Centerline is valid? [True, True] Translation: X:568.55, Y:54.00, Z:-1.53 [[ 9.99914123e-01 -1.22362009e-02 4.69272477e-03 5.68546526e+02] [ 1.22348136e-02 9.99925099e-01 3.24221995e-04 5.39994715e+01] [-4.69634053e-03 -2.66779539e-04 9.99988937e-01 -1.53043349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.961400513 meters 0.05573763787194568 Centerline is valid? [True, True] Translation: X:568.61, Y:54.01, Z:-1.53 [[ 9.99915483e-01 -1.17982570e-02 5.46148575e-03 5.68606438e+02] [ 1.17963735e-02 9.99930349e-01 3.76955187e-04 5.40135193e+01] [-5.46555277e-03 -3.12497602e-04 9.99985015e-01 -1.53022378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.021400513 meters 0.05314282443445318 Centerline is valid? [True, True] Translation: X:568.67, Y:54.02, Z:-1.53 [[ 9.99928047e-01 -1.13279527e-02 3.94689571e-03 5.68668278e+02] [ 1.13269664e-02 9.99935811e-01 2.72159955e-04 5.40230024e+01] [-3.94972538e-03 -2.27434017e-04 9.99992174e-01 -1.53150617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.081400513 meters 0.05608342126383675 Centerline is valid? [True, True] Translation: X:568.73, Y:54.04, Z:-1.53 [[ 9.99944520e-01 -9.76155586e-03 3.95850456e-03 5.68728224e+02] [ 9.76055251e-03 9.99952327e-01 2.72706119e-04 5.40350594e+01] [-3.96097789e-03 -2.34053798e-04 9.99992128e-01 -1.53386465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.141400513 meters 0.05567120774771892 Centerline is valid? [True, True] Translation: X:568.79, Y:54.05, Z:-1.53 [[ 9.99947432e-01 -8.77841326e-03 5.29839826e-03 5.68789704e+02] [ 8.77660234e-03 9.99961418e-01 3.64939844e-04 5.40463553e+01] [-5.30139743e-03 -3.18418725e-04 9.99985897e-01 -1.53132321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.201400513 meters 0.07179426073866373 Centerline is valid? [True, True] Translation: X:568.85, Y:54.08, Z:-1.53 [[ 9.99991915e-01 5.77733212e-04 3.97954033e-03 5.68847296e+02] [-5.78827695e-04 9.99999795e-01 2.73881247e-04 5.40804798e+01] [-3.97938128e-03 -2.76182501e-04 9.99992044e-01 -1.53398463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.261400513 meters 0.06899589094188999 Centerline is valid? [True, True] Translation: X:568.91, Y:54.09, Z:-1.54 [[ 9.99976148e-01 6.70123443e-03 1.67256296e-03 5.68906898e+02] [-6.70143626e-03 9.99977539e-01 1.15094290e-04 5.40892492e+01] [-1.67175412e-03 -1.26300119e-04 9.99998595e-01 -1.53677393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.321400513 meters 0.07851550514812523 Centerline is valid? [True, True] Translation: X:568.96, Y:54.12, Z:-1.54 [[ 9.99884917e-01 1.46567734e-02 3.91551868e-03 5.68964655e+02] [-1.46579405e-02 9.99892530e-01 2.69549344e-04 5.41198477e+01] [-3.91114715e-03 -3.26911763e-04 9.99992298e-01 -1.53570184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.381400513 meters 0.09516128493926981 Centerline is valid? [True, True] Translation: X:569.02, Y:54.15, Z:-1.53 [[ 9.99845467e-01 1.66712186e-02 5.57789825e-03 5.69021388e+02] [-1.66736185e-02 9.99860912e-01 3.84023529e-04 5.41539260e+01] [-5.57072029e-03 -4.76967933e-04 9.99984370e-01 -1.53427326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.441400513 meters 0.07860129028329031 Centerline is valid? [True, True] Translation: X:569.08, Y:54.15, Z:-1.54 [[ 9.99922811e-01 1.18574318e-02 3.71128771e-03 5.69082684e+02] [-1.18584613e-02 9.99929653e-01 2.55515310e-04 5.41468778e+01] [-3.70799688e-03 -2.99505748e-04 9.99993081e-01 -1.53842823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.501400513 meters 0.05327815796816847 Centerline is valid? [True, True] Translation: X:569.14, Y:54.12, Z:-1.54 [[ 9.99975361e-01 6.47511780e-03 2.71109457e-03 5.69144739e+02] [-6.47564752e-03 9.99979015e-01 1.86656804e-04 5.41245860e+01] [-2.70982906e-03 -2.04208298e-04 9.99996308e-01 -1.53808772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.561400513 meters 0.057994506797109095 Centerline is valid? [True, True] Translation: X:569.20, Y:54.14, Z:-1.54 [[ 9.99992483e-01 -2.56086592e-03 2.91147372e-03 5.69203414e+02] [ 2.56029310e-03 9.99996702e-01 2.00458331e-04 5.41381833e+01] [-2.91197746e-03 -1.93002598e-04 9.99995742e-01 -1.54071992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.621400513 meters 0.050216140106149984 Centerline is valid? [True, True] Translation: X:569.26, Y:54.14, Z:-1.54 [[ 9.99941316e-01 -1.01046547e-02 3.90640440e-03 5.69264009e+02] [ 1.01036807e-02 9.99948920e-01 2.68983899e-04 5.41361308e+01] [-3.90892285e-03 -2.29499051e-04 9.99992334e-01 -1.53568522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.681400513 meters 0.04841339854679578 Centerline is valid? [True, True] Translation: X:569.32, Y:54.14, Z:-1.54 [[ 9.99890146e-01 -1.43461230e-02 3.72632287e-03 5.69324969e+02] [ 1.43452659e-02 9.99897068e-01 2.56632992e-04 5.41387619e+01] [-3.72962101e-03 -2.03149708e-04 9.99993024e-01 -1.53559852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.741400513 meters 0.04861409817282615 Centerline is valid? [True, True] Translation: X:569.39, Y:54.14, Z:-1.54 [[ 9.99914241e-01 -1.22501906e-02 4.63079356e-03 5.69386373e+02] [ 1.22488448e-02 9.99924929e-01 3.18876109e-04 5.41423388e+01] [-4.63435221e-03 -2.62126891e-04 9.99989227e-01 -1.53508713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.801400513 meters 0.04474534745747444 Centerline is valid? [True, True] Translation: X:569.45, Y:54.14, Z:-1.53 [[ 9.99941042e-01 -8.79343125e-03 6.37092774e-03 5.69446995e+02] [ 8.79081507e-03 9.99961264e-01 4.38529979e-04 5.41409678e+01] [-6.37453714e-03 -3.82498477e-04 9.99979609e-01 -1.53390901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.861400513 meters 0.04738030483491041 Centerline is valid? [True, True] Translation: X:569.51, Y:54.15, Z:-1.54 [[ 9.99965422e-01 -6.33885167e-03 5.38273380e-03 5.69507446e+02] [ 6.33694876e-03 9.99979853e-01 3.70502012e-04 5.41469224e+01] [-5.38497391e-03 -3.36379093e-04 9.99985444e-01 -1.53735478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.921400513 meters 0.05635839447841394 Centerline is valid? [True, True] Translation: X:569.57, Y:54.16, Z:-1.54 [[ 9.99987765e-01 -3.03985531e-03 3.90254117e-03 5.69566031e+02] [ 3.03883020e-03 9.99995347e-01 2.68581779e-04 5.41609945e+01] [-3.90333946e-03 -2.56719332e-04 9.99992349e-01 -1.53969809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.981400513 meters 0.04918938073265109 Centerline is valid? [True, True] Translation: X:569.63, Y:54.15, Z:-1.54 [[ 9.99995466e-01 -2.23883586e-03 2.01392198e-03 5.69628857e+02] [ 2.23856085e-03 9.99997485e-01 1.38798100e-04 5.41542451e+01] [-2.01422766e-03 -1.34289183e-04 9.99997962e-01 -1.54336411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.041400513 meters 0.050695699430012085 Centerline is valid? [True, True] Translation: X:569.69, Y:54.16, Z:-1.55 [[ 9.99999801e-01 -5.47578585e-04 3.13429920e-04 5.69689789e+02] [ 5.47571835e-04 9.99999850e-01 2.16218118e-05 5.41606245e+01] [-3.13441712e-04 -2.14501821e-05 9.99999951e-01 -1.54574395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.101400513 meters 0.05217080269003178 Centerline is valid? [True, True] Translation: X:569.75, Y:54.17, Z:-1.54 [[ 9.99997480e-01 2.18985923e-03 4.94429162e-04 5.69749913e+02] [-2.18987632e-03 9.99997602e-01 3.40131110e-05 5.41659424e+01] [-4.94353492e-04 -3.50957640e-05 9.99999877e-01 -1.54466075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.161400513 meters 0.06506113163920585 Centerline is valid? [True, True] Translation: X:569.81, Y:54.19, Z:-1.55 [[ 9.99981284e-01 5.89421213e-03 1.64016561e-03 5.69807537e+02] [-5.89440506e-03 9.99982621e-01 1.12819652e-04 5.41860833e+01] [-1.63947213e-03 -1.22485340e-04 9.99998649e-01 -1.54512005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.221400513 meters 0.06438173887586522 Centerline is valid? [True, True] Translation: X:569.87, Y:54.19, Z:-1.55 [[ 9.99962048e-01 8.32808956e-03 2.55860421e-03 5.69868005e+02] [-8.32856690e-03 9.99965301e-01 1.75964286e-04 5.41897904e+01] [-2.55704998e-03 -1.97267114e-04 9.99996711e-01 -1.54562322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.281400513 meters 0.05899885012616512 Centerline is valid? [True, True] Translation: X:569.93, Y:54.19, Z:-1.54 [[ 9.99972774e-01 6.27538068e-03 3.88216423e-03 5.69928975e+02] [-6.27646423e-03 9.99980267e-01 2.66989453e-04 5.41891507e+01] [-3.88041217e-03 -2.91348449e-04 9.99992429e-01 -1.54177042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.341400513 meters 0.05688241369160613 Centerline is valid? [True, True] Translation: X:569.99, Y:54.19, Z:-1.54 [[ 9.99977860e-01 5.22562396e-03 4.11974379e-03 5.69988728e+02] [-5.22683525e-03 9.99986300e-01 2.83309157e-04 5.41911426e+01] [-4.11820688e-03 -3.04836107e-04 9.99991474e-01 -1.54080516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.401400513 meters 0.06339246090414109 Centerline is valid? [True, True] Translation: X:570.05, Y:54.20, Z:-1.54 [[ 9.99964528e-01 6.43473818e-03 5.43472041e-03 5.70046780e+02] [-6.43686477e-03 9.99979213e-01 3.73896544e-04 5.42041907e+01] [-5.43220152e-03 -4.08865841e-04 9.99985162e-01 -1.53898273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.461400513 meters 0.05627954166724542 Centerline is valid? [True, True] Translation: X:570.11, Y:54.20, Z:-1.54 [[ 9.99966389e-01 5.26064957e-03 6.28852483e-03 5.70107137e+02] [-5.26347538e-03 9.99986054e-01 4.32894657e-04 5.42000793e+01] [-6.28615982e-03 -4.65979602e-04 9.99980133e-01 -1.53766153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.521400513 meters 0.0559476942676013 Centerline is valid? [True, True] Translation: X:570.17, Y:54.21, Z:-1.53 [[ 9.99959988e-01 -6.83161103e-05 8.94522725e-03 5.70168127e+02] [ 1.38182524e-04 9.99969491e-01 -7.81008323e-03 5.42079093e+01] [-8.94442079e-03 7.81100680e-03 9.99929490e-01 -1.52924037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.581400513 meters 0.04947004333084438 Centerline is valid? [True, True] Translation: X:570.23, Y:54.19, Z:-1.55 [[ 9.99960922e-01 -6.88757368e-03 5.54223511e-03 5.70229044e+02] [ 6.84283723e-03 9.99944179e-01 8.05079282e-03 5.41891244e+01] [-5.59737616e-03 -8.01255360e-03 9.99952233e-01 -1.54897307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.641400513 meters 0.045196511892653356 Centerline is valid? [True, True] Translation: X:570.29, Y:54.19, Z:-1.54 [[ 9.99940060e-01 -9.49219991e-03 5.45667192e-03 5.70289489e+02] [ 9.49029218e-03 9.99954896e-01 3.75402292e-04 5.41941039e+01] [-5.45998919e-03 -3.23594379e-04 9.99985042e-01 -1.54185346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.701400513 meters 0.04602667366906275 Centerline is valid? [True, True] Translation: X:570.35, Y:54.20, Z:-1.54 [[ 9.99951721e-01 -8.54269803e-03 4.85570110e-03 5.70351476e+02] [ 8.54117622e-03 9.99963468e-01 3.34058301e-04 5.42007575e+01] [-4.85837747e-03 -2.92568774e-04 9.99988155e-01 -1.54146620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.761400513 meters 0.053147684313360505 Centerline is valid? [True, True] Translation: X:570.41, Y:54.22, Z:-1.54 [[ 9.99977025e-01 -5.78100291e-03 3.53959632e-03 5.70410008e+02] [ 5.78017774e-03 9.99983265e-01 2.43311853e-04 5.42166939e+01] [-3.54094367e-03 -2.22846768e-04 9.99993706e-01 -1.54436086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.821400513 meters 0.04739973094613998 Centerline is valid? [True, True] Translation: X:570.47, Y:54.21, Z:-1.55 [[ 9.99977290e-01 -5.63368807e-03 3.69876622e-03 5.70472337e+02] [ 5.63278550e-03 9.99984103e-01 2.54390273e-04 5.42137953e+01] [-3.70014057e-03 -2.33550139e-04 9.99993127e-01 -1.54571530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.881400513 meters 0.051063037824090864 Centerline is valid? [True, True] Translation: X:570.53, Y:54.22, Z:-1.55 [[ 9.99940700e-01 -1.01635091e-02 3.91143540e-03 5.70531938e+02] [ 1.01625353e-02 9.99948324e-01 2.68749365e-04 5.42239563e+01] [-3.91396471e-03 -2.28983328e-04 9.99992314e-01 -1.54613299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.941400513 meters 0.04804218822727001 Centerline is valid? [True, True] Translation: X:570.59, Y:54.22, Z:-1.55 [[ 9.99906970e-01 -1.30089929e-02 4.10100893e-03 5.70592520e+02] [ 1.30079463e-02 9.99915353e-01 2.81784869e-04 5.42244284e+01] [-4.10432753e-03 -2.28412950e-04 9.99991551e-01 -1.54517368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.001400513 meters 0.040528140918454116 Centerline is valid? [True, True] Translation: X:570.65, Y:54.22, Z:-1.54 [[ 9.99919697e-01 -1.22029955e-02 3.41850760e-03 5.70654844e+02] [ 1.22022632e-02 9.99925522e-01 2.34974936e-04 5.42202012e+01] [-3.42112039e-03 -1.93242537e-04 9.99994129e-01 -1.54466036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.061400513 meters 0.04793192321903013 Centerline is valid? [True, True] Translation: X:570.71, Y:54.24, Z:-1.54 [[ 9.99937232e-01 -1.03760240e-02 4.22734739e-03 5.70714000e+02] [ 1.03748894e-02 9.99946137e-01 2.90251157e-04 5.42350867e+01] [-4.23013135e-03 -2.46374677e-04 9.99991023e-01 -1.54328336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.121400513 meters 0.05015478430962105 Centerline is valid? [True, True] Translation: X:570.78, Y:54.24, Z:-1.54 [[ 9.99936828e-01 -9.95949161e-03 5.21046291e-03 5.70775202e+02] [ 9.95776194e-03 9.99950356e-01 3.57797884e-04 5.42424341e+01] [-5.21376773e-03 -3.05890732e-04 9.99986361e-01 -1.54252245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.181400513 meters 0.041708777305352954 Centerline is valid? [True, True] Translation: X:570.84, Y:54.24, Z:-1.54 [[ 9.99936091e-01 -1.01347046e-02 5.01007198e-03 5.70837950e+02] [ 1.01331113e-02 9.99948600e-01 3.43298624e-04 5.42367566e+01] [-5.01329369e-03 -2.92509067e-04 9.99987391e-01 -1.54185754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.241400513 meters 0.042382357503525696 Centerline is valid? [True, True] Translation: X:570.90, Y:54.24, Z:-1.54 [[ 9.99906402e-01 -1.20659429e-02 6.44987367e-03 5.70897167e+02] [ 1.20633444e-02 9.99927138e-01 4.41634187e-04 5.42420000e+01] [-6.45473245e-03 -3.63785804e-04 9.99979102e-01 -1.54189459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.301400513 meters 0.042543864495287936 Centerline is valid? [True, True] Translation: X:570.96, Y:54.25, Z:-1.54 [[ 9.99917859e-01 -1.07372584e-02 6.99898297e-03 5.70959503e+02] [ 1.07341661e-02 9.99942272e-01 4.79234545e-04 5.42457336e+01] [-7.00372460e-03 -4.04066935e-04 9.99975392e-01 -1.54227346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.361400513 meters 0.03857966411336261 Centerline is valid? [True, True] Translation: X:571.02, Y:54.25, Z:-1.54 [[ 9.99869946e-01 -1.35045532e-02 8.81574676e-03 5.71020113e+02] [ 1.34997575e-02 9.99908692e-01 6.03274174e-04 5.42466858e+01] [-8.82308876e-03 -4.84185272e-04 9.99960959e-01 -1.54014330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.421400513 meters 0.04216817847333988 Centerline is valid? [True, True] Translation: X:571.08, Y:54.25, Z:-1.54 [[ 9.99849059e-01 -1.50512887e-02 8.67857080e-03 5.71080468e+02] [ 1.50467004e-02 9.99886616e-01 5.93749673e-04 5.42547403e+01] [-8.68652348e-03 -4.63076197e-04 9.99962164e-01 -1.54104640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.481400513 meters 0.04461391511084266 Centerline is valid? [True, True] Translation: X:571.14, Y:54.26, Z:-1.54 [[ 9.99835690e-01 -1.54657541e-02 9.45529149e-03 5.71141865e+02] [ 1.54603334e-02 9.99880273e-01 6.46136423e-04 5.42619883e+01] [-9.46415243e-03 -4.99848298e-04 9.99955089e-01 -1.54108605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.541400513 meters 0.036431800198461685 Centerline is valid? [True, True] Translation: X:571.21, Y:54.26, Z:-1.54 [[ 9.99843116e-01 -1.51484036e-02 9.17984385e-03 5.71205351e+02] [ 1.51432947e-02 9.99885138e-01 6.25785239e-04 5.42555639e+01] [-9.18826908e-03 -4.86673982e-04 9.99957669e-01 -1.54219633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.601400513 meters 0.04414973819187744 Centerline is valid? [True, True] Translation: X:571.27, Y:54.27, Z:-1.54 [[ 9.99856261e-01 -1.47754003e-02 8.31537866e-03 5.71265835e+02] [ 1.47712069e-02 9.99890740e-01 5.65486478e-04 5.42694328e+01] [-8.32282541e-03 -4.42577017e-04 9.99965267e-01 -1.54318383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.661400513 meters 0.03799223794029595 Centerline is valid? [True, True] Translation: X:571.33, Y:54.27, Z:-1.54 [[ 9.99841609e-01 -1.60422670e-02 7.70735756e-03 5.71328102e+02] [ 1.60387085e-02 9.99871235e-01 5.23287809e-04 5.42660578e+01] [-7.71475985e-03 -3.99588864e-04 9.99970161e-01 -1.54362848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.721400513 meters 0.04462565964651772 Centerline is valid? [True, True] Translation: X:571.39, Y:54.28, Z:-1.54 [[ 9.99879293e-01 -1.43050816e-02 6.06332686e-03 5.71387396e+02] [ 1.43028484e-02 9.99897624e-01 4.11515375e-04 5.42784324e+01] [-6.06859289e-03 -3.24742857e-04 9.99981533e-01 -1.54469662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.781400513 meters 0.04085850685387077 Centerline is valid? [True, True] Translation: X:571.45, Y:54.28, Z:-1.54 [[ 9.99910533e-01 -1.13009900e-02 7.15634764e-03 5.71448239e+02] [ 1.12978024e-02 9.99936060e-01 4.85693508e-04 5.42780067e+01] [-7.16137888e-03 -4.04799053e-04 9.99974275e-01 -1.54327177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.841400513 meters 0.04114138928083496 Centerline is valid? [True, True] Translation: X:571.51, Y:54.28, Z:-1.55 [[ 9.99908013e-01 -1.21450129e-02 6.03863397e-03 5.71510689e+02] [ 1.21427592e-02 9.99926190e-01 4.09739195e-04 5.42808037e+01] [-6.04316454e-03 -3.36375826e-04 9.99981683e-01 -1.54526976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.901400513 meters 0.04473567209658902 Centerline is valid? [True, True] Translation: X:571.57, Y:54.29, Z:-1.55 [[ 9.99924330e-01 -1.17635493e-02 3.59904112e-03 5.71571863e+02] [ 1.17627472e-02 9.99930787e-01 2.43959221e-04 5.42903734e+01] [-3.60166185e-03 -2.01606150e-04 9.99993494e-01 -1.54713156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.961400513 meters 0.04032355249486036 Centerline is valid? [True, True] Translation: X:571.63, Y:54.29, Z:-1.55 [[ 9.99928193e-01 -1.12138674e-02 4.22581492e-03 5.71634324e+02] [ 1.12127605e-02 9.99937094e-01 2.85533381e-04 5.42886934e+01] [-4.22875103e-03 -2.38129827e-04 9.99991030e-01 -1.54751864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.021400513 meters 0.04149144743879805 Centerline is valid? [True, True] Translation: X:571.70, Y:54.29, Z:-1.55 [[ 9.99931822e-01 -1.05414460e-02 5.02292161e-03 5.71696431e+02] [ 1.05398752e-02 9.99944396e-01 3.39110699e-04 5.42949424e+01] [-5.02621703e-03 -2.86146612e-04 9.99987328e-01 -1.54656535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.081400513 meters 0.040700358217633584 Centerline is valid? [True, True] Translation: X:571.76, Y:54.30, Z:-1.54 [[ 9.99914383e-01 -1.13515353e-02 6.50910351e-03 5.71758527e+02] [ 1.13489176e-02 9.99935503e-01 4.38958567e-04 5.42992582e+01] [-6.51366655e-03 -3.65049706e-04 9.99978719e-01 -1.54499872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.141400513 meters 0.04048115847062154 Centerline is valid? [True, True] Translation: X:571.82, Y:54.30, Z:-1.54 [[ 9.99907374e-01 -1.09740823e-02 8.05065768e-03 5.71821120e+02] [ 1.09700777e-02 9.99939680e-01 5.41407393e-04 5.43035668e+01] [-8.05611351e-03 -4.53040904e-04 9.99967446e-01 -1.54300271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.201400513 meters 0.038207410493327855 Centerline is valid? [True, True] Translation: X:571.88, Y:54.31, Z:-1.54 [[ 9.99849707e-01 -1.42951292e-02 9.80883105e-03 5.71882210e+02] [ 1.42893547e-02 9.99897685e-01 6.58541029e-04 5.43054105e+01] [-9.81724139e-03 -5.18280189e-04 9.99951675e-01 -1.54263841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.261400513 meters 0.04390428648931277 Centerline is valid? [True, True] Translation: X:571.94, Y:54.32, Z:-1.54 [[ 9.99832944e-01 -1.49341257e-02 1.05383372e-02 5.71943072e+02] [ 1.49275047e-02 9.99888329e-01 7.06656149e-04 5.43180233e+01] [-1.05477137e-02 -5.49227019e-04 9.99944220e-01 -1.54058162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.321400513 meters 0.037968177333008016 Centerline is valid? [True, True] Translation: X:572.00, Y:54.31, Z:-1.54 [[ 9.99794509e-01 -1.63171047e-02 1.20287982e-02 5.72004629e+02] [ 1.63085927e-02 9.99866682e-01 8.05385739e-04 5.43147288e+01] [-1.20403361e-02 -6.09047468e-04 9.99927327e-01 -1.54043670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.381400513 meters 0.03794140457904049 Centerline is valid? [True, True] Translation: X:572.06, Y:54.32, Z:-1.54 [[ 9.99764357e-01 -1.86461288e-02 1.11154448e-02 5.72064363e+02] [ 1.86390054e-02 9.99826002e-01 7.44108339e-04 5.43196592e+01] [-1.11273854e-02 -5.36752159e-04 9.99937945e-01 -1.53961383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.441400513 meters 0.03294208814477071 Centerline is valid? [True, True] Translation: X:572.13, Y:54.32, Z:-1.54 [[ 9.99720462e-01 -2.07503788e-02 1.13321997e-02 5.72126523e+02] [ 2.07431121e-02 9.99784551e-01 7.58414173e-04 5.43169300e+01] [-1.13454956e-02 -5.23137079e-04 9.99935501e-01 -1.54175627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.501400513 meters 0.03177843394589144 Centerline is valid? [True, True] Translation: X:572.19, Y:54.32, Z:-1.54 [[ 9.99632507e-01 -2.43002214e-02 1.20145898e-02 5.72186585e+02] [ 2.42923115e-02 9.99704575e-01 8.03877924e-04 5.43190126e+01] [-1.20305748e-02 -5.11720347e-04 9.99927499e-01 -1.54223636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.561400513 meters 0.02988962590186729 Centerline is valid? [True, True] Translation: X:572.25, Y:54.32, Z:-1.54 [[ 9.99625106e-01 -2.51888664e-02 1.07316731e-02 5.72248998e+02] [ 2.51826159e-02 9.99682610e-01 7.17188700e-04 5.43204981e+01] [-1.07463322e-02 -4.46668228e-04 9.99942157e-01 -1.54410500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.621400513 meters 0.029798872303430597 Centerline is valid? [True, True] Translation: X:572.31, Y:54.32, Z:-1.55 [[ 9.99591103e-01 -2.73498885e-02 8.34333397e-03 5.72309095e+02] [ 2.73461919e-02 9.99625868e-01 5.56841114e-04 5.43245499e+01] [-8.35544201e-03 -3.28455011e-04 9.99965039e-01 -1.54596731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.681400513 meters 0.028297102158834783 Centerline is valid? [True, True] Translation: X:572.37, Y:54.32, Z:-1.55 [[ 9.99523536e-01 -3.03563425e-02 5.58505374e-03 5.72370226e+02] [ 3.03547332e-02 9.99539119e-01 3.72707286e-04 5.43248810e+01] [-5.59379373e-03 -2.02996888e-04 9.99984334e-01 -1.55041536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.741400513 meters 0.029185813163104552 Centerline is valid? [True, True] Translation: X:572.43, Y:54.33, Z:-1.55 [[ 9.99493649e-01 -3.10807884e-02 6.81400734e-03 5.72432472e+02] [ 3.10784117e-02 9.99516846e-01 4.54433754e-04 5.43292771e+01] [-6.82483929e-03 -2.42435125e-04 9.99976681e-01 -1.54892309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.801400513 meters 0.024083587931519292 Centerline is valid? [True, True] Translation: X:572.50, Y:54.33, Z:-1.54 [[ 9.99429492e-01 -3.28733076e-02 7.74825108e-03 5.72495713e+02] [ 3.29263665e-02 9.99434492e-01 -6.82272924e-03 5.43337155e+01] [-7.51958371e-03 7.07395858e-03 9.99946706e-01 -1.54225208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.861400513 meters 0.026085946690361517 Centerline is valid? [True, True] Translation: X:572.55, Y:54.33, Z:-1.56 [[ 9.99263279e-01 -3.82892324e-02 2.61433294e-03 5.72554871e+02] [ 3.82688975e-02 9.99239858e-01 7.42949321e-03 5.43264065e+01] [-2.89681527e-03 -7.32397210e-03 9.99968983e-01 -1.56009496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.921400513 meters 0.023363225009822134 Centerline is valid? [True, True] Translation: X:572.61, Y:54.34, Z:-1.54 [[ 9.99246826e-01 -3.82882082e-02 6.30821083e-03 5.72609895e+02] [ 3.83447219e-02 9.99223175e-01 -9.09554683e-03 5.43392199e+01] [-5.95505827e-03 9.33058289e-03 9.99938737e-01 -1.54135129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.981400513 meters 0.02297711683358367 Centerline is valid? [True, True] Translation: X:572.66, Y:54.33, Z:-1.56 [[ 9.99182704e-01 -3.92411608e-02 9.69819040e-03 5.72659125e+02] [ 3.91543685e-02 9.99192796e-01 8.98285378e-03 5.43279920e+01] [-1.00428596e-02 -8.59578561e-03 9.99912623e-01 -1.55604765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.041400513 meters 0.019322093670102083 Centerline is valid? [True, True] Translation: X:572.73, Y:54.34, Z:-1.55 [[ 9.98910295e-01 -4.57944672e-02 9.00492237e-03 5.72726377e+02] [ 4.58217591e-02 9.98945572e-01 -2.84808213e-03 5.43355779e+01] [-8.86500092e-03 3.25759995e-03 9.99955399e-01 -1.54713972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.101400513 meters 0.019578446567178748 Centerline is valid? [True, True] Translation: X:572.80, Y:54.33, Z:-1.56 [[ 9.98671521e-01 -5.14295178e-02 3.19340069e-03 5.72799405e+02] [ 5.14095702e-02 9.98659373e-01 6.04259197e-03 5.43298930e+01] [-3.49988712e-03 -5.87039315e-03 9.99976644e-01 -1.55987591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.161400513 meters 0.01589520471284456 Centerline is valid? [True, True] Translation: X:572.84, Y:54.33, Z:-1.55 [[ 9.98526718e-01 -5.38475388e-02 6.69603922e-03 5.72841741e+02] [ 5.38641462e-02 9.98545566e-01 -2.32495451e-03 5.43323239e+01] [-6.56110719e-03 2.68220563e-03 9.99974879e-01 -1.55220004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.221400513 meters 0.014929481090801432 Centerline is valid? [True, True] Translation: X:572.90, Y:54.33, Z:-1.56 [[ 9.98589557e-01 -5.25486273e-02 7.58536642e-03 5.72903885e+02] [ 5.25166464e-02 9.98610550e-01 4.35561589e-03 5.43275388e+01] [-7.80370857e-03 -3.95111453e-03 9.99961745e-01 -1.56067171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.281400513 meters 0.01834343563485611 Centerline is valid? [True, True] Translation: X:572.98, Y:54.32, Z:-1.55 [[ 9.99138531e-01 -4.05306122e-02 8.91438583e-03 5.72983827e+02] [ 4.06279221e-02 9.99113571e-01 -1.10201289e-02 5.43227551e+01] [-8.45983129e-03 1.13728084e-02 9.99899540e-01 -1.55372013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.341400513 meters 0.016428252428944294 Centerline is valid? [True, True] Translation: X:573.04, Y:54.32, Z:-1.56 [[ 9.98889080e-01 -4.66772887e-02 6.46816570e-03 5.73043720e+02] [ 4.66745768e-02 9.98909986e-01 5.69680021e-04 5.43200237e+01] [-6.48770643e-03 -2.67148256e-04 9.99978919e-01 -1.56468180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.401400513 meters 0.01776691241437945 Centerline is valid? [True, True] Translation: X:573.11, Y:54.32, Z:-1.57 [[ 9.98858331e-01 -4.76556702e-02 3.31244353e-03 5.73110462e+02] [ 4.76594432e-02 9.98863070e-01 -1.06955399e-03 5.43182303e+01] [-3.25770721e-03 1.22620213e-03 9.99993942e-01 -1.56655759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.461400513 meters 0.021162093194198622 Centerline is valid? [True, True] Translation: X:573.14, Y:54.33, Z:-1.58 [[ 9.98576605e-01 -5.31900446e-02 -3.94754165e-03 5.73141149e+02] [ 5.32554289e-02 9.98402258e-01 1.88888955e-02 5.43292243e+01] [ 2.93653331e-03 -1.90722372e-02 9.99813796e-01 -1.58006829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.521400513 meters 0.025673532879606446 Centerline is valid? [True, True] Translation: X:573.20, Y:54.36, Z:-1.56 [[ 9.98926410e-01 -4.62998908e-02 1.53214827e-03 5.73200462e+02] [ 4.62997766e-02 9.98927584e-01 1.09911801e-04 5.43550276e+01] [-1.53559407e-03 -3.88556783e-05 9.99998820e-01 -1.55969199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.581400513 meters 0.03918813701053839 Centerline is valid? [True, True] Translation: X:573.26, Y:54.38, Z:-1.56 [[ 9.99420674e-01 -3.39819249e-02 1.88283934e-03 5.73258799e+02] [ 3.39817307e-02 9.99422445e-01 1.35031277e-04 5.43795364e+01] [-1.88634052e-03 -7.09709099e-05 9.99998218e-01 -1.56143238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.641400513 meters 0.0430572749431164 Centerline is valid? [True, True] Translation: X:573.32, Y:54.39, Z:-1.56 [[ 9.99577349e-01 -2.90615986e-02 7.39811159e-04 5.73318474e+02] [ 2.90615673e-02 9.99577622e-01 5.30604851e-05 5.43899407e+01] [-7.41040701e-04 -3.15379872e-05 9.99999725e-01 -1.56257909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.701400513 meters 0.046518377181671705 Centerline is valid? [True, True] Translation: X:573.38, Y:54.40, Z:-1.56 [[ 9.99758523e-01 -2.19096024e-02 1.69262755e-03 5.73378296e+02] [ 2.19094282e-02 9.99759952e-01 1.21379376e-04 5.44008099e+01] [-1.69488061e-03 -8.42655642e-05 9.99998560e-01 -1.56037272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.761400513 meters 0.04917631721517812 Centerline is valid? [True, True] Translation: X:573.44, Y:54.41, Z:-1.56 [[ 9.99839075e-01 -1.71635209e-02 5.21892271e-03 5.73439251e+02] [ 1.71618013e-02 9.99852655e-01 3.74100018e-04 5.44099742e+01] [-5.22457461e-03 -2.84473702e-04 9.99986311e-01 -1.55664581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.821400513 meters 0.051541936778446665 Centerline is valid? [True, True] Translation: X:573.50, Y:54.42, Z:-1.56 [[ 9.99871909e-01 -1.47138142e-02 6.29832703e-03 5.73500255e+02] [ 1.47112623e-02 9.99891682e-01 4.51313615e-04 5.44179322e+01] [-6.30428535e-03 -3.58599465e-04 9.99980063e-01 -1.55668704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.881400513 meters 0.05073601534266055 Centerline is valid? [True, True] Translation: X:573.56, Y:54.42, Z:-1.56 [[ 9.99827498e-01 -1.79393882e-02 4.81179332e-03 5.73559878e+02] [ 1.79379362e-02 9.99839043e-01 3.44744828e-04 5.44222648e+01] [-4.81720333e-03 -2.58371717e-04 9.99988364e-01 -1.55925763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.941400513 meters 0.05158467640019934 Centerline is valid? [True, True] Translation: X:573.62, Y:54.43, Z:-1.57 [[ 9.99715937e-01 -2.38191423e-02 8.32701468e-04 5.73619200e+02] [ 2.38191009e-02 9.99716283e-01 5.96617080e-05 5.44278777e+01] [-8.33886307e-04 -3.98105601e-05 9.99999652e-01 -1.56628280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.001400513 meters 0.04380309385146333 Centerline is valid? [True, True] Translation: X:573.68, Y:54.42, Z:-1.57 [[ 9.99655738e-01 -2.62362763e-02 -2.50779277e-04 5.73680223e+02] [ 2.62362726e-02 9.99655770e-01 -1.79692036e-05 5.44219732e+01] [ 2.51164396e-04 1.13835040e-05 9.99999968e-01 -1.56862796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.061400513 meters 0.041620344650443994 Centerline is valid? [True, True] Translation: X:573.74, Y:54.42, Z:-1.57 [[ 9.99590054e-01 -2.85787379e-02 1.72605661e-03 5.73741930e+02] [ 2.85785668e-02 9.99591542e-01 1.23737040e-04 5.44241491e+01] [-1.72888784e-03 -7.43580905e-05 9.99998503e-01 -1.56819377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.121400513 meters 0.034629595247284456 Centerline is valid? [True, True] Translation: X:573.80, Y:54.42, Z:-1.57 [[ 9.99492062e-01 -3.18558917e-02 9.05330275e-04 5.73802762e+02] [ 3.18558460e-02 9.99492472e-01 6.48376373e-05 5.44208750e+01] [-9.06936255e-04 -3.59646420e-05 9.99999588e-01 -1.56780341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.181400513 meters 0.03572885192623645 Centerline is valid? [True, True] Translation: X:573.86, Y:54.43, Z:-1.57 [[ 9.99470406e-01 -3.25036321e-02 1.55606319e-03 5.73863745e+02] [ 3.25034975e-02 9.99471615e-01 1.11712495e-04 5.44268462e+01] [-1.55887205e-03 -6.10758369e-05 9.99998783e-01 -1.56839757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.241400513 meters 0.03444952731566129 Centerline is valid? [True, True] Translation: X:573.93, Y:54.43, Z:-1.57 [[ 9.99496915e-01 -3.16660381e-02 1.78320942e-03 5.73925945e+02] [ 3.16658606e-02 9.99498503e-01 1.27702261e-04 5.44303569e+01] [-1.78635897e-03 -7.11711548e-05 9.99998402e-01 -1.56758169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.301400513 meters 0.03661642648019545 Centerline is valid? [True, True] Translation: X:573.99, Y:54.44, Z:-1.57 [[ 9.99571554e-01 -2.91447755e-02 2.70005804e-03 5.73986316e+02] [ 2.91443615e-02 9.99575194e-01 1.92540511e-04 5.44377133e+01] [-2.70452259e-03 -1.13766550e-04 9.99996336e-01 -1.56820010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.361400513 meters 0.04277792525122821 Centerline is valid? [True, True] Translation: X:574.05, Y:54.45, Z:-1.57 [[ 9.99652529e-01 -2.62430016e-02 2.47504203e-03 5.74045363e+02] [ 2.62426448e-02 9.99655587e-01 1.76499111e-04 5.44511266e+01] [-2.47882146e-03 -1.11486133e-04 9.99996922e-01 -1.56810187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.421400513 meters 0.04075620265192771 Centerline is valid? [True, True] Translation: X:574.11, Y:54.45, Z:-1.57 [[ 9.99734780e-01 -2.23702436e-02 5.47196785e-03 5.74105725e+02] [ 2.23684439e-02 9.99749719e-01 3.89876128e-04 5.44526834e+01] [-5.47931995e-03 -2.67373319e-04 9.99984953e-01 -1.56607155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.481400513 meters 0.04800520867486877 Centerline is valid? [True, True] Translation: X:574.16, Y:54.47, Z:-1.56 [[ 9.99795934e-01 -1.90751625e-02 6.65048942e-03 5.74164074e+02] [ 1.90724313e-02 9.99817992e-01 4.73858296e-04 5.44705656e+01] [-6.65831790e-03 -3.46920595e-04 9.99977773e-01 -1.56069459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.541400513 meters 0.046492717799013636 Centerline is valid? [True, True] Translation: X:574.22, Y:54.47, Z:-1.56 [[ 9.99885199e-01 -1.26807281e-02 8.29385747e-03 5.74224785e+02] [ 1.26762609e-02 9.99919478e-01 5.90964642e-04 5.44718806e+01] [-8.30068350e-03 -4.85761698e-04 9.99965431e-01 -1.56133514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.601400513 meters 0.05519272038172087 Centerline is valid? [True, True] Translation: X:574.28, Y:54.49, Z:-1.56 [[ 9.99909915e-01 -1.04731762e-02 8.39496226e-03 5.74284896e+02] [ 1.04685230e-02 9.99945025e-01 5.98036288e-04 5.44894448e+01] [-8.40076408e-03 -5.10099558e-04 9.99964583e-01 -1.55878522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.661400513 meters 0.06180864588578341 Centerline is valid? [True, True] Translation: X:574.35, Y:54.50, Z:-1.56 [[ 9.99902045e-01 -1.11657241e-02 8.43959466e-03 5.74345527e+02] [ 1.11610506e-02 9.99937533e-01 6.00655487e-04 5.45026701e+01] [-8.44577422e-03 -5.06401907e-04 9.99964206e-01 -1.55812987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.721400513 meters 0.07057570994485374 Centerline is valid? [True, True] Translation: X:574.40, Y:54.52, Z:-1.56 [[ 9.99922438e-01 -9.00192186e-03 8.60720413e-03 5.74404759e+02] [ 8.99698383e-03 9.99959339e-01 6.12257833e-04 5.45162356e+01] [-8.61236565e-03 -5.34771468e-04 9.99962770e-01 -1.56132089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.781400513 meters 0.06414367321834584 Centerline is valid? [True, True] Translation: X:574.47, Y:54.51, Z:-1.56 [[ 9.99927892e-01 -7.57786732e-03 9.31594701e-03 5.74466417e+02] [ 7.57202226e-03 9.99971112e-01 6.62536663e-04 5.45141811e+01] [-9.32069850e-03 -5.91948331e-04 9.99956386e-01 -1.55969439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.841400513 meters 0.057367657153391954 Centerline is valid? [True, True] Translation: X:574.53, Y:54.51, Z:-1.56 [[ 9.99928246e-01 -7.98256897e-03 8.93206687e-03 5.74529515e+02] [ 7.97722081e-03 9.99967980e-01 6.34227983e-04 5.45102501e+01] [-8.93684364e-03 -5.62929405e-04 9.99959907e-01 -1.56040966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.901400513 meters 0.05369828852282903 Centerline is valid? [True, True] Translation: X:574.59, Y:54.51, Z:-1.56 [[ 9.99931682e-01 -8.67098832e-03 7.83876396e-03 5.74591626e+02] [ 8.66690009e-03 9.99962287e-01 5.55360991e-04 5.45089929e+01] [-7.84328387e-03 -4.87385265e-04 9.99969122e-01 -1.56367377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.961400513 meters 0.04964737519548057 Centerline is valid? [True, True] Translation: X:574.65, Y:54.51, Z:-1.57 [[ 9.99946463e-01 -7.51435527e-03 7.11375151e-03 5.74653612e+02] [ 7.51096670e-03 9.99971666e-01 5.02938131e-04 5.45079648e+01] [-7.11732920e-03 -4.49480055e-04 9.99974570e-01 -1.56500605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.021400513 meters 0.06789542967029943 Centerline is valid? [True, True] Translation: X:574.71, Y:54.53, Z:-1.57 [[ 9.99978252e-01 -1.02025051e-03 6.51576915e-03 5.74711816e+02] [ 1.01727340e-03 9.99999377e-01 4.60206057e-04 5.45333451e+01] [-6.51623462e-03 -4.53567730e-04 9.99978666e-01 -1.56846218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.081400513 meters 0.06866854148123912 Centerline is valid? [True, True] Translation: X:574.77, Y:54.54, Z:-1.57 [[ 9.99968918e-01 1.90317128e-03 7.65125951e-03 5.74772348e+02] [-1.90736154e-03 9.99998035e-01 5.40396380e-04 5.45393866e+01] [-7.65021601e-03 -5.54973302e-04 9.99970583e-01 -1.56649340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.141400513 meters 0.07294531805544506 Centerline is valid? [True, True] Translation: X:574.83, Y:54.55, Z:-1.56 [[ 9.99962920e-01 2.64833278e-03 8.19425034e-03 5.74833118e+02] [-2.65315769e-03 9.99996313e-01 5.78001488e-04 5.45507406e+01] [-8.19268939e-03 -5.99720694e-04 9.99966260e-01 -1.56376040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.201400513 meters 0.07363591394367454 Centerline is valid? [True, True] Translation: X:574.89, Y:54.55, Z:-1.57 [[ 9.99952484e-01 6.52512748e-03 7.24234664e-03 5.74893521e+02] [-6.52899420e-03 9.99978556e-01 5.10388930e-04 5.45542494e+01] [-7.23886098e-03 -5.57649918e-04 9.99973644e-01 -1.56716677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.261400513 meters 0.0730428751266467 Centerline is valid? [True, True] Translation: X:574.95, Y:54.56, Z:-1.57 [[ 9.99928833e-01 9.76988785e-03 6.84680593e-03 5.74954027e+02] [-9.77341943e-03 9.99952123e-01 4.82529318e-04 5.45582593e+01] [-6.84176387e-03 -5.49411683e-04 9.99976444e-01 -1.56655921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.321400513 meters 0.08534308903080222 Centerline is valid? [True, True] Translation: X:575.01, Y:54.58, Z:-1.57 [[ 9.99877865e-01 1.39814137e-02 6.98386128e-03 5.75012581e+02] [-1.39851907e-02 9.99902081e-01 4.92272709e-04 5.45770021e+01] [-6.97629476e-03 -5.89883217e-04 9.99975491e-01 -1.56670000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.381400513 meters 0.08130785788547414 Centerline is valid? [True, True] Translation: X:575.07, Y:54.58, Z:-1.57 [[ 9.99891129e-01 1.36463485e-02 5.61316605e-03 5.75071950e+02] [-1.36487838e-02 9.99906773e-01 3.95781231e-04 5.45767176e+01] [-5.60724179e-03 -4.72351032e-04 9.99984168e-01 -1.56861969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.441400513 meters 0.0826403111916102 Centerline is valid? [True, True] Translation: X:575.13, Y:54.58, Z:-1.57 [[ 9.99891095e-01 1.32003199e-02 6.59920690e-03 5.75130141e+02] [-1.32036782e-02 9.99912719e-01 4.65598341e-04 5.45831139e+01] [-6.59248487e-03 -5.52681440e-04 9.99978117e-01 -1.56682870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.501400513 meters 0.08245583931867315 Centerline is valid? [True, True] Translation: X:575.19, Y:54.59, Z:-1.57 [[ 9.99887680e-01 1.35613662e-02 6.38096513e-03 5.75188811e+02] [-1.35645153e-02 9.99907896e-01 4.50494837e-04 5.45875036e+01] [-6.37426810e-03 -5.36998937e-04 9.99979540e-01 -1.56686235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.561400513 meters 0.08388164067033112 Centerline is valid? [True, True] Translation: X:575.25, Y:54.59, Z:-1.57 [[ 9.99868078e-01 1.48385781e-02 6.60627949e-03 5.75248643e+02] [-1.48419826e-02 9.99889743e-01 4.66609086e-04 5.45938269e+01] [-6.59862728e-03 -5.64597816e-04 9.99978069e-01 -1.56703711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.621400513 meters 0.034212566670204884 Centerline is valid? [True, True] Translation: X:575.31, Y:54.52, Z:-1.58 [[ 9.99828411e-01 1.82507449e-02 3.17145434e-03 5.75312123e+02] [-1.82828759e-02 9.99778595e-01 1.04162576e-02 5.45199474e+01] [-2.98064770e-03 -1.04724536e-02 9.99940720e-01 -1.57605828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.681400513 meters 0.06372813795014248 Centerline is valid? [True, True] Translation: X:575.37, Y:54.58, Z:-1.56 [[ 9.99950001e-01 8.94456312e-03 4.47105055e-03 5.75367741e+02] [-8.90018859e-03 9.99911897e-01 -9.84812988e-03 5.45849694e+01] [-4.55874385e-03 9.80784429e-03 9.99941510e-01 -1.56181690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.741400513 meters 0.07590713020183412 Centerline is valid? [True, True] Translation: X:575.43, Y:54.60, Z:-1.57 [[ 9.99971444e-01 6.86704274e-03 3.15520352e-03 5.75425978e+02] [-6.86778096e-03 9.99976392e-01 2.23194903e-04 5.45958002e+01] [-3.15359634e-03 -2.44857777e-04 9.99994997e-01 -1.57231951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.801400513 meters 0.06801487613889333 Centerline is valid? [True, True] Translation: X:575.49, Y:54.59, Z:-1.57 [[ 9.99960782e-01 8.68591740e-03 1.72889827e-03 5.75485978e+02] [-8.68614173e-03 9.99962267e-01 1.22289190e-04 5.45890791e+01] [-1.72777084e-03 -1.37301849e-04 9.99998498e-01 -1.57417876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.861400513 meters 0.06177527797327945 Centerline is valid? [True, True] Translation: X:575.55, Y:54.59, Z:-1.57 [[ 9.99957070e-01 8.70138695e-03 3.18506702e-03 5.75545302e+02] [-8.70214883e-03 9.99962110e-01 2.25422751e-04 5.45851682e+01] [-3.18298485e-03 -2.53130001e-04 9.99994902e-01 -1.57313740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.921400513 meters 0.05943411847900413 Centerline is valid? [True, True] Translation: X:575.60, Y:54.59, Z:-1.57 [[ 9.99958576e-01 7.50723514e-03 5.14669593e-03 5.75604906e+02] [-7.50921022e-03 9.99971739e-01 3.64539369e-04 5.45868650e+01] [-5.14381380e-03 -4.03171890e-04 9.99986689e-01 -1.57205050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.981400513 meters 0.06313301305978415 Centerline is valid? [True, True] Translation: X:575.66, Y:54.60, Z:-1.57 [[ 9.99962039e-01 7.90779004e-03 3.65899812e-03 5.75662910e+02] [-7.90879120e-03 9.99968691e-01 2.59229258e-04 5.45967056e+01] [-3.65683363e-03 -2.88157670e-04 9.99993272e-01 -1.57211228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.041400513 meters 0.07006599474987442 Centerline is valid? [True, True] Translation: X:575.72, Y:54.61, Z:-1.57 [[ 9.99948549e-01 8.29313075e-03 5.84152770e-03 5.75720458e+02] [-8.29569079e-03 9.99965504e-01 4.14153533e-04 5.46103676e+01] [-5.83789156e-03 -4.62591732e-04 9.99982852e-01 -1.56837559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.101400513 meters 0.062272529604623934 Centerline is valid? [True, True] Translation: X:575.78, Y:54.60, Z:-1.57 [[ 9.99921001e-01 1.08566848e-02 6.33441399e-03 5.75780526e+02] [-1.08597473e-02 9.99940930e-01 4.49274998e-04 5.46038165e+01] [-6.32916218e-03 -5.18029641e-04 9.99979836e-01 -1.56861130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.161400513 meters 0.06119527012226466 Centerline is valid? [True, True] Translation: X:575.84, Y:54.61, Z:-1.57 [[ 9.99916666e-01 1.11717742e-02 6.46942164e-03 5.75839240e+02] [-1.11749760e-02 9.99937453e-01 4.58989510e-04 5.46063721e+01] [-6.46388927e-03 -5.31246892e-04 9.99978968e-01 -1.56852103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.221400513 meters 0.07123072026923898 Centerline is valid? [True, True] Translation: X:575.90, Y:54.62, Z:-1.57 [[ 9.99893742e-01 1.23328920e-02 7.77200805e-03 5.75897355e+02] [-1.23375501e-02 9.99923737e-01 5.51684872e-04 5.46243465e+01] [-7.76461147e-03 -6.47513790e-04 9.99969645e-01 -1.56540102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.281400513 meters 0.08020402451178922 Centerline is valid? [True, True] Translation: X:575.96, Y:54.64, Z:-1.57 [[ 9.99836816e-01 1.65439295e-02 7.25530309e-03 5.75956773e+02] [-1.65480991e-02 9.99862938e-01 5.15043216e-04 5.46398905e+01] [-7.24578783e-03 -6.35020644e-04 9.99973547e-01 -1.56612497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.341400513 meters 0.0766171636037548 Centerline is valid? [True, True] Translation: X:576.02, Y:54.64, Z:-1.57 [[ 9.99837254e-01 1.68408238e-02 6.46928341e-03 5.76015227e+02] [-1.68441467e-02 9.99858022e-01 4.59494965e-04 5.46393642e+01] [-6.46062664e-03 -5.68389743e-04 9.99978968e-01 -1.56735905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.401400513 meters 0.07484061888658859 Centerline is valid? [True, True] Translation: X:576.07, Y:54.64, Z:-1.57 [[ 9.99846443e-01 1.66380635e-02 5.50130482e-03 5.76074295e+02] [-1.66404654e-02 9.99861461e-01 3.91104896e-04 5.46405452e+01] [-5.49403544e-03 -4.82589111e-04 9.99984791e-01 -1.56873835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.461400513 meters 0.0817676227556171 Centerline is valid? [True, True] Translation: X:576.13, Y:54.65, Z:-1.57 [[ 9.99846717e-01 1.70841526e-02 3.83080677e-03 5.76131623e+02] [-1.70853211e-02 9.99853998e-01 2.72489303e-04 5.46529993e+01] [-3.82559222e-03 -3.37898099e-04 9.99992625e-01 -1.57099338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.521400513 meters 0.07981622269989204 Centerline is valid? [True, True] Translation: X:576.19, Y:54.66, Z:-1.57 [[ 9.99849572e-01 1.68254491e-02 4.21169020e-03 5.76190040e+02] [-1.68268602e-02 9.99858373e-01 2.99851445e-04 5.46550767e+01] [-4.20604858e-03 -3.70675861e-04 9.99991086e-01 -1.57094953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.581400513 meters 0.08783098570843709 Centerline is valid? [True, True] Translation: X:576.25, Y:54.67, Z:-1.57 [[ 9.99854841e-01 1.68629754e-02 2.43642921e-03 5.76246816e+02] [-1.68634478e-02 9.99857787e-01 1.73472645e-04 5.46692413e+01] [-2.43315746e-03 -2.14534061e-04 9.99997017e-01 -1.57490769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.641400513 meters 0.07997528266362713 Centerline is valid? [True, True] Translation: X:576.31, Y:54.66, Z:-1.58 [[ 9.99919453e-01 1.26541319e-02 9.80103413e-04 5.76307341e+02] [-1.26542064e-02 9.99919930e-01 6.98948743e-05 5.46638178e+01] [-9.79140477e-04 -8.22916754e-05 9.99999517e-01 -1.57602989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.701400513 meters 0.07387669770214235 Centerline is valid? [True, True] Translation: X:576.37, Y:54.66, Z:-1.57 [[ 9.99955859e-01 9.32369182e-03 1.16122875e-03 5.76366708e+02] [-9.32379420e-03 9.99956529e-01 8.27825078e-05 5.46612690e+01] [-1.16040643e-03 -9.36059116e-05 9.99999322e-01 -1.57434723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.761400513 meters 0.0634492654596766 Centerline is valid? [True, True] Translation: X:576.43, Y:54.65, Z:-1.57 [[ 9.99963281e-01 8.56202669e-03 3.59150904e-04 5.76426238e+02] [-8.56203639e-03 9.99963345e-01 2.54913040e-05 5.46521926e+01] [-3.58919482e-04 -2.85654310e-05 9.99999935e-01 -1.57452728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.821400513 meters 0.0665469619631628 Centerline is valid? [True, True] Translation: X:576.49, Y:54.66, Z:-1.57 [[ 9.99933607e-01 1.06893605e-02 4.30342180e-03 5.76485196e+02] [-1.06907810e-02 9.99942805e-01 3.07223292e-04 5.46624461e+01] [-4.29989164e-03 -3.53209834e-04 9.99990693e-01 -1.56871897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.881400513 meters 0.07591399478764485 Centerline is valid? [True, True] Translation: X:576.54, Y:54.68, Z:-1.57 [[ 9.99933574e-01 9.82826986e-03 6.02093982e-03 5.76542840e+02] [-9.83103558e-03 9.99951582e-01 4.29925626e-04 5.46780599e+01] [-6.01642287e-03 -4.89089141e-04 9.99981782e-01 -1.56763027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.941400513 meters 0.06641128655313816 Centerline is valid? [True, True] Translation: X:576.60, Y:54.67, Z:-1.57 [[ 9.99930826e-01 1.03868662e-02 5.51864891e-03 5.76601434e+02] [-1.03891994e-02 9.99945953e-01 3.94296906e-04 5.46700670e+01] [-5.51425513e-03 -4.51603975e-04 9.99984694e-01 -1.56783758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.001400513 meters 0.06685948505364725 Centerline is valid? [True, True] Translation: X:576.66, Y:54.68, Z:-1.57 [[ 9.99890790e-01 1.27679082e-02 7.44238573e-03 5.76661782e+02] [-1.27722193e-02 9.99918290e-01 5.32028195e-04 5.46753139e+01] [-7.43498473e-03 -6.27025875e-04 9.99972164e-01 -1.56591010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.061400513 meters 0.06811760066362794 Centerline is valid? [True, True] Translation: X:576.72, Y:54.68, Z:-1.57 [[ 9.99872733e-01 1.45818233e-02 6.47207217e-03 5.76721545e+02] [-1.45851216e-02 9.99893524e-01 4.62702368e-04 5.46812418e+01] [-6.46463601e-03 -5.57039440e-04 9.99978949e-01 -1.56811388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.121400513 meters 0.06358209041250447 Centerline is valid? [True, True] Translation: X:576.78, Y:54.68, Z:-1.57 [[ 9.99932026e-01 9.53366441e-03 6.71217019e-03 5.76782585e+02] [-9.53709901e-03 9.99954406e-01 4.79875530e-04 5.46796492e+01] [-6.70728918e-03 -5.43857542e-04 9.99977358e-01 -1.56875511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.181400513 meters 0.0563375595246203 Centerline is valid? [True, True] Translation: X:576.84, Y:54.68, Z:-1.57 [[ 9.99969449e-01 3.94565681e-03 6.74774720e-03 5.76843838e+02] [-3.94900112e-03 9.99992086e-01 4.82366677e-04 5.46755537e+01] [-6.74579055e-03 -5.08998801e-04 9.99977117e-01 -1.56869846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.241400513 meters 0.06315080155076416 Centerline is valid? [True, True] Translation: X:576.90, Y:54.69, Z:-1.57 [[ 9.99986445e-01 -7.07571097e-04 5.15844756e-03 5.76902961e+02] [ 7.05678258e-04 9.99999683e-01 3.68750705e-04 5.46878986e+01] [-5.15870684e-03 -3.65105502e-04 9.99986627e-01 -1.57086723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.301400513 meters 0.05529362605730123 Centerline is valid? [True, True] Translation: X:576.96, Y:54.68, Z:-1.57 [[ 9.99985747e-01 -3.25591341e-03 4.23147068e-03 5.76964454e+02] [ 3.25466234e-03 9.99994658e-01 3.02512229e-04 5.46824324e+01] [-4.23243302e-03 -2.88735908e-04 9.99991002e-01 -1.57187134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.361400513 meters 0.05169810956880624 Centerline is valid? [True, True] Translation: X:577.03, Y:54.68, Z:-1.57 [[ 9.99986614e-01 5.51595087e-04 5.14462740e-03 5.77025210e+02] [-5.53494306e-04 9.99999779e-01 3.67749096e-04 5.46824902e+01] [-5.14442342e-03 -3.70591696e-04 9.99986699e-01 -1.57064796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.421400513 meters 0.06674791572309147 Centerline is valid? [True, True] Translation: X:577.08, Y:54.71, Z:-1.57 [[ 9.99986549e-01 -6.53568492e-04 5.14534594e-03 5.77084001e+02] [ 6.51685129e-04 9.99999720e-01 3.67700496e-04 5.47069615e+01] [-5.14558482e-03 -3.64342404e-04 9.99986695e-01 -1.56925190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.481400513 meters 0.0541114576571295 Centerline is valid? [True, True] Translation: X:577.15, Y:54.69, Z:-1.57 [[ 9.99992535e-01 -9.23591407e-04 3.75189361e-03 5.77147745e+02] [ 9.22592092e-04 9.99999538e-01 2.68071420e-04 5.46948891e+01] [-3.75213947e-03 -2.64607952e-04 9.99992926e-01 -1.57206281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.541400513 meters 0.05349612261953226 Centerline is valid? [True, True] Translation: X:577.21, Y:54.70, Z:-1.57 [[ 9.99987784e-01 -8.82419452e-04 4.86350220e-03 5.77210332e+02] [ 8.80741455e-04 9.99999552e-01 3.47149149e-04 5.46981190e+01] [-4.86380636e-03 -3.42861420e-04 9.99988113e-01 -1.57139573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.601400513 meters 0.05900694180399267 Centerline is valid? [True, True] Translation: X:577.27, Y:54.71, Z:-1.57 [[ 9.99984737e-01 -8.42733813e-05 5.52431949e-03 5.77270438e+02] [ 8.20979925e-05 9.99999919e-01 3.94009630e-04 5.47104865e+01] [-5.52435224e-03 -3.93550081e-04 9.99984663e-01 -1.56856055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.661400513 meters 0.058845787292495746 Centerline is valid? [True, True] Translation: X:577.33, Y:54.71, Z:-1.57 [[ 9.99985127e-01 4.63549388e-04 5.43426922e-03 5.77332217e+02] [-4.65661710e-04 9.99999817e-01 3.87445214e-04 5.47132113e+01] [-5.43408863e-03 -3.89969983e-04 9.99985159e-01 -1.57117678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.721400513 meters 0.049831779407976215 Centerline is valid? [True, True] Translation: X:577.40, Y:54.71, Z:-1.57 [[ 9.99978007e-01 -6.54433712e-05 6.63180659e-03 5.77395237e+02] [ 6.23134303e-05 9.99999887e-01 4.72164544e-04 5.47059145e+01] [-6.63183674e-03 -4.71740909e-04 9.99977898e-01 -1.57134149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.781400513 meters 0.06080401311823659 Centerline is valid? [True, True] Translation: X:577.45, Y:54.72, Z:-1.57 [[ 9.99983251e-01 -1.34820911e-03 5.62843054e-03 5.77454222e+02] [ 1.34597832e-03 9.99999014e-01 4.00110518e-04 5.47248542e+01] [-5.62896443e-03 -3.92528071e-04 9.99984080e-01 -1.57027611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.841400513 meters 0.044569166916250666 Centerline is valid? [True, True] Translation: X:577.52, Y:54.71, Z:-1.57 [[ 9.99989180e-01 -2.36403374e-03 4.00632743e-03 5.77516853e+02] [ 2.36291233e-03 9.99997168e-01 2.84619875e-04 5.47074119e+01] [-4.00698893e-03 -2.75150195e-04 9.99991934e-01 -1.57409411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.901400513 meters 0.04884759237528576 Centerline is valid? [True, True] Translation: X:577.58, Y:54.72, Z:-1.57 [[ 9.99984286e-01 -1.70464087e-03 5.34059338e-03 5.77577269e+02] [ 1.70263971e-03 9.99998479e-01 3.79232898e-04 5.47175162e+01] [-5.34123171e-03 -3.70133832e-04 9.99985667e-01 -1.57156902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.961400513 meters 0.06169597065782155 Centerline is valid? [True, True] Translation: X:577.64, Y:54.74, Z:-1.57 [[ 9.99979639e-01 3.27110211e-03 5.47914525e-03 5.77636816e+02] [-3.27328193e-03 9.99994567e-01 3.88919326e-04 5.47377894e+01] [-5.47784329e-03 -4.06846195e-04 9.99984914e-01 -1.57151962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.021400513 meters 0.06087398597876632 Centerline is valid? [True, True] Translation: X:577.70, Y:54.74, Z:-1.57 [[ 9.99970316e-01 3.48934438e-03 6.86959591e-03 5.77697816e+02] [-3.49277508e-03 9.99993781e-01 4.87469072e-04 5.47410576e+01] [-6.86785224e-03 -5.11448556e-04 9.99976285e-01 -1.57053156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.081400513 meters 0.06778254990345653 Centerline is valid? [True, True] Translation: X:577.76, Y:54.75, Z:-1.57 [[ 9.99971702e-01 3.35582481e-03 6.73296589e-03 5.77758480e+02] [-3.35911321e-03 9.99994244e-01 4.77153976e-04 5.47539777e+01] [-6.73132589e-03 -4.99757268e-04 9.99977219e-01 -1.56958348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.141400513 meters 0.06348898735386686 Centerline is valid? [True, True] Translation: X:577.82, Y:54.75, Z:-1.57 [[ 9.99977196e-01 3.31099964e-03 5.88601439e-03 5.77821371e+02] [-3.31350667e-03 9.99994424e-01 4.16230105e-04 5.47534363e+01] [-5.88460343e-03 -4.35723961e-04 9.99982591e-01 -1.57028758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.201400513 meters 0.06288145101555757 Centerline is valid? [True, True] Translation: X:577.88, Y:54.76, Z:-1.57 [[ 9.99975388e-01 1.31642543e-03 6.89131221e-03 5.77881976e+02] [-1.31980994e-03 9.99999011e-01 4.86601230e-04 5.47570363e+01] [-6.89066482e-03 -4.95684476e-04 9.99976136e-01 -1.56887887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.261400513 meters 0.06034435520971513 Centerline is valid? [True, True] Translation: X:577.94, Y:54.76, Z:-1.57 [[ 9.99972492e-01 -8.40658983e-04 7.36946794e-03 5.77943415e+02] [ 8.36847466e-04 9.99999515e-01 5.20272120e-04 5.47579244e+01] [-7.36990173e-03 -5.14090687e-04 9.99972710e-01 -1.56993107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.321400513 meters 0.060882681101457045 Centerline is valid? [True, True] Translation: X:578.00, Y:54.76, Z:-1.57 [[ 9.99964745e-01 -2.04696549e-03 8.14368958e-03 5.78004995e+02] [ 2.04235260e-03 9.99997749e-01 5.74712765e-04 5.47630317e+01] [-8.14484767e-03 -5.58060218e-04 9.99966674e-01 -1.56973318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.381400513 meters 0.05338153769970348 Centerline is valid? [True, True] Translation: X:578.07, Y:54.76, Z:-1.57 [[ 9.99932902e-01 -7.09647709e-03 9.15597353e-03 5.78066360e+02] [ 7.09085879e-03 9.99974651e-01 6.45938585e-04 5.47591980e+01] [-9.16032532e-03 -5.80971528e-04 9.99957875e-01 -1.56733270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.441400513 meters 0.0501283099954016 Centerline is valid? [True, True] Translation: X:578.13, Y:54.76, Z:-1.57 [[ 9.99899336e-01 -9.96000603e-03 1.01052919e-02 5.78127427e+02] [ 9.95330898e-03 9.99950211e-01 7.12803425e-04 5.47596126e+01] [-1.01118883e-02 -6.12150578e-04 9.99948686e-01 -1.56630981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.501400513 meters 0.04582399439336111 Centerline is valid? [True, True] Translation: X:578.19, Y:54.76, Z:-1.56 [[ 9.99852885e-01 -1.26250604e-02 1.16110053e-02 5.78188598e+02] [ 1.26163994e-02 9.99920075e-01 8.18876353e-04 5.47590920e+01] [-1.16204157e-02 -6.72266803e-04 9.99932255e-01 -1.56461657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.561400513 meters 0.03927823492403123 Centerline is valid? [True, True] Translation: X:578.25, Y:54.75, Z:-1.57 [[ 9.99837646e-01 -1.62225240e-02 7.84287329e-03 5.78248354e+02] [ 1.62186826e-02 9.99868316e-01 5.53153812e-04 5.47528785e+01] [-7.85081405e-03 -4.25862933e-04 9.99969091e-01 -1.57067187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.621400513 meters 0.04748713704473757 Centerline is valid? [True, True] Translation: X:578.31, Y:54.77, Z:-1.57 [[ 9.99872312e-01 -1.40121175e-02 7.68252159e-03 5.78308368e+02] [ 1.40083670e-02 9.99901731e-01 5.41781406e-04 5.47673521e+01] [-7.68935815e-03 -4.34092644e-04 9.99970342e-01 -1.57011686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.681400513 meters 0.05269185449939719 Centerline is valid? [True, True] Translation: X:578.37, Y:54.78, Z:-1.57 [[ 9.99907492e-01 -7.88945400e-03 1.10799228e-02 5.78368771e+02] [ 7.88127967e-03 9.99968637e-01 7.81230028e-04 5.47770559e+01] [-1.10857387e-02 -6.93833788e-04 9.99938311e-01 -1.56810086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.741400513 meters 0.05644683414675877 Centerline is valid? [True, True] Translation: X:578.43, Y:54.79, Z:-1.57 [[ 9.99906868e-01 -7.89161854e-03 1.11344835e-02 5.78429956e+02] [ 7.88337736e-03 9.99968618e-01 7.83845835e-04 5.47858705e+01] [-1.11403199e-02 -6.95995499e-04 9.99937702e-01 -1.56680545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.801400513 meters 0.057822937596695566 Centerline is valid? [True, True] Translation: X:578.49, Y:54.79, Z:-1.57 [[ 9.99908546e-01 -8.47584914e-03 1.05385273e-02 5.78490945e+02] [ 8.46851575e-03 9.99963867e-01 7.40294822e-04 5.47918960e+01] [-1.05444211e-02 -6.50981435e-04 9.99944194e-01 -1.56767994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.861400513 meters 0.051146227918010996 Centerline is valid? [True, True] Translation: X:578.55, Y:54.79, Z:-1.57 [[ 9.99910665e-01 -1.01484674e-02 8.69887767e-03 5.78551979e+02] [ 1.01435377e-02 9.99948367e-01 6.10640323e-04 5.47869131e+01] [-8.70462558e-03 -5.22348378e-04 9.99961978e-01 -1.56976189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.921400513 meters 0.04720527228188321 Centerline is valid? [True, True] Translation: X:578.61, Y:54.79, Z:-1.57 [[ 9.99888582e-01 -1.21631273e-02 8.65340640e-03 5.78613225e+02] [ 1.21583247e-02 9.99925900e-01 6.07382968e-04 5.47857418e+01] [-8.66015286e-03 -5.02104370e-04 9.99962374e-01 -1.57020917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.981400513 meters 0.045540567598378094 Centerline is valid? [True, True] Translation: X:578.67, Y:54.79, Z:-1.57 [[ 9.99832137e-01 -1.57945213e-02 9.28610787e-03 5.78673510e+02] [ 1.57891475e-02 9.99875131e-01 6.51729433e-04 5.47882098e+01] [-9.29524208e-03 -5.05000305e-04 9.99956671e-01 -1.56900311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.041400513 meters 0.04473410232324765 Centerline is valid? [True, True] Translation: X:578.73, Y:54.79, Z:-1.57 [[ 9.99813365e-01 -1.78010126e-02 7.50721209e-03 5.78734153e+02] [ 1.77975574e-02 9.99841472e-01 5.26822341e-04 5.47908361e+01] [-7.51539996e-03 -3.93113980e-04 9.99971682e-01 -1.57060211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.101400513 meters 0.04521856245268816 Centerline is valid? [True, True] Translation: X:578.80, Y:54.79, Z:-1.57 [[ 9.99815630e-01 -1.81217358e-02 6.34898269e-03 5.78796070e+02] [ 1.81192743e-02 9.99835733e-01 4.45007470e-04 5.47934837e+01] [-6.35600407e-03 -3.29886465e-04 9.99979746e-01 -1.57353101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.161400513 meters 0.04964008143601291 Centerline is valid? [True, True] Translation: X:578.86, Y:54.80, Z:-1.57 [[ 9.99836549e-01 -1.70574844e-02 5.99306752e-03 5.78856666e+02] [ 1.70552766e-02 9.99854460e-01 4.19303705e-04 5.48024243e+01] [-5.99934756e-03 -3.17021745e-04 9.99981954e-01 -1.57339082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.221400513 meters 0.049463222622819956 Centerline is valid? [True, True] Translation: X:578.92, Y:54.80, Z:-1.58 [[ 9.99898125e-01 -1.37448822e-02 3.84951673e-03 5.78917820e+02] [ 1.37439476e-02 9.99905511e-01 2.69140892e-04 5.48041039e+01] [-3.85285231e-03 -2.16205917e-04 9.99992554e-01 -1.57627368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.281400513 meters 0.055914655121834064 Centerline is valid? [True, True] Translation: X:578.98, Y:54.81, Z:-1.58 [[ 9.99967352e-01 -7.05176865e-03 3.94549770e-03 5.78977499e+02] [ 7.05073514e-03 9.99975105e-01 2.75795275e-04 5.48130171e+01] [-3.94734432e-03 -2.47967611e-04 9.99992178e-01 -1.57785083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.341400513 meters 0.04759290098456747 Centerline is valid? [True, True] Translation: X:579.04, Y:54.81, Z:-1.57 [[ 9.99966026e-01 -6.81824694e-03 4.63231140e-03 5.79037756e+02] [ 6.84769840e-03 9.99956252e-01 -6.37200206e-03 5.48120959e+01] [-4.58866287e-03 6.40350625e-03 9.99968969e-01 -1.57073059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.401400513 meters 0.055985613153065626 Centerline is valid? [True, True] Translation: X:579.10, Y:54.81, Z:-1.59 [[ 9.99974419e-01 -7.11383667e-03 -7.44380991e-04 5.79101049e+02] [ 7.11863086e-03 9.99952555e-01 6.64929397e-03 5.48113581e+01] [ 6.97043683e-04 -6.65442285e-03 9.99977616e-01 -1.58931727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.461400513 meters 0.046866047583053176 Centerline is valid? [True, True] Translation: X:579.16, Y:54.82, Z:-1.57 [[ 9.99924627e-01 -1.20477708e-02 2.36469361e-03 5.79159713e+02] [ 1.20619480e-02 9.99908794e-01 -6.07557628e-03 5.48164695e+01] [-2.29128079e-03 6.10364115e-03 9.99978748e-01 -1.57499640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.521400513 meters 0.042749018325437066 Centerline is valid? [True, True] Translation: X:579.22, Y:54.81, Z:-1.58 [[ 9.99890387e-01 -1.45734250e-02 2.61309708e-03 5.79224624e+02] [ 1.45711622e-02 9.99893445e-01 8.82894415e-04 5.48101530e+01] [-2.62568544e-03 -8.44721777e-04 9.99996196e-01 -1.57913766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.581400513 meters 0.04664588442402227 Centerline is valid? [True, True] Translation: X:579.28, Y:54.82, Z:-1.58 [[ 9.99837008e-01 -1.77320878e-02 3.39573291e-03 5.79279981e+02] [ 1.77474984e-02 9.99832088e-01 -4.56315861e-03 5.48216745e+01] [-3.31424840e-03 4.62268061e-03 9.99983823e-01 -1.57637173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.641400513 meters 0.039903694822303507 Centerline is valid? [True, True] Translation: X:579.34, Y:54.81, Z:-1.59 [[ 9.99656485e-01 -2.54390497e-02 6.30610884e-03 5.79343076e+02] [ 2.53990303e-02 9.99657244e-01 6.34700678e-03 5.48079338e+01] [-6.46540920e-03 -6.18465744e-03 9.99959973e-01 -1.58591560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.701400513 meters 0.03900768733718215 Centerline is valid? [True, True] Translation: X:579.40, Y:54.81, Z:-1.58 [[ 9.99548208e-01 -2.96683252e-02 4.81358220e-03 5.79401203e+02] [ 2.96541379e-02 9.99555740e-01 2.99244395e-03 5.48146380e+01] [-4.90022452e-03 -2.84834935e-03 9.99983937e-01 -1.58313587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.761400513 meters 0.039822375654426014 Centerline is valid? [True, True] Translation: X:579.47, Y:54.82, Z:-1.58 [[ 9.99495105e-01 -3.16090688e-02 3.22523923e-03 5.79466257e+02] [ 3.16150210e-02 9.99498479e-01 -1.81150018e-03 5.48240498e+01] [-3.16636187e-03 1.91255157e-03 9.99993158e-01 -1.58285309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.821400513 meters 0.047991331409902395 Centerline is valid? [True, True] Translation: X:579.53, Y:54.83, Z:-1.59 [[ 9.99866010e-01 -1.63604155e-02 5.46609289e-04 5.79525530e+02] [ 1.63592495e-02 9.99864028e-01 2.07368942e-03 5.48337231e+01] [-5.80461386e-04 -2.06446944e-03 9.99997701e-01 -1.58507793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.881400513 meters 0.08921513701957894 Centerline is valid? [True, True] Translation: X:579.58, Y:54.91, Z:-1.56 [[ 9.99493863e-01 -3.10334491e-02 6.99590133e-03 5.79581640e+02] [ 3.10856281e-02 9.99488756e-01 -7.47738928e-03 5.49125290e+01] [-6.76027554e-03 7.69107668e-03 9.99947572e-01 -1.56299547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.941400513 meters 0.059548038827427235 Centerline is valid? [True, True] Translation: X:579.64, Y:54.83, Z:-1.60 [[ 9.99761480e-01 -2.03340754e-02 7.96917373e-03 5.79641462e+02] [ 2.02140733e-02 9.99685234e-01 1.48601500e-02 5.48325335e+01] [-8.26883272e-03 -1.46955161e-02 9.99857824e-01 -1.59809628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.001400513 meters 0.04002407268584502 Centerline is valid? [True, True] Translation: X:579.72, Y:54.82, Z:-1.58 [[ 9.99774768e-01 -2.09957209e-02 3.09713998e-03 5.79723517e+02] [ 2.10136112e-02 9.99762007e-01 -5.86160278e-03 5.48247841e+01] [-2.97333430e-03 5.92536465e-03 9.99978024e-01 -1.58228409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.061400513 meters 0.037483710783981924 Centerline is valid? [True, True] Translation: X:579.78, Y:54.82, Z:-1.59 [[ 9.99685459e-01 -2.50183976e-02 1.75034005e-03 5.79783231e+02] [ 2.50182474e-02 9.99686989e-01 1.07671380e-04 5.48226044e+01] [-1.75248594e-03 -6.38470720e-05 9.99998462e-01 -1.58698103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.121400513 meters 0.029005745527156266 Centerline is valid? [True, True] Translation: X:579.84, Y:54.81, Z:-1.59 [[ 9.99578458e-01 -2.89824976e-02 -1.70894501e-03 5.79844280e+02] [ 2.89823601e-02 9.99579918e-01 -1.05177847e-04 5.48147964e+01] [ 1.71127543e-03 5.56042504e-05 9.99998534e-01 -1.59018672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.181400513 meters 0.03257835891686093 Centerline is valid? [True, True] Translation: X:579.91, Y:54.82, Z:-1.59 [[ 9.99560831e-01 -2.95916239e-02 -1.57500707e-03 5.79905164e+02] [ 2.95915093e-02 9.99562071e-01 -9.60139808e-05 5.48240059e+01] [ 1.57715853e-03 4.93649782e-05 9.99998755e-01 -1.59184656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.241400513 meters 0.03353497419183404 Centerline is valid? [True, True] Translation: X:579.97, Y:54.83, Z:-1.59 [[ 9.99595841e-01 -2.84258260e-02 -3.57721646e-04 5.79966084e+02] [ 2.84258203e-02 9.99595904e-01 -2.12613457e-05 5.48325897e+01] [ 3.58181464e-04 1.10842215e-05 9.99999936e-01 -1.58786915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.301400513 meters 0.034739386224663875 Centerline is valid? [True, True] Translation: X:580.03, Y:54.84, Z:-1.58 [[ 9.99587187e-01 -2.78786024e-02 6.94548213e-03 5.80029367e+02] [ 2.78763215e-02 9.99611289e-01 4.25011305e-04 5.48392226e+01] [-6.95463107e-03 -2.31221362e-04 9.99975790e-01 -1.58120611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.361400513 meters 0.03257438837698754 Centerline is valid? [True, True] Translation: X:580.09, Y:54.84, Z:-1.58 [[ 9.99599557e-01 -2.76578409e-02 5.98079907e-03 5.80092552e+02] [ 2.76561512e-02 9.99617429e-01 3.65046292e-04 5.48401537e+01] [-5.98860738e-03 -1.99494228e-04 9.99982048e-01 -1.58297674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.421400513 meters 0.028598756626577963 Centerline is valid? [True, True] Translation: X:580.16, Y:54.84, Z:-1.59 [[ 9.99581621e-01 -2.87026847e-02 3.56901919e-03 5.80155454e+02] [ 2.87020912e-02 9.99587986e-01 2.17415961e-04 5.48378611e+01] [-3.57378913e-03 -1.14886685e-04 9.99993607e-01 -1.58626555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.481400513 meters 0.030048753894777108 Centerline is valid? [True, True] Translation: X:580.22, Y:54.84, Z:-1.59 [[ 9.99509255e-01 -3.11418388e-02 3.38145313e-03 5.80215866e+02] [ 3.11413208e-02 9.99514970e-01 2.05764681e-04 5.48434225e+01] [-3.38622091e-03 -1.00360787e-04 9.99994262e-01 -1.58717402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.541400513 meters 0.028210421262144188 Centerline is valid? [True, True] Translation: X:580.28, Y:54.85, Z:-1.59 [[ 9.99528673e-01 -3.06898008e-02 7.53193096e-04 5.80278277e+02] [ 3.06897745e-02 9.99528957e-01 4.64259849e-05 5.48450284e+01] [-7.54263114e-04 -2.32887768e-05 9.99999715e-01 -1.59016140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.601400513 meters 0.03020638090615808 Centerline is valid? [True, True] Translation: X:580.34, Y:54.85, Z:-1.59 [[ 9.99579822e-01 -2.88817053e-02 2.45508499e-03 5.80339599e+02] [ 2.88814258e-02 9.99582833e-01 1.49231954e-04 5.48525583e+01] [-2.45837088e-03 -7.82628955e-05 9.99996975e-01 -1.58895167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.661400513 meters 0.03216909337427625 Centerline is valid? [True, True] Translation: X:580.40, Y:54.86, Z:-1.59 [[ 9.99639084e-01 -2.67591713e-02 2.37672847e-03 5.80401738e+02] [ 2.67589047e-02 9.99641906e-01 1.43908329e-04 5.48602609e+01] [-2.37972824e-03 -8.02577400e-05 9.99997165e-01 -1.58951313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.721400513 meters 0.033253543984009384 Centerline is valid? [True, True] Translation: X:580.46, Y:54.86, Z:-1.59 [[ 9.99668052e-01 -2.57344067e-02 1.23550090e-03 5.80464243e+02] [ 2.57343333e-02 9.99668814e-01 7.52259867e-05 5.48641157e+01] [-1.23702761e-03 -4.34062236e-05 9.99999234e-01 -1.59282443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.781400513 meters 0.0343467803947417 Centerline is valid? [True, True] Translation: X:580.53, Y:54.87, Z:-1.59 [[ 9.99673994e-01 -2.54144068e-02 2.45216743e-03 5.80526359e+02] [ 2.54141195e-02 9.99676998e-01 1.48228920e-04 5.48691370e+01] [-2.45514253e-03 -8.58609200e-05 9.99996982e-01 -1.59217367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.841400513 meters 0.03528752408858161 Centerline is valid? [True, True] Translation: X:580.59, Y:54.87, Z:-1.59 [[ 9.99815212e-01 -1.86801335e-02 4.53800502e-03 5.80587114e+02] [ 1.86790870e-02 9.99825493e-01 2.72894060e-04 5.48747180e+01] [-4.54231081e-03 -1.88077842e-04 9.99989666e-01 -1.58884047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.901400513 meters 0.04181342493859484 Centerline is valid? [True, True] Translation: X:580.65, Y:54.89, Z:-1.59 [[ 9.99880849e-01 -1.45329937e-02 5.20390653e-03 5.80645916e+02] [ 1.45315619e-02 9.99894362e-01 3.12846240e-04 5.48865115e+01] [-5.20790340e-03 -2.37188074e-04 9.99986411e-01 -1.58947248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.961400513 meters 0.04197191749140996 Centerline is valid? [True, True] Translation: X:580.71, Y:54.89, Z:-1.59 [[ 9.99963360e-01 -7.50803384e-03 4.11183189e-03 5.80706024e+02] [ 7.50708054e-03 9.99971791e-01 2.47227705e-04 5.48911477e+01] [-4.11357210e-03 -2.16350794e-04 9.99991516e-01 -1.58851261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.021400513 meters 0.04592472993846504 Centerline is valid? [True, True] Translation: X:580.77, Y:54.90, Z:-1.59 [[ 9.99988151e-01 -1.83566513e-03 4.50859982e-03 5.80766763e+02] [ 1.83446160e-03 9.99998281e-01 2.71063793e-04 5.48984774e+01] [-4.50908965e-03 -2.62789728e-04 9.99989799e-01 -1.59024774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.081400513 meters 0.021697371482530637 Centerline is valid? [True, True] Translation: X:580.84, Y:54.82, Z:-1.60 [[ 9.99839745e-01 1.78936229e-02 -5.49600530e-04 5.80836689e+02] [-1.78769255e-02 9.99591567e-01 2.22960848e-02 5.48230530e+01] [ 9.48333789e-04 -2.22826865e-02 9.99751260e-01 -1.60133045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.141400513 meters 0.05853906490454409 Centerline is valid? [True, True] Translation: X:580.89, Y:54.94, Z:-1.56 [[ 9.99955270e-01 6.80756425e-03 6.56619574e-03 5.80885211e+02] [-6.67525928e-03 9.99778393e-01 -1.99651295e-02 5.49409386e+01] [-6.70065452e-03 1.99204054e-02 9.99779115e-01 -1.56472590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.201400513 meters 0.058859630697354615 Centerline is valid? [True, True] Translation: X:580.95, Y:54.93, Z:-1.59 [[ 9.99984297e-01 4.00875872e-03 3.91602620e-03 5.80945470e+02] [-4.00971631e-03 9.99991933e-01 2.36711471e-04 5.49281303e+01] [-3.91504569e-03 -2.52409908e-04 9.99992304e-01 -1.58627203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.261400513 meters 0.06217602524724045 Centerline is valid? [True, True] Translation: X:581.00, Y:54.93, Z:-1.59 [[ 9.99976844e-01 4.05195749e-03 5.46747631e-03 5.81004332e+02] [-4.05382530e-03 9.99991729e-01 3.30582561e-04 5.49346200e+01] [-5.46609158e-03 -3.52739100e-04 9.99984999e-01 -1.58664724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.321400513 meters 0.06870424925205168 Centerline is valid? [True, True] Translation: X:581.06, Y:54.95, Z:-1.59 [[ 9.99966364e-01 6.46259411e-03 5.05030856e-03 5.81063165e+02] [-6.46421833e-03 9.99979060e-01 3.05350718e-04 5.49465845e+01] [-5.04822945e-03 -3.37986744e-04 9.99987200e-01 -1.58777815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.381400513 meters 0.06692170671737427 Centerline is valid? [True, True] Translation: X:581.12, Y:54.95, Z:-1.59 [[ 9.99975905e-01 5.56560488e-03 4.14880069e-03 5.81122536e+02] [-5.56669318e-03 9.99984474e-01 2.50816596e-04 5.49494521e+01] [-4.14734033e-03 -2.73905653e-04 9.99991362e-01 -1.58717481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.441400513 meters 0.0531830391480766 Centerline is valid? [True, True] Translation: X:581.18, Y:54.94, Z:-1.59 [[ 9.99995161e-01 1.57830133e-03 2.68101201e-03 5.81183545e+02] [-1.57874164e-03 9.99998741e-01 1.62123758e-04 5.49360826e+01] [-2.68075275e-03 -1.66355598e-04 9.99996393e-01 -1.58900440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.501400513 meters 0.04849121942390441 Centerline is valid? [True, True] Translation: X:581.24, Y:54.93, Z:-1.59 [[ 9.99996580e-01 1.45823944e-03 2.17097211e-03 5.81244810e+02] [-1.45852795e-03 9.99998928e-01 1.31318593e-04 5.49331265e+01] [-2.17077829e-03 -1.34484567e-04 9.99997635e-01 -1.58998825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.561400513 meters 0.05359069591494778 Centerline is valid? [True, True] Translation: X:581.30, Y:54.94, Z:-1.59 [[ 9.99982225e-01 5.28715887e-03 2.75594929e-03 5.81304117e+02] [-5.28763804e-03 9.99986006e-01 1.66612812e-04 5.49416954e+01] [-2.75502982e-03 -1.81182313e-04 9.99996188e-01 -1.59148025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.621400513 meters 0.05305883569622515 Centerline is valid? [True, True] Translation: X:581.36, Y:54.94, Z:-1.59 [[ 9.99988030e-01 4.84557307e-03 6.78374616e-04 5.81362454e+02] [-4.84560193e-03 9.99988259e-01 4.09131982e-05 5.49440737e+01] [-6.78168404e-04 -4.41998419e-05 9.99999769e-01 -1.59384195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.681400513 meters 0.05806432138284336 Centerline is valid? [True, True] Translation: X:581.42, Y:54.95, Z:-1.59 [[ 9.99965832e-01 7.64560792e-03 3.14315246e-03 5.81421689e+02] [-7.64624334e-03 9.99970749e-01 1.90193915e-04 5.49541323e+01] [-3.14160637e-03 -2.14220725e-04 9.99995042e-01 -1.59217599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.741400513 meters 0.0704629004600805 Centerline is valid? [True, True] Translation: X:581.48, Y:54.98, Z:-1.59 [[ 9.99899103e-01 1.29947361e-02 5.73756858e-03 5.81481370e+02] [-1.29969410e-02 9.99915476e-01 3.47177610e-04 5.49756029e+01] [-5.73257214e-03 -4.21713422e-04 9.99983480e-01 -1.58639336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.801400513 meters 0.07244260210117527 Centerline is valid? [True, True] Translation: X:581.54, Y:54.98, Z:-1.59 [[ 9.99884663e-01 1.39970808e-02 5.89427857e-03 5.81540055e+02] [-1.39994259e-02 9.99901940e-01 3.56795826e-04 5.49818270e+01] [-5.88870647e-03 -4.39271191e-04 9.99982565e-01 -1.58595708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.861400513 meters 0.07409523903710379 Centerline is valid? [True, True] Translation: X:581.60, Y:54.99, Z:-1.59 [[ 9.99876451e-01 1.48910087e-02 5.03388860e-03 5.81598891e+02] [-1.48927314e-02 9.99889051e-01 3.04911601e-04 5.49857982e+01] [-5.02878965e-03 -3.79842281e-04 9.99987283e-01 -1.58910863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.921400513 meters 0.07415925586683562 Centerline is valid? [True, True] Translation: X:581.66, Y:54.99, Z:-1.59 [[ 9.99851364e-01 1.63791356e-02 5.38272617e-03 5.81659027e+02] [-1.63811276e-02 9.99865767e-01 3.26188834e-04 5.49900302e+01] [-5.37666094e-03 -4.14315475e-04 9.99985460e-01 -1.58695116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.981400513 meters 0.06915001048805015 Centerline is valid? [True, True] Translation: X:581.72, Y:54.99, Z:-1.59 [[ 9.99788338e-01 1.95328012e-02 6.46132543e-03 5.81720007e+02] [-1.95357372e-02 9.99809083e-01 3.91599213e-04 5.49871917e+01] [-6.45244282e-03 -5.17743082e-04 9.99979049e-01 -1.58614232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.041400513 meters 0.07898494128231731 Centerline is valid? [True, True] Translation: X:581.78, Y:55.00, Z:-1.59 [[ 9.99797312e-01 1.89963595e-02 6.66884549e-03 5.81777133e+02] [-1.89994768e-02 9.99819412e-01 4.04394558e-04 5.50013980e+01] [-6.65995915e-03 -5.31017166e-04 9.99977681e-01 -1.58854603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.101400513 meters 0.06906157513458124 Centerline is valid? [True, True] Translation: X:581.84, Y:54.99, Z:-1.59 [[ 9.99831961e-01 1.77697027e-02 4.50413119e-03 5.81837786e+02] [-1.77711130e-02 9.99842044e-01 2.73271035e-04 5.49915468e+01] [-4.49856379e-03 -3.53268539e-04 9.99989819e-01 -1.59209908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.161400513 meters 0.08418378805962087 Centerline is valid? [True, True] Translation: X:581.89, Y:55.01, Z:-1.59 [[ 9.99831520e-01 1.78843641e-02 4.13285709e-03 5.81894102e+02] [-1.78855528e-02 9.99840009e-01 2.50845561e-04 5.50149961e+01] [-4.12770965e-03 -3.24721733e-04 9.99991428e-01 -1.59119951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.221400513 meters 0.07764074063039073 Centerline is valid? [True, True] Translation: X:581.95, Y:55.01, Z:-1.59 [[ 9.99806515e-01 1.94102651e-02 3.18983223e-03 5.81954498e+02] [-1.94109814e-02 9.99811570e-01 1.93752564e-04 5.50096659e+01] [-3.18547038e-03 -2.55632850e-04 9.99994894e-01 -1.59290769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.281400513 meters 0.07676085749484572 Centerline is valid? [True, True] Translation: X:582.01, Y:55.01, Z:-1.60 [[ 9.99833723e-01 1.80611857e-02 2.51385818e-03 5.82014580e+02] [-1.80616264e-02 9.99836864e-01 1.52715486e-04 5.50113694e+01] [-2.51068986e-03 -1.98094460e-04 9.99996829e-01 -1.59575139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.341400513 meters 0.08753246722653264 Centerline is valid? [True, True] Translation: X:582.07, Y:55.03, Z:-1.60 [[ 9.99858478e-01 1.67664706e-02 1.38205577e-03 5.82072678e+02] [-1.67666026e-02 9.99859427e-01 8.39400819e-05 5.50288111e+01] [-1.38045411e-03 -1.07100582e-04 9.99999041e-01 -1.59620350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.401400513 meters 0.07535015995071224 Centerline is valid? [True, True] Translation: X:582.13, Y:55.02, Z:-1.60 [[ 9.99855542e-01 1.69879667e-02 5.50584902e-04 5.82132627e+02] [-1.69879876e-02 9.99855693e-01 3.33502672e-05 5.50176313e+01] [-5.49938896e-04 -4.26987790e-05 9.99999848e-01 -1.59597118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.461400513 meters 0.07804973209346268 Centerline is valid? [True, True] Translation: X:582.19, Y:55.03, Z:-1.59 [[ 9.99803531e-01 1.96513490e-02 2.59305399e-03 5.82192689e+02] [-1.96518238e-02 9.99806872e-01 1.57746550e-04 5.50252129e+01] [-2.58945326e-03 -2.08673798e-04 9.99996626e-01 -1.59259826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.521400513 meters 0.07953353442160609 Centerline is valid? [True, True] Translation: X:582.25, Y:55.03, Z:-1.59 [[ 9.99773871e-01 2.09314130e-02 3.75264508e-03 5.82252289e+02] [-2.09324165e-02 9.99780867e-01 2.28306490e-04 5.50309586e+01] [-3.74704397e-03 -3.06806793e-04 9.99992933e-01 -1.59222771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.581400513 meters 0.07850217559266101 Centerline is valid? [True, True] Translation: X:582.31, Y:55.03, Z:-1.59 [[ 9.99730384e-01 2.29872605e-02 3.27794079e-03 5.82312402e+02] [-2.29880373e-02 9.99735720e-01 1.99488481e-04 5.50331020e+01] [-3.27248880e-03 -2.74788121e-04 9.99994608e-01 -1.59281353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.641400513 meters 0.08150269919968628 Centerline is valid? [True, True] Translation: X:582.37, Y:55.04, Z:-1.59 [[ 9.99745940e-01 2.23529742e-02 2.89814446e-03 5.82369586e+02] [-2.23535788e-02 9.99750112e-01 1.76384999e-04 5.50395382e+01] [-2.89347752e-03 -2.41124087e-04 9.99995785e-01 -1.59411943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.701400513 meters 0.079793792333818 Centerline is valid? [True, True] Translation: X:582.43, Y:55.04, Z:-1.59 [[ 9.99731851e-01 2.26664969e-02 4.73872989e-03 5.82427880e+02] [-2.26681186e-02 9.99743003e-01 2.88801202e-04 5.50424518e+01] [-4.73096594e-03 -3.96141852e-04 9.99988730e-01 -1.59035536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.761400513 meters 0.07079586633612392 Centerline is valid? [True, True] Translation: X:582.49, Y:55.04, Z:-1.59 [[ 9.99807834e-01 1.90248070e-02 4.72771791e-03 5.82488238e+02] [-1.90263818e-02 9.99818940e-01 2.88336097e-04 5.50351835e+01] [-4.72137637e-03 -3.78232055e-04 9.99988783e-01 -1.59104562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.821400513 meters 0.073837608138914 Centerline is valid? [True, True] Translation: X:582.55, Y:55.04, Z:-1.59 [[ 9.99862808e-01 1.62848065e-02 3.02817322e-03 5.82547155e+02] [-1.62854402e-02 9.99867366e-01 1.84712796e-04 5.50419345e+01] [-3.02476357e-03 -2.34002589e-04 9.99995398e-01 -1.59395686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.881400513 meters 0.07458810976475465 Centerline is valid? [True, True] Translation: X:582.61, Y:55.05, Z:-1.59 [[ 9.99799587e-01 1.97827666e-02 3.07057242e-03 5.82607123e+02] [-1.97834347e-02 9.99804271e-01 1.87342609e-04 5.50506024e+01] [-3.06626527e-03 -2.48051532e-04 9.99995268e-01 -1.58997832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.941400513 meters 0.07164932641858167 Centerline is valid? [True, True] Translation: X:582.67, Y:55.05, Z:-1.59 [[ 9.99719894e-01 2.36084474e-02 1.66553749e-03 5.82667380e+02] [-2.36086492e-02 9.99721272e-01 1.01600465e-04 5.50496331e+01] [-1.66267463e-03 -1.40893096e-04 9.99998608e-01 -1.59217145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.001400513 meters 0.0904742992445351 Centerline is valid? [True, True] Translation: X:582.72, Y:55.08, Z:-1.59 [[ 9.99614980e-01 2.74988894e-02 3.70173475e-03 5.82724584e+02] [-2.74999130e-02 9.99621780e-01 2.25894022e-04 5.50774064e+01] [-3.69412284e-03 -3.27604432e-04 9.99993123e-01 -1.59102329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.061400513 meters 0.08420950457837902 Centerline is valid? [True, True] Translation: X:582.78, Y:55.07, Z:-1.59 [[ 9.99606628e-01 2.75418365e-02 5.29504333e-03 5.82783284e+02] [-2.75439336e-02 9.99620542e-01 3.23530953e-04 5.50747752e+01] [-5.28412345e-03 -4.69250006e-04 9.99985929e-01 -1.58847459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.121400513 meters 0.09554383044263372 Centerline is valid? [True, True] Translation: X:582.84, Y:55.09, Z:-1.59 [[ 9.99554646e-01 2.97232231e-02 2.65328647e-03 5.82841601e+02] [-2.97237579e-02 9.99558138e-01 1.62368833e-04 5.50918369e+01] [-2.64728796e-03 -2.41162166e-04 9.99996467e-01 -1.59185364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.181400513 meters 0.09068643830725481 Centerline is valid? [True, True] Translation: X:582.90, Y:55.09, Z:-1.59 [[ 9.99503028e-01 3.14856659e-02 1.53274864e-03 5.82902121e+02] [-3.14858464e-02 9.99504193e-01 9.38088550e-05 5.50897616e+01] [-1.52903506e-03 -1.42022123e-04 9.99998821e-01 -1.59262290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.241400513 meters 0.08758804482675236 Centerline is valid? [True, True] Translation: X:582.96, Y:55.09, Z:-1.59 [[ 9.99331482e-01 3.61398752e-02 5.52257003e-03 5.82962898e+02] [-3.61422901e-02 9.99346597e-01 3.38077464e-04 5.50919885e+01] [-5.50674349e-03 -5.37449782e-04 9.99984693e-01 -1.58742950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.301400513 meters 0.09634693061544827 Centerline is valid? [True, True] Translation: X:583.02, Y:55.11, Z:-1.59 [[ 9.99304625e-01 3.67549141e-02 6.27244473e-03 5.83020859e+02] [-3.67580421e-02 9.99324121e-01 3.84096729e-04 5.51069137e+01] [-6.25408788e-03 -6.14392425e-04 9.99980254e-01 -1.58666758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.361400513 meters 0.08889213026528553 Centerline is valid? [True, True] Translation: X:583.08, Y:55.10, Z:-1.59 [[ 9.99327979e-01 3.64217836e-02 4.12834871e-03 5.83079846e+02] [-3.64231368e-02 9.99336425e-01 2.53059691e-04 5.51000203e+01] [-4.11639236e-03 -4.03257040e-04 9.99991446e-01 -1.59076727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.421400513 meters 0.09467117979595518 Centerline is valid? [True, True] Translation: X:583.14, Y:55.11, Z:-1.59 [[ 9.99369040e-01 3.53379881e-02 3.57038910e-03 5.83138335e+02] [-3.53389951e-02 9.99375359e-01 2.19320791e-04 5.51108254e+01] [-3.56040854e-03 -3.45356371e-04 9.99993602e-01 -1.59173178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.481400513 meters 0.09497049760968451 Centerline is valid? [True, True] Translation: X:583.20, Y:55.12, Z:-1.59 [[ 9.99348186e-01 3.60430599e-02 2.02498901e-03 5.83197618e+02] [-3.60433853e-02 9.99350218e-01 1.24407994e-04 5.51155393e+01] [-2.01918916e-03 -1.97314363e-04 9.99997942e-01 -1.59322797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.541400513 meters 0.09187316824481237 Centerline is valid? [True, True] Translation: X:583.26, Y:55.12, Z:-1.59 [[ 9.99209852e-01 3.95907361e-02 3.49934785e-03 5.83258307e+02] [-3.95917297e-02 9.99215917e-01 2.15115134e-04 5.51158596e+01] [-3.48808751e-03 -3.53490396e-04 9.99993854e-01 -1.59153068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.601400513 meters 0.09610560016057829 Centerline is valid? [True, True] Translation: X:583.31, Y:55.13, Z:-1.59 [[ 9.99190883e-01 3.98038445e-02 5.76482281e-03 5.83314987e+02] [-3.98065467e-02 9.99207342e-01 3.54703316e-04 5.51259794e+01] [-5.74613472e-03 -5.83894007e-04 9.99983320e-01 -1.59087643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.661400513 meters 0.09559074200054567 Centerline is valid? [True, True] Translation: X:583.37, Y:55.13, Z:-1.59 [[ 9.99349946e-01 3.58050621e-02 4.20520187e-03 5.83373746e+02] [-3.58064659e-02 9.99358709e-01 2.58997608e-04 5.51297191e+01] [-4.19323169e-03 -4.09402663e-04 9.99991125e-01 -1.59192842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.721400513 meters 0.08754438426010121 Centerline is valid? [True, True] Translation: X:583.43, Y:55.12, Z:-1.59 [[ 9.99499740e-01 3.14729286e-02 3.11830675e-03 5.83434910e+02] [-3.14736798e-02 9.99504563e-01 1.92096972e-04 5.51237802e+01] [-3.11071597e-03 -2.90145462e-04 9.99995120e-01 -1.59477270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.781400513 meters 0.07420511443766507 Centerline is valid? [True, True] Translation: X:583.50, Y:55.11, Z:-1.59 [[ 9.99730308e-01 2.26845961e-02 4.97190200e-03 5.83496043e+02] [-2.26863978e-02 9.99742584e-01 3.06269000e-04 5.51135060e+01] [-4.96367456e-03 -4.18980948e-04 9.99987593e-01 -1.58974541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.841400513 meters 0.08969478567133655 Centerline is valid? [True, True] Translation: X:583.55, Y:55.14, Z:-1.59 [[ 9.99757058e-01 2.16278030e-02 4.25014000e-03 5.83553149e+02] [-2.16291103e-02 9.99766029e-01 2.61865200e-04 5.51371491e+01] [-4.24348202e-03 -3.53728329e-04 9.99990934e-01 -1.58883106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.901400513 meters 0.06910748525807095 Centerline is valid? [True, True] Translation: X:583.62, Y:55.12, Z:-1.59 [[ 9.99777831e-01 2.00698136e-02 6.44132863e-03 5.83615034e+02] [-2.00727856e-02 9.99798442e-01 3.97080458e-04 5.51151193e+01] [-6.43206100e-03 -5.26287648e-04 9.99979176e-01 -1.58843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.961400513 meters 0.06651357630694242 Centerline is valid? [True, True] Translation: X:583.68, Y:55.12, Z:-1.59 [[ 9.99858285e-01 1.61978003e-02 4.58696692e-03 5.83675593e+02] [-1.61992670e-02 9.99868743e-01 2.82795689e-04 5.51164432e+01] [-4.58178418e-03 -3.57061115e-04 9.99989440e-01 -1.59075563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.021400513 meters 0.06338024853851128 Centerline is valid? [True, True] Translation: X:583.74, Y:55.12, Z:-1.59 [[ 9.99926435e-01 1.15816592e-02 3.60415604e-03 5.83735982e+02] [-1.15825349e-02 9.99932896e-01 2.22209383e-04 5.51160655e+01] [-3.60134063e-03 -2.63938299e-04 9.99993480e-01 -1.59207039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.081400513 meters 0.049322586609819474 Centerline is valid? [True, True] Translation: X:583.80, Y:55.10, Z:-1.59 [[ 9.99924146e-01 1.09919508e-02 5.55697377e-03 5.83795769e+02] [-1.09940244e-02 9.99939505e-01 3.42756371e-04 5.51035673e+01] [-5.55287004e-03 -4.03823877e-04 9.99984501e-01 -1.58895946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.141400513 meters 0.06456597765369428 Centerline is valid? [True, True] Translation: X:583.85, Y:55.13, Z:-1.59 [[ 9.99935207e-01 9.63138264e-03 6.06777028e-03 5.83853387e+02] [-9.63383137e-03 9.99953523e-01 3.74463883e-04 5.51266343e+01] [-6.06388166e-03 -4.32895496e-04 9.99981521e-01 -1.58845644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.201400513 meters 0.06035434831710499 Centerline is valid? [True, True] Translation: X:583.91, Y:55.13, Z:-1.59 [[ 9.99947408e-01 8.90397794e-03 5.08918094e-03 5.83912648e+02] [-8.90569180e-03 9.99960294e-01 3.14202171e-04 5.51257369e+01] [-5.08618123e-03 -3.59508323e-04 9.99987001e-01 -1.58965841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.261400513 meters 0.0627684502795517 Centerline is valid? [True, True] Translation: X:583.97, Y:55.13, Z:-1.59 [[ 9.99942826e-01 9.17238212e-03 5.49658772e-03 5.83969894e+02] [-9.17438709e-03 9.99957857e-01 3.39663424e-04 5.51330514e+01] [-5.49324055e-03 -3.90071828e-04 9.99984836e-01 -1.58773428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.321400513 meters 0.0636369789759722 Centerline is valid? [True, True] Translation: X:584.03, Y:55.14, Z:-1.59 [[ 9.99950780e-01 8.97106120e-03 4.23760602e-03 5.84028346e+02] [-8.97225193e-03 9.99959714e-01 2.62063059e-04 5.51372009e+01] [-4.23508432e-03 -3.00071029e-04 9.99990987e-01 -1.59029399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.381400513 meters 0.0672591846702845 Centerline is valid? [True, True] Translation: X:584.09, Y:55.15, Z:-1.59 [[ 9.99941298e-01 1.05273137e-02 2.56438018e-03 5.84086643e+02] [-1.05277550e-02 9.99944569e-01 1.58664126e-04 5.51462144e+01] [-2.56256772e-03 -1.85651979e-04 9.99996699e-01 -1.59063799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.441400513 meters 0.0630554837911946 Centerline is valid? [True, True] Translation: X:584.15, Y:55.14, Z:-1.59 [[ 9.99916893e-01 1.26758331e-02 2.35179564e-03 5.84147392e+02] [-1.26762103e-02 9.99919643e-01 1.45577433e-04 5.51449562e+01] [-2.34976134e-03 -1.75377191e-04 9.99997224e-01 -1.59073035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.501400513 meters 0.06041806255779019 Centerline is valid? [True, True] Translation: X:584.21, Y:55.15, Z:-1.59 [[ 9.99920744e-01 1.21304801e-02 3.37004958e-03 5.84206446e+02] [-1.21312518e-02 9.99926392e-01 2.08624010e-04 5.51463518e+01] [-3.36727080e-03 -2.49490395e-04 9.99994300e-01 -1.58840346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.561400513 meters 0.061777291347381365 Centerline is valid? [True, True] Translation: X:584.27, Y:55.15, Z:-1.59 [[ 9.99938947e-01 1.06027711e-02 3.11172692e-03 5.84265059e+02] [-1.06034221e-02 9.99943764e-01 1.92774108e-04 5.51531887e+01] [-3.10950799e-03 -2.25757293e-04 9.99995140e-01 -1.58868973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.621400513 meters 0.059332284785980065 Centerline is valid? [True, True] Translation: X:584.33, Y:55.15, Z:-1.59 [[ 9.99950108e-01 8.96471467e-03 4.40637051e-03 5.84325533e+02] [-8.96600472e-03 9.99959767e-01 2.73101554e-04 5.51540302e+01] [-4.40374495e-03 -3.12595467e-04 9.99990255e-01 -1.58869356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.681400513 meters 0.056727733763944 Centerline is valid? [True, True] Translation: X:584.39, Y:55.15, Z:-1.59 [[ 9.99967289e-01 6.52922112e-03 4.77388248e-03 5.84386236e+02] [-6.53070794e-03 9.99978631e-01 2.95926049e-04 5.51544447e+01] [-4.77184830e-03 -3.27093202e-04 9.99988561e-01 -1.58855828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.741400513 meters 0.06829177985215724 Centerline is valid? [True, True] Translation: X:584.44, Y:55.17, Z:-1.59 [[ 9.99951919e-01 9.65235507e-03 1.72966850e-03 5.84444448e+02] [-9.65255488e-03 9.99953407e-01 1.07207432e-04 5.51722780e+01] [-1.72855311e-03 -1.23897997e-04 9.99998498e-01 -1.59096401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.801400513 meters 0.0642092960598006 Centerline is valid? [True, True] Translation: X:584.51, Y:55.17, Z:-1.59 [[ 9.99881381e-01 1.50655727e-02 3.20206732e-03 5.84505410e+02] [-1.50662853e-02 9.99886477e-01 1.98537732e-04 5.51713163e+01] [-3.19871273e-03 -2.46757442e-04 9.99994854e-01 -1.58871001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.861400513 meters 0.07622254723705055 Centerline is valid? [True, True] Translation: X:584.56, Y:55.19, Z:-1.58 [[ 9.99750401e-01 2.10194766e-02 7.57083579e-03 5.84563317e+02] [-2.10236299e-02 9.99778869e-01 4.69421011e-04 5.51917273e+01] [-7.55929466e-03 -6.28470294e-04 9.99971231e-01 -1.58220595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.921400513 meters 0.06455728063500311 Centerline is valid? [True, True] Translation: X:584.62, Y:55.18, Z:-1.59 [[ 9.99831666e-01 1.81263956e-02 2.84138816e-03 5.84624004e+02] [-1.81269690e-02 9.99835677e-01 1.76168299e-04 5.51786811e+01] [-2.83772796e-03 -2.27644399e-04 9.99995948e-01 -1.59114044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.981400513 meters 0.06527831992533423 Centerline is valid? [True, True] Translation: X:584.68, Y:55.18, Z:-1.59 [[ 9.99885588e-01 1.48197132e-02 3.03094853e-03 5.84683037e+02] [-1.48203507e-02 9.99890155e-01 1.87980092e-04 5.51841489e+01] [-3.02782978e-03 -2.32878305e-04 9.99995389e-01 -1.58949791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.041400513 meters 0.06385227289916277 Centerline is valid? [True, True] Translation: X:584.74, Y:55.19, Z:-1.59 [[ 9.99892778e-01 1.43962262e-02 2.67994856e-03 5.84741469e+02] [-1.43967232e-02 9.99896348e-01 1.66244768e-04 5.51865368e+01] [-2.67727748e-03 -2.04809420e-04 9.99996395e-01 -1.59030612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.101400513 meters 0.06113670208496361 Centerline is valid? [True, True] Translation: X:584.80, Y:55.19, Z:-1.59 [[ 9.99951061e-01 9.13920768e-03 3.78832880e-03 5.84800505e+02] [-9.14016407e-03 9.99958200e-01 2.35220034e-04 5.51881957e+01] [-3.78602072e-03 -2.69834469e-04 9.99992797e-01 -1.58842738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.161400513 meters 0.06066610938002774 Centerline is valid? [True, True] Translation: X:584.86, Y:55.19, Z:-1.59 [[ 9.99990057e-01 3.44205128e-03 2.83508367e-03 5.84859593e+02] [-3.44256416e-03 9.99994059e-01 1.76043990e-04 5.51918551e+01] [-2.83446088e-03 -1.85802197e-04 9.99995966e-01 -1.59006185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.221400513 meters 0.04896751141194348 Centerline is valid? [True, True] Translation: X:584.92, Y:55.18, Z:-1.60 [[ 9.99990089e-01 -4.02717997e-03 -1.89820598e-03 5.84921194e+02] [ 4.02696340e-03 9.99991885e-01 -1.17900840e-04 5.51799395e+01] [ 1.89866538e-03 1.10255665e-04 9.99998191e-01 -1.59578258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.281400513 meters 0.04851184860642514 Centerline is valid? [True, True] Translation: X:584.98, Y:55.18, Z:-1.59 [[ 9.99978159e-01 -6.32319498e-03 -1.92321351e-03 5.84981681e+02] [ 6.32297702e-03 9.99980003e-01 -1.19392369e-04 5.51846287e+01] [ 1.92392999e-03 1.07229327e-04 9.99998143e-01 -1.59365455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.341400513 meters 0.0460722028328019 Centerline is valid? [True, True] Translation: X:585.04, Y:55.18, Z:-1.59 [[ 9.99960248e-01 -8.46326173e-03 -2.80628489e-03 5.85042799e+02] [ 8.46280610e-03 9.99964175e-01 -1.74195573e-04 5.51848437e+01] [ 2.80765862e-03 1.50439604e-04 9.99996047e-01 -1.59458131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.401400513 meters 0.04409682883167229 Centerline is valid? [True, True] Translation: X:585.10, Y:55.19, Z:-1.59 [[ 9.99907547e-01 -1.34247427e-02 -2.16177291e-03 5.85101433e+02] [ 1.34106064e-02 9.99889425e-01 -6.42607167e-03 5.51907604e+01] [ 2.24780223e-03 6.39648687e-03 9.99977016e-01 -1.58948264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.461400513 meters 0.039839856910119036 Centerline is valid? [True, True] Translation: X:585.17, Y:55.18, Z:-1.60 [[ 9.99861499e-01 -1.62650369e-02 -3.52592532e-03 5.85165648e+02] [ 1.62831454e-02 9.99854057e-01 5.16942440e-03 5.51784066e+01] [ 3.44132986e-03 -5.22612158e-03 9.99980422e-01 -1.60077091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.521400513 meters 0.04039571929828246 Centerline is valid? [True, True] Translation: X:585.23, Y:55.19, Z:-1.60 [[ 9.99858526e-01 -1.62050952e-02 -4.50802520e-03 5.85227458e+02] [ 1.62040013e-02 9.99868668e-01 -2.79083726e-04 5.51862970e+01] [ 4.51195573e-03 2.05996197e-04 9.99989800e-01 -1.59516675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.581400513 meters 0.042819633362545156 Centerline is valid? [True, True] Translation: X:585.29, Y:55.19, Z:-1.59 [[ 9.99868311e-01 -1.57527425e-02 -3.90013354e-03 5.85288329e+02] [ 1.57519222e-02 9.99875902e-01 -2.40945321e-04 5.51933635e+01] [ 3.90344509e-03 1.79478992e-04 9.99992365e-01 -1.59395305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.641400513 meters 0.03358805188470151 Centerline is valid? [True, True] Translation: X:585.35, Y:55.18, Z:-1.59 [[ 9.99821821e-01 -1.88700798e-02 -4.96033512e-04 5.85354496e+02] [ 1.88720558e-02 9.99812498e-01 4.33761592e-03 5.51834491e+01] [ 4.14089346e-04 -4.34620422e-03 9.99990469e-01 -1.59436787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.701400513 meters 0.03655182181233684 Centerline is valid? [True, True] Translation: X:585.42, Y:55.19, Z:-1.59 [[ 9.99850475e-01 -1.72562495e-02 -1.11808434e-03 5.85419693e+02] [ 1.72569670e-02 9.99850886e-01 6.35231036e-04 5.51928137e+01] [ 1.10695591e-03 -6.54430797e-04 9.99999173e-01 -1.59263482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.761400513 meters 0.06724247805509502 Centerline is valid? [True, True] Translation: X:585.48, Y:55.22, Z:-1.60 [[ 9.99912472e-01 -1.23770864e-02 4.67513716e-03 5.85476484e+02] [ 1.23442269e-02 9.99899352e-01 6.99322606e-03 5.52221610e+01] [-4.76122238e-03 -6.93490300e-03 9.99964618e-01 -1.59788001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.821400513 meters 0.052546018164131764 Centerline is valid? [True, True] Translation: X:585.54, Y:55.22, Z:-1.58 [[ 9.99987388e-01 -4.59881399e-03 -2.01877669e-03 5.85540052e+02] [ 4.57534477e-03 9.99923634e-01 -1.14800876e-02 5.52160989e+01] [ 2.07141732e-03 1.14707062e-02 9.99932064e-01 -1.57607223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.881400513 meters 0.07962152489756383 Centerline is valid? [True, True] Translation: X:585.60, Y:55.25, Z:-1.60 [[ 9.99796757e-01 -1.97618538e-02 3.98933541e-03 5.85599309e+02] [ 1.97508693e-02 9.99801083e-01 2.77434872e-03 5.52482025e+01] [-4.04336814e-03 -2.69499201e-03 9.99988194e-01 -1.59713531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.941400513 meters 0.07382939041858817 Centerline is valid? [True, True] Translation: X:585.66, Y:55.24, Z:-1.60 [[ 9.99795580e-01 -1.97819655e-02 4.17997618e-03 5.85660767e+02] [ 1.97737849e-02 9.99802500e-01 1.98942836e-03 5.52440433e+01] [-4.21850544e-03 -1.90636773e-03 9.99989285e-01 -1.59900273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.001400513 meters 0.08707281038453742 Centerline is valid? [True, True] Translation: X:585.72, Y:55.27, Z:-1.59 [[ 9.99830087e-01 -1.79228937e-02 -4.30887437e-03 5.85720473e+02] [ 1.78852060e-02 9.99802789e-01 -8.63149654e-03 5.52692073e+01] [ 4.46272601e-03 8.55296483e-03 9.99953464e-01 -1.59141747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.061400513 meters 0.05600931144315141 Centerline is valid? [True, True] Translation: X:585.78, Y:55.22, Z:-1.60 [[ 9.99964419e-01 -7.07403401e-04 -8.40602687e-03 5.85784530e+02] [ 7.42122366e-04 9.99991205e-01 4.12784547e-03 5.52157748e+01] [ 8.40303288e-03 -4.13393690e-03 9.99956149e-01 -1.59877165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.121400513 meters 0.055175770159431876 Centerline is valid? [True, True] Translation: X:585.84, Y:55.22, Z:-1.59 [[ 9.99967032e-01 3.97438161e-03 -7.08092634e-03 5.85844407e+02] [-3.97737525e-03 9.99992007e-01 -4.08742859e-04 5.52237521e+01] [ 7.07924524e-03 4.36892884e-04 9.99974846e-01 -1.59061103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.181400513 meters 0.09293064297890309 Centerline is valid? [True, True] Translation: X:585.90, Y:55.28, Z:-1.61 [[ 9.99952253e-01 -9.76355392e-03 4.06191948e-04 5.85899989e+02] [ 9.76112362e-03 9.99936636e-01 5.60745844e-03 5.52784845e+01] [-4.60914933e-04 -5.60322581e-03 9.99984196e-01 -1.61354654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.241400513 meters 0.0599498466837439 Centerline is valid? [True, True] Translation: X:585.96, Y:55.24, Z:-1.59 [[ 9.99939860e-01 7.45297878e-03 -8.04548594e-03 5.85963912e+02] [-7.50172840e-03 9.99953583e-01 -6.04617375e-03 5.52439721e+01] [ 8.00005049e-03 6.10616519e-03 9.99949356e-01 -1.58555426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.301400513 meters 0.0638259923966641 Centerline is valid? [True, True] Translation: X:586.02, Y:55.25, Z:-1.59 [[ 9.99916511e-01 1.11736188e-02 -6.49016341e-03 5.86023501e+02] [-1.11762840e-02 9.99937473e-01 -3.74528804e-04 5.52494071e+01] [ 6.48557276e-03 4.47033445e-04 9.99978869e-01 -1.58798378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.361400513 meters 0.06643358547465716 Centerline is valid? [True, True] Translation: X:586.08, Y:55.26, Z:-1.58 [[ 9.99877907e-01 1.54773927e-02 -2.14992891e-03 5.86083694e+02] [-1.54776950e-02 9.99880206e-01 -1.24055361e-04 5.52598247e+01] [ 2.14775131e-03 1.57316159e-04 9.99997681e-01 -1.58097918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.421400513 meters 0.06571330109676735 Centerline is valid? [True, True] Translation: X:586.14, Y:55.26, Z:-1.58 [[ 9.99867535e-01 1.60776843e-02 -2.53390775e-03 5.86142375e+02] [-1.60781081e-02 9.99870728e-01 -1.46958130e-04 5.52622328e+01] [ 2.53121744e-03 1.87679106e-04 9.99996779e-01 -1.58265076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.481400513 meters 0.06649481009867683 Centerline is valid? [True, True] Translation: X:586.20, Y:55.27, Z:-1.58 [[ 9.99907611e-01 1.34683882e-02 -1.83629814e-03 5.86201109e+02] [-1.34686061e-02 9.99909289e-01 -1.06329988e-04 5.52693961e+01] [ 1.83469947e-03 1.31052540e-04 9.99998308e-01 -1.57998014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.541400513 meters 0.07359979878219457 Centerline is valid? [True, True] Translation: X:586.26, Y:55.28, Z:-1.58 [[ 9.99896877e-01 1.42911827e-02 -1.41309061e-03 5.86259217e+02] [-1.42913127e-02 9.99897871e-01 -8.19190596e-05 5.52833765e+01] [ 1.41177557e-03 1.02105532e-04 9.99998998e-01 -1.58005172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.601400513 meters 0.06560043646107543 Centerline is valid? [True, True] Translation: X:586.32, Y:55.28, Z:-1.58 [[ 9.99879224e-01 1.54567384e-02 -1.62050022e-03 5.86319262e+02] [-1.54569109e-02 9.99880530e-01 -9.39535613e-05 5.52769428e+01] [ 1.61885440e-03 1.18990141e-04 9.99998683e-01 -1.57998756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.661400513 meters 0.06982757626276467 Centerline is valid? [True, True] Translation: X:586.38, Y:55.28, Z:-1.58 [[ 9.99874442e-01 1.56071978e-02 -2.74142774e-03 5.86376847e+02] [-1.56076925e-02 9.99878180e-01 -1.59144574e-04 5.52840236e+01] [ 2.73860998e-03 2.01911953e-04 9.99996230e-01 -1.58474275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.721400513 meters 0.06714300103466789 Centerline is valid? [True, True] Translation: X:586.44, Y:55.29, Z:-1.58 [[ 9.99868607e-01 1.57923471e-02 -3.65664552e-03 5.86435851e+02] [-1.57932314e-02 9.99875256e-01 -2.13065672e-04 5.52852477e+01] [ 3.65282457e-03 2.70787925e-04 9.99993292e-01 -1.58447915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.781400513 meters 0.06800759446133152 Centerline is valid? [True, True] Translation: X:586.50, Y:55.29, Z:-1.58 [[ 9.99822196e-01 1.83494104e-02 -4.34458434e-03 5.86495939e+02] [-1.83506812e-02 9.99831580e-01 -2.52809342e-04 5.52915567e+01] [ 4.33921373e-03 3.32490474e-04 9.99990530e-01 -1.58336258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.841400513 meters 0.07579605673820532 Centerline is valid? [True, True] Translation: X:586.56, Y:55.31, Z:-1.58 [[ 9.99648955e-01 2.58954988e-02 -5.60265883e-03 5.86555368e+02] [-2.58977299e-02 9.99664544e-01 -3.26023799e-04 5.53050291e+01] [ 5.59233684e-03 4.71005494e-04 9.99984252e-01 -1.58484066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.901400513 meters 0.08422561610933368 Centerline is valid? [True, True] Translation: X:586.61, Y:55.32, Z:-1.59 [[ 9.99507261e-01 3.09430625e-02 -5.26894886e-03 5.86613962e+02] [-3.09451055e-02 9.99521039e-01 -3.06630626e-04 5.53193546e+01] [ 5.25693715e-03 4.69527716e-04 9.99986072e-01 -1.58651671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.961400513 meters 0.08651771532058057 Centerline is valid? [True, True] Translation: X:586.67, Y:55.33, Z:-1.58 [[ 9.99541019e-01 3.01966420e-02 -2.43194512e-03 5.86671882e+02] [-3.01970755e-02 9.99543954e-01 -1.41726354e-04 5.53281247e+01] [ 2.42655638e-03 2.15098935e-04 9.99997033e-01 -1.58109817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.021400513 meters 0.07849480003561643 Centerline is valid? [True, True] Translation: X:586.73, Y:55.32, Z:-1.58 [[ 9.99610054e-01 2.77741726e-02 -2.88715651e-03 5.86732321e+02] [-2.77747733e-02 9.99614192e-01 -1.68183455e-04 5.53221414e+01] [ 2.88137146e-03 2.48307990e-04 9.99995818e-01 -1.58061186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.081400513 meters 0.07645943491952384 Centerline is valid? [True, True] Translation: X:586.79, Y:55.32, Z:-1.58 [[ 9.99671083e-01 2.55905026e-02 -1.68906415e-03 5.86792997e+02] [-2.55907052e-02 9.99672499e-01 -9.83994721e-05 5.53232630e+01] [ 1.68599289e-03 1.41591449e-04 9.99998569e-01 -1.58149306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.141400513 meters 0.07143964950129167 Centerline is valid? [True, True] Translation: X:586.85, Y:55.32, Z:-1.58 [[ 9.99739732e-01 2.28011619e-02 7.58243443e-04 5.86853105e+02] [-2.28012019e-02 9.99740018e-01 4.41598308e-05 5.53218873e+01] [-7.57039418e-04 -6.14371993e-05 9.99999712e-01 -1.57750649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.201400513 meters 0.07361010000941576 Centerline is valid? [True, True] Translation: X:586.91, Y:55.33, Z:-1.58 [[ 9.99797796e-01 2.00953604e-02 7.37625386e-04 5.86912188e+02] [-2.00953975e-02 9.99798066e-01 4.29599465e-05 5.53293955e+01] [-7.36613139e-04 -5.77741351e-05 9.99999727e-01 -1.57718184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.261400513 meters 0.07172685407713757 Centerline is valid? [True, True] Translation: X:586.97, Y:55.33, Z:-1.58 [[ 9.99821098e-01 1.87624865e-02 2.39618271e-03 5.86971607e+02] [-1.87628748e-02 9.99823952e-01 1.39659530e-04 5.53315715e+01] [-2.39314051e-03 -1.84593821e-04 9.99997119e-01 -1.57522393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.321400513 meters 0.06566118847728435 Centerline is valid? [True, True] Translation: X:587.03, Y:55.33, Z:-1.58 [[ 9.99857115e-01 1.66355835e-02 3.00114836e-03 5.87032304e+02] [-1.66361832e-02 9.99861594e-01 1.74979894e-04 5.53262944e+01] [-2.99782209e-03 -2.24882546e-04 9.99995481e-01 -1.57667211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.381400513 meters 0.07041035706326143 Centerline is valid? [True, True] Translation: X:587.09, Y:55.34, Z:-1.58 [[ 9.99869535e-01 1.61454020e-02 4.89683466e-04 5.87090190e+02] [-1.61454179e-02 9.99869654e-01 2.84904005e-05 5.53353663e+01] [-4.89159648e-04 -3.63928277e-05 9.99999880e-01 -1.57979054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.441400513 meters 0.07646536155832827 Centerline is valid? [True, True] Translation: X:587.15, Y:55.35, Z:-1.58 [[ 9.99776851e-01 2.11007808e-02 -1.00285427e-03 5.87149850e+02] [-2.11008501e-02 9.99777351e-01 -5.85315199e-05 5.53455571e+01] [ 1.00139592e-03 7.96795362e-05 9.99999495e-01 -1.58225647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.501400513 meters 0.07842219306155289 Centerline is valid? [True, True] Translation: X:587.21, Y:55.35, Z:-1.58 [[ 9.99607512e-01 2.80145287e-02 9.41314126e-05 5.87209656e+02] [-2.80145294e-02 9.99607516e-01 5.48607707e-06 5.53517319e+01] [-9.39407776e-05 -8.12097107e-06 9.99999996e-01 -1.58165734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.561400513 meters 0.07858831981389827 Centerline is valid? [True, True] Translation: X:587.27, Y:55.36, Z:-1.58 [[ 9.99547043e-01 3.00879551e-02 6.50624695e-04 5.87270043e+02] [-3.00879862e-02 9.99547253e-01 3.79670775e-05 5.53550653e+01] [-6.49187775e-04 -5.75258669e-05 9.99999788e-01 -1.58241102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.621400513 meters 0.0809404137580487 Centerline is valid? [True, True] Translation: X:587.33, Y:55.36, Z:-1.58 [[ 9.99593501e-01 2.84576102e-02 1.73103592e-03 5.87328889e+02] [-2.84578275e-02 9.99594989e-01 1.01038740e-04 5.53615611e+01] [-1.72745951e-03 -1.50259190e-04 9.99998497e-01 -1.58053234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.681400513 meters 0.07774930491719348 Centerline is valid? [True, True] Translation: X:587.39, Y:55.36, Z:-1.58 [[ 9.99677748e-01 2.53184091e-02 1.83822179e-03 5.87388461e+02] [-2.53186490e-02 9.99679426e-01 1.07342279e-04 5.53626113e+01] [-1.83491477e-03 -1.53848980e-04 9.99998305e-01 -1.58049710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.741400513 meters 0.08152924525332349 Centerline is valid? [True, True] Translation: X:587.45, Y:55.37, Z:-1.58 [[ 9.99586508e-01 2.86980915e-02 1.79815267e-03 5.87448270e+02] [-2.86983266e-02 9.99588113e-01 1.05037127e-04 5.53713982e+01] [-1.79439767e-03 -1.56597667e-04 9.99998378e-01 -1.57916146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.801400513 meters 0.07658264487626482 Centerline is valid? [True, True] Translation: X:587.51, Y:55.37, Z:-1.58 [[ 9.99432429e-01 3.35895493e-02 2.56168915e-03 5.87508893e+02] [-3.35900423e-02 9.99435684e-01 1.49665305e-04 5.53684164e+01] [-2.55521635e-03 -2.35627606e-04 9.99996708e-01 -1.57794813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.861400513 meters 0.0864848485374299 Centerline is valid? [True, True] Translation: X:587.57, Y:55.38, Z:-1.57 [[ 9.99383082e-01 3.45861075e-02 6.10374889e-03 5.87566409e+02] [-3.45889265e-02 9.99401560e-01 3.56865898e-04 5.53842318e+01] [-6.08775357e-03 -5.67767863e-04 9.99981308e-01 -1.57430095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.921400513 meters 0.08045573299497809 Centerline is valid? [True, True] Translation: X:587.63, Y:55.38, Z:-1.57 [[ 9.99418243e-01 3.30976079e-02 8.22946750e-03 5.87626130e+02] [-3.31026849e-02 9.99451840e-01 4.81450239e-04 5.53813856e+01] [-8.20902158e-03 -7.53587621e-04 9.99966021e-01 -1.57181449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.981400513 meters 0.09892544988807006 Centerline is valid? [True, True] Translation: X:587.68, Y:55.41, Z:-1.57 [[ 9.99445629e-01 3.22899931e-02 8.11117171e-03 5.87682555e+02] [-3.22949023e-02 9.99478271e-01 4.74956673e-04 5.54080919e+01] [-8.09160353e-03 -7.36642868e-04 9.99966991e-01 -1.57042024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.041400513 meters 0.08443393428011065 Centerline is valid? [True, True] Translation: X:587.74, Y:55.39, Z:-1.57 [[ 9.99341517e-01 3.55127159e-02 7.44177718e-03 5.87744367e+02] [-3.55169375e-02 9.99368979e-01 4.35851656e-04 5.53900430e+01] [-7.42160299e-03 -6.99873790e-04 9.99972215e-01 -1.57344247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.101400513 meters 0.08599721253354618 Centerline is valid? [True, True] Translation: X:587.80, Y:55.40, Z:-1.58 [[ 9.99384745e-01 3.44938668e-02 6.34854363e-03 5.87802599e+02] [-3.44969197e-02 9.99404735e-01 3.71988413e-04 5.53962031e+01] [-6.33193324e-03 -5.90764745e-04 9.99979779e-01 -1.57682186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.161400513 meters 0.08353835686158158 Centerline is valid? [True, True] Translation: X:587.86, Y:55.40, Z:-1.58 [[ 9.99297846e-01 3.70050580e-02 5.86863955e-03 5.87862805e+02] [-3.70077104e-02 9.99314921e-01 3.43977859e-04 5.53964137e+01] [-5.85189015e-03 -5.60921247e-04 9.99982720e-01 -1.57719390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.221400513 meters 0.09339300464338823 Centerline is valid? [True, True] Translation: X:587.92, Y:55.41, Z:-1.58 [[ 9.98925003e-01 4.61006106e-02 4.85513570e-03 5.87922075e+02] [-4.61025325e-02 9.98936672e-01 2.84618387e-04 5.54099509e+01] [-4.83685202e-03 -5.08146475e-04 9.99988173e-01 -1.57859521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.281400513 meters 0.0960388877271888 Centerline is valid? [True, True] Translation: X:587.99, Y:55.43, Z:-1.57 [[ 9.99276941e-01 3.74834671e-02 6.37056126e-03 5.87992731e+02] [-3.74612349e-02 9.99291690e-01 -3.57408871e-03 5.54307404e+01] [-6.50001817e-03 3.33285534e-03 9.99973321e-01 -1.57076621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.341400513 meters 0.11249375772107562 Centerline is valid? [True, False] Translation: X:588.00, Y:55.42, Z:-1.58 [[ 9.99498757e-01 3.10636881e-02 6.10597727e-03 5.87998296e+02] [-3.11187042e-02 9.99473980e-01 9.13173581e-03 5.54242589e+01] [-5.81910002e-03 -9.31716868e-03 9.99939662e-01 -1.57916954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.401400513 meters 0.12127419444038319 Centerline is valid? [False, False] Translation: X:588.00, Y:55.42, Z:-1.58 [[ 9.99756733e-01 2.19267799e-02 2.38579534e-03 5.88000147e+02] [-2.19676035e-02 9.99583860e-01 1.86957450e-02 5.54209395e+01] [-1.97486503e-03 -1.87436071e-02 9.99822373e-01 -1.58274042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.461400513 meters 0.10834038701555718 Centerline is valid? [False, False] Translation: X:588.00, Y:55.43, Z:-1.58 [[ 9.99921238e-01 1.22192075e-02 2.86521238e-03 5.87995665e+02] [-1.22404556e-02 9.99896809e-01 7.51945739e-03 5.54293342e+01] [-2.77303491e-03 -7.55393664e-03 9.99967624e-01 -1.57712242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.521400513 meters 0.10828292506545406 Centerline is valid? [False, False] Translation: X:587.99, Y:55.43, Z:-1.57 [[ 9.99969551e-01 7.10547870e-03 3.22641777e-03 5.87992288e+02] [-7.11115297e-03 9.99973183e-01 1.75063870e-03 5.54337819e+01] [-3.21389212e-03 -1.77352894e-03 9.99993263e-01 -1.57299298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.581400513 meters 0.099995504253489 Centerline is valid? [False, True] Translation: X:587.97, Y:55.43, Z:-1.57 [[ 9.99971024e-01 1.12412342e-03 7.52904626e-03 5.87966966e+02] [-1.13259403e-03 9.99998730e-01 1.12088783e-03 5.54345889e+01] [-7.52777668e-03 -1.12938271e-03 9.99971028e-01 -1.57022132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.641400513 meters 0.10295727702347399 Centerline is valid? [True, False] Translation: X:587.97, Y:55.43, Z:-1.57 [[ 9.99972272e-01 1.22822419e-03 7.34480824e-03 5.87967766e+02] [-1.23830045e-03 9.99998298e-01 1.36749932e-03 5.54337016e+01] [-7.34311615e-03 -1.37655648e-03 9.99972091e-01 -1.57077617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.701400513 meters 0.09775233257361608 Centerline is valid? [False, True] Translation: X:587.97, Y:55.43, Z:-1.57 [[ 9.99972474e-01 1.31466615e-03 7.30225886e-03 5.87967935e+02] [-1.32671605e-03 9.99997766e-01 1.64556182e-03 5.54324495e+01] [-7.30007919e-03 -1.65520454e-03 9.99971984e-01 -1.57080716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.761400513 meters 0.0979125884036742 Centerline is valid? [True, True] Translation: X:588.03, Y:55.44, Z:-1.57 [[ 9.99980969e-01 3.01254808e-04 6.16200235e-03 5.88028672e+02] [-3.05074032e-04 9.99999762e-01 6.18871819e-04 5.54392870e+01] [-6.16181444e-03 -6.20739908e-04 9.99980823e-01 -1.57113099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.821400513 meters 0.10147490407219983 Centerline is valid? [True, False] Translation: X:588.03, Y:55.44, Z:-1.57 [[ 9.99980889e-01 2.78314999e-04 6.17608296e-03 5.88028628e+02] [-2.81709969e-04 9.99999810e-01 5.48833207e-04 5.54396131e+01] [-6.17592904e-03 -5.50562582e-04 9.99980777e-01 -1.57114783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.881400513 meters 0.10095031032586098 Centerline is valid? [False, False] Translation: X:588.02, Y:55.44, Z:-1.56 [[ 9.99973372e-01 -7.70180045e-04 -7.25681214e-03 5.88021738e+02] [ 7.55357192e-04 9.99997623e-01 -2.04513169e-03 5.54414997e+01] [ 7.25837002e-03 2.03959575e-03 9.99971578e-01 -1.55791736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.941400513 meters 0.10660356218721923 Centerline is valid? [False, False] Translation: X:588.02, Y:55.44, Z:-1.56 [[ 9.99973597e-01 -7.29567266e-04 -7.22995012e-03 5.88021637e+02] [ 7.15545209e-04 9.99997859e-01 -1.94183743e-03 5.54409974e+01] [ 7.23135134e-03 1.93661280e-03 9.99971978e-01 -1.55784185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.001400513 meters 0.10777186081739644 Centerline is valid? [False, False] Translation: X:588.02, Y:55.44, Z:-1.56 [[ 9.99973868e-01 -7.39466512e-04 -7.19148258e-03 5.88021701e+02] [ 7.25132312e-04 9.99997746e-01 -1.99562224e-03 5.54413682e+01] [ 7.19294207e-03 1.99035531e-03 9.99972150e-01 -1.55830956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.061400513 meters 0.10312220795098559 Centerline is valid? [False, False] Translation: X:588.02, Y:55.44, Z:-1.56 [[ 9.99973560e-01 -7.12479034e-04 -7.23680769e-03 5.88021992e+02] [ 6.98504495e-04 9.99997887e-01 -1.93338042e-03 5.54411863e+01] [ 7.23816989e-03 1.92827436e-03 9.99971945e-01 -1.55866014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.121400513 meters 0.09525655193836109 Centerline is valid? [False, True] Translation: X:588.02, Y:55.44, Z:-1.56 [[ 9.99971282e-01 -5.94056194e-04 -7.55529253e-03 5.88023241e+02] [ 5.82917624e-04 9.99998740e-01 -1.47639047e-03 5.54394753e+01] [ 7.55616007e-03 1.47194396e-03 9.99970368e-01 -1.55949411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.181400513 meters 0.09342732255295619 Centerline is valid? [True, True] Translation: X:588.08, Y:55.44, Z:-1.56 [[ 9.99953389e-01 -5.68610647e-03 -7.80303187e-03 5.88082859e+02] [ 5.67988866e-03 9.99983534e-01 -8.18773927e-04 5.54427130e+01] [ 7.80755903e-03 7.74415412e-04 9.99969221e-01 -1.56003108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.241400513 meters 0.0883577606695241 Centerline is valid? [True, True] Translation: X:588.14, Y:55.44, Z:-1.55 [[ 9.99939664e-01 -1.01950345e-02 -4.09018602e-03 5.88143023e+02] [ 1.01933633e-02 9.99947954e-01 -4.29224202e-04 5.54448273e+01] [ 4.09434910e-03 3.87505553e-04 9.99991543e-01 -1.55413878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.301400513 meters 0.06582879699611276 Centerline is valid? [True, True] Translation: X:588.21, Y:55.42, Z:-1.55 [[ 9.99743846e-01 -2.25960210e-02 -1.28953833e-03 5.88205263e+02] [ 2.25958651e-02 9.99744672e-01 -1.35323544e-04 5.54244598e+01] [ 1.29226685e-03 1.06150646e-04 9.99999159e-01 -1.55212777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.361400513 meters 0.05648479324628052 Centerline is valid? [True, True] Translation: X:588.27, Y:55.42, Z:-1.55 [[ 9.99458930e-01 -3.28011869e-02 -2.43497511e-03 5.88266383e+02] [ 3.28006611e-02 9.99461881e-01 -2.55553088e-04 5.54196722e+01] [ 2.44204725e-03 1.75546022e-04 9.99997003e-01 -1.55343912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.421400513 meters 0.05012403420537365 Centerline is valid? [True, True] Translation: X:588.33, Y:55.42, Z:-1.55 [[ 9.99131090e-01 -4.14573898e-02 -4.28358472e-03 5.88327089e+02] [ 4.14558422e-02 9.99140236e-01 -4.49469252e-04 5.54181921e+01] [ 4.29853567e-03 2.71499091e-04 9.99990724e-01 -1.55463004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.481400513 meters 0.04709773954039393 Centerline is valid? [True, True] Translation: X:588.39, Y:55.42, Z:-1.55 [[ 9.98844138e-01 -4.78535756e-02 -4.51920957e-03 5.88387791e+02] [ 4.78519183e-02 9.98854328e-01 -4.74213052e-04 5.54211707e+01] [ 4.53672483e-03 2.57412080e-04 9.99989676e-01 -1.55456119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.541400513 meters 0.04435226706023234 Centerline is valid? [True, True] Translation: X:588.45, Y:55.42, Z:-1.56 [[ 9.98684213e-01 -5.09581085e-02 -5.75453180e-03 5.88448415e+02] [ 5.09554725e-02 9.98700744e-01 -6.03849509e-04 5.54237794e+01] [ 5.77782621e-03 3.09830084e-04 9.99983260e-01 -1.55683360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.601400513 meters 0.04186588044961688 Centerline is valid? [True, True] Translation: X:588.51, Y:55.43, Z:-1.55 [[ 9.98472731e-01 -5.50417739e-02 -4.75480200e-03 5.88508432e+02] [ 5.50400206e-02 9.98484025e-01 -4.98918980e-04 5.54283396e+01] [ 4.77505523e-03 2.36452596e-04 9.99988571e-01 -1.55357796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.661400513 meters 0.04089614949807139 Centerline is valid? [True, True] Translation: X:588.57, Y:55.43, Z:-1.56 [[ 9.98452716e-01 -5.51594667e-02 -7.04325314e-03 5.88570683e+02] [ 5.51556201e-02 9.98477496e-01 -7.39368405e-04 5.54328296e+01] [ 7.07331293e-03 3.49749398e-04 9.99974923e-01 -1.55556651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.721400513 meters 0.052895930909856836 Centerline is valid? [True, True] Translation: X:588.63, Y:55.45, Z:-1.55 [[ 9.98674310e-01 -5.09384325e-02 -7.40930792e-03 5.88628570e+02] [ 5.09340707e-02 9.98701716e-01 -7.76322233e-04 5.54541359e+01] [ 7.43923317e-03 3.97906858e-04 9.99972249e-01 -1.55398457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.781400513 meters 0.04734759591986429 Centerline is valid? [True, True] Translation: X:588.69, Y:55.45, Z:-1.55 [[ 9.98775984e-01 -4.90641529e-02 -6.26445997e-03 5.88690036e+02] [ 4.90609992e-02 9.98795569e-01 -6.56203998e-04 5.54541051e+01] [ 6.28911095e-03 3.48060128e-04 9.99980163e-01 -1.55189021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.841400513 meters 0.04650175783980271 Centerline is valid? [True, True] Translation: X:588.75, Y:55.46, Z:-1.55 [[ 9.99010304e-01 -4.43210652e-02 -3.74912922e-03 5.88750657e+02] [ 4.43199025e-02 9.99017313e-01 -3.92694835e-04 5.54584734e+01] [ 3.76284965e-03 2.26145145e-04 9.99992895e-01 -1.55035717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.901400513 meters 0.050571426339139504 Centerline is valid? [True, True] Translation: X:588.81, Y:55.47, Z:-1.55 [[ 9.99259929e-01 -3.84562054e-02 -8.45420428e-04 5.88810280e+02] [ 3.84561442e-02 9.99260285e-01 -8.86159265e-05 5.54694268e+01] [ 8.48202890e-04 5.60387346e-05 9.99999639e-01 -1.54651840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.961400513 meters 0.05363853353239264 Centerline is valid? [True, True] Translation: X:588.87, Y:55.48, Z:-1.55 [[ 9.99335072e-01 -3.64603976e-02 2.30922191e-04 5.88869244e+02] [ 3.64603930e-02 9.99335099e-01 2.42109086e-05 5.54791800e+01] [-2.31651389e-04 -1.57752963e-05 9.99999973e-01 -1.54549582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.021400513 meters 0.054006712031936376 Centerline is valid? [True, True] Translation: X:588.93, Y:55.49, Z:-1.54 [[ 9.99363606e-01 -3.56666542e-02 5.22599645e-04 5.88930929e+02] [ 3.56666306e-02 9.99363742e-01 5.42907217e-05 5.54860892e+01] [-5.24203505e-04 -3.56168029e-05 9.99999862e-01 -1.54492375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.081400513 meters 0.04954759600749072 Centerline is valid? [True, True] Translation: X:588.99, Y:55.49, Z:-1.55 [[ 9.99328797e-01 -3.66306869e-02 3.86286519e-04 5.88993042e+02] [ 3.66306741e-02 9.99328871e-01 4.01024925e-05 5.54859667e+01] [-3.87496253e-04 -2.59256400e-05 9.99999925e-01 -1.54628727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.141400513 meters 0.05597218546881489 Centerline is valid? [True, True] Translation: X:589.05, Y:55.50, Z:-1.54 [[ 9.99233839e-01 -3.91370133e-02 -1.71165536e-04 5.89051809e+02] [ 3.91370108e-02 9.99233854e-01 -1.78499829e-05 5.55009773e+01] [ 1.71732993e-04 1.11373995e-05 9.99999985e-01 -1.54442414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.201400513 meters 0.044408490688527834 Centerline is valid? [True, True] Translation: X:589.12, Y:55.49, Z:-1.55 [[ 9.99193861e-01 -4.01366482e-02 -8.23264772e-04 5.89115049e+02] [ 4.01365905e-02 9.99194199e-01 -8.64534996e-05 5.54917796e+01] [ 8.26071338e-04 5.33407650e-05 9.99999657e-01 -1.54804781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.261400513 meters 0.04525489315308024 Centerline is valid? [True, True] Translation: X:589.18, Y:55.50, Z:-1.55 [[ 9.99197304e-01 -3.99239059e-02 -3.29076022e-03 5.89175958e+02] [ 3.99229848e-02 9.99202700e-01 -3.45167514e-04 5.54975485e+01] [ 3.30191693e-03 2.13513479e-04 9.99994526e-01 -1.55097360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.321400513 meters 0.045475588676395014 Centerline is valid? [True, True] Translation: X:589.24, Y:55.50, Z:-1.55 [[ 9.99218166e-01 -3.91203511e-02 -5.71444937e-03 5.89237564e+02] [ 3.91175711e-02 9.99234436e-01 -5.97477926e-04 5.55031325e+01] [ 5.73344814e-03 3.73475418e-04 9.99983494e-01 -1.55349425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.381400513 meters 0.047017476944120756 Centerline is valid? [True, True] Translation: X:589.30, Y:55.51, Z:-1.55 [[ 9.99260656e-01 -3.78210378e-02 -6.90727996e-03 5.89298402e+02] [ 3.78169566e-02 9.99284423e-01 -7.20552023e-04 5.55122790e+01] [ 6.92958930e-03 4.58806980e-04 9.99975885e-01 -1.55200917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.441400513 meters 0.04787038786287012 Centerline is valid? [True, True] Translation: X:589.36, Y:55.52, Z:-1.55 [[ 9.99348462e-01 -3.57778678e-02 -4.75341779e-03 5.89358425e+02] [ 3.57759122e-02 9.99359714e-01 -4.95821049e-04 5.55199042e+01] [ 4.76811367e-03 3.25440145e-04 9.99988580e-01 -1.54866559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.501400513 meters 0.05018329272964276 Centerline is valid? [True, True] Translation: X:589.42, Y:55.53, Z:-1.54 [[ 9.99481165e-01 -3.22086536e-02 4.96465920e-05 5.89418781e+02] [ 3.22086534e-02 9.99481167e-01 5.02235513e-06 5.55293849e+01] [-4.97825970e-05 -3.42069949e-06 9.99999999e-01 -1.54296907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.561400513 meters 0.05232827710225156 Centerline is valid? [True, True] Translation: X:589.48, Y:55.54, Z:-1.54 [[ 9.99584243e-01 -2.88234490e-02 7.41896525e-04 5.89479487e+02] [ 2.88233996e-02 9.99584517e-01 7.71520547e-05 5.55381415e+01] [-7.43812068e-04 -5.57359982e-05 9.99999722e-01 -1.54235946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.621400513 meters 0.06448297965194777 Centerline is valid? [True, True] Translation: X:589.54, Y:55.56, Z:-1.54 [[ 9.99713887e-01 -2.39195338e-02 2.50557810e-05 5.89538552e+02] [ 2.39195337e-02 9.99713887e-01 2.46176513e-06 5.55602410e+01] [-2.51074965e-05 -1.86173818e-06 1.00000000e+00 -1.53915133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.681400513 meters 0.06938359226208851 Centerline is valid? [True, True] Translation: X:589.60, Y:55.57, Z:-1.54 [[ 9.99827901e-01 -1.85125432e-02 1.20591071e-03 5.89598499e+02] [ 1.85124051e-02 9.99828623e-01 1.25572692e-04 5.55727148e+01] [-1.20802871e-03 -1.03226773e-04 9.99999265e-01 -1.53593917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.741400513 meters 0.07322577639110221 Centerline is valid? [True, True] Translation: X:589.66, Y:55.58, Z:-1.54 [[ 9.99894631e-01 -1.44929435e-02 8.25117198e-04 5.89658857e+02] [ 1.44928775e-02 9.99894969e-01 8.59013946e-05 5.55814318e+01] [-8.26275500e-04 -7.39340208e-05 9.99999656e-01 -1.53757225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.801400513 meters 0.07397197531617736 Centerline is valid? [True, True] Translation: X:589.72, Y:55.59, Z:-1.54 [[ 9.99885057e-01 -1.51615829e-02 -1.12710736e-06 5.89719793e+02] [ 1.51615829e-02 9.99885057e-01 -3.49127063e-07 5.55875519e+01] [ 1.13227113e-06 3.31998201e-07 1.00000000e+00 -1.53913560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.861400513 meters 0.06993988515707576 Centerline is valid? [True, True] Translation: X:589.78, Y:55.59, Z:-1.54 [[ 9.99884637e-01 -1.51126782e-02 1.52279762e-03 5.89782063e+02] [ 1.51124548e-02 9.99885788e-01 1.58080527e-04 5.55880047e+01] [-1.52501272e-03 -1.35049080e-04 9.99998828e-01 -1.53855795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.921400513 meters 0.07143768134048165 Centerline is valid? [True, True] Translation: X:589.84, Y:55.60, Z:-1.54 [[ 9.99887531e-01 -1.49918407e-02 4.11269954e-04 5.89844285e+02] [ 1.49918250e-02 9.99887615e-01 4.11179883e-05 5.55954151e+01] [-4.11840167e-04 -3.49476767e-05 9.99999915e-01 -1.53956258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.981400513 meters 0.08055541318791144 Centerline is valid? [True, True] Translation: X:589.90, Y:55.61, Z:-1.54 [[ 9.99899153e-01 -1.41031552e-02 -1.66879292e-03 5.89904283e+02] [ 1.41028832e-02 9.99900534e-01 -1.74690499e-04 5.56132007e+01] [ 1.67109062e-03 1.51138091e-04 9.99998592e-01 -1.53943016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.041400513 meters 0.07309155584895434 Centerline is valid? [True, True] Translation: X:589.97, Y:55.61, Z:-1.54 [[ 9.99891899e-01 -1.46217939e-02 -1.54691348e-03 5.89967717e+02] [ 1.46215621e-02 9.99893086e-01 -1.61023739e-04 5.56100400e+01] [ 1.54910255e-03 1.38388041e-04 9.99998791e-01 -1.53948022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.101400513 meters 0.07953452650300182 Centerline is valid? [True, True] Translation: X:590.03, Y:55.62, Z:-1.54 [[ 9.99853994e-01 -1.67589751e-02 -3.33584110e-03 5.90026526e+02] [ 1.67579136e-02 9.99859516e-01 -3.45919108e-04 5.56238044e+01] [ 3.34116972e-03 2.89966864e-04 9.99994376e-01 -1.54088305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.161400513 meters 0.07043223893194722 Centerline is valid? [True, True] Translation: X:590.09, Y:55.62, Z:-1.54 [[ 9.99832871e-01 -1.80583010e-02 -2.85109067e-03 5.90089429e+02] [ 1.80575295e-02 9.99836906e-01 -2.96094120e-04 5.56192960e+01] [ 2.85597263e-03 2.44560980e-04 9.99995892e-01 -1.53929519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.221400513 meters 0.06860235270167106 Centerline is valid? [True, True] Translation: X:590.15, Y:55.62, Z:-1.54 [[ 9.99808555e-01 -1.93550856e-02 -2.86936816e-03 5.90150705e+02] [ 1.93543105e-02 9.99812643e-01 -2.97635851e-04 5.56235962e+01] [ 2.87459134e-03 2.42044227e-04 9.99995839e-01 -1.53816049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.281400513 meters 0.0672908817460761 Centerline is valid? [True, True] Translation: X:590.21, Y:55.63, Z:-1.54 [[ 9.99771412e-01 -2.13152474e-02 -1.66825205e-03 5.90211306e+02] [ 2.13149882e-02 9.99772795e-01 -1.73008687e-04 5.56277484e+01] [ 1.67156074e-03 1.37410367e-04 9.99998594e-01 -1.53637418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.341400513 meters 0.07347048306117976 Centerline is valid? [True, True] Translation: X:590.27, Y:55.64, Z:-1.54 [[ 9.99749071e-01 -2.23921515e-02 -6.21031565e-04 5.90270421e+02] [ 2.23921157e-02 9.99749263e-01 -6.44704328e-05 5.56415494e+01] [ 6.22319481e-04 5.05480447e-05 9.99999805e-01 -1.53520948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.401400513 meters 0.06699762941238739 Centerline is valid? [True, True] Translation: X:590.33, Y:55.64, Z:-1.54 [[ 9.99691867e-01 -2.47833784e-02 -1.39809813e-03 5.90331804e+02] [ 2.47831999e-02 9.99692839e-01 -1.44887669e-04 5.56388736e+01] [ 1.40125950e-03 1.10193678e-04 9.99999012e-01 -1.53666229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.461400513 meters 0.06422322661249999 Centerline is valid? [True, True] Translation: X:590.39, Y:55.64, Z:-1.54 [[ 9.99609806e-01 -2.79097587e-02 -1.13156022e-03 5.90392894e+02] [ 2.79096436e-02 9.99610443e-01 -1.17351529e-04 5.56415122e+01] [ 1.13439466e-03 8.57242963e-05 9.99999353e-01 -1.53601193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.521400513 meters 0.056411948133417794 Centerline is valid? [True, True] Translation: X:590.45, Y:55.64, Z:-1.54 [[ 9.99562494e-01 -2.94945778e-02 -2.21129899e-03 5.90454596e+02] [ 2.94941425e-02 9.99564927e-01 -2.29206516e-04 5.56361763e+01] [ 2.21709727e-03 1.63885869e-04 9.99997529e-01 -1.53853487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.581400513 meters 0.07022917671732577 Centerline is valid? [True, True] Translation: X:590.51, Y:55.66, Z:-1.53 [[ 9.99606930e-01 -2.80222752e-02 -8.59085658e-04 5.90512467e+02] [ 2.80222090e-02 9.99607297e-01 -8.89996816e-05 5.56597104e+01] [ 8.61242266e-04 6.48912207e-05 9.99999627e-01 -1.53407483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.641400513 meters 0.07324356750964366 Centerline is valid? [True, True] Translation: X:590.57, Y:55.67, Z:-1.53 [[ 9.99639481e-01 -2.68434879e-02 -5.78137997e-04 5.90571936e+02] [ 2.68434577e-02 9.99639648e-01 -5.99966547e-05 5.56694629e+01] [ 5.79540183e-04 4.44558019e-05 9.99999831e-01 -1.53308394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.701400513 meters 0.06550313391625369 Centerline is valid? [True, True] Translation: X:590.63, Y:55.66, Z:-1.54 [[ 9.99740305e-01 -2.24409952e-02 -3.96540776e-03 5.90634109e+02] [ 2.24395410e-02 9.99748117e-01 -4.10831015e-04 5.56632463e+01] [ 3.97362840e-03 3.21742394e-04 9.99992053e-01 -1.53737889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.761400513 meters 0.06702522630596568 Centerline is valid? [True, True] Translation: X:590.70, Y:55.67, Z:-1.54 [[ 9.99750030e-01 -2.19221827e-02 -4.39270954e-03 5.90695860e+02] [ 2.19203928e-02 9.99759616e-01 -4.55213508e-04 5.56702322e+01] [ 4.40163287e-03 3.58809800e-04 9.99990248e-01 -1.53785179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.821400513 meters 0.06870245721096388 Centerline is valid? [True, True] Translation: X:590.76, Y:55.68, Z:-1.54 [[ 9.99700497e-01 -2.37130825e-02 -6.05028731e-03 5.90755518e+02] [ 2.37097233e-02 9.99718689e-01 -6.26341323e-04 5.56764495e+01] [ 6.06343778e-03 4.82703094e-04 9.99981501e-01 -1.53924082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.881400513 meters 0.06982910552020698 Centerline is valid? [True, True] Translation: X:590.82, Y:55.68, Z:-1.54 [[ 9.99708543e-01 -2.34547114e-02 -5.71885500e-03 5.90816321e+02] [ 2.34517041e-02 9.99724795e-01 -5.92364329e-04 5.56832260e+01] [ 5.73117488e-03 4.58074785e-04 9.99983472e-01 -1.53686592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.941400513 meters 0.0674814810252655 Centerline is valid? [True, True] Translation: X:590.87, Y:55.69, Z:-1.53 [[ 9.99614003e-01 -2.76107071e-02 -3.08115632e-03 5.90869156e+02] [ 2.75929004e-02 9.99603109e-01 -5.67937892e-03 5.56913775e+01] [ 3.23674510e-03 5.59216865e-03 9.99979125e-01 -1.52879056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.001400513 meters 0.060717210052520836 Centerline is valid? [True, True] Translation: X:590.93, Y:55.68, Z:-1.54 [[ 9.99361534e-01 -3.55035971e-02 -4.00234751e-03 5.90931075e+02] [ 3.55275743e-02 9.99350153e-01 6.08791591e-03 5.56787028e+01] [ 3.78360368e-03 -6.22622268e-03 9.99973459e-01 -1.54244820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.061400513 meters 0.060676991805625594 Centerline is valid? [True, True] Translation: X:590.99, Y:55.69, Z:-1.53 [[ 9.99104538e-01 -4.21969202e-02 -3.08887496e-03 5.90989066e+02] [ 4.21802258e-02 9.99096046e-01 -5.28382601e-03 5.56937485e+01] [ 3.30904394e-03 5.14880511e-03 9.99981270e-01 -1.53031021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.121400513 meters 0.04235137673206373 Centerline is valid? [True, True] Translation: X:591.05, Y:55.67, Z:-1.54 [[ 9.98513739e-01 -5.44957613e-02 -7.24854059e-04 5.91052946e+02] [ 5.44996063e-02 9.98487124e-01 7.29766319e-03 5.56684486e+01] [ 3.26065734e-04 -7.32632121e-03 9.99973109e-01 -1.54045625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.181400513 meters 0.037123674938968704 Centerline is valid? [True, True] Translation: X:591.11, Y:55.67, Z:-1.54 [[ 9.97927093e-01 -6.42140396e-02 -4.25145973e-03 5.91114492e+02] [ 6.42081363e-02 9.97935385e-01 -1.51090066e-03 5.56734791e+01] [ 4.33970314e-03 1.23479040e-03 9.99989821e-01 -1.53826415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.241400513 meters 0.03211834611779871 Centerline is valid? [True, True] Translation: X:591.17, Y:55.67, Z:-1.54 [[ 9.97478379e-01 -7.08300336e-02 -4.47088414e-03 5.91172974e+02] [ 7.08177482e-02 9.97485203e-01 -2.84902015e-03 5.56736872e+01] [ 4.66143696e-03 2.52521806e-03 9.99985947e-01 -1.53739525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.301400513 meters 0.028840775303309377 Centerline is valid? [True, True] Translation: X:591.24, Y:55.67, Z:-1.54 [[ 9.96789246e-01 -7.98735750e-02 -5.60458911e-03 5.91235295e+02] [ 7.98887788e-02 9.96800540e-01 2.54307788e-03 5.56731137e+01] [ 5.38353273e-03 -2.98265647e-03 9.99981060e-01 -1.54268143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.361400513 meters 0.030225995494092404 Centerline is valid? [True, True] Translation: X:591.29, Y:55.69, Z:-1.54 [[ 9.96913730e-01 -7.79713720e-02 -9.13674682e-03 5.91290099e+02] [ 7.79414144e-02 9.96951474e-01 -3.59079409e-03 5.56871624e+01] [ 9.38887235e-03 2.86758096e-03 9.99951812e-01 -1.53958285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.421400513 meters 0.03562933708347408 Centerline is valid? [True, True] Translation: X:591.36, Y:55.70, Z:-1.54 [[ 9.97819613e-01 -6.49029468e-02 -1.19844699e-02 5.91357975e+02] [ 6.48572313e-02 9.97885861e-01 -4.16501355e-03 5.56983553e+01] [ 1.22294547e-02 3.37865267e-03 9.99919509e-01 -1.54075771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.481400513 meters 0.03539863736480986 Centerline is valid? [True, True] Translation: X:591.42, Y:55.70, Z:-1.54 [[ 9.97780822e-01 -6.59597420e-02 -9.09630891e-03 5.91420285e+02] [ 6.59538286e-02 9.97822225e-01 -9.48859958e-04 5.57046799e+01] [ 9.13908575e-03 3.46817870e-04 9.99958178e-01 -1.53915474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.541400513 meters 0.03252304660555145 Centerline is valid? [True, True] Translation: X:591.48, Y:55.71, Z:-1.54 [[ 9.97603043e-01 -6.85902283e-02 -9.14055693e-03 5.91481634e+02] [ 6.85843814e-02 9.97644865e-01 -9.51964238e-04 5.57099635e+01] [ 9.18432513e-03 3.22782977e-04 9.99957771e-01 -1.53701701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.601400513 meters 0.023960798302145876 Centerline is valid? [True, True] Translation: X:591.54, Y:55.71, Z:-1.54 [[ 9.96881424e-01 -7.84144075e-02 -8.86604151e-03 5.91543474e+02] [ 7.84092972e-02 9.96920824e-01 -9.23063100e-04 5.57055948e+01] [ 8.91112286e-03 2.25004375e-04 9.99960270e-01 -1.53772421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.661400513 meters 0.022630794182813666 Centerline is valid? [True, True] Translation: X:591.60, Y:55.71, Z:-1.54 [[ 9.95888414e-01 -9.03237952e-02 -6.91950059e-03 5.91603363e+02] [ 9.03209702e-02 9.95912448e-01 -7.20310426e-04 5.57071985e+01] [ 6.95627794e-03 9.23728009e-05 9.99975801e-01 -1.53606258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.721400513 meters 0.01741705718787105 Centerline is valid? [True, True] Translation: X:591.66, Y:55.71, Z:-1.54 [[ 9.95147755e-01 -9.80099329e-02 -8.66015866e-03 5.91664578e+02] [ 9.80057978e-02 9.95185435e-01 -9.01607854e-04 5.57059455e+01] [ 8.70683029e-03 4.84872731e-05 9.99962094e-01 -1.53856667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.781400513 meters 0.015608956905321375 Centerline is valid? [True, True] Translation: X:591.73, Y:55.71, Z:-1.54 [[ 9.94763306e-01 -1.01750861e-01 -9.62948054e-03 5.91726988e+02] [ 1.01745927e-01 9.94809912e-01 -1.00218003e-03 5.57087154e+01] [ 9.68147537e-03 1.71714898e-05 9.99953133e-01 -1.53885237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.841400513 meters 0.017917523838822686 Centerline is valid? [True, True] Translation: X:591.79, Y:55.71, Z:-1.54 [[ 9.93678877e-01 -1.11961885e-01 -8.17469665e-03 5.91788520e+02] [ 1.11958683e-01 9.93712499e-01 -8.49637712e-04 5.57068921e+01] [ 8.21842528e-03 -7.09612268e-05 9.99966226e-01 -1.53623408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.901400513 meters 0.020150014100334172 Centerline is valid? [True, True] Translation: X:591.85, Y:55.71, Z:-1.54 [[ 9.93377248e-01 -1.14641864e-01 -7.67374355e-03 5.91850178e+02] [ 1.14639131e-01 9.93406883e-01 -7.96486979e-04 5.57124474e+01] [ 7.71446041e-03 -8.84992521e-05 9.99970239e-01 -1.53733505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.961400513 meters 0.0203795908001197 Centerline is valid? [True, True] Translation: X:591.91, Y:55.71, Z:-1.54 [[ 9.92929002e-01 -1.18251820e-01 -1.04165437e-02 5.91912061e+02] [ 1.18247004e-01 9.92983626e-01 -1.07911061e-03 5.57141624e+01] [ 1.04710641e-02 -1.60244873e-04 9.99945164e-01 -1.53798706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.021400513 meters 0.021885282864824548 Centerline is valid? [True, True] Translation: X:591.97, Y:55.72, Z:-1.54 [[ 9.92790799e-01 -1.19096940e-01 -1.35036529e-02 5.91973552e+02] [ 1.19088954e-01 9.92882606e-01 -1.39678671e-03 5.57184984e+01] [ 1.35738952e-02 -2.21418914e-04 9.99907846e-01 -1.54193204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.081400513 meters 0.02373935631964212 Centerline is valid? [True, True] Translation: X:592.04, Y:55.72, Z:-1.54 [[ 9.92526901e-01 -1.21192615e-01 -1.42372779e-02 5.92035128e+02] [ 1.21183977e-01 9.92628974e-01 -1.47107130e-03 5.57247668e+01] [ 1.43106175e-02 -2.65252122e-04 9.99897563e-01 -1.54244388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.141400513 meters 0.024146793615842245 Centerline is valid? [True, True] Translation: X:592.10, Y:55.73, Z:-1.54 [[ 9.92409833e-01 -1.22475299e-01 -1.10691208e-02 5.92097341e+02] [ 1.22470172e-01 9.92471537e-01 -1.14234607e-03 5.57308243e+01] [ 1.11256966e-02 -2.21961666e-04 9.99938083e-01 -1.53653779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.201400513 meters 0.025269553233294575 Centerline is valid? [True, True] Translation: X:592.16, Y:55.74, Z:-1.54 [[ 9.92483673e-01 -1.22034084e-01 -9.15652921e-03 5.92158911e+02] [ 1.22030568e-01 9.92525894e-01 -9.43748308e-04 5.57387199e+01] [ 9.20326180e-03 -1.80721678e-04 9.99957633e-01 -1.53534827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.261400513 meters 0.026778160362249986 Centerline is valid? [True, True] Translation: X:592.22, Y:55.74, Z:-1.53 [[ 9.91926182e-01 -1.26466195e-01 -9.42079407e-03 5.92219400e+02] [ 1.26462687e-01 9.91970891e-01 -9.69540311e-04 5.57435194e+01] [ 9.46776757e-03 -2.29666509e-04 9.99955153e-01 -1.53474095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.321400513 meters 0.033435568996146664 Centerline is valid? [True, True] Translation: X:592.28, Y:55.74, Z:-1.53 [[ 9.91228377e-01 -1.31822938e-01 -9.43488961e-03 5.92279715e+02] [ 1.31819662e-01 9.91273239e-01 -9.70887607e-04 5.57417514e+01] [ 9.48053883e-03 -2.81332616e-04 9.99955019e-01 -1.53356295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.381400513 meters 0.03203488108116666 Centerline is valid? [True, True] Translation: X:592.34, Y:55.75, Z:-1.53 [[ 9.91240492e-01 -1.31853581e-01 -7.54459664e-03 5.92342188e+02] [ 1.31851485e-01 9.91269178e-01 -7.76610817e-04 5.57515029e+01] [ 7.58112503e-03 -2.24958187e-04 9.99971238e-01 -1.53045445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.441400513 meters 0.03197760236729081 Centerline is valid? [True, True] Translation: X:592.40, Y:55.76, Z:-1.53 [[ 9.91065817e-01 -1.32897061e-01 -1.12657790e-02 5.92403892e+02] [ 1.32892487e-01 9.91129784e-01 -1.15692666e-03 5.57551977e+01] [ 1.13196012e-02 -3.50546926e-04 9.99935870e-01 -1.53330549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.501400513 meters 0.03303296003509921 Centerline is valid? [True, True] Translation: X:592.47, Y:55.76, Z:-1.53 [[ 9.90918278e-01 -1.34028816e-01 -1.08278458e-02 5.92466303e+02] [ 1.34024676e-01 9.90977373e-01 -1.11041458e-03 5.57590077e+01] [ 1.08789778e-02 -3.50868427e-04 9.99940761e-01 -1.53457788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.561400513 meters 0.03465507489578017 Centerline is valid? [True, True] Translation: X:592.53, Y:55.76, Z:-1.54 [[ 9.90938135e-01 -1.33858496e-01 -1.11137407e-02 5.92528303e+02] [ 1.33854143e-01 9.91000390e-01 -1.13793475e-03 5.57629005e+01] [ 1.11660436e-02 -3.59997294e-04 9.99937593e-01 -1.53509784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.621400513 meters 0.028543923165292175 Centerline is valid? [True, True] Translation: X:592.59, Y:55.78, Z:-1.53 [[ 9.91472817e-01 -1.29917100e-01 -1.01587830e-02 5.92587573e+02] [ 1.29913271e-01 9.91524817e-01 -1.03879258e-03 5.57788855e+01] [ 1.02076424e-02 -2.89826120e-04 9.99947859e-01 -1.53274789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.681400513 meters 0.02761033451743857 Centerline is valid? [True, True] Translation: X:592.65, Y:55.79, Z:-1.54 [[ 9.91816975e-01 -1.27169897e-01 -1.12652063e-02 5.92648886e+02] [ 1.27165013e-01 9.91880907e-01 -1.15173648e-03 5.57857397e+01] [ 1.13202093e-02 -2.90228321e-04 9.99935882e-01 -1.53618610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.741400513 meters 0.02884747845434199 Centerline is valid? [True, True] Translation: X:592.71, Y:55.79, Z:-1.54 [[ 9.91149031e-01 -1.31919141e-01 -1.48639860e-02 5.92710008e+02] [ 1.31911178e-01 9.91260376e-01 -1.51920340e-03 5.57870811e+01] [ 1.49344923e-02 -4.54968917e-04 9.99888371e-01 -1.53669075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.801400513 meters 0.025866154614889683 Centerline is valid? [True, True] Translation: X:592.77, Y:55.80, Z:-1.54 [[ 9.91780397e-01 -1.26843436e-01 -1.68043510e-02 5.92768723e+02] [ 1.26832530e-01 9.91922658e-01 -1.71750154e-03 5.57973691e+01] [ 1.68864703e-02 -4.27953993e-04 9.99857322e-01 -1.53978323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.861400513 meters 0.021709393205095007 Centerline is valid? [True, True] Translation: X:592.83, Y:55.81, Z:-1.53 [[ 9.92970242e-01 -1.18001920e-01 -9.25450297e-03 5.92827576e+02] [ 1.17998227e-01 9.93013355e-01 -9.45920013e-04 5.58117614e+01] [ 9.30146542e-03 -1.52744522e-04 9.99956729e-01 -1.52989814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.921400513 meters 0.019180345742484246 Centerline is valid? [True, True] Translation: X:592.89, Y:55.82, Z:-1.52 [[ 9.93425788e-01 -1.14283226e-01 -6.67436833e-03 5.92888829e+02] [ 1.14281219e-01 9.93448205e-01 -6.82546758e-04 5.58240300e+01] [ 6.70864288e-03 -8.46954004e-05 9.99977493e-01 -1.52489387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.981400513 meters 0.020026450298879468 Centerline is valid? [True, True] Translation: X:592.95, Y:55.83, Z:-1.52 [[ 9.93154668e-01 -1.16630036e-01 -6.42191254e-03 5.92950680e+02] [ 1.16628233e-01 9.93175425e-01 -6.55793525e-04 5.58298580e+01] [ 6.45457094e-03 -9.76719100e-05 9.99979164e-01 -1.52326813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.041400513 meters 0.018998315266109688 Centerline is valid? [True, True] Translation: X:593.01, Y:55.84, Z:-1.52 [[ 9.93485763e-01 -1.13832694e-01 -5.30636887e-03 5.93011277e+02] [ 1.13831426e-01 9.93499931e-01 -5.41230680e-04 5.58379229e+01] [ 5.33348685e-03 -6.63265617e-05 9.99985775e-01 -1.52070985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.101400513 meters 0.019714309082549612 Centerline is valid? [True, True] Translation: X:593.07, Y:55.85, Z:-1.53 [[ 9.95331687e-01 -9.63765524e-02 -5.13742690e-03 5.93072242e+02] [ 9.64196158e-02 9.95300777e-01 8.92301375e-03 5.58505594e+01] [ 4.25331568e-03 -9.37670706e-03 9.99946992e-01 -1.52879424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.161400513 meters 0.01974868841127563 Centerline is valid? [True, True] Translation: X:593.14, Y:55.86, Z:-1.52 [[ 9.95523439e-01 -9.44564904e-02 -3.32472691e-03 5.93136413e+02] [ 9.44569362e-02 9.95528948e-01 -2.30155017e-05 5.58646963e+01] [ 3.31203585e-03 -2.91131047e-04 9.99994473e-01 -1.52054137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.221400513 meters 0.017371044565399646 Centerline is valid? [True, True] Translation: X:593.20, Y:55.87, Z:-1.52 [[ 9.95800123e-01 -9.14879577e-02 -3.47396056e-03 5.93195580e+02] [ 9.14767482e-02 9.95801878e-01 -3.25938558e-03 5.58727917e+01] [ 3.75757098e-03 2.92790995e-03 9.99988654e-01 -1.51804210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.281400513 meters 0.013126458601188088 Centerline is valid? [True, True] Translation: X:593.26, Y:55.88, Z:-1.52 [[ 9.95514749e-01 -9.45298644e-02 -3.80654729e-03 5.93256507e+02] [ 9.44976419e-02 9.95493704e-01 -7.90445676e-03 5.58843412e+01] [ 4.53660108e-03 7.50929355e-03 9.99961514e-01 -1.51646405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.341400513 meters 0.015591062246440995 Centerline is valid? [True, True] Translation: X:593.33, Y:55.90, Z:-1.52 [[ 9.95529969e-01 -9.44089104e-02 -2.65294805e-03 5.93325637e+02] [ 9.43997393e-02 9.95528593e-01 -3.39254275e-03 5.58952830e+01] [ 2.96137191e-03 3.12694037e-03 9.99990726e-01 -1.51854691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.401400513 meters 0.016999604877669966 Centerline is valid? [True, True] Translation: X:593.38, Y:55.89, Z:-1.52 [[ 9.97182422e-01 -7.45465059e-02 -8.36874491e-03 5.93378573e+02] [ 7.45582039e-02 9.97216063e-01 1.09421592e-03 5.58872914e+01] [ 8.26387688e-03 -1.71509147e-03 9.99964383e-01 -1.52390619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.461400513 meters 0.03508129603531619 Centerline is valid? [True, True] Translation: X:593.43, Y:55.93, Z:-1.52 [[ 9.97740595e-01 -6.68224940e-02 -6.96123658e-03 5.93434910e+02] [ 6.67690521e-02 9.97739161e-01 -7.64595260e-03 5.59312968e+01] [ 7.45641996e-03 7.16388213e-03 9.99946539e-01 -1.52083212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.521400513 meters 0.04447982366061727 Centerline is valid? [True, True] Translation: X:593.49, Y:55.94, Z:-1.52 [[ 9.98371498e-01 -5.67383502e-02 -5.92544331e-03 5.93494548e+02] [ 5.67356500e-02 9.98389041e-01 -6.22935448e-04 5.59430602e+01] [ 5.95124199e-03 2.85737119e-04 9.99982250e-01 -1.52396067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.581400513 meters 0.054077709043571474 Centerline is valid? [True, True] Translation: X:593.55, Y:55.96, Z:-1.52 [[ 9.98896805e-01 -4.68057428e-02 -3.79405643e-03 5.93552922e+02] [ 4.68045644e-02 9.98903986e-01 -3.98850598e-04 5.59623652e+01] [ 3.80856659e-03 2.20831430e-04 9.99992723e-01 -1.51789815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.641400513 meters 0.04795385557778789 Centerline is valid? [True, True] Translation: X:593.61, Y:55.96, Z:-1.52 [[ 9.99154260e-01 -4.08501364e-02 -4.69371006e-03 5.93614531e+02] [ 4.08482680e-02 9.99165239e-01 -4.93290495e-04 5.59597708e+01] [ 4.70994292e-03 3.01143374e-04 9.99988863e-01 -1.52007249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.701400513 meters 0.057903710120998195 Centerline is valid? [True, True] Translation: X:593.67, Y:55.98, Z:-1.52 [[ 9.99446887e-01 -3.32243465e-02 -1.43649995e-03 5.93672316e+02] [ 3.32241636e-02 9.99447914e-01 -1.51042835e-04 5.59776845e+01] [ 1.44072518e-03 1.03232782e-04 9.99998957e-01 -1.51574307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.761400513 meters 0.057401641201202135 Centerline is valid? [True, True] Translation: X:593.73, Y:55.98, Z:-1.51 [[ 9.99724833e-01 -2.34368396e-02 9.85908883e-04 5.93732730e+02] [ 2.34367488e-02 9.99725316e-01 1.03529127e-04 5.59828933e+01] [-9.88064465e-04 -8.03941402e-05 9.99999509e-01 -1.51334605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.821400513 meters 0.0793892148002611 Centerline is valid? [True, True] Translation: X:593.79, Y:56.02, Z:-1.51 [[ 9.99776804e-01 -2.11250054e-02 2.76224795e-04 5.93789443e+02] [ 2.11249982e-02 9.99776842e-01 2.89956310e-05 5.60165449e+01] [-2.76775686e-04 -2.31539110e-05 9.99999961e-01 -1.51182847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.881400513 meters 0.07618453396253184 Centerline is valid? [True, True] Translation: X:593.85, Y:56.02, Z:-1.52 [[ 9.99818837e-01 -1.87499169e-02 -3.27615107e-03 5.93850555e+02] [ 1.87488889e-02 9.99824165e-01 -3.44217685e-04 5.60183227e+01] [ 3.28202906e-03 2.82731133e-04 9.99994574e-01 -1.51555769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.941400513 meters 0.08967827284741363 Centerline is valid? [True, True] Translation: X:593.91, Y:56.04, Z:-1.52 [[ 9.99894649e-01 -1.41666947e-02 -3.16146631e-03 5.93907895e+02] [ 1.41657142e-02 9.99899606e-01 -3.32335636e-04 5.60393740e+01] [ 3.16585702e-03 2.87516197e-04 9.99994947e-01 -1.51600774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.001400513 meters 0.08771554455411637 Centerline is valid? [True, True] Translation: X:593.97, Y:56.04, Z:-1.52 [[ 9.99899803e-01 -1.37787531e-02 -3.24505666e-03 5.93970051e+02] [ 1.37777183e-02 9.99905025e-01 -3.41020849e-04 5.60439137e+01] [ 3.24944730e-03 2.96277203e-04 9.99994677e-01 -1.51539232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.061400513 meters 0.08567044581825996 Centerline is valid? [True, True] Translation: X:594.03, Y:56.05, Z:-1.52 [[ 9.99846902e-01 -1.65512501e-02 -5.67705869e-03 5.94030727e+02] [ 1.65481311e-02 9.99862893e-01 -5.95934858e-04 5.60470547e+01] [ 5.68614379e-03 5.01898910e-04 9.99983708e-01 -1.51814939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.121400513 meters 0.0842232965967948 Centerline is valid? [True, True] Translation: X:594.09, Y:56.05, Z:-1.52 [[ 9.99845793e-01 -1.69192113e-02 -4.70434361e-03 5.94092725e+02] [ 1.69170728e-02 9.99856774e-01 -4.93988902e-04 5.60521502e+01] [ 4.71202773e-03 4.14329002e-04 9.99988813e-01 -1.51640325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.181400513 meters 0.07497236617788378 Centerline is valid? [True, True] Translation: X:594.16, Y:56.05, Z:-1.51 [[ 9.99841775e-01 -1.73870587e-02 -3.75706301e-03 5.94155884e+02] [ 1.73856984e-02 9.99848780e-01 -3.94425722e-04 5.60484376e+01] [ 3.76335276e-03 3.29044149e-04 9.99992864e-01 -1.51378687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.241400513 meters 0.07817537748725407 Centerline is valid? [True, True] Translation: X:594.21, Y:56.06, Z:-1.52 [[ 9.99791300e-01 -1.95362327e-02 -5.97431044e-03 5.94214929e+02] [ 1.95328350e-02 9.99809020e-01 -6.26545602e-04 5.60582467e+01] [ 5.98540980e-03 5.09719622e-04 9.99981957e-01 -1.51551571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.301400513 meters 0.05685639933616407 Centerline is valid? [True, True] Translation: X:594.28, Y:56.04, Z:-1.51 [[ 9.99707491e-01 -2.36762949e-02 -4.93605836e-03 5.94278166e+02] [ 2.36740251e-02 9.99719597e-01 -5.17767132e-04 5.60389624e+01] [ 4.94693308e-03 4.00759312e-04 9.99987684e-01 -1.51433556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.361400513 meters 0.06327522255728688 Centerline is valid? [True, True] Translation: X:594.34, Y:56.05, Z:-1.51 [[ 9.99673374e-01 -2.50469678e-02 -5.07877941e-03 5.94336638e+02] [ 2.50445829e-02 9.99686193e-01 -5.32648019e-04 5.60530919e+01] [ 5.09052687e-03 4.05278130e-04 9.99986961e-01 -1.51418030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.421400513 meters 0.06032489531774874 Centerline is valid? [True, True] Translation: X:594.40, Y:56.06, Z:-1.51 [[ 9.99667637e-01 -2.48940203e-02 -6.70104456e-03 5.94399523e+02] [ 2.48898635e-02 9.99689952e-01 -7.03021862e-04 5.60566246e+01] [ 6.71646795e-03 5.36000119e-04 9.99977301e-01 -1.51474576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.481400513 meters 0.059663936780434766 Centerline is valid? [True, True] Translation: X:594.46, Y:56.06, Z:-1.51 [[ 9.99690786e-01 -2.42670362e-02 -5.42624698e-03 5.94461888e+02] [ 2.42643071e-02 9.99705417e-01 -5.68232453e-04 5.60619872e+01] [ 5.43843781e-03 4.36392625e-04 9.99985116e-01 -1.51368025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.541400513 meters 0.06457743336734445 Centerline is valid? [True, True] Translation: X:594.52, Y:56.08, Z:-1.51 [[ 9.99738734e-01 -2.28513239e-02 -5.29083688e-04 5.94520197e+02] [ 2.28512978e-02 9.99738873e-01 -5.53676109e-05 5.60765607e+01] [ 5.30210754e-04 4.32628963e-05 9.99999859e-01 -1.50739485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.601400513 meters 0.07702417834409722 Centerline is valid? [True, True] Translation: X:594.58, Y:56.10, Z:-1.51 [[ 9.99722719e-01 -2.35266149e-02 -9.92043744e-04 5.94579691e+02] [ 2.35265231e-02 9.99723208e-01 -1.04148866e-04 5.60982572e+01] [ 9.94219424e-04 8.07806476e-05 9.99999503e-01 -1.50759643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.661400513 meters 0.07181610871280547 Centerline is valid? [True, True] Translation: X:594.64, Y:56.10, Z:-1.51 [[ 9.99744656e-01 -2.23473356e-02 -3.34946088e-03 5.94641054e+02] [ 2.23462850e-02 9.99750229e-01 -3.50751094e-04 5.60975047e+01] [ 3.35646264e-03 2.75813524e-04 9.99994329e-01 -1.50976431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.721400513 meters 0.0815241666366192 Centerline is valid? [True, True] Translation: X:594.70, Y:56.12, Z:-1.51 [[ 9.99872023e-01 -1.54610564e-02 -4.11011293e-03 5.94699990e+02] [ 1.54594197e-02 9.99880404e-01 -4.29672499e-04 5.61157153e+01] [ 4.11626457e-03 3.66077550e-04 9.99991461e-01 -1.50921332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.781400513 meters 0.08610154994649517 Centerline is valid? [True, True] Translation: X:594.76, Y:56.13, Z:-1.50 [[ 9.99945097e-01 -1.04169392e-02 -1.13554363e-03 5.94759952e+02] [ 1.04168110e-02 9.99945737e-01 -1.18739645e-04 5.61287366e+01] [ 1.13671892e-03 1.06904382e-04 9.99999348e-01 -1.50492562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.841400513 meters 0.09060449092247227 Centerline is valid? [True, True] Translation: X:594.82, Y:56.14, Z:-1.51 [[ 9.99957848e-01 -8.84682322e-03 -2.45673611e-03 5.94819337e+02] [ 8.84621893e-03 9.99960838e-01 -2.56729178e-04 5.61395779e+01] [ 2.45891114e-03 2.34985531e-04 9.99996949e-01 -1.50754828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.901400513 meters 0.09143498496120639 Centerline is valid? [True, True] Translation: X:594.88, Y:56.15, Z:-1.51 [[ 9.99938649e-01 -1.00934507e-02 -4.56297540e-03 5.94879387e+02] [ 1.00913790e-02 9.99948967e-01 -4.76831403e-04 5.61464219e+01] [ 4.56755542e-03 4.30755435e-04 9.99989476e-01 -1.50845921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.961400513 meters 0.09197528389846493 Centerline is valid? [True, True] Translation: X:594.94, Y:56.15, Z:-1.51 [[ 9.99952350e-01 -8.54129325e-03 -4.72699382e-03 5.94939633e+02] [ 8.53905252e-03 9.99963420e-01 -4.94010006e-04 5.61538670e+01] [ 4.73104039e-03 4.53622418e-04 9.99988706e-01 -1.50800559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.021400513 meters 0.09298508776609539 Centerline is valid? [True, True] Translation: X:595.00, Y:56.16, Z:-1.51 [[ 9.99973812e-01 -6.46761023e-03 -3.24738147e-03 5.94999357e+02] [ 6.46654207e-03 9.99979034e-01 -3.39323349e-04 5.61617488e+01] [ 3.24950800e-03 3.18315134e-04 9.99994670e-01 -1.50506125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.081400513 meters 0.10391102314577837 Centerline is valid? [True, False] Translation: X:595.00, Y:56.16, Z:-1.50 [[ 9.99973853e-01 -6.56225301e-03 -3.03820718e-03 5.94998522e+02] [ 6.56051858e-03 9.99978311e-01 -5.80487191e-04 5.61626462e+01] [ 3.04195059e-03 5.60539798e-04 9.99995216e-01 -1.50460484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.141400513 meters 0.0991684476111091 Centerline is valid? [False, True] Translation: X:594.98, Y:56.16, Z:-1.51 [[ 9.99999765e-01 2.10821273e-04 6.52594014e-04 5.94981702e+02] [-2.06844690e-04 9.99981449e-01 -6.08758397e-03 5.61626697e+01] [-6.53865300e-04 6.08744755e-03 9.99981258e-01 -1.50832289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.201400513 meters 0.10528247668466297 Centerline is valid? [True, False] Translation: X:594.98, Y:56.16, Z:-1.51 [[ 9.99987722e-01 4.91495456e-03 6.30944005e-04 5.94982723e+02] [-4.91439525e-03 9.99987533e-01 -8.84979150e-04 5.61592608e+01] [-6.35285771e-04 8.81867577e-04 9.99999409e-01 -1.51021293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.261400513 meters 0.10011496162392937 Centerline is valid? [False, False] Translation: X:594.98, Y:56.16, Z:-1.51 [[ 9.99987779e-01 4.88765268e-03 7.43532473e-04 5.94982539e+02] [-4.88692445e-03 9.99987581e-01 -9.78102693e-04 5.61597648e+01] [-7.48303865e-04 9.74457152e-04 9.99999245e-01 -1.51064650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.321400513 meters 0.09616542262333816 Centerline is valid? [False, True] Translation: X:594.98, Y:56.16, Z:-1.51 [[ 9.99988110e-01 4.78524300e-03 9.38589225e-04 5.94981774e+02] [-4.78407412e-03 9.99987783e-01 -1.24367181e-03 5.61608069e+01] [-9.44529030e-04 1.23916675e-03 9.99998786e-01 -1.51027735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.381400513 meters 0.0909163050625607 Centerline is valid? [True, True] Translation: X:595.04, Y:56.16, Z:-1.51 [[ 9.99977551e-01 6.69846543e-03 1.67775017e-04 5.95042597e+02] [-6.69846859e-03 9.99977565e-01 1.82905181e-05 5.61594967e+01] [-1.67648734e-04 -1.94139431e-05 9.99999986e-01 -1.51162293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.441400513 meters 0.11019094093681649 Centerline is valid? [True, False] Translation: X:595.04, Y:56.16, Z:-1.51 [[ 9.99977759e-01 6.66556458e-03 2.27219157e-04 5.95042532e+02] [-6.66554827e-03 9.99977782e-01 -7.24641866e-05 5.61599818e+01] [-2.27697124e-04 7.09480347e-05 9.99999972e-01 -1.51193933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.501400513 meters 0.09537366303000108 Centerline is valid? [False, True] Translation: X:595.04, Y:56.16, Z:-1.51 [[ 9.99978177e-01 6.60382734e-03 1.85867975e-04 5.95042538e+02] [-6.60378591e-03 9.99978170e-01 -2.22664583e-04 5.61606181e+01] [-1.87334356e-04 2.21432291e-04 9.99999958e-01 -1.51169278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.561400513 meters 0.09379764230216102 Centerline is valid? [True, True] Translation: X:595.10, Y:56.16, Z:-1.51 [[ 9.99980844e-01 6.18864649e-03 -1.07296739e-04 5.95101867e+02] [-6.18864778e-03 9.99980850e-01 -1.16621971e-05 5.61643297e+01] [ 1.07222511e-04 1.23259954e-05 9.99999994e-01 -1.51263895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.621400513 meters 0.0941500942502736 Centerline is valid? [True, True] Translation: X:595.16, Y:56.17, Z:-1.51 [[ 9.99988744e-01 4.64590080e-03 9.63407273e-04 5.95161377e+02] [-4.64600532e-03 9.99989202e-01 1.06285328e-04 5.61709941e+01] [-9.62903079e-04 -1.10760127e-04 9.99999530e-01 -1.51015278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.681400513 meters 0.09937770752894257 Centerline is valid? [True, True] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99989025e-01 4.65056643e-03 5.67783322e-04 5.95218356e+02] [-4.65060289e-03 9.99989184e-01 6.29023906e-05 5.61853431e+01] [-5.67484649e-04 -6.55422350e-05 9.99999837e-01 -1.50990003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.741400513 meters 0.1030294271390386 Centerline is valid? [True, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99998753e-01 1.56893410e-03 -1.80040185e-04 5.95223524e+02] [-1.56951802e-03 9.99993355e-01 -3.29029170e-03 5.61877411e+01] [ 1.74876738e-04 3.29057018e-03 9.99994571e-01 -1.51364424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.801400513 meters 0.08971293526598723 Centerline is valid? [False, True] Translation: X:595.22, Y:56.18, Z:-1.52 [[ 9.99980658e-01 6.21005524e-03 -3.45791582e-04 5.95224776e+02] [-6.20940898e-03 9.99979029e-01 1.83964732e-03 5.61847080e+01] [ 3.57208642e-04 -1.83746457e-03 9.99998248e-01 -1.51529259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.861400513 meters 0.11259775417852307 Centerline is valid? [True, False] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99994717e-01 3.13985555e-03 -8.40978857e-04 5.95228905e+02] [-3.14127662e-03 9.99993632e-01 -1.69382092e-03 5.61871380e+01] [ 8.35655148e-04 1.69645371e-03 9.99998212e-01 -1.51910615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.921400513 meters 0.1038884079119305 Centerline is valid? [False, False] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99996746e-01 2.55023771e-03 -6.42919087e-05 5.95225143e+02] [-2.55040438e-03 9.99992990e-01 -2.74134537e-03 5.61899907e+01] [ 5.73003757e-05 2.74150042e-03 9.99996240e-01 -1.51620664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.981400513 meters 0.10440560535487708 Centerline is valid? [False, False] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99996758e-01 2.54333874e-03 -1.24652878e-04 5.95225370e+02] [-2.54367326e-03 9.99992953e-01 -2.76123501e-03 5.61901263e+01] [ 1.17629244e-04 2.76154313e-03 9.99996180e-01 -1.51631640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.041400513 meters 0.09822165876113681 Centerline is valid? [False, True] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99996364e-01 2.69251962e-03 -1.50909495e-04 5.95226055e+02] [-2.69287718e-03 9.99993442e-01 -2.42149344e-03 5.61889418e+01] [ 1.44388587e-04 2.42189101e-03 9.99997057e-01 -1.51767262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.101400513 meters 0.10638661025697702 Centerline is valid? [True, False] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99996658e-01 2.58431272e-03 -6.87525072e-05 5.95225380e+02] [-2.58448750e-03 9.99993078e-01 -2.67664663e-03 5.61898027e+01] [ 6.18347394e-05 2.67681538e-03 9.99996415e-01 -1.51665500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.161400513 meters 0.11094355156201663 Centerline is valid? [False, False] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99996537e-01 2.63106030e-03 -5.11424607e-05 5.95225667e+02] [-2.63118490e-03 9.99993128e-01 -2.61166009e-03 5.61897519e+01] [ 4.42706741e-05 2.61178561e-03 9.99996588e-01 -1.51748813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.221400513 meters 0.11011768976531382 Centerline is valid? [False, False] Translation: X:595.23, Y:56.19, Z:-1.52 [[ 9.99972744e-01 7.38167931e-03 -1.48136768e-04 5.95227051e+02] [-7.38124554e-03 9.99969000e-01 2.74156646e-03 5.61858617e+01] [ 1.68369540e-04 -2.74039831e-03 9.99996231e-01 -1.51980163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.281400513 meters 0.12197146721778458 Centerline is valid? [False, False] Translation: X:595.24, Y:56.18, Z:-1.52 [[ 9.99976684e-01 4.97498083e-03 -4.67763294e-03 5.95244687e+02] [-4.91673766e-03 9.99911258e-01 1.23815438e-02 5.61809173e+01] [ 4.73881578e-03 -1.23582564e-02 9.99912405e-01 -1.51652758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.341400513 meters 0.11635879765441356 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99969961e-01 7.68205705e-03 -1.03064944e-03 5.95220778e+02] [-7.68206025e-03 9.99970493e-01 8.53038749e-07 5.61876780e+01] [ 1.03062559e-03 7.06449800e-06 9.99999469e-01 -1.51249632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.401400513 meters 0.12242074712080679 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99970700e-01 7.58527934e-03 -1.03129623e-03 5.95220528e+02] [-7.58553271e-03 9.99971200e-01 -2.41988830e-04 5.61886519e+01] [ 1.02943098e-03 2.49804671e-04 9.99999439e-01 -1.51194455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.461400513 meters 0.11685334657473923 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99970730e-01 7.57417153e-03 -1.08193090e-03 5.95220342e+02] [-7.57442981e-03 9.99971286e-01 -2.34825742e-04 5.61884245e+01] [ 1.08012122e-03 2.43013878e-04 9.99999387e-01 -1.51110223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.521400513 meters 0.12656378927096038 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99970293e-01 7.60612506e-03 -1.24881524e-03 5.95221039e+02] [-7.60633651e-03 9.99971058e-01 -1.64657603e-04 5.61882798e+01] [ 1.24752669e-03 1.74151621e-04 9.99999207e-01 -1.51157386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.581400513 meters 0.12638101443162789 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99969539e-01 7.68744913e-03 -1.35097136e-03 5.95221354e+02] [-7.68738603e-03 9.99970450e-01 5.18951522e-05 5.61873118e+01] [ 1.35133038e-03 -4.15081330e-05 9.99999086e-01 -1.51152927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.641400513 meters 0.10827845213436017 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99969109e-01 7.71492918e-03 -1.50367846e-03 5.95221885e+02] [-7.71475020e-03 9.99970233e-01 1.24790738e-04 5.61870610e+01] [ 1.50459645e-03 -1.13186380e-04 9.99998862e-01 -1.51170490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.701400513 meters 0.11256845786777629 Centerline is valid? [False, False] Translation: X:595.22, Y:56.19, Z:-1.51 [[ 9.99969096e-01 7.68417276e-03 -1.66159861e-03 5.95222096e+02] [-7.68399159e-03 9.99970471e-01 1.15391146e-04 5.61869486e+01] [ 1.66243623e-03 -1.02619870e-04 9.99998613e-01 -1.51107834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.761400513 meters 0.09757825003583734 Centerline is valid? [False, True] Translation: X:595.24, Y:56.18, Z:-1.51 [[ 9.99981442e-01 6.00438371e-04 -6.06253760e-03 5.95239318e+02] [-5.71069626e-04 9.99988100e-01 4.84486846e-03 5.61849874e+01] [ 6.06537450e-03 -4.84131642e-03 9.99969886e-01 -1.50694511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.821400513 meters 0.10064044408221545 Centerline is valid? [True, False] Translation: X:595.24, Y:56.19, Z:-1.51 [[ 9.99973056e-01 -4.13065599e-03 -6.06828934e-03 5.95238477e+02] [ 4.12864764e-03 9.99991418e-01 -3.43449121e-04 5.61884086e+01] [ 6.06965593e-03 3.18386039e-04 9.99981529e-01 -1.50519821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.881400513 meters 0.09055466742899448 Centerline is valid? [False, True] Translation: X:595.23, Y:56.19, Z:-1.50 [[ 9.99970941e-01 -5.36849612e-03 -5.41258968e-03 5.95233421e+02] [ 5.36193865e-03 9.99984874e-01 -1.22530466e-03 5.61867125e+01] [ 5.41908585e-03 1.19624708e-03 9.99984601e-01 -1.50071854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.941400513 meters 0.08788574640207845 Centerline is valid? [True, True] Translation: X:595.29, Y:56.19, Z:-1.50 [[ 9.99938495e-01 -8.76017755e-03 -6.80191284e-03 5.95294642e+02] [ 8.75480303e-03 9.99961340e-01 -8.19523383e-04 5.61888182e+01] [ 6.80882905e-03 7.59923571e-04 9.99976531e-01 -1.50408025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.001400513 meters 0.0961444270472357 Centerline is valid? [True, True] Translation: X:595.35, Y:56.21, Z:-1.50 [[ 9.99963796e-01 -6.39077074e-03 -5.61823145e-03 5.95352523e+02] [ 6.38706653e-03 9.99979373e-01 -6.77013780e-04 5.62080350e+01] [ 5.62244221e-03 6.41105252e-04 9.99983988e-01 -1.50081381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.061400513 meters 0.0983933196245364 Centerline is valid? [True, True] Translation: X:595.41, Y:56.22, Z:-1.50 [[ 9.99980165e-01 -4.84386991e-03 -4.02565042e-03 5.95412732e+02] [ 4.84195707e-03 9.99988160e-01 -4.84772234e-04 5.62178953e+01] [ 4.02795093e-03 4.65270592e-04 9.99991780e-01 -1.49857826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.121400513 meters 0.09157199610900213 Centerline is valid? [True, True] Translation: X:595.47, Y:56.22, Z:-1.50 [[ 9.99967160e-01 -6.53696921e-03 -4.79020186e-03 5.95474035e+02] [ 6.53428005e-03 9.99978485e-01 -5.76824410e-04 5.62160468e+01] [ 4.79386948e-03 5.45504947e-04 9.99988361e-01 -1.49763306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.181400513 meters 0.09511486544863823 Centerline is valid? [True, True] Translation: X:595.53, Y:56.23, Z:-1.50 [[ 9.99953945e-01 -6.47769595e-03 -7.08143988e-03 5.95534334e+02] [ 6.47181738e-03 9.99978694e-01 -8.52737097e-04 5.62256952e+01] [ 7.08681277e-03 8.06868038e-04 9.99974563e-01 -1.50015756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.241400513 meters 0.09288981910504203 Centerline is valid? [True, True] Translation: X:595.59, Y:56.23, Z:-1.50 [[ 9.99968039e-01 -4.32807947e-03 -6.72230885e-03 5.95594694e+02] [ 4.32273612e-03 9.99990330e-01 -8.09194676e-04 5.62283839e+01] [ 6.72574610e-03 7.80110046e-04 9.99977078e-01 -1.49961529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.301400513 meters 0.09942722387907102 Centerline is valid? [True, True] Translation: X:595.65, Y:56.24, Z:-1.50 [[ 9.99987097e-01 -3.05919700e-03 -4.05561046e-03 5.95652476e+02] [ 3.05724233e-03 9.99995208e-01 -4.88078804e-04 5.62445572e+01] [ 4.05708415e-03 4.75673522e-04 9.99991657e-01 -1.49515550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.361400513 meters 0.10254835590947023 Centerline is valid? [True, False] Translation: X:595.65, Y:56.24, Z:-1.50 [[ 9.99987554e-01 -2.94503306e-03 -4.02711678e-03 5.95652977e+02] [ 2.94388070e-03 9.99995624e-01 -2.92048171e-04 5.62440448e+01] [ 4.02795925e-03 2.80189185e-04 9.99991848e-01 -1.49644863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.421400513 meters 0.10019078938775634 Centerline is valid? [False, False] Translation: X:595.65, Y:56.24, Z:-1.50 [[ 9.99988005e-01 -2.76013287e-03 -4.04611566e-03 5.95653390e+02] [ 2.76075843e-03 9.99996178e-01 1.49029997e-04 5.62421990e+01] [ 4.04568885e-03 -1.60198557e-04 9.99991803e-01 -1.49713714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.481400513 meters 0.10551443966235453 Centerline is valid? [False, False] Translation: X:595.66, Y:56.24, Z:-1.50 [[ 9.99986884e-01 -2.05013730e-03 -4.69347586e-03 5.95657286e+02] [ 2.05206540e-03 9.99997812e-01 4.06025815e-04 5.62444672e+01] [ 4.69263318e-03 -4.15651809e-04 9.99988903e-01 -1.49981254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.541400513 meters 0.10396639666799762 Centerline is valid? [False, False] Translation: X:595.66, Y:56.24, Z:-1.50 [[ 9.99986957e-01 -1.99875458e-03 -4.70018085e-03 5.95657264e+02] [ 2.00127496e-03 9.99997856e-01 5.31589694e-04 5.62438578e+01] [ 4.69910825e-03 -5.40989114e-04 9.99988813e-01 -1.49966611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.601400513 meters 0.09695088522201462 Centerline is valid? [False, True] Translation: X:595.66, Y:56.24, Z:-1.50 [[ 9.99985509e-01 -2.06830096e-03 -4.97025077e-03 5.95657724e+02] [ 2.07103213e-03 9.99997707e-01 5.44419710e-04 5.62436234e+01] [ 4.96911335e-03 -5.54705370e-04 9.99987500e-01 -1.49867923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.661400513 meters 0.1005807652130104 Centerline is valid? [True, False] Translation: X:595.66, Y:56.24, Z:-1.50 [[ 9.99983982e-01 -1.96895934e-03 -5.30646674e-03 5.95659001e+02] [ 1.97359829e-03 9.99997675e-01 8.69113023e-04 5.62424925e+01] [ 5.30474315e-03 -8.79571935e-04 9.99985543e-01 -1.49942818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.721400513 meters 0.09149996563109349 Centerline is valid? [False, True] Translation: X:595.67, Y:56.25, Z:-1.50 [[ 9.99998012e-01 -1.99378078e-03 -2.02730627e-05 5.95673271e+02] [ 1.99357749e-03 9.99970911e-01 -7.36227080e-03 5.62491400e+01] [ 3.49512270e-05 7.36221575e-03 9.99972898e-01 -1.49722063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.781400513 meters 0.10117196463809154 Centerline is valid? [True, False] Translation: X:595.68, Y:56.24, Z:-1.50 [[ 9.99995633e-01 2.91421759e-03 -4.91001201e-04 5.95675936e+02] [-2.91504892e-03 9.99994305e-01 -1.70101498e-03 5.62444870e+01] [ 4.86041277e-04 1.70243885e-03 9.99998433e-01 -1.49984205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.841400513 meters 0.089468893626489 Centerline is valid? [False, True] Translation: X:595.68, Y:56.24, Z:-1.50 [[ 9.99995739e-01 2.89598401e-03 -3.68723625e-04 5.95675698e+02] [-2.89663360e-03 9.99994232e-01 -1.77354235e-03 5.62448986e+01] [ 3.63585348e-04 1.77460285e-03 9.99998359e-01 -1.50018490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.901400513 meters 0.09918375681249637 Centerline is valid? [True, True] Translation: X:595.73, Y:56.26, Z:-1.50 [[ 9.99981623e-01 5.58742698e-03 2.35264753e-03 5.95733273e+02] [-5.58802104e-03 9.99984357e-01 2.46008815e-04 5.62634797e+01] [-2.35123617e-03 -2.59150938e-04 9.99997202e-01 -1.49757492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.961400513 meters 0.09567193329584184 Centerline is valid? [True, True] Translation: X:595.79, Y:56.27, Z:-1.50 [[ 9.99985082e-01 5.25017499e-03 1.50690211e-03 5.95792314e+02] [-5.25041826e-03 9.99986204e-01 1.57527960e-04 5.62654059e+01] [-1.50605427e-03 -1.65437477e-04 9.99998852e-01 -1.49888973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.021400513 meters 0.09299763622959521 Centerline is valid? [True, True] Translation: X:595.85, Y:56.27, Z:-1.50 [[ 9.99987969e-01 4.36210643e-03 2.24347997e-03 5.95852355e+02] [-4.36264382e-03 9.99990456e-01 2.34693750e-04 5.62687281e+01] [-2.24243480e-03 -2.44478431e-04 9.99997456e-01 -1.49817749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.081400513 meters 0.09181469734511405 Centerline is valid? [True, True] Translation: X:595.91, Y:56.27, Z:-1.50 [[ 9.99975078e-01 7.05270880e-03 3.21202682e-04 5.95912336e+02] [-7.05271995e-03 9.99975129e-01 3.35833485e-05 5.62722428e+01] [-3.20957839e-04 -3.58478641e-05 9.99999948e-01 -1.49888131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.141400513 meters 0.10193950971065255 Centerline is valid? [True, False] Translation: X:595.91, Y:56.27, Z:-1.50 [[ 9.99927135e-01 1.20711255e-02 1.11226265e-04 5.95914955e+02] [-1.20715621e-02 9.99911065e-01 5.66908887e-03 5.62678375e+01] [-4.27840895e-05 -5.67001846e-03 9.99983924e-01 -1.50231756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.201400513 meters 0.10029981724355061 Centerline is valid? [False, False] Translation: X:595.91, Y:56.28, Z:-1.50 [[ 9.99978271e-01 6.49998910e-03 1.09884934e-03 5.95908683e+02] [-6.49864061e-03 9.99978132e-01 -1.22632947e-03 5.62751524e+01] [-1.10679644e-03 1.21916179e-03 9.99998644e-01 -1.49501372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.261400513 meters 0.11218793676177359 Centerline is valid? [False, False] Translation: X:595.91, Y:56.28, Z:-1.49 [[ 9.99978356e-01 6.47863882e-03 1.14691209e-03 5.95908508e+02] [-6.47716791e-03 9.99978202e-01 -1.28160239e-03 5.62753821e+01] [-1.15519013e-03 1.27414591e-03 9.99998521e-01 -1.49495807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.321400513 meters 0.09791656550994149 Centerline is valid? [False, True] Translation: X:595.91, Y:56.27, Z:-1.50 [[ 9.99977661e-01 6.58758113e-03 1.13178430e-03 5.95908882e+02] [-6.58642559e-03 9.99977787e-01 -1.02170077e-03 5.62743805e+01] [-1.13848970e-03 1.01422354e-03 9.99998838e-01 -1.49567867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.381400513 meters 0.0969152067244957 Centerline is valid? [True, True] Translation: X:595.98, Y:56.27, Z:-1.52 [[ 9.99929420e-01 -7.31462739e-03 9.36222644e-03 5.95984401e+02] [ 7.06656073e-03 9.99630147e-01 2.62608568e-02 5.62703263e+01] [-9.55085218e-03 -2.61928446e-02 9.99611283e-01 -1.52344495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.441400513 meters 0.11496784052013881 Centerline is valid? [True, False] Translation: X:595.99, Y:56.29, Z:-1.50 [[ 9.99973802e-01 -1.39316742e-03 7.10307606e-03 5.95993022e+02] [ 1.36108008e-03 9.99988857e-01 4.52022079e-03 5.62860595e+01] [-7.10929434e-03 -4.51043451e-03 9.99964556e-01 -1.50286791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.501400513 meters 0.1156636690423576 Centerline is valid? [False, False] Translation: X:595.99, Y:56.29, Z:-1.50 [[ 9.99973220e-01 -1.50277891e-03 7.16247778e-03 5.95992496e+02] [ 1.47236285e-03 9.99989885e-01 4.24996668e-03 5.62870531e+01] [-7.16879209e-03 -4.23930710e-03 9.99965318e-01 -1.50206158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.561400513 meters 0.10628947511574334 Centerline is valid? [False, False] Translation: X:595.99, Y:56.29, Z:-1.50 [[ 9.99973622e-01 -1.36361153e-03 7.13412866e-03 5.95993021e+02] [ 1.33092214e-03 9.99988604e-01 4.58485637e-03 5.62857817e+01] [-7.14029932e-03 -4.57524046e-03 9.99964041e-01 -1.50302220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.621400513 meters 0.11169321122446829 Centerline is valid? [False, False] Translation: X:595.99, Y:56.29, Z:-1.50 [[ 9.99973841e-01 -1.30820975e-03 7.11382719e-03 5.95993141e+02] [ 1.27457983e-03 9.99988002e-01 4.72988233e-03 5.62851496e+01] [-7.11992951e-03 -4.72069146e-03 9.99963510e-01 -1.50312861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.681400513 meters 0.10027053456186094 Centerline is valid? [False, False] Translation: X:595.99, Y:56.28, Z:-1.50 [[ 9.99975952e-01 -1.26706782e-03 6.81838429e-03 5.95993871e+02] [ 1.23384153e-03 9.99987356e-01 4.87504614e-03 5.62844680e+01] [-6.82447509e-03 -4.86651610e-03 9.99964871e-01 -1.50267687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.741400513 meters 0.09604784386838927 Centerline is valid? [False, True] Translation: X:595.99, Y:56.28, Z:-1.50 [[ 9.99976884e-01 -1.15395983e-03 6.70077040e-03 5.95994435e+02] [ 1.11907685e-03 9.99985816e-01 5.20723348e-03 5.62831275e+01] [-6.70668430e-03 -5.19961443e-03 9.99963992e-01 -1.50316493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.801400513 meters 0.08644718031461686 Centerline is valid? [True, True] Translation: X:596.06, Y:56.28, Z:-1.50 [[ 9.99902431e-01 -1.06214256e-02 9.07273664e-03 5.96055713e+02] [ 1.06125294e-02 9.99943157e-01 1.02811989e-03 5.62823412e+01] [-9.08314102e-03 -9.31734891e-04 9.99958313e-01 -1.49983056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.861400513 meters 0.08637032301444672 Centerline is valid? [True, True] Translation: X:596.11, Y:56.29, Z:-1.50 [[ 9.99755468e-01 -2.04882917e-02 8.32066876e-03 5.96114990e+02] [ 2.04811480e-02 9.99789795e-01 9.42863297e-04 5.62905402e+01] [-8.33823737e-03 -7.72215889e-04 9.99964938e-01 -1.49986146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.921400513 meters 0.06999611334352923 Centerline is valid? [True, True] Translation: X:596.18, Y:56.28, Z:-1.50 [[ 9.99464598e-01 -3.19559669e-02 7.02378868e-03 5.96177289e+02] [ 3.19511574e-02 9.99489115e-01 7.95917571e-04 5.62765228e+01] [-7.04563465e-03 -5.71073257e-04 9.99975016e-01 -1.50311462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.981400513 meters 0.05392065019872698 Centerline is valid? [True, True] Translation: X:596.24, Y:56.26, Z:-1.50 [[ 9.99241280e-01 -3.81307941e-02 7.93139200e-03 5.96239786e+02] [ 3.81248549e-02 9.99272579e-01 8.98720518e-04 5.62638519e+01] [-7.95989147e-03 -5.95655472e-04 9.99968142e-01 -1.50152253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.041400513 meters 0.05174948602127155 Centerline is valid? [True, True] Translation: X:596.30, Y:56.27, Z:-1.50 [[ 9.99156212e-01 -4.07095254e-02 5.44042152e-03 5.96300285e+02] [ 4.07067693e-02 9.99170946e-01 6.16427068e-04 5.62679346e+01] [-5.46100556e-03 -3.94444951e-04 9.99985011e-01 -1.50251416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.101400513 meters 0.058289157057008635 Centerline is valid? [True, True] Translation: X:596.36, Y:56.28, Z:-1.51 [[ 9.99265270e-01 -3.78741672e-02 5.87088260e-03 5.96359114e+02] [ 3.78709092e-02 9.99282418e-01 6.65155224e-04 5.62817445e+01] [-5.89186197e-03 -4.42330853e-04 9.99982545e-01 -1.50527027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.161400513 meters 0.054353169966068565 Centerline is valid? [True, True] Translation: X:596.42, Y:56.28, Z:-1.50 [[ 9.99384390e-01 -3.42005701e-02 7.82067119e-03 5.96420618e+02] [ 3.41946765e-02 9.99414798e-01 8.86096174e-04 5.62844202e+01] [-7.84639952e-03 -6.18125362e-04 9.99969025e-01 -1.50146226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.221400513 meters 0.07335152287226988 Centerline is valid? [True, True] Translation: X:596.48, Y:56.31, Z:-1.51 [[ 9.99597846e-01 -2.75644197e-02 6.65946417e-03 5.96478902e+02] [ 2.75600010e-02 9.99619866e-01 7.54394143e-04 5.63127574e+01] [-6.67772712e-03 -5.70555921e-04 9.99977541e-01 -1.50530212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.281400513 meters 0.08421915560759279 Centerline is valid? [True, True] Translation: X:596.54, Y:56.33, Z:-1.50 [[ 9.99714053e-01 -2.22724347e-02 8.70346338e-03 5.96537227e+02] [ 2.22646895e-02 9.99751625e-01 9.85797655e-04 5.63328478e+01] [-8.72325777e-03 -7.91735860e-04 9.99961638e-01 -1.50374954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.341400513 meters 0.09282716110671198 Centerline is valid? [True, True] Translation: X:596.60, Y:56.35, Z:-1.50 [[ 9.99769259e-01 -1.88537908e-02 1.02938452e-02 5.96595162e+02] [ 1.88427768e-02 9.99821779e-01 1.16590488e-03 5.63513641e+01] [-1.03139923e-02 -9.71671229e-04 9.99946337e-01 -1.50101434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.401400513 meters 0.09362198115206417 Centerline is valid? [True, True] Translation: X:596.66, Y:56.36, Z:-1.51 [[ 9.99831313e-01 -1.71217246e-02 6.64774379e-03 5.96655188e+02] [ 1.71170945e-02 9.99853208e-01 7.52769205e-04 5.63569427e+01] [-6.65965667e-03 -6.38852164e-04 9.99977620e-01 -1.50726772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.461400513 meters 0.09417940764661144 Centerline is valid? [True, True] Translation: X:596.72, Y:56.37, Z:-1.50 [[ 9.99841584e-01 -1.58005771e-02 8.19448355e-03 5.96716065e+02] [ 1.57934979e-02 9.99874844e-01 9.27895772e-04 5.63654329e+01] [-8.20811925e-03 -7.98329219e-04 9.99965994e-01 -1.50295143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.521400513 meters 0.09323128611555734 Centerline is valid? [True, True] Translation: X:596.78, Y:56.37, Z:-1.50 [[ 9.99888460e-01 -1.15011626e-02 9.52846349e-03 5.96776152e+02] [ 1.14914001e-02 9.99933390e-01 1.07867775e-03 5.63699113e+01] [-9.54023485e-03 -9.69062050e-04 9.99954021e-01 -1.50415958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.581400513 meters 0.09624330342359637 Centerline is valid? [True, True] Translation: X:596.84, Y:56.38, Z:-1.50 [[ 9.99918793e-01 -8.73239623e-03 9.28186621e-03 5.96836610e+02] [ 8.72301513e-03 9.99961402e-01 1.05069533e-03 5.63801132e+01] [-9.29068304e-03 -9.69644147e-04 9.99956371e-01 -1.50387811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.641400513 meters 0.10023217439339832 Centerline is valid? [True, False] Translation: X:596.84, Y:56.38, Z:-1.50 [[ 9.99919772e-01 -8.75480309e-03 9.15442648e-03 5.96836893e+02] [ 8.74605596e-03 9.99961257e-01 9.95106087e-04 5.63803358e+01] [-9.16278378e-03 -9.14961125e-04 9.99957602e-01 -1.50363693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.701400513 meters 0.10224822355365892 Centerline is valid? [False, False] Translation: X:596.84, Y:56.38, Z:-1.50 [[ 9.99919891e-01 -8.69443309e-03 9.19887056e-03 5.96837055e+02] [ 8.68440484e-03 9.99961652e-01 1.12954522e-03 5.63799148e+01] [-9.20833855e-03 -1.04956802e-03 9.99957052e-01 -1.50434952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.761400513 meters 0.10607456938297088 Centerline is valid? [False, False] Translation: X:596.84, Y:56.38, Z:-1.51 [[ 9.99949059e-01 -4.07677919e-03 9.23364344e-03 5.96837433e+02] [ 4.01898457e-03 9.99972273e-01 6.26906576e-03 5.63765326e+01] [-9.25894501e-03 -6.23163654e-03 9.99937717e-01 -1.50546820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.821400513 meters 0.1109257648329493 Centerline is valid? [False, False] Translation: X:596.83, Y:56.38, Z:-1.50 [[ 9.99993473e-01 1.01930034e-03 3.46638749e-03 5.96829268e+02] [-1.00021525e-03 9.99984358e-01 -5.50304207e-03 5.63830690e+01] [-3.47194252e-03 5.49953901e-03 9.99978850e-01 -1.49509968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.881400513 meters 0.11042344663448256 Centerline is valid? [False, False] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99997207e-01 -1.36408394e-03 -1.93023589e-03 5.96849262e+02] [ 1.37229316e-03 9.99989993e-01 4.25804802e-03 5.63780940e+01] [ 1.92440824e-03 -4.26068498e-03 9.99989072e-01 -1.49325804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.941400513 meters 0.10542110419323086 Centerline is valid? [False, False] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99997030e-01 -1.31606840e-03 -2.05115939e-03 5.96849557e+02] [ 1.32506492e-03 9.99989482e-01 4.39089291e-03 5.63774624e+01] [ 2.04535910e-03 -4.39359779e-03 9.99988256e-01 -1.49303745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.001400513 meters 0.1078486678256192 Centerline is valid? [False, False] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99996575e-01 -1.29285656e-03 -2.27544024e-03 5.96850282e+02] [ 1.30298219e-03 9.99989231e-01 4.45412372e-03 5.63772645e+01] [ 2.26965719e-03 -4.45707332e-03 9.99987491e-01 -1.49316083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.061400513 meters 0.09605101841388505 Centerline is valid? [False, True] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99996491e-01 -1.23708002e-03 -2.34236016e-03 5.96850727e+02] [ 1.24780212e-03 9.99988726e-01 4.58156131e-03 5.63768348e+01] [ 2.33666600e-03 -4.58446804e-03 9.99986761e-01 -1.49369012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.121400513 meters 0.10155791806263502 Centerline is valid? [True, False] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99996644e-01 -1.30112940e-03 -2.24030048e-03 5.96850139e+02] [ 1.31105758e-03 9.99989302e-01 4.43587738e-03 5.63773124e+01] [ 2.23450486e-03 -4.43879966e-03 9.99987652e-01 -1.49305706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.181400513 meters 0.09495455288695824 Centerline is valid? [False, True] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99996805e-01 -1.30198893e-03 -2.16681909e-03 5.96850075e+02] [ 1.31158128e-03 9.99989321e-01 4.43140729e-03 5.63774122e+01] [ 2.16102631e-03 -4.43423509e-03 9.99987834e-01 -1.49344912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.241400513 meters 0.10532098969514156 Centerline is valid? [True, False] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99996546e-01 -1.22317624e-03 -2.32650559e-03 5.96850652e+02] [ 1.23395411e-03 9.99988488e-01 4.63686175e-03 5.63765670e+01] [ 2.32080711e-03 -4.63971653e-03 9.99986543e-01 -1.49362663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.301400513 meters 0.10575732196817628 Centerline is valid? [False, False] Translation: X:596.85, Y:56.38, Z:-1.49 [[ 9.99977246e-01 -6.48956615e-03 -1.84210589e-03 5.96846829e+02] [ 6.48667168e-03 9.99977724e-01 -1.57293111e-03 5.63826580e+01] [ 1.85227250e-03 1.56094618e-03 9.99997066e-01 -1.48883846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.361400513 meters 0.10959192613325851 Centerline is valid? [False, False] Translation: X:596.83, Y:56.38, Z:-1.49 [[ 9.99999219e-01 1.24912729e-03 -5.08999657e-05 5.96829936e+02] [-1.24944886e-03 9.99975399e-01 -6.90212783e-03 5.63817731e+01] [ 4.22770772e-05 6.90218603e-03 9.99976179e-01 -1.49101539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.421400513 meters 0.0916086718180244 Centerline is valid? [False, True] Translation: X:596.83, Y:56.38, Z:-1.49 [[ 9.99982164e-01 5.97246566e-03 -4.19158501e-05 5.96830983e+02] [-5.97252720e-03 9.99980777e-01 -1.66590057e-03 5.63782424e+01] [ 3.19655104e-05 1.66612120e-03 9.99998612e-01 -1.49314484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.481400513 meters 0.10667544819646115 Centerline is valid? [True, False] Translation: X:596.83, Y:56.38, Z:-1.49 [[ 9.99982599e-01 5.89574938e-03 2.04614043e-04 5.96829990e+02] [-5.89536317e-03 9.99980930e-01 -1.83939768e-03 5.63787428e+01] [-2.15454769e-04 1.83815940e-03 9.99998287e-01 -1.49253173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.541400513 meters 0.1109570671904937 Centerline is valid? [False, False] Translation: X:596.83, Y:56.38, Z:-1.49 [[ 9.99981685e-01 6.03560396e-03 4.49107301e-04 5.96829291e+02] [-6.03495078e-03 9.99980750e-01 -1.44180030e-03 5.63768210e+01] [-4.57800791e-04 1.43906355e-03 9.99998860e-01 -1.49248660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.601400513 meters 0.10546708003153477 Centerline is valid? [False, False] Translation: X:596.85, Y:56.37, Z:-1.49 [[ 9.99988802e-01 -5.56179737e-04 -4.69956110e-03 5.96847592e+02] [ 5.74380366e-04 9.99992337e-01 3.87237399e-03 5.63712839e+01] [ 4.69737135e-03 -3.87502997e-03 9.99981459e-01 -1.48874862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.661400513 meters 0.09914956500581346 Centerline is valid? [False, True] Translation: X:596.85, Y:56.37, Z:-1.49 [[ 9.99976548e-01 -4.76762022e-03 -4.91671445e-03 5.96848140e+02] [ 4.76744404e-03 9.99988635e-01 -4.75524561e-05 5.63693635e+01] [ 4.91688528e-03 2.41111799e-05 9.99987912e-01 -1.48821342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.721400513 meters 0.10010081909705124 Centerline is valid? [True, False] Translation: X:596.85, Y:56.36, Z:-1.49 [[ 9.99976257e-01 -4.43645771e-03 -5.27278880e-03 5.96849782e+02] [ 4.44303965e-03 9.99989364e-01 1.23722666e-03 5.63641505e+01] [ 5.26724382e-03 -1.26062449e-03 9.99985333e-01 -1.48924222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.781400513 meters 0.08981827966073533 Centerline is valid? [False, True] Translation: X:596.85, Y:56.36, Z:-1.49 [[ 9.99976243e-01 -4.31908310e-03 -5.37197410e-03 5.96850247e+02] [ 4.32929700e-03 9.99988840e-01 1.89115848e-03 5.63612745e+01] [ 5.36374608e-03 -1.91437042e-03 9.99983783e-01 -1.48941980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.841400513 meters 0.09840634572526961 Centerline is valid? [True, True] Translation: X:596.91, Y:56.38, Z:-1.49 [[ 9.99965876e-01 -6.03348489e-03 -5.64308251e-03 5.96908149e+02] [ 6.03013815e-03 9.99981633e-01 -6.09895618e-04 5.63826724e+01] [ 5.64665866e-03 5.75846239e-04 9.99983892e-01 -1.48757438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.901400513 meters 0.08181543675011564 Centerline is valid? [True, True] Translation: X:596.97, Y:56.37, Z:-1.49 [[ 9.99929088e-01 -8.70843192e-03 -8.12298759e-03 5.96970157e+02] [ 8.70158437e-03 9.99961755e-01 -8.77946511e-04 5.63729980e+01] [ 8.13032246e-03 8.07201392e-04 9.99966623e-01 -1.49058374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.961400513 meters 0.08097570114996075 Centerline is valid? [True, True] Translation: X:597.03, Y:56.38, Z:-1.49 [[ 9.99898623e-01 -1.21360274e-02 -7.44718961e-03 5.97028798e+02] [ 1.21303660e-02 9.99926100e-01 -8.04909519e-04 5.63819465e+01] [ 7.45640767e-03 7.14490784e-04 9.99971945e-01 -1.49020440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.021400513 meters 0.0827192974825251 Centerline is valid? [True, True] Translation: X:597.09, Y:56.40, Z:-1.49 [[ 9.99829662e-01 -1.70693799e-02 -7.02019635e-03 5.97086943e+02] [ 1.70644692e-02 9.99854103e-01 -7.58820518e-04 5.63998836e+01] [ 7.03212472e-03 6.38895338e-04 9.99975070e-01 -1.48936746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.081400513 meters 0.06657716709062778 Centerline is valid? [True, True] Translation: X:597.15, Y:56.39, Z:-1.49 [[ 9.99682892e-01 -2.42496772e-02 -6.78739069e-03 5.97148608e+02] [ 2.42452512e-02 9.99705772e-01 -7.33630863e-04 5.63878982e+01] [ 6.80318396e-03 5.68836230e-04 9.99976696e-01 -1.49131384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.141400513 meters 0.05145253494167292 Centerline is valid? [True, True] Translation: X:597.21, Y:56.38, Z:-1.49 [[ 9.99313386e-01 -3.63899001e-02 -6.96649416e-03 5.97210276e+02] [ 3.63855305e-02 9.99337544e-01 -7.52991963e-04 5.63771981e+01] [ 6.98928046e-03 4.98995362e-04 9.99975450e-01 -1.48860414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.201400513 meters 0.05503149696503548 Centerline is valid? [True, True] Translation: X:597.27, Y:56.39, Z:-1.49 [[ 9.99224715e-01 -3.85460279e-02 -8.01079863e-03 5.97269545e+02] [ 3.85403192e-02 9.99256671e-01 -8.65842525e-04 5.63880346e+01] [ 8.03821876e-03 5.56432514e-04 9.99967538e-01 -1.48918116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.261400513 meters 0.04715085941814584 Centerline is valid? [True, True] Translation: X:597.33, Y:56.38, Z:-1.49 [[ 9.99345927e-01 -3.54741233e-02 -7.02170079e-03 5.97330801e+02] [ 3.54696619e-02 9.99370465e-01 -7.58926455e-04 5.63842538e+01] [ 7.04420264e-03 5.09372709e-04 9.99975060e-01 -1.48740208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.321400513 meters 0.060834343570010094 Centerline is valid? [True, True] Translation: X:597.39, Y:56.41, Z:-1.49 [[ 9.99603932e-01 -2.76008307e-02 -5.49298598e-03 5.97387830e+02] [ 2.75979824e-02 9.99618927e-01 -5.93664718e-04 5.64073592e+01] [ 5.50727839e-03 4.41834256e-04 9.99984737e-01 -1.48590780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.381400513 meters 0.052429482377325066 Centerline is valid? [True, True] Translation: X:597.45, Y:56.40, Z:-1.48 [[ 9.99668620e-01 -2.54324806e-02 -3.97976407e-03 5.97449495e+02] [ 2.54309690e-02 9.99676488e-01 -4.29968672e-04 5.64035097e+01] [ 3.98941174e-03 3.28616933e-04 9.99991988e-01 -1.48350559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.441400513 meters 0.05734032288315949 Centerline is valid? [True, True] Translation: X:597.51, Y:56.41, Z:-1.49 [[ 9.99765230e-01 -2.07642091e-02 -6.19132620e-03 5.97508613e+02] [ 2.07604619e-02 9.99784255e-01 -6.68885443e-04 5.64138050e+01] [ 6.20387933e-03 5.40193617e-04 9.99980610e-01 -1.48592238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.501400513 meters 0.07993117046247462 Centerline is valid? [True, True] Translation: X:597.57, Y:56.45, Z:-1.49 [[ 9.99835058e-01 -1.69614645e-02 -6.49355627e-03 5.97565115e+02] [ 1.69572628e-02 9.99855969e-01 -7.01579521e-04 5.64462807e+01] [ 6.50452082e-03 5.91350861e-04 9.99978671e-01 -1.48724396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.561400513 meters 0.07517059768086365 Centerline is valid? [True, True] Translation: X:597.63, Y:56.45, Z:-1.48 [[ 9.99793123e-01 -1.98211917e-02 -4.56405152e-03 5.97626599e+02] [ 1.98191456e-02 9.99803460e-01 -4.93114695e-04 5.64454989e+01] [ 4.57292862e-03 4.02557080e-04 9.99989463e-01 -1.48484475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.621400513 meters 0.07703942692525333 Centerline is valid? [True, True] Translation: X:597.69, Y:56.45, Z:-1.48 [[ 9.99796215e-01 -1.95381012e-02 -5.07841114e-03 5.97687417e+02] [ 1.95355644e-02 9.99809012e-01 -5.48656345e-04 5.64539729e+01] [ 5.08816093e-03 4.49334909e-04 9.99986954e-01 -1.48448059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.681400513 meters 0.05349517809138994 Centerline is valid? [True, True] Translation: X:597.75, Y:56.43, Z:-1.49 [[ 9.99745665e-01 -2.17594465e-02 -5.92718631e-03 5.97750679e+02] [ 2.17560356e-02 9.99763105e-01 -6.39343175e-04 5.64289508e+01] [ 5.93969394e-03 5.10228491e-04 9.99982230e-01 -1.48743751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.741400513 meters 0.07547462531501914 Centerline is valid? [True, True] Translation: X:597.81, Y:56.47, Z:-1.49 [[ 9.99763672e-01 -1.95928229e-02 -9.41917540e-03 5.97806391e+02] [ 1.95841138e-02 9.99807697e-01 -1.01597817e-03 5.64658070e+01] [ 9.43726994e-03 8.31271864e-04 9.99955122e-01 -1.49039990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.801400513 meters 0.07332217301029993 Centerline is valid? [True, True] Translation: X:597.87, Y:56.47, Z:-1.49 [[ 9.99767265e-01 -1.96873998e-02 -8.82167249e-03 5.97868788e+02] [ 1.96797659e-02 9.99805882e-01 -9.51338720e-04 5.64693598e+01] [ 8.83868943e-03 7.77508861e-04 9.99960636e-01 -1.48849048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.861400513 meters 0.05608408967047474 Centerline is valid? [True, True] Translation: X:597.93, Y:56.46, Z:-1.49 [[ 9.99579272e-01 -2.82220441e-02 -6.69296972e-03 5.97930128e+02] [ 2.82178412e-02 9.99601537e-01 -7.21578564e-04 5.64555705e+01] [ 6.71066724e-03 5.32413819e-04 9.99977341e-01 -1.48608447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.921400513 meters 0.05079827856698583 Centerline is valid? [True, True] Translation: X:597.99, Y:56.45, Z:-1.49 [[ 9.99409888e-01 -3.35151858e-02 -7.52378496e-03 5.97991096e+02] [ 3.35100235e-02 9.99438052e-01 -8.11173642e-04 5.64546913e+01] [ 7.54674362e-03 5.58572748e-04 9.99971367e-01 -1.48577483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.981400513 meters 0.05144627217988009 Centerline is valid? [True, True] Translation: X:598.05, Y:56.46, Z:-1.49 [[ 9.99364190e-01 -3.47813927e-02 -7.84035227e-03 5.98052264e+02] [ 3.47758265e-02 9.99394781e-01 -8.45194171e-04 5.64620087e+01] [ 7.86500417e-03 5.72002058e-04 9.99968907e-01 -1.48624390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.041400513 meters 0.05445517497036361 Centerline is valid? [True, True] Translation: X:598.11, Y:56.47, Z:-1.48 [[ 9.99418996e-01 -3.30978528e-02 -8.13648309e-03 5.98111428e+02] [ 3.30918053e-02 9.99451932e-01 -8.76795886e-04 5.64722893e+01] [ 8.16104380e-03 6.07035549e-04 9.99966514e-01 -1.48481021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.101400513 meters 0.05244879811987987 Centerline is valid? [True, True] Translation: X:598.17, Y:56.48, Z:-1.48 [[ 9.99451191e-01 -3.24043148e-02 -6.87581425e-03 5.98173832e+02] [ 3.23999831e-02 9.99474708e-01 -7.40485988e-04 5.64762156e+01] [ 6.89619738e-03 5.17303337e-04 9.99976087e-01 -1.48356579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.161400513 meters 0.054805165293226016 Centerline is valid? [True, True] Translation: X:598.23, Y:56.48, Z:-1.48 [[ 9.99633041e-01 -2.63424839e-02 -6.31328625e-03 5.98234278e+02] [ 2.63387168e-02 9.99652845e-01 -6.79103916e-04 5.64847219e+01] [ 6.32898385e-03 5.12570854e-04 9.99979840e-01 -1.48102955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.221400513 meters 0.08407264491970189 Centerline is valid? [True, True] Translation: X:598.29, Y:56.52, Z:-1.48 [[ 9.99821811e-01 -1.84421894e-02 -4.02887148e-03 5.98290449e+02] [ 1.84405917e-02 9.99829864e-01 -4.33358698e-04 5.65242285e+01] [ 4.03617810e-03 3.58986704e-04 9.99991790e-01 -1.47837402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.281400513 meters 0.07647144593561639 Centerline is valid? [True, True] Translation: X:598.35, Y:56.52, Z:-1.48 [[ 9.99873414e-01 -1.53753729e-02 -4.09327163e-03 5.98352418e+02] [ 1.53736983e-02 9.99881721e-01 -4.40263215e-04 5.65167598e+01] [ 4.09955669e-03 3.77278761e-04 9.99991526e-01 -1.47895304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.341400513 meters 0.08102710826508328 Centerline is valid? [True, True] Translation: X:598.41, Y:56.53, Z:-1.48 [[ 9.99929331e-01 -1.07522687e-02 -5.07173652e-03 5.98411891e+02] [ 1.07496398e-02 9.99942072e-01 -5.45321251e-04 5.65256432e+01] [ 5.07730617e-03 4.90763373e-04 9.99986990e-01 -1.48019802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.401400513 meters 0.09457092265287151 Centerline is valid? [True, True] Translation: X:598.47, Y:56.55, Z:-1.48 [[ 9.99989208e-01 -1.32450592e-03 -4.45308771e-03 5.98469415e+02] [ 1.32238651e-03 9.99999011e-01 -4.78854170e-04 5.65466833e+01] [ 4.45371755e-03 4.72960299e-04 9.99989970e-01 -1.47911927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.461400513 meters 0.09677865610033934 Centerline is valid? [True, True] Translation: X:598.53, Y:56.55, Z:-1.48 [[ 9.99984888e-01 3.28424999e-03 -4.40880480e-03 5.98528833e+02] [-3.28637153e-03 9.99994488e-01 -4.74046386e-04 5.65546771e+01] [ 4.40722361e-03 4.88528193e-04 9.99990169e-01 -1.47955849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.521400513 meters 0.10558067006918646 Centerline is valid? [True, False] Translation: X:598.53, Y:56.55, Z:-1.48 [[ 9.99983608e-01 3.44524573e-03 -4.57309413e-03 5.98529716e+02] [-3.44567233e-03 9.99994060e-01 -8.54078221e-05 5.65531778e+01] [ 4.57277271e-03 1.01163806e-04 9.99989540e-01 -1.48039300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.581400513 meters 0.10431416405311858 Centerline is valid? [False, False] Translation: X:598.53, Y:56.55, Z:-1.48 [[ 9.99982131e-01 3.64025752e-03 -4.74195740e-03 5.98530541e+02] [-3.63801475e-03 9.99993266e-01 4.81503670e-04 5.65508907e+01] [ 4.74367827e-03 -4.64243755e-04 9.99988641e-01 -1.48110045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.641400513 meters 0.08835623399451552 Centerline is valid? [False, True] Translation: X:598.53, Y:56.55, Z:-1.48 [[ 9.99981257e-01 3.78292720e-03 -4.81408313e-03 5.98530788e+02] [-3.77860672e-03 9.99992450e-01 9.06245369e-04 5.65489876e+01] [ 4.81747505e-03 -8.88037856e-04 9.99988002e-01 -1.48105522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.701400513 meters 0.09086955145283626 Centerline is valid? [True, True] Translation: X:598.59, Y:56.56, Z:-1.48 [[ 9.99977626e-01 4.08742034e-03 -5.29532661e-03 5.98588295e+02] [-4.09026548e-03 9.99991496e-01 -5.26575486e-04 5.65605957e+01] [ 5.29312924e-03 5.48222996e-04 9.99985841e-01 -1.47902336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.761400513 meters 0.0908297563072683 Centerline is valid? [True, True] Translation: X:598.65, Y:56.57, Z:-1.48 [[ 9.99961089e-01 6.93100262e-03 -5.45717786e-03 5.98647946e+02] [-6.93406742e-03 9.99975812e-01 -5.42889095e-04 5.65682435e+01] [ 5.45328310e-03 5.80708410e-04 9.99984962e-01 -1.47859063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.821400513 meters 0.09282883467443243 Centerline is valid? [True, True] Translation: X:598.71, Y:56.58, Z:-1.48 [[ 9.99938303e-01 1.03455445e-02 -4.04482700e-03 5.98707375e+02] [-1.03472559e-02 9.99946385e-01 -4.02420037e-04 5.65773516e+01] [ 4.04044688e-03 4.44248069e-04 9.99991739e-01 -1.47670786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.881400513 meters 0.08937540198467439 Centerline is valid? [True, True] Translation: X:598.77, Y:56.58, Z:-1.47 [[ 9.99965546e-01 8.18484599e-03 -1.38383844e-03 5.98767492e+02] [-8.18504427e-03 9.99966492e-01 -1.37682507e-04 5.65804206e+01] [ 1.38266516e-03 1.49004542e-04 9.99999033e-01 -1.47343531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.941400513 meters 0.08951182183707548 Centerline is valid? [True, True] Translation: X:598.83, Y:56.59, Z:-1.47 [[ 9.99978776e-01 6.31131176e-03 -1.61692707e-03 5.98827313e+02] [-6.31158005e-03 9.99980069e-01 -1.60877618e-04 5.65861456e+01] [ 1.61587950e-03 1.71079568e-04 9.99998680e-01 -1.47381886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.001400513 meters 0.08713599419102706 Centerline is valid? [True, True] Translation: X:598.89, Y:56.59, Z:-1.47 [[ 9.99996725e-01 3.50432758e-04 -2.53514733e-03 5.98887427e+02] [-3.51073356e-04 9.99999907e-01 -2.52246148e-04 5.65869012e+01] [ 2.53505869e-03 2.53135345e-04 9.99996755e-01 -1.47488373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.061400513 meters 0.08579293358723764 Centerline is valid? [True, True] Translation: X:598.95, Y:56.59, Z:-1.48 [[ 9.99991415e-01 -2.36854961e-03 -3.40003413e-03 5.98947862e+02] [ 2.36741283e-03 9.99997140e-01 -3.38329412e-04 5.65889886e+01] [ 3.40082576e-03 3.30277223e-04 9.99994163e-01 -1.47625608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.121400513 meters 0.08308010944009418 Centerline is valid? [True, True] Translation: X:599.01, Y:56.59, Z:-1.48 [[ 9.99978943e-01 -3.90556326e-03 -5.18260838e-03 5.99008109e+02] [ 3.90294169e-03 9.99992250e-01 -5.15857074e-04 5.65927958e+01] [ 5.18458293e-03 4.95618793e-04 9.99986437e-01 -1.47779045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.181400513 meters 0.08220832004301194 Centerline is valid? [True, True] Translation: X:599.07, Y:56.60, Z:-1.48 [[ 9.99984250e-01 -2.24233107e-03 -5.14509348e-03 5.99067599e+02] [ 2.23972517e-03 9.99997361e-01 -5.12187921e-04 5.65977799e+01] [ 5.14622839e-03 5.00656258e-04 9.99986633e-01 -1.47768663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.241400513 meters 0.09152339996550841 Centerline is valid? [True, True] Translation: X:599.13, Y:56.62, Z:-1.48 [[ 9.99987265e-01 -1.95445368e-04 -5.04292847e-03 5.99125408e+02] [ 1.92915823e-04 9.99999855e-01 -5.02083906e-04 5.66159279e+01] [ 5.04302587e-03 5.01104652e-04 9.99987158e-01 -1.47730213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.301400513 meters 0.09088718008212222 Centerline is valid? [True, True] Translation: X:599.18, Y:56.63, Z:-1.48 [[ 9.99979845e-01 2.20966391e-03 -5.95203134e-03 5.99184823e+02] [-2.21323037e-03 9.99997375e-01 -5.92680542e-04 5.66252666e+01] [ 5.95070609e-03 6.05841813e-04 9.99982111e-01 -1.47782934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.361400513 meters 0.08578785822526905 Centerline is valid? [True, True] Translation: X:599.24, Y:56.63, Z:-1.48 [[ 9.99975854e-01 1.87285493e-03 -6.69208135e-03 5.99244352e+02] [-1.87735719e-03 9.99998016e-01 -6.66556745e-04 5.66258835e+01] [ 6.69081971e-03 6.79104077e-04 9.99977386e-01 -1.47942205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.421400513 meters 0.08382883636479464 Centerline is valid? [True, True] Translation: X:599.30, Y:56.63, Z:-1.48 [[ 9.99981607e-01 8.01366298e-04 -6.01196056e-03 5.99304360e+02] [-8.04981978e-04 9.99999497e-01 -5.99018693e-04 5.66317519e+01] [ 6.01147750e-03 6.03847195e-04 9.99981749e-01 -1.47856762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.481400513 meters 0.08282759508662178 Centerline is valid? [True, True] Translation: X:599.36, Y:56.64, Z:-1.48 [[ 9.99975234e-01 -3.95165661e-03 -5.82376769e-03 5.99363862e+02] [ 3.94834297e-03 9.99992037e-01 -5.80371948e-04 5.66359018e+01] [ 5.82601475e-03 5.57363342e-04 9.99982873e-01 -1.47747250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.541400513 meters 0.08469564343066724 Centerline is valid? [True, True] Translation: X:599.42, Y:56.64, Z:-1.48 [[ 9.99959216e-01 -7.17924270e-03 -5.47952801e-03 5.99423146e+02] [ 7.17635728e-03 9.99974101e-01 -5.46061165e-04 5.66438534e+01] [ 5.48330639e-03 5.06715844e-04 9.99984838e-01 -1.47682687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.601400513 meters 0.07800906627356735 Centerline is valid? [True, True] Translation: X:599.48, Y:56.64, Z:-1.48 [[ 9.99952331e-01 -8.52796197e-03 -4.75504577e-03 5.99484816e+02] [ 8.52580442e-03 9.99963542e-01 -4.73825014e-04 5.66411434e+01] [ 4.75891317e-03 4.33261837e-04 9.99988582e-01 -1.47621893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.661400513 meters 0.08374847138186528 Centerline is valid? [True, True] Translation: X:599.54, Y:56.65, Z:-1.47 [[ 9.99978413e-01 -5.48056437e-03 -3.62455203e-03 5.99544041e+02] [ 5.47929105e-03 9.99984923e-01 -3.61141126e-04 5.66544266e+01] [ 3.62647664e-03 3.41273354e-04 9.99993366e-01 -1.47344234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.721400513 meters 0.08366699568060623 Centerline is valid? [True, True] Translation: X:599.60, Y:56.66, Z:-1.47 [[ 9.99984142e-01 -3.33780941e-03 -4.53588056e-03 5.99604462e+02] [ 3.33579359e-03 9.99994334e-01 -4.51910387e-04 5.66625615e+01] [ 4.53736325e-03 4.36772459e-04 9.99989611e-01 -1.47443742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.781400513 meters 0.08377753572372845 Centerline is valid? [True, True] Translation: X:599.66, Y:56.67, Z:-1.47 [[ 9.99996571e-01 1.38521178e-03 -2.22257388e-03 5.99664751e+02] [-1.38570732e-03 9.99999015e-01 -2.21432927e-04 5.66694118e+01] [ 2.22226496e-03 2.24512005e-04 9.99997506e-01 -1.47290755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.841400513 meters 0.08274672187824322 Centerline is valid? [True, True] Translation: X:599.72, Y:56.68, Z:-1.47 [[ 9.99997138e-01 3.13624719e-04 -2.37184393e-03 5.99723930e+02] [-3.14186032e-04 9.99999923e-01 -2.36287762e-04 5.66751647e+01] [ 2.37176964e-03 2.37032286e-04 9.99997159e-01 -1.47108299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.901400513 meters 0.08270320325666256 Centerline is valid? [True, True] Translation: X:599.78, Y:56.68, Z:-1.48 [[ 9.99978860e-01 -3.37465920e-03 -5.55802097e-03 5.99782958e+02] [ 3.37163192e-03 9.99994163e-01 -5.53947747e-04 5.66778454e+01] [ 5.55985791e-03 5.35196435e-04 9.99984401e-01 -1.47698136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.961400513 meters 0.08444608622856596 Centerline is valid? [True, True] Translation: X:599.84, Y:56.69, Z:-1.48 [[ 9.99981708e-01 -1.92831473e-03 -5.73276164e-03 5.99842280e+02] [ 1.92506989e-03 9.99997984e-01 -5.71480407e-04 5.66850870e+01] [ 5.73385208e-03 5.60433987e-04 9.99983404e-01 -1.47624903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.021400513 meters 0.0831184908190587 Centerline is valid? [True, True] Translation: X:599.90, Y:56.69, Z:-1.48 [[ 9.99983616e-01 3.64744479e-04 -5.71272741e-03 5.99902465e+02] [-3.68003936e-04 9.99999770e-01 -5.69519765e-04 5.66884142e+01] [ 5.71251836e-03 5.71612740e-04 9.99983520e-01 -1.47518950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.081400513 meters 0.09111347285676906 Centerline is valid? [True, True] Translation: X:599.96, Y:56.70, Z:-1.48 [[ 9.99955822e-01 7.39618996e-03 -5.80095574e-03 5.99961384e+02] [-7.39966807e-03 9.99972455e-01 -5.78341464e-04 5.67019076e+01] [ 5.79651843e-03 6.21241061e-04 9.99983007e-01 -1.47547328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.141400513 meters 0.09300083520201054 Centerline is valid? [True, True] Translation: X:600.02, Y:56.71, Z:-1.47 [[ 9.99920735e-01 1.13671888e-02 -5.41398772e-03 6.00021423e+02] [-1.13702761e-02 9.99935211e-01 -5.39794882e-04 5.67109988e+01] [ 5.40750100e-03 6.01310630e-04 9.99985199e-01 -1.47473447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.201400513 meters 0.09453462761282033 Centerline is valid? [True, True] Translation: X:600.08, Y:56.72, Z:-1.47 [[ 9.99902438e-01 1.31197934e-02 -4.79429456e-03 6.00081405e+02] [-1.31222343e-02 9.99913786e-01 -4.78024047e-04 5.67191884e+01] [ 4.78760965e-03 5.40889266e-04 9.99988393e-01 -1.47307211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.261400513 meters 0.09603323359962614 Centerline is valid? [True, True] Translation: X:600.14, Y:56.73, Z:-1.48 [[ 9.99923931e-01 1.00627468e-02 -7.13256096e-03 6.00140509e+02] [-1.00680731e-02 9.99949063e-01 -7.11242513e-04 5.67258786e+01] [ 7.12504059e-03 7.82999554e-04 9.99974310e-01 -1.47535528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.321400513 meters 0.08710057787465325 Centerline is valid? [True, True] Translation: X:600.20, Y:56.72, Z:-1.47 [[ 9.99974248e-01 -2.95720526e-04 -7.17049583e-03 6.00201764e+02] [ 2.90600367e-04 9.99999702e-01 -7.15090514e-04 5.67183656e+01] [ 7.17070516e-03 7.12988350e-04 9.99974036e-01 -1.47479077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.381400513 meters 0.07831690721274544 Centerline is valid? [True, True] Translation: X:600.26, Y:56.71, Z:-1.47 [[ 9.99929017e-01 -1.02052796e-02 -6.14921604e-03 6.00263778e+02] [ 1.02016996e-02 9.99947773e-01 -6.13268877e-04 5.67083245e+01] [ 6.15515347e-03 5.50492890e-04 9.99980905e-01 -1.47437233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.441400513 meters 0.07747033543223367 Centerline is valid? [True, True] Translation: X:600.32, Y:56.71, Z:-1.48 [[ 9.99727275e-01 -2.16105401e-02 -8.85217654e-03 6.00323914e+02] [ 2.16035647e-02 9.99766226e-01 -8.82855446e-04 5.67070558e+01] [ 8.86918611e-03 6.91376100e-04 9.99960429e-01 -1.47684471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.501400513 meters 0.07056387484290345 Centerline is valid? [True, True] Translation: X:600.39, Y:56.70, Z:-1.48 [[ 9.99615995e-01 -2.64049587e-02 -8.40478593e-03 6.00385689e+02] [ 2.63988393e-02 9.99651138e-01 -8.38213519e-04 5.67001199e+01] [ 8.42398681e-03 6.16015048e-04 9.99964328e-01 -1.47611549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.561400513 meters 0.061812720153152444 Centerline is valid? [True, True] Translation: X:600.45, Y:56.69, Z:-1.47 [[ 9.99582782e-01 -2.80386804e-02 -6.93495064e-03 6.00447581e+02] [ 2.80345537e-02 9.99606715e-01 -6.91566643e-04 5.66928470e+01] [ 6.95161385e-03 4.96859863e-04 9.99975714e-01 -1.47123988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.621400513 meters 0.06273824249067012 Centerline is valid? [True, True] Translation: X:600.51, Y:56.70, Z:-1.47 [[ 9.99581003e-01 -2.83018315e-02 -6.06830611e-03 6.00509298e+02] [ 2.82986802e-02 9.99599329e-01 -6.04565192e-04 5.67009763e+01] [ 6.08298502e-03 4.32586827e-04 9.99981405e-01 -1.46867291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.681400513 meters 0.05962164456537633 Centerline is valid? [True, True] Translation: X:600.57, Y:56.70, Z:-1.47 [[ 9.99526944e-01 -2.98901101e-02 -7.24358757e-03 6.00570914e+02] [ 2.98856668e-02 9.99553064e-01 -7.20898798e-04 5.67047828e+01] [ 7.26189789e-03 5.04078328e-04 9.99973505e-01 -1.47013951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.741400513 meters 0.060258096011782114 Centerline is valid? [True, True] Translation: X:600.63, Y:56.71, Z:-1.47 [[ 9.99482884e-01 -3.13869105e-02 -6.98754318e-03 6.00631040e+02] [ 3.13828137e-02 9.99507196e-01 -6.95210697e-04 5.67147736e+01] [ 7.00592021e-03 4.75562427e-04 9.99975345e-01 -1.46984293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.801400513 meters 0.052089307081892355 Centerline is valid? [True, True] Translation: X:600.69, Y:56.71, Z:-1.47 [[ 9.99407658e-01 -3.37109559e-02 -6.92136739e-03 6.00691470e+02] [ 3.37069923e-02 9.99431521e-01 -6.88555621e-04 5.67139419e+01] [ 6.94064461e-03 4.54849283e-04 9.99975810e-01 -1.46855480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.861400513 meters 0.04144106268855775 Centerline is valid? [True, True] Translation: X:600.75, Y:56.71, Z:-1.47 [[ 9.99120593e-01 -4.10729152e-02 -8.42945781e-03 6.00753179e+02] [ 4.10672975e-02 9.99156031e-01 -8.38528563e-04 5.67112992e+01] [ 8.45678442e-03 4.91616104e-04 9.99964120e-01 -1.46947843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.921400513 meters 0.039363779700881764 Centerline is valid? [True, True] Translation: X:600.81, Y:56.72, Z:-1.47 [[ 9.98798042e-01 -4.80616134e-02 -9.62045181e-03 6.00812333e+02] [ 4.80546194e-02 9.98844251e-01 -9.56966161e-04 5.67155478e+01] [ 9.65532632e-03 4.93508778e-04 9.99953264e-01 -1.47205888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.981400513 meters 0.03450362396097367 Centerline is valid? [True, True] Translation: X:600.87, Y:56.72, Z:-1.47 [[ 9.98429233e-01 -5.54304766e-02 -8.15653038e-03 6.00872973e+02] [ 5.54256947e-02 9.98462485e-01 -8.11325931e-04 5.67191506e+01] [ 8.18896178e-03 3.57970165e-04 9.99966406e-01 -1.46829490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.041400513 meters 0.037638888275398005 Centerline is valid? [True, True] Translation: X:600.93, Y:56.73, Z:-1.47 [[ 9.98269571e-01 -5.83812138e-02 -7.03540230e-03 6.00932409e+02] [ 5.83777293e-02 9.98294321e-01 -6.99798747e-04 5.67308168e+01] [ 7.06425726e-03 2.87876984e-04 9.99975006e-01 -1.46702295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.101400513 meters 0.030731614670888186 Centerline is valid? [True, True] Translation: X:600.99, Y:56.73, Z:-1.47 [[ 9.98096192e-01 -6.13077678e-02 -6.73410813e-03 6.00993914e+02] [ 6.13046422e-02 9.98118877e-01 -6.69784660e-04 5.67295146e+01] [ 6.76250345e-03 2.55677429e-04 9.99977101e-01 -1.46647166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.161400513 meters 0.027396672399854244 Centerline is valid? [True, True] Translation: X:601.05, Y:56.74, Z:-1.46 [[ 9.97899474e-01 -6.45102321e-02 -5.92202554e-03 6.01054443e+02] [ 6.45078715e-02 9.97917024e-01 -5.88948179e-04 5.67353587e+01] [ 5.94768329e-03 2.05693814e-04 9.99982291e-01 -1.46373743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.221400513 meters 0.024004908899818805 Centerline is valid? [True, True] Translation: X:601.12, Y:56.74, Z:-1.46 [[ 9.97696187e-01 -6.77688447e-02 -3.11490849e-03 6.01115135e+02] [ 6.77682076e-02 9.97701044e-01 -3.09758447e-04 5.67416708e+01] [ 3.12873942e-03 9.79530561e-05 9.99995101e-01 -1.46009372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.281400513 meters 0.022918805629010296 Centerline is valid? [True, True] Translation: X:601.18, Y:56.75, Z:-1.46 [[ 9.97590927e-01 -6.93224402e-02 -2.59631611e-03 6.01176824e+02] [ 6.93220027e-02 9.97594303e-01 -2.58207319e-04 5.67487364e+01] [ 2.60796972e-03 7.76034462e-05 9.99996596e-01 -1.46014053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.341400513 meters 0.022853259920099334 Centerline is valid? [True, True] Translation: X:601.24, Y:56.76, Z:-1.46 [[ 9.97299617e-01 -7.32082082e-02 -5.83367013e-03 6.01236417e+02] [ 7.32060737e-02 9.97316668e-01 -5.78890677e-04 5.67590179e+01] [ 5.86039600e-03 1.50267366e-04 9.99982816e-01 -1.46240162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.401400513 meters 0.019494194672135146 Centerline is valid? [True, True] Translation: X:601.30, Y:56.76, Z:-1.46 [[ 9.97138267e-01 -7.53051825e-02 -6.66382455e-03 6.01298713e+02] [ 7.53024496e-02 9.97160521e-01 -6.60418683e-04 5.67619268e+01] [ 6.69463571e-03 1.56726428e-04 9.99977578e-01 -1.46328717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.461400513 meters 0.019640778342467188 Centerline is valid? [True, True] Translation: X:601.36, Y:56.77, Z:-1.46 [[ 9.96943744e-01 -7.79355723e-02 -5.40544196e-03 6.01358516e+02] [ 7.79338151e-02 9.96958391e-01 -5.35291965e-04 5.67686340e+01] [ 5.43071901e-03 1.12389262e-04 9.99985247e-01 -1.46315191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.521400513 meters 0.01654521641674556 Centerline is valid? [True, True] Translation: X:601.42, Y:56.78, Z:-1.46 [[ 9.96778893e-01 -8.00545548e-02 -4.80687372e-03 6.01420063e+02] [ 8.00531915e-02 9.96790480e-01 -4.75674836e-04 5.67759754e+01] [ 4.82952590e-03 8.93370542e-05 9.99988334e-01 -1.45943223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.581400513 meters 0.01782247631588598 Centerline is valid? [True, True] Translation: X:601.48, Y:56.78, Z:-1.46 [[ 9.96746800e-01 -8.04186200e-02 -5.35367019e-03 6.01482231e+02] [ 8.04169391e-02 9.96761173e-01 -5.28856940e-04 5.67833323e+01] [ 5.37886053e-03 9.66106928e-05 9.99985529e-01 -1.46132100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.641400513 meters 0.01900586024300325 Centerline is valid? [True, True] Translation: X:601.54, Y:56.80, Z:-1.46 [[ 9.96853219e-01 -7.92268621e-02 -2.60063875e-03 6.01542940e+02] [ 7.92264619e-02 9.96856610e-01 -2.56715109e-04 5.67966157e+01] [ 2.61280266e-03 4.98678761e-05 9.99996585e-01 -1.45735016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.701400513 meters 0.016228060428054514 Centerline is valid? [True, True] Translation: X:601.60, Y:56.80, Z:-1.46 [[ 9.96796535e-01 -7.98999807e-02 -3.55823473e-03 6.01604767e+02] [ 7.98992383e-02 9.96802884e-01 -3.50537582e-04 5.68032949e+01] [ 3.57486658e-03 6.51144028e-05 9.99993608e-01 -1.45868712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.761400513 meters 0.011564988958192988 Centerline is valid? [True, True] Translation: X:601.66, Y:56.80, Z:-1.46 [[ 9.95975733e-01 -8.95833252e-02 -2.67733158e-03 6.01664629e+02] [ 8.95829407e-02 9.95979331e-01 -2.63411452e-04 5.68014431e+01] [ 2.69016419e-03 2.25081776e-05 9.99996381e-01 -1.45742616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.821400513 meters 0.008440190437409362 Centerline is valid? [True, True] Translation: X:601.73, Y:56.80, Z:-1.46 [[ 9.95440270e-01 -9.53606441e-02 -2.23982588e-03 6.01727625e+02] [ 9.53603897e-02 9.95442790e-01 -2.20361729e-04 5.68016860e+01] [ 2.25063236e-03 5.76626983e-06 9.99997467e-01 -1.45733065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.881400513 meters 0.008676382326248804 Centerline is valid? [True, True] Translation: X:601.79, Y:56.80, Z:-1.46 [[ 9.94872027e-01 -1.01074849e-01 -3.67754519e-03 6.01790471e+02] [ 1.01074205e-01 9.94878824e-01 -3.60899267e-04 5.67968877e+01] [ 3.69518968e-03 -1.26563715e-05 9.99993173e-01 -1.46233895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.941400513 meters 0.01192929172335268 Centerline is valid? [True, True] Translation: X:601.85, Y:56.79, Z:-1.47 [[ 9.94056314e-01 -1.08640931e-01 -7.01375955e-03 6.01853635e+02] [ 1.08638786e-01 9.94081054e-01 -6.87150826e-04 5.67903889e+01] [ 7.04689820e-03 -7.88997065e-05 9.99975167e-01 -1.46564331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.001400513 meters 0.02346156861626156 Centerline is valid? [True, True] Translation: X:601.92, Y:56.76, Z:-1.47 [[ 9.91953501e-01 -1.26223909e-01 -9.78653869e-03 6.01917143e+02] [ 1.26220590e-01 9.92001736e-01 -9.58525479e-04 5.67632490e+01] [ 9.82925220e-03 -2.84449978e-04 9.99951651e-01 -1.47058317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.061400513 meters 0.030593652799254092 Centerline is valid? [True, True] Translation: X:601.98, Y:56.75, Z:-1.46 [[ 9.91051623e-01 -1.33350778e-01 -5.85239688e-03 6.01978882e+02] [ 1.33349715e-01 9.91068880e-01 -5.73164438e-04 5.67522897e+01] [ 5.87656034e-03 -2.12379912e-04 9.99982710e-01 -1.46430721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.121400513 meters 0.031206199873353064 Centerline is valid? [True, True] Translation: X:602.04, Y:56.75, Z:-1.46 [[ 9.90836781e-01 -1.35037880e-01 -2.69144623e-03 6.02041272e+02] [ 1.35037662e-01 9.90840431e-01 -2.63614164e-04 5.67496864e+01] [ 2.70239165e-03 -1.02247996e-04 9.99996343e-01 -1.46089489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.181400513 meters 0.029619072103032378 Centerline is valid? [True, True] Translation: X:602.10, Y:56.74, Z:-1.46 [[ 9.91130750e-01 -1.32746904e-01 -6.17220575e-03 6.02102553e+02] [ 1.32745717e-01 9.91149944e-01 -6.03494237e-04 5.67444188e+01] [ 6.19769337e-03 -2.21192180e-04 9.99980770e-01 -1.46231140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.241400513 meters 0.026691834273644695 Centerline is valid? [True, True] Translation: X:602.16, Y:56.75, Z:-1.46 [[ 9.91621882e-01 -1.29095795e-01 -4.50764403e-03 6.02162697e+02] [ 1.29095124e-01 9.91632117e-01 -4.40715373e-04 5.67498353e+01] [ 4.52681910e-03 -1.44891856e-04 9.99989743e-01 -1.46088159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.301400513 meters 0.023312421393479516 Centerline is valid? [True, True] Translation: X:602.22, Y:56.75, Z:-1.46 [[ 9.92548857e-01 -1.21757629e-01 -4.67403129e-03 6.02222890e+02] [ 1.21756826e-01 9.92559855e-01 -4.56982278e-04 5.67530424e+01] [ 4.69489690e-03 -1.15517979e-04 9.99988972e-01 -1.46110615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.361400513 meters 0.01874275784724667 Centerline is valid? [True, True] Translation: X:602.28, Y:56.76, Z:-1.46 [[ 9.93416168e-01 -1.14530170e-01 -2.67538219e-03 6.02282993e+02] [ 1.14529881e-01 9.93419769e-01 -2.61576448e-04 5.67641701e+01] [ 2.68773596e-03 -4.65569311e-05 9.99996387e-01 -1.45984803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.421400513 meters 0.01411807749630268 Centerline is valid? [True, True] Translation: X:602.34, Y:56.77, Z:-1.46 [[ 9.93761924e-01 -1.11521040e-01 -5.44946948e-04 6.02344969e+02] [ 1.11521027e-01 9.93762073e-01 -5.36574957e-05 5.67724589e+01] [ 5.47531549e-04 -7.45026748e-06 9.99999850e-01 -1.45695489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.481400513 meters 0.012796105335672603 Centerline is valid? [True, True] Translation: X:602.41, Y:56.78, Z:-1.46 [[ 9.93988632e-01 -1.09467291e-01 -1.87420727e-03 6.02407168e+02] [ 1.09467140e-01 9.93990398e-01 -1.82988131e-04 5.67818417e+01] [ 1.88297525e-03 -2.32759887e-05 9.99998227e-01 -1.45731089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.541400513 meters 0.016189252571085392 Centerline is valid? [True, True] Translation: X:602.47, Y:56.79, Z:-1.46 [[ 9.93846746e-01 -1.10747246e-01 -1.92148571e-03 6.02468792e+02] [ 1.10747091e-01 9.93848604e-01 -1.87501081e-04 5.67900764e+01] [ 1.93043112e-03 -2.64516126e-05 9.99998136e-01 -1.45735686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.601400513 meters 0.017367925829158685 Centerline is valid? [True, True] Translation: X:602.53, Y:56.79, Z:-1.46 [[ 9.93384261e-01 -1.14827229e-01 -1.55450795e-03 6.02530284e+02] [ 1.14827133e-01 9.93385477e-01 -1.51407703e-04 5.67924381e+01] [ 1.56161135e-03 -2.80936619e-05 9.99998780e-01 -1.45721736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.661400513 meters 0.02327792264009404 Centerline is valid? [True, True] Translation: X:602.59, Y:56.79, Z:-1.46 [[ 9.92115179e-01 -1.25282091e-01 -3.44520577e-03 6.02591103e+02] [ 1.25281682e-01 9.92121156e-01 -3.35047140e-04 5.67941004e+01] [ 3.46003694e-03 -9.92158214e-05 9.99994009e-01 -1.45959848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.721400513 meters 0.02863179430327952 Centerline is valid? [True, True] Translation: X:602.65, Y:56.80, Z:-1.46 [[ 9.91377457e-01 -1.30989381e-01 -3.53834713e-03 6.02650724e+02] [ 1.30988987e-01 9.91383764e-01 -3.43989942e-04 5.67960089e+01] [ 3.55291893e-03 -1.22460633e-04 9.99993681e-01 -1.45950219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.781400513 meters 0.032877001741399105 Centerline is valid? [True, True] Translation: X:602.71, Y:56.80, Z:-1.46 [[ 9.91325070e-01 -1.31427423e-01 -1.19956969e-03 6.02711850e+02] [ 1.31427378e-01 9.91325794e-01 -1.16822897e-04 5.68024992e+01] [ 1.20451811e-03 -4.18468320e-05 9.99999274e-01 -1.45555840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.841400513 meters 0.026199121860567276 Centerline is valid? [True, True] Translation: X:602.77, Y:56.82, Z:-1.46 [[ 9.91977400e-01 -1.26409996e-01 -1.16226213e-03 6.02771290e+02] [ 1.26409951e-01 9.91978080e-01 -1.12795700e-04 5.68204854e+01] [ 1.16719706e-03 -3.50307138e-05 9.99999318e-01 -1.45759048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.901400513 meters 0.018728595062287155 Centerline is valid? [True, True] Translation: X:602.83, Y:56.85, Z:-1.45 [[ 9.93531925e-01 -1.13551721e-01 5.66110029e-04 6.02829609e+02] [ 1.13551708e-01 9.93532086e-01 5.48707739e-05 5.68480915e+01] [-5.68679149e-04 9.76689528e-06 9.99999838e-01 -1.45436460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.961400513 meters 0.011425068038906597 Centerline is valid? [True, True] Translation: X:602.89, Y:56.87, Z:-1.45 [[ 9.94802220e-01 -1.01822521e-01 8.47514561e-04 6.02888393e+02] [ 1.01822488e-01 9.94802581e-01 8.21455911e-05 5.68743564e+01] [-8.51473943e-04 4.57742485e-06 9.99999637e-01 -1.45255582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.021400513 meters 0.011097531622945567 Centerline is valid? [True, True] Translation: X:602.95, Y:56.91, Z:-1.45 [[ 9.96247699e-01 -8.64541845e-02 4.02433169e-03 6.02947640e+02] [ 8.64533174e-02 9.96255827e-01 3.89249739e-04 5.69053422e+01] [-4.04291616e-03 -3.98723321e-05 9.99991827e-01 -1.45152391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.081400513 meters 0.01788322060007208 Centerline is valid? [True, True] Translation: X:603.01, Y:56.93, Z:-1.45 [[ 9.96888881e-01 -7.87469396e-02 3.38785829e-03 6.03005337e+02] [ 7.87462793e-02 9.96894636e-01 3.28055829e-04 5.69301627e+01] [-3.40317115e-03 -6.02539729e-05 9.99994207e-01 -1.45040100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.141400513 meters 0.014623767410015864 Centerline is valid? [True, True] Translation: X:603.07, Y:56.94, Z:-1.45 [[ 9.96813716e-01 -7.97169358e-02 2.76130712e-03 6.03067365e+02] [ 7.97165034e-02 9.96817540e-01 2.66462997e-04 5.69383798e+01] [-2.77376098e-03 -4.54922218e-05 9.99996152e-01 -1.45306601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.201400513 meters 0.012370913963852734 Centerline is valid? [True, True] Translation: X:603.13, Y:56.94, Z:-1.45 [[ 9.96362467e-01 -8.51631230e-02 3.01262629e-03 6.03127336e+02] [ 8.51626319e-02 9.96367021e-01 2.91160757e-04 5.69423511e+01] [-3.02647764e-03 -3.35384660e-05 9.99995420e-01 -1.44895234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.261400513 meters 0.0123555551224505 Centerline is valid? [True, True] Translation: X:603.19, Y:56.94, Z:-1.46 [[ 9.96195332e-01 -8.71452535e-02 -7.51358510e-04 6.03190157e+02] [ 8.71452232e-02 9.96195616e-01 -7.29586330e-05 5.69439088e+01] [ 7.54858052e-04 7.20374459e-06 9.99999715e-01 -1.45671770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.321400513 meters 0.014101853285097112 Centerline is valid? [True, True] Translation: X:603.25, Y:56.95, Z:-1.45 [[ 9.96579215e-01 -8.26353546e-02 1.12524882e-03 6.03251166e+02] [ 8.26352850e-02 9.96579850e-01 1.08282900e-04 5.69543422e+01] [-1.13034830e-03 -1.49272298e-05 9.99999361e-01 -1.45232655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.381400513 meters 0.016365803808215878 Centerline is valid? [True, True] Translation: X:603.31, Y:56.96, Z:-1.45 [[ 9.96860881e-01 -7.91686155e-02 8.45357620e-04 6.03312351e+02] [ 7.91685753e-02 9.96861239e-01 8.09619300e-05 5.69627716e+01] [-8.49113889e-04 -1.37820225e-05 9.99999639e-01 -1.45314292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.441400513 meters 0.02117302390129797 Centerline is valid? [True, True] Translation: X:603.37, Y:56.97, Z:-1.45 [[ 9.97262576e-01 -7.39265533e-02 1.48952514e-03 6.03371706e+02] [ 7.39264218e-02 9.97263688e-01 1.43182609e-04 5.69701872e+01] [-1.49603433e-03 -3.26753933e-05 9.99998880e-01 -1.45386098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.501400513 meters 0.022606397687740757 Centerline is valid? [True, True] Translation: X:603.43, Y:56.98, Z:-1.45 [[ 9.97782904e-01 -6.64634504e-02 3.44771791e-03 6.03431944e+02] [ 6.64627008e-02 9.97788855e-01 3.31676022e-04 5.69785018e+01] [-3.46213884e-03 -1.01796020e-04 9.99994002e-01 -1.45138165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.561400513 meters 0.03585360136782517 Centerline is valid? [True, True] Translation: X:603.49, Y:57.00, Z:-1.45 [[ 9.98606399e-01 -5.24907161e-02 5.47574323e-03 6.03489911e+02] [ 5.24886161e-02 9.98621384e-01 5.26622732e-04 5.69997782e+01] [-5.49583709e-03 -2.38474646e-04 9.99984869e-01 -1.44821039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.621400513 meters 0.03748158386980397 Centerline is valid? [True, True] Translation: X:603.55, Y:57.01, Z:-1.45 [[ 9.98988969e-01 -4.46245531e-02 5.44881670e-03 6.03549967e+02] [ 4.46223570e-02 9.99003789e-01 5.24012449e-04 5.70064443e+01] [-5.46677235e-03 -2.80343611e-04 9.99985018e-01 -1.44894017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.681400513 meters 0.03940080408076186 Centerline is valid? [True, True] Translation: X:603.61, Y:57.01, Z:-1.45 [[ 9.99449450e-01 -3.28041948e-02 4.96811760e-03 6.03610418e+02] [ 3.28022239e-02 9.99461748e-01 4.77703331e-04 5.70131982e+01] [-4.98111417e-03 -3.14475026e-04 9.99987545e-01 -1.45118819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.741400513 meters 0.05400585685179667 Centerline is valid? [True, True] Translation: X:603.67, Y:57.04, Z:-1.45 [[ 9.99616388e-01 -2.72377902e-02 5.01787629e-03 6.03667849e+02] [ 2.72357102e-02 9.99628923e-01 4.82402208e-04 5.70362153e+01] [-5.02915384e-03 -3.45551729e-04 9.99987294e-01 -1.45148287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.801400513 meters 0.054350520408417285 Centerline is valid? [True, True] Translation: X:603.73, Y:57.04, Z:-1.45 [[ 9.99635293e-01 -2.66848911e-02 4.14700041e-03 6.03730009e+02] [ 2.66834701e-02 9.99643854e-01 3.97619529e-04 5.70429835e+01] [-4.15613391e-03 -2.86818153e-04 9.99991322e-01 -1.45105490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.861400513 meters 0.047173766845469686 Centerline is valid? [True, True] Translation: X:603.79, Y:57.04, Z:-1.45 [[ 9.99530546e-01 -3.05706457e-02 2.03050116e-03 6.03791562e+02] [ 3.05703126e-02 9.99532600e-01 1.94857055e-04 5.70399299e+01] [-2.03550901e-03 -1.32692523e-04 9.99997920e-01 -1.45205107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.921400513 meters 0.04300642140156219 Centerline is valid? [True, True] Translation: X:603.85, Y:57.04, Z:-1.45 [[ 9.99289619e-01 -3.75846508e-02 2.76602250e-03 6.03852373e+02] [ 3.75840594e-02 9.99293434e-01 2.65490078e-04 5.70370167e+01] [-2.77404647e-03 -1.61343125e-04 9.99996139e-01 -1.45449919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.981400513 meters 0.03875577928691057 Centerline is valid? [True, True] Translation: X:603.91, Y:57.04, Z:-1.45 [[ 9.99070513e-01 -4.30307569e-02 2.54225222e-03 6.03913048e+02] [ 4.30302749e-02 9.99073739e-01 2.44014180e-04 5.70360742e+01] [-2.55039754e-03 -1.34393561e-04 9.99996739e-01 -1.45458975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.041400513 meters 0.030893316234171127 Centerline is valid? [True, True] Translation: X:603.98, Y:57.03, Z:-1.45 [[ 9.98598762e-01 -5.29108058e-02 9.79196366e-04 6.03975272e+02] [ 5.29107391e-02 9.98599241e-01 9.39473894e-05 5.70280469e+01] [-9.82795580e-04 -4.20057433e-05 9.99999516e-01 -1.45479663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.101400513 meters 0.02701680369931201 Centerline is valid? [True, True] Translation: X:604.04, Y:57.03, Z:-1.45 [[ 9.98175413e-01 -6.03715275e-02 1.06030525e-03 6.04036581e+02] [ 6.03714534e-02 9.98175975e-01 1.01718162e-04 5.70259329e+01] [-1.06451211e-03 -3.75203989e-05 9.99999433e-01 -1.45412867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.161400513 meters 0.025284630196571543 Centerline is valid? [True, True] Translation: X:604.10, Y:57.03, Z:-1.45 [[ 9.97772611e-01 -6.66697149e-02 2.22819675e-03 6.04096115e+02] [ 6.66694034e-02 9.97775097e-01 2.13854466e-04 5.70259291e+01] [-2.23749685e-03 -6.48255803e-05 9.99997495e-01 -1.45318477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.221400513 meters 0.018455151064046972 Centerline is valid? [True, True] Translation: X:604.16, Y:57.02, Z:-1.45 [[ 9.97396335e-01 -7.20308650e-02 3.47925709e-03 6.04157409e+02] [ 7.20301383e-02 9.97402400e-01 3.33897968e-04 5.70191011e+01] [-3.49427033e-03 -8.24172398e-05 9.99993892e-01 -1.45205194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.281400513 meters 0.019544011581953152 Centerline is valid? [True, True] Translation: X:604.22, Y:57.02, Z:-1.45 [[ 9.97243998e-01 -7.41495723e-02 2.49986293e-03 6.04218434e+02] [ 7.41492058e-02 9.97247130e-01 2.39088605e-04 5.70245107e+01] [-2.51070945e-03 -5.30668257e-05 9.99996847e-01 -1.45251247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.341400513 meters 0.016121045630420654 Centerline is valid? [True, True] Translation: X:604.28, Y:57.03, Z:-1.45 [[ 9.97085775e-01 -7.62886209e-02 5.48062711e-05 6.04281118e+02] [ 7.62886208e-02 9.97085777e-01 4.76942299e-06 5.70264885e+01] [-5.50104061e-05 -5.74428983e-07 9.99999998e-01 -1.45387049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.401400513 meters 0.014898040907484169 Centerline is valid? [True, True] Translation: X:604.34, Y:57.03, Z:-1.45 [[ 9.96935237e-01 -7.82289882e-02 5.98657851e-04 6.04343333e+02] [ 7.82289683e-02 9.96935417e-01 5.66798881e-05 5.70305476e+01] [-6.01257225e-04 -9.67379162e-06 9.99999819e-01 -1.45394286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.461400513 meters 0.014257980236126615 Centerline is valid? [True, True] Translation: X:604.40, Y:57.04, Z:-1.45 [[ 9.96839051e-01 -7.94473876e-02 1.35501307e-04 6.04404774e+02] [ 7.94473866e-02 9.96839061e-01 1.24372663e-05 5.70374473e+01] [-1.36061104e-04 -1.63272802e-06 9.99999991e-01 -1.45392633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.521400513 meters 0.012252118213602031 Centerline is valid? [True, True] Translation: X:604.47, Y:57.04, Z:-1.46 [[ 9.96606850e-01 -8.22861602e-02 -1.94257820e-03 6.04467204e+02] [ 8.22859552e-02 9.96608743e-01 -1.85322521e-04 5.70400022e+01] [ 1.95123989e-03 2.48467915e-05 9.99998096e-01 -1.45599174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.581400513 meters 0.012543662029813048 Centerline is valid? [True, True] Translation: X:604.53, Y:57.04, Z:-1.46 [[ 9.96376583e-01 -8.50347964e-02 -1.66969155e-03 6.04529088e+02] [ 8.50346492e-02 9.96377982e-01 -1.59079264e-04 5.70426194e+01] [ 1.67717117e-03 1.65212182e-05 9.99998593e-01 -1.45587183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.641400513 meters 0.00906560201693867 Centerline is valid? [True, True] Translation: X:604.59, Y:57.04, Z:-1.45 [[ 9.96067718e-01 -8.85943661e-02 -3.73116917e-04 6.04591667e+02] [ 8.85943589e-02 9.96067788e-01 -3.58558906e-05 5.70430835e+01] [ 3.74826373e-04 2.65884099e-06 9.99999930e-01 -1.45316904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.701400513 meters 0.009119672302194704 Centerline is valid? [True, True] Translation: X:604.65, Y:57.05, Z:-1.45 [[ 9.96095585e-01 -8.82723904e-02 1.25343512e-03 6.04654439e+02] [ 8.82723117e-02 9.96096373e-01 1.18083039e-04 5.70465474e+01] [-1.25896565e-03 -6.97837763e-06 9.99999207e-01 -1.45192634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.761400513 meters 0.009261946220403515 Centerline is valid? [True, True] Translation: X:604.72, Y:57.05, Z:-1.45 [[ 9.96065688e-01 -8.85917113e-02 2.15733256e-03 6.04716073e+02] [ 8.85914788e-02 9.96068024e-01 2.03290943e-04 5.70500425e+01] [-2.16685988e-03 -1.13698513e-05 9.99997652e-01 -1.44996193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.821400513 meters 0.008814934828973879 Centerline is valid? [True, True] Translation: X:604.78, Y:57.05, Z:-1.45 [[ 9.96064842e-01 -8.86159547e-02 1.42908386e-03 6.04779312e+02] [ 8.86158534e-02 9.96065868e-01 1.34181686e-04 5.70529192e+01] [-1.43535229e-03 -7.01417455e-06 9.99998970e-01 -1.45209560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.881400513 meters 0.011130605413004402 Centerline is valid? [True, True] Translation: X:604.84, Y:57.06, Z:-1.45 [[ 9.95958259e-01 -8.98172967e-02 -2.23838165e-05 6.04840596e+02] [ 8.98172966e-02 9.95958259e-01 -2.54674382e-06 5.70572562e+01] [ 2.25220886e-05 5.25996647e-07 1.00000000e+00 -1.45390255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.941400513 meters 0.007853405219293673 Centerline is valid? [True, True] Translation: X:604.90, Y:57.06, Z:-1.45 [[ 9.95728091e-01 -9.23283134e-02 -1.02503880e-03 6.04902590e+02] [ 9.23282626e-02 9.95728619e-01 -9.67833581e-05 5.70588078e+01] [ 1.02959631e-03 1.72985707e-06 9.99999470e-01 -1.45390070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.001400513 meters 0.012555152189063353 Centerline is valid? [True, True] Translation: X:604.97, Y:57.05, Z:-1.46 [[ 9.95016831e-01 -9.97030320e-02 -9.00562217e-04 6.04965919e+02] [ 9.97029959e-02 9.95017239e-01 -8.49391167e-05 5.70549660e+01] [ 9.04543618e-04 -5.27290037e-06 9.99999591e-01 -1.45555190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.061400513 meters 0.013572824562393943 Centerline is valid? [True, True] Translation: X:605.03, Y:57.05, Z:-1.46 [[ 9.94332424e-01 -1.06285752e-01 -2.52375529e-03 6.05028797e+02] [ 1.06285494e-01 9.94335626e-01 -2.36749691e-04 5.70515113e+01] [ 2.53462292e-03 -3.28306823e-05 9.99996787e-01 -1.45664377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.121400513 meters 0.020841193215495487 Centerline is valid? [True, True] Translation: X:605.09, Y:57.05, Z:-1.45 [[ 9.93460707e-01 -1.14165151e-01 -1.46365221e-03 6.05090131e+02] [ 1.14165073e-01 9.93461785e-01 -1.37242046e-04 5.70452721e+01] [ 1.46975080e-03 -3.07533808e-05 9.99998919e-01 -1.45279839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.181400513 meters 0.022248854770495444 Centerline is valid? [True, True] Translation: X:605.15, Y:57.05, Z:-1.45 [[ 9.93021716e-01 -1.17917985e-01 -1.79466986e-03 6.05151697e+02] [ 1.17917874e-01 9.93023336e-01 -1.68265799e-04 5.70466794e+01] [ 1.80199062e-03 -4.45320620e-05 9.99998375e-01 -1.45447955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.241400513 meters 0.02397271111199412 Centerline is valid? [True, True] Translation: X:605.21, Y:57.04, Z:-1.45 [[ 9.92737326e-01 -1.20290516e-01 -1.67152463e-03 6.05213845e+02] [ 1.20290423e-01 9.92738732e-01 -1.56839843e-04 5.70431800e+01] [ 1.67825359e-03 -4.53676376e-05 9.99998591e-01 -1.45481181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.301400513 meters 0.027948153627096933 Centerline is valid? [True, True] Translation: X:605.28, Y:57.04, Z:-1.45 [[ 9.92600098e-01 -1.21416546e-01 -1.75173966e-03 6.05275891e+02] [ 1.21416445e-01 9.92601642e-01 -1.64079926e-04 5.70420049e+01] [ 1.75870168e-03 -4.98242523e-05 9.99998452e-01 -1.45362710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.361400513 meters 0.029855350597947854 Centerline is valid? [True, True] Translation: X:605.34, Y:57.04, Z:-1.45 [[ 9.92160507e-01 -1.24963766e-01 -1.25892573e-03 6.05337877e+02] [ 1.24963717e-01 9.92161305e-01 -1.17650661e-04 5.70376233e+01] [ 1.26375947e-03 -4.05916991e-05 9.99999201e-01 -1.45352857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.421400513 meters 0.029256608790709928 Centerline is valid? [True, True] Translation: X:605.40, Y:57.04, Z:-1.45 [[ 9.91848137e-01 -1.27420562e-01 -1.12855454e-03 6.05398893e+02] [ 1.27420524e-01 9.91848778e-01 -1.05449665e-04 5.70422342e+01] [ 1.13279190e-03 -3.92109568e-05 9.99999358e-01 -1.45281451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.481400513 meters 0.03099262118811708 Centerline is valid? [True, True] Translation: X:605.46, Y:57.04, Z:-1.45 [[ 9.91649754e-01 -1.28959998e-01 -2.90943353e-04 6.05461670e+02] [ 1.28959996e-01 9.91649796e-01 -2.72869234e-05 5.70408831e+01] [ 2.92032838e-04 -1.04609827e-05 9.99999957e-01 -1.45274757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.541400513 meters 0.031121116455737154 Centerline is valid? [True, True] Translation: X:605.53, Y:57.04, Z:-1.45 [[ 9.91670128e-01 -1.28803558e-01 1.08435490e-05 6.05525068e+02] [ 1.28803558e-01 9.91670128e-01 4.81652531e-07 5.70432152e+01] [-1.08152622e-05 9.19047267e-07 1.00000000e+00 -1.45085081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.601400513 meters 0.029582638462964647 Centerline is valid? [True, True] Translation: X:605.59, Y:57.05, Z:-1.45 [[ 9.91849120e-01 -1.27402943e-01 -1.95282017e-03 6.05587482e+02] [ 1.27402831e-01 9.91851040e-01 -1.82056501e-04 5.70482599e+01] [ 1.96010125e-03 -6.82222393e-05 9.99998077e-01 -1.45439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.661400513 meters 0.03140282240503291 Centerline is valid? [True, True] Translation: X:605.65, Y:57.05, Z:-1.46 [[ 9.91937809e-01 -1.26704083e-01 -2.33636122e-03 6.05648785e+02] [ 1.26703922e-01 9.91940557e-01 -2.17338722e-04 5.70493696e+01] [ 2.34506915e-03 -8.04396331e-05 9.99997247e-01 -1.45651954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.721400513 meters 0.030278578615513214 Centerline is valid? [True, True] Translation: X:605.71, Y:57.06, Z:-1.45 [[ 9.91928140e-01 -1.26774155e-01 -2.62276617e-03 6.05710359e+02] [ 1.26773954e-01 9.91931603e-01 -2.43543893e-04 5.70556211e+01] [ 2.63247973e-03 -9.09203971e-05 9.99996531e-01 -1.45459813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.781400513 meters 0.030868938069032726 Centerline is valid? [True, True] Translation: X:605.77, Y:57.06, Z:-1.45 [[ 9.91982559e-01 -1.26359385e-01 -1.97705352e-03 6.05771656e+02] [ 1.26359270e-01 9.91984527e-01 -1.83368073e-04 5.70570203e+01] [ 1.98437678e-03 -6.79211102e-05 9.99998029e-01 -1.45466863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.841400513 meters 0.02611777899157113 Centerline is valid? [True, True] Translation: X:605.83, Y:57.07, Z:-1.45 [[ 9.92473926e-01 -1.22426803e-01 -2.68048784e-03 6.05831913e+02] [ 1.22426579e-01 9.92477542e-01 -2.48031042e-04 5.70701166e+01] [ 2.69068963e-03 -8.19986145e-05 9.99996377e-01 -1.45324338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.901400513 meters 0.02262572852446803 Centerline is valid? [True, True] Translation: X:605.89, Y:57.09, Z:-1.45 [[ 9.93257138e-01 -1.15917521e-01 -1.84017295e-03 6.05891990e+02] [ 1.15917404e-01 9.93258842e-01 -1.70264467e-04 5.70850262e+01] [ 1.84750468e-03 -4.41916745e-05 9.99998292e-01 -1.45173969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.961400513 meters 0.012490674750841375 Centerline is valid? [True, True] Translation: X:605.95, Y:57.10, Z:-1.45 [[ 9.94612768e-01 -1.03659090e-01 -4.85454299e-04 6.05951571e+02] [ 1.03659081e-01 9.94612886e-01 -4.49358305e-05 5.71034371e+01] [ 4.87497108e-04 -5.62799548e-06 9.99999881e-01 -1.45066256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.021400513 meters 0.010595281903137332 Centerline is valid? [True, True] Translation: X:606.01, Y:57.12, Z:-1.45 [[ 9.95464024e-01 -9.51383818e-02 -2.53541893e-04 6.06010535e+02] [ 9.51383789e-02 9.95464057e-01 -2.34821142e-05 5.71225375e+01] [ 2.54625892e-04 -7.45964833e-07 9.99999968e-01 -1.44992441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.081400513 meters 0.012424371175262332 Centerline is valid? [True, True] Translation: X:606.07, Y:57.15, Z:-1.45 [[ 9.96728471e-01 -8.08217538e-02 4.46912862e-04 6.06070101e+02] [ 8.08217436e-02 9.96728571e-01 4.08419627e-05 5.71474692e+01] [-4.48751737e-04 -4.58807032e-06 9.99999899e-01 -1.44798921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.141400513 meters 0.02116123802832837 Centerline is valid? [True, True] Translation: X:606.13, Y:57.17, Z:-1.45 [[ 9.97426486e-01 -7.16661590e-02 2.08953405e-03 6.06129180e+02] [ 7.16659121e-02 9.97428674e-01 1.92866642e-04 5.71688935e+01] [-2.09798319e-03 -4.26219333e-05 9.99997798e-01 -1.44545873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.201400513 meters 0.0246847988091952 Centerline is valid? [True, True] Translation: X:606.19, Y:57.19, Z:-1.45 [[ 9.98157480e-01 -6.06736725e-02 5.92161661e-04 6.06188721e+02] [ 6.06736507e-02 9.98157655e-01 5.46411469e-05 5.71870081e+01] [-5.94385975e-04 -1.86118597e-05 9.99999823e-01 -1.44923750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.261400513 meters 0.03027762589204869 Centerline is valid? [True, True] Translation: X:606.25, Y:57.21, Z:-1.45 [[ 9.98621897e-01 -5.24360887e-02 2.18233066e-03 6.06248054e+02] [ 5.24357735e-02 9.98624278e-01 2.01422702e-04 5.72055729e+01] [-2.18989020e-03 -8.67129248e-05 9.99997598e-01 -1.44669887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.321400513 meters 0.03194339939477452 Centerline is valid? [True, True] Translation: X:606.31, Y:57.22, Z:-1.45 [[ 9.98830370e-01 -4.83366340e-02 1.20919474e-03 6.06307797e+02] [ 4.83365343e-02 9.98831100e-01 1.11586977e-04 5.72161291e+01] [-1.21317505e-03 -5.30081790e-05 9.99999263e-01 -1.44872295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.381400513 meters 0.03837844565338629 Centerline is valid? [True, True] Translation: X:606.37, Y:57.23, Z:-1.45 [[ 9.98898998e-01 -4.69053646e-02 8.23243141e-04 6.06367859e+02] [ 4.69053181e-02 9.98899337e-01 7.56912619e-05 5.72348232e+01] [-8.25887354e-04 -3.69934443e-05 9.99999658e-01 -1.44691927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.441400513 meters 0.03433419668470471 Centerline is valid? [True, True] Translation: X:606.43, Y:57.23, Z:-1.45 [[ 9.98887884e-01 -4.71465683e-02 4.43781349e-04 6.06430888e+02] [ 4.71465549e-02 9.98887982e-01 4.07300364e-05 5.72348148e+01] [-4.45208138e-04 -1.97619781e-05 9.99999901e-01 -1.44903176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.501400513 meters 0.033956760894392715 Centerline is valid? [True, True] Translation: X:606.49, Y:57.24, Z:-1.45 [[ 9.98890149e-01 -4.71006255e-02 2.40105699e-05 6.06492463e+02] [ 4.71006254e-02 9.98890150e-01 1.73923452e-06 5.72436739e+01] [-2.40658408e-05 -6.06391370e-07 1.00000000e+00 -1.44921114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.561400513 meters 0.0363820733262648 Centerline is valid? [True, True] Translation: X:606.55, Y:57.25, Z:-1.45 [[ 9.98905067e-01 -4.67789889e-02 6.26466850e-04 6.06552759e+02] [ 4.67789623e-02 9.98905263e-01 5.71075678e-05 5.72541561e+01] [-6.28452468e-04 -2.77395697e-05 9.99999802e-01 -1.44751962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.621400513 meters 0.035058706024422175 Centerline is valid? [True, True] Translation: X:606.61, Y:57.26, Z:-1.45 [[ 9.98993722e-01 -4.48300270e-02 -1.34639400e-03 6.06613683e+02] [ 4.48299010e-02 9.98994627e-01 -1.23683561e-04 5.72569811e+01] [ 1.35058511e-03 6.32003915e-05 9.99999086e-01 -1.45037254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.681400513 meters 0.03371196505441219 Centerline is valid? [True, True] Translation: X:606.67, Y:57.26, Z:-1.45 [[ 9.99103769e-01 -4.23270125e-02 -2.88364840e-04 6.06674942e+02] [ 4.23270066e-02 9.99103810e-01 -2.65446353e-05 5.72610700e+01] [ 2.89229965e-04 1.43152247e-05 9.99999958e-01 -1.44975832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.741400513 meters 0.04107061205663039 Centerline is valid? [True, True] Translation: X:606.73, Y:57.28, Z:-1.45 [[ 9.99361061e-01 -3.56377589e-02 2.72407447e-03 6.06732959e+02] [ 3.56372098e-02 9.99364762e-01 2.49880490e-04 5.72770568e+01] [-2.73124921e-03 -1.52642418e-04 9.99996258e-01 -1.44501078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.801400513 meters 0.04514137168414085 Centerline is valid? [True, True] Translation: X:606.79, Y:57.29, Z:-1.45 [[ 9.99616593e-01 -2.75966649e-02 2.25620853e-03 6.06792851e+02] [ 2.75962677e-02 9.99619129e-01 2.07004226e-04 5.72864248e+01] [-2.26106183e-03 -1.44661924e-04 9.99997433e-01 -1.44662369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.861400513 meters 0.04593443739825021 Centerline is valid? [True, True] Translation: X:606.85, Y:57.29, Z:-1.45 [[ 9.99694637e-01 -2.45430119e-02 2.87636307e-03 6.06853427e+02] [ 2.45423537e-02 9.99698756e-01 2.63919371e-04 5.72917034e+01] [-2.88197396e-03 -1.93246060e-04 9.99995828e-01 -1.44668400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.921400513 meters 0.04754024133103135 Centerline is valid? [True, True] Translation: X:606.92, Y:57.30, Z:-1.45 [[ 9.99704836e-01 -2.41057676e-02 3.02536199e-03 6.06915691e+02] [ 2.41050402e-02 9.99709393e-01 2.76645305e-04 5.72978116e+01] [-3.03115155e-03 -2.03637176e-04 9.99995385e-01 -1.44688477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.981400513 meters 0.05098313991071713 Centerline is valid? [True, True] Translation: X:606.98, Y:57.30, Z:-1.45 [[ 9.99674354e-01 -2.54148737e-02 2.29568819e-03 6.06975971e+02] [ 2.54144577e-02 9.99676978e-01 2.10217729e-04 5.73028465e+01] [-2.30028930e-03 -1.51805602e-04 9.99997343e-01 -1.44826129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.041400513 meters 0.05333015817471166 Centerline is valid? [True, True] Translation: X:607.04, Y:57.31, Z:-1.45 [[ 9.99618793e-01 -2.74737359e-02 2.73171399e-03 6.07037019e+02] [ 2.74731545e-02 9.99622510e-01 2.50128976e-04 5.73080844e+01] [-2.73755477e-03 -1.74984824e-04 9.99996238e-01 -1.44595308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.101400513 meters 0.04476522710521687 Centerline is valid? [True, True] Translation: X:607.10, Y:57.30, Z:-1.45 [[ 9.99479180e-01 -3.22685764e-02 -3.28253457e-04 6.07098059e+02] [ 3.22685682e-02 9.99479234e-01 -3.00567058e-05 5.72952412e+01] [ 3.29052400e-04 1.94487826e-05 9.99999946e-01 -1.45067006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.161400513 meters 0.04029277692105468 Centerline is valid? [True, True] Translation: X:607.16, Y:57.29, Z:-1.45 [[ 9.99373613e-01 -3.53741860e-02 1.02447895e-03 6.07159362e+02] [ 3.53741084e-02 9.99374136e-01 9.38028833e-05 5.72910644e+01] [-1.02715596e-03 -5.75040971e-05 9.99999471e-01 -1.44864782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.221400513 meters 0.039159063034459304 Centerline is valid? [True, True] Translation: X:607.22, Y:57.29, Z:-1.45 [[ 9.99245222e-01 -3.88112715e-02 -1.63462625e-03 6.07220082e+02] [ 3.88110784e-02 9.99246555e-01 -1.49689165e-04 5.72895210e+01] [ 1.63920428e-03 8.61345753e-05 9.99998653e-01 -1.45192236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.281400513 meters 0.04235040468429952 Centerline is valid? [True, True] Translation: X:607.28, Y:57.30, Z:-1.45 [[ 9.99154744e-01 -4.09674303e-02 -3.38633177e-03 6.07280981e+02] [ 4.09666141e-02 9.99160468e-01 -3.10077634e-04 5.72957590e+01] [ 3.39619192e-03 1.71088992e-04 9.99994218e-01 -1.45291249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.341400513 meters 0.03585192534054371 Centerline is valid? [True, True] Translation: X:607.34, Y:57.29, Z:-1.45 [[ 9.99107399e-01 -4.21822769e-02 -2.24968913e-03 6.07343172e+02] [ 4.21819198e-02 9.99109925e-01 -2.05967357e-04 5.72906519e+01] [ 2.25637491e-03 1.10887304e-04 9.99997448e-01 -1.44903643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.401400513 meters 0.035897579589482614 Centerline is valid? [True, True] Translation: X:607.41, Y:57.29, Z:-1.45 [[ 9.99100950e-01 -4.23938585e-02 -2.29621474e-04 6.07405351e+02] [ 4.23938547e-02 9.99100976e-01 -2.14508643e-05 5.72929318e+01] [ 2.30324424e-04 1.16970395e-05 9.99999973e-01 -1.44860803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.461400513 meters 0.041692499998453925 Centerline is valid? [True, True] Translation: X:607.47, Y:57.31, Z:-1.45 [[ 9.99095647e-01 -4.24913839e-02 1.53964928e-03 6.07465498e+02] [ 4.24912186e-02 9.99096831e-01 1.39914642e-04 5.73060613e+01] [-1.54420389e-03 -7.43665357e-05 9.99998805e-01 -1.44590108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.521400513 meters 0.03794604056584972 Centerline is valid? [True, True] Translation: X:607.53, Y:57.31, Z:-1.45 [[ 9.98980066e-01 -4.51523914e-02 -2.97676362e-04 6.07525043e+02] [ 4.51523853e-02 9.98980111e-01 -2.71141192e-05 5.73062370e+01] [ 2.98597033e-04 1.36456668e-05 9.99999955e-01 -1.44878641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.581400513 meters 0.032620154103894385 Centerline is valid? [True, True] Translation: X:607.59, Y:57.31, Z:-1.45 [[ 9.98832828e-01 -4.82852550e-02 -1.23118317e-03 6.07586324e+02] [ 4.82851532e-02 9.98833585e-01 -1.12312304e-04 5.73071248e+01] [ 1.23517013e-03 5.27333485e-05 9.99999236e-01 -1.44915770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.641400513 meters 0.028925745776431883 Centerline is valid? [True, True] Translation: X:607.65, Y:57.31, Z:-1.45 [[ 9.98573194e-01 -5.33986987e-02 -3.95208044e-04 6.07646667e+02] [ 5.33986886e-02 9.98573272e-01 -3.60548757e-05 5.73094525e+01] [ 3.96569473e-04 1.48998411e-05 9.99999921e-01 -1.44790424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.701400513 meters 0.02563838816025658 Centerline is valid? [True, True] Translation: X:607.71, Y:57.31, Z:-1.44 [[ 9.98083055e-01 -6.18816038e-02 9.38981679e-04 6.07706013e+02] [ 6.18815506e-02 9.98083497e-01 8.56643580e-05 5.73129772e+01] [-9.42483165e-04 -2.73945019e-05 9.99999555e-01 -1.44483522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.761400513 meters 0.017884153926290298 Centerline is valid? [True, True] Translation: X:607.77, Y:57.31, Z:-1.45 [[ 9.97671844e-01 -6.81968529e-02 -2.86051936e-04 6.07767958e+02] [ 6.81968482e-02 9.97671885e-01 -2.61111133e-05 5.73073043e+01] [ 2.87166670e-04 6.54248207e-06 9.99999959e-01 -1.44735328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.821400513 meters 0.01422794153972409 Centerline is valid? [True, True] Translation: X:607.83, Y:57.30, Z:-1.45 [[ 9.96867378e-01 -7.90907146e-02 -2.98251777e-04 6.07828781e+02] [ 7.90907100e-02 9.96867423e-01 -2.72136368e-05 5.73035857e+01] [ 2.99469826e-04 3.53944192e-06 9.99999955e-01 -1.44747328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.881400513 meters 0.008763755874491954 Centerline is valid? [True, True] Translation: X:607.89, Y:57.30, Z:-1.45 [[ 9.96258407e-01 -8.64126766e-02 -1.42663760e-03 6.07891207e+02] [ 8.64125788e-02 9.96259429e-01 -1.30126538e-04 5.72991673e+01] [ 1.43254575e-03 6.36022266e-06 9.99998974e-01 -1.44736473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.941400513 meters 0.00903554800393536 Centerline is valid? [True, True] Translation: X:607.95, Y:57.29, Z:-1.45 [[ 9.95507625e-01 -9.46482515e-02 -2.50543746e-03 6.07954114e+02] [ 9.46479764e-02 9.95510778e-01 -2.28391098e-04 5.72917603e+01] [ 2.51580681e-03 -9.76950580e-06 9.99996835e-01 -1.44922906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.001400513 meters 0.011547895549560006 Centerline is valid? [True, True] Translation: X:608.02, Y:57.29, Z:-1.45 [[ 9.94958430e-01 -1.00267671e-01 -2.02916329e-03 6.08016577e+02] [ 1.00267503e-01 9.94960499e-01 -1.84841070e-04 5.72893907e+01] [ 2.03747091e-03 -1.95499556e-05 9.99997924e-01 -1.44627105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.061400513 meters 0.013483666027153446 Centerline is valid? [True, True] Translation: X:608.08, Y:57.29, Z:-1.45 [[ 9.94692938e-01 -1.02856562e-01 -2.54704790e-03 6.08077707e+02] [ 1.02856306e-01 9.94696198e-01 -2.31478403e-04 5.72908225e+01] [ 2.55734794e-03 -3.17300063e-05 9.99996729e-01 -1.44679422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.121400513 meters 0.014896881577583536 Centerline is valid? [True, True] Translation: X:608.14, Y:57.29, Z:-1.45 [[ 9.94485623e-01 -1.04824531e-01 -3.18797074e-03 6.08139839e+02] [ 1.04824143e-01 9.94490732e-01 -2.89135690e-04 5.72949209e+01] [ 3.20071587e-03 -4.66350144e-05 9.99994877e-01 -1.44796870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.181400513 meters 0.01737137263214077 Centerline is valid? [True, True] Translation: X:608.20, Y:57.29, Z:-1.45 [[ 9.94241877e-01 -1.07145564e-01 -1.70818271e-03 6.08200839e+02] [ 1.07145456e-01 9.94243344e-01 -1.54697076e-04 5.72944233e+01] [ 1.71492440e-03 -2.92177048e-05 9.99998529e-01 -1.44677126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.241400513 meters 0.018719449877630707 Centerline is valid? [True, True] Translation: X:608.26, Y:57.30, Z:-1.45 [[ 9.93935518e-01 -1.09925739e-01 -2.91856516e-03 6.08262604e+02] [ 1.09925437e-01 9.93939801e-01 -2.64195303e-04 5.72991690e+01] [ 2.92991994e-03 -5.82314559e-05 9.99995706e-01 -1.44659345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.301400513 meters 0.02193333416202772 Centerline is valid? [True, True] Translation: X:608.32, Y:57.30, Z:-1.45 [[ 9.93836035e-01 -1.10790683e-01 -3.91925492e-03 6.08323818e+02] [ 1.10790147e-01 9.93843759e-01 -3.54449583e-04 5.73044684e+01] [ 3.93439676e-03 -8.19500603e-05 9.99992257e-01 -1.45001705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.361400513 meters 0.020008135569266977 Centerline is valid? [True, True] Translation: X:608.39, Y:57.31, Z:-1.45 [[ 9.93576937e-01 -1.13125898e-01 -2.72068646e-03 6.08385488e+02] [ 1.13125649e-01 9.93580660e-01 -2.45764913e-04 5.73114158e+01] [ 2.73102383e-03 -6.35930714e-05 9.99996269e-01 -1.44746313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.421400513 meters 0.02424423178031738 Centerline is valid? [True, True] Translation: X:608.45, Y:57.31, Z:-1.45 [[ 9.93035273e-01 -1.17788512e-01 -2.61017781e-03 6.08445787e+02] [ 1.17788299e-01 9.93038701e-01 -2.35652188e-04 5.73129163e+01] [ 2.61976470e-03 -7.34374687e-05 9.99996566e-01 -1.44768996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.481400513 meters 0.025000673840220502 Centerline is valid? [True, True] Translation: X:608.51, Y:57.32, Z:-1.45 [[ 9.92905752e-01 -1.18808072e-01 -4.77590297e-03 6.08507765e+02] [ 1.18807373e-01 9.92917228e-01 -4.30874097e-04 5.73185210e+01] [ 4.79326766e-03 -1.39595118e-04 9.99988502e-01 -1.44984071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.541400513 meters 0.02793907562347345 Centerline is valid? [True, True] Translation: X:608.57, Y:57.32, Z:-1.45 [[ 9.92550567e-01 -1.21731562e-01 -4.97979332e-03 6.08567716e+02] [ 1.21730842e-01 9.92563046e-01 -4.48666351e-04 5.73223541e+01] [ 4.99737568e-03 -1.60870390e-04 9.99987500e-01 -1.45034479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.601400513 meters 0.03353433003604022 Centerline is valid? [True, True] Translation: X:608.63, Y:57.32, Z:-1.45 [[ 9.92092405e-01 -1.25458954e-01 -3.56523049e-03 6.08628097e+02] [ 1.25458609e-01 9.92098803e-01 -3.21074876e-04 5.73222638e+01] [ 3.57734262e-03 -1.28752913e-04 9.99993593e-01 -1.44791077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.661400513 meters 0.03430280042786766 Centerline is valid? [True, True] Translation: X:608.69, Y:57.33, Z:-1.45 [[ 9.91797209e-01 -1.27721601e-01 -5.04858232e-03 6.08689313e+02] [ 1.27720940e-01 9.91810040e-01 -4.54439406e-04 5.73298066e+01] [ 5.06527636e-03 -1.94097946e-04 9.99987153e-01 -1.45012095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.721400513 meters 0.03325273460363147 Centerline is valid? [True, True] Translation: X:608.75, Y:57.34, Z:-1.45 [[ 9.91326061e-01 -1.31374296e-01 -3.66526433e-03 6.08749926e+02] [ 1.31373973e-01 9.91332825e-01 -3.29866460e-04 5.73386213e+01] [ 3.67683282e-03 -1.54515118e-04 9.99993228e-01 -1.44844471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.781400513 meters 0.037085364330019306 Centerline is valid? [True, True] Translation: X:608.81, Y:57.34, Z:-1.45 [[ 9.90951236e-01 -1.34156596e-01 -4.20186999e-03 6.08809920e+02] [ 1.34156196e-01 9.90960126e-01 -3.78063531e-04 5.73409462e+01] [ 4.21460533e-03 -1.89064371e-04 9.99991101e-01 -1.44873527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.841400513 meters 0.03905337239235468 Centerline is valid? [True, True] Translation: X:608.87, Y:57.35, Z:-1.45 [[ 9.90520204e-01 -1.37232044e-01 -6.09028173e-03 6.08870308e+02] [ 1.37231265e-01 9.90538884e-01 -5.47749964e-04 5.73486786e+01] [ 6.10782972e-03 -2.93219658e-04 9.99981304e-01 -1.45164880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.901400513 meters 0.038532872221768134 Centerline is valid? [True, True] Translation: X:608.93, Y:57.36, Z:-1.45 [[ 9.90755465e-01 -1.35588124e-01 -4.41236168e-03 6.08931329e+02] [ 1.35587698e-01 9.90765269e-01 -3.96765109e-04 5.73596390e+01] [ 4.42541135e-03 -2.05164765e-04 9.99990187e-01 -1.44867433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.961400513 meters 0.03103889348645211 Centerline is valid? [True, True] Translation: X:608.99, Y:57.38, Z:-1.45 [[ 9.91469395e-01 -1.30235269e-01 -5.21668629e-03 6.08991033e+02] [ 1.30234602e-01 9.91483095e-01 -4.68908281e-04 5.73828486e+01] [ 5.23332467e-03 -2.14484852e-04 9.99986283e-01 -1.44864513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.021400513 meters 0.029977258851648862 Centerline is valid? [True, True] Translation: X:609.05, Y:57.39, Z:-1.45 [[ 9.92140324e-01 -1.24980896e-01 -6.11166460e-03 6.09050345e+02] [ 1.24979881e-01 9.92159124e-01 -5.49252865e-04 5.73948787e+01] [ 6.13238991e-03 -2.18899195e-04 9.99981173e-01 -1.44928954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.081400513 meters 0.02588770854253288 Centerline is valid? [True, True] Translation: X:609.11, Y:57.41, Z:-1.45 [[ 9.92842563e-01 -1.19316544e-01 -5.21598611e-03 6.09108843e+02] [ 1.19315726e-01 9.92856252e-01 -4.68751815e-04 5.74121329e+01] [ 5.23465427e-03 -1.56952418e-04 9.99986287e-01 -1.44729742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.141400513 meters 0.022930601046010374 Centerline is valid? [True, True] Translation: X:609.17, Y:57.43, Z:-1.45 [[ 9.93395926e-01 -1.14651816e-01 -4.41540692e-03 6.09168142e+02] [ 1.14651185e-01 9.93405732e-01 -3.96803484e-04 5.74275749e+01] [ 4.43178479e-03 -1.12048670e-04 9.99990173e-01 -1.44744436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.201400513 meters 0.014117055601760548 Centerline is valid? [True, True] Translation: X:609.23, Y:57.46, Z:-1.44 [[ 9.94655518e-01 -1.03204688e-01 -3.03204149e-03 6.09227047e+02] [ 1.03204337e-01 9.94660138e-01 -2.72480182e-04 5.74564744e+01] [ 3.04397204e-03 -4.18959138e-05 9.99995366e-01 -1.44476850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.261400513 meters 0.00990098889663946 Centerline is valid? [True, True] Translation: X:609.29, Y:57.48, Z:-1.44 [[ 9.95562818e-01 -9.40741556e-02 -2.17441548e-03 6.09286683e+02] [ 9.40739532e-02 9.95565193e-01 -1.95378932e-04 5.74787353e+01] [ 2.18315247e-03 -1.00438601e-05 9.99997617e-01 -1.44367306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.321400513 meters 0.012564343218227227 Centerline is valid? [True, True] Translation: X:609.35, Y:57.50, Z:-1.44 [[ 9.96074032e-01 -8.85177701e-02 -1.06174040e-03 6.09346912e+02] [ 8.85177184e-02 9.96074598e-01 -9.56474505e-05 5.74955182e+01] [ 1.06603914e-03 1.28910429e-06 9.99999432e-01 -1.44285760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.381400513 meters 0.011050703383520809 Centerline is valid? [True, True] Translation: X:609.41, Y:57.51, Z:-1.44 [[ 9.96654650e-01 -8.17154839e-02 -1.44510226e-03 6.09407676e+02] [ 8.17153815e-02 9.96655698e-01 -1.29818886e-04 5.75135082e+01] [ 1.45087761e-03 1.12975137e-05 9.99998947e-01 -1.44382882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.441400513 meters 0.012167963898060097 Centerline is valid? [True, True] Translation: X:609.47, Y:57.52, Z:-1.44 [[ 9.96703482e-01 -8.11113189e-02 -1.76692040e-03 6.09470303e+02] [ 8.11111656e-02 9.96705049e-01 -1.58358392e-04 5.75210815e+01] [ 1.77394314e-03 1.45193879e-05 9.99998426e-01 -1.44366031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.501400513 meters 0.011644641059321914 Centerline is valid? [True, True] Translation: X:609.53, Y:57.53, Z:-1.44 [[ 9.96686403e-01 -8.13393695e-02 -3.46825540e-04 6.09533446e+02] [ 8.13393635e-02 9.96686464e-01 -3.14586586e-05 5.75263407e+01] [ 3.48235149e-04 3.14384860e-06 9.99999939e-01 -1.44028293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.561400513 meters 0.013129094999639598 Centerline is valid? [True, True] Translation: X:609.60, Y:57.53, Z:-1.44 [[ 9.96871677e-01 -7.90361058e-02 3.91490088e-04 6.09595054e+02] [ 7.90360984e-02 9.96871754e-01 3.43513064e-05 5.75334119e+01] [-3.92980404e-04 -3.30199532e-06 9.99999923e-01 -1.44131360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.621400513 meters 0.013585095306883356 Centerline is valid? [True, True] Translation: X:609.66, Y:57.54, Z:-1.44 [[ 9.97284276e-01 -7.36166612e-02 -2.15878867e-03 6.09656379e+02] [ 7.36164179e-02 9.97286612e-01 -1.92086400e-04 5.75428281e+01] [ 2.16707179e-03 3.26424582e-05 9.99997651e-01 -1.44186633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.681400513 meters 0.021209872832497756 Centerline is valid? [True, True] Translation: X:609.72, Y:57.56, Z:-1.44 [[ 9.98086247e-01 -6.17727350e-02 -2.82347346e-03 6.09716557e+02] [ 6.17722718e-02 9.98090238e-01 -2.51051691e-04 5.75573760e+01] [ 2.83358945e-03 7.61588707e-05 9.99995982e-01 -1.44048366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.741400513 meters 0.027775826321240937 Centerline is valid? [True, True] Translation: X:609.78, Y:57.57, Z:-1.44 [[ 9.98692006e-01 -5.11291377e-02 -2.97014513e-04 6.09776635e+02] [ 5.11291321e-02 9.98692050e-01 -2.64220227e-05 5.75706450e+01] [ 2.97976968e-04 1.12013685e-05 9.99999956e-01 -1.43769232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.801400513 meters 0.037040987240972385 Centerline is valid? [True, True] Translation: X:609.84, Y:57.59, Z:-1.44 [[ 9.99171075e-01 -4.06686043e-02 1.79665747e-03 6.09835192e+02] [ 4.06683827e-02 9.99172686e-01 1.59740117e-04 5.75879215e+01] [-1.80166748e-03 -8.65405510e-05 9.99998373e-01 -1.43518347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.861400513 meters 0.04073326266631645 Centerline is valid? [True, True] Translation: X:609.90, Y:57.59, Z:-1.44 [[ 9.99591424e-01 -2.85824161e-02 1.73984736e-04 6.09895649e+02] [ 2.85824138e-02 9.99591439e-01 1.54284743e-05 5.75941374e+01] [-1.74354635e-04 -1.04492669e-05 9.99999985e-01 -1.43881946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.921400513 meters 0.045835700936727175 Centerline is valid? [True, True] Translation: X:609.95, Y:57.61, Z:-1.44 [[ 9.99734363e-01 -2.30228282e-02 1.07335599e-03 6.09954086e+02] [ 2.30227391e-02 9.99734937e-01 9.53481650e-05 5.76050289e+01] [-1.07526666e-03 -7.06112423e-05 9.99999419e-01 -1.43677618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.981400513 meters 0.04728768475525051 Centerline is valid? [True, True] Translation: X:610.01, Y:57.61, Z:-1.44 [[ 9.99843055e-01 -1.76441060e-02 1.59743313e-03 6.10014728e+02] [ 1.76439016e-02 9.99844324e-01 1.41947736e-04 5.76061884e+01] [-1.59968899e-03 -1.13740505e-04 9.99998714e-01 -1.43537961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.041400513 meters 0.050083093954750184 Centerline is valid? [True, True] Translation: X:610.08, Y:57.61, Z:-1.44 [[ 9.99856107e-01 -1.69313296e-02 1.04657340e-03 6.10076344e+02] [ 1.69312421e-02 9.99856652e-01 9.24127205e-05 5.76084683e+01] [-1.04798805e-03 -7.46796352e-05 9.99999448e-01 -1.43623122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.101400513 meters 0.05019348883178881 Centerline is valid? [True, True] Translation: X:610.14, Y:57.60, Z:-1.44 [[ 9.99835743e-01 -1.80860234e-02 1.17631433e-03 6.10138628e+02] [ 1.80859132e-02 9.99836431e-01 1.04264481e-04 5.76026106e+01] [-1.17800765e-03 -8.29726358e-05 9.99999303e-01 -1.43637328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.161400513 meters 0.06131266086521963 Centerline is valid? [True, True] Translation: X:610.20, Y:57.61, Z:-1.44 [[ 9.99841498e-01 -1.78006539e-02 3.39922792e-04 6.10200231e+02] [ 1.78006447e-02 9.99841556e-01 2.99541775e-05 5.76141706e+01] [-3.40402137e-04 -2.38985848e-05 9.99999942e-01 -1.43568466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.221400513 meters 0.06572780774763741 Centerline is valid? [True, True] Translation: X:610.26, Y:57.61, Z:-1.44 [[ 9.99894741e-01 -1.44637905e-02 -1.14282949e-03 6.10261185e+02] [ 1.44636840e-02 9.99895390e-01 -1.01341668e-04 5.76122697e+01] [ 1.14417572e-03 8.48014760e-05 9.99999342e-01 -1.43821793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.281400513 meters 0.06436323640127983 Centerline is valid? [True, True] Translation: X:610.32, Y:57.61, Z:-1.44 [[ 9.99925544e-01 -1.22027035e-02 -1.45147726e-05 6.10323111e+02] [ 1.22027035e-02 9.99925544e-01 -1.33201519e-06 5.76060718e+01] [ 1.45299461e-05 1.15479655e-06 1.00000000e+00 -1.43725076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.341400513 meters 0.07844818677897762 Centerline is valid? [True, True] Translation: X:610.38, Y:57.62, Z:-1.43 [[ 9.99962645e-01 -8.48468797e-03 1.64868220e-03 6.10382177e+02] [ 8.48445853e-03 9.99963996e-01 1.46111585e-04 5.76158009e+01] [-1.64986255e-03 -1.32117951e-04 9.99998630e-01 -1.43267257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.401400513 meters 0.07233910559185498 Centerline is valid? [True, True] Translation: X:610.44, Y:57.60, Z:-1.43 [[ 9.99981386e-01 -5.81310252e-03 1.85325949e-03 6.10444797e+02] [ 5.81280813e-03 9.99983092e-01 1.64198115e-04 5.75992190e+01] [-1.85418266e-03 -1.53422417e-04 9.99998269e-01 -1.43435718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.461400513 meters 0.0723178085097981 Centerline is valid? [True, True] Translation: X:610.51, Y:57.60, Z:-1.43 [[ 9.99982268e-01 -5.06466584e-03 3.13240993e-03 6.10507258e+02] [ 5.06382210e-03 9.99987140e-01 2.77232907e-04 5.75966407e+01] [-3.13377374e-03 -2.61366024e-04 9.99995056e-01 -1.43005445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.521400513 meters 0.08062093456240403 Centerline is valid? [True, True] Translation: X:610.57, Y:57.60, Z:-1.43 [[ 9.99988056e-01 -4.00408259e-03 2.80257601e-03 6.10568245e+02] [ 4.00340406e-03 9.99991956e-01 2.47677784e-04 5.75987010e+01] [-2.80354518e-03 -2.36454981e-04 9.99996042e-01 -1.42915569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.581400513 meters 0.07662467033191694 Centerline is valid? [True, True] Translation: X:610.63, Y:57.59, Z:-1.43 [[ 9.99989738e-01 -4.07745433e-03 1.97429111e-03 6.10631433e+02] [ 4.07711787e-03 9.99991673e-01 1.74415347e-04 5.75890246e+01] [-1.97498585e-03 -1.66364140e-04 9.99998036e-01 -1.43203020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.641400513 meters 0.07484963150132747 Centerline is valid? [True, True] Translation: X:610.70, Y:57.58, Z:-1.43 [[ 9.99992421e-01 -3.88249641e-03 2.91564905e-04 6.10695514e+02] [ 3.88248911e-03 9.99992463e-01 2.56200567e-05 5.75758903e+01] [-2.91662177e-04 -2.44878649e-05 9.99999957e-01 -1.43327791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.701400513 meters 0.08149551467437252 Centerline is valid? [True, True] Translation: X:610.76, Y:57.58, Z:-1.43 [[ 9.99995784e-01 -2.90304547e-03 5.88964133e-05 6.10755785e+02] [ 2.90304517e-03 9.99995786e-01 5.16795582e-06 5.75796994e+01] [-5.89111679e-05 -4.99695508e-06 9.99999998e-01 -1.43308590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.761400513 meters 0.08018041240955488 Centerline is valid? [True, True] Translation: X:610.82, Y:57.57, Z:-1.43 [[ 9.99999457e-01 -3.30507698e-04 9.88633200e-04 6.10817524e+02] [ 3.30421511e-04 9.99999942e-01 8.73404184e-05 5.75691972e+01] [-9.88662009e-04 -8.70137053e-05 9.99999507e-01 -1.43209249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.821400513 meters 0.08487256765545455 Centerline is valid? [True, True] Translation: X:610.88, Y:57.56, Z:-1.43 [[ 9.99999641e-01 6.14351114e-04 -5.83784688e-04 6.10878651e+02] [-6.14381367e-04 9.99999810e-01 -5.16442513e-05 5.75615764e+01] [ 5.83752850e-04 5.20028992e-05 9.99999828e-01 -1.43403800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.881400513 meters 0.07497918071241338 Centerline is valid? [True, True] Translation: X:610.94, Y:57.54, Z:-1.43 [[ 9.99999660e-01 4.66495768e-04 -6.80720925e-04 6.10940160e+02] [-4.66536763e-04 9.99999889e-01 -6.00654760e-05 5.75428482e+01] [ 6.80692830e-04 6.03830368e-05 9.99999767e-01 -1.43322409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.941400513 meters 0.0771548588861049 Centerline is valid? [True, True] Translation: X:611.00, Y:57.53, Z:-1.43 [[ 9.99998740e-01 1.54439271e-03 3.66762576e-04 6.11001315e+02] [-1.54440472e-03 9.99998807e-01 3.24868382e-05 5.75288920e+01] [-3.66711966e-04 -3.30532271e-05 9.99999932e-01 -1.43308299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.001400513 meters 0.0860759979396107 Centerline is valid? [True, True] Translation: X:611.06, Y:57.52, Z:-1.43 [[ 9.99984564e-01 5.55629282e-03 -7.15525831e-06 6.11061701e+02] [-5.55629283e-03 9.99984564e-01 -6.31233245e-07 5.75243940e+01] [ 7.15164054e-06 6.70980210e-07 1.00000000e+00 -1.43174351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.061400513 meters 0.0913408870145969 Centerline is valid? [True, True] Translation: X:611.12, Y:57.52, Z:-1.43 [[ 9.99956642e-01 9.31122205e-03 1.21377611e-04 6.11122720e+02] [-9.31122342e-03 9.99956650e-01 1.07434521e-05 5.75226424e+01] [-1.21272314e-04 -1.18731604e-05 9.99999993e-01 -1.43220004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.121400513 meters 0.10178497587759293 Centerline is valid? [True, False] Translation: X:611.12, Y:57.51, Z:-1.43 [[ 9.99980563e-01 6.23465523e-03 -5.28947322e-05 6.11124541e+02] [-6.23472454e-03 9.99979540e-01 -1.43080554e-03 5.75102819e+01] [ 4.39730707e-05 1.43110752e-03 9.99998975e-01 -1.43443686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.181400513 meters 0.10598397556897571 Centerline is valid? [False, False] Translation: X:611.13, Y:57.50, Z:-1.44 [[ 9.99996913e-01 2.48178169e-03 -1.19761808e-04 6.11125139e+02] [-2.48227106e-03 9.99987779e-01 -4.27544201e-03 5.75038238e+01] [ 1.09149630e-04 4.27572609e-03 9.99990853e-01 -1.43516018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.241400513 meters 0.1039543731762328 Centerline is valid? [False, False] Translation: X:611.13, Y:57.49, Z:-1.44 [[ 9.99993265e-01 3.66546283e-03 -1.84693159e-04 6.11126824e+02] [-3.66566825e-03 9.99992649e-01 -1.12442927e-03 5.74908204e+01] [ 1.80570247e-04 1.12509872e-03 9.99999351e-01 -1.43740252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.301400513 meters 0.09420568636120874 Centerline is valid? [False, True] Translation: X:611.13, Y:57.47, Z:-1.44 [[ 9.99999047e-01 1.36418200e-03 2.11626916e-04 6.11126474e+02] [-1.36439025e-03 9.99998582e-01 9.87003520e-04 5.74673848e+01] [-2.10280164e-04 -9.87291321e-04 9.99999491e-01 -1.43961270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.361400513 meters 0.09490552714043664 Centerline is valid? [True, True] Translation: X:611.19, Y:57.46, Z:-1.44 [[ 9.99992378e-01 -2.95916458e-03 -2.54703506e-03 6.11186815e+02] [ 2.95853345e-03 9.99995592e-01 -2.51522870e-04 5.74585583e+01] [ 2.54776813e-03 2.43985465e-04 9.99996725e-01 -1.44273484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.421400513 meters 0.09863158084186116 Centerline is valid? [True, True] Translation: X:611.25, Y:57.45, Z:-1.44 [[ 9.99985134e-01 -3.73922828e-03 -3.96851696e-03 6.11246715e+02] [ 3.73770181e-03 9.99992938e-01 -3.91990365e-04 5.74542479e+01] [ 3.96995468e-03 3.77151405e-04 9.99992049e-01 -1.44366759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.481400513 meters 0.09819752780482374 Centerline is valid? [True, True] Translation: X:611.31, Y:57.44, Z:-1.44 [[ 9.99988653e-01 2.58850730e-03 -3.99917557e-03 6.11309129e+02] [-2.59010780e-03 9.99996568e-01 -3.95078240e-04 5.74405414e+01] [ 3.99813918e-03 4.05432053e-04 9.99991925e-01 -1.44342828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.541400513 meters 0.10868031228573764 Centerline is valid? [True, False] Translation: X:611.31, Y:57.43, Z:-1.45 [[ 9.99986277e-01 3.40025560e-03 -3.98541361e-03 6.11310080e+02] [-3.39468925e-03 9.99993254e-01 1.40261338e-03 5.74327476e+01] [ 3.99015597e-03 -1.38906489e-03 9.99991075e-01 -1.44505171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.601400513 meters 0.10373516198291709 Centerline is valid? [False, False] Translation: X:611.31, Y:57.43, Z:-1.45 [[ 9.99992125e-01 -5.72493758e-04 -3.92713333e-03 6.11310041e+02] [ 5.65176906e-04 9.99998103e-01 -1.86401016e-03 5.74280704e+01] [ 3.92819302e-03 1.86177596e-03 9.99990552e-01 -1.44519587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.661400513 meters 0.11045485977860414 Centerline is valid? [False, False] Translation: X:611.31, Y:57.41, Z:-1.45 [[ 9.99985181e-01 -3.47786745e-03 -4.18839133e-03 6.11312376e+02] [ 3.46508418e-03 9.99989329e-01 -3.05547021e-03 5.74147088e+01] [ 4.19897315e-03 3.04091180e-03 9.99986561e-01 -1.44754446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.721400513 meters 0.10830318679303617 Centerline is valid? [False, False] Translation: X:611.32, Y:57.40, Z:-1.45 [[ 9.99986474e-01 -2.28001928e-03 -4.67478153e-03 6.11315482e+02] [ 2.28340561e-03 9.99997134e-01 7.19172414e-04 5.73999567e+01] [ 4.67312841e-03 -7.29837108e-04 9.99988815e-01 -1.45109359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.781400513 meters 0.10397127475648497 Centerline is valid? [False, False] Translation: X:611.31, Y:57.38, Z:-1.45 [[ 9.99979464e-01 -4.60842534e-03 -4.45345890e-03 6.11314928e+02] [ 4.61357519e-03 9.99988700e-01 1.14679033e-03 5.73820912e+01] [ 4.44812368e-03 -1.16731315e-03 9.99989426e-01 -1.45042024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.841400513 meters 0.10536562053482867 Centerline is valid? [False, False] Translation: X:611.32, Y:57.37, Z:-1.45 [[ 9.99983656e-01 -3.19926196e-03 -4.73839550e-03 6.11317348e+02] [ 3.22439932e-03 9.99980720e-01 5.30693273e-03 5.73655170e+01] [ 4.72132587e-03 -5.32212447e-03 9.99974692e-01 -1.45329281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.901400513 meters 0.11240284151065941 Centerline is valid? [False, False] Translation: X:611.32, Y:57.34, Z:-1.46 [[ 9.99972294e-01 -5.07988917e-03 -5.44116330e-03 6.11321538e+02] [ 5.11211048e-03 9.99969384e-01 5.92432235e-03 5.73444529e+01] [ 5.41090181e-03 -5.95197403e-03 9.99967648e-01 -1.45599712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.961400513 meters 0.11552255120388503 Centerline is valid? [False, False] Translation: X:611.32, Y:57.33, Z:-1.45 [[ 9.99967562e-01 -6.88073087e-03 -4.18685553e-03 6.11317310e+02] [ 6.90500902e-03 9.99959269e-01 5.81210184e-03 5.73299286e+01] [ 4.14669349e-03 -5.84082358e-03 9.99974345e-01 -1.45443699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.021400513 meters 0.12083595337075727 Centerline is valid? [False, False] Translation: X:611.32, Y:57.31, Z:-1.45 [[ 9.99951563e-01 1.07599984e-03 -9.78338533e-03 6.11317143e+02] [-1.08411577e-03 9.99999073e-01 -8.24297018e-04 5.73110076e+01] [ 9.78248931e-03 8.34863413e-04 9.99951802e-01 -1.45236051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.081400513 meters 0.10807712209721151 Centerline is valid? [False, False] Translation: X:611.32, Y:57.30, Z:-1.45 [[ 9.99947966e-01 -2.25085960e-03 -9.94978968e-03 6.11318878e+02] [ 2.22231330e-03 9.99993386e-01 -2.87916048e-03 5.73011903e+01] [ 9.95620446e-03 2.85689912e-03 9.99946355e-01 -1.45418552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.141400513 meters 0.11255842234516915 Centerline is valid? [False, False] Translation: X:611.34, Y:57.29, Z:-1.46 [[ 9.99975930e-01 -5.13940652e-03 -4.66106525e-03 6.11343142e+02] [ 5.16552248e-03 9.99970931e-01 5.60837926e-03 5.72913499e+01] [ 4.63210602e-03 -5.63232111e-03 9.99973410e-01 -1.46341045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.201400513 meters 0.10787391337589526 Centerline is valid? [False, False] Translation: X:611.34, Y:57.28, Z:-1.46 [[ 9.99948023e-01 -9.00130213e-03 -4.78832255e-03 6.11343721e+02] [ 9.01545698e-03 9.99955030e-01 2.94279341e-03 5.72841736e+01] [ 4.76161824e-03 -2.98580937e-03 9.99984206e-01 -1.46327732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.261400513 meters 0.09780752281839108 Centerline is valid? [False, True] Translation: X:611.34, Y:57.29, Z:-1.46 [[ 9.99968371e-01 -7.81716433e-03 -1.46597349e-03 6.11338670e+02] [ 7.79336909e-03 9.99848099e-01 -1.55898442e-02 5.72883452e+01] [ 1.58761918e-03 1.55779262e-02 9.99877396e-01 -1.45873449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.321400513 meters 0.09000447670583098 Centerline is valid? [True, True] Translation: X:611.40, Y:57.26, Z:-1.47 [[ 9.99877531e-01 -1.53463775e-02 -3.06770039e-03 6.11401708e+02] [ 1.53454599e-02 9.99882200e-01 -3.22453048e-04 5.72645470e+01] [ 3.07228750e-03 2.75338285e-04 9.99995243e-01 -1.46503829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.381400513 meters 0.08778978135947174 Centerline is valid? [True, True] Translation: X:611.46, Y:57.26, Z:-1.47 [[ 9.99805518e-01 -1.92810250e-02 -4.14356639e-03 6.11462913e+02] [ 1.92793841e-02 9.99814041e-01 -4.35586433e-04 5.72609930e+01] [ 4.15119441e-03 3.55616311e-04 9.99991321e-01 -1.46517500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.441400513 meters 0.09444804384046551 Centerline is valid? [True, True] Translation: X:611.52, Y:57.27, Z:-1.46 [[ 9.99792384e-01 -2.02296735e-02 -2.43921023e-03 6.11523282e+02] [ 2.02291076e-02 9.99795338e-01 -2.56459386e-04 5.72665497e+01] [ 2.44389910e-03 2.07063094e-04 9.99996992e-01 -1.46118621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.501400513 meters 0.08490497552568392 Centerline is valid? [True, True] Translation: X:611.59, Y:57.25, Z:-1.46 [[ 9.99807145e-01 -1.92742642e-02 -3.76510280e-03 6.11587055e+02] [ 1.92729097e-02 9.99814182e-01 -3.95722273e-04 5.72520665e+01] [ 3.77203043e-03 3.23081469e-04 9.99992834e-01 -1.46329762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.561400513 meters 0.0886808244946554 Centerline is valid? [True, True] Translation: X:611.65, Y:57.26, Z:-1.46 [[ 9.99873443e-01 -1.52556387e-02 -4.51250626e-03 6.11646977e+02] [ 1.52536534e-02 9.99883544e-01 -4.74047845e-04 5.72571461e+01] [ 4.51921266e-03 4.05155645e-04 9.99989706e-01 -1.46288523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.621400513 meters 0.09978334127312312 Centerline is valid? [True, True] Translation: X:611.71, Y:57.27, Z:-1.46 [[ 9.99927498e-01 -1.14346594e-02 -3.77449640e-03 6.11705724e+02] [ 1.14332434e-02 9.99934560e-01 -3.96498411e-04 5.72725328e+01] [ 3.77878322e-03 3.53314928e-04 9.99992798e-01 -1.46230215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.681400513 meters 0.10405068399018867 Centerline is valid? [True, False] Translation: X:611.71, Y:57.27, Z:-1.46 [[ 9.99931381e-01 -1.10758354e-02 -3.81561599e-03 6.11706398e+02] [ 1.10779053e-02 9.99938502e-01 5.21778552e-04 5.72685090e+01] [ 3.80960220e-03 -5.64011781e-04 9.99992584e-01 -1.46341845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.741400513 meters 0.08958572926512116 Centerline is valid? [False, True] Translation: X:611.70, Y:57.28, Z:-1.45 [[ 9.99938315e-01 -8.87458958e-03 -6.67894367e-03 6.11700788e+02] [ 8.76067612e-03 9.99818874e-01 -1.68958526e-02 5.72759458e+01] [ 6.82767770e-03 1.68362983e-02 9.99834947e-01 -1.45373914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.801400513 meters 0.08213855904345108 Centerline is valid? [True, True] Translation: X:611.76, Y:57.25, Z:-1.46 [[ 9.99845426e-01 -1.62853809e-02 -6.62651116e-03 6.11764490e+02] [ 1.62814666e-02 9.99867241e-01 -6.44223713e-04 5.72519405e+01] [ 6.63612286e-03 5.36234812e-04 9.99977837e-01 -1.45843449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.861400513 meters 0.08350224493228112 Centerline is valid? [True, True] Translation: X:611.82, Y:57.25, Z:-1.46 [[ 9.99736096e-01 -2.09703908e-02 -9.37977583e-03 6.11824714e+02] [ 2.09627529e-02 9.99779841e-01 -9.11879133e-04 5.72529505e+01] [ 9.39683326e-03 7.15012562e-04 9.99955593e-01 -1.46068072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.921400513 meters 0.08115241831603215 Centerline is valid? [True, True] Translation: X:611.89, Y:57.25, Z:-1.46 [[ 9.99671362e-01 -2.38396412e-02 -9.42543586e-03 6.11886304e+02] [ 2.38320544e-02 9.99715556e-01 -9.16441544e-04 5.72462953e+01] [ 9.44460249e-03 6.91512867e-04 9.99955160e-01 -1.45922689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.981400513 meters 0.08572115213899428 Centerline is valid? [True, True] Translation: X:611.95, Y:57.25, Z:-1.46 [[ 9.99774460e-01 -1.92509352e-02 -8.96827662e-03 6.11945866e+02] [ 1.92438829e-02 9.99814439e-01 -8.72004281e-04 5.72533764e+01] [ 8.98339935e-03 6.99223145e-04 9.99959404e-01 -1.45731120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.041400513 meters 0.09672908159464089 Centerline is valid? [True, True] Translation: X:612.00, Y:57.27, Z:-1.46 [[ 9.99922245e-01 -7.97506474e-03 -9.58652510e-03 6.12004735e+02] [ 7.96649141e-03 9.99967833e-01 -9.32164209e-04 5.72677951e+01] [ 9.59365080e-03 8.55720759e-04 9.99953614e-01 -1.45661787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.101400513 meters 0.1024178278495155 Centerline is valid? [True, False] Translation: X:612.02, Y:57.27, Z:-1.46 [[ 9.99972889e-01 -2.15653537e-03 -7.04063211e-03 6.12024264e+02] [ 2.12221058e-03 9.99985845e-01 -4.87907853e-03 5.72674048e+01] [ 7.05105436e-03 4.86400455e-03 9.99963311e-01 -1.45616862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.161400513 meters 0.09858950343858303 Centerline is valid? [False, True] Translation: X:612.02, Y:57.26, Z:-1.46 [[ 9.99973564e-01 -1.90638891e-03 -7.01694396e-03 6.12024459e+02] [ 1.87660762e-03 9.99989215e-01 -4.24833631e-03 5.72646170e+01] [ 7.02496727e-03 4.23505594e-03 9.99966357e-01 -1.45670567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.221400513 meters 0.09209288665299262 Centerline is valid? [True, True] Translation: X:612.09, Y:57.26, Z:-1.46 [[ 9.99962645e-01 -3.39705025e-03 -7.94781333e-03 6.12085590e+02] [ 3.39099468e-03 9.99993950e-01 -7.75267857e-04 5.72558561e+01] [ 7.95039887e-03 7.48287905e-04 9.99968115e-01 -1.45943750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.281400513 meters 0.09779396828174451 Centerline is valid? [True, True] Translation: X:612.14, Y:57.27, Z:-1.46 [[ 9.99954399e-01 -5.10308788e-03 -8.07205758e-03 6.12144060e+02] [ 5.09689584e-03 9.99986701e-01 -7.87480984e-04 5.72665200e+01] [ 8.07596882e-03 7.46302638e-04 9.99967110e-01 -1.45867942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.341400513 meters 0.09340008685132234 Centerline is valid? [True, True] Translation: X:612.21, Y:57.26, Z:-1.45 [[ 9.99927782e-01 -1.00929534e-02 -6.52410813e-03 6.12205322e+02] [ 1.00890128e-02 9.99948902e-01 -6.36637239e-04 5.72625397e+01] [ 6.53020031e-03 5.70769451e-04 9.99978515e-01 -1.45430991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.401400513 meters 0.08557385677191197 Centerline is valid? [True, True] Translation: X:612.27, Y:57.25, Z:-1.45 [[ 9.99919539e-01 -1.14639804e-02 -5.43072551e-03 6.12266012e+02] [ 1.14612708e-02 9.99934177e-01 -5.29793834e-04 5.72547239e+01] [ 5.43644159e-03 4.67508191e-04 9.99985113e-01 -1.45254136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.461400513 meters 0.09151819644510906 Centerline is valid? [True, True] Translation: X:612.32, Y:57.26, Z:-1.45 [[ 9.99934041e-01 -1.03731815e-02 -4.93062779e-03 6.12324663e+02] [ 1.03709343e-02 9.99946105e-01 -4.81108478e-04 5.72622452e+01] [ 4.93535267e-03 4.29941528e-04 9.99987729e-01 -1.45141541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.521400513 meters 0.08727778295448338 Centerline is valid? [True, True] Translation: X:612.39, Y:57.26, Z:-1.45 [[ 9.99952233e-01 -7.96945294e-03 -5.65852403e-03 6.12385058e+02] [ 7.96645370e-03 9.99968115e-01 -5.52380524e-04 5.72618838e+01] [ 5.66274577e-03 5.07275769e-04 9.99983838e-01 -1.45166520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.581400513 meters 0.10973120988927279 Centerline is valid? [True, False] Translation: X:612.39, Y:57.26, Z:-1.45 [[ 9.99978062e-01 -3.12084675e-03 -5.84252882e-03 6.12385911e+02] [ 3.15068655e-03 9.99982005e-01 5.10512596e-03 5.72560726e+01] [ 5.82649137e-03 -5.12342194e-03 9.99969901e-01 -1.45243706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.641400513 meters 0.1021615288363276 Centerline is valid? [False, False] Translation: X:612.40, Y:57.26, Z:-1.45 [[ 9.99997691e-01 3.83739058e-04 -2.11448919e-03 6.12402549e+02] [-3.86987069e-04 9.99998746e-01 -1.53587891e-03 5.72578526e+01] [ 2.11389716e-03 1.53669364e-03 9.99996585e-01 -1.45082528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.701400513 meters 0.09176453345588526 Centerline is valid? [False, True] Translation: X:612.40, Y:57.25, Z:-1.45 [[ 9.99996850e-01 7.81476936e-04 -2.38539484e-03 6.12403609e+02] [-7.81436824e-04 9.99999695e-01 1.77473430e-05 5.72512766e+01] [ 2.38540798e-03 -1.58832517e-05 9.99997155e-01 -1.45147859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.761400513 meters 0.08157440215426327 Centerline is valid? [True, True] Translation: X:612.47, Y:57.23, Z:-1.45 [[ 9.99952880e-01 -9.42692039e-03 -2.31756815e-03 6.12465906e+02] [ 9.42646420e-03 9.99955548e-01 -2.07683948e-04 5.72336519e+01] [ 2.31942295e-03 1.85827689e-04 9.99997293e-01 -1.45039040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.821400513 meters 0.08531835142753794 Centerline is valid? [True, True] Translation: X:612.53, Y:57.24, Z:-1.45 [[ 9.99934938e-01 -1.14013070e-02 -3.61444192e-04 6.12525345e+02] [ 1.14012960e-02 9.99935003e-01 -3.23434840e-05 5.72364238e+01] [ 3.61789458e-04 2.82204474e-05 9.99999934e-01 -1.44625107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.881400513 meters 0.08858772737658172 Centerline is valid? [True, True] Translation: X:612.59, Y:57.23, Z:-1.45 [[ 9.99978700e-01 -6.45858063e-03 -9.40929544e-04 6.12586533e+02] [ 6.45850411e-03 9.99979140e-01 -8.43417448e-05 5.72346783e+01] [ 9.41454645e-04 7.82629510e-05 9.99999554e-01 -1.44777617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.941400513 meters 0.086968750138611 Centerline is valid? [True, True] Translation: X:612.65, Y:57.23, Z:-1.45 [[ 9.99997527e-01 -1.74193203e-03 -1.38241741e-03 6.12647687e+02] [ 1.74176240e-03 9.99998475e-01 -1.23903464e-04 5.72313160e+01] [ 1.38263113e-03 1.21495315e-04 9.99999037e-01 -1.44848527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.001400513 meters 0.0878451074587098 Centerline is valid? [True, True] Translation: X:612.71, Y:57.23, Z:-1.45 [[ 9.99994352e-01 1.66135614e-03 -2.92159431e-03 6.12708185e+02] [-1.66212819e-03 9.99998584e-01 -2.61847877e-04 5.72310561e+01] [ 2.92115515e-03 2.66702463e-04 9.99995698e-01 -1.45151460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.061400513 meters 0.08622618056751799 Centerline is valid? [True, True] Translation: X:612.77, Y:57.22, Z:-1.45 [[ 9.99989683e-01 -3.51526023e-03 -2.87692565e-03 6.12768428e+02] [ 3.51453273e-03 9.99993791e-01 -2.57888663e-04 5.72244246e+01] [ 2.87781433e-03 2.47774953e-04 9.99995828e-01 -1.45087409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.121400513 meters 0.08183116123471204 Centerline is valid? [True, True] Translation: X:612.83, Y:57.21, Z:-1.45 [[ 9.99941008e-01 -1.05924193e-02 -2.40447197e-03 6.12828720e+02] [ 1.05919314e-02 9.99943881e-01 -2.15563690e-04 5.72143157e+01] [ 2.40662037e-03 1.90082971e-04 9.99997086e-01 -1.44962265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.181400513 meters 0.07725760885058199 Centerline is valid? [True, True] Translation: X:612.89, Y:57.20, Z:-1.45 [[ 9.99840613e-01 -1.77683634e-02 -1.74172546e-03 6.12889242e+02] [ 1.77681181e-02 9.99842122e-01 -1.56170997e-04 5.72034457e+01] [ 1.74422538e-03 1.25198922e-04 9.99998471e-01 -1.44894560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.241400513 meters 0.06713942940653489 Centerline is valid? [True, True] Translation: X:612.95, Y:57.19, Z:-1.45 [[ 9.99652394e-01 -2.62515293e-02 -2.43909261e-03 6.12951266e+02] [ 2.62510733e-02 9.99655357e-01 -2.18769105e-04 5.71858569e+01] [ 2.44399502e-03 1.54664260e-04 9.99997001e-01 -1.45027928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.301400513 meters 0.05958688883634097 Centerline is valid? [True, True] Translation: X:613.01, Y:57.17, Z:-1.45 [[ 9.99478895e-01 -3.19994093e-02 -4.23976117e-03 6.13013646e+02] [ 3.19980833e-02 9.99487858e-01 -3.80249845e-04 5.71737431e+01] [ 4.24975758e-03 2.44387464e-04 9.99990940e-01 -1.45155632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.361400513 meters 0.06539756799270215 Centerline is valid? [True, True] Translation: X:613.07, Y:57.18, Z:-1.45 [[ 9.99402544e-01 -3.44597722e-02 -2.66048622e-03 6.13072557e+02] [ 3.44592588e-02 9.99406075e-01 -2.38591102e-04 5.71835895e+01] [ 2.66712789e-03 1.46770172e-04 9.99996432e-01 -1.44767650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.421400513 meters 0.0584608825577698 Centerline is valid? [True, True] Translation: X:613.13, Y:57.18, Z:-1.45 [[ 9.99216782e-01 -3.95612962e-02 -8.52580284e-04 6.13133875e+02] [ 3.95612453e-02 9.99217145e-01 -7.64854274e-05 5.71796222e+01] [ 8.54938700e-04 4.26963849e-05 9.99999634e-01 -1.44543145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.481400513 meters 0.04776601291044373 Centerline is valid? [True, True] Translation: X:613.20, Y:57.17, Z:-1.45 [[ 9.98994525e-01 -4.48322202e-02 -1.08613352e-04 6.13195675e+02] [ 4.48322194e-02 9.98994531e-01 -9.78896957e-06 5.71714338e+01] [ 1.08943006e-04 4.90974936e-06 9.99999994e-01 -1.44506149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.541400513 meters 0.04303862546646525 Centerline is valid? [True, True] Translation: X:613.26, Y:57.17, Z:-1.45 [[ 9.98680230e-01 -5.13357779e-02 -1.56090198e-03 6.13255648e+02] [ 5.13356217e-02 9.98681448e-01 -1.39948733e-04 5.71721685e+01] [ 1.56602823e-03 5.96341595e-05 9.99998772e-01 -1.44652040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.601400513 meters 0.03189392482525048 Centerline is valid? [True, True] Translation: X:613.32, Y:57.16, Z:-1.45 [[ 9.98132923e-01 -6.09526988e-02 -3.92882893e-03 6.13317666e+02] [ 6.09517840e-02 9.98140649e-01 -3.52272496e-04 5.71647034e+01] [ 3.94299582e-03 1.12145644e-04 9.99992220e-01 -1.44988212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.661400513 meters 0.027786182101152978 Centerline is valid? [True, True] Translation: X:613.38, Y:57.17, Z:-1.45 [[ 9.97900859e-01 -6.46469978e-02 -3.82632218e-03 6.13378392e+02] [ 6.46461574e-02 9.97908190e-01 -3.43033801e-04 5.71656531e+01] [ 3.84049435e-03 9.49566984e-05 9.99992621e-01 -1.44909625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.721400513 meters 0.025681760458428054 Centerline is valid? [True, True] Translation: X:613.44, Y:57.17, Z:-1.45 [[ 9.97804842e-01 -6.58171701e-02 -7.32106444e-03 6.13439662e+02] [ 6.58141255e-02 9.97831684e-01 -6.56270928e-04 5.71711825e+01] [ 7.34838396e-03 1.73000856e-04 9.99972985e-01 -1.45499247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.781400513 meters 0.022714236067787993 Centerline is valid? [True, True] Translation: X:613.50, Y:57.18, Z:-1.45 [[ 9.97623447e-01 -6.84478991e-02 -7.89579583e-03 6.13499439e+02] [ 6.84444403e-02 9.97654679e-01 -7.07756746e-04 5.71750949e+01] [ 7.92572211e-03 1.65651398e-04 9.99968577e-01 -1.45479812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.841400513 meters 0.01798487912399119 Centerline is valid? [True, True] Translation: X:613.56, Y:57.17, Z:-1.45 [[ 9.97321735e-01 -7.29063619e-02 -5.83260099e-03 6.13559850e+02] [ 7.29045501e-02 9.97338786e-01 -5.22916858e-04 5.71729129e+01] [ 5.85520316e-03 9.62931966e-05 9.99982854e-01 -1.45219943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.901400513 meters 0.010032915909006714 Centerline is valid? [True, True] Translation: X:613.62, Y:57.16, Z:-1.45 [[ 9.96606802e-01 -8.21077092e-02 -5.76256718e-03 6.13619858e+02] [ 8.21060939e-02 9.96623461e-01 -5.16725234e-04 5.71637403e+01] [ 5.78553677e-03 4.18300004e-05 9.99983263e-01 -1.45236485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.961400513 meters 0.007473755220836186 Centerline is valid? [True, True] Translation: X:613.68, Y:57.16, Z:-1.45 [[ 9.96257847e-01 -8.62297312e-02 -5.89377117e-03 6.13678020e+02] [ 8.62281124e-02 9.96275280e-01 -5.28689080e-04 5.71616573e+01] [ 5.91740724e-03 1.85018812e-05 9.99982492e-01 -1.45219503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.021400513 meters 0.006662517137347475 Centerline is valid? [True, True] Translation: X:613.74, Y:57.16, Z:-1.45 [[ 9.96049248e-01 -8.87077923e-02 -4.10157827e-03 6.13736826e+02] [ 8.87070289e-02 9.96057693e-01 -3.68047601e-04 5.71593422e+01] [ 4.11805728e-03 2.75471447e-06 9.99991521e-01 -1.44839944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.081400513 meters 0.0069038432195480965 Centerline is valid? [True, True] Translation: X:613.80, Y:57.17, Z:-1.45 [[ 9.96125553e-01 -8.78240768e-02 -4.56218843e-03 6.13795552e+02] [ 8.78231189e-02 9.96136000e-01 -4.10258192e-04 5.71655492e+01] [ 4.58059068e-03 8.00305166e-06 9.99989509e-01 -1.44940886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.141400513 meters 0.007732693243259512 Centerline is valid? [True, True] Translation: X:613.85, Y:57.17, Z:-1.45 [[ 9.96286810e-01 -8.60280296e-02 -3.43093468e-03 6.13853324e+02] [ 8.60274754e-02 9.96292717e-01 -3.09044776e-04 5.71690276e+01] [ 3.44480175e-03 1.27425845e-05 9.99994067e-01 -1.44784861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.201400513 meters 0.0076579653623452875 Centerline is valid? [True, True] Translation: X:613.91, Y:57.17, Z:-1.45 [[ 9.96288421e-01 -8.59918495e-02 -3.84504271e-03 6.13912611e+02] [ 8.59911521e-02 9.96295840e-01 -3.46634836e-04 5.71748856e+01] [ 3.86060783e-03 1.47086202e-05 9.99992548e-01 -1.44721308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.261400513 meters 0.012700947277637787 Centerline is valid? [True, True] Translation: X:613.97, Y:57.18, Z:-1.45 [[ 9.96168635e-01 -8.72632673e-02 -5.75951085e-03 6.13971119e+02] [ 8.72617226e-02 9.96185285e-01 -5.19438627e-04 5.71801679e+01] [ 5.78286787e-03 1.48636308e-05 9.99983279e-01 -1.45023119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.321400513 meters 0.0070538263209059615 Centerline is valid? [True, True] Translation: X:614.03, Y:57.18, Z:-1.45 [[ 9.95709302e-01 -9.24518461e-02 -3.95502883e-03 6.14030030e+02] [ 9.24511585e-02 9.95717157e-01 -3.56718899e-04 5.71800575e+01] [ 3.97106939e-03 -1.04586722e-05 9.99992115e-01 -1.44775789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.381400513 meters 0.009641203226880612 Centerline is valid? [True, True] Translation: X:614.09, Y:57.18, Z:-1.45 [[ 9.95272271e-01 -9.70390923e-02 -4.06452159e-03 6.14089258e+02] [ 9.70384014e-02 9.95280570e-01 -3.67321646e-04 5.71810271e+01] [ 4.08098392e-03 -2.88296283e-05 9.99991672e-01 -1.44810248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.441400513 meters 0.014637243171111643 Centerline is valid? [True, True] Translation: X:614.15, Y:57.18, Z:-1.45 [[ 9.94685511e-01 -1.02807404e-01 -5.60097066e-03 6.14147018e+02] [ 1.02806177e-01 9.94701278e-01 -5.07334538e-04 5.71836927e+01] [ 5.62345042e-03 -7.11760667e-05 9.99984186e-01 -1.44841834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.501400513 meters 0.015481844641222563 Centerline is valid? [True, True] Translation: X:614.20, Y:57.19, Z:-1.45 [[ 9.94559337e-01 -1.04064054e-01 -4.73258720e-03 6.14204975e+02] [ 1.04063190e-01 9.94570595e-01 -4.29070047e-04 5.71928740e+01] [ 4.75154283e-03 -6.57525003e-05 9.99988709e-01 -1.44619035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.561400513 meters 0.014219186602235647 Centerline is valid? [True, True] Translation: X:614.26, Y:57.21, Z:-1.45 [[ 9.94684868e-01 -1.02891798e-01 -3.91039661e-03 6.14262371e+02] [ 1.02891197e-01 9.94692553e-01 -3.55055823e-04 5.72093264e+01] [ 3.92617472e-03 -4.91767347e-05 9.99992291e-01 -1.44525214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.621400513 meters 0.016346858956946896 Centerline is valid? [True, True] Translation: X:614.32, Y:57.22, Z:-1.45 [[ 9.94483997e-01 -1.04649368e-01 -7.07743362e-03 6.14320026e+02] [ 1.04647434e-01 9.94509175e-01 -6.44083122e-04 5.72174217e+01] [ 7.10597556e-03 -1.00104910e-04 9.99974747e-01 -1.45025444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.681400513 meters 0.02038844866860951 Centerline is valid? [True, True] Translation: X:614.38, Y:57.23, Z:-1.45 [[ 9.94194984e-01 -1.07326701e-01 -7.57052342e-03 6.14378555e+02] [ 1.07324560e-01 9.94223799e-01 -6.89675932e-04 5.72270379e+01] [ 7.60081520e-03 -1.26830740e-04 9.99971105e-01 -1.45128171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.741400513 meters 0.01855524617852472 Centerline is valid? [True, True] Translation: X:614.44, Y:57.23, Z:-1.45 [[ 9.94234136e-01 -1.07021526e-01 -6.69890167e-03 6.14435789e+02] [ 1.07019837e-01 9.94256698e-01 -6.11078592e-04 5.72345714e+01] [ 6.72582642e-03 -1.09360169e-04 9.99977375e-01 -1.45063381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.801400513 meters 0.016600027215099546 Centerline is valid? [True, True] Translation: X:614.49, Y:57.25, Z:-1.45 [[ 9.94283428e-01 -1.06582834e-01 -6.36904168e-03 6.14493153e+02] [ 1.06581295e-01 9.94303821e-01 -5.81569633e-04 5.72502539e+01] [ 6.39474782e-03 -1.00575662e-04 9.99979548e-01 -1.44873594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.861400513 meters 0.01650989695237375 Centerline is valid? [True, True] Translation: X:614.55, Y:57.27, Z:-1.45 [[ 9.94359790e-01 -1.05978222e-01 -4.15013087e-03 6.14550958e+02] [ 1.05977561e-01 9.94368449e-01 -3.79445172e-04 5.72650692e+01] [ 4.16697212e-03 -6.25157267e-05 9.99991316e-01 -1.44618756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.921400513 meters 0.01798889085761211 Centerline is valid? [True, True] Translation: X:614.61, Y:57.27, Z:-1.45 [[ 9.94318516e-01 -1.06378205e-01 -3.79032880e-03 6.14609390e+02] [ 1.06377656e-01 9.94325738e-01 -3.46688605e-04 5.72743129e+01] [ 3.80570159e-03 -5.84873943e-05 9.99992757e-01 -1.44614305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.981400513 meters 0.019021488754207155 Centerline is valid? [True, True] Translation: X:614.67, Y:57.29, Z:-1.45 [[ 9.94052829e-01 -1.08854276e-01 -3.11772529e-03 6.14669202e+02] [ 1.08853917e-01 9.94057716e-01 -2.85211388e-04 5.72855482e+01] [ 3.13024536e-03 -5.58614218e-05 9.99995099e-01 -1.44521130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.041400513 meters 0.031348491999713325 Centerline is valid? [True, True] Translation: X:614.73, Y:57.29, Z:-1.44 [[ 9.93604389e-01 -1.12877170e-01 -3.01028564e-03 6.14729939e+02] [ 1.12876853e-01 9.93608947e-01 -2.75418364e-04 5.72935016e+01] [ 3.02213519e-03 -6.61346747e-05 9.99995431e-01 -1.44470493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.101400513 meters 0.029016924518654768 Centerline is valid? [True, True] Translation: X:614.79, Y:57.30, Z:-1.45 [[ 9.93038163e-01 -1.17746086e-01 -3.32654812e-03 6.14789336e+02] [ 1.17745727e-01 9.93043731e-01 -3.04276054e-04 5.72995857e+01] [ 3.33923507e-03 -8.95290919e-05 9.99994421e-01 -1.44653347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.161400513 meters 0.033907611875847975 Centerline is valid? [True, True] Translation: X:614.85, Y:57.30, Z:-1.45 [[ 9.92596906e-01 -1.21391744e-01 -3.92755891e-03 6.14849019e+02] [ 1.21391273e-01 9.92604670e-01 -3.59047877e-04 5.72996425e+01] [ 3.94209876e-03 -1.20381564e-04 9.99992223e-01 -1.44692162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.221400513 meters 0.0393807859058237 Centerline is valid? [True, True] Translation: X:614.91, Y:57.30, Z:-1.45 [[ 9.91799364e-01 -1.27679642e-01 -5.65079463e-03 6.14908907e+02] [ 1.27678767e-01 9.91815439e-01 -5.16670699e-04 5.73027784e+01] [ 5.67051369e-03 -2.09052823e-04 9.99983901e-01 -1.44972364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.281400513 meters 0.038625218919225865 Centerline is valid? [True, True] Translation: X:614.97, Y:57.31, Z:-1.45 [[ 9.91378117e-01 -1.30898009e-01 -5.92790947e-03 6.14968672e+02] [ 1.30897104e-01 9.91395811e-01 -5.42061598e-04 5.73128405e+01] [ 5.94785940e-03 -2.38558175e-04 9.99982283e-01 -1.44957837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.341400513 meters 0.03983665726482001 Centerline is valid? [True, True] Translation: X:615.03, Y:57.32, Z:-1.45 [[ 9.91128362e-01 -1.32819668e-01 -4.84828143e-03 6.15028734e+02] [ 1.32819085e-01 9.91140199e-01 -4.43337941e-04 5.73215952e+01] [ 4.86421062e-03 -2.04539498e-04 9.99988149e-01 -1.44819980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.401400513 meters 0.04047783633461419 Centerline is valid? [True, True] Translation: X:615.09, Y:57.33, Z:-1.45 [[ 9.91060342e-01 -1.33312023e-01 -5.22515400e-03 6.15087738e+02] [ 1.33311353e-01 9.91074092e-01 -4.77809035e-04 5.73349975e+01] [ 5.24221245e-03 -2.23034764e-04 9.99986235e-01 -1.44811096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.461400513 meters 0.04067656014868885 Centerline is valid? [True, True] Translation: X:615.15, Y:57.35, Z:-1.45 [[ 9.91256304e-01 -1.31858899e-01 -4.91635215e-03 6.15146607e+02] [ 1.31858288e-01 9.91268475e-01 -4.49621308e-04 5.73483771e+01] [ 4.93271147e-03 -2.02571821e-04 9.99987814e-01 -1.44735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.521400513 meters 0.03773644400724598 Centerline is valid? [True, True] Translation: X:615.21, Y:57.37, Z:-1.44 [[ 9.91766902e-01 -1.28027459e-01 -2.71681359e-03 6.15205626e+02] [ 1.28027258e-01 9.91770618e-01 -2.48489664e-04 5.73734227e+01] [ 2.72626939e-03 -1.01382370e-04 9.99996279e-01 -1.44349576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.581400513 meters 0.03316351722493977 Centerline is valid? [True, True] Translation: X:615.27, Y:57.39, Z:-1.44 [[ 9.91889071e-01 -1.27088791e-01 -2.12385852e-03 6.15265844e+02] [ 1.27088666e-01 9.91891341e-01 -1.94320575e-04 5.73931413e+01] [ 2.13133284e-03 -7.71738903e-05 9.99997726e-01 -1.44330072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.641400513 meters 0.04157005012107028 Centerline is valid? [True, True] Translation: X:615.33, Y:57.40, Z:-1.45 [[ 9.91529493e-01 -1.29825163e-01 -3.83305189e-03 6.15325944e+02] [ 1.29824777e-01 9.91536890e-01 -3.50312408e-04 5.73995859e+01] [ 3.84609171e-03 -1.50280022e-04 9.99992592e-01 -1.44638995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.701400513 meters 0.04298573389525795 Centerline is valid? [True, True] Translation: X:615.39, Y:57.41, Z:-1.45 [[ 9.90880463e-01 -1.34598509e-01 -6.25699476e-03 6.15386136e+02] [ 1.34597577e-01 9.90900179e-01 -5.71750416e-04 5.74074179e+01] [ 6.27701399e-03 -2.75640015e-04 9.99980261e-01 -1.44978940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.761400513 meters 0.048530030909682144 Centerline is valid? [True, True] Translation: X:615.45, Y:57.41, Z:-1.45 [[ 9.89714765e-01 -1.42898586e-01 -6.68416576e-03 6.15446772e+02] [ 1.42897711e-01 9.89737274e-01 -6.10772745e-04 5.74094635e+01] [ 6.70284656e-03 -3.50661181e-04 9.99977474e-01 -1.45032689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.821400513 meters 0.05827564810099607 Centerline is valid? [True, True] Translation: X:615.51, Y:57.41, Z:-1.45 [[ 9.89083683e-01 -1.47228411e-01 -6.10430235e-03 6.15507839e+02] [ 1.47227764e-01 9.89102459e-01 -5.57745427e-04 5.74050618e+01] [ 6.11989644e-03 -3.47065881e-04 9.99981213e-01 -1.44909559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.881400513 meters 0.05952865444725403 Centerline is valid? [True, True] Translation: X:615.57, Y:57.41, Z:-1.45 [[ 9.88985760e-01 -1.47841485e-01 -7.07548268e-03 6.15569149e+02] [ 1.47840632e-01 9.89010986e-01 -6.46301108e-04 5.74102427e+01] [ 7.09328021e-03 -4.06861238e-04 9.99974760e-01 -1.45007258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.941400513 meters 0.05300626285434216 Centerline is valid? [True, True] Translation: X:615.63, Y:57.43, Z:-1.45 [[ 9.88974253e-01 -1.47906102e-01 -7.32886748e-03 6.15630166e+02] [ 1.47905190e-01 9.89001318e-01 -6.69206475e-04 5.74268468e+01] [ 7.34723932e-03 -4.22149565e-04 9.99972920e-01 -1.44882000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.001400513 meters 0.05845646875585817 Centerline is valid? [True, True] Translation: X:615.69, Y:57.43, Z:-1.45 [[ 9.89080862e-01 -1.47221196e-01 -6.70577424e-03 6.15690433e+02] [ 1.47220418e-01 9.89103520e-01 -6.12090699e-04 5.74297058e+01] [ 6.72281763e-03 -3.81819692e-04 9.99977329e-01 -1.44706629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.061400513 meters 0.06238534795897853 Centerline is valid? [True, True] Translation: X:615.75, Y:57.44, Z:-1.45 [[ 9.89454583e-01 -1.44703530e-01 -6.36519686e-03 6.15750248e+02] [ 1.44702778e-01 9.89474996e-01 -5.80953654e-04 5.74365459e+01] [ 6.38226918e-03 -3.46234415e-04 9.99979573e-01 -1.44643960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.121400513 meters 0.04911054021294316 Centerline is valid? [True, True] Translation: X:615.81, Y:57.45, Z:-1.45 [[ 9.89544894e-01 -1.44090291e-01 -6.23617304e-03 6.15811319e+02] [ 1.44089558e-01 9.89564488e-01 -5.69093443e-04 5.74519530e+01] [ 6.25309622e-03 -3.35423906e-04 9.99980393e-01 -1.44573615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.181400513 meters 0.049740985797844965 Centerline is valid? [True, True] Translation: X:615.87, Y:57.46, Z:-1.44 [[ 9.89986976e-01 -1.41086530e-01 -4.51414191e-03 6.15871333e+02] [ 1.41086115e-01 9.89997242e-01 -4.11791335e-04 5.74604563e+01] [ 4.52708625e-03 -2.29214687e-04 9.99989726e-01 -1.44203987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.241400513 meters 0.0483309108816545 Centerline is valid? [True, True] Translation: X:615.93, Y:57.47, Z:-1.44 [[ 9.90472800e-01 -1.37692032e-01 -2.13010927e-03 6.15930779e+02] [ 1.37691932e-01 9.90475085e-01 -1.94275063e-04 5.74690998e+01] [ 2.13657029e-03 -1.00874696e-04 9.99997712e-01 -1.43972111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.301400513 meters 0.04607012359436576 Centerline is valid? [True, True] Translation: X:615.99, Y:57.48, Z:-1.44 [[ 9.90484550e-01 -1.37548191e-01 -4.56629918e-03 6.15992382e+02] [ 1.37547730e-01 9.90495052e-01 -4.16521166e-04 5.74777900e+01] [ 4.58018848e-03 -2.15526305e-04 9.99989488e-01 -1.44402872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.361400513 meters 0.0492789638413709 Centerline is valid? [True, True] Translation: X:616.05, Y:57.48, Z:-1.45 [[ 9.90268889e-01 -1.38995423e-01 -6.91368774e-03 6.16054729e+02] [ 1.38994402e-01 9.90292966e-01 -6.30210685e-04 5.74818065e+01] [ 6.93417274e-03 -3.36885859e-04 9.99975902e-01 -1.44625473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.421400513 meters 0.04722966173727119 Centerline is valid? [True, True] Translation: X:616.12, Y:57.49, Z:-1.44 [[ 9.90293011e-01 -1.38913718e-01 -4.76775888e-03 6.16116681e+02] [ 1.38913232e-01 9.90304461e-01 -4.34441691e-04 5.74866748e+01] [ 4.78188280e-03 -2.32080226e-04 9.99988540e-01 -1.44315549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.481400513 meters 0.04824771281163002 Centerline is valid? [True, True] Translation: X:616.18, Y:57.49, Z:-1.45 [[ 9.90686005e-01 -1.36026570e-01 -6.16532568e-03 6.16176768e+02] [ 1.36025704e-01 9.90705149e-01 -5.61517570e-04 5.74916217e+01] [ 6.18440120e-03 -2.82355167e-04 9.99980837e-01 -1.44500814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.541400513 meters 0.04442472764843986 Centerline is valid? [True, True] Translation: X:616.24, Y:57.50, Z:-1.45 [[ 9.90862724e-01 -1.34522051e-01 -9.74066930e-03 6.16238536e+02] [ 1.34519820e-01 9.90910506e-01 -8.86903422e-04 5.75009042e+01] [ 9.77143961e-03 -4.31513537e-04 9.99952165e-01 -1.45087115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.601400513 meters 0.04819808091879539 Centerline is valid? [True, True] Translation: X:616.30, Y:57.50, Z:-1.45 [[ 9.90548293e-01 -1.36941784e-01 -7.81197295e-03 6.16299265e+02] [ 1.36940425e-01 9.90579030e-01 -7.11087161e-04 5.74986934e+01] [ 7.83575413e-03 -3.65408721e-04 9.99969233e-01 -1.44841603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.661400513 meters 0.05114865869309672 Centerline is valid? [True, True] Translation: X:616.36, Y:57.49, Z:-1.45 [[ 9.90319126e-01 -1.38609141e-01 -7.45210087e-03 6.16359552e+02] [ 1.38607952e-01 9.90347099e-01 -6.78280136e-04 5.74949056e+01] [ 7.47418230e-03 -3.61206648e-04 9.99972003e-01 -1.44705802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.721400513 meters 0.04449331584923226 Centerline is valid? [True, True] Translation: X:616.42, Y:57.51, Z:-1.45 [[ 9.90623505e-01 -1.36332259e-01 -8.86488420e-03 6.16419837e+02] [ 1.36330487e-01 9.90663085e-01 -8.06713996e-04 5.75127645e+01] [ 8.89209467e-03 -4.09404134e-04 9.99960381e-01 -1.44626231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.781400513 meters 0.03817158276443664 Centerline is valid? [True, True] Translation: X:616.48, Y:57.53, Z:-1.44 [[ 9.91656135e-01 -1.28819385e-01 -4.86585339e-03 6.16478611e+02] [ 1.28818761e-01 9.91668055e-01 -4.42712632e-04 5.75318855e+01] [ 4.88234134e-03 -1.87794507e-04 9.99988064e-01 -1.44027904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.841400513 meters 0.032728762039519035 Centerline is valid? [True, True] Translation: X:616.54, Y:57.55, Z:-1.44 [[ 9.92628253e-01 -1.21130480e-01 -4.06927184e-03 6.16537263e+02] [ 1.21129979e-01 9.92636586e-01 -3.70253653e-04 5.75512530e+01] [ 4.08415710e-03 -1.25386575e-04 9.99991652e-01 -1.43898004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.901400513 meters 0.020176153504590837 Centerline is valid? [True, True] Translation: X:616.59, Y:57.59, Z:-1.44 [[ 9.94069793e-01 -1.08503648e-01 -7.22525054e-03 6.16594357e+02] [ 1.08501735e-01 9.94096042e-01 -6.57419414e-04 5.75913981e+01] [ 7.25392537e-03 -1.30431436e-04 9.99973681e-01 -1.44321999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.961400513 meters 0.014355092381021886 Centerline is valid? [True, True] Translation: X:616.65, Y:57.62, Z:-1.44 [[ 9.94937633e-01 -1.00367931e-01 -5.03831823e-03 6.16652664e+02] [ 1.00366896e-01 9.94950389e-01 -4.58436409e-04 5.76192191e+01] [ 5.05888899e-03 -4.95647247e-05 9.99987203e-01 -1.43972633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.021400513 meters 0.011442254957954458 Centerline is valid? [True, True] Translation: X:616.71, Y:57.65, Z:-1.44 [[ 9.95587293e-01 -9.37976484e-02 -2.81847941e-03 6.16712172e+02] [ 9.37972980e-02 9.95591282e-01 -2.56532432e-04 5.76450087e+01] [ 2.83011567e-03 -8.96532417e-06 9.99995995e-01 -1.43630480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.081400513 meters 0.011186747202672842 Centerline is valid? [True, True] Translation: X:616.77, Y:57.67, Z:-1.44 [[ 9.95740483e-01 -9.21871155e-02 -1.55736372e-03 6.16773400e+02] [ 9.21870064e-02 9.95741701e-01 -1.41835638e-04 5.76718979e+01] [ 1.56380742e-03 -2.33721227e-06 9.99998777e-01 -1.43606237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.141400513 meters 0.012393048137776617 Centerline is valid? [True, True] Translation: X:616.83, Y:57.69, Z:-1.44 [[ 9.95401517e-01 -9.57840282e-02 -1.11393272e-03 6.16834808e+02] [ 9.57839742e-02 9.95402140e-01 -1.01795389e-04 5.76873089e+01] [ 1.11856138e-03 -5.36961864e-06 9.99999374e-01 -1.43563739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.201400513 meters 0.014131289121825584 Centerline is valid? [True, True] Translation: X:616.90, Y:57.70, Z:-1.44 [[ 9.95106030e-01 -9.87555644e-02 -3.36569735e-03 6.16895136e+02] [ 9.87550961e-02 9.95111721e-01 -3.05447056e-04 5.76967212e+01] [ 3.37940948e-03 -2.84275585e-05 9.99994289e-01 -1.43905462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.261400513 meters 0.014529203426784713 Centerline is valid? [True, True] Translation: X:616.96, Y:57.71, Z:-1.44 [[ 9.95084207e-01 -9.89122586e-02 -4.87715951e-03 6.16955809e+02] [ 9.89112825e-02 9.95096158e-01 -4.41537982e-04 5.77135435e+01] [ 4.89691620e-03 -4.30386293e-05 9.99988009e-01 -1.44230090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.321400513 meters 0.012773015346441638 Centerline is valid? [True, True] Translation: X:617.02, Y:57.73, Z:-1.44 [[ 9.95342298e-01 -9.62152853e-02 -6.02732104e-03 6.17016999e+02] [ 9.62137512e-02 9.95360546e-01 -5.44633255e-04 5.77292603e+01] [ 6.05175961e-03 -3.78146520e-05 9.99981687e-01 -1.44303134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.381400513 meters 0.010956740293500349 Centerline is valid? [True, True] Translation: X:617.08, Y:57.75, Z:-1.44 [[ 9.95849683e-01 -9.08190225e-02 -5.94251146e-03 6.17077795e+02] [ 9.08174368e-02 9.95867413e-01 -5.36693032e-04 5.77497484e+01] [ 5.96669546e-03 -5.21807327e-06 9.99982199e-01 -1.44170609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.441400513 meters 0.011442685181040626 Centerline is valid? [True, True] Translation: X:617.14, Y:57.77, Z:-1.44 [[ 9.96341781e-01 -8.53641545e-02 -4.00203168e-03 6.17137368e+02] [ 8.53633916e-02 9.96349818e-01 -3.61367495e-04 5.77658673e+01] [ 4.01827137e-03 1.84185361e-05 9.99991927e-01 -1.43807503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.501400513 meters 0.015283603010731476 Centerline is valid? [True, True] Translation: X:617.20, Y:57.79, Z:-1.44 [[ 9.96881552e-01 -7.87912174e-02 -4.37209274e-03 6.17196804e+02] [ 7.87902470e-02 9.96891138e-01 -3.94032218e-04 5.77850114e+01] [ 4.38954678e-03 4.83251824e-05 9.99990365e-01 -1.43778878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.561400513 meters 0.02127472905410226 Centerline is valid? [True, True] Translation: X:617.26, Y:57.81, Z:-1.44 [[ 9.97488871e-01 -7.07304486e-02 -3.62698353e-03 6.17255640e+02] [ 7.07297295e-02 9.97495463e-01 -3.26322556e-04 5.78082324e+01] [ 3.64098056e-03 6.89675539e-05 9.99993369e-01 -1.43591866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.621400513 meters 0.023173072737275716 Centerline is valid? [True, True] Translation: X:617.32, Y:57.82, Z:-1.43 [[ 9.97840118e-01 -6.56889597e-02 -2.44675775e-04 6.17315688e+02] [ 6.56889563e-02 9.97840148e-01 -2.20632638e-05 5.78226473e+01] [ 2.45596624e-04 5.94311347e-06 9.99999970e-01 -1.43129941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.681400513 meters 0.026343757078012623 Centerline is valid? [True, True] Translation: X:617.38, Y:57.84, Z:-1.43 [[ 9.97944932e-01 -6.40751858e-02 -5.32507351e-04 6.17375977e+02] [ 6.40751691e-02 9.97945074e-01 -4.82546728e-05 5.78360541e+01] [ 5.34505015e-04 1.40350076e-05 9.99999857e-01 -1.43094306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.741400513 meters 0.02802053538993255 Centerline is valid? [True, True] Translation: X:617.44, Y:57.85, Z:-1.43 [[ 9.98021385e-01 -6.28125244e-02 -2.81086180e-03 6.17436291e+02] [ 6.28120612e-02 9.98025341e-01 -2.52822973e-04 5.78485203e+01] [ 2.82119176e-03 7.57667095e-05 9.99996018e-01 -1.43366262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.801400513 meters 0.03350812427112091 Centerline is valid? [True, True] Translation: X:617.49, Y:57.87, Z:-1.43 [[ 9.98307589e-01 -5.80842995e-02 -2.85876624e-03 6.17494645e+02] [ 5.80838031e-02 9.98311678e-01 -2.56419530e-04 5.78688631e+01] [ 2.86883367e-03 8.99375469e-05 9.99995881e-01 -1.43391340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.861400513 meters 0.03794520954984586 Centerline is valid? [True, True] Translation: X:617.55, Y:57.88, Z:-1.43 [[ 9.98562754e-01 -5.35199896e-02 -2.83505097e-03 6.17554420e+02] [ 5.35194830e-02 9.98566773e-01 -2.54311481e-04 5.78827407e+01] [ 2.84459844e-03 1.02215511e-04 9.99995949e-01 -1.43306311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.921400513 meters 0.03977407728090117 Centerline is valid? [True, True] Translation: X:617.61, Y:57.90, Z:-1.44 [[ 9.98820428e-01 -4.83483465e-02 -4.49323984e-03 6.17613327e+02] [ 4.83470221e-02 9.98830518e-01 -4.02972588e-04 5.79002035e+01] [ 4.50746814e-03 1.85262487e-04 9.99989824e-01 -1.43551752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.981400513 meters 0.042962573279343316 Centerline is valid? [True, True] Translation: X:617.67, Y:57.92, Z:-1.44 [[ 9.98922532e-01 -4.61818264e-02 -4.58415679e-03 6.17672560e+02] [ 4.61804252e-02 9.98933030e-01 -4.11113139e-04 5.79155710e+01] [ 4.59825159e-03 1.98971868e-04 9.99989408e-01 -1.43668151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.041400513 meters 0.04215197127035154 Centerline is valid? [True, True] Translation: X:617.73, Y:57.92, Z:-1.43 [[ 9.98991434e-01 -4.48231873e-02 -2.64499085e-03 6.17734383e+02] [ 4.48227159e-02 9.98994929e-01 -2.37266047e-04 5.79226741e+01] [ 2.65296747e-03 1.18471075e-04 9.99996474e-01 -1.43397188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.101400513 meters 0.045632507091990133 Centerline is valid? [True, True] Translation: X:617.79, Y:57.93, Z:-1.43 [[ 9.99032599e-01 -4.39307475e-02 -1.98874093e-03 6.17794937e+02] [ 4.39304788e-02 9.99034575e-01 -1.78629640e-04 5.79328406e+01] [ 1.99466828e-03 9.10904925e-05 9.99998006e-01 -1.43306715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.161400513 meters 0.04702474737049265 Centerline is valid? [True, True] Translation: X:617.86, Y:57.94, Z:-1.43 [[ 9.99062994e-01 -4.32733456e-02 -7.42956412e-04 6.17855399e+02] [ 4.32733079e-02 9.99063269e-01 -6.67967587e-05 5.79394814e+01] [ 7.45150981e-04 3.45839881e-05 9.99999722e-01 -1.43040249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.221400513 meters 0.04678049138395204 Centerline is valid? [True, True] Translation: X:617.92, Y:57.94, Z:-1.43 [[ 9.99092886e-01 -4.25734351e-02 9.53083722e-04 6.17918021e+02] [ 4.25733735e-02 9.99093339e-01 8.49115874e-05 5.79412506e+01] [-9.55834577e-04 -4.42585737e-05 9.99999542e-01 -1.42780304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.281400513 meters 0.05226010285520355 Centerline is valid? [True, True] Translation: X:617.98, Y:57.95, Z:-1.43 [[ 9.99100704e-01 -4.23990339e-02 3.24757020e-04 6.17979630e+02] [ 4.23990270e-02 9.99100757e-01 2.81447487e-05 5.79462593e+01] [-3.25658295e-04 -1.43500566e-05 9.99999947e-01 -1.42784728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.341400513 meters 0.05073016748865775 Centerline is valid? [True, True] Translation: X:618.04, Y:57.94, Z:-1.43 [[ 9.99167821e-01 -4.07721246e-02 1.13949176e-03 6.18041694e+02] [ 4.07720354e-02 9.99168470e-01 1.01440346e-04 5.79438057e+01] [-1.14268017e-03 -5.48965308e-05 9.99999346e-01 -1.42659363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.401400513 meters 0.04903306677189894 Centerline is valid? [True, True] Translation: X:618.10, Y:57.94, Z:-1.43 [[ 9.99315419e-01 -3.69320485e-02 2.17187791e-03 6.18103174e+02] [ 3.69317149e-02 9.99317773e-01 1.93533109e-04 5.79392390e+01] [-2.17754377e-03 -1.13189445e-04 9.99997623e-01 -1.42599173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.461400513 meters 0.05735123545608772 Centerline is valid? [True, True] Translation: X:618.16, Y:57.95, Z:-1.43 [[ 9.99421283e-01 -3.40132087e-02 4.48774104e-04 6.18162498e+02] [ 3.40131941e-02 9.99421383e-01 3.99918202e-05 5.79504506e+01] [-4.49874686e-04 -2.47044356e-05 9.99999899e-01 -1.42774157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.521400513 meters 0.06320185152241523 Centerline is valid? [True, True] Translation: X:618.22, Y:57.96, Z:-1.43 [[ 9.99480343e-01 -3.21875684e-02 -1.73309186e-03 6.18222730e+02] [ 3.21873487e-02 9.99481841e-01 -1.54532533e-04 5.79565078e+01] [ 1.73716787e-03 9.86685969e-05 9.99998486e-01 -1.43145621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.581400513 meters 0.06029805650909693 Centerline is valid? [True, True] Translation: X:618.29, Y:57.95, Z:-1.43 [[ 9.99499374e-01 -3.15710600e-02 -2.06640437e-03 6.18285462e+02] [ 3.15707465e-02 9.99501503e-01 -1.84192739e-04 5.79504216e+01] [ 2.07118943e-03 1.18862598e-04 9.99997848e-01 -1.43334888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.641400513 meters 0.06344838172722575 Centerline is valid? [True, True] Translation: X:618.35, Y:57.95, Z:-1.43 [[ 9.99543101e-01 -3.00359575e-02 -3.38079866e-03 6.18346456e+02] [ 3.00351106e-02 9.99548799e-01 -3.01012049e-04 5.79524550e+01] [ 3.38831442e-03 1.99331855e-04 9.99994240e-01 -1.43388375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.701400513 meters 0.06022399552008316 Centerline is valid? [True, True] Translation: X:618.41, Y:57.95, Z:-1.43 [[ 9.99575077e-01 -2.89667674e-02 -3.25443559e-03 6.18409150e+02] [ 2.89659770e-02 9.99580356e-01 -2.89770266e-04 5.79483548e+01] [ 3.26146359e-03 1.95379230e-04 9.99994662e-01 -1.43323428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.761400513 meters 0.064656328311668 Centerline is valid? [True, True] Translation: X:618.47, Y:57.95, Z:-1.43 [[ 9.99662332e-01 -2.58637796e-02 -2.50745381e-03 6.18469588e+02] [ 2.58633011e-02 9.99665464e-01 -2.23093796e-04 5.79506764e+01] [ 2.51238503e-03 1.58167431e-04 9.99996831e-01 -1.43325256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.821400513 meters 0.06950478586578852 Centerline is valid? [True, True] Translation: X:618.53, Y:57.96, Z:-1.43 [[ 9.99697147e-01 -2.43323641e-02 -3.68108647e-03 6.18529351e+02] [ 2.43313224e-02 9.99703896e-01 -3.27508413e-04 5.79585937e+01] [ 3.68796554e-03 2.37843524e-04 9.99993171e-01 -1.43457542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.881400513 meters 0.06857169984043973 Centerline is valid? [True, True] Translation: X:618.59, Y:57.96, Z:-1.43 [[ 9.99723392e-01 -2.32934408e-02 -3.24898793e-03 6.18591438e+02] [ 2.32926238e-02 9.99728648e-01 -2.89076174e-04 5.79599286e+01] [ 3.25483989e-03 2.13318759e-04 9.99994680e-01 -1.43282318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.941400513 meters 0.06930500328897576 Centerline is valid? [True, True] Translation: X:618.65, Y:57.97, Z:-1.43 [[ 9.99789459e-01 -2.03385270e-02 -2.71709909e-03 6.18651290e+02] [ 2.03379452e-02 9.99793133e-01 -2.41571976e-04 5.79668552e+01] [ 2.72145023e-03 1.86260902e-04 9.99996280e-01 -1.43255173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.001400513 meters 0.07236892494289507 Centerline is valid? [True, True] Translation: X:618.71, Y:57.97, Z:-1.43 [[ 9.99792567e-01 -2.02016346e-02 -2.59167046e-03 6.18712210e+02] [ 2.02011047e-02 9.99795910e-01 -2.30480899e-04 5.79745023e+01] [ 2.59579762e-03 1.78078483e-04 9.99996615e-01 -1.43343357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.061400513 meters 0.06823817504057637 Centerline is valid? [True, True] Translation: X:618.77, Y:57.97, Z:-1.43 [[ 9.99700563e-01 -2.44659083e-02 -4.52136646e-04 6.18773505e+02] [ 2.44658926e-02 9.99700664e-01 -4.02106252e-05 5.79744319e+01] [ 4.52985095e-04 2.91366580e-05 9.99999897e-01 -1.43051053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.121400513 meters 0.06232648607627042 Centerline is valid? [True, True] Translation: X:618.83, Y:57.97, Z:-1.43 [[ 9.99615093e-01 -2.77259472e-02 -9.68675972e-04 6.18834848e+02] [ 2.77258767e-02 9.99615560e-01 -8.60881097e-05 5.79720892e+01] [ 9.70690449e-04 5.91975832e-05 9.99999527e-01 -1.43193818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.181400513 meters 0.059927500509118575 Centerline is valid? [True, True] Translation: X:618.89, Y:57.97, Z:-1.44 [[ 9.99462558e-01 -3.26603790e-02 -2.80963094e-03 6.18894800e+02] [ 3.26598058e-02 9.99466495e-01 -2.49653077e-04 5.79743201e+01] [ 2.81628575e-03 1.57756902e-04 9.99996022e-01 -1.43512440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.241400513 meters 0.05215375330882961 Centerline is valid? [True, True] Translation: X:618.96, Y:57.97, Z:-1.43 [[ 9.99372473e-01 -3.52863270e-02 -3.08807395e-03 6.18956485e+02] [ 3.52856471e-02 9.99377230e-01 -2.74417548e-04 5.79706951e+01] [ 3.09583398e-03 1.65280656e-04 9.99995194e-01 -1.43478275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.301400513 meters 0.05804861006412675 Centerline is valid? [True, True] Translation: X:619.02, Y:57.98, Z:-1.43 [[ 9.99400495e-01 -3.46051797e-02 -1.06391536e-03 6.19016874e+02] [ 3.46050985e-02 9.99401060e-01 -9.46509487e-05 5.79809247e+01] [ 1.06655356e-03 5.77773090e-05 9.99999430e-01 -1.43191101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.361400513 meters 0.06014811091529619 Centerline is valid? [True, True] Translation: X:619.08, Y:57.99, Z:-1.43 [[ 9.99523751e-01 -3.07506006e-02 -2.58306345e-03 6.19077204e+02] [ 3.07501101e-02 9.99527077e-01 -2.29401391e-04 5.79864630e+01] [ 2.58889610e-03 1.49862653e-04 9.99996638e-01 -1.43312944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.421400513 meters 0.06805273818828897 Centerline is valid? [True, True] Translation: X:619.14, Y:58.00, Z:-1.43 [[ 9.99690362e-01 -2.45564825e-02 -4.01995817e-03 6.19137243e+02] [ 2.45552446e-02 9.99698411e-01 -3.56998549e-04 5.79995723e+01] [ 4.02751242e-03 2.58176952e-04 9.99991856e-01 -1.43460542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.481400513 meters 0.07734852235121198 Centerline is valid? [True, True] Translation: X:619.20, Y:58.01, Z:-1.43 [[ 9.99802583e-01 -1.95761742e-02 -3.40118492e-03 6.19195722e+02] [ 1.95752595e-02 9.99808341e-01 -3.02025718e-04 5.80109968e+01] [ 3.40644556e-03 2.35387016e-04 9.99994170e-01 -1.43294843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.541400513 meters 0.0705432158772202 Centerline is valid? [True, True] Translation: X:619.26, Y:58.00, Z:-1.43 [[ 9.99779190e-01 -2.09385168e-02 -1.77454458e-03 6.19258198e+02] [ 2.09382698e-02 9.99780758e-01 -1.57674806e-04 5.80005207e+01] [ 1.77745700e-03 1.20484097e-04 9.99998413e-01 -1.43233365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.601400513 meters 0.06930025662123142 Centerline is valid? [True, True] Translation: X:619.32, Y:57.99, Z:-1.43 [[ 9.99698733e-01 -2.44663340e-02 -1.96021184e-03 6.19318478e+02] [ 2.44660396e-02 9.99700647e-01 -1.74016696e-04 5.79949831e+01] [ 1.96388260e-03 1.26005650e-04 9.99998064e-01 -1.43226548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.661400513 meters 0.06770658818217215 Centerline is valid? [True, True] Translation: X:619.38, Y:57.99, Z:-1.43 [[ 9.99642465e-01 -2.67245461e-02 8.60200156e-04 6.19378478e+02] [ 2.67244902e-02 9.99642834e-01 7.64529709e-05 5.79911774e+01] [-8.61936093e-04 -5.34372257e-05 9.99999627e-01 -1.42625824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.721400513 meters 0.07106992606657532 Centerline is valid? [True, True] Translation: X:619.44, Y:57.99, Z:-1.43 [[ 9.99698958e-01 -2.44921823e-02 1.45805240e-03 6.19439093e+02] [ 2.44920195e-02 9.99700017e-01 1.29426964e-04 5.79942039e+01] [-1.46078495e-03 -9.36773529e-05 9.99998929e-01 -1.42677003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.781400513 meters 0.07129856208990958 Centerline is valid? [True, True] Translation: X:619.50, Y:57.99, Z:-1.43 [[ 9.99759692e-01 -2.19099462e-02 -7.16369152e-04 6.19500705e+02] [ 2.19099062e-02 9.99759947e-01 -6.36461524e-05 5.79901981e+01] [ 7.17591670e-04 4.79352768e-05 9.99999741e-01 -1.43089697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.841400513 meters 0.070345739288361 Centerline is valid? [True, True] Translation: X:619.56, Y:57.99, Z:-1.43 [[ 9.99800485e-01 -1.98629992e-02 -2.11005427e-03 6.19561960e+02] [ 1.98626477e-02 9.99802701e-01 -1.87393538e-04 5.79890016e+01] [ 2.11336015e-03 1.45444886e-04 9.99997756e-01 -1.43263382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.901400513 meters 0.06845406040289524 Centerline is valid? [True, True] Translation: X:619.62, Y:57.99, Z:-1.43 [[ 9.99815979e-01 -1.90500955e-02 -2.25870920e-03 6.19623894e+02] [ 1.90496906e-02 9.99818518e-01 -2.00620728e-04 5.79893178e+01] [ 2.26212113e-03 1.57556098e-04 9.99997429e-01 -1.43276556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.961400513 meters 0.07179584965902157 Centerline is valid? [True, True] Translation: X:619.68, Y:57.99, Z:-1.43 [[ 9.99859082e-01 -1.67513520e-02 -1.09890903e-03 6.19684469e+02] [ 1.67512548e-02 9.99859683e-01 -9.75400606e-05 5.79906596e+01] [ 1.10038876e-03 7.91182103e-05 9.99999391e-01 -1.43161925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.021400513 meters 0.08037461554547629 Centerline is valid? [True, True] Translation: X:619.74, Y:58.00, Z:-1.43 [[ 9.99866209e-01 -1.60319355e-02 -3.24685807e-03 6.19744450e+02] [ 1.60310836e-02 9.99871452e-01 -2.88231392e-04 5.80012203e+01] [ 3.25106160e-03 2.36142176e-04 9.99994687e-01 -1.43430559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.081400513 meters 0.07337915269075633 Centerline is valid? [True, True] Translation: X:619.81, Y:57.99, Z:-1.43 [[ 9.99862402e-01 -1.63430826e-02 -2.84275343e-03 6.19807322e+02] [ 1.63424316e-02 9.99866422e-01 -2.52096925e-04 5.79922810e+01] [ 2.84649374e-03 2.05604734e-04 9.99995928e-01 -1.43403210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.141400513 meters 0.07852929529816888 Centerline is valid? [True, True] Translation: X:619.87, Y:58.00, Z:-1.43 [[ 9.99857798e-01 -1.67684669e-02 -1.78961262e-03 6.19868690e+02] [ 1.67682094e-02 9.99859391e-01 -1.58809918e-04 5.79973446e+01] [ 1.79202399e-03 1.28778735e-04 9.99998386e-01 -1.43213029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.201400513 meters 0.0804122845158843 Centerline is valid? [True, True] Translation: X:619.93, Y:58.00, Z:-1.43 [[ 9.99868454e-01 -1.61710062e-02 -1.25449083e-03 6.19930924e+02] [ 1.61708793e-02 9.99869237e-01 -1.11187460e-04 5.79958604e+01] [ 1.25612480e-03 9.08866137e-05 9.99999207e-01 -1.43161126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.261400513 meters 0.07806536489758763 Centerline is valid? [True, True] Translation: X:619.99, Y:57.99, Z:-1.43 [[ 9.99883849e-01 -1.52312286e-02 5.45186178e-04 6.19993989e+02] [ 1.52312047e-02 9.99883997e-01 4.79826865e-05 5.79909671e+01] [-5.45853770e-04 -3.96732710e-05 9.99999850e-01 -1.42958087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.321400513 meters 0.08136121936111597 Centerline is valid? [True, True] Translation: X:620.05, Y:57.99, Z:-1.43 [[ 9.99904751e-01 -1.37964879e-02 3.81404945e-04 6.20054309e+02] [ 1.37964762e-02 9.99904824e-01 3.34455095e-05 5.79879280e+01] [-3.81830075e-04 -2.81802796e-05 9.99999927e-01 -1.42936837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.381400513 meters 0.08259758303173045 Centerline is valid? [True, True] Translation: X:620.12, Y:57.99, Z:-1.43 [[ 9.99906507e-01 -1.36048169e-02 -1.37351383e-03 6.20116446e+02] [ 1.36046628e-02 9.99907445e-01 -1.21504788e-04 5.79880683e+01] [ 1.37503975e-03 1.02807236e-04 9.99999049e-01 -1.43267276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.441400513 meters 0.08501033308721985 Centerline is valid? [True, True] Translation: X:620.18, Y:57.99, Z:-1.44 [[ 9.99919769e-01 -1.24357762e-02 -2.40970949e-03 6.20177522e+02] [ 1.24352992e-02 9.99922656e-01 -2.12819419e-04 5.79850226e+01] [ 2.41216968e-03 1.82836886e-04 9.99997074e-01 -1.43509466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.501400513 meters 0.08618674445366438 Centerline is valid? [True, True] Translation: X:620.24, Y:57.99, Z:-1.43 [[ 9.99930613e-01 -1.15876888e-02 -2.12000091e-03 6.20238528e+02] [ 1.15873178e-02 9.99932847e-01 -1.87214011e-04 5.79856671e+01] [ 2.12202792e-03 1.62635897e-04 9.99997735e-01 -1.43376725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.561400513 meters 0.08894017994099464 Centerline is valid? [True, True] Translation: X:620.30, Y:57.98, Z:-1.43 [[ 9.99933639e-01 -1.12983322e-02 -2.25046668e-03 6.20299666e+02] [ 1.12979131e-02 9.99936157e-01 -1.98857437e-04 5.79836726e+01] [ 2.25256976e-03 1.73418663e-04 9.99997448e-01 -1.43389918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.621400513 meters 0.08917495763523384 Centerline is valid? [True, True] Translation: X:620.36, Y:57.98, Z:-1.43 [[ 9.99914252e-01 -1.28841842e-02 -2.34247855e-03 6.20361173e+02] [ 1.28837353e-02 9.99916980e-01 -2.06640810e-04 5.79801521e+01] [ 2.34494648e-03 1.76443217e-04 9.99997235e-01 -1.43452499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.681400513 meters 0.08967596246722222 Centerline is valid? [True, True] Translation: X:620.42, Y:57.98, Z:-1.43 [[ 9.99898412e-01 -1.42502813e-02 3.08529449e-04 6.20423203e+02] [ 1.42502736e-02 9.99898459e-01 2.70590128e-05 5.79763322e+01] [-3.08883719e-04 -2.26596349e-05 9.99999952e-01 -1.42993681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.741400513 meters 0.09204462469601492 Centerline is valid? [True, True] Translation: X:620.48, Y:57.98, Z:-1.43 [[ 9.99906378e-01 -1.36830606e-02 -9.14336764e-05 6.20484856e+02] [ 1.36830599e-02 9.99906383e-01 -8.32414191e-06 5.79757707e+01] [ 9.15390163e-05 7.07227012e-06 9.99999996e-01 -1.43054528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.801400513 meters 0.09550925279473226 Centerline is valid? [True, True] Translation: X:620.55, Y:57.97, Z:-1.43 [[ 9.99912203e-01 -1.32204653e-02 -8.98042581e-04 6.20546443e+02] [ 1.32203994e-02 9.99912604e-01 -7.92360892e-05 5.79719920e+01] [ 8.99011633e-04 6.73566508e-05 9.99999594e-01 -1.43258251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.861400513 meters 0.12351452487590804 Centerline is valid? [True, False] Translation: X:620.55, Y:57.96, Z:-1.43 [[ 9.99923026e-01 -1.23682313e-02 -9.84456026e-04 6.20547021e+02] [ 1.23703962e-02 9.99921010e-01 2.22427313e-03 5.79617937e+01] [ 9.56867939e-04 -2.23628003e-03 9.99997042e-01 -1.43286890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.921400513 meters 0.13820798024160946 Centerline is valid? [False, False] Translation: X:620.55, Y:57.96, Z:-1.44 [[ 9.99946776e-01 -6.36478061e-03 8.12001619e-03 6.20545768e+02] [ 6.43137820e-03 9.99945680e-01 -8.20207972e-03 5.79592149e+01] [-8.06737067e-03 8.25386606e-03 9.99933393e-01 -1.43745259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.981400513 meters 0.13967766767591858 Centerline is valid? [False, False] Translation: X:620.53, Y:57.94, Z:-1.43 [[ 9.99998399e-01 -1.78526476e-03 1.19350998e-04 6.20529685e+02] [ 1.78451640e-03 9.99980401e-01 6.00104800e-03 5.79385256e+01] [-1.30062119e-04 -6.00082541e-03 9.99981986e-01 -1.43333625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.041400513 meters 0.15964305572734375 Centerline is valid? [False, False] Translation: X:620.55, Y:57.93, Z:-1.43 [[ 9.99984215e-01 -1.10204781e-03 -5.50962259e-03 6.20549544e+02] [ 1.11175085e-03 9.99997836e-01 1.75835514e-03 5.79342391e+01] [ 5.50767288e-03 -1.76445271e-03 9.99983276e-01 -1.42953502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.101400513 meters 0.16684658721132528 Centerline is valid? [False, False] Translation: X:620.53, Y:57.93, Z:-1.44 [[ 9.99998686e-01 7.90578663e-04 -1.41516018e-03 6.20530605e+02] [-7.98080137e-04 9.99985593e-01 -5.30810238e-03 5.79322889e+01] [ 1.41094332e-03 5.30922482e-03 9.99984911e-01 -1.43676178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.161400513 meters 0.17132559279595952 Centerline is valid? [False, False] Translation: X:620.53, Y:57.92, Z:-1.44 [[ 9.99996934e-01 1.95426301e-03 -1.52060556e-03 6.20531907e+02] [-1.95863430e-03 9.99993939e-01 -2.87854496e-03 5.79214262e+01] [ 1.51497091e-03 2.88151444e-03 9.99994701e-01 -1.43809094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.221400513 meters 0.13950281911112133 Centerline is valid? [False, False] Translation: X:620.55, Y:57.91, Z:-1.43 [[ 9.99999344e-01 -1.13307795e-03 1.67882713e-04 6.20546683e+02] [ 1.13199966e-03 9.99979580e-01 6.28946671e-03 5.79126961e+01] [-1.75005741e-04 -6.28927254e-03 9.99980207e-01 -1.43422879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.281400513 meters 0.14417363090084762 Centerline is valid? [False, False] Translation: X:620.55, Y:57.91, Z:-1.43 [[ 9.99987028e-01 -5.09159063e-03 1.38142501e-04 6.20546808e+02] [ 5.09117705e-03 9.99982993e-01 2.84505629e-03 5.79085869e+01] [-1.52626014e-04 -2.84431608e-03 9.99995943e-01 -1.43405473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.341400513 meters 0.14736933599906038 Centerline is valid? [False, False] Translation: X:620.56, Y:57.91, Z:-1.42 [[ 9.99982421e-01 -5.09239587e-03 -3.03738209e-03 6.20561701e+02] [ 5.07625286e-03 9.99973076e-01 -5.29901885e-03 5.79114083e+01] [ 3.06428501e-03 5.28350717e-03 9.99981347e-01 -1.42389127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.401400513 meters 0.14912132853590915 Centerline is valid? [False, False] Translation: X:620.56, Y:57.90, Z:-1.42 [[ 9.99984955e-01 -4.36860015e-03 -3.31724735e-03 6.20562889e+02] [ 4.35799810e-03 9.99985395e-01 -3.19656892e-03 5.79022644e+01] [ 3.33116343e-03 3.18206427e-03 9.99989389e-01 -1.42442054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.461400513 meters 0.15120801467952777 Centerline is valid? [False, False] Translation: X:620.56, Y:57.90, Z:-1.42 [[ 9.99986172e-01 -3.87358305e-03 -3.55675136e-03 6.20563821e+02] [ 3.86721432e-03 9.99990910e-01 -1.79573942e-03 5.78960156e+01] [ 3.56367497e-03 1.78195986e-03 9.99992062e-01 -1.42484544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.521400513 meters 0.1543700915527354 Centerline is valid? [False, False] Translation: X:620.56, Y:57.88, Z:-1.42 [[ 9.99988885e-01 -2.93259224e-03 -3.69188052e-03 6.20564518e+02] [ 2.93583733e-03 9.99995309e-01 8.73870455e-04 5.78845599e+01] [ 3.68930049e-03 -8.84699502e-04 9.99992803e-01 -1.42471816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.581400513 meters 0.14366784356115878 Centerline is valid? [False, False] Translation: X:620.57, Y:57.87, Z:-1.43 [[ 9.99990581e-01 -1.97907635e-03 -3.86267506e-03 6.20565481e+02] [ 1.99299494e-03 9.99991524e-01 3.60283920e-03 5.78728006e+01] [ 3.85551203e-03 -3.61050356e-03 9.99986050e-01 -1.42514439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.641400513 meters 0.6697385891878986 Centerline is valid? [False, False] Translation: X:620.57, Y:57.87, Z:-1.43 [[ 9.99981177e-01 -3.94168706e-03 -4.70193948e-03 6.20572443e+02] [ 3.94975126e-03 9.99990743e-01 1.70702867e-03 5.78706806e+01] [ 4.69516738e-03 -1.72556803e-03 9.99987489e-01 -1.43074675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.701400513 meters 0.6684007198465621 Centerline is valid? [False, False] Translation: X:620.57, Y:57.86, Z:-1.43 [[ 9.99984349e-01 -2.87657046e-03 -4.79863737e-03 6.20572747e+02] [ 2.89575268e-03 9.99987826e-01 3.99528323e-03 5.78600414e+01] [ 4.78708624e-03 -4.00911636e-03 9.99980505e-01 -1.43027392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.761400513 meters 0.6686283392400253 Centerline is valid? [False, False] Translation: X:620.59, Y:57.86, Z:-1.43 [[ 9.99999426e-01 -1.04412884e-03 2.40001179e-04 6.20592000e+02] [ 1.04516720e-03 9.99989915e-01 -4.36783304e-03 5.78616646e+01] [-2.35438178e-04 4.36808137e-03 9.99990432e-01 -1.43310429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.821400513 meters 0.6615364751578291 Centerline is valid? [False, False] Translation: X:620.59, Y:57.86, Z:-1.43 [[ 9.99999810e-01 -5.86328816e-04 1.91422029e-04 6.20592271e+02] [ 5.86970927e-04 9.99994143e-01 -3.37178355e-03 5.78569447e+01] [-1.89443934e-04 3.37189527e-03 9.99994297e-01 -1.43322792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.881400513 meters 0.7353906181158645 Centerline is valid? [False, False] Translation: X:620.59, Y:57.84, Z:-1.43 [[ 9.99999487e-01 1.01292343e-03 2.36208616e-05 6.20593241e+02] [-1.01292387e-03 9.99999487e-01 1.85769859e-05 5.78419896e+01] [-2.36020324e-05 -1.86009025e-05 1.00000000e+00 -1.43352813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.941400513 meters 0.718615337190256 Centerline is valid? [False, False] Translation: X:620.64, Y:57.84, Z:-1.44 [[ 9.99998309e-01 1.04894531e-03 1.51044009e-03 6.20637008e+02] [-1.05022960e-03 9.99999087e-01 8.49733915e-04 5.78394856e+01] [-1.50954739e-03 -8.51318788e-04 9.99998498e-01 -1.43507573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.001400513 meters 0.7054844172516606 Centerline is valid? [False, False] Translation: X:620.64, Y:57.83, Z:-1.44 [[ 9.99997055e-01 1.94138699e-03 1.45618887e-03 6.20638356e+02] [-1.94490212e-03 9.99995189e-01 2.41640851e-03 5.78318483e+01] [-1.45149068e-03 -2.41923354e-03 9.99996020e-01 -1.43665209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.061400513 meters 0.6903698681746213 Centerline is valid? [False, False] Translation: X:620.64, Y:57.83, Z:-1.44 [[ 9.99996630e-01 2.13059835e-03 1.48337117e-03 6.20638306e+02] [-2.13475550e-03 9.99993783e-01 2.80658342e-03 5.78299401e+01] [-1.47738225e-03 -2.80974060e-03 9.99994961e-01 -1.43669024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.121400513 meters 0.66795319670842 Centerline is valid? [False, False] Translation: X:620.65, Y:57.83, Z:-1.44 [[ 9.99999591e-01 2.29287994e-04 8.74705849e-04 6.20645056e+02] [-2.30148381e-04 9.99999490e-01 9.83656781e-04 5.78275917e+01] [-8.74479861e-04 -9.83857691e-04 9.99999134e-01 -1.44260396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.181400513 meters 0.5527173694793353 Centerline is valid? [False, False] Translation: X:620.64, Y:57.83, Z:-1.44 [[ 9.99996951e-01 -1.95925898e-03 1.50296850e-03 6.20638576e+02] [ 1.96063216e-03 9.99997661e-01 -9.12713793e-04 5.78267051e+01] [-1.50117675e-03 9.15657779e-04 9.99998454e-01 -1.43741612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.241400513 meters SLAMing on 645.301400513 meters 0.6026169686604014 Centerline is valid? [False, False] Translation: X:620.64, Y:57.81, Z:-1.43 [[ 9.99984485e-01 -5.31962752e-03 1.65241971e-03 6.20636020e+02] [ 5.32284581e-03 9.99983934e-01 -1.94936671e-03 5.78116654e+01] [-1.64202325e-03 1.95813204e-03 9.99996735e-01 -1.43326255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.361400513 meters 0.6884799317134086 Centerline is valid? [False, False] Translation: X:620.64, Y:57.81, Z:-1.43 [[ 9.99954223e-01 -9.43344546e-03 1.60091291e-03 6.20636630e+02] [ 9.44272764e-03 9.99938051e-01 -5.89307725e-03 5.78096004e+01] [-1.54522171e-03 5.90792447e-03 9.99981354e-01 -1.43372847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.421400513 meters 0.718916525093553 Centerline is valid? [False, False] Translation: X:620.64, Y:57.80, Z:-1.43 [[ 9.99961784e-01 -8.61340653e-03 1.49680566e-03 6.20636879e+02] [ 8.61929392e-03 9.99954963e-01 -3.97240360e-03 5.78000370e+01] [-1.46252232e-03 3.98515320e-03 9.99990990e-01 -1.43322468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.481400513 meters 0.7098027395629006 Centerline is valid? [False, False] Translation: X:620.64, Y:57.79, Z:-1.43 [[ 9.99972765e-01 -7.23985293e-03 1.43304852e-03 6.20636463e+02] [ 7.24216866e-03 9.99972467e-01 -1.61741046e-03 5.77877994e+01] [-1.42129925e-03 1.62774479e-03 9.99997665e-01 -1.43201095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.541400513 meters 0.7068380405502708 Centerline is valid? [False, False] Translation: X:620.64, Y:57.78, Z:-1.43 [[ 9.99979668e-01 -6.21765220e-03 1.41553651e-03 6.20636596e+02] [ 6.21716641e-03 9.99980613e-01 3.47322213e-04 5.77774847e+01] [-1.41766860e-03 -3.38514525e-04 9.99998938e-01 -1.43177894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.601400513 meters 0.789237055401282 Centerline is valid? [False, False] Translation: X:620.64, Y:57.77, Z:-1.44 [[ 9.99962818e-01 -8.55349651e-03 1.09590698e-03 6.20642820e+02] [ 8.55536171e-03 9.99961942e-01 -1.70874064e-03 5.77738966e+01] [-1.08124956e-03 1.71805299e-03 9.99997940e-01 -1.43801744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.661400513 meters 0.8084661121355117 Centerline is valid? [False, False] Translation: X:620.64, Y:57.76, Z:-1.44 [[ 9.99966931e-01 -8.10647004e-03 6.49147234e-04 6.20644801e+02] [ 8.10628146e-03 9.99967101e-01 2.92616090e-04 5.77624824e+01] [-6.51497961e-04 -2.87344244e-04 9.99999746e-01 -1.43870624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.721400513 meters 0.8629347947243008 Centerline is valid? [False, False] Translation: X:620.65, Y:57.75, Z:-1.44 [[ 9.99927538e-01 -1.20265582e-02 5.30463903e-04 6.20645368e+02] [ 1.20278504e-02 9.99924527e-01 -2.50409284e-03 5.77540312e+01] [-5.00308249e-04 2.51029173e-03 9.99996724e-01 -1.43853353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.781400513 meters 0.784513471909588 Centerline is valid? [False, False] Translation: X:620.64, Y:57.75, Z:-1.43 [[ 9.99907435e-01 -1.35570125e-02 1.15262144e-03 6.20639553e+02] [ 1.35603318e-02 9.99903784e-01 -2.92244556e-03 5.77487631e+01] [-1.11289091e-03 2.93780497e-03 9.99995065e-01 -1.43335462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.841400513 meters 0.8076508440603458 Centerline is valid? [False, False] Translation: X:620.64, Y:57.74, Z:-1.43 [[ 9.99915689e-01 -1.29331470e-02 1.16099359e-03 6.20639516e+02] [ 1.29350916e-02 9.99914921e-01 -1.68333601e-03 5.77420375e+01] [-1.13912398e-03 1.69821164e-03 9.99997909e-01 -1.43327277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.901400513 meters 0.7930213749364141 Centerline is valid? [False, False] Translation: X:620.64, Y:57.73, Z:-1.43 [[ 9.99968944e-01 -7.81070306e-03 1.05113615e-03 6.20639857e+02] [ 7.80640882e-03 9.99961412e-01 4.02923560e-03 5.77343594e+01] [-1.08256675e-03 -4.02090486e-03 9.99991330e-01 -1.43331183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.961400513 meters 0.9385949690536202 Centerline is valid? [False, False] Translation: X:620.65, Y:57.73, Z:-1.46 [[ 9.99883342e-01 -1.16252992e-03 1.52299251e-02 6.20648978e+02] [ 1.17125412e-03 9.99999155e-01 -5.63926177e-04 5.77349168e+01] [-1.52292566e-02 5.81698504e-04 9.99883859e-01 -1.46001283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.021400513 meters 0.798881194890445 Centerline is valid? [False, False] Translation: X:620.65, Y:57.73, Z:-1.46 [[ 9.99880760e-01 3.53912923e-03 1.50313311e-02 6.20648884e+02] [-3.60617754e-03 9.99983659e-01 4.43581104e-03 5.77308961e+01] [-1.50153866e-02 -4.48948776e-03 9.99877184e-01 -1.45862044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.081400513 meters 0.803932915682146 Centerline is valid? [False, False] Translation: X:620.67, Y:57.74, Z:-1.45 [[ 9.99818448e-01 1.24981595e-02 1.43828563e-02 6.20667620e+02] [-1.25384432e-02 9.99917707e-01 2.71405361e-03 5.77351630e+01] [-1.43477520e-02 -2.89389949e-03 9.99892878e-01 -1.45292723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.141400513 meters 0.680772061956123 Centerline is valid? [False, False] Translation: X:620.67, Y:57.74, Z:-1.46 [[ 9.99804324e-01 1.42280872e-02 1.37431899e-02 6.20673790e+02] [-1.42766105e-02 9.99892170e-01 3.43907875e-03 5.77371051e+01] [-1.36927764e-02 -3.63461197e-03 9.99899644e-01 -1.45873016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.201400513 meters 0.7704343479787644 Centerline is valid? [False, False] Translation: X:620.67, Y:57.74, Z:-1.46 [[ 9.99736854e-01 1.83715134e-02 1.37372112e-02 6.20674539e+02] [-1.84672640e-02 9.99805821e-01 6.87609394e-03 5.77424871e+01] [-1.36082195e-02 -7.12797323e-03 9.99881997e-01 -1.45999205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.261400513 meters 1.2778577666081035 Centerline is valid? [False, False] Translation: X:620.68, Y:57.75, Z:-1.46 [[ 9.99748304e-01 1.78029191e-02 1.36522909e-02 6.20675283e+02] [-1.78764159e-02 9.99826260e-01 5.28046867e-03 5.77516495e+01] [-1.35559112e-02 -5.52319363e-03 9.99892860e-01 -1.46150285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.321400513 meters 0.6961215011836936 Centerline is valid? [False, False] Translation: X:620.68, Y:57.76, Z:-1.47 [[ 9.99732281e-01 1.89022191e-02 1.33443991e-02 6.20682494e+02] [-1.89677658e-02 9.99808561e-01 4.80255844e-03 5.77629384e+01] [-1.32510655e-02 -5.05438614e-03 9.99899426e-01 -1.46948331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.381400513 meters 0.7549937540937625 Centerline is valid? [False, False] Translation: X:620.68, Y:57.77, Z:-1.47 [[ 9.99740960e-01 1.84354044e-02 1.33472032e-02 6.20682604e+02] [-1.84902072e-02 9.99821063e-01 3.99423874e-03 5.77677684e+01] [-1.32711795e-02 -4.23999663e-03 9.99902944e-01 -1.46972171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.441400513 meters 1.093450255207225 Centerline is valid? [False, False] Translation: X:620.67, Y:57.77, Z:-1.48 [[ 9.99794150e-01 1.29064452e-02 1.56550837e-02 6.20665518e+02] [-1.30245761e-02 9.99887292e-01 7.46750828e-03 5.77725652e+01] [-1.55569403e-02 -7.66987193e-03 9.99849566e-01 -1.48080517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.501400513 meters 0.919747707454998 Centerline is valid? [False, False] Translation: X:620.69, Y:57.79, Z:-1.46 [[ 9.99947635e-01 7.48054326e-03 6.98349945e-03 6.20685578e+02] [-7.49101621e-03 9.99970855e-01 1.47471888e-03 5.77865763e+01] [-6.97226421e-03 -1.52695516e-03 9.99974528e-01 -1.45908161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.561400513 meters 0.6729342423877587 Centerline is valid? [False, False] Translation: X:620.68, Y:57.79, Z:-1.46 [[ 9.99952296e-01 6.73215732e-03 7.07700820e-03 6.20684923e+02] [-6.73424280e-03 9.99977288e-01 2.70894212e-04 5.77940226e+01] [-7.07502376e-03 -3.18539581e-04 9.99974921e-01 -1.45875147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.621400513 meters 0.694676850392255 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99953320e-01 6.62857974e-03 7.02995498e-03 6.20685364e+02] [-6.62938567e-03 9.99978021e-01 9.13459643e-05 5.77951212e+01] [-7.02919498e-03 -1.37945983e-04 9.99975285e-01 -1.45916895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.681400513 meters 1.3368879799382598 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99954736e-01 6.34625052e-03 7.08884166e-03 6.20685204e+02] [-6.34357756e-03 9.99979800e-01 -3.99487444e-04 5.77981170e+01] [-7.09123371e-03 3.54500745e-04 9.99974794e-01 -1.45936520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.741400513 meters 1.3278386068153174 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99955923e-01 6.12130064e-03 7.11908019e-03 6.20685106e+02] [-6.11579912e-03 9.99980983e-01 -7.94299007e-04 5.78005359e+01] [-7.12380695e-03 7.50725133e-04 9.99974344e-01 -1.45944733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.801400513 meters 0.685335480451531 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99949106e-01 7.83565900e-03 6.35515564e-03 6.20691519e+02] [-7.83706399e-03 9.99969270e-01 1.96204601e-04 5.77995547e+01] [-6.35342295e-03 -2.46000377e-04 9.99979787e-01 -1.46428206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.861400513 meters SLAMing on 646.921400513 meters 1.5191415127768344 Centerline is valid? [False, False] Translation: X:620.70, Y:57.80, Z:-1.47 [[ 9.99929693e-01 1.02021918e-02 6.04358114e-03 6.20696145e+02] [-1.02085579e-02 9.99947368e-01 1.02345755e-03 5.78018771e+01] [-6.03282154e-03 -1.08508184e-03 9.99981214e-01 -1.47002296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.981400513 meters 1.366053552580396 Centerline is valid? [False, False] Translation: X:620.70, Y:57.80, Z:-1.47 [[ 9.99929139e-01 1.01733206e-02 6.18231888e-03 6.20695719e+02] [-1.01794911e-02 9.99947720e-01 9.67441914e-04 5.78022126e+01] [-6.17215356e-03 -1.03030622e-03 9.99980421e-01 -1.47047544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.041400513 meters 0.8667840843805235 Centerline is valid? [False, False] Translation: X:620.70, Y:57.80, Z:-1.47 [[ 9.99926475e-01 1.04154345e-02 6.20996966e-03 6.20695634e+02] [-1.04242472e-02 9.99944702e-01 1.38845452e-03 5.77995733e+01] [-6.19516491e-03 -1.45308669e-03 9.99979754e-01 -1.47056088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.101400513 meters 0.9294731281230655 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99941575e-01 8.50444653e-03 6.67238350e-03 6.20688646e+02] [-8.50775750e-03 9.99963699e-01 4.67991766e-04 5.77965765e+01] [-6.66816127e-03 -5.24731444e-04 9.99977630e-01 -1.46408323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.161400513 meters 0.9516833650746327 Centerline is valid? [False, False] Translation: X:620.69, Y:57.79, Z:-1.46 [[ 9.99940127e-01 8.68802130e-03 6.65293625e-03 6.20688635e+02] [-8.69371024e-03 9.99961867e-01 8.26659283e-04 5.77943824e+01] [-6.64550052e-03 -8.84448488e-04 9.99977527e-01 -1.46383382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.221400513 meters 0.9469734486240978 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99940431e-01 8.62677935e-03 6.68684475e-03 6.20688411e+02] [-8.63171996e-03 9.99962494e-01 7.10347810e-04 5.77951120e+01] [-6.68046593e-03 -7.68024467e-04 9.99977391e-01 -1.46370948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.281400513 meters 0.8294417843846386 Centerline is valid? [False, False] Translation: X:620.69, Y:57.80, Z:-1.46 [[ 9.99941384e-01 8.52866758e-03 6.67013065e-03 6.20688644e+02] [-8.53243515e-03 9.99963454e-01 5.36589312e-04 5.77962020e+01] [-6.66531050e-03 -5.93470316e-04 9.99977610e-01 -1.46399082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.341400513 meters 0.9053136158165895 Centerline is valid? [False, False] Translation: X:620.71, Y:57.80, Z:-1.46 [[ 9.99986430e-01 2.65774374e-03 4.48069091e-03 6.20708333e+02] [-2.67025110e-03 9.99992549e-01 2.78772415e-03 5.77967377e+01] [-4.47324847e-03 -2.79965089e-03 9.99986076e-01 -1.45626268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.401400513 meters 0.938812931984173 Centerline is valid? [False, False] Translation: X:620.70, Y:57.80, Z:-1.45 [[ 9.99989227e-01 -6.33830450e-04 4.59823902e-03 6.20702890e+02] [ 6.36895797e-04 9.99999576e-01 -6.65201301e-04 5.77974976e+01] [-4.59781545e-03 6.68122734e-04 9.99989207e-01 -1.45042398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.461400513 meters 0.8794089703808736 Centerline is valid? [False, False] Translation: X:620.71, Y:57.79, Z:-1.46 [[ 9.99991386e-01 -1.45429925e-03 3.88754766e-03 6.20712557e+02] [ 1.45673849e-03 9.99998744e-01 -6.24691523e-04 5.77927331e+01] [-3.88663429e-03 6.30349282e-04 9.99992248e-01 -1.45900409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.521400513 meters 0.9252888404342043 Centerline is valid? [False, False] Translation: X:620.71, Y:57.79, Z:-1.45 [[ 9.99989383e-01 -2.00822906e-03 4.14735494e-03 6.20706105e+02] [ 2.00994263e-03 9.99997896e-01 -4.09043648e-04 5.77853969e+01] [-4.14652476e-03 4.17375250e-04 9.99991316e-01 -1.45260018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.581400513 meters 0.8524048170980196 Centerline is valid? [False, False] Translation: X:620.71, Y:57.78, Z:-1.45 [[ 9.99990245e-01 -1.64476906e-03 4.09941493e-03 6.20706623e+02] [ 1.64385598e-03 9.99998623e-01 2.26094719e-04 5.77813304e+01] [-4.09978116e-03 -2.19353665e-04 9.99991572e-01 -1.45307581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.641400513 meters 0.5167837970809485 Centerline is valid? [False, False] Translation: X:620.71, Y:57.77, Z:-1.45 [[ 9.99986086e-01 3.33663525e-03 4.08579264e-03 6.20707624e+02] [-3.35949671e-03 9.99978669e-01 5.60133230e-03 5.77741402e+01] [-4.06701588e-03 -5.61498057e-03 9.99975965e-01 -1.45407003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.701400513 meters 0.5202182136069747 Centerline is valid? [False, False] Translation: X:620.71, Y:57.78, Z:-1.45 [[ 9.99986171e-01 3.19650507e-03 4.17612048e-03 6.20707454e+02] [-3.21848594e-03 9.99980948e-01 5.26739064e-03 5.77761977e+01] [-4.15920368e-03 -5.28075858e-03 9.99977407e-01 -1.45463881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.761400513 meters 0.5209291227181352 Centerline is valid? [False, False] Translation: X:620.71, Y:57.78, Z:-1.45 [[ 9.99985807e-01 3.23574624e-03 4.23276740e-03 6.20707184e+02] [-3.25830170e-03 9.99980472e-01 5.33277684e-03 5.77757720e+01] [-4.21542923e-03 -5.34649278e-03 9.99976822e-01 -1.45465852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.821400513 meters 0.529903991950492 Centerline is valid? [False, False] Translation: X:620.72, Y:57.78, Z:-1.46 [[ 9.99992355e-01 -1.14827499e-03 3.73793406e-03 6.20716586e+02] [ 1.14671741e-03 9.99999255e-01 4.18812097e-04 5.77833557e+01] [-3.73841219e-03 -4.14522541e-04 9.99992926e-01 -1.46324534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8488.96 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%| | 0/21592 [00:00