+ python -m lidar_slam --no-model /working/9728eb7f-2b66-49fc-a60f-784f8e062227 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/9728eb7f-2b66-49fc-a60f-784f8e062227 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 0.004391418 Adjusted end_distance from 9.223372036854776e+18 to 378.224391418 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004391418 meters 0.08937354040771678 Centerline is valid? [0, True] SLAMing on 0.06439141799999999 meters 0.10449284796621594 Centerline is valid? [True, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99993460e-01 3.60437583e-03 -2.98944315e-04 -4.03365151e-05] [-3.60363008e-03 9.99990484e-01 2.45870146e-03 4.71144683e-03] [ 3.07803554e-04 -2.45760809e-03 9.99996933e-01 1.00522289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12439141799999998 meters 0.11403582080649344 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99994215e-01 3.22451381e-03 -1.08248833e-03 1.50475854e-03] [-3.22367419e-03 9.99994502e-01 7.76487348e-04 1.08087721e-02] [ 1.08498617e-03 -7.72993266e-04 9.99999113e-01 8.32766216e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18439141799999997 meters 0.1205113054431703 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99993820e-01 3.07970129e-03 -1.69547065e-03 3.71105010e-03] [-3.08082503e-03 9.99995036e-01 -6.60579821e-04 1.60563935e-02] [ 1.69342785e-03 6.65799187e-04 9.99998345e-01 -9.33077862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24439141799999997 meters 0.12818590791514428 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999166 0.00335526 -0.00232682 0.0059594 ] [-0.00335784 0.99999375 -0.001103 0.01941008] [ 0.00232311 0.00111081 0.99999668 -0.00242768] [ 0. 0. 0. 1. ]] SLAMing on 0.3043914179999999 meters 0.13327999017731304 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999138 0.00300795 -0.00286291 0.00714072] [-0.00301463 0.99999273 -0.00233432 0.02360788] [ 0.00285586 0.00234293 0.99999318 -0.00262547] [ 0. 0. 0. 1. ]] SLAMing on 0.3643914179999999 meters 0.13748320377342657 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999019 0.00325661 -0.0030026 0.00771147] [-0.00326227 0.99999291 -0.00188131 0.02279738] [ 0.00299646 0.00189109 0.99999372 -0.00305691] [ 0. 0. 0. 1. ]] SLAMing on 0.4243914179999999 meters 0.14858712832009835 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99999003 0.00327794 -0.00303222 0.00736294] [-0.00328245 0.99999351 -0.00148254 0.0215911 ] [ 0.00302734 0.00149247 0.9999943 -0.00244694] [ 0. 0. 0. 1. ]] SLAMing on 0.4843914179999999 meters 0.1532793100293499 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.9999896 0.00318916 -0.00325905 0.00761726] [-0.00319455 0.99999354 -0.00164987 0.02234166] [ 0.00325376 0.00166026 0.99999333 -0.00209813] [ 0. 0. 0. 1. ]] SLAMing on 0.5443914179999999 meters 0.1554545611891948 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99990282e-01 3.37691239e-03 -2.83398669e-03 6.06948953e-03] [-3.38442147e-03 9.99990764e-01 -2.64905250e-03 2.60610896e-02] [ 2.82501490e-03 2.65861816e-03 9.99992475e-01 -4.91082732e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6043914179999998 meters 0.161583045977125 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99972461e-01 6.76682459e-03 -3.04759290e-03 5.58636015e-03] [-6.76750884e-03 9.99977077e-01 -2.14264241e-04 3.07939185e-02] [ 3.04607315e-03 2.34882952e-04 9.99995333e-01 1.00867618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6643914179999999 meters 0.16364385885887328 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:0.00 [[ 9.99974448e-01 6.36810178e-03 -3.24828188e-03 6.21344718e-03] [-6.37158289e-03 9.99979137e-01 -1.06245732e-03 3.30340761e-02] [ 3.24144827e-03 1.08312687e-03 9.99994160e-01 7.64194592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7243914179999998 meters 0.18494815012063945 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.01 [[ 9.99997361e-01 2.29321384e-03 -1.39737565e-04 4.98373611e-02] [-2.29210621e-03 9.99969480e-01 7.46894169e-03 3.47498987e-02] [ 1.56861180e-04 -7.46860168e-03 9.99972097e-01 -9.48868517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7843914179999999 meters 0.17045854809150032 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.04, Z:0.00 [[ 0.99999529 -0.00218074 -0.00215836 -0.0072611 ] [ 0.00216759 0.99997922 -0.00607195 0.03763063] [ 0.00217156 0.00606725 0.99997924 0.00197099] [ 0. 0. 0. 1. ]] SLAMing on 0.8443914179999998 meters 0.19103952292136533 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.00 [[ 9.99955625e-01 -9.17077050e-03 2.15503054e-03 6.61802793e-02] [ 9.17159197e-03 9.99957871e-01 -3.71612951e-04 4.13747131e-02] [-2.15153177e-03 3.91361521e-04 9.99997609e-01 -3.74853599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9043914179999999 meters 0.18537883639692834 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.00 [[ 9.99890490e-01 -1.46123390e-02 2.34265649e-03 6.34761341e-02] [ 1.46262088e-02 9.99874927e-01 -6.01696382e-03 4.37223563e-02] [-2.25444158e-03 6.05056909e-03 9.99979154e-01 -6.36848838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9643914179999998 meters 0.17626492461518367 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:0.00 [[ 0.9999298 -0.01138526 -0.00328202 0.04631847] [ 0.01135363 0.9998904 -0.00950207 0.04448553] [ 0.00338984 0.00946414 0.99994947 0.00320393] [ 0. 0. 0. 1. ]] SLAMing on 1.0243914179999998 meters 0.16456945336363396 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.01 [[ 0.9999463 -0.00596654 -0.00847284 0.02958324] [ 0.00586607 0.99991277 -0.01183427 0.04712106] [ 0.00854271 0.01178393 0.99989407 0.0061355 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0843914179999998 meters 0.16125308041095238 Centerline is valid? [False, False] Translation: X:0.03, Y:0.05, Z:0.01 [[ 0.99996245 0.00232692 -0.00834722 0.02944503] [-0.00236354 0.99998761 -0.00438048 0.05044019] [ 0.00833692 0.00440004 0.99995557 0.00601223] [ 0. 0. 0. 1. ]] SLAMing on 1.1443914179999999 meters 0.15431558521765348 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.01 [[ 0.99994205 0.00644687 -0.00862142 0.02990311] [-0.00646125 0.99997778 -0.00164036 0.0550698 ] [ 0.00861065 0.00169597 0.99996149 0.00607212] [ 0. 0. 0. 1. ]] SLAMing on 1.2043914179999997 meters 0.15141294818233833 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.01 [[ 0.99994323 0.00595699 -0.00883479 0.0296109 ] [-0.00598747 0.9999762 -0.00342764 0.05969546] [ 0.00881416 0.00348035 0.9999551 0.00711331] [ 0. 0. 0. 1. ]] SLAMing on 1.2643914179999998 meters 0.14620255394166734 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.01 [[ 0.99995445 0.00485332 -0.00821817 0.02674273] [-0.00488377 0.99998127 -0.00368908 0.05716375] [ 0.00820012 0.00372905 0.99995943 0.00956504] [ 0. 0. 0. 1. ]] SLAMing on 1.3243914179999998 meters 0.1411714787183761 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.01 [[ 0.99995585 0.00393096 -0.00853529 0.02771361] [-0.00396388 0.99998476 -0.00384393 0.05657423] [ 0.00852005 0.00387759 0.99995619 0.00860335] [ 0. 0. 0. 1. ]] SLAMing on 1.3843914179999999 meters 0.13301953090637103 Centerline is valid? [False, False] Translation: X:0.03, Y:0.06, Z:0.01 [[ 0.99995885 0.00337467 -0.00842048 0.0271901 ] [-0.00340777 0.99998651 -0.00391992 0.05576022] [ 0.00840714 0.00394845 0.99995686 0.00902779] [ 0. 0. 0. 1. ]] SLAMing on 1.4443914179999997 meters 0.14780110269498556 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-0.00 [[ 9.99982162e-01 5.62230951e-03 -2.01648772e-03 5.95644982e-02] [-5.62263680e-03 9.99984181e-01 -1.56676043e-04 5.32265839e-02] [ 2.01557494e-03 1.68011226e-04 9.99997955e-01 -9.04722664e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5043914179999998 meters 0.14699175634536113 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.00 [[ 9.99981215e-01 4.73255266e-03 3.89509944e-03 7.35390006e-02] [-4.74886899e-03 9.99979944e-01 4.19040184e-03 5.62645960e-02] [-3.87519003e-03 -4.20882044e-03 9.99983634e-01 -6.06345314e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5643914179999998 meters 0.1551689274226793 Centerline is valid? [False, False] Translation: X:0.12, Y:0.06, Z:-0.00 [[ 9.99996245e-01 1.69258277e-03 2.15503315e-03 1.16814024e-01] [-1.70623254e-03 9.99978396e-01 6.34789821e-03 6.35440256e-02] [-2.14424225e-03 -6.35155136e-03 9.99977530e-01 -3.87673490e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6243914179999996 meters 0.15493612107631352 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.00 [[ 9.99997327e-01 -7.25346621e-04 -2.19563527e-03 1.42719564e-01] [ 7.31581416e-04 9.99995699e-01 2.84016116e-03 7.30617251e-02] [ 2.19356573e-03 -2.84175985e-03 9.99993556e-01 2.18072817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6843914179999997 meters 0.10763439463887634 Centerline is valid? [False, False] Translation: X:0.10, Y:0.08, Z:0.01 [[ 9.99995081e-01 -1.00240302e-03 -2.97205673e-03 1.00186525e-01] [ 9.67584515e-04 9.99931159e-01 -1.16936720e-02 7.82951101e-02] [ 2.98357390e-03 1.16907387e-02 9.99927210e-01 1.19662938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7443914179999997 meters 0.10340919721823015 Centerline is valid? [False, False] Translation: X:0.10, Y:0.08, Z:0.01 [[ 0.99999139 0.00299725 -0.00287021 0.10008444] [-0.0030179 0.99996939 -0.00721885 0.07761307] [ 0.00284849 0.00722745 0.99996982 0.01192148] [ 0. 0. 0. 1. ]] SLAMing on 1.8043914179999998 meters 0.0986967591292732 Centerline is valid? [False, True] Translation: X:0.10, Y:0.08, Z:0.01 [[ 0.99999277 0.00264728 -0.0027316 0.09970101] [-0.0026671 0.99996996 -0.00727819 0.07755616] [ 0.00271225 0.00728542 0.99996978 0.01221672] [ 0. 0. 0. 1. ]] SLAMing on 1.8643914179999996 meters 0.09305690028124845 Centerline is valid? [True, True] Translation: X:0.16, Y:0.08, Z:0.01 [[ 9.99996259e-01 -7.03615089e-04 -2.64334211e-03 1.59586138e-01] [ 7.03123022e-04 9.99999735e-01 -1.87077888e-04 7.61166641e-02] [ 2.64347304e-03 1.85218593e-04 9.99996489e-01 7.94231975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9243914179999997 meters 0.08360323757929486 Centerline is valid? [True, True] Translation: X:0.22, Y:0.08, Z:0.01 [[ 9.99983022e-01 -3.53601327e-03 -4.63172119e-03 2.19315777e-01] [ 3.53453402e-03 9.99993700e-01 -3.27521628e-04 7.70478012e-02] [ 4.63285013e-03 3.11145091e-04 9.99989220e-01 7.59957093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9843914179999997 meters 0.08850742724735816 Centerline is valid? [True, True] Translation: X:0.28, Y:0.09, Z:0.01 [[ 9.99981419e-01 -1.28516445e-03 -5.95908256e-03 2.77684334e-01] [ 1.28267925e-03 9.99999089e-01 -4.20848056e-04 9.12488018e-02] [ 5.95961799e-03 4.13196644e-04 9.99982156e-01 7.63444254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0443914179999996 meters 0.08187448155609074 Centerline is valid? [True, True] Translation: X:0.34, Y:0.10, Z:0.01 [[ 9.99973139e-01 9.26853387e-04 -7.27067733e-03 3.37835601e-01] [-9.30607931e-04 9.99999435e-01 -5.13029228e-04 9.99070190e-02] [ 7.27019772e-03 5.19781597e-04 9.99973437e-01 5.64413767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1043914179999996 meters 0.06960248078396004 Centerline is valid? [True, True] Translation: X:0.40, Y:0.09, Z:0.01 [[ 9.99953252e-01 3.59977102e-05 -9.66911237e-03 3.97571558e-01] [-4.26192454e-05 9.99999765e-01 -6.84607960e-04 9.41341309e-02] [ 9.66908545e-03 6.84988047e-04 9.99953019e-01 6.04794051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1643914179999997 meters 0.06606405399292782 Centerline is valid? [True, True] Translation: X:0.45, Y:0.10, Z:0.00 [[ 9.99911169e-01 -2.74299765e-03 -1.30433958e-02 4.54670285e-01] [ 2.73116938e-03 9.99995843e-01 -9.24566205e-04 1.04938145e-01] [ 1.30458777e-02 8.88860352e-04 9.99914504e-01 1.68949734e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2243914179999997 meters 0.057664083656910496 Centerline is valid? [True, True] Translation: X:0.51, Y:0.10, Z:0.00 [[ 9.99912192e-01 -3.70429328e-03 -1.27234950e-02 5.13867913e-01] [ 3.69310763e-03 9.99992773e-01 -9.02516559e-04 1.02333182e-01] [ 1.27267462e-02 8.55448074e-04 9.99918646e-01 3.91052404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284391418 meters 0.05598079920643709 Centerline is valid? [True, True] Translation: X:0.57, Y:0.10, Z:0.01 [[ 9.99920617e-01 -8.19894764e-03 -9.56745940e-03 5.74074806e-01] [ 8.19283087e-03 9.99966208e-01 -6.78349492e-04 1.03542821e-01] [ 9.57269785e-03 5.99911066e-04 9.99954001e-01 9.03797602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344391418 meters 0.05073607198133717 Centerline is valid? [True, True] Translation: X:0.63, Y:0.11, Z:0.01 [[ 9.99913835e-01 -1.16187216e-02 -6.10966328e-03 6.34827592e-01] [ 1.16162927e-02 9.99932435e-01 -4.32893098e-04 1.06363176e-01] [ 6.11428014e-03 3.61884160e-04 9.99981242e-01 1.06471942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4043914179999994 meters 0.048049291706550576 Centerline is valid? [True, True] Translation: X:0.70, Y:0.11, Z:0.01 [[ 9.99850389e-01 -1.64641421e-02 -5.30398034e-03 6.95921106e-01] [ 1.64623802e-02 9.99864415e-01 -3.75676900e-04 1.05716407e-01] [ 5.30944639e-03 2.88304553e-04 9.99985863e-01 1.07884136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4643914179999995 meters 0.04604215542959224 Centerline is valid? [True, True] Translation: X:0.76, Y:0.11, Z:0.01 [[ 9.99781734e-01 -2.02722446e-02 -5.05167906e-03 7.55813910e-01] [ 2.02706945e-02 9.99794464e-01 -3.57860817e-04 1.08763290e-01] [ 5.05789541e-03 2.55381665e-04 9.99987176e-01 6.04575845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5243914179999996 meters 0.043494124778763625 Centerline is valid? [True, True] Translation: X:0.82, Y:0.11, Z:0.00 [[ 9.99799630e-01 -1.88939844e-02 -6.61196823e-03 8.18004872e-01] [ 1.88913126e-02 9.99821434e-01 -4.66321264e-04 1.13578783e-01] [ 6.61959823e-03 3.41319068e-04 9.99978032e-01 3.54527992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5843914179999996 meters 0.04597790780029528 Centerline is valid? [True, True] Translation: X:0.88, Y:0.13, Z:-0.00 [[ 9.99884358e-01 -1.32905334e-02 -7.39133855e-03 8.76242179e-01] [ 1.32870413e-02 9.99911587e-01 -5.21366483e-04 1.27784979e-01] [ 7.39761430e-03 4.23097171e-04 9.99972548e-01 -4.43542752e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6443914179999997 meters 0.0458928048824402 Centerline is valid? [True, True] Translation: X:0.94, Y:0.14, Z:0.00 [[ 9.99969622e-01 -6.92752553e-03 -3.57282056e-03 9.36793377e-01] [ 6.92666730e-03 9.99975978e-01 -2.52528179e-04 1.36630060e-01] [ 3.57448413e-03 2.27772769e-04 9.99993586e-01 1.88791469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7043914179999997 meters 0.04880519319929882 Centerline is valid? [True, True] Translation: X:1.00, Y:0.15, Z:0.00 [[ 9.99977930e-01 -6.60599477e-03 7.06671612e-04 9.96400378e-01] [ 6.60596084e-03 9.99978179e-01 5.03278284e-05 1.48975204e-01] [-7.06988657e-04 -4.56584727e-05 9.99999749e-01 2.90927806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7643914179999998 meters 0.04472295913436014 Centerline is valid? [True, True] Translation: X:1.06, Y:0.15, Z:0.01 [[ 9.99952988e-01 -9.02041604e-03 3.55725757e-03 1.05714273e+00] [ 9.01957702e-03 9.99959291e-01 2.51831306e-04 1.49743613e-01] [-3.55938438e-03 -2.19734509e-04 9.99993641e-01 5.08861822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8243914179999994 meters 0.04449951904376343 Centerline is valid? [True, True] Translation: X:1.12, Y:0.15, Z:0.00 [[ 9.99931055e-01 -1.12075444e-02 3.50380183e-03 1.11914207e+00] [ 1.12067422e-02 9.99937172e-01 2.48503751e-04 1.52037146e-01] [-3.50636681e-03 -2.09220414e-04 9.99993831e-01 1.93488425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8843914179999994 meters 0.04568364474125733 Centerline is valid? [True, True] Translation: X:1.18, Y:0.16, Z:-0.00 [[ 9.99933303e-01 -1.14353943e-02 1.61900196e-03 1.18053569e+00] [ 1.14352225e-02 9.99934609e-01 1.15325846e-04 1.56522598e-01] [-1.62021489e-03 -9.68045067e-05 9.99998683e-01 -1.93524180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9443914179999995 meters 0.047361599843850626 Centerline is valid? [True, True] Translation: X:1.24, Y:0.16, Z:-0.00 [[ 9.99951593e-01 -9.43864476e-03 2.77918522e-03 1.24208014e+00] [ 9.43813352e-03 9.99955440e-01 1.97010619e-04 1.63140153e-01] [-2.78092090e-03 -1.70770761e-04 9.99996119e-01 -3.10663917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0043914179999995 meters 0.05063438623457745 Centerline is valid? [True, True] Translation: X:1.30, Y:0.17, Z:-0.00 [[ 9.99975925e-01 -5.91237391e-03 3.63216895e-03 1.30220695e+00] [ 5.91148054e-03 9.99982494e-01 2.56647690e-04 1.69289429e-01] [-3.63362276e-03 -2.35170015e-04 9.99993371e-01 -2.75840710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0643914179999996 meters 0.05153474863112857 Centerline is valid? [True, True] Translation: X:1.36, Y:0.17, Z:-0.00 [[ 9.99967895e-01 -5.27803924e-03 6.02924182e-03 1.36424760e+00] [ 5.27556728e-03 9.99985993e-01 4.25826653e-04 1.73436672e-01] [-6.03140490e-03 -3.94005311e-04 9.99981733e-01 -1.24535507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1243914179999996 meters 0.05181373464413914 Centerline is valid? [True, True] Translation: X:1.43, Y:0.18, Z:-0.00 [[ 9.99949132e-01 -6.11586866e-03 8.02061625e-03 1.42580282e+00] [ 6.11153254e-03 9.99981165e-01 5.65019034e-04 1.75093981e-01] [-8.02392076e-03 -5.15972035e-04 9.99967675e-01 -1.13639126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1843914179999997 meters 0.050915048424125135 Centerline is valid? [True, True] Translation: X:1.49, Y:0.17, Z:-0.00 [[ 9.99922459e-01 -8.05815265e-03 9.49433849e-03 1.48755641e+00] [ 8.05216816e-03 9.99967357e-01 6.68380019e-04 1.74044867e-01] [-9.49941448e-03 -5.91878182e-04 9.99954704e-01 -1.78170814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2443914179999993 meters 0.047516541281614665 Centerline is valid? [True, True] Translation: X:1.55, Y:0.17, Z:-0.00 [[ 9.99835318e-01 -1.50106255e-02 1.01989654e-02 1.54897707e+00] [ 1.50040862e-02 9.99887175e-01 7.17389520e-04 1.68778495e-01] [-1.02085832e-02 -5.64245223e-04 9.99947732e-01 -1.89944547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3043914179999994 meters 0.044542109071541894 Centerline is valid? [True, True] Translation: X:1.61, Y:0.16, Z:-0.01 [[ 9.99750816e-01 -2.04263637e-02 9.00391402e-03 1.60991632e+00] [ 2.04214885e-02 9.99791259e-01 6.33070715e-04 1.64812365e-01] [-9.01496587e-03 -4.49039637e-04 9.99959264e-01 -5.97650820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3643914179999994 meters 0.03881602743639998 Centerline is valid? [True, True] Translation: X:1.67, Y:0.15, Z:-0.01 [[ 9.99518583e-01 -3.02542960e-02 6.87603770e-03 1.67123730e+00] [ 3.02516852e-02 9.99542196e-01 4.83420373e-04 1.54950830e-01] [-6.88751537e-03 -2.75175918e-04 9.99976243e-01 -1.05413417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4243914179999995 meters 0.03483889014148729 Centerline is valid? [True, True] Translation: X:1.73, Y:0.15, Z:-0.01 [[ 9.99251491e-01 -3.77067764e-02 8.64045003e-03 1.73219499e+00] [ 3.77029310e-02 9.99288807e-01 6.07570822e-04 1.47320598e-01] [-8.65721454e-03 -2.81345759e-04 9.99962486e-01 -1.17757272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4843914179999995 meters 0.025600655592123326 Centerline is valid? [True, True] Translation: X:1.79, Y:0.14, Z:-0.01 [[ 9.99071870e-01 -4.18830156e-02 1.00604105e-02 1.79426988e+00] [ 4.18780111e-02 9.99122481e-01 7.07691124e-04 1.37359414e-01] [-1.00812225e-02 -2.85724314e-04 9.99949142e-01 -7.14639922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5443914179999996 meters 0.026938529263356374 Centerline is valid? [True, True] Translation: X:1.86, Y:0.14, Z:-0.01 [[ 9.99096113e-01 -4.00301279e-02 1.43019715e-02 1.85727647e+00] [ 4.00198130e-02 9.99198379e-01 1.00680123e-03 1.42638185e-01] [-1.43308091e-02 -4.33528972e-04 9.99897215e-01 -5.51144799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6043914179999996 meters 0.028945754650210473 Centerline is valid? [True, True] Translation: X:1.92, Y:0.15, Z:-0.01 [[ 9.99214437e-01 -3.68373557e-02 1.46122789e-02 1.91836329e+00] [ 3.68263176e-02 9.99321157e-01 1.02384737e-03 1.51313879e-01] [-1.46400753e-02 -4.84926646e-04 9.99892711e-01 -6.79711956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6643914179999992 meters 0.030959725696638227 Centerline is valid? [True, True] Translation: X:1.98, Y:0.16, Z:-0.01 [[ 9.99339044e-01 -3.35420514e-02 1.40144899e-02 1.97962288e+00] [ 3.35316291e-02 9.99437178e-01 9.78062430e-04 1.58252886e-01] [-1.40394084e-02 -5.07487298e-04 9.99901314e-01 -9.82963968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7243914179999993 meters 0.037461842078949044 Centerline is valid? [True, True] Translation: X:2.04, Y:0.17, Z:-0.01 [[ 9.99619866e-01 -2.38517262e-02 1.38282187e-02 2.03861549e+00] [ 2.38406838e-02 9.99715307e-01 9.62861126e-04 1.74664568e-01] [-1.38472478e-02 -6.32820919e-04 9.99903922e-01 -1.04685628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7843914179999993 meters 0.04724906083225337 Centerline is valid? [True, True] Translation: X:2.10, Y:0.20, Z:-0.01 [[ 9.99860809e-01 -9.84686763e-03 1.34685749e-02 2.09712643e+00] [ 9.83512572e-03 9.99951194e-01 9.37760260e-04 1.95662204e-01] [-1.34771515e-02 -8.05164605e-04 9.99908855e-01 -1.18884615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8443914179999994 meters 0.05824062180421827 Centerline is valid? [True, True] Translation: X:2.15, Y:0.22, Z:-0.01 [[ 9.99867471e-01 4.34598054e-03 1.56892734e-02 2.15499095e+00] [-4.36364647e-03 9.99989883e-01 1.09192990e-03 2.17169219e-01] [-1.56843692e-02 -1.16024763e-03 9.99876320e-01 -1.12953941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9043914179999994 meters 0.06426792157919892 Centerline is valid? [True, True] Translation: X:2.21, Y:0.23, Z:-0.01 [[ 9.99783757e-01 1.25208437e-02 1.66032361e-02 2.21461178e+00] [-1.25417376e-02 9.99920682e-01 1.15488978e-03 2.30422655e-01] [-1.65874590e-02 -1.36287348e-03 9.99861490e-01 -1.13875135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9643914179999995 meters 0.0730433083621094 Centerline is valid? [True, True] Translation: X:2.27, Y:0.25, Z:-0.01 [[ 9.99616359e-01 2.06876125e-02 1.84162398e-02 2.27300310e+00] [-2.07147009e-02 9.99784606e-01 1.28133258e-03 2.45952625e-01] [-1.83857654e-02 -1.66232790e-03 9.99829586e-01 -8.82763311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0243914179999996 meters 0.08003508347293296 Centerline is valid? [True, True] Translation: X:2.33, Y:0.25, Z:-0.01 [[ 9.99469485e-01 2.53390316e-02 2.04617187e-02 2.33184801e+00] [-2.53734279e-02 9.99677030e-01 1.42310012e-03 2.53727832e-01] [-2.04190502e-02 -1.94152908e-03 9.99789624e-01 -1.01221584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084391417999999 meters 0.052490847142205074 Centerline is valid? [True, True] Translation: X:2.39, Y:0.22, Z:-0.01 [[ 9.99462935e-01 2.58215987e-02 2.01763862e-02 2.39413243e+00] [-2.58551356e-02 9.99664715e-01 1.40305551e-03 2.16873435e-01] [-2.01333923e-02 -1.92396518e-03 9.99795452e-01 -1.32682438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144391418 meters 0.0470665984984559 Centerline is valid? [True, True] Translation: X:2.45, Y:0.21, Z:-0.01 [[ 9.99472658e-01 2.44622779e-02 2.13542229e-02 2.45474705e+00] [-2.44995568e-02 9.99698737e-01 1.48583786e-03 2.05086221e-01] [-2.13114427e-02 -2.00822331e-03 9.99770868e-01 -1.37075901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204391417999999 meters 0.04562746674267254 Centerline is valid? [True, True] Translation: X:2.52, Y:0.20, Z:-0.01 [[ 9.99455409e-01 2.47240797e-02 2.18541986e-02 2.51577975e+00] [-2.47632056e-02 9.99692187e-01 1.52146998e-03 1.96979172e-01] [-2.18098547e-02 -2.06182141e-03 9.99760011e-01 -1.28936194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264391418 meters 0.06403898900679225 Centerline is valid? [True, True] Translation: X:2.57, Y:0.22, Z:-0.01 [[ 9.99398734e-01 2.67199942e-02 2.20955282e-02 2.57422318e+00] [-2.67604725e-02 9.99640691e-01 1.53827113e-03 2.17760941e-01] [-2.20464865e-02 -2.12863299e-03 9.99754681e-01 -1.36947389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324391417999999 meters 0.06534411674843768 Centerline is valid? [True, True] Translation: X:2.63, Y:0.21, Z:-0.02 [[ 9.99342851e-01 2.92253817e-02 2.14416390e-02 2.63474675e+00] [-2.92640706e-02 9.99570601e-01 1.49276909e-03 2.09826536e-01] [-2.13888052e-02 -2.11925776e-03 9.99768987e-01 -1.69539912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384391417999999 meters 0.0680079277626259 Centerline is valid? [True, True] Translation: X:2.70, Y:0.20, Z:-0.02 [[ 9.99244686e-01 3.25358765e-02 2.12479450e-02 2.69592974e+00] [-3.25746201e-02 9.99468211e-01 1.47975183e-03 2.00148636e-01] [-2.11885006e-02 -2.17077789e-03 9.99773142e-01 -2.07883510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4443914179999995 meters 0.06964859593294323 Centerline is valid? [True, True] Translation: X:2.76, Y:0.20, Z:-0.02 [[ 9.99189526e-01 3.49850616e-02 1.99081993e-02 2.75633930e+00] [-3.50195555e-02 9.99385665e-01 1.38656191e-03 1.97330939e-01] [-1.98474601e-02 -2.08261443e-03 9.99800851e-01 -2.25293602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504391417999999 meters 0.07045360532922099 Centerline is valid? [True, True] Translation: X:2.82, Y:0.19, Z:-0.02 [[ 9.99105169e-01 3.71811384e-02 2.01599715e-02 2.81725107e+00] [-3.72169618e-02 9.99306222e-01 1.40456546e-03 1.87108838e-01] [-2.00937616e-02 -2.15360150e-03 9.99795781e-01 -2.36634634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564391418 meters 0.07114207962341913 Centerline is valid? [True, True] Translation: X:2.88, Y:0.17, Z:-0.03 [[ 9.99190716e-01 3.43406536e-02 2.09435774e-02 2.87855353e+00] [-3.43787114e-02 9.99407811e-01 1.45972186e-03 1.71639343e-01] [-2.08810471e-02 -2.17855373e-03 9.99779594e-01 -2.76897221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624391417999999 meters 0.07832251205781311 Centerline is valid? [True, True] Translation: X:2.94, Y:0.17, Z:-0.03 [[ 9.99252478e-01 3.19623944e-02 2.17460448e-02 2.93703393e+00] [-3.20028748e-02 9.99486627e-01 1.51596189e-03 1.72975125e-01] [-2.16864272e-02 -2.21076462e-03 9.99762377e-01 -2.83641879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684391418 meters 0.08134787435854594 Centerline is valid? [True, True] Translation: X:3.00, Y:0.16, Z:-0.03 [[ 9.99222233e-01 3.23210854e-02 2.25893080e-02 2.99711472e+00] [-3.23648911e-02 9.99474877e-01 1.57622866e-03 1.63916317e-01] [-2.25265005e-02 -2.30610322e-03 9.99743586e-01 -2.96709183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744391417999999 meters 0.07252781022809641 Centerline is valid? [True, True] Translation: X:3.06, Y:0.14, Z:-0.03 [[ 9.99158665e-01 3.53110176e-02 2.08589095e-02 3.06001134e+00] [-3.53490202e-02 9.99373968e-01 1.45587929e-03 1.38606275e-01] [-2.07944426e-02 -2.19199642e-03 9.99781369e-01 -3.21719394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804391417999999 meters 0.07124875729567712 Centerline is valid? [True, True] Translation: X:3.12, Y:0.13, Z:-0.03 [[ 9.99103422e-01 3.67888161e-02 2.09507569e-02 3.12151810e+00] [-3.68274677e-02 9.99320569e-01 1.46192391e-03 1.30185372e-01] [-2.08827398e-02 -2.23217651e-03 9.99779440e-01 -3.14697353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864391417999999 meters 0.07308211667982219 Centerline is valid? [True, True] Translation: X:3.18, Y:0.12, Z:-0.03 [[ 9.99097223e-01 3.54934872e-02 2.33441915e-02 3.18238779e+00] [-3.55411277e-02 9.99366887e-01 1.62893551e-03 1.19810943e-01] [-2.32715954e-02 -2.45714384e-03 9.99726160e-01 -2.92523063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924391417999999 meters 0.07235878602308615 Centerline is valid? [True, True] Translation: X:3.24, Y:0.10, Z:-0.03 [[ 9.99375073e-01 2.87320080e-02 2.05896832e-02 3.24321866e+00] [-2.87676464e-02 9.99585093e-01 1.43673013e-03 1.03837004e-01] [-2.05398602e-02 -2.02814900e-03 9.99786978e-01 -3.45743235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9843914179999995 meters 0.06952363356306744 Centerline is valid? [True, True] Translation: X:3.30, Y:0.10, Z:-0.04 [[ 9.99574104e-01 2.26009281e-02 1.84610207e-02 3.30445802e+00] [-2.26285489e-02 9.99743111e-01 1.28862340e-03 9.55604105e-02] [-1.84271542e-02 -1.70582069e-03 9.99828750e-01 -3.59693355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044391417999999 meters 0.05782643428716216 Centerline is valid? [True, True] Translation: X:3.37, Y:0.08, Z:-0.04 [[ 9.99726114e-01 1.62612046e-02 1.68306430e-02 3.36687923e+00] [-1.62832640e-02 9.99866729e-01 1.17445099e-03 7.61276090e-02] [-1.68093020e-02 -1.44818713e-03 9.99857665e-01 -4.10376494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104391418 meters 0.055923685719631744 Centerline is valid? [True, True] Translation: X:3.43, Y:0.07, Z:-0.04 [[ 9.99824771e-01 9.49037311e-03 1.61356743e-02 3.42722693e+00] [-9.50976552e-03 9.99954148e-01 1.12552932e-03 7.07931884e-02] [-1.61242527e-02 -1.27877857e-03 9.99869178e-01 -4.09870165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164391417999999 meters 0.0520111455622387 Centerline is valid? [True, True] Translation: X:3.49, Y:0.06, Z:-0.04 [[ 9.99840129e-01 1.69630108e-03 1.77999902e-02 3.48900605e+00] [-1.71867503e-03 9.99997752e-01 1.24174236e-03 5.84318468e-02] [-1.77978439e-02 -1.27213624e-03 9.99840797e-01 -4.20294175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224391417999999 meters 0.0505733164784655 Centerline is valid? [True, True] Translation: X:3.55, Y:0.06, Z:-0.04 [[ 9.99858242e-01 -1.17795673e-03 1.67960654e-02 3.55069499e+00] [ 1.15844439e-03 9.99998643e-01 1.17140306e-03 5.71518431e-02] [-1.67974225e-02 -1.15177970e-03 9.99858250e-01 -4.27786999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284391417999999 meters 0.05480808943266343 Centerline is valid? [True, True] Translation: X:3.61, Y:0.06, Z:-0.05 [[ 9.99924006e-01 1.77638499e-03 1.21994816e-02 3.61044265e+00] [-1.78688899e-03 9.99998042e-01 8.50173472e-04 6.36118310e-02] [-1.21979474e-02 -8.71907982e-04 9.99925222e-01 -5.04081822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344391417999999 meters 0.058986882901206635 Centerline is valid? [True, True] Translation: X:3.67, Y:0.07, Z:-0.05 [[ 9.99930355e-01 4.99321986e-03 1.06936288e-02 3.67084553e+00] [-5.00147831e-03 9.99987215e-01 7.45673408e-04 7.20255096e-02] [-1.06897687e-02 -7.99105427e-04 9.99942543e-01 -5.35970374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4043914179999994 meters 0.058261154907909535 Centerline is valid? [True, True] Translation: X:3.73, Y:0.08, Z:-0.05 [[ 9.99899108e-01 9.02258712e-03 1.09711872e-02 3.73150160e+00] [-9.03151199e-03 9.99958923e-01 7.64209046e-04 7.76468399e-02] [-1.09638414e-02 -8.63218352e-04 9.99939523e-01 -5.08812204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464391417999999 meters 0.05601050509788314 Centerline is valid? [True, True] Translation: X:3.79, Y:0.08, Z:-0.05 [[ 9.99829026e-01 1.23275580e-02 1.37822362e-02 3.79306120e+00] [-1.23419543e-02 9.99923374e-01 9.59980511e-04 8.00067063e-02] [-1.37693460e-02 -1.12991611e-03 9.99904560e-01 -4.68740125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5243914179999996 meters 0.06059609543058912 Centerline is valid? [True, True] Translation: X:3.85, Y:0.09, Z:-0.04 [[ 9.99736361e-01 1.66794629e-02 1.57798784e-02 3.85184937e+00] [-1.66988551e-02 9.99859962e-01 1.09794703e-03 9.13822307e-02] [-1.57593555e-02 -1.36116347e-03 9.99874887e-01 -4.35214708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584391417999999 meters 0.07014408565468247 Centerline is valid? [True, True] Translation: X:3.91, Y:0.11, Z:-0.05 [[ 9.99724852e-01 1.80774819e-02 1.49474108e-02 3.91170472e+00] [-1.80950662e-02 9.99835728e-01 1.04199113e-03 1.09585742e-01] [-1.49261188e-02 -1.31217882e-03 9.99887738e-01 -4.74102499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644391417999999 meters 0.05585398750227049 Centerline is valid? [True, True] Translation: X:3.97, Y:0.10, Z:-0.05 [[ 9.99849544e-01 1.11570923e-02 1.32818734e-02 3.97316686e+00] [-1.11703016e-02 9.99937186e-01 9.20765301e-04 9.56800786e-02] [-1.32707660e-02 -1.06898930e-03 9.99911368e-01 -4.95658880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704391417999999 meters 0.051819823241994946 Centerline is valid? [True, True] Translation: X:4.03, Y:0.09, Z:-0.05 [[ 9.99902178e-01 4.44229727e-03 1.32627643e-02 4.03403378e+00] [-4.45487698e-03 9.99989655e-01 9.19105315e-04 9.46617843e-02] [-1.32585441e-02 -9.78099389e-04 9.99911623e-01 -5.21981262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764391417999999 meters 0.047565341329655134 Centerline is valid? [True, True] Translation: X:4.09, Y:0.10, Z:-0.05 [[ 9.99901548e-01 -3.44560987e-03 1.36022932e-02 4.09467256e+00] [ 3.43310156e-03 9.99993662e-01 9.42817049e-04 9.73617183e-02] [-1.36054555e-02 -8.96026172e-04 9.99907040e-01 -5.14886844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824391417999999 meters 0.049472305839649545 Centerline is valid? [True, True] Translation: X:4.16, Y:0.11, Z:-0.05 [[ 9.99883051e-01 -4.46487459e-03 1.46269880e-02 4.15520275e+00] [ 4.45050055e-03 9.99989581e-01 1.01510962e-03 1.06861411e-01] [-1.46313679e-02 -9.49893489e-04 9.99892505e-01 -5.22059682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884391417999999 meters 0.05594803711143705 Centerline is valid? [True, True] Translation: X:4.21, Y:0.12, Z:-0.05 [[ 9.99914797e-01 2.35457514e-03 1.28395844e-02 4.21429943e+00] [-2.36614705e-03 9.99996808e-01 8.86151481e-04 1.24952048e-01] [-1.28374569e-02 -9.16456322e-04 9.99917176e-01 -5.45853804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9443914179999995 meters 0.05600889663343932 Centerline is valid? [True, True] Translation: X:4.27, Y:0.14, Z:-0.06 [[ 9.99863620e-01 1.09044480e-02 1.24029733e-02 4.27466725e+00] [-1.09158913e-02 9.99940054e-01 8.55301256e-04 1.35604538e-01] [-1.23929032e-02 -9.90574120e-04 9.99922714e-01 -5.58727272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004391417999999 meters 0.06715435796117675 Centerline is valid? [True, True] Translation: X:4.33, Y:0.16, Z:-0.06 [[ 9.99577756e-01 2.55316329e-02 1.38724819e-02 4.33371969e+00] [-2.55473387e-02 9.99673156e-01 9.56093927e-04 1.62219945e-01] [-1.38435372e-02 -1.31009522e-03 9.99903315e-01 -5.58387835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064391417999999 meters 0.06921850280402046 Centerline is valid? [True, True] Translation: X:4.39, Y:0.17, Z:-0.05 [[ 9.99204240e-01 3.69302153e-02 1.50680239e-02 4.39371461e+00] [-3.69500258e-02 9.99316575e-01 1.03836463e-03 1.71097189e-01] [-1.50193790e-02 -1.59430221e-03 9.99885932e-01 -5.41201051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124391417999999 meters 0.07480546859043964 Centerline is valid? [True, True] Translation: X:4.45, Y:0.18, Z:-0.05 [[ 9.99004109e-01 4.15234689e-02 1.63276364e-02 4.45207634e+00] [-4.15473375e-02 9.99135903e-01 1.12522882e-03 1.82041093e-01] [-1.62668043e-02 -1.80247803e-03 9.99866062e-01 -5.49302298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184391417999999 meters 0.07845375441059038 Centerline is valid? [True, True] Translation: X:4.51, Y:0.19, Z:-0.06 [[ 9.98973672e-01 4.27526541e-02 1.49604042e-02 4.51019634e+00] [-4.27728146e-02 9.99084293e-01 1.03008461e-03 1.88930306e-01] [-1.49026660e-02 -1.66892600e-03 9.99887556e-01 -5.59381739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244391417999999 meters 0.08191785383112783 Centerline is valid? [True, True] Translation: X:4.57, Y:0.19, Z:-0.06 [[ 9.99086752e-01 3.97834072e-02 1.55865829e-02 4.56906799e+00] [-3.98049540e-02 9.99206891e-01 1.07449103e-03 1.92485882e-01] [-1.55314741e-02 -1.69393297e-03 9.99877945e-01 -5.66368021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304391417999999 meters 0.06936003422761365 Centerline is valid? [True, True] Translation: X:4.63, Y:0.17, Z:-0.06 [[ 9.99352016e-01 3.22842208e-02 1.59146695e-02 4.63068065e+00] [-3.23057519e-02 9.99477430e-01 1.09762245e-03 1.73385074e-01] [-1.58709171e-02 -1.61104657e-03 9.99872751e-01 -5.72485647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364391417999999 meters 0.06405005523671624 Centerline is valid? [True, True] Translation: X:4.69, Y:0.16, Z:-0.06 [[ 9.99512058e-01 2.62077117e-02 1.69941628e-02 4.69276901e+00] [-2.62313969e-02 9.99655210e-01 1.17227689e-03 1.64050472e-01] [-1.69575807e-02 -1.61748552e-03 9.99854902e-01 -5.54676328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424391417999999 meters 0.06553768898984318 Centerline is valid? [True, True] Translation: X:4.75, Y:0.16, Z:-0.06 [[ 9.99434910e-01 2.84926242e-02 1.78334452e-02 4.75471506e+00] [-2.85190616e-02 9.99592492e-01 1.22985410e-03 1.60493509e-01] [-1.77911362e-02 -1.73775224e-03 9.99840215e-01 -5.69497685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484391417999999 meters 0.06964777508185338 Centerline is valid? [True, True] Translation: X:4.81, Y:0.17, Z:-0.06 [[ 9.99255572e-01 3.40450708e-02 1.81448211e-02 4.81475068e+00] [-3.40733281e-02 9.99418553e-01 1.25035990e-03 1.66543113e-01] [-1.80917023e-02 -1.86768355e-03 9.99834587e-01 -5.61346176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544391417999999 meters 0.07435532949816416 Centerline is valid? [True, True] Translation: X:4.88, Y:0.17, Z:-0.06 [[ 9.98860386e-01 4.43108863e-02 1.77334081e-02 4.87512249e+00] [-4.43394763e-02 9.99015774e-01 1.22210284e-03 1.68338356e-01] [-1.76618019e-02 -2.00700014e-03 9.99842004e-01 -5.95556512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604391417999999 meters 0.07941923430609815 Centerline is valid? [True, True] Translation: X:4.94, Y:0.17, Z:-0.06 [[ 9.98569302e-01 5.02064251e-02 1.84028312e-02 4.93576224e+00] [-5.02382008e-02 9.98736459e-01 1.26816480e-03 1.72177248e-01] [-1.83159084e-02 -2.19087556e-03 9.99829849e-01 -5.80386965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664391417999999 meters 0.08144741630864447 Centerline is valid? [True, True] Translation: X:5.00, Y:0.16, Z:-0.06 [[ 9.98371861e-01 5.40802404e-02 1.81371009e-02 4.99648530e+00] [-5.41117366e-02 9.98534104e-01 1.24996704e-03 1.64600947e-01] [-1.80429152e-02 -2.22936194e-03 9.99834728e-01 -5.99530000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724391417999999 meters 0.08057826245189255 Centerline is valid? [True, True] Translation: X:5.06, Y:0.16, Z:-0.06 [[ 9.98361632e-01 5.45005051e-02 1.74283290e-02 5.05639581e+00] [-5.45296501e-02 9.98511429e-01 1.20109945e-03 1.58502065e-01] [-1.73369252e-02 -2.14949229e-03 9.99847394e-01 -6.09181669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784391417999999 meters 0.078243452809799 Centerline is valid? [True, True] Translation: X:5.12, Y:0.15, Z:-0.06 [[ 9.98354336e-01 5.48724609e-02 1.66623143e-02 5.11665877e+00] [-5.48991624e-02 9.98491243e-01 1.14900938e-03 1.46372794e-01] [-1.65741259e-02 -2.06186560e-03 9.99860514e-01 -6.24721115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844391417999999 meters 0.0811672786029834 Centerline is valid? [True, True] Translation: X:5.18, Y:0.14, Z:-0.07 [[ 9.98440872e-01 5.40193626e-02 1.40618004e-02 5.17673457e+00] [-5.40383109e-02 9.98538391e-01 9.70774833e-04 1.37158160e-01] [-1.39888069e-02 -1.72913721e-03 9.99900657e-01 -6.56830999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904391417999999 meters 0.07676569902105589 Centerline is valid? [True, True] Translation: X:5.24, Y:0.13, Z:-0.07 [[ 9.98462585e-01 5.35845964e-02 1.41829970e-02 5.23734903e+00] [-5.36038116e-02 9.98561803e-01 9.77870019e-04 1.30239526e-01] [-1.41102003e-02 -1.73662933e-03 9.99898938e-01 -6.69474556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964391417999999 meters 0.07846008185658573 Centerline is valid? [True, True] Translation: X:5.30, Y:0.12, Z:-0.06 [[ 9.98529186e-01 5.12941488e-02 1.75606142e-02 5.29861693e+00] [-5.13232785e-02 9.98681357e-01 1.21187889e-03 1.20362139e-01] [-1.74752957e-02 -2.11136473e-03 9.99845066e-01 -6.30081594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024391417999999 meters 0.07720461247001711 Centerline is valid? [True, True] Translation: X:5.36, Y:0.11, Z:-0.07 [[ 9.98643952e-01 4.93282394e-02 1.66427612e-02 5.36061424e+00] [-4.93541373e-02 9.98780681e-01 1.14873798e-03 1.05126790e-01] [-1.65658031e-02 -1.96856936e-03 9.99860840e-01 -6.56181928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084391417999999 meters 0.07697976673905099 Centerline is valid? [True, True] Translation: X:5.42, Y:0.10, Z:-0.07 [[ 9.98670973e-01 4.93813545e-02 1.47570266e-02 5.42311357e+00] [-4.94017413e-02 9.98778468e-01 1.01995002e-03 9.83474750e-02] [-1.46886339e-02 -1.74761729e-03 9.99890589e-01 -6.92605350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144391417999999 meters 0.08521675547317015 Centerline is valid? [True, True] Translation: X:5.48, Y:0.10, Z:-0.07 [[ 9.98620496e-01 5.06788877e-02 1.37388403e-02 5.48439738e+00] [-5.06966246e-02 9.98713652e-01 9.45600249e-04 9.80879782e-02] [-1.36732454e-02 -1.64080862e-03 9.99905171e-01 -7.13658875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204391417999999 meters 0.08009036170854847 Centerline is valid? [True, True] Translation: X:5.55, Y:0.09, Z:-0.07 [[ 9.98482161e-01 5.28472394e-02 1.55094546e-02 5.54634566e+00] [-5.28700046e-02 9.98600839e-01 1.06121248e-03 8.62422173e-02] [-1.54316723e-02 -1.87958667e-03 9.99879158e-01 -6.86257101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264391417999999 meters 0.08209953587408883 Centerline is valid? [True, True] Translation: X:5.61, Y:0.08, Z:-0.07 [[ 9.98328830e-01 5.53688414e-02 1.65480754e-02 5.60794495e+00] [-5.53950814e-02 9.98463873e-01 1.13118743e-03 7.75356599e-02] [-1.64600229e-02 -2.04597901e-03 9.99862431e-01 -6.75838563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3243914179999985 meters 0.08533021506655998 Centerline is valid? [True, True] Translation: X:5.67, Y:0.07, Z:-0.07 [[ 9.98360411e-01 5.50575491e-02 1.56574681e-02 5.66957805e+00] [-5.50810139e-02 9.98481314e-01 1.07103857e-03 7.19977445e-02] [-1.55747206e-02 -1.93171172e-03 9.99876841e-01 -7.07894755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384391417999999 meters 0.08593056870418415 Centerline is valid? [True, True] Translation: X:5.73, Y:0.06, Z:-0.07 [[ 9.98407943e-01 5.40013842e-02 1.62919928e-02 5.73165305e+00] [-5.40265961e-02 9.98538879e-01 1.11104035e-03 6.38985972e-02] [-1.62081905e-02 -1.98947243e-03 9.99866659e-01 -7.01206184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444391417999999 meters 0.0884372125407898 Centerline is valid? [True, True] Translation: X:5.79, Y:0.06, Z:-0.07 [[ 9.98438121e-01 5.39069765e-02 1.46750049e-02 5.79306661e+00] [-5.39274327e-02 9.98544355e-01 1.00153045e-03 6.36119993e-02] [-1.45996538e-02 -1.79135152e-03 9.99891815e-01 -7.30825219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504391417999999 meters 0.0887515313799211 Centerline is valid? [True, True] Translation: X:5.86, Y:0.06, Z:-0.08 [[ 9.98553327e-01 5.24968078e-02 1.16334919e-02 5.85550103e+00] [-5.25095253e-02 9.98620111e-01 7.90234848e-04 5.66108214e-02] [-1.15759542e-02 -1.39996078e-03 9.99932016e-01 -7.75990344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564391417999999 meters 0.0775862412067038 Centerline is valid? [True, True] Translation: X:5.92, Y:0.04, Z:-0.08 [[ 9.98761641e-01 4.83480309e-02 1.17325520e-02 5.91805005e+00] [-4.83606706e-02 9.98829621e-01 7.95850269e-04 3.58430383e-02] [-1.16803427e-02 -1.36225880e-03 9.99930855e-01 -7.87401239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624391417999999 meters 0.08818893430576646 Centerline is valid? [True, True] Translation: X:5.98, Y:0.05, Z:-0.08 [[ 9.98880158e-01 4.54185472e-02 1.32508979e-02 5.97666505e+00] [-4.54344097e-02 9.98966920e-01 8.98359612e-04 4.83889058e-02] [-1.31964065e-02 -1.49940031e-03 9.99911799e-01 -7.95871167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684391417999999 meters 0.07913294252381375 Centerline is valid? [True, True] Translation: X:6.04, Y:0.03, Z:-0.08 [[ 9.98971920e-01 4.34303514e-02 1.29964368e-02 6.03826640e+00] [-4.34454494e-02 9.99055412e-01 8.81507720e-04 3.33719258e-02] [-1.29458764e-02 -1.44523750e-03 9.99915154e-01 -8.17518253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744391417999998 meters 0.06996901480039928 Centerline is valid? [True, True] Translation: X:6.10, Y:0.02, Z:-0.08 [[ 9.98992237e-01 4.28541654e-02 1.33428066e-02 6.10132665e+00] [-4.28700572e-02 9.99080245e-01 9.07180207e-04 1.97314290e-02] [-1.32916580e-02 -1.47827286e-03 9.99910569e-01 -8.06108423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804391417999999 meters 0.09408347517044462 Centerline is valid? [True, True] Translation: X:6.16, Y:0.05, Z:-0.09 [[ 9.98994037e-01 4.30401904e-02 1.25878933e-02 6.16117651e+00] [-4.30543072e-02 9.99072370e-01 8.52506288e-04 5.00151629e-02] [-1.25395244e-02 -1.39361173e-03 9.99920406e-01 -8.63561204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8643914179999985 meters 0.0674407513051219 Centerline is valid? [True, True] Translation: X:6.22, Y:0.02, Z:-0.08 [[ 9.99092730e-01 4.01083772e-02 1.43190639e-02 6.22387688e+00] [-4.01262409e-02 9.99194155e-01 9.62313942e-04 1.71870663e-02] [-1.42689281e-02 -1.53601107e-03 9.99897014e-01 -8.29410086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924391417999999 meters 0.08371049236839435 Centerline is valid? [True, True] Translation: X:6.28, Y:0.04, Z:-0.08 [[ 9.99221754e-01 3.63707732e-02 1.52660879e-02 6.28215089e+00] [-3.63906438e-02 9.99337115e-01 1.02575613e-03 4.11632695e-02] [-1.52186607e-02 -1.58050060e-03 9.99882940e-01 -8.31495466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984391417999999 meters 0.06763547599077051 Centerline is valid? [True, True] Translation: X:6.34, Y:0.02, Z:-0.09 [[ 9.99417969e-01 3.04226609e-02 1.54332453e-02 6.34438349e+00] [-3.04422746e-02 9.99535988e-01 1.03749402e-03 2.34120332e-02] [-1.53945207e-02 -1.50671326e-03 9.99880362e-01 -8.53902712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044391418 meters 0.06468963489611042 Centerline is valid? [True, True] Translation: X:6.41, Y:0.02, Z:-0.09 [[ 9.99587037e-01 2.51955582e-02 1.38180589e-02 6.40501034e+00] [-2.52107834e-02 9.99681726e-01 9.28724287e-04 2.37062250e-02] [-1.37902613e-02 -1.27670485e-03 9.99904095e-01 -8.75904056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104391418 meters 0.06504169121453854 Centerline is valid? [True, True] Translation: X:6.47, Y:0.03, Z:-0.09 [[ 9.99634748e-01 2.36459046e-02 1.30859455e-02 6.46657163e+00] [-2.36594339e-02 9.99719689e-01 8.80020049e-04 2.80102626e-02] [-1.30614685e-02 -1.18930468e-03 9.99913988e-01 -9.00798156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164391418 meters 0.06057850112897785 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:-0.09 [[ 9.99652380e-01 2.28531260e-02 1.31474253e-02 6.52872375e+00] [-2.28667272e-02 9.99738130e-01 8.85105959e-04 2.52859644e-02] [-1.31237549e-02 -1.18543687e-03 9.99913177e-01 -9.27718513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224391418 meters 0.06087265160521563 Centerline is valid? [True, True] Translation: X:6.59, Y:0.03, Z:-0.09 [[ 9.99583215e-01 2.36780226e-02 1.65150617e-02 6.59087103e+00] [-2.36994875e-02 9.99718517e-01 1.10519126e-03 3.32879958e-02] [-1.64842442e-02 -1.49612913e-03 9.99863006e-01 -9.08955477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284391418 meters 0.07046957365351525 Centerline is valid? [True, True] Translation: X:6.65, Y:0.05, Z:-0.09 [[ 9.99497133e-01 2.53844791e-02 1.90028882e-02 6.65118115e+00] [-2.54130784e-02 9.99676235e-01 1.26499259e-03 4.98841613e-02] [-1.89646245e-02 -1.74727836e-03 9.99818629e-01 -8.90828693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344391417999999 meters 0.066076823938237 Centerline is valid? [True, True] Translation: X:6.71, Y:0.05, Z:-0.09 [[ 9.99449430e-01 2.73500521e-02 1.87832576e-02 6.71279666e+00] [-2.73782361e-02 9.99624371e-01 1.24492900e-03 4.78397632e-02] [-1.87421532e-02 -1.75849604e-03 9.99822804e-01 -9.23477313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404391418 meters 0.06894281240312287 Centerline is valid? [True, True] Translation: X:6.77, Y:0.06, Z:-0.10 [[ 9.99414502e-01 2.91699602e-02 1.78820257e-02 6.77290590e+00] [-2.91957807e-02 9.99573010e-01 1.18452532e-03 5.75231177e-02] [-1.78398377e-02 -1.70591149e-03 9.99839402e-01 -9.52919710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464391418 meters 0.06394334721391473 Centerline is valid? [True, True] Translation: X:6.83, Y:0.06, Z:-0.10 [[ 9.99308738e-01 3.22516745e-02 1.84898618e-02 6.83322449e+00] [-3.22797819e-02 9.99478123e-01 1.22364680e-03 6.01426241e-02] [-1.84407478e-02 -1.81964965e-03 9.99828299e-01 -9.56301083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524391418 meters 0.06268896551275852 Centerline is valid? [True, True] Translation: X:6.89, Y:0.06, Z:-0.10 [[ 9.99237069e-01 3.42816392e-02 1.87095756e-02 6.89383923e+00] [-3.43107697e-02 9.99410445e-01 1.23811892e-03 6.41592100e-02] [-1.86561006e-02 -1.87911427e-03 9.99824194e-01 -9.69033053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584391418 meters 0.06412594987350115 Centerline is valid? [True, True] Translation: X:6.95, Y:0.07, Z:-0.10 [[ 9.99285301e-01 3.28798824e-02 1.86494341e-02 6.95458556e+00] [-3.29085776e-02 9.99457605e-01 1.23378121e-03 7.05036924e-02] [-1.85987522e-02 -1.84662578e-03 9.99825323e-01 -9.87682038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644391418 meters 0.06729295172413564 Centerline is valid? [True, True] Translation: X:7.02, Y:0.08, Z:-0.10 [[ 9.99366670e-01 2.90842632e-02 2.05028012e-02 7.01508393e+00] [-2.91181366e-02 9.99575058e-01 1.35547848e-03 7.99474134e-02] [-2.04546656e-02 -1.95162338e-03 9.99788877e-01 -1.00409349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704391418 meters 0.06799638452191925 Centerline is valid? [True, True] Translation: X:7.07, Y:0.08, Z:-0.10 [[ 9.99462439e-01 2.66945454e-02 1.90324622e-02 7.07459679e+00] [-2.67233030e-02 9.99642077e-01 1.25820662e-03 8.15466403e-02] [-1.89920628e-02 -1.76614052e-03 9.99818075e-01 -1.03187070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764391417999999 meters 0.06174352582222759 Centerline is valid? [True, True] Translation: X:7.14, Y:0.08, Z:-0.10 [[ 9.99421495e-01 2.79706646e-02 1.93473030e-02 7.13667156e+00] [-2.80006333e-02 9.99607086e-01 1.27977885e-03 7.66746656e-02] [-1.93039049e-02 -1.82077522e-03 9.99812004e-01 -1.04580953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824391418 meters 0.07350858800199972 Centerline is valid? [True, True] Translation: X:7.20, Y:0.10, Z:-0.10 [[ 9.99338605e-01 2.93645043e-02 2.14494259e-02 7.19635818e+00] [-2.94015184e-02 9.99566684e-01 1.41226088e-03 9.67463823e-02] [-2.13986612e-02 -2.04197251e-03 9.99768937e-01 -1.02044980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884391418 meters 0.06790146602328828 Centerline is valid? [True, True] Translation: X:7.26, Y:0.09, Z:-0.10 [[ 9.99209245e-01 3.32719248e-02 2.17684107e-02 7.25670955e+00] [-3.33108998e-02 9.99444015e-01 1.43018816e-03 9.42185644e-02] [-2.17087226e-02 -2.15418258e-03 9.99762017e-01 -1.04047695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944391418 meters 0.07184347835778063 Centerline is valid? [True, True] Translation: X:7.32, Y:0.10, Z:-0.10 [[ 9.99014748e-01 3.86317596e-02 2.18430945e-02 7.31650766e+00] [-3.86722775e-02 9.99250917e-01 1.43543521e-03 1.03862706e-01] [-2.17712788e-02 -2.27874315e-03 9.99760381e-01 -1.03916060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004391417999999 meters 0.07103192169537213 Centerline is valid? [True, True] Translation: X:7.38, Y:0.11, Z:-0.11 [[ 9.98905500e-01 4.29521458e-02 1.85179714e-02 7.37743141e+00] [-4.29819956e-02 9.99075106e-01 1.21677705e-03 1.06996925e-01] [-1.84485811e-02 -2.01138466e-03 9.99827787e-01 -1.09378849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064391418 meters 0.07080130865310777 Centerline is valid? [True, True] Translation: X:7.44, Y:0.11, Z:-0.11 [[ 9.98804686e-01 4.45997394e-02 2.00015815e-02 7.43826615e+00] [-4.46348747e-02 9.99002504e-01 1.31343091e-03 1.10138979e-01] [-1.99230514e-02 -2.20462903e-03 9.99799086e-01 -1.08742788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124391418 meters 0.06432167962273236 Centerline is valid? [True, True] Translation: X:7.50, Y:0.10, Z:-0.11 [[ 9.98877010e-01 4.19759077e-02 2.19714108e-02 7.50005888e+00] [-4.20176677e-02 9.99115827e-01 1.44226528e-03 1.04062410e-01] [-2.18914439e-02 -2.36383307e-03 9.99757559e-01 -1.07777461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184391417999999 meters 0.06059982108585526 Centerline is valid? [True, True] Translation: X:7.56, Y:0.10, Z:-0.11 [[ 9.99210778e-01 3.30190628e-02 2.20807982e-02 7.56077610e+00] [-3.30590657e-02 9.99452349e-01 1.44898853e-03 9.79136254e-02] [-2.20208614e-02 -2.17781552e-03 9.99755139e-01 -1.10421461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244391418 meters 0.061119463843419104 Centerline is valid? [True, True] Translation: X:7.62, Y:0.10, Z:-0.11 [[ 9.99549773e-01 2.20751969e-02 2.03208464e-02 7.62078629e+00] [-2.21068296e-02 9.99754725e-01 1.33331889e-03 9.77870159e-02] [-2.02864289e-02 -1.78194808e-03 9.99792621e-01 -1.14578299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304391418 meters 0.0583896077143143 Centerline is valid? [True, True] Translation: X:7.68, Y:0.09, Z:-0.12 [[ 9.99694523e-01 1.66305263e-02 1.82834933e-02 7.68165520e+00] [-1.66552281e-02 9.99860572e-01 1.19959078e-03 9.40084094e-02] [-1.82609943e-02 -1.50374009e-03 9.99832123e-01 -1.18772298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364391418 meters 0.056239976532402106 Centerline is valid? [True, True] Translation: X:7.74, Y:0.09, Z:-0.12 [[ 9.99758207e-01 1.19996382e-02 1.84265215e-02 7.74277174e+00] [-1.20239471e-02 9.99926979e-01 1.20900568e-03 9.22411174e-02] [-1.84106684e-02 -1.43027288e-03 9.99829486e-01 -1.19858234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424391417999999 meters 0.0531612941898599 Centerline is valid? [True, True] Translation: X:7.81, Y:0.09, Z:-0.12 [[ 9.99782500e-01 1.09947901e-02 1.77219358e-02 7.80503669e+00] [-1.10171331e-02 9.99938633e-01 1.16361715e-03 8.98438321e-02] [-1.77080545e-02 -1.35860898e-03 9.99842277e-01 -1.22541668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484391418 meters 0.0563988430725328 Centerline is valid? [True, True] Translation: X:7.87, Y:0.10, Z:-0.12 [[ 9.99752905e-01 1.12272935e-02 1.91853133e-02 7.86702341e+00] [-1.12533999e-02 9.99935893e-01 1.25332932e-03 9.62119149e-02] [-1.91700118e-02 -1.46891963e-03 9.99815159e-01 -1.22611429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544391418 meters 0.05453796767834651 Centerline is valid? [True, True] Translation: X:7.93, Y:0.10, Z:-0.12 [[ 9.99721031e-01 9.37370782e-03 2.16793367e-02 7.92857257e+00] [-9.40650424e-03 9.99954762e-01 1.41131397e-03 9.67597362e-02] [-2.16651268e-02 -1.61484703e-03 9.99763979e-01 -1.22219598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604391417999999 meters 0.048937618276345435 Centerline is valid? [True, True] Translation: X:7.99, Y:0.09, Z:-0.13 [[ 9.99805599e-01 2.86747973e-03 1.95074994e-02 7.98922959e+00] [-2.89278586e-03 9.99995011e-01 1.26915693e-03 9.07487645e-02] [-1.95037628e-02 -1.32534122e-03 9.99808905e-01 -1.26675693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664391418 meters 0.04541305124972739 Centerline is valid? [True, True] Translation: X:8.05, Y:0.09, Z:-0.13 [[ 9.99800108e-01 -2.88156406e-03 1.97848558e-02 8.05055639e+00] [ 2.85665321e-03 9.99995091e-01 1.28723346e-03 8.79008597e-02] [-1.97884680e-02 -1.23045769e-03 9.99803432e-01 -1.28228419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724391418 meters 0.0407260865269006 Centerline is valid? [True, True] Translation: X:8.11, Y:0.08, Z:-0.13 [[ 9.99680315e-01 -1.10605624e-02 2.27361454e-02 8.11138390e+00] [ 1.10297715e-02 9.99938076e-01 1.47923033e-03 8.36748578e-02] [-2.27510986e-02 -1.22798295e-03 9.99740406e-01 -1.26757833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784391418 meters 0.0399455665458854 Centerline is valid? [True, True] Translation: X:8.17, Y:0.09, Z:-0.13 [[ 9.99622443e-01 -1.59458916e-02 2.23763292e-02 8.17101404e+00] [ 1.59172875e-02 9.99872252e-01 1.45585667e-03 8.61035954e-02] [-2.23966856e-02 -1.09913653e-03 9.99748559e-01 -1.30731124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844391417999999 meters 0.04016207327741524 Centerline is valid? [True, True] Translation: X:8.23, Y:0.09, Z:-0.13 [[ 9.99584534e-01 -1.61569846e-02 2.38686221e-02 8.23148762e+00] [ 1.61245020e-02 9.99868786e-01 1.55274313e-03 9.28837179e-02] [-2.38905779e-02 -1.16722838e-03 9.99713898e-01 -1.32218109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904391418 meters 0.04210011358004764 Centerline is valid? [True, True] Translation: X:8.29, Y:0.10, Z:-0.14 [[ 9.99656867e-01 -1.45782872e-02 2.17628586e-02 8.29307571e+00] [ 1.45509384e-02 9.99893129e-01 1.41450617e-03 1.00537560e-01] [-2.17811538e-02 -1.09735079e-03 9.99762160e-01 -1.37266917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964391418 meters 0.045369875427705486 Centerline is valid? [True, True] Translation: X:8.35, Y:0.11, Z:-0.14 [[ 9.99665400e-01 -1.20506839e-02 2.28881860e-02 8.35331435e+00] [ 1.20198155e-02 9.99926656e-01 1.48576055e-03 1.13042263e-01] [-2.29044117e-02 -1.21015164e-03 9.99736927e-01 -1.38869186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024391417999999 meters 0.04283550048286426 Centerline is valid? [True, True] Translation: X:8.41, Y:0.12, Z:-0.14 [[ 9.99641854e-01 -8.55304317e-03 2.53576414e-02 8.41481329e+00] [ 8.51406987e-03 9.99962402e-01 1.64451432e-03 1.15293601e-01] [-2.53707536e-02 -1.42802861e-03 9.99677091e-01 -1.39533378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084391418 meters 0.04301183360513149 Centerline is valid? [True, True] Translation: X:8.48, Y:0.12, Z:-0.14 [[ 9.99615545e-01 -6.42134209e-03 2.69727538e-02 8.47666365e+00] [ 6.37651137e-03 9.99978142e-01 1.74775795e-03 1.21753543e-01] [-2.69833872e-02 -1.57509394e-03 9.99634641e-01 -1.40514147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144391418 meters 0.044354802247022394 Centerline is valid? [True, True] Translation: X:8.54, Y:0.13, Z:-0.14 [[ 9.99585253e-01 -3.63056609e-03 2.85681688e-02 8.53746955e+00] [ 3.57920171e-03 9.99991885e-01 1.84888947e-03 1.31445753e-01] [-2.85746495e-02 -1.74587142e-03 9.99590137e-01 -1.41733936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204391418 meters 0.04542839946626722 Centerline is valid? [True, True] Translation: X:8.60, Y:0.14, Z:-0.14 [[ 9.99587190e-01 -1.58803873e-03 2.86867214e-02 8.59915434e+00] [ 1.53545538e-03 9.99997101e-01 1.85495589e-03 1.39362718e-01] [-2.86895840e-02 -1.81014296e-03 9.99586730e-01 -1.44151799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264391417999999 meters 0.048652796982607494 Centerline is valid? [True, True] Translation: X:8.66, Y:0.15, Z:-0.14 [[ 9.99514195e-01 -1.40840683e-03 3.11350394e-02 8.66027873e+00] [ 1.34654051e-03 9.99997078e-01 2.00791008e-03 1.50597316e-01] [-3.11377764e-02 -1.96501004e-03 9.99513170e-01 -1.42483077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324391418 meters 0.042130268930346326 Centerline is valid? [True, True] Translation: X:8.72, Y:0.15, Z:-0.14 [[ 9.99432825e-01 -4.29250579e-03 3.34006351e-02 8.72202523e+00] [ 4.22317236e-03 9.99988780e-01 2.14608317e-03 1.49892013e-01] [-3.34094724e-02 -2.00380932e-03 9.99439739e-01 -1.43631176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384391418 meters 0.04097612353736467 Centerline is valid? [True, True] Translation: X:8.78, Y:0.15, Z:-0.14 [[ 9.99384950e-01 -7.00307686e-03 3.43609973e-02 8.78320141e+00] [ 6.93136287e-03 9.99973545e-01 2.20575241e-03 1.54227726e-01] [-3.43755353e-02 -1.96622723e-03 9.99407052e-01 -1.44547416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444391417999999 meters 0.04163774235223437 Centerline is valid? [True, True] Translation: X:8.84, Y:0.16, Z:-0.15 [[ 9.99454843e-01 -1.06100128e-02 3.12640969e-02 8.84238904e+00] [ 1.05524340e-02 9.99942309e-01 2.00611709e-03 1.63420968e-01] [-3.12835782e-02 -1.67511113e-03 9.99509145e-01 -1.49308571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504391417999999 meters 0.038560034463624535 Centerline is valid? [True, True] Translation: X:8.90, Y:0.17, Z:-0.15 [[ 9.99446915e-01 -1.35083560e-02 3.03872979e-02 8.90430957e+00] [ 1.34553184e-02 9.99907573e-01 1.94920284e-03 1.66142543e-01] [-3.04108198e-02 -1.53925400e-03 9.99536299e-01 -1.51911423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564391418 meters 0.038364434172876924 Centerline is valid? [True, True] Translation: X:8.97, Y:0.17, Z:-0.15 [[ 9.99406189e-01 -1.51572487e-02 3.09439257e-02 8.96606018e+00] [ 1.51031084e-02 9.99883976e-01 1.98262242e-03 1.72538714e-01] [-3.09703866e-02 -1.51409566e-03 9.99519156e-01 -1.52537125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624391418 meters 0.03801234994285615 Centerline is valid? [True, True] Translation: X:9.03, Y:0.18, Z:-0.15 [[ 9.99354061e-01 -1.50007980e-02 3.26563521e-02 9.02788870e+00] [ 1.49405090e-02 9.99886201e-01 2.08941133e-03 1.79330452e-01] [-3.26839787e-02 -1.60015917e-03 9.99464455e-01 -1.52791599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684391417999999 meters 0.03977860528107218 Centerline is valid? [True, True] Translation: X:9.09, Y:0.19, Z:-0.16 [[ 9.99425019e-01 -1.40845465e-02 3.08424665e-02 9.08966151e+00] [ 1.40304160e-02 9.99899627e-01 1.97078969e-03 1.88905209e-01] [-3.08671285e-02 -1.53692389e-03 9.99522315e-01 -1.56186156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744391418 meters 0.037477822540902546 Centerline is valid? [True, True] Translation: X:9.15, Y:0.19, Z:-0.16 [[ 9.99381398e-01 -1.40798621e-02 3.22269764e-02 9.15203387e+00] [ 1.40208508e-02 9.99899588e-01 2.05637851e-03 1.91336187e-01] [-3.22526940e-02 -1.60325680e-03 9.99478461e-01 -1.56723745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804391418 meters 0.04053669045803053 Centerline is valid? [True, True] Translation: X:9.21, Y:0.20, Z:-0.16 [[ 9.99420192e-01 -1.53996125e-02 3.03666158e-02 9.21267624e+00] [ 1.53479647e-02 9.99880344e-01 1.93317541e-03 2.03711884e-01] [-3.03927524e-02 -1.46598879e-03 9.99536959e-01 -1.58852579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864391417999999 meters 0.037238889962828446 Centerline is valid? [True, True] Translation: X:9.28, Y:0.20, Z:-0.16 [[ 9.99466288e-01 -1.69523521e-02 2.79241390e-02 9.27535881e+00] [ 1.69094569e-02 9.99855455e-01 1.77156855e-03 2.03853889e-01] [-2.79501350e-02 -1.29844102e-03 9.99608475e-01 -1.63691129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924391417999999 meters 0.03505717567280615 Centerline is valid? [True, True] Translation: X:9.34, Y:0.21, Z:-0.16 [[ 9.99402761e-01 -1.92256519e-02 2.87140441e-02 9.33741959e+00] [ 1.91813165e-02 9.99814367e-01 1.81870342e-03 2.07956972e-01] [-2.87436796e-02 -1.26684405e-03 9.99586012e-01 -1.63285357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984391418 meters 0.036138535119609606 Centerline is valid? [True, True] Translation: X:9.40, Y:0.21, Z:-0.17 [[ 9.99365552e-01 -2.34178322e-02 2.68346689e-02 9.39768236e+00] [ 2.33806720e-02 9.99725193e-01 1.69775216e-03 2.13732881e-01] [-2.68670522e-02 -1.06926243e-03 9.99638444e-01 -1.66346130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044391418 meters 0.03312409598998486 Centerline is valid? [True, True] Translation: X:9.46, Y:0.22, Z:-0.17 [[ 9.99276910e-01 -2.78700908e-02 2.58633965e-02 9.45872805e+00] [ 2.78370884e-02 9.99611136e-01 1.63526421e-03 2.16815851e-01] [-2.58989141e-02 -9.14120116e-04 9.99664149e-01 -1.69713291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104391417999999 meters 0.028192496050703238 Centerline is valid? [True, True] Translation: X:9.52, Y:0.22, Z:-0.17 [[ 9.99226925e-01 -2.97342470e-02 2.57182357e-02 9.52079007e+00] [ 2.97022645e-02 9.99557470e-01 1.62477255e-03 2.15616833e-01] [-2.57551660e-02 -8.59626638e-04 9.99667911e-01 -1.71365796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164391418 meters 0.03184028742575548 Centerline is valid? [True, True] Translation: X:9.58, Y:0.23, Z:-0.17 [[ 9.99204315e-01 -3.17160077e-02 2.41832774e-02 9.58169679e+00] [ 3.16883574e-02 9.99496633e-01 1.52582408e-03 2.25900686e-01] [-2.42194974e-02 -7.58281664e-04 9.99706377e-01 -1.73180990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224391418 meters 0.028123748841044047 Centerline is valid? [True, True] Translation: X:9.64, Y:0.23, Z:-0.17 [[ 9.99224995e-01 -3.11250287e-02 2.40964944e-02 9.64418395e+00] [ 3.10974452e-02 9.99515204e-01 1.51867697e-03 2.26990578e-01] [-2.41320814e-02 -7.68160572e-04 9.99708484e-01 -1.74873327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284391417999998 meters 0.03123217821845969 Centerline is valid? [True, True] Translation: X:9.70, Y:0.24, Z:-0.17 [[ 9.99322057e-01 -2.69981989e-02 2.50304651e-02 9.70426778e+00] [ 2.69671946e-02 9.99635078e-01 1.57545300e-03 2.40701169e-01] [-2.50638654e-02 -8.99383513e-04 9.99685447e-01 -1.74783188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344391417999999 meters 0.03529259653567745 Centerline is valid? [True, True] Translation: X:9.76, Y:0.26, Z:-0.18 [[ 9.99410283e-01 -2.31192748e-02 2.53887018e-02 9.76318045e+00] [ 2.30861493e-02 9.99732204e-01 1.59711076e-03 2.55057241e-01] [-2.54188268e-02 -1.01004155e-03 9.99676379e-01 -1.75227750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404391418 meters 0.03228181614048469 Centerline is valid? [True, True] Translation: X:9.83, Y:0.26, Z:-0.18 [[ 9.99475840e-01 -2.20543429e-02 2.36991737e-02 9.82526686e+00] [ 2.20251886e-02 9.99756305e-01 1.49053695e-03 2.55576539e-01] [-2.37262712e-02 -9.67776900e-04 9.99718024e-01 -1.79716398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464391418 meters 0.03182028023082821 Centerline is valid? [True, True] Translation: X:9.89, Y:0.26, Z:-0.18 [[ 9.99486028e-01 -2.22258737e-02 2.31017474e-02 9.88724265e+00] [ 2.21982647e-02 9.99752535e-01 1.45089184e-03 2.62913290e-01] [-2.31282779e-02 -9.37327417e-04 9.99732066e-01 -1.80436577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524391417999999 meters 0.03136592711408313 Centerline is valid? [True, True] Translation: X:9.95, Y:0.27, Z:-0.18 [[ 9.99440794e-01 -2.46417231e-02 2.26027734e-02 9.94789404e+00] [ 2.46159552e-02 9.99695976e-01 1.41759598e-03 2.68977782e-01] [-2.26308336e-02 -8.60414396e-04 9.99743520e-01 -1.81577445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584391418 meters 0.03220928921048256 Centerline is valid? [True, True] Translation: X:10.01, Y:0.27, Z:-0.18 [[ 9.99464926e-01 -2.49674853e-02 2.11302076e-02 1.00101750e+01] [ 2.49450671e-02 9.99687947e-01 1.32390661e-03 2.73404894e-01] [-2.11566685e-02 -7.96103771e-04 9.99775856e-01 -1.84990759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644391418 meters 0.033947970919982 Centerline is valid? [True, True] Translation: X:10.07, Y:0.28, Z:-0.19 [[ 9.99547844e-01 -2.26515599e-02 1.97740640e-02 1.00708681e+01] [ 2.26315081e-02 9.99743109e-01 1.23726622e-03 2.81153704e-01] [-1.97970103e-02 -7.89189896e-04 9.99803709e-01 -1.87278312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704391417999998 meters 0.03295020441781404 Centerline is valid? [True, True] Translation: X:10.13, Y:0.29, Z:-0.19 [[ 9.99522803e-01 -2.32209920e-02 2.03703430e-02 1.01333258e+01] [ 2.31998588e-02 9.99730036e-01 1.27318689e-03 2.85278571e-01] [-2.03944084e-02 -7.99990252e-04 9.99791692e-01 -1.87499834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764391417999999 meters 0.030061409926551274 Centerline is valid? [True, True] Translation: X:10.19, Y:0.29, Z:-0.19 [[ 9.99348583e-01 -2.94038136e-02 2.09242749e-02 1.01943635e+01] [ 2.93829077e-02 9.99567376e-01 1.30593301e-03 2.85978902e-01] [-2.09536219e-02 -6.90266265e-04 9.99780210e-01 -1.87428556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824391418 meters 0.025646213202239525 Centerline is valid? [True, True] Translation: X:10.26, Y:0.29, Z:-0.19 [[ 9.99189128e-01 -3.51246635e-02 1.96810774e-02 1.02556192e+01] [ 3.51072843e-02 9.99382795e-01 1.22796016e-03 2.90138204e-01] [-1.97120618e-02 -5.36015267e-04 9.99805555e-01 -1.87826806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884391418 meters 0.024319548105965323 Centerline is valid? [True, True] Translation: X:10.32, Y:0.29, Z:-0.19 [[ 9.99125173e-01 -3.77240440e-02 1.80495113e-02 1.03179387e+01] [ 3.77098619e-02 9.99288096e-01 1.12555767e-03 2.93373815e-01] [-1.80791224e-02 -4.43928424e-04 9.99836461e-01 -1.91295140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944391417999999 meters 0.02340669601600208 Centerline is valid? [True, True] Translation: X:10.38, Y:0.30, Z:-0.19 [[ 9.99038503e-01 -3.98943099e-02 1.81800190e-02 1.03791111e+01] [ 3.98803116e-02 9.99203823e-01 1.13201890e-03 2.98726326e-01] [-1.82107056e-02 -4.05905645e-04 9.99834089e-01 -1.91719873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004391417999999 meters 0.025191538916946102 Centerline is valid? [True, True] Translation: X:10.44, Y:0.31, Z:-0.19 [[ 9.98996491e-01 -4.09994932e-02 1.80292288e-02 1.04395059e+01] [ 4.09859273e-02 9.99159094e-01 1.12145508e-03 3.06575535e-01] [-1.80600470e-02 -3.81385027e-04 9.99836831e-01 -1.94170227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064391418 meters 0.02237704287317231 Centerline is valid? [True, True] Translation: X:10.50, Y:0.32, Z:-0.20 [[ 9.99060489e-01 -4.05514333e-02 1.52879214e-02 1.05012305e+01] [ 4.05416369e-02 9.99177398e-01 9.50296067e-04 3.16917487e-01] [-1.53138814e-02 -3.29605894e-04 9.99882681e-01 -1.95532063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124391417999998 meters 0.024413698825275398 Centerline is valid? [True, True] Translation: X:10.56, Y:0.32, Z:-0.20 [[ 9.99181343e-01 -3.83523526e-02 1.28740032e-02 1.05624920e+01] [ 3.83452303e-02 9.99264231e-01 7.99711275e-04 3.23413403e-01] [-1.28952018e-02 -3.05399967e-04 9.99916807e-01 -2.00009885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184391417999999 meters 0.028746714614516205 Centerline is valid? [True, True] Translation: X:10.62, Y:0.34, Z:-0.20 [[ 9.99409644e-01 -3.18196354e-02 1.29566603e-02 1.06226165e+01] [ 3.18119059e-02 9.99493551e-01 8.02282938e-04 3.38442643e-01] [-1.29756268e-02 -3.89633247e-04 9.99915737e-01 -2.00050656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244391418 meters 0.02983753924794256 Centerline is valid? [True, True] Translation: X:10.68, Y:0.35, Z:-0.20 [[ 9.99562378e-01 -2.62174805e-02 1.37002352e-02 1.06833623e+01] [ 2.62083151e-02 9.99656143e-01 8.48140791e-04 3.53896274e-01] [-1.37177604e-02 -4.88709544e-04 9.99905788e-01 -1.97397912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304391418 meters 0.02935835055087119 Centerline is valid? [True, True] Translation: X:10.75, Y:0.36, Z:-0.20 [[ 9.99572130e-01 -2.49673111e-02 1.52377927e-02 1.07456186e+01] [ 2.49558358e-02 9.99688110e-01 9.42797468e-04 3.59465652e-01] [-1.52565794e-02 -5.62122220e-04 9.99883454e-01 -1.96431710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364391417999999 meters 0.028172157710648234 Centerline is valid? [True, True] Translation: X:10.81, Y:0.37, Z:-0.20 [[ 9.99500517e-01 -2.67357298e-02 1.68498555e-02 1.08078230e+01] [ 2.67219780e-02 9.99642362e-01 1.04079861e-03 3.66967503e-01] [-1.68716559e-02 -5.90017279e-04 9.99857489e-01 -1.96078728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424391417999999 meters 0.02696934604970538 Centerline is valid? [True, True] Translation: X:10.87, Y:0.37, Z:-0.20 [[ 9.99387295e-01 -3.19121772e-02 1.43752518e-02 1.08689857e+01] [ 3.19027223e-02 9.99490585e-01 8.86618821e-04 3.69470496e-01] [-1.43962228e-02 -4.27465918e-04 9.99896278e-01 -1.99700589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484391418 meters 0.026158541018457417 Centerline is valid? [True, True] Translation: X:10.93, Y:0.37, Z:-0.20 [[ 9.99264599e-01 -3.57394104e-02 1.38908208e-02 1.09298687e+01] [ 3.57309598e-02 9.99361079e-01 8.56143237e-04 3.72629336e-01] [-1.39125438e-02 -3.59181267e-04 9.99903151e-01 -2.00550214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544391417999998 meters 0.023464127250475787 Centerline is valid? [True, True] Translation: X:10.99, Y:0.38, Z:-0.20 [[ 9.99098973e-01 -3.93612696e-02 1.58723581e-02 1.09915114e+01] [ 3.93507028e-02 9.99224983e-01 9.77625783e-04 3.77231677e-01] [-1.58985373e-02 -3.52156470e-04 9.99873548e-01 -1.96591654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604391417999999 meters 0.023430859473632885 Centerline is valid? [True, True] Translation: X:11.05, Y:0.38, Z:-0.20 [[ 9.99085336e-01 -3.97077186e-02 1.58678735e-02 1.10534999e+01] [ 3.96972231e-02 9.99211278e-01 9.75986016e-04 3.81768317e-01] [-1.58941123e-02 -3.45182802e-04 9.99873621e-01 -1.96126928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664391418 meters 0.02350197556391235 Centerline is valid? [True, True] Translation: X:11.11, Y:0.39, Z:-0.20 [[ 9.99121923e-01 -3.87004128e-02 1.60518255e-02 1.11139942e+01] [ 3.86895618e-02 9.99250792e-01 9.86106051e-04 3.91134781e-01] [-1.60779620e-02 -3.64202081e-04 9.99870675e-01 -1.95957800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724391418 meters 0.027856285568859638 Centerline is valid? [True, True] Translation: X:11.18, Y:0.40, Z:-0.20 [[ 9.99240618e-01 -3.64178280e-02 1.38538516e-02 1.11753052e+01] [ 3.64095577e-02 9.99336592e-01 8.48802943e-04 4.02741621e-01] [-1.38755724e-02 -3.43745768e-04 9.99903671e-01 -2.01234085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784391417999998 meters 0.02643159723660212 Centerline is valid? [True, True] Translation: X:11.24, Y:0.41, Z:-0.20 [[ 9.99432625e-01 -3.08902344e-02 1.34246482e-02 1.12360074e+01] [ 3.08819881e-02 9.99522700e-01 8.21181859e-04 4.14507557e-01] [-1.34436071e-02 -4.06136117e-04 9.99909548e-01 -1.97998727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844391417999999 meters 0.0309797335590935 Centerline is valid? [True, True] Translation: X:11.30, Y:0.43, Z:-0.20 [[ 9.99533315e-01 -2.70759410e-02 1.41437561e-02 1.12964134e+01] [ 2.70664138e-02 9.99633264e-01 8.64620351e-04 4.25602821e-01] [-1.41619794e-02 -4.81396092e-04 9.99899598e-01 -1.98810536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904391418 meters 0.03034689663138925 Centerline is valid? [True, True] Translation: X:11.36, Y:0.44, Z:-0.19 [[ 9.99541674e-01 -2.49140095e-02 1.71969345e-02 1.13582738e+01] [ 2.48996283e-02 9.99689405e-01 1.04990768e-03 4.36998986e-01] [-1.72177506e-02 -6.21229206e-04 9.99851571e-01 -1.92987508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964391417999998 meters 0.02805811240217044 Centerline is valid? [True, True] Translation: X:11.42, Y:0.44, Z:-0.19 [[ 9.99403476e-01 -2.94355507e-02 1.80621157e-02 1.14192210e+01] [ 2.94204563e-02 9.99566518e-01 1.10090352e-03 4.41908312e-01] [-1.80866918e-02 -5.68851120e-04 9.99836261e-01 -1.94041427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024391417999999 meters 0.023894055169512533 Centerline is valid? [True, True] Translation: X:11.48, Y:0.44, Z:-0.20 [[ 9.99270227e-01 -3.46250770e-02 1.61281702e-02 1.14807200e+01] [ 3.46137279e-02 9.99400283e-01 9.82378983e-04 4.44887768e-01] [-1.61525128e-02 -4.23405974e-04 9.99869450e-01 -1.95158539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084391418 meters 0.022770818816687126 Centerline is valid? [True, True] Translation: X:11.54, Y:0.45, Z:-0.20 [[ 9.99094371e-01 -3.99264318e-02 1.47077672e-02 1.15415938e+01] [ 3.99175764e-02 9.99202575e-01 8.95277951e-04 4.48976946e-01] [-1.47317841e-02 -3.07368739e-04 9.99891434e-01 -2.00838841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144391418 meters 0.021161122494940652 Centerline is valid? [True, True] Translation: X:11.60, Y:0.46, Z:-0.20 [[ 9.99070721e-01 -4.13139367e-02 1.22821921e-02 1.16033392e+01] [ 4.13078667e-02 9.99146186e-01 7.47591403e-04 4.56079467e-01] [-1.23025913e-02 -2.39545530e-04 9.99924292e-01 -2.01637561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204391417999998 meters 0.021589768133392 Centerline is valid? [True, True] Translation: X:11.66, Y:0.47, Z:-0.20 [[ 9.99165537e-01 -3.93517727e-02 1.09392379e-02 1.16646099e+01] [ 3.93468487e-02 9.99225392e-01 6.65060445e-04 4.68499299e-01] [-1.09569356e-02 -2.34080937e-04 9.99939944e-01 -2.01732090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264391417999999 meters 0.02567396857198171 Centerline is valid? [True, True] Translation: X:11.72, Y:0.49, Z:-0.20 [[ 9.99399356e-01 -3.31213107e-02 1.01934339e-02 1.17238799e+01] [ 3.31167269e-02 9.99451300e-01 6.18195378e-04 4.86567132e-01] [-1.02083162e-02 -2.80250895e-04 9.99947855e-01 -2.03628973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324391418 meters 0.029596474330539507 Centerline is valid? [True, True] Translation: X:11.78, Y:0.50, Z:-0.21 [[ 9.99567275e-01 -2.77517937e-02 9.75191355e-03 1.17844431e+01] [ 2.77473425e-02 9.99614793e-01 5.91465777e-04 4.98053740e-01] [-9.76457128e-03 -3.20620150e-04 9.99952274e-01 -2.07931720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384391417999998 meters 0.0326121172670018 Centerline is valid? [True, True] Translation: X:11.84, Y:0.51, Z:-0.21 [[ 9.99720102e-01 -2.22432349e-02 8.05958514e-03 1.18439856e+01] [ 2.22400198e-02 9.99752541e-01 4.88334295e-04 5.13989971e-01] [-8.06845285e-03 -3.08952278e-04 9.99967402e-01 -2.08459783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444391417999999 meters 0.034913851285687365 Centerline is valid? [True, True] Translation: X:11.90, Y:0.52, Z:-0.21 [[ 9.99744718e-01 -2.11322663e-02 7.99540766e-03 1.19048857e+01] [ 2.11290567e-02 9.99776639e-01 4.85699257e-04 5.21732427e-01] [-8.00388572e-03 -3.16639845e-04 9.99967918e-01 -2.10969086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504391417999999 meters 0.03113690333319821 Centerline is valid? [True, True] Translation: X:11.97, Y:0.52, Z:-0.21 [[ 9.99648519e-01 -2.53945749e-02 7.61273940e-03 1.19667748e+01] [ 2.53918002e-02 9.99677470e-01 4.60926978e-04 5.22094487e-01] [-7.62198910e-03 -2.67463813e-04 9.99970916e-01 -2.10978593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564391418 meters 0.028655885173985932 Centerline is valid? [True, True] Translation: X:12.03, Y:0.52, Z:-0.21 [[ 9.99519003e-01 -2.96510057e-02 9.08739308e-03 1.20275397e+01] [ 2.96472426e-02 9.99560273e-01 5.48563716e-04 5.21883145e-01] [-9.09966257e-03 -2.78883711e-04 9.99958558e-01 -2.10323398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624391417999998 meters 0.025518998826014695 Centerline is valid? [True, True] Translation: X:12.09, Y:0.52, Z:-0.21 [[ 9.99397274e-01 -3.36128059e-02 8.67576698e-03 1.20893160e+01] [ 3.36095279e-02 9.99434903e-01 5.23387179e-04 5.18677242e-01] [-8.68845684e-03 -2.31483287e-04 9.99962228e-01 -2.11743542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684391417999999 meters 0.02661026820327595 Centerline is valid? [True, True] Translation: X:12.15, Y:0.52, Z:-0.22 [[ 9.99376047e-01 -3.45110804e-02 7.51678337e-03 1.21500884e+01] [ 3.45086447e-02 9.99404296e-01 4.53523493e-04 5.22365188e-01] [-7.52795718e-03 -1.93846509e-04 9.99971646e-01 -2.15628524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744391418 meters 0.024742167156336075 Centerline is valid? [True, True] Translation: X:12.21, Y:0.52, Z:-0.22 [[ 9.99322563e-01 -3.62963567e-02 6.08190160e-03 1.22124895e+01] [ 3.62947937e-02 9.99341059e-01 3.67200731e-04 5.17344535e-01] [-6.09122204e-03 -1.46210611e-04 9.99981438e-01 -2.18446122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804391417999998 meters 0.02387663094981805 Centerline is valid? [True, True] Translation: X:12.27, Y:0.52, Z:-0.22 [[ 9.99175999e-01 -4.03702131e-02 4.19161247e-03 1.22745951e+01] [ 4.03695058e-02 9.99184787e-01 2.53259831e-04 5.15901745e-01] [-4.19841957e-03 -8.38378208e-05 9.99991183e-01 -2.22390600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864391417999999 meters 0.019644633866655315 Centerline is valid? [True, True] Translation: X:12.34, Y:0.51, Z:-0.22 [[ 9.98943682e-01 -4.58380357e-02 3.22407572e-03 1.23362243e+01] [ 4.58376478e-02 9.98948884e-01 1.94148676e-04 5.12684252e-01] [-3.22958623e-03 -4.61595462e-05 9.99994784e-01 -2.20579926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924391417999999 meters 0.01848555084337312 Centerline is valid? [True, True] Translation: X:12.40, Y:0.50, Z:-0.22 [[ 9.98340422e-01 -5.73706828e-02 5.00069504e-03 1.23977000e+01] [ 5.73698980e-02 9.98352946e-01 3.00366293e-04 5.04952968e-01] [-5.00969084e-03 -1.29784469e-05 9.99987451e-01 -2.22855800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984391418 meters 0.017439795381158377 Centerline is valid? [True, True] Translation: X:12.46, Y:0.50, Z:-0.22 [[ 9.97790611e-01 -6.62871220e-02 4.46241721e-03 1.24602255e+01] [ 6.62865834e-02 9.97800590e-01 2.68650976e-04 5.01878089e-01] [-4.47041062e-03 2.77409690e-05 9.99990007e-01 -2.22750381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044391417999998 meters 0.022957540343643227 Centerline is valid? [True, True] Translation: X:12.52, Y:0.49, Z:-0.23 [[ 9.96833292e-01 -7.94354487e-02 3.66014358e-03 1.25222416e+01] [ 7.94351777e-02 9.96840009e-01 2.19576991e-04 4.91099602e-01] [-3.66601975e-03 7.18625005e-05 9.99993278e-01 -2.27706646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104391417999999 meters 0.02575485764751641 Centerline is valid? [True, True] Translation: X:12.58, Y:0.49, Z:-0.23 [[ 9.96166838e-01 -8.74039395e-02 3.49018697e-03 1.25824540e+01] [ 8.74037463e-02 9.96172948e-01 2.08151901e-04 4.89129084e-01] [-3.49502314e-03 9.77013957e-05 9.99993888e-01 -2.26493877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164391418 meters 0.030397219620485656 Centerline is valid? [True, True] Translation: X:12.64, Y:0.49, Z:-0.23 [[ 9.95715110e-01 -9.21478243e-02 7.75879792e-03 1.26408538e+01] [ 9.21470118e-02 9.95745306e-01 4.62904284e-04 4.93620249e-01] [-7.76844223e-03 2.54029253e-04 9.99969793e-01 -2.25547031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224391417999998 meters 0.029212522143652973 Centerline is valid? [True, True] Translation: X:12.70, Y:0.50, Z:-0.22 [[ 9.95659609e-01 -9.26092167e-02 9.24535447e-03 1.27008788e+01] [ 9.26080685e-02 9.95702486e-01 5.53140540e-04 5.00667916e-01] [-9.25684834e-03 3.05454726e-04 9.99957108e-01 -2.22677198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284391417999998 meters 0.029320324734695636 Centerline is valid? [True, True] Translation: X:12.76, Y:0.51, Z:-0.23 [[ 9.95913902e-01 -8.97747730e-02 9.79739663e-03 1.27612287e+01] [ 8.97733444e-02 9.95962049e-01 5.86386589e-04 5.13953064e-01] [-9.81047795e-03 2.95554506e-04 9.99951832e-01 -2.27006848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344391417999999 meters 0.026332150273368094 Centerline is valid? [True, True] Translation: X:12.82, Y:0.53, Z:-0.23 [[ 9.96210762e-01 -8.65101779e-02 8.95023184e-03 1.28220293e+01] [ 8.65088508e-02 9.96250938e-01 5.36040272e-04 5.33195577e-01] [-8.96304981e-03 2.40265183e-04 9.99959802e-01 -2.28677031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404391418 meters 0.023674233981933194 Centerline is valid? [True, True] Translation: X:12.88, Y:0.55, Z:-0.23 [[ 9.96275571e-01 -8.57928584e-02 8.63548000e-03 1.28834997e+01] [ 8.57915980e-02 9.96312970e-01 5.16969245e-04 5.47292400e-01] [-8.64799300e-03 2.25807798e-04 9.99962580e-01 -2.26923707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464391417999998 meters 0.026822201743376645 Centerline is valid? [True, True] Translation: X:12.95, Y:0.56, Z:-0.23 [[ 9.96235786e-01 -8.61282856e-02 9.80695099e-03 1.29452753e+01] [ 8.61266872e-02 9.96284021e-01 5.85977772e-04 5.61711731e-01] [-9.82097783e-03 2.60868174e-04 9.99951739e-01 -2.31417132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524391417999999 meters 0.02633353273992769 Centerline is valid? [True, True] Translation: X:13.01, Y:0.57, Z:-0.23 [[ 9.96178993e-01 -8.67181033e-02 1.03626896e-02 1.30074658e+01] [ 8.67163610e-02 9.96232850e-01 6.18180448e-04 5.67889055e-01] [-1.03772592e-02 2.82796357e-04 9.99946115e-01 -2.31521095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584391418 meters 0.02846624813102162 Centerline is valid? [True, True] Translation: X:13.07, Y:0.58, Z:-0.23 [[ 9.96008573e-01 -8.86673914e-02 1.02477545e-02 1.30687223e+01] [ 8.86657995e-02 9.96061245e-01 6.10458553e-04 5.81043169e-01] [-1.02615189e-02 3.00603396e-04 9.99947304e-01 -2.34000075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644391417999998 meters 0.028972269105268473 Centerline is valid? [True, True] Translation: X:13.13, Y:0.59, Z:-0.24 [[ 9.95960289e-01 -8.91875793e-02 1.04248794e-02 1.31306598e+01] [ 8.91859699e-02 9.96014798e-01 6.20094361e-04 5.91880770e-01] [-1.04386389e-02 3.12163625e-04 9.99945467e-01 -2.35508363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704391417999998 meters 0.02364211777896706 Centerline is valid? [True, True] Translation: X:13.19, Y:0.61, Z:-0.23 [[ 9.96124686e-01 -8.70203421e-02 1.27699112e-02 1.31918418e+01] [ 8.70177672e-02 9.96206471e-01 7.58188824e-04 6.14421297e-01] [-1.27874461e-02 3.55958560e-04 9.99918174e-01 -2.28878091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764391417999999 meters 0.023140898878907145 Centerline is valid? [True, True] Translation: X:13.25, Y:0.63, Z:-0.23 [[ 9.96446869e-01 -8.29015117e-02 1.48653028e-02 1.32525518e+01] [ 8.28975918e-02 9.96557682e-01 8.80747234e-04 6.29312130e-01] [-1.48871470e-02 3.54679980e-04 9.99889117e-01 -2.30034413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824391418 meters 0.01942745141466028 Centerline is valid? [True, True] Translation: X:13.31, Y:0.65, Z:-0.23 [[ 9.96958865e-01 -7.60532878e-02 1.69976374e-02 1.33116961e+01] [ 7.60471832e-02 9.97103713e-01 1.00614808e-03 6.51908536e-01] [-1.70249282e-02 2.89534197e-04 9.99855023e-01 -2.27391756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884391417999998 meters 0.01922148694384321 Centerline is valid? [True, True] Translation: X:13.37, Y:0.68, Z:-0.23 [[ 9.97484672e-01 -6.86815445e-02 1.75264181e-02 1.33717129e+01] [ 6.86739217e-02 9.97638620e-01 1.03712431e-03 6.76724333e-01] [-1.75562629e-02 1.69092263e-04 9.99845863e-01 -2.30629360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944391417999999 meters 0.01849924569522042 Centerline is valid? [True, True] Translation: X:13.43, Y:0.69, Z:-0.23 [[ 9.97741121e-01 -6.47105209e-02 1.80334198e-02 1.34331833e+01] [ 6.47018144e-02 9.97904073e-01 1.06643729e-03 6.90475666e-01] [-1.80646328e-02 1.02766647e-04 9.99836816e-01 -2.32314315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004391417999999 meters 0.01803508888879878 Centerline is valid? [True, True] Translation: X:13.49, Y:0.71, Z:-0.23 [[ 9.98099755e-01 -5.89401123e-02 1.79706153e-02 1.34942016e+01] [ 5.89305581e-02 9.98261520e-01 1.06120716e-03 7.11785162e-01] [-1.80019214e-02 -1.72219496e-07 9.99837952e-01 -2.33021745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064391417999998 meters 0.018776671292283276 Centerline is valid? [True, True] Translation: X:13.56, Y:0.73, Z:-0.24 [[ 9.98314416e-01 -5.55467418e-02 1.68192473e-02 1.35554741e+01] [ 5.55379127e-02 9.98456086e-01 9.91935129e-04 7.25905016e-01] [-1.68483786e-02 -5.61572515e-05 9.99858054e-01 -2.36157473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124391417999998 meters 0.01625524097945685 Centerline is valid? [True, True] Translation: X:13.62, Y:0.74, Z:-0.23 [[ 9.98529755e-01 -5.12952719e-02 1.75249395e-02 1.36161015e+01] [ 5.12850495e-02 9.98683522e-01 1.03252613e-03 7.44094400e-01] [-1.75548320e-02 -1.32240676e-04 9.99845893e-01 -2.33874987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184391417999999 meters 0.018125277654857688 Centerline is valid? [True, True] Translation: X:13.68, Y:0.76, Z:-0.24 [[ 9.98688118e-01 -4.81181548e-02 1.75124508e-02 1.36777625e+01] [ 4.81075531e-02 9.98841634e-01 1.02639836e-03 7.55619770e-01] [-1.75415534e-02 -1.82570690e-04 9.99846118e-01 -2.36698543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244391418 meters 0.01867743825993777 Centerline is valid? [True, True] Translation: X:13.74, Y:0.77, Z:-0.24 [[ 9.98755300e-01 -4.61464430e-02 1.89303138e-02 1.37384879e+01] [ 4.61337292e-02 9.98934658e-01 1.10799373e-03 7.66008572e-01] [-1.89612765e-02 -2.33288636e-04 9.99820192e-01 -2.37384490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304391417999998 meters 0.017675172596407735 Centerline is valid? [True, True] Translation: X:13.80, Y:0.78, Z:-0.24 [[ 9.98796037e-01 -4.48092953e-02 1.99650781e-02 1.37995838e+01] [ 4.47950041e-02 9.98995523e-01 1.16267632e-03 7.76995616e-01] [-1.99971224e-02 -2.66940740e-04 9.99800002e-01 -2.36702680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364391417999999 meters 0.016590453085741926 Centerline is valid? [True, True] Translation: X:13.86, Y:0.78, Z:-0.24 [[ 9.98765042e-01 -4.52209533e-02 2.05780460e-02 1.38624847e+01] [ 4.52059863e-02 9.98976975e-01 1.19216056e-03 7.83659283e-01] [-2.06109048e-02 -2.60437430e-04 9.99787539e-01 -2.37746803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424391417999999 meters 0.017973998236719597 Centerline is valid? [True, True] Translation: X:13.92, Y:0.79, Z:-0.24 [[ 9.98736519e-01 -4.61049898e-02 1.99923834e-02 1.39243951e+01] [ 4.60911682e-02 9.98936573e-01 1.15181988e-03 7.91714261e-01] [-2.00242276e-02 -2.28892272e-04 9.99799469e-01 -2.40071143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484391417999998 meters 0.017479153903347706 Centerline is valid? [True, True] Translation: X:13.99, Y:0.80, Z:-0.24 [[ 9.98661746e-01 -4.80205683e-02 1.92026539e-02 1.39853492e+01] [ 4.80082723e-02 9.98846331e-01 1.10106757e-03 7.98423783e-01] [-1.92333743e-02 -1.77707825e-04 9.99815006e-01 -2.42770988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544391417999998 meters 0.016729308507417596 Centerline is valid? [True, True] Translation: X:14.05, Y:0.80, Z:-0.25 [[ 9.98581425e-01 -5.01838454e-02 1.77966320e-02 1.40470883e+01] [ 5.01737020e-02 9.98739990e-01 1.01628483e-03 8.01379420e-01] [-1.78252092e-02 -1.21920240e-04 9.99841111e-01 -2.45423393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604391417999999 meters 0.01776528147021408 Centerline is valid? [True, True] Translation: X:14.11, Y:0.81, Z:-0.25 [[ 9.98702342e-01 -4.77344225e-02 1.77498625e-02 1.41084850e+01] [ 4.77240339e-02 9.98860050e-01 1.00864094e-03 8.11105664e-01] [-1.77777755e-02 -1.60237029e-04 9.99841950e-01 -2.46385676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664391418 meters 0.016385116736308363 Centerline is valid? [True, True] Translation: X:14.17, Y:0.82, Z:-0.24 [[ 9.98757077e-01 -4.57620193e-02 1.97519103e-02 1.41700654e+01] [ 4.57488934e-02 9.98952348e-01 1.11612421e-03 8.19101403e-01] [-1.97822933e-02 -2.11108916e-04 9.99804289e-01 -2.44423863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724391417999998 meters 0.01614562574444209 Centerline is valid? [True, True] Translation: X:14.23, Y:0.82, Z:-0.24 [[ 9.98773655e-01 -4.46041055e-02 2.14862822e-02 1.42332030e+01] [ 4.45884567e-02 9.99004711e-01 1.20708323e-03 8.23810526e-01] [-2.15187380e-02 -2.47562770e-04 9.99768414e-01 -2.44370322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784391417999998 meters 0.017828692403892406 Centerline is valid? [True, True] Translation: X:14.30, Y:0.83, Z:-0.25 [[ 9.98712110e-01 -4.62160762e-02 2.09331090e-02 1.42957314e+01] [ 4.62017151e-02 9.98931446e-01 1.16941366e-03 8.27943896e-01] [-2.09647865e-02 -2.00762042e-04 9.99780195e-01 -2.47293770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844391417999999 meters 0.017752348727318155 Centerline is valid? [True, True] Translation: X:14.36, Y:0.83, Z:-0.25 [[ 9.98583936e-01 -4.89213708e-02 2.09002692e-02 1.43574608e+01] [ 4.89076926e-02 9.98802623e-01 1.16540813e-03 8.30183867e-01] [-2.09322571e-02 -1.41573900e-04 9.99780886e-01 -2.49364837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904391417999998 meters 0.01835903674524732 Centerline is valid? [True, True] Translation: X:14.42, Y:0.83, Z:-0.25 [[ 9.98402722e-01 -5.31395814e-02 1.91882878e-02 1.44200061e+01] [ 5.31289241e-02 9.98587093e-01 1.06511184e-03 8.28954105e-01] [-1.92177761e-02 -4.39574709e-05 9.99815321e-01 -2.54217518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964391417999998 meters 0.01798356242331607 Centerline is valid? [True, True] Translation: X:14.48, Y:0.83, Z:-0.26 [[ 9.98217296e-01 -5.68976575e-02 1.80246178e-02 1.44834097e+01] [ 5.68889484e-02 9.98380016e-01 9.95969984e-04 8.29999657e-01] [-1.80520866e-02 3.12070891e-05 9.99837047e-01 -2.56932044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024391417999997 meters 0.015476728496437293 Centerline is valid? [True, True] Translation: X:14.55, Y:0.83, Z:-0.26 [[ 9.97887851e-01 -6.26411588e-02 1.72023955e-02 1.45459557e+01] [ 6.26341689e-02 9.98036105e-01 9.45333127e-04 8.31513863e-01] [-1.72278286e-02 1.34121302e-04 9.99851581e-01 -2.56442644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084391418 meters 0.016720904714831054 Centerline is valid? [True, True] Translation: X:14.61, Y:0.83, Z:-0.26 [[ 9.97673374e-01 -6.61394905e-02 1.65350110e-02 1.46080464e+01] [ 6.61335828e-02 9.97810368e-01 9.04427393e-04 8.31761204e-01] [-1.65586238e-02 1.91196389e-04 9.99862878e-01 -2.59603439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144391417999998 meters 0.019329043966433847 Centerline is valid? [True, True] Translation: X:14.67, Y:0.83, Z:-0.26 [[ 9.97275317e-01 -7.15469458e-02 1.79715509e-02 1.46692319e+01] [ 7.15409398e-02 9.97437185e-01 9.77700523e-04 8.30804103e-01] [-1.79954447e-02 3.10665043e-04 9.99838021e-01 -2.59539719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204391418 meters 0.02293966936953282 Centerline is valid? [True, True] Translation: X:14.73, Y:0.83, Z:-0.26 [[ 9.96926009e-01 -7.60188573e-02 1.89648849e-02 1.47312772e+01] [ 7.60130753e-02 9.97106292e-01 1.02659260e-03 8.33017365e-01] [-1.89880465e-02 4.18142361e-04 9.99819623e-01 -2.59711717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264391418 meters 0.024143629390464376 Centerline is valid? [True, True] Translation: X:14.79, Y:0.83, Z:-0.26 [[ 9.96601748e-01 -8.00207005e-02 1.95357031e-02 1.47934509e+01] [ 8.00153623e-02 9.96793071e-01 1.05601044e-03 8.32204674e-01] [-1.95575562e-02 5.10734514e-04 9.99808602e-01 -2.60390293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324391417999998 meters 0.02797050319294971 Centerline is valid? [True, True] Translation: X:14.85, Y:0.83, Z:-0.26 [[ 9.96055974e-01 -8.65344310e-02 1.96032647e-02 1.48547613e+01] [ 8.65303445e-02 9.96248654e-01 1.05817873e-03 8.29610436e-01] [-1.96212949e-02 6.42272002e-04 9.99807278e-01 -2.61271984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384391418 meters 0.027607409924793075 Centerline is valid? [True, True] Translation: X:14.92, Y:0.84, Z:-0.27 [[ 9.95767923e-01 -9.01210843e-02 1.80120388e-02 1.49161639e+01] [ 9.01182145e-02 9.95930601e-01 9.72591604e-04 8.36847865e-01] [-1.80263916e-02 6.54737254e-04 9.99837297e-01 -2.65046785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444391418 meters 0.0259130870630848 Centerline is valid? [True, True] Translation: X:14.98, Y:0.84, Z:-0.26 [[ 9.95522203e-01 -9.25745624e-02 1.91178814e-02 1.49781078e+01] [ 9.25718855e-02 9.95705474e-01 1.02684710e-03 8.41388435e-01] [-1.91308391e-02 7.47529244e-04 9.99816709e-01 -2.63804041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504391417999997 meters 0.027471758122449254 Centerline is valid? [True, True] Translation: X:15.04, Y:0.84, Z:-0.27 [[ 9.95155701e-01 -9.65592952e-02 1.84779110e-02 1.50394895e+01] [ 9.65575084e-02 9.95326914e-01 9.90927314e-04 8.43692641e-01] [-1.84872454e-02 7.98054084e-04 9.99828778e-01 -2.66289472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564391418 meters 0.036078987955279126 Centerline is valid? [True, True] Translation: X:15.10, Y:0.84, Z:-0.27 [[ 9.95051780e-01 -9.78766121e-02 1.70916590e-02 1.51005259e+01] [ 9.78752882e-02 9.95198266e-01 9.15941178e-04 8.38195164e-01] [-1.70992386e-02 7.61442153e-04 9.99853507e-01 -2.68531192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624391418 meters 0.029957996650887733 Centerline is valid? [True, True] Translation: X:15.16, Y:0.86, Z:-0.27 [[ 9.95159979e-01 -9.70249295e-02 1.55814072e-02 1.51621651e+01] [ 9.70237150e-02 9.95281719e-01 8.35644200e-04 8.56889685e-01] [-1.55889681e-02 6.80166349e-04 9.99878253e-01 -2.71225366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684391417999997 meters 0.02975459067578932 Centerline is valid? [True, True] Translation: X:15.22, Y:0.86, Z:-0.27 [[ 9.95103155e-01 -9.72934369e-02 1.74269446e-02 1.52248288e+01] [ 9.72920573e-02 9.95255441e-01 9.28979479e-04 8.60025109e-01] [-1.74346451e-02 7.71072885e-04 9.99847708e-01 -2.70163315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744391418 meters 0.03031793500739799 Centerline is valid? [True, True] Translation: X:15.29, Y:0.87, Z:-0.27 [[ 9.95162035e-01 -9.63911057e-02 1.90073281e-02 1.52872751e+01] [ 9.63894172e-02 9.95343190e-01 1.00708758e-03 8.66863226e-01] [-1.90158889e-02 8.29889951e-04 9.99818837e-01 -2.69007243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804391417999998 meters 0.030841375868567274 Centerline is valid? [True, True] Translation: X:15.35, Y:0.87, Z:-0.27 [[ 9.95246300e-01 -9.54190349e-02 1.94938229e-02 1.53492253e+01] [ 9.54171079e-02 9.95436845e-01 1.03106705e-03 8.72662069e-01] [-1.95032530e-02 8.33878536e-04 9.99809446e-01 -2.69575124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864391417999997 meters 0.030576680785829924 Centerline is valid? [True, True] Translation: X:15.41, Y:0.88, Z:-0.27 [[ 9.95207042e-01 -9.61640306e-02 1.77601692e-02 1.54115282e+01] [ 9.61626257e-02 9.95365197e-01 9.35070307e-04 8.78057553e-01] [-1.77677745e-02 7.77275950e-04 9.99841839e-01 -2.74378761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924391418 meters 0.033917526679381096 Centerline is valid? [True, True] Translation: X:15.47, Y:0.88, Z:-0.28 [[ 9.95036843e-01 -9.78638180e-02 1.80098259e-02 1.54727439e+01] [ 9.78627442e-02 9.95199474e-01 9.43055771e-04 8.75699724e-01] [-1.80156603e-02 8.24115751e-04 9.99837365e-01 -2.75057260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984391417999998 meters 0.03422229072730376 Centerline is valid? [True, True] Translation: X:15.53, Y:0.88, Z:-0.28 [[ 9.94848498e-01 -9.99537113e-02 1.69032946e-02 1.55346248e+01] [ 9.99531442e-02 9.94991756e-01 8.80498869e-04 8.83861727e-01] [-1.69066479e-02 8.13574463e-04 9.99856741e-01 -2.76873233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044391418 meters 0.03580227160990872 Centerline is valid? [True, True] Translation: X:15.60, Y:0.89, Z:-0.28 [[ 9.94742610e-01 -1.00965102e-01 1.71227337e-02 1.55966837e+01] [ 1.00964682e-01 9.94889611e-01 8.91232807e-04 8.86882782e-01] [-1.71252133e-02 8.42244112e-04 9.99852998e-01 -2.78663962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104391418 meters 0.031108050325153454 Centerline is valid? [True, True] Translation: X:15.66, Y:0.90, Z:-0.28 [[ 9.94795219e-01 -1.00426697e-01 1.72322556e-02 1.56589818e+01] [ 1.00426270e-01 9.94944103e-01 8.92304927e-04 8.96314361e-01] [-1.72347423e-02 8.42910478e-04 9.99851115e-01 -2.80085002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164391417999997 meters 0.030533417009532098 Centerline is valid? [True, True] Translation: X:15.72, Y:0.90, Z:-0.28 [[ 9.94949694e-01 -9.86347572e-02 1.86089245e-02 1.57211211e+01] [ 9.86340559e-02 9.95123312e-01 9.57740400e-04 9.04722916e-01] [-1.86126411e-02 8.82570182e-04 9.99826380e-01 -2.78250470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224391418 meters 0.02845901008813907 Centerline is valid? [True, True] Translation: X:15.78, Y:0.91, Z:-0.28 [[ 9.95082126e-01 -9.71648669e-02 1.92497201e-02 1.57834995e+01] [ 9.71639564e-02 9.95267902e-01 9.84792329e-04 9.12878539e-01] [-1.92543157e-02 8.90429719e-04 9.99814222e-01 -2.79633600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284391418 meters 0.02855008887311661 Centerline is valid? [True, True] Translation: X:15.85, Y:0.91, Z:-0.28 [[ 9.95206322e-01 -9.60582613e-02 1.83626321e-02 1.58453056e+01] [ 9.60572710e-02 9.95375367e-01 9.37974447e-04 9.14884078e-01] [-1.83678119e-02 8.30386229e-04 9.99830953e-01 -2.82635624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344391417999997 meters 0.028229698476557537 Centerline is valid? [True, True] Translation: X:15.91, Y:0.92, Z:-0.28 [[ 9.95297431e-01 -9.51668616e-02 1.80635375e-02 1.59074279e+01] [ 9.51658507e-02 9.95461008e-01 9.17496934e-04 9.19518864e-01] [-1.80688626e-02 8.05849571e-04 9.99836420e-01 -2.82871054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404391418 meters 0.028147565378116107 Centerline is valid? [True, True] Translation: X:15.97, Y:0.93, Z:-0.28 [[ 9.95451412e-01 -9.35979601e-02 1.77738245e-02 1.59693613e+01] [ 9.35968214e-02 9.95609778e-01 8.97737511e-04 9.25359798e-01] [-1.77798199e-02 7.69919409e-04 9.99841630e-01 -2.83845220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464391417999998 meters 0.027224756231133015 Centerline is valid? [True, True] Translation: X:16.03, Y:0.93, Z:-0.29 [[ 9.95597047e-01 -9.19782779e-02 1.80697735e-02 1.60313583e+01] [ 9.19769296e-02 9.95760725e-01 9.07436917e-04 9.29315626e-01] [-1.80766352e-02 7.58560768e-04 9.99836317e-01 -2.86021073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524391417999997 meters 0.028468753772430234 Centerline is valid? [True, True] Translation: X:16.09, Y:0.93, Z:-0.29 [[ 9.95677905e-01 -9.10509128e-02 1.83095814e-02 1.60928490e+01] [ 9.10494711e-02 9.95845951e-01 9.14071008e-04 9.31729707e-01] [-1.83167495e-02 7.56957394e-04 9.99831948e-01 -2.87037831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584391418 meters 0.028454416479222595 Centerline is valid? [True, True] Translation: X:16.16, Y:0.94, Z:-0.29 [[ 9.95682685e-01 -9.11542235e-02 1.75185176e-02 1.61552276e+01] [ 9.11529952e-02 9.95836520e-01 8.70259423e-04 9.37392905e-01] [-1.75249074e-02 7.30363111e-04 9.99846160e-01 -2.88239621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644391417999998 meters 0.031460144941892934 Centerline is valid? [True, True] Translation: X:16.22, Y:0.94, Z:-0.29 [[ 9.95473037e-01 -9.32496521e-02 1.83830231e-02 1.62175939e+01] [ 9.32487635e-02 9.95642428e-01 9.07371752e-04 9.35567095e-01] [-1.83875299e-02 8.10930060e-04 9.99830606e-01 -2.92008322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704391417999997 meters 0.03147178024112998 Centerline is valid? [True, True] Translation: X:16.28, Y:0.94, Z:-0.29 [[ 9.94993683e-01 -9.78366097e-02 2.03854953e-02 1.62792033e+01] [ 9.78365138e-02 9.95201993e-01 1.00442567e-03 9.35417355e-01] [-2.03859552e-02 9.95048602e-04 9.99791690e-01 -2.90871679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764391418 meters 0.036237233505683836 Centerline is valid? [True, True] Translation: X:16.34, Y:0.93, Z:-0.30 [[ 9.94632159e-01 -1.01937231e-01 1.77671077e-02 1.63392384e+01] [ 1.01937819e-01 9.94790388e-01 8.74904489e-04 9.34266972e-01] [-1.77637333e-02 9.40932081e-04 9.99841770e-01 -2.95599144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824391417999998 meters 0.03654664258189537 Centerline is valid? [True, True] Translation: X:16.40, Y:0.93, Z:-0.30 [[ 9.94305352e-01 -1.05130466e-01 1.74485496e-02 1.64002054e+01] [ 1.05131549e-01 9.94457954e-01 8.57718150e-04 9.34901982e-01] [-1.74420212e-02 9.81559295e-04 9.99847395e-01 -2.95311128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884391418 meters 0.03923423680297854 Centerline is valid? [True, True] Translation: X:16.46, Y:0.93, Z:-0.30 [[ 9.94070989e-01 -1.07302711e-01 1.75782969e-02 1.64622209e+01] [ 1.07304143e-01 9.94225867e-01 8.64444898e-04 9.31185850e-01] [-1.75695548e-02 1.02690448e-03 9.99845116e-01 -3.00126157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944391418 meters 0.04127735822835726 Centerline is valid? [True, True] Translation: X:16.52, Y:0.93, Z:-0.30 [[ 9.93778131e-01 -1.09715750e-01 1.91697855e-02 1.65234958e+01] [ 1.09718011e-01 9.93962313e-01 9.36971015e-04 9.29810066e-01] [-1.91568448e-02 1.17212943e-03 9.99815804e-01 -2.97489705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004391417999997 meters 0.03580978422978967 Centerline is valid? [True, True] Translation: X:16.59, Y:0.94, Z:-0.30 [[ 9.93789507e-01 -1.09484336e-01 1.98896095e-02 1.65861642e+01] [ 1.09486727e-01 9.93987783e-01 9.71956055e-04 9.39821745e-01] [-1.98764428e-02 1.21172851e-03 9.99801710e-01 -2.96979873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064391418 meters 0.03705334736702582 Centerline is valid? [True, True] Translation: X:16.65, Y:0.94, Z:-0.30 [[ 9.94015790e-01 -1.07636017e-01 1.86305242e-02 1.66476638e+01] [ 1.07637911e-01 9.94189752e-01 9.04011293e-04 9.39526305e-01] [-1.86195804e-02 1.10674921e-03 9.99826028e-01 -3.02469071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124391418 meters 0.03778793213165573 Centerline is valid? [True, True] Translation: X:16.71, Y:0.94, Z:-0.30 [[ 9.94270547e-01 -1.05423034e-01 1.76653045e-02 1.67084132e+01] [ 1.05424401e-01 9.94426952e-01 8.56481580e-04 9.40046258e-01] [-1.76571478e-02 1.01077974e-03 9.99843589e-01 -3.04901471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184391417999997 meters 0.03055290664916177 Centerline is valid? [True, True] Translation: X:16.77, Y:0.95, Z:-0.30 [[ 9.94915018e-01 -9.90511961e-02 1.82474132e-02 1.67682108e+01] [ 9.90516004e-02 9.95081906e-01 8.83859358e-04 9.54105992e-01] [-1.82452180e-02 9.28070534e-04 9.99833111e-01 -3.00661164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244391418 meters 0.026157022756332787 Centerline is valid? [True, True] Translation: X:16.83, Y:0.96, Z:-0.30 [[ 9.96168620e-01 -8.55587857e-02 1.81045518e-02 1.68275470e+01] [ 8.55569614e-02 9.96332895e-01 8.76711524e-04 9.63929564e-01] [-1.81131709e-02 6.75617930e-04 9.99835715e-01 -3.03109532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304391417999998 meters 0.020284221161210873 Centerline is valid? [True, True] Translation: X:16.89, Y:0.98, Z:-0.30 [[ 9.97081644e-01 -7.38500010e-02 1.93486945e-02 1.68876357e+01] [ 7.38457095e-02 9.97269238e-01 9.37157963e-04 9.78057185e-01] [-1.93650670e-02 4.94395073e-04 9.99812357e-01 -3.04686985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364391417999997 meters 0.018618433424961476 Centerline is valid? [True, True] Translation: X:16.95, Y:0.99, Z:-0.30 [[ 9.97502913e-01 -6.77024336e-02 2.01076660e-02 1.69477846e+01] [ 6.76965504e-02 9.97705482e-01 9.73902932e-04 9.85862817e-01] [-2.01274642e-02 3.89748616e-04 9.99797346e-01 -3.04253123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424391418 meters 0.015219096379559413 Centerline is valid? [True, True] Translation: X:17.01, Y:1.01, Z:-0.30 [[ 9.98551026e-01 -4.93376753e-02 2.14858489e-02 1.70086253e+01] [ 4.93267144e-02 9.98782155e-01 1.04014562e-03 1.00740610e+00] [-2.15110009e-02 2.11878539e-05 9.99768611e-01 -3.04348233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484391417999998 meters 0.01801854888212062 Centerline is valid? [True, True] Translation: X:17.07, Y:1.02, Z:-0.31 [[ 9.99056759e-01 -3.80262798e-02 2.09664911e-02 1.70705670e+01] [ 3.80133790e-02 9.99276716e-01 1.01365446e-03 1.01848498e+00] [-2.09898719e-02 -2.15691167e-04 9.99779665e-01 -3.08339918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544391417999996 meters 0.0194802420068797 Centerline is valid? [True, True] Translation: X:17.13, Y:1.03, Z:-0.31 [[ 9.99401852e-01 -2.80010123e-02 2.02948804e-02 1.71307906e+01] [ 2.79869718e-02 9.99607812e-01 9.75575777e-04 1.02941897e+00] [-2.03142381e-02 -4.06999991e-04 9.99793562e-01 -3.09840659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604391418 meters 0.019994298060628603 Centerline is valid? [True, True] Translation: X:17.19, Y:1.03, Z:-0.31 [[ 9.99498705e-01 -2.47877682e-02 1.96952855e-02 1.71930562e+01] [ 2.47739248e-02 9.99692631e-01 9.46591893e-04 1.03355076e+00] [-1.97126957e-02 -4.58187849e-04 9.99805581e-01 -3.12017835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664391417999997 meters 0.020150296510732236 Centerline is valid? [True, True] Translation: X:17.25, Y:1.04, Z:-0.31 [[ 9.99498553e-01 -2.52403893e-02 1.91197574e-02 1.72540778e+01] [ 2.52275274e-02 9.99681318e-01 9.13636776e-04 1.03530052e+00] [-1.91367248e-02 -4.30834432e-04 9.99816783e-01 -3.13838926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724391418 meters 0.019199951405492816 Centerline is valid? [True, True] Translation: X:17.32, Y:1.03, Z:-0.32 [[ 9.99502250e-01 -2.52130645e-02 1.89619209e-02 1.73169991e+01] [ 2.52004995e-02 9.99682011e-01 9.01333394e-04 1.03281850e+00] [-1.89786166e-02 -4.23034876e-04 9.99819800e-01 -3.16222593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784391418 meters 0.019806018469290684 Centerline is valid? [True, True] Translation: X:17.38, Y:1.04, Z:-0.32 [[ 9.99526275e-01 -2.38135704e-02 1.94971649e-02 1.73790758e+01] [ 2.38001486e-02 9.99716313e-01 9.20179737e-04 1.03538478e+00] [-1.95135465e-02 -4.55708403e-04 9.99809489e-01 -3.16969844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844391417999997 meters 0.021763671166626256 Centerline is valid? [True, True] Translation: X:17.44, Y:1.04, Z:-0.32 [[ 9.99575118e-01 -2.09177285e-02 2.02985660e-02 1.74408474e+01] [ 2.09027073e-02 9.99781061e-01 9.51923396e-04 1.03819206e+00] [-2.03140339e-02 -5.27223958e-04 9.99793510e-01 -3.18325559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904391418 meters 0.02318261214880842 Centerline is valid? [True, True] Translation: X:17.50, Y:1.04, Z:-0.32 [[ 9.99593605e-01 -1.92672464e-02 2.10094972e-02 1.75029102e+01] [ 1.92509113e-02 9.99814204e-01 9.79497060e-04 1.03584161e+00] [-2.10244660e-02 -5.74647029e-04 9.99778796e-01 -3.21041083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964391417999998 meters 0.022145513805232764 Centerline is valid? [True, True] Translation: X:17.56, Y:1.04, Z:-0.32 [[ 9.99586842e-01 -1.97316341e-02 2.08999717e-02 1.75649293e+01] [ 1.97156924e-02 9.99805158e-01 9.68556648e-04 1.03520043e+00] [-2.09150107e-02 -5.56099067e-04 9.99781103e-01 -3.22554676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024391417999997 meters 0.02028117762306028 Centerline is valid? [True, True] Translation: X:17.63, Y:1.03, Z:-0.32 [[ 9.99563405e-01 -2.15495081e-02 2.02142939e-02 1.76272874e+01] [ 2.15350776e-02 9.99767660e-01 9.31308430e-04 1.03462551e+00] [-2.02296666e-02 -4.95585436e-04 9.99795237e-01 -3.24067969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084391418 meters 0.019072306776173394 Centerline is valid? [True, True] Translation: X:17.69, Y:1.03, Z:-0.33 [[ 9.99468477e-01 -2.56487483e-02 2.01222609e-02 1.76897017e+01] [ 2.56353915e-02 9.99670935e-01 9.21492998e-04 1.02718745e+00] [-2.01392745e-02 -4.05161166e-04 9.99797102e-01 -3.27018002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144391417999998 meters 0.01782744897539948 Centerline is valid? [True, True] Translation: X:17.75, Y:1.02, Z:-0.33 [[ 9.99320833e-01 -3.00401870e-02 2.13414990e-02 1.77527673e+01] [ 3.00262931e-02 9.99548637e-01 9.71239864e-04 1.02285533e+00] [-2.13610425e-02 -3.29774126e-04 9.99771773e-01 -3.27033375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204391417999997 meters 0.018074090311798057 Centerline is valid? [True, True] Translation: X:17.81, Y:1.02, Z:-0.33 [[ 9.99084488e-01 -3.73933836e-02 2.07827069e-02 1.78142350e+01] [ 3.73818405e-02 9.99300609e-01 9.43766150e-04 1.01608566e+00] [-2.08034622e-02 -1.66006288e-04 9.99783571e-01 -3.28791758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264391418 meters 0.015577327539447202 Centerline is valid? [True, True] Translation: X:17.88, Y:1.01, Z:-0.33 [[ 9.98824901e-01 -4.31320150e-02 2.21008258e-02 1.78769419e+01] [ 4.31204975e-02 9.99069381e-01 9.97649600e-04 1.00982044e+00] [-2.21232890e-02 -4.34786569e-05 9.99755249e-01 -3.29465109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324391417999998 meters 0.015737023956685324 Centerline is valid? [True, True] Translation: X:17.94, Y:1.00, Z:-0.33 [[ 9.98522587e-01 -5.01773676e-02 2.08536641e-02 1.79389941e+01] [ 5.01687676e-02 9.98740316e-01 9.35681465e-04 1.00132429e+00] [-2.08743451e-02 1.11903551e-04 9.99782101e-01 -3.33563542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384391417999996 meters 0.016511060823858312 Centerline is valid? [True, True] Translation: X:18.00, Y:1.00, Z:-0.33 [[ 9.98308858e-01 -5.41777456e-02 2.10759641e-02 1.80008243e+01] [ 5.41699882e-02 9.98531287e-01 9.39216978e-04 1.00007821e+00] [-2.10958942e-02 2.04056096e-04 9.99777436e-01 -3.34898431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444391418 meters 0.01946919948762446 Centerline is valid? [True, True] Translation: X:18.06, Y:1.00, Z:-0.34 [[ 9.98050908e-01 -5.90126677e-02 2.02950672e-02 1.80624512e+01] [ 5.90065786e-02 9.98257189e-01 8.99253527e-04 9.95474656e-01] [-2.03127641e-02 3.00041677e-04 9.99793630e-01 -3.38258753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504391417999997 meters 0.01968899114169484 Centerline is valid? [True, True] Translation: X:18.12, Y:0.99, Z:-0.34 [[ 9.97785669e-01 -6.34365361e-02 1.99891143e-02 1.81249426e+01] [ 6.34315721e-02 9.97985800e-01 8.82911980e-04 9.93438230e-01] [-2.00048611e-02 3.86984022e-04 9.99799808e-01 -3.39645669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564391418 meters 0.022962202152645345 Centerline is valid? [True, True] Translation: X:18.19, Y:0.99, Z:-0.34 [[ 9.97658932e-01 -6.57353100e-02 1.88553726e-02 1.81862137e+01] [ 6.57313978e-02 9.97837010e-01 8.27830823e-04 9.89821375e-01] [-1.88690063e-02 4.13497184e-04 9.99821879e-01 -3.43028887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624391418 meters 0.022629132698880023 Centerline is valid? [True, True] Translation: X:18.25, Y:0.99, Z:-0.34 [[ 9.97305728e-01 -7.06779454e-02 1.96446564e-02 1.82486460e+01] [ 7.06747635e-02 9.97499044e-01 8.57052416e-04 9.90184747e-01] [-1.96561007e-02 5.33638161e-04 9.99806658e-01 -3.43916747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684391417999997 meters 0.024945064979873723 Centerline is valid? [True, True] Translation: X:18.31, Y:0.99, Z:-0.34 [[ 9.97025834e-01 -7.46787021e-02 1.90414760e-02 1.83098668e+01] [ 7.46764641e-02 9.97207470e-01 8.29536485e-04 9.90595160e-01] [-1.90502508e-02 5.94880794e-04 9.99818351e-01 -3.44815193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744391418 meters 0.026726919541583693 Centerline is valid? [True, True] Translation: X:18.37, Y:0.99, Z:-0.35 [[ 9.96878168e-01 -7.66562932e-02 1.89137999e-02 1.83716418e+01] [ 7.66545306e-02 9.97057376e-01 8.19222679e-04 9.92145481e-01] [-1.89209423e-02 6.33163252e-04 9.99820782e-01 -3.46019697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804391417999998 meters 0.02706387481034772 Centerline is valid? [True, True] Translation: X:18.43, Y:1.00, Z:-0.35 [[ 9.96750875e-01 -7.85572409e-02 1.77891362e-02 1.84336477e+01] [ 7.85560556e-02 9.96909403e-01 7.66478860e-04 9.97701236e-01] [-1.77943696e-02 6.33455899e-04 9.99841467e-01 -3.49242031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864391417999997 meters 0.027013485224896563 Centerline is valid? [True, True] Translation: X:18.50, Y:1.00, Z:-0.35 [[ 9.96589437e-01 -8.03085259e-02 1.89745938e-02 1.84950383e+01] [ 8.03076058e-02 9.96769798e-01 8.11688150e-04 1.00108613e+00] [-1.89784875e-02 7.14884362e-04 9.99819637e-01 -3.48115672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924391418 meters 0.027640260534855597 Centerline is valid? [True, True] Translation: X:18.56, Y:1.01, Z:-0.35 [[ 9.96661232e-01 -7.94642868e-02 1.87567767e-02 1.85569089e+01] [ 7.94633286e-02 9.96837471e-01 7.97565902e-04 1.00752657e+00] [-1.87608359e-02 6.95572900e-04 9.99823758e-01 -3.50400119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984391417999998 meters 0.027611298590526905 Centerline is valid? [True, True] Translation: X:18.62, Y:1.01, Z:-0.35 [[ 9.96717420e-01 -7.88119491e-02 1.85219323e-02 1.86187183e+01] [ 7.88109955e-02 9.96889269e-01 7.82543979e-04 1.01416377e+00] [-1.85259893e-02 6.79756705e-04 9.99828148e-01 -3.51163183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044391417999996 meters 0.029004349850974328 Centerline is valid? [True, True] Translation: X:18.68, Y:1.02, Z:-0.35 [[ 9.96743087e-01 -7.89427515e-02 1.64699678e-02 1.86798379e+01] [ 7.89420806e-02 9.96878964e-01 6.91877152e-04 1.02063397e+00] [-1.64731831e-02 6.10549758e-04 9.99864122e-01 -3.54292598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104391418 meters 0.027605838952552187 Centerline is valid? [True, True] Translation: X:18.74, Y:1.03, Z:-0.36 [[ 9.96440606e-01 -8.28632628e-02 1.54854504e-02 1.87401024e+01] [ 8.28632150e-02 9.96560721e-01 6.45817600e-04 1.03290983e+00] [-1.54857062e-02 6.39655328e-04 9.99879885e-01 -3.55628090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164391417999997 meters 0.031590993067701016 Centerline is valid? [True, True] Translation: X:18.80, Y:1.04, Z:-0.36 [[ 9.96169717e-01 -8.61383886e-02 1.50357091e-02 1.88013907e+01] [ 8.61387185e-02 9.96282956e-01 6.26875134e-04 1.03781290e+00] [-1.50338187e-02 6.70682687e-04 9.99886761e-01 -3.59085431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224391417999996 meters 0.033990575209614945 Centerline is valid? [True, True] Translation: X:18.86, Y:1.04, Z:-0.36 [[ 9.95923584e-01 -8.88746591e-02 1.54113534e-02 1.88621735e+01] [ 8.88753347e-02 9.96042550e-01 6.42398932e-04 1.04196883e+00] [-1.54074567e-02 7.29908947e-04 9.99881032e-01 -3.59665874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284391418 meters 0.03370278005618573 Centerline is valid? [True, True] Translation: X:18.92, Y:1.05, Z:-0.36 [[ 9.95533587e-01 -9.31080373e-02 1.56131627e-02 1.89234659e+01] [ 9.31092916e-02 9.95655683e-01 6.48138515e-04 1.04988377e+00] [-1.56056811e-02 8.08486858e-04 9.99877897e-01 -3.59125642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344391417999997 meters 0.03703570469982299 Centerline is valid? [True, True] Translation: X:18.98, Y:1.05, Z:-0.36 [[ 9.95172315e-01 -9.68919659e-02 1.56208277e-02 1.89831904e+01] [ 9.68936989e-02 9.95294525e-01 6.47629404e-04 1.05178684e+00] [-1.56100744e-02 8.69056924e-04 9.99877778e-01 -3.60099051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404391418 meters 0.03984406557105033 Centerline is valid? [True, True] Translation: X:19.04, Y:1.05, Z:-0.36 [[ 9.94724216e-01 -1.01235717e-01 1.65850577e-02 1.90444059e+01] [ 1.01238271e-01 9.94861970e-01 6.87681811e-04 1.05438809e+00] [-1.65694611e-02 9.94988813e-04 9.99862222e-01 -3.60036287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464391417999998 meters 0.04439397340954413 Centerline is valid? [True, True] Translation: X:19.11, Y:1.06, Z:-0.36 [[ 9.94050628e-01 -1.07634693e-01 1.66769960e-02 1.91057406e+01] [ 1.07638176e-01 9.94189894e-01 6.91234402e-04 1.05739021e+00] [-1.66545017e-02 1.10795944e-03 9.99860690e-01 -3.61910792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524391417999997 meters 0.04891016661251523 Centerline is valid? [True, True] Translation: X:19.17, Y:1.06, Z:-0.36 [[ 9.93306501e-01 -1.14409027e-01 1.58987521e-02 1.91668383e+01] [ 1.14413064e-01 9.93433046e-01 6.58403212e-04 1.05849581e+00] [-1.58696730e-02 1.16502875e-03 9.99873390e-01 -3.64490962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584391418 meters 0.050804780355831504 Centerline is valid? [True, True] Translation: X:19.23, Y:1.06, Z:-0.37 [[ 9.92965205e-01 -1.17303737e-01 1.61224737e-02 1.92278886e+01] [ 1.17308276e-01 9.93095324e-01 6.67211843e-04 1.06168523e+00] [-1.60894197e-02 1.22878144e-03 9.99869802e-01 -3.65587894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644391417999998 meters 0.05178584678074898 Centerline is valid? [True, True] Translation: X:19.29, Y:1.06, Z:-0.37 [[ 9.93052552e-01 -1.16803320e-01 1.42693260e-02 1.92912848e+01] [ 1.16806800e-01 9.93154480e-01 5.92117292e-04 1.06472235e+00] [-1.42408063e-02 1.07875073e-03 9.99898013e-01 -3.69768343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704391417999997 meters 0.05339090746079431 Centerline is valid? [True, True] Translation: X:19.35, Y:1.07, Z:-0.37 [[ 9.93179329e-01 -1.15705605e-01 1.43886376e-02 1.93528183e+01] [ 1.15709101e-01 9.93282967e-01 5.92149718e-04 1.06738182e+00] [-1.43605036e-02 1.07678545e-03 9.99896303e-01 -3.71894210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764391418 meters 0.05390412650282951 Centerline is valid? [True, True] Translation: X:19.41, Y:1.07, Z:-0.37 [[ 9.93258598e-01 -1.14960287e-01 1.48825113e-02 1.94149525e+01] [ 1.14964000e-01 9.93369472e-01 6.08697272e-04 1.07009121e+00] [-1.48538084e-02 1.10635922e-03 9.99889064e-01 -3.72077852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824391417999998 meters 0.045278686262243115 Centerline is valid? [True, True] Translation: X:19.48, Y:1.08, Z:-0.38 [[ 9.93398966e-01 -1.13760210e-01 1.47346498e-02 1.94768766e+01] [ 1.13763772e-01 9.93507647e-01 5.98964511e-04 1.08294412e+00] [-1.47071256e-02 1.08125862e-03 9.99891260e-01 -3.75122073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884391417999996 meters 0.047018349167034686 Centerline is valid? [True, True] Translation: X:19.54, Y:1.08, Z:-0.37 [[ 9.93251706e-01 -1.14947672e-01 1.54298676e-02 1.95387354e+01] [ 1.14951795e-01 9.93370876e-01 6.22375479e-04 1.08194643e+00] [-1.53991217e-02 1.15551546e-03 9.99880759e-01 -3.74591043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944391418 meters 0.049967455195293595 Centerline is valid? [True, True] Translation: X:19.60, Y:1.08, Z:-0.38 [[ 9.93151459e-01 -1.15814836e-01 1.53981455e-02 1.95999148e+01] [ 1.15819108e-01 9.93270131e-01 6.17034210e-04 1.08037344e+00] [-1.53659797e-02 1.17059105e-03 9.99881251e-01 -3.76116242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004391417999997 meters 0.05094601286938664 Centerline is valid? [True, True] Translation: X:19.66, Y:1.08, Z:-0.38 [[ 9.92884162e-01 -1.18000421e-01 1.60293636e-02 1.96608716e+01] [ 1.18005421e-01 9.93012747e-01 6.36897530e-04 1.07723120e+00] [-1.59925165e-02 1.25918632e-03 9.99871319e-01 -3.77168018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064391417999996 meters 0.052405610740938434 Centerline is valid? [True, True] Translation: X:19.72, Y:1.07, Z:-0.38 [[ 9.92591523e-01 -1.20386299e-01 1.64075667e-02 1.97220697e+01] [ 1.20391867e-01 9.92726233e-01 6.51588546e-04 1.07480000e+00] [-1.63666642e-02 1.32857632e-03 9.99865175e-01 -3.78957881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124391418 meters 0.05572050995585036 Centerline is valid? [True, True] Translation: X:19.78, Y:1.07, Z:-0.38 [[ 9.92199274e-01 -1.23615642e-01 1.61174787e-02 1.97834033e+01] [ 1.23621443e-01 9.92329245e-01 6.39712700e-04 1.06979093e+00] [-1.60729240e-02 1.35774350e-03 9.99869900e-01 -3.80311915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184391417999997 meters 0.05296793965254394 Centerline is valid? [True, True] Translation: X:19.85, Y:1.07, Z:-0.38 [[ 9.92137167e-01 -1.24091253e-01 1.62850239e-02 1.98458483e+01] [ 1.24097223e-01 9.92269853e-01 6.47357630e-04 1.07458461e+00] [-1.62394697e-02 1.37865867e-03 9.99867181e-01 -3.81044690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244391418 meters 0.05515051161074778 Centerline is valid? [True, True] Translation: X:19.91, Y:1.07, Z:-0.38 [[ 9.92066589e-01 -1.24589754e-01 1.67713171e-02 1.99086945e+01] [ 1.24596240e-01 9.92207307e-01 6.61732930e-04 1.07067167e+00] [-1.67230685e-02 1.43315991e-03 9.99859133e-01 -3.81462387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304391417999998 meters 0.05553267689648424 Centerline is valid? [True, True] Translation: X:19.97, Y:1.07, Z:-0.38 [[ 9.91914529e-01 -1.25700249e-01 1.74646801e-02 1.99707848e+01] [ 1.25707552e-01 9.92067107e-01 6.83352430e-04 1.07018459e+00] [-1.74120322e-02 1.51761498e-03 9.99847247e-01 -3.82232561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364391417999997 meters 0.05914284708707507 Centerline is valid? [True, True] Translation: X:20.03, Y:1.06, Z:-0.39 [[ 9.91725552e-01 -1.27161816e-01 1.76153795e-02 2.00307286e+01] [ 1.27169499e-01 9.91880762e-01 6.87868842e-04 1.06397127e+00] [-1.75598267e-02 1.55796187e-03 9.99844601e-01 -3.85229831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424391418 meters 0.054281056657475596 Centerline is valid? [True, True] Translation: X:20.09, Y:1.07, Z:-0.39 [[ 9.91546433e-01 -1.28532002e-01 1.77537409e-02 2.00926029e+01] [ 1.28540056e-01 9.91704077e-01 6.91462116e-04 1.06884858e+00] [-1.76953322e-02 1.59645005e-03 9.99842151e-01 -3.85403188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484391417999998 meters 0.06266772072268982 Centerline is valid? [True, True] Translation: X:20.16, Y:1.06, Z:-0.39 [[ 9.91622235e-01 -1.28150838e-01 1.62082312e-02 2.01555465e+01] [ 1.28157504e-01 9.91753627e-01 6.31040783e-04 1.05877395e+00] [-1.61554405e-02 1.45145238e-03 9.99868439e-01 -3.90334355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544391417999996 meters 0.05924623621348683 Centerline is valid? [True, True] Translation: X:20.22, Y:1.06, Z:-0.39 [[ 9.91372939e-01 -1.29896313e-01 1.75112315e-02 2.02167596e+01] [ 1.29904480e-01 9.91526283e-01 6.75137486e-04 1.06029499e+00] [-1.74505442e-02 1.60547439e-03 9.99846439e-01 -3.89697068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604391418 meters 0.05616617899054865 Centerline is valid? [True, True] Translation: X:20.28, Y:1.06, Z:-0.39 [[ 9.91334962e-01 -1.30156942e-01 1.77246812e-02 2.02786704e+01] [ 1.30165351e-01 9.91492065e-01 6.83352473e-04 1.06288069e+00] [-1.76628239e-02 1.62970816e-03 9.99842672e-01 -3.92522365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664391417999997 meters 0.05730690226065215 Centerline is valid? [True, True] Translation: X:20.34, Y:1.06, Z:-0.39 [[ 9.91102901e-01 -1.31844677e-01 1.82214163e-02 2.03399420e+01] [ 1.31853956e-01 9.91268909e-01 6.96441629e-04 1.05952385e+00] [-1.81541456e-02 1.71232051e-03 9.99833734e-01 -3.91403256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724391417999996 meters 0.06194086755774378 Centerline is valid? [True, True] Translation: X:20.40, Y:1.05, Z:-0.39 [[ 9.90872096e-01 -1.33608507e-01 1.79236296e-02 2.04007203e+01] [ 1.33617778e-01 9.91032704e-01 6.84697562e-04 1.05191965e+00] [-1.78543846e-02 1.71646786e-03 9.99839124e-01 -3.93847024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784391418 meters 0.06491235871200329 Centerline is valid? [True, True] Translation: X:20.46, Y:1.04, Z:-0.40 [[ 9.90258004e-01 -1.38074452e-01 1.80147543e-02 2.04624632e+01] [ 1.38084555e-01 9.90420205e-01 6.87854446e-04 1.04356383e+00] [-1.79371518e-02 1.80640595e-03 9.99837485e-01 -3.96187093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844391417999997 meters 0.06608835525112605 Centerline is valid? [True, True] Translation: X:20.52, Y:1.04, Z:-0.39 [[ 9.89698226e-01 -1.41887205e-01 1.91165270e-02 2.05239555e+01] [ 1.41899300e-01 9.89880830e-01 7.29174206e-04 1.03834177e+00] [-1.90265441e-02 1.99095938e-03 9.99816997e-01 -3.94924374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904391417999996 meters 0.06685987488558673 Centerline is valid? [True, True] Translation: X:20.59, Y:1.04, Z:-0.40 [[ 9.89609077e-01 -1.42609448e-01 1.83417455e-02 2.05863851e+01] [ 1.42620712e-01 9.89777169e-01 6.99221160e-04 1.03550222e+00] [-1.82539565e-02 1.92395719e-03 9.99831532e-01 -3.97902783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964391417999998 meters 0.06524357488590919 Centerline is valid? [True, True] Translation: X:20.65, Y:1.04, Z:-0.40 [[ 9.90156285e-01 -1.39020185e-01 1.62455947e-02 2.06472558e+01] [ 1.39028564e-01 9.90288179e-01 6.17937261e-04 1.03662007e+00] [-1.61737262e-02 1.64674725e-03 9.99867841e-01 -4.00683479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024391417999997 meters 0.05863034878748326 Centerline is valid? [True, True] Translation: X:20.71, Y:1.05, Z:-0.40 [[ 9.90994573e-01 -1.32813520e-01 1.70389303e-02 2.07077890e+01] [ 1.32821835e-01 9.91139718e-01 6.47727701e-04 1.04538257e+00] [-1.69739876e-02 1.62124736e-03 9.99854617e-01 -3.99464429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084391418 meters 0.05584639588632892 Centerline is valid? [True, True] Translation: X:20.77, Y:1.05, Z:-0.40 [[ 9.91836881e-01 -1.26392888e-01 1.68653086e-02 2.07682482e+01] [ 1.26400117e-01 9.91979133e-01 6.40959048e-04 1.04918637e+00] [-1.68110469e-02 1.49605016e-03 9.99857565e-01 -4.02066076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144391417999998 meters 0.050274874402217194 Centerline is valid? [True, True] Translation: X:20.83, Y:1.06, Z:-0.40 [[ 9.92274332e-01 -1.22820525e-01 1.75147849e-02 2.08285229e+01] [ 1.22827772e-01 9.92427779e-01 6.65470412e-04 1.05829264e+00] [-1.74638925e-02 1.49097280e-03 9.99846383e-01 -4.03238837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204391417999997 meters 0.04374769403228087 Centerline is valid? [True, True] Translation: X:20.89, Y:1.07, Z:-0.40 [[ 9.93632949e-01 -1.11335595e-01 1.72611511e-02 2.08888890e+01] [ 1.11340911e-01 9.93782054e-01 6.55727550e-04 1.07088160e+00] [-1.72268280e-02 1.27031979e-03 9.99850800e-01 -4.03443780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264391418 meters 0.03902231281582256 Centerline is valid? [True, True] Translation: X:20.95, Y:1.08, Z:-0.40 [[ 9.94775931e-01 -1.00767887e-01 1.63303452e-02 2.09480314e+01] [ 1.00771231e-01 9.94909430e-01 6.20086943e-04 1.08059084e+00] [-1.63096993e-02 1.02878142e-03 9.99866459e-01 -4.03818136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324391417999998 meters 0.03685890167125828 Centerline is valid? [True, True] Translation: X:21.01, Y:1.09, Z:-0.40 [[ 9.95233636e-01 -9.61846133e-02 1.60788545e-02 2.10091190e+01] [ 9.61872571e-02 9.95363069e-01 6.10628997e-04 1.08515827e+00] [-1.60630311e-02 9.38862400e-04 9.99870540e-01 -4.04941353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384391417999996 meters 0.036697468232723233 Centerline is valid? [True, True] Translation: X:21.07, Y:1.09, Z:-0.40 [[ 9.95575953e-01 -9.25171892e-02 1.64039930e-02 2.10690974e+01] [ 9.25194500e-02 9.95710683e-01 6.22651924e-04 1.09048836e+00] [-1.63912370e-02 8.97791123e-04 9.99865252e-01 -4.04829805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444391418 meters 0.036939300538112965 Centerline is valid? [True, True] Translation: X:21.13, Y:1.09, Z:-0.41 [[ 9.95786841e-01 -9.02046419e-02 1.64830341e-02 2.11290190e+01] [ 9.02066073e-02 9.95922877e-01 6.25731811e-04 1.09416336e+00] [-1.64722746e-02 8.63783080e-04 9.99863950e-01 -4.06611412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504391417999997 meters 0.0376857225512834 Centerline is valid? [True, True] Translation: X:21.19, Y:1.10, Z:-0.41 [[ 9.95887285e-01 -8.94008605e-02 1.46969822e-02 2.11916394e+01] [ 8.94023326e-02 9.95995437e-01 5.58127887e-04 1.09608735e+00] [-1.46880244e-02 7.58112028e-04 9.99891838e-01 -4.10003144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564391417999996 meters 0.039614212662115525 Centerline is valid? [True, True] Translation: X:21.25, Y:1.10, Z:-0.41 [[ 9.95634035e-01 -9.19031108e-02 1.63305157e-02 2.12531691e+01] [ 9.19052971e-02 9.95767560e-01 6.18144068e-04 1.09532185e+00] [-1.63182071e-02 8.85415624e-04 9.99866457e-01 -4.07018604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624391418 meters 0.03859189168138267 Centerline is valid? [True, True] Translation: X:21.31, Y:1.10, Z:-0.41 [[ 9.95246341e-01 -9.58091550e-02 1.74736044e-02 2.13146518e+01] [ 9.58122704e-02 9.95399202e-01 6.60708617e-04 1.09803161e+00] [-1.74565138e-02 1.01661787e-03 9.99847107e-01 -4.06503123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684391417999997 meters 0.043835433610781 Centerline is valid? [True, True] Translation: X:21.38, Y:1.09, Z:-0.41 [[ 9.94578346e-01 -1.02780205e-01 1.58159343e-02 2.13757921e+01] [ 1.02783645e-01 9.94703557e-01 5.97355253e-04 1.09116948e+00] [-1.57935624e-02 1.03150278e-03 9.99874742e-01 -4.11451897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744391417999996 meters 0.04578114170697892 Centerline is valid? [True, True] Translation: X:21.44, Y:1.09, Z:-0.41 [[ 9.94065023e-01 -1.08014349e-01 1.29472155e-02 2.14362023e+01] [ 1.08017098e-01 9.94148916e-01 4.88874193e-04 1.09031867e+00] [-1.29242657e-02 9.12547912e-04 9.99916062e-01 -4.13912069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804391417999998 meters 0.04685100710317943 Centerline is valid? [True, True] Translation: X:21.50, Y:1.09, Z:-0.41 [[ 9.93434398e-01 -1.13788891e-01 1.18400079e-02 2.14970710e+01] [ 1.13791598e-01 9.93504541e-01 4.46970500e-04 1.08920739e+00] [-1.18139619e-02 9.03257546e-04 9.99929805e-01 -4.12880663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864391417999997 meters 0.05282983871661228 Centerline is valid? [True, True] Translation: X:21.56, Y:1.08, Z:-0.42 [[ 9.93243099e-01 -1.15414661e-01 1.21491297e-02 2.15577817e+01] [ 1.15417631e-01 9.93316948e-01 4.58721810e-04 1.08415577e+00] [-1.21208796e-02 9.46601495e-04 9.99926091e-01 -4.15018741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924391418 meters 0.047580223831385944 Centerline is valid? [True, True] Translation: X:21.62, Y:1.09, Z:-0.41 [[ 9.93502464e-01 -1.13080214e-01 1.28732094e-02 2.16196044e+01] [ 1.13083359e-01 9.93585385e-01 4.85650228e-04 1.09431597e+00] [-1.28455502e-02 9.73251070e-04 9.99917019e-01 -4.11063718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984391417999998 meters 0.04477181771629106 Centerline is valid? [True, True] Translation: X:21.68, Y:1.10, Z:-0.41 [[ 9.93924180e-01 -1.09306052e-01 1.29194371e-02 2.16801906e+01] [ 1.09308917e-01 9.94007708e-01 4.86318619e-04 1.10207610e+00] [-1.28951777e-02 9.28845844e-04 9.99916422e-01 -4.10946309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044391417999996 meters 0.042820929742618474 Centerline is valid? [True, True] Translation: X:21.74, Y:1.11, Z:-0.41 [[ 9.94365166e-01 -1.05243847e-01 1.27141552e-02 2.17406667e+01] [ 1.05246295e-01 9.94446071e-01 4.78226265e-04 1.10892358e+00] [-1.26938720e-02 8.62586192e-04 9.99919058e-01 -4.10916030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104391418 meters 0.04078770518001307 Centerline is valid? [True, True] Translation: X:21.80, Y:1.11, Z:-0.41 [[ 9.94505406e-01 -1.03932913e-01 1.25278198e-02 2.18024869e+01] [ 1.03935160e-01 9.94583963e-01 4.73286178e-04 1.11458695e+00] [-1.25091587e-02 8.31395297e-04 9.99921412e-01 -4.11847602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164391417999997 meters 0.0418033289305951 Centerline is valid? [True, True] Translation: X:21.86, Y:1.12, Z:-0.42 [[ 9.94622834e-01 -1.03026868e-01 1.05300573e-02 2.18644866e+01] [ 1.03028428e-01 9.94678333e-01 3.95676468e-04 1.11536185e+00] [-1.05147851e-02 6.91346396e-04 9.99944479e-01 -4.15899999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224391417999996 meters 0.0424704319700853 Centerline is valid? [True, True] Translation: X:21.93, Y:1.12, Z:-0.42 [[ 9.94903445e-01 -1.00518046e-01 7.95351063e-03 2.19252565e+01] [ 1.00518887e-01 9.94935107e-01 2.94960289e-04 1.12035278e+00] [-7.94287578e-03 5.06021029e-04 9.99968327e-01 -4.19475166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284391418 meters 0.038565928632797356 Centerline is valid? [True, True] Translation: X:21.99, Y:1.13, Z:-0.42 [[ 9.95216000e-01 -9.74615121e-02 6.80928123e-03 2.19865406e+01] [ 9.74620582e-02 9.95239209e-01 2.52382315e-04 1.12946936e+00] [-6.80146123e-03 4.12471645e-04 9.99976785e-01 -4.17256154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344391417999997 meters 0.04309405535627407 Centerline is valid? [True, True] Translation: X:22.05, Y:1.13, Z:-0.42 [[ 9.95447557e-01 -9.51036736e-02 6.28108836e-03 2.20476049e+01] [ 9.51040927e-02 9.95467306e-01 2.32602610e-04 1.12702177e+00] [-6.27473948e-03 3.65813510e-04 9.99980247e-01 -4.21804419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404391417999996 meters 0.04301918273674418 Centerline is valid? [True, True] Translation: X:22.11, Y:1.13, Z:-0.42 [[ 9.95526323e-01 -9.41454010e-02 7.99900729e-03 2.21092148e+01] [ 9.41460339e-02 9.95558354e-01 2.98218266e-04 1.12980918e+00] [-7.99155441e-03 4.56190678e-04 9.99967963e-01 -4.16339099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464391417999998 meters 0.03823710713225202 Centerline is valid? [True, True] Translation: X:22.17, Y:1.14, Z:-0.42 [[ 9.95654497e-01 -9.27971022e-02 7.79872433e-03 2.21706926e+01] [ 9.27976926e-02 9.95684943e-01 2.86903009e-04 1.14108302e+00] [-7.79169616e-03 4.38047351e-04 9.99969548e-01 -4.16476765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524391417999997 meters 0.03921007327279547 Centerline is valid? [True, True] Translation: X:22.23, Y:1.14, Z:-0.42 [[ 9.95534561e-01 -9.42648880e-02 5.00685244e-03 2.22325953e+01] [ 9.42651351e-02 9.95547111e-01 1.87143886e-04 1.14122152e+00] [-5.00219857e-03 2.85663415e-04 9.99987448e-01 -4.17610463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584391417999996 meters 0.03779642340417075 Centerline is valid? [True, True] Translation: X:22.30, Y:1.14, Z:-0.41 [[ 9.95300423e-01 -9.66373488e-02 6.18793653e-03 2.22951186e+01] [ 9.66378051e-02 9.95319589e-01 2.25920085e-04 1.14472996e+00] [-6.18080676e-03 3.73130249e-04 9.99980829e-01 -4.14047710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644391417999998 meters 0.04256211966839875 Centerline is valid? [True, True] Translation: X:22.36, Y:1.14, Z:-0.41 [[ 9.94967713e-01 -9.98115946e-02 8.76901344e-03 2.23555914e+01] [ 9.98126492e-02 9.95006198e-01 3.18381352e-04 1.13957990e+00] [-8.75700087e-03 5.58479297e-04 9.99961501e-01 -4.11975766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704391417999997 meters 0.042600649296998895 Centerline is valid? [True, True] Translation: X:22.42, Y:1.14, Z:-0.41 [[ 9.94893814e-01 -1.00494781e-01 9.33257875e-03 2.24178407e+01] [ 1.00496008e-01 9.94937404e-01 3.38594927e-04 1.14048714e+00] [-9.31935870e-03 6.01020913e-04 9.99956393e-01 -4.14372769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764391418 meters 0.04621110664114896 Centerline is valid? [True, True] Translation: X:22.48, Y:1.14, Z:-0.42 [[ 9.94724365e-01 -1.02181627e-01 9.07485333e-03 2.24786519e+01] [ 1.02182857e-01 9.94765578e-01 3.29220893e-04 1.13595558e+00] [-9.06099204e-03 5.99810394e-04 9.99958768e-01 -4.15081363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824391417999998 meters 0.045720726421709414 Centerline is valid? [True, True] Translation: X:22.54, Y:1.14, Z:-0.41 [[ 9.94663999e-01 -1.02620348e-01 1.06110171e-02 2.25408935e+01] [ 1.02622081e-01 9.94720344e-01 3.82394163e-04 1.13847037e+00] [-1.05942360e-02 7.08570951e-04 9.99943628e-01 -4.11044662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884391417999996 meters 0.04347718660741148 Centerline is valid? [True, True] Translation: X:22.60, Y:1.14, Z:-0.41 [[ 9.94540126e-01 -1.03576917e-01 1.27185084e-02 2.26034622e+01] [ 1.03579503e-01 9.94621072e-01 4.57047691e-04 1.13990237e+00] [-1.26974361e-02 8.62824509e-04 9.99919012e-01 -4.09874653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944391418 meters 0.04403707832842368 Centerline is valid? [True, True] Translation: X:22.67, Y:1.14, Z:-0.41 [[ 9.94412877e-01 -1.04997255e-01 1.08906353e-02 2.26654240e+01] [ 1.04999223e-01 9.94472226e-01 3.92486884e-04 1.13836709e+00] [-1.08716444e-02 7.53214238e-04 9.99940618e-01 -4.12838644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004391417999997 meters 0.041964685071408846 Centerline is valid? [True, True] Translation: X:22.73, Y:1.14, Z:-0.42 [[ 9.94630499e-01 -1.03104824e-01 8.91995978e-03 2.27271601e+01] [ 1.03106078e-01 9.94670314e-01 3.20395833e-04 1.14270009e+00] [-8.90545356e-03 6.01026601e-04 9.99960165e-01 -4.15753458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064391417999996 meters 0.04202650848153263 Centerline is valid? [True, True] Translation: X:22.79, Y:1.15, Z:-0.42 [[ 9.94849189e-01 -1.01007412e-01 8.52020887e-03 2.27881211e+01] [ 1.01008524e-01 9.94885515e-01 3.00837983e-04 1.14505894e+00] [-8.50701926e-03 5.61325296e-04 9.99963657e-01 -4.19039072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124391418 meters 0.03903344250637573 Centerline is valid? [True, True] Translation: X:22.85, Y:1.15, Z:-0.42 [[ 9.95186384e-01 -9.76239241e-02 8.58080690e-03 2.28484766e+01] [ 9.76249338e-02 9.95223232e-01 3.02111362e-04 1.15105354e+00] [-8.56931167e-03 5.37043592e-04 9.99963139e-01 -4.15710681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184391417999997 meters 0.0387800228603375 Centerline is valid? [True, True] Translation: X:22.91, Y:1.15, Z:-0.41 [[ 9.95582429e-01 -9.30587916e-02 1.24775094e-02 2.29078519e+01] [ 9.30605711e-02 9.95660352e-01 4.39171822e-04 1.15455561e+00] [-1.24642302e-02 7.23932399e-04 9.99922056e-01 -4.13112706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244391417999996 meters 0.03823225416918704 Centerline is valid? [True, True] Translation: X:22.97, Y:1.16, Z:-0.42 [[ 9.95941445e-01 -8.89308274e-02 1.38544314e-02 2.29680762e+01] [ 8.89326179e-02 9.96037525e-01 4.88013892e-04 1.15966602e+00] [-1.38429331e-02 7.46077595e-04 9.99903904e-01 -4.15469950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304391417999998 meters 0.0391026274634863 Centerline is valid? [True, True] Translation: X:23.03, Y:1.16, Z:-0.42 [[ 9.96158152e-01 -8.66271167e-02 1.28327219e-02 2.30289183e+01] [ 8.66284582e-02 9.96240586e-01 4.52330141e-04 1.16232295e+00] [-1.28236624e-02 6.61086552e-04 9.99917555e-01 -4.16947361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364391417999997 meters 0.03731756212831329 Centerline is valid? [True, True] Translation: X:23.09, Y:1.17, Z:-0.42 [[ 9.95901240e-01 -8.93202951e-02 1.42339742e-02 2.30903054e+01] [ 8.93222292e-02 9.96002655e-01 5.01071390e-04 1.16552629e+00] [-1.42218320e-02 7.72392690e-04 9.99898566e-01 -4.15596026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424391417999995 meters 0.03751836713670176 Centerline is valid? [True, True] Translation: X:23.15, Y:1.17, Z:-0.42 [[ 9.95621356e-01 -9.22910609e-02 1.48484220e-02 2.31511158e+01] [ 9.22935059e-02 9.95731709e-01 5.21963661e-04 1.16739832e+00] [-1.48332172e-02 8.50734756e-04 9.99889620e-01 -4.16031018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484391417999998 meters 0.038445764166830855 Centerline is valid? [True, True] Translation: X:23.21, Y:1.17, Z:-0.42 [[ 9.95516112e-01 -9.33964904e-02 1.49922039e-02 2.32127612e+01] [ 9.33991017e-02 9.95628610e-01 5.27428943e-04 1.17243895e+00] [-1.49759272e-02 8.75194370e-04 9.99887471e-01 -4.18341397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544391417999996 meters 0.04099004969872142 Centerline is valid? [True, True] Translation: X:23.27, Y:1.17, Z:-0.42 [[ 9.95366398e-01 -9.48528521e-02 1.57693080e-02 2.32739076e+01] [ 9.48559545e-02 9.95490855e-01 5.52789927e-04 1.17226098e+00] [-1.57506356e-02 9.45584248e-04 9.99875504e-01 -4.21216007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604391418 meters 0.04323514530821842 Centerline is valid? [True, True] Translation: X:23.34, Y:1.17, Z:-0.42 [[ 9.95090347e-01 -9.74883086e-02 1.70654641e-02 2.33353798e+01] [ 9.74924261e-02 9.95236090e-01 5.92479188e-04 1.16998202e+00] [-1.70419255e-02 1.07418317e-03 9.99854199e-01 -4.22812565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664391417999997 meters 0.04611940513862557 Centerline is valid? [True, True] Translation: X:23.40, Y:1.17, Z:-0.42 [[ 9.94753061e-01 -1.00461118e-01 1.93367926e-02 2.33953641e+01] [ 1.00466982e-01 9.94940167e-01 6.70401481e-04 1.17192728e+00] [-1.93063009e-02 1.27582527e-03 9.99812802e-01 -4.19564620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724391417999996 meters 0.047972323792977535 Centerline is valid? [True, True] Translation: X:23.46, Y:1.17, Z:-0.42 [[ 9.94730155e-01 -1.00464781e-01 2.04633044e-02 2.34568289e+01] [ 1.00471349e-01 9.94939699e-01 7.09470388e-04 1.17330513e+00] [-2.04310307e-02 1.35024421e-03 9.99790353e-01 -4.20357561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784391418 meters 0.04652837965195511 Centerline is valid? [True, True] Translation: X:23.52, Y:1.18, Z:-0.42 [[ 9.94652098e-01 -1.01358872e-01 1.98389137e-02 2.35190475e+01] [ 1.01365278e-01 9.94849039e-01 6.85022883e-04 1.17838627e+00] [-1.98061574e-02 1.32961756e-03 9.99802955e-01 -4.24462093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844391417999997 meters 0.044732049450612495 Centerline is valid? [True, True] Translation: X:23.58, Y:1.19, Z:-0.42 [[ 9.94469703e-01 -1.03162572e-01 1.96848363e-02 2.35809424e+01] [ 1.03169341e-01 9.94663578e-01 6.74096413e-04 1.18513688e+00] [-1.96493313e-02 1.36050312e-03 9.99806008e-01 -4.24403847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904391417999996 meters 0.05457023460407754 Centerline is valid? [True, True] Translation: X:23.64, Y:1.17, Z:-0.43 [[ 9.94183846e-01 -1.05610336e-01 2.10935458e-02 2.36416940e+01] [ 1.05618695e-01 9.94406442e-01 7.20528697e-04 1.17478536e+00] [-2.10516531e-02 1.51153478e-03 9.99777247e-01 -4.27343066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964391417999998 meters 0.05708968841712825 Centerline is valid? [True, True] Translation: X:23.70, Y:1.17, Z:-0.43 [[ 9.93901748e-01 -1.08295115e-01 2.07721753e-02 2.37031827e+01] [ 1.08303812e-01 9.94117589e-01 7.09137203e-04 1.17279930e+00] [-2.07267810e-02 1.54489307e-03 9.99783984e-01 -4.27977190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024391417999997 meters 0.05366851311982898 Centerline is valid? [True, True] Translation: X:23.76, Y:1.18, Z:-0.43 [[ 9.93584951e-01 -1.11133123e-01 2.09373635e-02 2.37638598e+01] [ 1.11142602e-01 9.93804212e-01 7.13993919e-04 1.18383308e+00] [-2.08869885e-02 1.61761945e-03 9.99780534e-01 -4.28757330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084391417999996 meters 0.05022858115988719 Centerline is valid? [True, True] Translation: X:23.83, Y:1.19, Z:-0.43 [[ 9.93470047e-01 -1.11819475e-01 2.26642897e-02 2.38255987e+01] [ 1.11830793e-01 9.93726964e-01 7.71400314e-04 1.18961160e+00] [-2.26083734e-02 1.76820240e-03 9.99742834e-01 -4.26534120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144391417999998 meters 0.0477560925184863 Centerline is valid? [True, True] Translation: X:23.89, Y:1.19, Z:-0.43 [[ 9.93482445e-01 -1.11470407e-01 2.38113354e-02 2.38881727e+01] [ 1.11482963e-01 9.93766020e-01 8.03664071e-04 1.19450513e+00] [-2.37524808e-02 1.85613208e-03 9.99716147e-01 -4.27561546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204391417999997 meters 0.04652641000266617 Centerline is valid? [True, True] Translation: X:23.95, Y:1.20, Z:-0.43 [[ 9.93852457e-01 -1.08034757e-01 2.42030032e-02 2.39487174e+01] [ 1.08046886e-01 9.94145469e-01 8.09843827e-04 1.20151643e+00] [-2.41487973e-02 1.81019386e-03 9.99706736e-01 -4.27711064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264391417999995 meters 0.04924222190818672 Centerline is valid? [True, True] Translation: X:24.01, Y:1.20, Z:-0.43 [[ 9.94144579e-01 -1.05235403e-01 2.45370466e-02 2.40084815e+01] [ 1.05247032e-01 9.94445770e-01 8.20590915e-04 1.20108067e+00] [-2.44871174e-02 1.76666532e-03 9.99698585e-01 -4.29442189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324391417999998 meters 0.04783277290443165 Centerline is valid? [True, True] Translation: X:24.07, Y:1.21, Z:-0.43 [[ 9.94299067e-01 -1.03899074e-01 2.39655470e-02 2.40703165e+01] [ 1.03909804e-01 9.94586402e-01 8.00520123e-04 1.20512423e+00] [-2.39189805e-02 1.69429887e-03 9.99712465e-01 -4.34727980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384391417999996 meters 0.0462557448167428 Centerline is valid? [True, True] Translation: X:24.13, Y:1.21, Z:-0.43 [[ 9.94264318e-01 -1.04265542e-01 2.38151911e-02 2.41319858e+01] [ 1.04276399e-01 9.94548043e-01 7.88904571e-04 1.20787907e+00] [-2.37676073e-02 1.69898270e-03 9.99716067e-01 -4.34599679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444391418 meters 0.04555686500696564 Centerline is valid? [True, True] Translation: X:24.19, Y:1.21, Z:-0.44 [[ 9.94272575e-01 -1.04232823e-01 2.36128125e-02 2.41943297e+01] [ 1.04243635e-01 9.94551488e-01 7.75926646e-04 1.21396277e+00] [-2.35650348e-02 1.69000283e-03 9.99720878e-01 -4.35809366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504391417999997 meters 0.04558366515993903 Centerline is valid? [True, True] Translation: X:24.26, Y:1.22, Z:-0.44 [[ 9.94432934e-01 -1.02608908e-01 2.39697987e-02 2.42554760e+01] [ 1.02619728e-01 9.94720353e-01 7.81475167e-04 1.21558047e+00] [-2.39234329e-02 1.68264958e-03 9.99712378e-01 -4.38628848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564391417999996 meters 0.046605988610797365 Centerline is valid? [True, True] Translation: X:24.32, Y:1.21, Z:-0.44 [[ 9.94318794e-01 -1.03670437e-01 2.41366394e-02 2.43162120e+01] [ 1.03681744e-01 9.94610214e-01 7.85904661e-04 1.21438313e+00] [-2.40880232e-02 1.72108909e-03 9.99708360e-01 -4.37822546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624391418 meters 0.049777966796145705 Centerline is valid? [True, True] Translation: X:24.38, Y:1.21, Z:-0.43 [[ 9.94061873e-01 -1.05615583e-01 2.61981001e-02 2.43767993e+01] [ 1.05629604e-01 9.94405179e-01 8.52000195e-04 1.21311671e+00] [-2.61415109e-02 1.92035402e-03 9.99656408e-01 -4.33657646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684391417999997 meters 0.051507020104588686 Centerline is valid? [True, True] Translation: X:24.44, Y:1.21, Z:-0.44 [[ 9.93971328e-01 -1.06316945e-01 2.67900326e-02 2.44386700e+01] [ 1.06331914e-01 9.94330312e-01 8.69239220e-04 1.21030132e+00] [-2.67305563e-02 1.98463657e-03 9.99640705e-01 -4.35889082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744391417999996 meters 0.055012195169160054 Centerline is valid? [True, True] Translation: X:24.50, Y:1.21, Z:-0.44 [[ 9.93897383e-01 -1.07396371e-01 2.51795811e-02 2.45004039e+01] [ 1.07410091e-01 9.94214471e-01 8.10891597e-04 1.20504048e+00] [-2.51209908e-02 1.89859807e-03 9.99682615e-01 -4.42717937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804391417999998 meters 0.05236358645220433 Centerline is valid? [True, True] Translation: X:24.56, Y:1.21, Z:-0.44 [[ 9.93840272e-01 -1.08202074e-01 2.39546298e-02 2.45622542e+01] [ 1.08214864e-01 9.94127234e-01 7.65590968e-04 1.20989811e+00] [-2.38967884e-02 1.83137186e-03 9.99712754e-01 -4.43307470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864391417999997 meters 0.04858084040160031 Centerline is valid? [True, True] Translation: X:24.62, Y:1.21, Z:-0.44 [[ 9.93982257e-01 -1.06709965e-01 2.47438292e-02 2.46233801e+01] [ 1.06723301e-01 9.94288450e-01 7.84767302e-04 1.21362150e+00] [-2.46862461e-02 1.86069836e-03 9.99693517e-01 -4.44545011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924391417999995 meters 0.05024745957277524 Centerline is valid? [True, True] Translation: X:24.69, Y:1.21, Z:-0.45 [[ 9.93936165e-01 -1.07036793e-01 2.51798489e-02 2.46850910e+01] [ 1.07050747e-01 9.94253239e-01 7.97041518e-04 1.21295637e+00] [-2.51204591e-02 1.90331325e-03 9.99682620e-01 -4.45523374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984391417999998 meters 0.052005019809622535 Centerline is valid? [True, True] Translation: X:24.75, Y:1.21, Z:-0.45 [[ 9.93931587e-01 -1.06909606e-01 2.58908628e-02 2.47474250e+01] [ 1.06924437e-01 9.94266816e-01 8.14876524e-04 1.21386427e+00] [-2.58295438e-02 1.95843441e-03 9.99664443e-01 -4.48328928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044391417999996 meters 0.05291097681758991 Centerline is valid? [True, True] Translation: X:24.81, Y:1.21, Z:-0.45 [[ 9.94006200e-01 -1.06189276e-01 2.59906146e-02 2.48094766e+01] [ 1.06204164e-01 9.94344014e-01 8.10824846e-04 1.21402914e+00] [-2.59297130e-02 1.95434657e-03 9.99661858e-01 -4.50626114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104391417999995 meters 0.0510735830356479 Centerline is valid? [True, True] Translation: X:24.87, Y:1.22, Z:-0.46 [[ 9.94274523e-01 -1.03534847e-01 2.64330981e-02 2.48699480e+01] [ 1.03549467e-01 9.94623968e-01 8.18794368e-04 1.21710912e+00] [-2.63757667e-02 1.92302684e-03 9.99650249e-01 -4.58500639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164391417999997 meters 0.05014901961870494 Centerline is valid? [True, True] Translation: X:24.93, Y:1.22, Z:-0.46 [[ 9.94577846e-01 -1.00258219e-01 2.76260265e-02 2.49296319e+01] [ 1.00272946e-01 9.94959600e-01 8.55254660e-04 1.22233286e+00] [-2.75725266e-02 1.91952572e-03 9.99617963e-01 -4.57177330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224391417999996 meters 0.046764971036723904 Centerline is valid? [True, True] Translation: X:24.99, Y:1.23, Z:-0.46 [[ 9.94898914e-01 -9.68877565e-02 2.80875966e-02 2.49897256e+01] [ 9.69016425e-02 9.95293583e-01 8.69544083e-04 1.23035028e+00] [-2.80396529e-02 1.85662578e-03 9.99605087e-01 -4.60875570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284391418 meters 0.04142682283234972 Centerline is valid? [True, True] Translation: X:25.05, Y:1.24, Z:-0.47 [[ 9.95111024e-01 -9.46008380e-02 2.83677907e-02 2.50511344e+01] [ 9.46140909e-02 9.95513638e-01 8.77737106e-04 1.24020163e+00] [-2.83235572e-02 1.81054686e-03 9.99597168e-01 -4.65032620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344391417999997 meters 0.04078008210588584 Centerline is valid? [True, True] Translation: X:25.11, Y:1.24, Z:-0.47 [[ 9.95348400e-01 -9.20714480e-02 2.83621357e-02 2.51120851e+01] [ 9.20837178e-02 9.95750883e-01 8.75974383e-04 1.24495131e+00] [-2.83222739e-02 1.73979120e-03 9.99597330e-01 -4.73076388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404391417999996 meters 0.04088186159770089 Centerline is valid? [True, True] Translation: X:25.17, Y:1.25, Z:-0.48 [[ 9.95421722e-01 -9.13078277e-02 2.82573099e-02 2.51744497e+01] [ 9.13197858e-02 9.95821239e-01 8.69710391e-04 1.24726722e+00] [-2.82186407e-02 1.71472287e-03 9.99600304e-01 -4.75244859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464391417999998 meters 0.03913031872107127 Centerline is valid? [True, True] Translation: X:25.24, Y:1.25, Z:-0.48 [[ 9.95566757e-01 -8.94096261e-02 2.92018881e-02 2.52360522e+01] [ 8.94217751e-02 9.95993449e-01 8.92242262e-04 1.25364699e+00] [-2.91646643e-02 1.72299793e-03 9.99573136e-01 -4.76522428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524391417999997 meters 0.0409002240842297 Centerline is valid? [True, True] Translation: X:25.30, Y:1.26, Z:-0.48 [[ 9.95771712e-01 -8.72729330e-02 2.86728560e-02 2.52963438e+01] [ 8.72838026e-02 9.96183102e-01 8.74680879e-04 1.25684922e+00] [-2.86397506e-02 1.63169343e-03 9.99588466e-01 -4.82878333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584391417999996 meters 0.04083713095963154 Centerline is valid? [True, True] Translation: X:25.36, Y:1.26, Z:-0.48 [[ 9.95808874e-01 -8.70564943e-02 2.80330903e-02 2.53590489e+01] [ 8.70668748e-02 9.96202104e-01 8.52434515e-04 1.25904823e+00] [-2.80008335e-02 1.59189171e-03 9.99606632e-01 -4.84231354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644391417999998 meters 0.039120122065633055 Centerline is valid? [True, True] Translation: X:25.42, Y:1.27, Z:-0.49 [[ 9.95982069e-01 -8.49686588e-02 2.82850866e-02 2.54203639e+01] [ 8.49785783e-02 9.96382413e-01 8.53352132e-04 1.26683435e+00] [-2.82552710e-02 1.55370302e-03 9.99599533e-01 -4.87348409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704391417999997 meters 0.0381785246881076 Centerline is valid? [True, True] Translation: X:25.48, Y:1.27, Z:-0.49 [[ 9.96250960e-01 -8.16494254e-02 2.85901219e-02 2.54818204e+01] [ 8.16582336e-02 9.96660018e-01 8.61277723e-04 1.27285300e+00] [-2.85649542e-02 1.47657009e-03 9.99590848e-01 -4.89681787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764391417999995 meters 0.03213207056718229 Centerline is valid? [True, True] Translation: X:25.54, Y:1.29, Z:-0.49 [[ 9.96504382e-01 -7.85365042e-02 2.84786626e-02 2.55431073e+01] [ 7.85440233e-02 9.96910278e-01 8.56252986e-04 1.28712189e+00] [-2.84579186e-02 1.38356888e-03 9.99594034e-01 -4.92721741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824391417999998 meters 0.030341869638073303 Centerline is valid? [True, True] Translation: X:25.60, Y:1.30, Z:-0.49 [[ 9.96907510e-01 -7.35618745e-02 2.76417508e-02 2.56026818e+01] [ 7.35670834e-02 9.97289926e-01 8.29846212e-04 1.29722703e+00] [-2.76278847e-02 1.20624307e-03 9.99617549e-01 -4.93871870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884391417999996 meters 0.027094609133141326 Centerline is valid? [True, True] Translation: X:25.66, Y:1.31, Z:-0.50 [[ 9.97277210e-01 -6.89374230e-02 2.61877594e-02 2.56629403e+01] [ 6.89405057e-02 9.97620463e-01 7.86195239e-04 1.30646014e+00] [-2.61796429e-02 1.02134278e-03 9.99656733e-01 -4.99010306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944391417999995 meters 0.027410757122868477 Centerline is valid? [True, True] Translation: X:25.72, Y:1.32, Z:-0.50 [[ 9.97684161e-01 -6.28545684e-02 2.59926619e-02 2.57222947e+01] [ 6.28555431e-02 9.98022330e-01 7.80338126e-04 1.31567990e+00] [-2.59903048e-02 8.55251892e-04 9.99661829e-01 -5.00777597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004391417999997 meters 0.023302905866077982 Centerline is valid? [True, True] Translation: X:25.78, Y:1.33, Z:-0.50 [[ 9.97928987e-01 -5.88351054e-02 2.60032141e-02 2.57836284e+01] [ 5.88347232e-02 9.98267432e-01 7.80437364e-04 1.32667181e+00] [-2.60040788e-02 7.51070833e-04 9.99661555e-01 -5.00202344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064391417999996 meters 0.021630650580362017 Centerline is valid? [True, True] Translation: X:25.84, Y:1.33, Z:-0.50 [[ 9.98170428e-01 -5.50535560e-02 2.49980331e-02 2.58449513e+01] [ 5.50520415e-02 9.98483205e-01 7.49304456e-04 1.33428478e+00] [-2.50013681e-02 6.28259208e-04 9.99687220e-01 -5.03194452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124391418 meters 0.021038782826471713 Centerline is valid? [True, True] Translation: X:25.91, Y:1.34, Z:-0.50 [[ 9.98236294e-01 -5.37068030e-02 2.52958769e-02 2.59069207e+01] [ 5.37048739e-02 9.98556566e-01 7.56110594e-04 1.34062716e+00] [-2.52999722e-02 6.03734841e-04 9.99679722e-01 -5.04058790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184391417999997 meters 0.02094483688815518 Centerline is valid? [True, True] Translation: X:25.97, Y:1.35, Z:-0.50 [[ 9.98259103e-01 -5.26774249e-02 2.65302137e-02 2.59693458e+01] [ 5.26751397e-02 9.98611392e-01 7.85478187e-04 1.34612304e+00] [-2.65347506e-02 6.13371961e-04 9.99647703e-01 -5.03721634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244391417999996 meters 0.01955365816591466 Centerline is valid? [True, True] Translation: X:26.03, Y:1.35, Z:-0.51 [[ 9.98291205e-01 -5.22800829e-02 2.61048316e-02 2.60320900e+01] [ 5.22779252e-02 9.98632281e-01 7.65585109e-04 1.35372345e+00] [-2.61091524e-02 6.00429554e-04 9.99658918e-01 -5.06432079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304391417999998 meters 0.022075927324249543 Centerline is valid? [True, True] Translation: X:26.09, Y:1.36, Z:-0.51 [[ 9.98195833e-01 -5.52870196e-02 2.34184673e-02 2.60942878e+01] [ 5.52862697e-02 9.98470313e-01 6.79966104e-04 1.35645096e+00] [-2.34202377e-02 6.15980366e-04 9.99725519e-01 -5.10206391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364391417999997 meters 0.022203653624724387 Centerline is valid? [True, True] Translation: X:26.16, Y:1.36, Z:-0.51 [[ 9.97983502e-01 -5.91792781e-02 2.29508625e-02 2.61559721e+01] [ 5.91797303e-02 9.98247126e-01 6.60092907e-04 1.35817876e+00] [-2.29496963e-02 6.99464020e-04 9.99736376e-01 -5.11592317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424391417999995 meters 0.024185946774259334 Centerline is valid? [True, True] Translation: X:26.22, Y:1.36, Z:-0.51 [[ 9.97832903e-01 -6.20147262e-02 2.19925525e-02 2.62172483e+01] [ 6.20159527e-02 9.98074961e-01 6.26908675e-04 1.36020479e+00] [-2.19890936e-02 7.38338994e-04 9.99757938e-01 -5.13540499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484391417999998 meters 0.02485320571097973 Centerline is valid? [True, True] Translation: X:26.28, Y:1.37, Z:-0.52 [[ 9.97858099e-01 -6.25082515e-02 1.92855821e-02 2.62794475e+01] [ 6.25093706e-02 9.98044228e-01 5.45377819e-04 1.36542964e+00] [-1.92819545e-02 6.61319926e-04 9.99813867e-01 -5.16730481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544391417999996 meters 0.025468755684468134 Centerline is valid? [True, True] Translation: X:26.34, Y:1.37, Z:-0.52 [[ 9.97890586e-01 -6.22225805e-02 1.85129204e-02 2.63414667e+01] [ 6.22236561e-02 9.98062096e-01 5.18470090e-04 1.37061036e+00] [-1.85093047e-02 6.34565172e-04 9.99828487e-01 -5.19097324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604391417999995 meters 0.02414837435762613 Centerline is valid? [True, True] Translation: X:26.40, Y:1.38, Z:-0.52 [[ 9.97920726e-01 -6.16254225e-02 1.88820374e-02 2.64040544e+01] [ 6.16265030e-02 9.98099143e-01 5.25191958e-04 1.37724833e+00] [-1.88785105e-02 6.39533992e-04 9.99821581e-01 -5.19149343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664391417999997 meters 0.021900504853741287 Centerline is valid? [True, True] Translation: X:26.46, Y:1.39, Z:-0.52 [[ 9.98184972e-01 -5.75334669e-02 1.77949821e-02 2.64649009e+01] [ 5.75338712e-02 9.98343435e-01 4.89652135e-04 1.38527360e+00] [-1.77936749e-02 5.35050806e-04 9.99841537e-01 -5.20935913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724391417999996 meters 0.023759385087414892 Centerline is valid? [True, True] Translation: X:26.53, Y:1.38, Z:-0.52 [[ 9.98249182e-01 -5.62030719e-02 1.84332545e-02 2.65260054e+01] [ 5.62032850e-02 9.98419217e-01 5.06897516e-04 1.38482383e+00] [-1.84326047e-02 5.29999423e-04 9.99829965e-01 -5.21841116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784391417999995 meters 0.02068204825692574 Centerline is valid? [True, True] Translation: X:26.59, Y:1.39, Z:-0.52 [[ 9.98350564e-01 -5.42188067e-02 1.88804903e-02 2.65880819e+01] [ 5.42187686e-02 9.98528948e-01 5.14283529e-04 1.39097087e+00] [-1.88806000e-02 5.10241684e-04 9.99821615e-01 -5.23248556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844391417999997 meters 0.02140732717592895 Centerline is valid? [True, True] Translation: X:26.65, Y:1.39, Z:-0.53 [[ 9.98312050e-01 -5.54839311e-02 1.71634315e-02 2.66501477e+01] [ 5.54841599e-02 9.98459460e-01 4.63216984e-04 1.38975905e+00] [-1.71626917e-02 4.89863483e-04 9.99852590e-01 -5.26585956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904391417999996 meters 0.02613122919258707 Centerline is valid? [True, True] Translation: X:26.71, Y:1.39, Z:-0.53 [[ 9.98305095e-01 -5.61053962e-02 1.54635396e-02 2.67117965e+01] [ 5.61057162e-02 9.98424748e-01 4.13472709e-04 1.38502255e+00] [-1.54623787e-02 4.54821050e-04 9.99880347e-01 -5.31934429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964391417999998 meters 0.024032447479064887 Centerline is valid? [True, True] Translation: X:26.77, Y:1.39, Z:-0.53 [[ 9.98177878e-01 -5.92005484e-02 1.16713274e-02 2.67742363e+01] [ 5.92009799e-02 9.98246036e-01 3.08816755e-04 1.38681622e+00] [-1.16691385e-02 3.82699966e-04 9.99931840e-01 -5.33828818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024391417999997 meters 0.024711077910858702 Centerline is valid? [True, True] Translation: X:26.84, Y:1.38, Z:-0.53 [[ 9.97980080e-01 -6.19990484e-02 1.38519978e-02 2.68362286e+01] [ 6.19999386e-02 9.98076086e-01 3.65573455e-04 1.38305181e+00] [-1.38480130e-02 4.93987989e-04 9.99903990e-01 -5.33157004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084391417999996 meters 0.024169111723489508 Centerline is valid? [True, True] Translation: X:26.90, Y:1.38, Z:-0.53 [[ 9.98006948e-01 -6.09744963e-02 1.62555423e-02 2.68982910e+01] [ 6.09756224e-02 9.98139164e-01 4.26806111e-04 1.38440536e+00] [-1.62513177e-02 5.65236343e-04 9.99867779e-01 -5.30967258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144391417999998 meters 0.026746777601059916 Centerline is valid? [True, True] Translation: X:26.96, Y:1.38, Z:-0.53 [[ 9.98041845e-01 -5.97728413e-02 1.84305102e-02 2.69594108e+01] [ 5.97741948e-02 9.98211810e-01 4.77928498e-04 1.38256705e+00] [-1.84261200e-02 6.24676265e-04 9.99830029e-01 -5.28618178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204391417999997 meters 0.026472447975522184 Centerline is valid? [True, True] Translation: X:27.02, Y:1.38, Z:-0.53 [[ 9.97686576e-01 -6.55097077e-02 1.81652048e-02 2.70202624e+01] [ 6.55120648e-02 9.97851668e-01 4.65921519e-04 1.37701828e+00] [-1.81567023e-02 7.25196430e-04 9.99834890e-01 -5.32102530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264391417999995 meters 0.0313353567639908 Centerline is valid? [True, True] Translation: X:27.08, Y:1.37, Z:-0.54 [[ 9.97330058e-01 -7.12444287e-02 1.60308021e-02 2.70808351e+01] [ 7.12470078e-02 9.97458618e-01 4.10889944e-04 1.36654307e+00] [-1.60193353e-02 7.32353789e-04 9.99871414e-01 -5.36364550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324391417999998 meters 0.03431581162764244 Centerline is valid? [True, True] Translation: X:27.14, Y:1.36, Z:-0.54 [[ 9.96867897e-01 -7.77919828e-02 1.42408706e-02 2.71418931e+01] [ 7.77946880e-02 9.96969334e-01 3.64736758e-04 1.36058614e+00] [-1.42260848e-02 7.44269717e-04 9.99898527e-01 -5.39259069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384391417999996 meters 0.03694035276741993 Centerline is valid? [True, True] Translation: X:27.20, Y:1.35, Z:-0.54 [[ 9.96611243e-01 -8.10585708e-02 1.39835139e-02 2.72024106e+01] [ 8.10614996e-02 9.96709037e-01 3.58148976e-04 1.35490793e+00] [-1.39665257e-02 7.76589310e-04 9.99902162e-01 -5.40024389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444391417999995 meters 0.03631364470824604 Centerline is valid? [True, True] Translation: X:27.26, Y:1.35, Z:-0.54 [[ 9.96166228e-01 -8.64077073e-02 1.36584592e-02 2.72636133e+01] [ 8.64110071e-02 9.96259512e-01 3.49477523e-04 1.35184267e+00] [-1.36375675e-02 8.32103510e-04 9.99906658e-01 -5.41351304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504391417999997 meters 0.038667364021560076 Centerline is valid? [True, True] Translation: X:27.32, Y:1.35, Z:-0.54 [[ 9.95946712e-01 -8.89275780e-02 1.34919617e-02 2.73249168e+01] [ 8.89310260e-02 9.96037727e-01 3.45367264e-04 1.34711580e+00] [-1.34692155e-02 8.55886601e-04 9.99908920e-01 -5.42134617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564391417999996 meters 0.03833063358321715 Centerline is valid? [True, True] Translation: X:27.39, Y:1.35, Z:-0.54 [[ 9.96074236e-01 -8.73173280e-02 1.45534038e-02 2.73863410e+01] [ 8.73211784e-02 9.96180141e-01 3.71878378e-04 1.34534183e+00] [-1.45302833e-02 9.00401897e-04 9.99894024e-01 -5.43086835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624391417999995 meters 0.03703552255375993 Centerline is valid? [True, True] Translation: X:27.45, Y:1.35, Z:-0.55 [[ 9.96233210e-01 -8.53969196e-02 1.50584420e-02 2.74483022e+01] [ 8.54008296e-02 9.96346602e-01 3.84367831e-04 1.34599136e+00] [-1.50362513e-02 9.03083439e-04 9.99886541e-01 -5.45165848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684391417999997 meters 0.037664517717166335 Centerline is valid? [True, True] Translation: X:27.51, Y:1.35, Z:-0.54 [[ 9.96308257e-01 -8.43383953e-02 1.60278437e-02 2.75107800e+01] [ 8.43426970e-02 9.96436723e-01 4.08590885e-04 1.34533236e+00] [-1.60051919e-02 9.44749091e-04 9.99871462e-01 -5.44117206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744391417999996 meters 0.036574894671009155 Centerline is valid? [True, True] Translation: X:27.57, Y:1.34, Z:-0.54 [[ 9.96422767e-01 -8.28544079e-02 1.66378196e-02 2.75729410e+01] [ 8.28589192e-02 9.96561199e-01 4.19203146e-04 1.34406835e+00] [-1.66153382e-02 9.60888187e-04 9.99861494e-01 -5.44367905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804391417999998 meters 0.03620672198003985 Centerline is valid? [True, True] Translation: X:27.64, Y:1.34, Z:-0.55 [[ 9.96509743e-01 -8.21769195e-02 1.46726501e-02 2.76356989e+01] [ 8.21804163e-02 9.96617402e-01 3.65474948e-04 1.34023576e+00] [-1.46530521e-02 8.41605150e-04 9.99892284e-01 -5.48576565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864391417999997 meters 0.03761850898789869 Centerline is valid? [True, True] Translation: X:27.70, Y:1.34, Z:-0.55 [[ 9.96326273e-01 -8.47132540e-02 1.25547623e-02 2.76968276e+01] [ 8.47160463e-02 9.96405086e-01 3.10192393e-04 1.33565226e+00] [-1.25359064e-02 7.54536990e-04 9.99921138e-01 -5.50940039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924391417999995 meters 0.037000209858725513 Centerline is valid? [True, True] Translation: X:27.76, Y:1.33, Z:-0.55 [[ 9.96183638e-01 -8.65153079e-02 1.15438923e-02 2.77585241e+01] [ 8.65177794e-02 9.96250266e-01 2.86060330e-04 1.33210269e+00] [-1.15253544e-02 7.13783310e-04 9.99933326e-01 -5.53718258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984391417999998 meters 0.03705933105093502 Centerline is valid? [True, True] Translation: X:27.82, Y:1.33, Z:-0.55 [[ 9.96241945e-01 -8.57267164e-02 1.23659647e-02 2.78204317e+01] [ 8.57294996e-02 9.96318403e-01 3.05815635e-04 1.33079725e+00] [-1.23466547e-02 7.55461599e-04 9.99923492e-01 -5.54656527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044391417999996 meters 0.03827815189910881 Centerline is valid? [True, True] Translation: X:27.88, Y:1.33, Z:-0.55 [[ 9.96295109e-01 -8.50049298e-02 1.30467273e-02 2.78822157e+01] [ 8.50080224e-02 9.96380216e-01 3.18342965e-04 1.32620196e+00] [-1.30265617e-02 7.91912947e-04 9.99914837e-01 -5.54292997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104391417999995 meters 0.038876566443884666 Centerline is valid? [True, True] Translation: X:27.94, Y:1.32, Z:-0.56 [[ 9.96278724e-01 -8.52756039e-02 1.25210027e-02 2.79447097e+01] [ 8.52785105e-02 9.96357107e-01 3.02561536e-04 1.32381742e+00] [-1.25011911e-02 7.66336839e-04 9.99921563e-01 -5.56265524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164391417999997 meters 0.042115214502502114 Centerline is valid? [True, True] Translation: X:28.01, Y:1.32, Z:-0.56 [[ 9.96136303e-01 -8.68660918e-02 1.29131131e-02 2.80064453e+01] [ 8.68693800e-02 9.96219663e-01 3.07101676e-04 1.31551496e+00] [-1.28909739e-02 8.15839005e-04 9.99916575e-01 -5.57226754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224391417999996 meters 0.043237386756205705 Centerline is valid? [True, True] Translation: X:28.07, Y:1.31, Z:-0.56 [[ 9.95965899e-01 -8.84397924e-02 1.51766944e-02 2.80685060e+01] [ 8.84445593e-02 9.96081037e-01 3.58122709e-04 1.30873578e+00] [-1.51488898e-02 9.85618044e-04 9.99884763e-01 -5.58025428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284391417999995 meters 0.04472748390059555 Centerline is valid? [True, True] Translation: X:28.13, Y:1.31, Z:-0.56 [[ 9.95964213e-01 -8.88362190e-02 1.27833076e-02 2.81311345e+01] [ 8.88396239e-02 9.96045897e-01 3.02382267e-04 1.30565744e+00] [-1.27596236e-02 8.34502323e-04 9.99918244e-01 -5.59997018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344391417999997 meters 0.0409519452345221 Centerline is valid? [True, True] Translation: X:28.19, Y:1.31, Z:-0.56 [[ 9.96016087e-01 -8.83418791e-02 1.21518246e-02 2.81944738e+01] [ 8.83449503e-02 9.96089900e-01 2.84878757e-04 1.30883391e+00] [-1.21294765e-02 7.89808516e-04 9.99926123e-01 -5.61564964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404391417999996 meters 0.04775670044344777 Centerline is valid? [True, True] Translation: X:28.25, Y:1.30, Z:-0.56 [[ 9.96127370e-01 -8.67679476e-02 1.41981057e-02 2.82548383e+01] [ 8.67720896e-02 9.96228136e-01 3.25203996e-04 1.29610616e+00] [-1.41727697e-02 9.08054703e-04 9.99899149e-01 -5.63900062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464391417999995 meters 0.042022340868671446 Centerline is valid? [True, True] Translation: X:28.32, Y:1.30, Z:-0.56 [[ 9.96301986e-01 -8.45137713e-02 1.54846439e-02 2.83166473e+01] [ 8.45184292e-02 9.96421853e-01 3.54528510e-04 1.30413184e+00] [-1.54592001e-02 9.55520318e-04 9.99880043e-01 -5.62877278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524391417999997 meters 0.04275381427348997 Centerline is valid? [True, True] Translation: X:28.38, Y:1.30, Z:-0.57 [[ 9.96427372e-01 -8.34313629e-02 1.31034288e-02 2.83782718e+01] [ 8.34345938e-02 9.96513210e-01 3.00851088e-04 1.30124726e+00] [-1.30828403e-02 7.93503000e-04 9.99914101e-01 -5.67002022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584391417999996 meters 0.038089762979192844 Centerline is valid? [True, True] Translation: X:28.44, Y:1.31, Z:-0.57 [[ 9.96435639e-01 -8.33365853e-02 1.30778533e-02 2.84415533e+01] [ 8.33398313e-02 9.96521141e-01 2.97526818e-04 1.30535930e+00] [-1.30571521e-02 7.93439762e-04 9.99914437e-01 -5.66144008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644391417999998 meters 0.03911915754055663 Centerline is valid? [True, True] Translation: X:28.50, Y:1.31, Z:-0.56 [[ 9.96415312e-01 -8.32549189e-02 1.50048238e-02 2.85038675e+01] [ 8.32592906e-02 9.96527862e-01 3.34179678e-04 1.30501854e+00] [-1.49805471e-02 9.16309237e-04 9.99887365e-01 -5.64795858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704391417999997 meters 0.040552137667433666 Centerline is valid? [True, True] Translation: X:28.57, Y:1.30, Z:-0.57 [[ 9.96312879e-01 -8.45358901e-02 1.46400437e-02 2.85658572e+01] [ 8.45402062e-02 9.96420016e-01 3.24916033e-04 1.30236674e+00] [-1.46150996e-02 9.13954282e-04 9.99892776e-01 -5.67126732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764391417999995 meters 0.03792935167882874 Centerline is valid? [True, True] Translation: X:28.63, Y:1.31, Z:-0.57 [[ 9.96254705e-01 -8.53126544e-02 1.40823623e-02 2.86281686e+01] [ 8.53167209e-02 9.96353832e-01 3.12836698e-04 1.30526887e+00] [-1.40577045e-02 8.89795939e-04 9.99900790e-01 -5.68685228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824391417999998 meters 0.04177281741800308 Centerline is valid? [True, True] Translation: X:28.69, Y:1.30, Z:-0.57 [[ 9.95900806e-01 -8.97202957e-02 1.14827583e-02 2.86878421e+01] [ 8.97233481e-02 9.95966695e-01 2.50089524e-04 1.29792542e+00] [-1.14588829e-02 7.81207162e-04 9.99934040e-01 -5.72455516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884391417999996 meters 0.04429640621252391 Centerline is valid? [True, True] Translation: X:28.75, Y:1.30, Z:-0.57 [[ 9.95627911e-01 -9.28441308e-02 1.02484354e-02 2.87485753e+01] [ 9.28467218e-02 9.95680389e-01 2.23697542e-04 1.29524517e+00] [-1.02249352e-02 7.28814117e-04 9.99947458e-01 -5.73704952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944391417999995 meters 0.04529043002953641 Centerline is valid? [True, True] Translation: X:28.81, Y:1.29, Z:-0.57 [[ 9.95248403e-01 -9.66991058e-02 1.13973474e-02 2.88090200e+01] [ 9.67025650e-02 9.95313293e-01 2.48481949e-04 1.29132895e+00] [-1.13679594e-02 8.54851466e-04 9.99935017e-01 -5.73507867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004391417999997 meters 0.04541730790389891 Centerline is valid? [True, True] Translation: X:28.87, Y:1.29, Z:-0.58 [[ 9.95241455e-01 -9.68917108e-02 1.03171304e-02 2.88709290e+01] [ 9.68945504e-02 9.95294627e-01 2.25437094e-04 1.29308108e+00] [-1.02904274e-02 7.75309369e-04 9.99946752e-01 -5.75303803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064391417999996 meters 0.04865487926967904 Centerline is valid? [True, True] Translation: X:28.93, Y:1.29, Z:-0.58 [[ 9.95454886e-01 -9.46889569e-02 1.01769758e-02 2.89317975e+01] [ 9.46916182e-02 9.95506629e-01 2.21121202e-04 1.29301173e+00] [-1.01521846e-02 7.43558128e-04 9.99948189e-01 -5.76573357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124391417999995 meters 0.04129073391245406 Centerline is valid? [True, True] Translation: X:28.99, Y:1.30, Z:-0.58 [[ 9.96028913e-01 -8.83195539e-02 1.12277049e-02 2.89920737e+01] [ 8.83223994e-02 9.96091911e-01 2.43123477e-04 1.30381171e+00] [-1.12052986e-02 7.49499826e-04 9.99936938e-01 -5.77222666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184391417999997 meters 0.039051648683955754 Centerline is valid? [True, True] Translation: X:29.05, Y:1.31, Z:-0.58 [[ 9.96509769e-01 -8.25965029e-02 1.20871255e-02 2.90525850e+01] [ 8.25993834e-02 9.96582798e-01 2.61555371e-04 1.31175584e+00] [-1.20674249e-02 7.37746630e-04 9.99926914e-01 -5.76911830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244391417999996 meters 0.038263650850687496 Centerline is valid? [True, True] Translation: X:29.11, Y:1.32, Z:-0.58 [[ 9.96809785e-01 -7.87969155e-02 1.27003440e-02 2.91127432e+01] [ 7.87997901e-02 9.96890424e-01 2.74689179e-04 1.31853602e+00] [-1.26824960e-02 7.26971580e-04 9.99919310e-01 -5.77067147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304391417999994 meters 0.03437351246996097 Centerline is valid? [True, True] Translation: X:29.17, Y:1.33, Z:-0.58 [[ 9.97109244e-01 -7.46746127e-02 1.40306347e-02 2.91731965e+01] [ 7.46777124e-02 9.97207675e-01 3.03593923e-04 1.32740462e+00] [-1.40141274e-02 7.45059399e-04 9.99901520e-01 -5.77985944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364391417999997 meters 0.032128806488020016 Centerline is valid? [True, True] Translation: X:29.23, Y:1.33, Z:-0.58 [[ 9.97252904e-01 -7.26631745e-02 1.43773389e-02 2.92348080e+01] [ 7.26662214e-02 9.97356267e-01 3.11049495e-04 1.33491192e+00] [-1.43619309e-02 7.34551879e-04 9.99896592e-01 -5.77250448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424391417999995 meters 0.0348520098992178 Centerline is valid? [True, True] Translation: X:29.30, Y:1.34, Z:-0.58 [[ 9.97259081e-01 -7.26659925e-02 1.39275958e-02 2.92959998e+01] [ 7.26688450e-02 9.97356079e-01 3.01822122e-04 1.33875708e+00] [-1.39127046e-02 7.11107451e-04 9.99902961e-01 -5.78658373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484391417999998 meters 0.03442320572375183 Centerline is valid? [True, True] Translation: X:29.36, Y:1.34, Z:-0.58 [[ 9.97126386e-01 -7.46073459e-02 1.31420593e-02 2.93580602e+01] [ 7.46101124e-02 9.97212742e-01 2.80337614e-04 1.34248809e+00] [-1.31263442e-02 7.00998487e-04 9.99913600e-01 -5.82526487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544391417999996 meters 0.038595628173239506 Centerline is valid? [True, True] Translation: X:29.42, Y:1.34, Z:-0.58 [[ 9.96559750e-01 -8.20203230e-02 1.18882878e-02 2.94192626e+01] [ 8.20231265e-02 9.96630394e-01 2.52383838e-04 1.33757537e+00] [-1.18689295e-02 7.23598956e-04 9.99929300e-01 -5.84888661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604391417999995 meters 0.04319469161684366 Centerline is valid? [True, True] Translation: X:29.48, Y:1.34, Z:-0.58 [[ 9.95885892e-01 -8.98935911e-02 1.14206729e-02 2.94803780e+01] [ 8.98966990e-02 9.95951066e-01 2.41982031e-04 1.33755730e+00] [-1.13961840e-02 7.85694303e-04 9.99934753e-01 -5.84099315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664391417999997 meters 0.04994691425759555 Centerline is valid? [True, True] Translation: X:29.54, Y:1.33, Z:-0.59 [[ 9.95412360e-01 -9.50479196e-02 1.09601902e-02 2.95402462e+01] [ 9.50510958e-02 9.95472368e-01 2.31924555e-04 1.33131839e+00] [-1.09326104e-02 8.10917520e-04 9.99939908e-01 -5.87507764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724391417999996 meters 0.05122571886046146 Centerline is valid? [True, True] Translation: X:29.60, Y:1.33, Z:-0.59 [[ 9.95083459e-01 -9.84626573e-02 1.06777429e-02 2.96007404e+01] [ 9.84658710e-02 9.95140403e-01 2.25601644e-04 1.33065582e+00] [-1.06480667e-02 8.26900791e-04 9.99942966e-01 -5.88329500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784391417999995 meters 0.05349176736421743 Centerline is valid? [True, True] Translation: X:29.66, Y:1.33, Z:-0.59 [[ 9.94705366e-01 -1.02374627e-01 8.98172226e-03 2.96612746e+01] [ 1.02377060e-01 9.94745647e-01 1.89656292e-04 1.33289099e+00] [-8.95394511e-03 7.30870189e-04 9.99959646e-01 -5.89322050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844391417999997 meters 0.04684271602349227 Centerline is valid? [True, True] Translation: X:29.72, Y:1.34, Z:-0.59 [[ 9.94655341e-01 -1.02866694e-01 8.89919269e-03 2.97227822e+01] [ 1.02869075e-01 9.94694886e-01 1.91014767e-04 1.34432304e+00] [-8.87163052e-03 7.25457861e-04 9.99960383e-01 -5.89586303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904391417999996 meters 0.048296668186730944 Centerline is valid? [True, True] Translation: X:29.79, Y:1.35, Z:-0.59 [[ 9.94714553e-01 -1.02064349e-01 1.12172099e-02 2.97855402e+01] [ 1.02068144e-01 9.94777381e-01 2.35139821e-04 1.34655898e+00] [-1.11826260e-02 9.11022787e-04 9.99937057e-01 -5.87622625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964391417999995 meters 0.04725353156429399 Centerline is valid? [True, True] Translation: X:29.85, Y:1.35, Z:-0.59 [[ 9.94939975e-01 -9.97223780e-02 1.22430587e-02 2.98461518e+01] [ 9.97267640e-02 9.95014828e-01 2.53256262e-04 1.35171656e+00] [-1.22072803e-02 9.68985847e-04 9.99925019e-01 -5.87311181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024391417999997 meters 0.04751101689605441 Centerline is valid? [True, True] Translation: X:29.91, Y:1.35, Z:-0.59 [[ 9.95205436e-01 -9.68878660e-02 1.33746968e-02 2.99059522e+01] [ 9.68928522e-02 9.95294780e-01 2.76201136e-04 1.35417223e+00] [-1.33385265e-02 1.02103565e-03 9.99910517e-01 -5.87219971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084391417999996 meters 0.04973156096954404 Centerline is valid? [True, True] Translation: X:29.97, Y:1.35, Z:-0.59 [[ 9.95348095e-01 -9.56204426e-02 1.17856216e-02 2.99671720e+01] [ 9.56241993e-02 9.95417476e-01 2.45650037e-04 1.35266936e+00] [-1.17551029e-02 8.82483330e-04 9.99930517e-01 -5.91278469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144391417999998 meters 0.04867301830165241 Centerline is valid? [True, True] Translation: X:30.03, Y:1.36, Z:-0.59 [[ 9.95311437e-01 -9.61544945e-02 1.04621485e-02 3.00294004e+01] [ 9.61575038e-02 9.95366107e-01 2.16168008e-04 1.35616688e+00] [-1.04344535e-02 7.90859589e-04 9.99945247e-01 -5.92763165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204391417999997 meters 0.05278695094345924 Centerline is valid? [True, True] Translation: X:30.09, Y:1.35, Z:-0.60 [[ 9.95094745e-01 -9.84493209e-02 9.70458134e-03 3.00894358e+01] [ 9.84520701e-02 9.95141775e-01 1.95197038e-04 1.35048206e+00] [-9.67665131e-03 7.61196575e-04 9.99952890e-01 -5.95668681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264391417999995 meters 0.047043182231491405 Centerline is valid? [True, True] Translation: X:30.15, Y:1.36, Z:-0.60 [[ 9.95085787e-01 -9.85448268e-02 9.65371584e-03 3.01516682e+01] [ 9.85475214e-02 9.95132326e-01 1.97320079e-04 1.35927028e+00] [-9.62616957e-03 7.54999363e-04 9.99953382e-01 -5.95037384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324391417999998 meters 0.04795872501041988 Centerline is valid? [True, True] Translation: X:30.21, Y:1.36, Z:-0.60 [[ 9.95231506e-01 -9.70717630e-02 9.55626416e-03 3.02117492e+01] [ 9.70743898e-02 9.95277111e-01 1.89679267e-04 1.36114589e+00] [-9.52954348e-03 7.38893730e-04 9.99954320e-01 -5.96395899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384391417999996 meters 0.04419612814164969 Centerline is valid? [True, True] Translation: X:30.27, Y:1.37, Z:-0.60 [[ 9.95630449e-01 -9.28795135e-02 9.66461144e-03 3.02724074e+01] [ 9.28820073e-02 9.95677104e-01 1.91462144e-04 1.36703990e+00] [-9.64061524e-03 7.07042969e-04 9.99953278e-01 -5.98107912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444391417999995 meters 0.04548511927953755 Centerline is valid? [True, True] Translation: X:30.33, Y:1.37, Z:-0.60 [[ 9.95882505e-01 -9.01566777e-02 9.47684199e-03 3.03318930e+01] [ 9.01589559e-02 9.95927371e-01 1.87419517e-04 1.36903630e+00] [-9.45514345e-03 6.67774361e-04 9.99955076e-01 -5.99501861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504391417999997 meters 0.04541033471595663 Centerline is valid? [True, True] Translation: X:30.39, Y:1.37, Z:-0.60 [[ 9.95972270e-01 -8.91594201e-02 9.47809709e-03 3.03937068e+01] [ 8.91616210e-02 9.96017153e-01 1.90924723e-04 1.37160919e+00] [-9.45737002e-03 6.54926771e-04 9.99955064e-01 -6.00255545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564391417999996 meters 0.04819040295671104 Centerline is valid? [True, True] Translation: X:30.45, Y:1.37, Z:-0.60 [[ 9.95925800e-01 -8.95577287e-02 1.05457930e-02 3.04547605e+01] [ 8.95605158e-02 9.95981361e-01 2.08630351e-04 1.36903949e+00] [-1.05220978e-02 7.36706314e-04 9.99944370e-01 -6.02074736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624391417999995 meters 0.05038027110330348 Centerline is valid? [True, True] Translation: X:30.52, Y:1.37, Z:-0.60 [[ 9.95777190e-01 -9.10318871e-02 1.18736592e-02 3.05172868e+01] [ 9.10355859e-02 9.95847614e-01 2.29720667e-04 1.36784612e+00] [-1.18452671e-02 8.52174922e-04 9.99929479e-01 -6.02029802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684391417999997 meters 0.05177234081387218 Centerline is valid? [True, True] Translation: X:30.58, Y:1.37, Z:-0.60 [[ 9.95712206e-01 -9.17678950e-02 1.16557482e-02 3.05789955e+01] [ 9.17715020e-02 9.95780066e-01 2.26150742e-04 1.36645521e+00] [-1.16273151e-02 8.44484469e-04 9.99932044e-01 -6.04200092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744391417999996 meters 0.05625898587770289 Centerline is valid? [True, True] Translation: X:30.64, Y:1.36, Z:-0.61 [[ 9.95331799e-01 -9.58996734e-02 1.08564659e-02 3.06395288e+01] [ 9.59030974e-02 9.95390654e-01 2.05979359e-04 1.36019933e+00] [-1.08261780e-02 8.36150899e-04 9.99941046e-01 -6.06920415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804391417999994 meters 0.058894696206589714 Centerline is valid? [True, True] Translation: X:30.70, Y:1.36, Z:-0.61 [[ 9.95211026e-01 -9.70128179e-02 1.19802334e-02 3.07012859e+01] [ 9.70170444e-02 9.95282694e-01 2.29242674e-04 1.35822407e+00] [-1.19459584e-02 9.34141999e-04 9.99928208e-01 -6.07048110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864391417999997 meters 0.05202555934687306 Centerline is valid? [True, True] Translation: X:30.76, Y:1.37, Z:-0.61 [[ 9.95164429e-01 -9.74235346e-02 1.25065664e-02 3.07629287e+01] [ 9.74282109e-02 9.95242527e-01 2.36269844e-04 1.36674617e+00] [-1.24700850e-02 9.83365046e-04 9.99921762e-01 -6.09156698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924391417999995 meters 0.05291018491999477 Centerline is valid? [True, True] Translation: X:30.82, Y:1.37, Z:-0.61 [[ 9.95058385e-01 -9.84763748e-02 1.26970034e-02 3.08249354e+01] [ 9.84813403e-02 9.95138870e-01 2.35083887e-04 1.36650299e+00] [-1.26584318e-02 1.01649572e-03 9.99919362e-01 -6.08021669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984391417999998 meters 0.05324739183687478 Centerline is valid? [True, True] Translation: X:30.89, Y:1.37, Z:-0.61 [[ 9.95339014e-01 -9.55488671e-02 1.30637416e-02 3.08855614e+01] [ 9.55538928e-02 9.95424229e-01 2.40350313e-04 1.36781131e+00] [-1.30269301e-02 1.00906132e-03 9.99914637e-01 -6.12098366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04439141799999 meters 0.05065076678594908 Centerline is valid? [True, True] Translation: X:30.95, Y:1.37, Z:-0.61 [[ 9.95552582e-01 -9.32898930e-02 1.31168830e-02 3.09466778e+01] [ 9.32947661e-02 9.95638503e-01 2.41223280e-04 1.37082029e+00] [-1.30821775e-02 9.83586074e-04 9.99913941e-01 -6.14964693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10439141799999 meters 0.04338124527929003 Centerline is valid? [True, True] Translation: X:31.01, Y:1.38, Z:-0.61 [[ 9.95927262e-01 -8.91990735e-02 1.31306836e-02 3.10072231e+01] [ 8.92036130e-02 9.96013382e-01 2.40722345e-04 1.38340802e+00] [-1.30998087e-02 9.31562468e-04 9.99913760e-01 -6.12812477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164391417999994 meters 0.04192532565806689 Centerline is valid? [True, True] Translation: X:31.07, Y:1.39, Z:-0.61 [[ 9.96403734e-01 -8.36726794e-02 1.33596914e-02 3.10667899e+01] [ 8.36768884e-02 9.96492909e-01 2.44594683e-04 1.39014325e+00] [-1.33333036e-02 8.74182346e-04 9.99910725e-01 -6.13954786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22439141799999 meters 0.041895063666241905 Centerline is valid? [True, True] Translation: X:31.13, Y:1.39, Z:-0.62 [[ 9.96582495e-01 -8.13833794e-02 1.41448140e-02 3.11276348e+01] [ 8.13878580e-02 9.96682472e-01 2.59676452e-04 1.38985274e+00] [-1.41190216e-02 8.92427109e-04 9.99899923e-01 -6.16437213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28439141799999 meters 0.04214334009504335 Centerline is valid? [True, True] Translation: X:31.19, Y:1.39, Z:-0.62 [[ 9.96577182e-01 -8.12334433e-02 1.53312727e-02 3.11903455e+01] [ 8.12386757e-02 9.96694636e-01 2.82217923e-04 1.39148933e+00] [-1.53035228e-02 9.64240351e-04 9.99882429e-01 -6.17279573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344391417999994 meters 0.04317979282154442 Centerline is valid? [True, True] Translation: X:31.25, Y:1.39, Z:-0.62 [[ 9.96610082e-01 -8.07012560e-02 1.59890853e-02 3.12522173e+01] [ 8.07069665e-02 9.96737830e-01 2.88833587e-04 1.39372779e+00] [-1.59602355e-02 1.00257611e-03 9.99872125e-01 -6.18112357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404391417999996 meters 0.04492303869503742 Centerline is valid? [True, True] Translation: X:31.31, Y:1.39, Z:-0.62 [[ 9.96477767e-01 -8.22414673e-02 1.63829273e-02 3.13138314e+01] [ 8.22477466e-02 9.96611872e-01 2.91269632e-04 1.39276835e+00] [-1.63513743e-02 1.05721514e-03 9.99865748e-01 -6.19920894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46439141799999 meters 0.0468439292154986 Centerline is valid? [True, True] Translation: X:31.37, Y:1.39, Z:-0.62 [[ 9.96050466e-01 -8.71135758e-02 1.71666475e-02 3.13748734e+01] [ 8.71212826e-02 9.96197667e-01 2.99815953e-04 1.38943966e+00] [-1.71274922e-02 1.19694853e-03 9.99852597e-01 -6.21345433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52439141799999 meters 0.044920258990483866 Centerline is valid? [True, True] Translation: X:31.43, Y:1.39, Z:-0.62 [[ 9.95628040e-01 -9.17149529e-02 1.76967081e-02 3.14349912e+01] [ 9.17238669e-02 9.95784433e-01 3.09017691e-04 1.39297588e+00] [-1.76504480e-02 1.31554382e-03 9.99843353e-01 -6.20939250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584391417999996 meters 0.04701911126421164 Centerline is valid? [True, True] Translation: X:31.50, Y:1.39, Z:-0.62 [[ 9.95594052e-01 -9.20451712e-02 1.78932916e-02 3.14970472e+01] [ 9.20543319e-02 9.95753937e-01 3.12754851e-04 1.39054041e+00] [-1.78461031e-02 1.33577813e-03 9.99839853e-01 -6.23249693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64439141799999 meters 0.04839480483844788 Centerline is valid? [True, True] Translation: X:31.56, Y:1.39, Z:-0.63 [[ 9.95560745e-01 -9.24019202e-02 1.79077837e-02 3.15589677e+01] [ 9.24112438e-02 9.95720878e-01 3.07934096e-04 1.38763740e+00] [-1.78596078e-02 1.34831347e-03 9.99839595e-01 -6.25601629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70439141799999 meters 0.05055929461682099 Centerline is valid? [True, True] Translation: X:31.62, Y:1.39, Z:-0.63 [[ 9.95574878e-01 -9.22557821e-02 1.78754701e-02 3.16212454e+01] [ 9.22651369e-02 9.95734429e-01 3.02427275e-04 1.38521470e+00] [-1.78271217e-02 1.34819370e-03 9.99840175e-01 -6.26733378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764391417999995 meters 0.0497443533932405 Centerline is valid? [True, True] Translation: X:31.68, Y:1.39, Z:-0.63 [[ 9.95680707e-01 -9.09366800e-02 1.87202910e-02 3.16826344e+01] [ 9.09468257e-02 9.95855702e-01 3.10437963e-04 1.38694994e+00] [-1.86709387e-02 1.39345395e-03 9.99824712e-01 -6.27837418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82439141799999 meters 0.04688773250267789 Centerline is valid? [True, True] Translation: X:31.74, Y:1.39, Z:-0.63 [[ 9.95819905e-01 -8.91522096e-02 1.98645573e-02 3.17444888e+01] [ 8.91632972e-02 9.96016967e-01 3.28593071e-04 1.39028977e+00] [-1.98147309e-02 1.44396991e-03 9.99802626e-01 -6.28251169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88439141799999 meters 0.04560265416109423 Centerline is valid? [True, True] Translation: X:31.81, Y:1.39, Z:-0.63 [[ 9.95843837e-01 -8.88444632e-02 2.00427800e-02 3.18077830e+01] [ 8.88557102e-02 9.96044454e-01 3.30462518e-04 1.39267612e+00] [-1.99928596e-02 1.45182639e-03 9.99799069e-01 -6.28769110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944391417999995 meters 0.04384227995367429 Centerline is valid? [True, True] Translation: X:31.87, Y:1.39, Z:-0.63 [[ 9.95911129e-01 -8.80819855e-02 2.00645741e-02 3.18700986e+01] [ 8.80932336e-02 9.96112181e-01 3.24301675e-04 1.39482929e+00] [-2.00151318e-02 1.44457757e-03 9.99798634e-01 -6.30295985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00439141799999 meters 0.043543353484649015 Centerline is valid? [True, True] Translation: X:31.93, Y:1.39, Z:-0.64 [[ 9.95757729e-01 -9.00764009e-02 1.87826349e-02 3.19309295e+01] [ 9.00867115e-02 9.95933881e-01 2.98159106e-04 1.39335455e+00] [-1.87331196e-02 1.39517158e-03 9.99823546e-01 -6.35037914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06439141799999 meters 0.04659835391829087 Centerline is valid? [True, True] Translation: X:31.99, Y:1.39, Z:-0.63 [[ 9.95331102e-01 -9.44347629e-02 1.99517762e-02 3.19911860e+01] [ 9.44472946e-02 9.95529813e-01 3.15361362e-04 1.38846575e+00] [-1.98923691e-02 1.57050232e-03 9.99800894e-01 -6.33880381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124391417999995 meters 0.0480375240669371 Centerline is valid? [True, True] Translation: X:32.05, Y:1.39, Z:-0.63 [[ 9.95137837e-01 -9.63429528e-02 2.04626642e-02 3.20520437e+01] [ 9.63565292e-02 9.95346831e-01 3.23747372e-04 1.38564646e+00] [-2.03986387e-02 1.64953804e-03 9.99790565e-01 -6.34668710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18439141799999 meters 0.051886681674776725 Centerline is valid? [True, True] Translation: X:32.11, Y:1.38, Z:-0.64 [[ 9.94950491e-01 -9.81001561e-02 2.12103584e-02 3.21124504e+01] [ 9.81151493e-02 9.95175012e-01 3.35121500e-04 1.37876566e+00] [-2.11408941e-02 1.74762818e-03 9.99774979e-01 -6.36528121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24439141799999 meters 0.04963443200175828 Centerline is valid? [True, True] Translation: X:32.17, Y:1.38, Z:-0.64 [[ 9.94978343e-01 -9.80764311e-02 1.99777513e-02 3.21744892e+01] [ 9.80897315e-02 9.95177524e-01 3.15420292e-04 1.37982896e+00] [-1.99123444e-02 1.64577590e-03 9.99800375e-01 -6.39512003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304391417999994 meters 0.05065183587236792 Centerline is valid? [True, True] Translation: X:32.23, Y:1.38, Z:-0.64 [[ 9.95374496e-01 -9.44220105e-02 1.77227898e-02 3.22344662e+01] [ 9.44319953e-02 9.95531277e-01 2.74505904e-04 1.38080382e+00] [-1.76695110e-02 1.40036223e-03 9.99842901e-01 -6.41915124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36439141799999 meters 0.04775847478170662 Centerline is valid? [True, True] Translation: X:32.29, Y:1.38, Z:-0.64 [[ 9.95760698e-01 -9.02887082e-02 1.75664652e-02 3.22949569e+01] [ 9.02978738e-02 9.95914765e-01 2.72325385e-04 1.38478517e+00] [-1.75192899e-02 1.31504354e-03 9.99845661e-01 -6.43872722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42439141799999 meters 0.046074285889219246 Centerline is valid? [True, True] Translation: X:32.35, Y:1.39, Z:-0.64 [[ 9.96344144e-01 -8.33525204e-02 1.87270789e-02 3.23546338e+01] [ 8.33617213e-02 9.96519312e-01 2.90139982e-04 1.38957709e+00] [-1.86860797e-02 1.27204226e-03 9.99824591e-01 -6.43531413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484391417999994 meters 0.04156168588237941 Centerline is valid? [True, True] Translation: X:32.42, Y:1.40, Z:-0.64 [[ 9.97015038e-01 -7.46475893e-02 1.97168013e-02 3.24153769e+01] [ 7.46560913e-02 9.97209293e-01 3.05527584e-04 1.40132274e+00] [-1.96845843e-02 1.16736372e-03 9.99805558e-01 -6.42397531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54439141799999 meters 0.03484456363701607 Centerline is valid? [True, True] Translation: X:32.48, Y:1.41, Z:-0.64 [[ 9.97343580e-01 -7.02342898e-02 1.93113490e-02 3.24761598e+01] [ 7.02416242e-02 9.97529962e-01 2.99071342e-04 1.41242816e+00] [-1.92846543e-02 1.05818364e-03 9.99813474e-01 -6.44568895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60439141799999 meters 0.03342745112618107 Centerline is valid? [True, True] Translation: X:32.54, Y:1.42, Z:-0.65 [[ 9.97626474e-01 -6.63497004e-02 1.84156336e-02 3.25364605e+01] [ 6.63557172e-02 9.97795990e-01 2.84802381e-04 1.41808938e+00] [-1.83939419e-02 9.37856178e-04 9.99830377e-01 -6.48856518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664391417999994 meters 0.033140068166861936 Centerline is valid? [True, True] Translation: X:32.60, Y:1.42, Z:-0.65 [[ 9.97706284e-01 -6.50000885e-02 1.88986405e-02 3.25979897e+01] [ 6.50061755e-02 9.97884819e-01 2.92704790e-04 1.42107707e+00] [-1.88776923e-02 9.36494932e-04 9.99821362e-01 -6.47381152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72439141799999 meters 0.03122485049617729 Centerline is valid? [True, True] Translation: X:32.66, Y:1.43, Z:-0.65 [[ 9.97699925e-01 -6.51758834e-02 1.86269448e-02 3.26604678e+01] [ 6.51819149e-02 9.97873357e-01 2.83776869e-04 1.42577445e+00] [-1.86058274e-02 9.31015770e-04 9.99826463e-01 -6.49280851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78439141799999 meters 0.03386366189102518 Centerline is valid? [True, True] Translation: X:32.72, Y:1.42, Z:-0.65 [[ 9.97441210e-01 -6.93081531e-02 1.75331922e-02 3.27214957e+01] [ 6.93142300e-02 9.97594842e-01 2.61596718e-04 1.42317712e+00] [-1.75091529e-02 9.54372372e-04 9.99846248e-01 -6.51631170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844391417999994 meters 0.03599775433125916 Centerline is valid? [True, True] Translation: X:32.78, Y:1.42, Z:-0.65 [[ 9.97186444e-01 -7.30236639e-02 1.69334283e-02 3.27825246e+01] [ 7.30298715e-02 9.97329722e-01 2.52316708e-04 1.42197464e+00] [-1.69066364e-02 9.85039292e-04 9.99856587e-01 -6.52936554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90439141799999 meters 0.03935696201333207 Centerline is valid? [True, True] Translation: X:32.84, Y:1.42, Z:-0.66 [[ 9.96930785e-01 -7.64763488e-02 1.67444990e-02 3.28437466e+01] [ 7.64829093e-02 9.97070861e-01 2.49163615e-04 1.41696517e+00] [-1.67145071e-02 1.03226912e-03 9.99859770e-01 -6.57668250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96439141799999 meters 0.04062816062523581 Centerline is valid? [True, True] Translation: X:32.91, Y:1.42, Z:-0.66 [[ 9.96782654e-01 -7.83885412e-02 1.67205904e-02 3.29057254e+01] [ 7.83953412e-02 9.96922318e-01 2.49392298e-04 1.41658946e+00] [-1.66886793e-02 1.06222648e-03 9.99860170e-01 -6.56455218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02439141799999 meters 0.04104552262724211 Centerline is valid? [True, True] Translation: X:32.97, Y:1.42, Z:-0.66 [[ 9.97004166e-01 -7.59659126e-02 1.45558798e-02 3.29667540e+01] [ 7.59708726e-02 9.97110015e-01 2.12680787e-04 1.42013052e+00] [-1.45299700e-02 8.93779261e-04 9.99894035e-01 -6.60269224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084391417999996 meters 0.03889322336025822 Centerline is valid? [True, True] Translation: X:33.03, Y:1.42, Z:-0.66 [[ 9.97271708e-01 -7.24193573e-02 1.43030453e-02 3.30276577e+01] [ 7.24237926e-02 9.97373927e-01 2.08307092e-04 1.42451775e+00] [-1.42805700e-02 8.28142020e-04 9.99897685e-01 -6.62845787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14439141799999 meters 0.03645269397760293 Centerline is valid? [True, True] Translation: X:33.09, Y:1.43, Z:-0.66 [[ 9.97417101e-01 -7.02409376e-02 1.50112164e-02 3.30895831e+01] [ 7.02455786e-02 9.97529704e-01 2.18524968e-04 1.42971539e+00] [-1.49894837e-02 8.36511042e-04 9.99887301e-01 -6.61181240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20439141799999 meters 0.03281082927339647 Centerline is valid? [True, True] Translation: X:33.15, Y:1.44, Z:-0.66 [[ 9.97683541e-01 -6.60870990e-02 1.61259927e-02 3.31507949e+01] [ 6.60919338e-02 9.97813511e-01 2.33518097e-04 1.43885897e+00] [-1.61061659e-02 8.32820882e-04 9.99869940e-01 -6.60553075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264391417999995 meters 0.03377833549454347 Centerline is valid? [True, True] Translation: X:33.21, Y:1.44, Z:-0.66 [[ 9.98205202e-01 -5.74499045e-02 1.69080862e-02 3.32105195e+01] [ 5.74539904e-02 9.98348125e-01 2.44401573e-04 1.44198765e+00] [-1.68941970e-02 7.27474100e-04 9.99857018e-01 -6.61125769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32439141799999 meters 0.02609685971968698 Centerline is valid? [True, True] Translation: X:33.27, Y:1.46, Z:-0.66 [[ 9.98576227e-01 -5.01333038e-02 1.82255525e-02 3.32714332e+01] [ 5.01368335e-02 9.98742323e-01 2.63488777e-04 1.45723883e+00] [-1.82158402e-02 6.50657862e-04 9.99833866e-01 -6.60255952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38439141799999 meters 0.022694808087342172 Centerline is valid? [True, True] Translation: X:33.33, Y:1.47, Z:-0.66 [[ 9.98821611e-01 -4.52568903e-02 1.75272297e-02 3.33324688e+01] [ 4.52594046e-02 9.98975236e-01 2.53392462e-04 1.46870015e+00] [-1.75207362e-02 5.40178114e-04 9.99846354e-01 -6.61408428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444391417999995 meters 0.021059592992334134 Centerline is valid? [True, True] Translation: X:33.39, Y:1.47, Z:-0.67 [[ 9.98952910e-01 -4.29127549e-02 1.58612586e-02 3.33947812e+01] [ 4.29145091e-02 9.99078722e-01 2.29899196e-04 1.47399152e+00] [-1.58565116e-02 4.51019656e-04 9.99874176e-01 -6.65029277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50439141799999 meters 0.022960902431958818 Centerline is valid? [True, True] Translation: X:33.46, Y:1.47, Z:-0.67 [[ 9.98961808e-01 -4.31799731e-02 1.45188358e-02 3.34557518e+01] [ 4.31815355e-02 9.99067221e-01 2.06002935e-04 1.47435075e+00] [-1.45141881e-02 4.21156560e-04 9.99894575e-01 -6.68751735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56439141799999 meters 0.02453670415172883 Centerline is valid? [True, True] Translation: X:33.52, Y:1.48, Z:-0.67 [[ 9.98789735e-01 -4.71653527e-02 1.39461106e-02 3.35179876e+01] [ 4.71672175e-02 9.98886988e-01 1.95356552e-04 1.47778698e+00] [-1.39398024e-02 4.62679112e-04 9.99902729e-01 -6.70656232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624391417999995 meters 0.02573438111403178 Centerline is valid? [True, True] Translation: X:33.58, Y:1.48, Z:-0.67 [[ 9.98466733e-01 -5.31227945e-02 1.55612202e-02 3.35796001e+01] [ 5.31258638e-02 9.98587801e-01 2.16361856e-04 1.47743671e+00] [-1.55507384e-02 6.10673150e-04 9.99878893e-01 -6.68532101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68439141799999 meters 0.029898215273792245 Centerline is valid? [True, True] Translation: X:33.64, Y:1.47, Z:-0.67 [[ 9.98258367e-01 -5.67648194e-02 1.60620146e-02 3.36400107e+01] [ 5.67685724e-02 9.98387339e-01 2.22551390e-04 1.47412726e+00] [-1.60487452e-02 6.89653854e-04 9.99870973e-01 -6.69600308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74439141799999 meters 0.03224427564823946 Centerline is valid? [True, True] Translation: X:33.70, Y:1.47, Z:-0.67 [[ 9.97917542e-01 -6.25018363e-02 1.59405170e-02 3.37003051e+01] [ 6.25062686e-02 9.98044547e-01 2.20506444e-04 1.47289122e+00] [-1.59231281e-02 7.76334990e-04 9.99872918e-01 -6.70441378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804391417999994 meters 0.035071208590920916 Centerline is valid? [True, True] Translation: X:33.76, Y:1.47, Z:-0.67 [[ 9.97429109e-01 -7.00765274e-02 1.49817800e-02 3.37614077e+01] [ 7.00812939e-02 9.97541262e-01 2.07252318e-04 1.47018832e+00] [-1.49594673e-02 8.43223036e-04 9.99887745e-01 -6.72176315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86439141799999 meters 0.037172547838720094 Centerline is valid? [True, True] Translation: X:33.82, Y:1.47, Z:-0.68 [[ 9.97290837e-01 -7.23844705e-02 1.30948273e-02 3.38225879e+01] [ 7.23883147e-02 9.97376508e-01 1.80792828e-04 1.46665343e+00] [-1.30735597e-02 7.67609447e-04 9.99914243e-01 -6.75825194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92439141799999 meters 0.03763233892097458 Centerline is valid? [True, True] Translation: X:33.88, Y:1.47, Z:-0.68 [[ 9.97226606e-01 -7.34032434e-02 1.22906151e-02 3.38848630e+01] [ 7.34066876e-02 9.97302075e-01 1.71269792e-04 1.46754689e+00] [-1.22700277e-02 7.31418547e-04 9.99924453e-01 -6.79630664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984391417999994 meters 0.03710245807375202 Centerline is valid? [True, True] Translation: X:33.95, Y:1.47, Z:-0.68 [[ 9.97183224e-01 -7.38451158e-02 1.31345233e-02 3.39476486e+01] [ 7.38491417e-02 9.97269408e-01 1.78897360e-04 1.46824525e+00] [-1.31118690e-02 7.91579825e-04 9.99913722e-01 -6.76858895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04439141799999 meters 0.03895533544313985 Centerline is valid? [True, True] Translation: X:34.01, Y:1.47, Z:-0.68 [[ 9.97285120e-01 -7.24151305e-02 1.33580462e-02 3.40090571e+01] [ 7.24192215e-02 9.97374265e-01 1.77839574e-04 1.46633882e+00] [-1.33358498e-02 7.90022548e-04 9.99910762e-01 -6.78891642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10439141799999 meters 0.036685748763207744 Centerline is valid? [True, True] Translation: X:34.07, Y:1.47, Z:-0.68 [[ 9.97379902e-01 -7.09083008e-02 1.43298133e-02 3.40716158e+01] [ 7.09129270e-02 9.97482492e-01 1.85653572e-04 1.47060934e+00] [-1.43069023e-02 8.31001863e-04 9.99897306e-01 -6.79221267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164391417999994 meters 0.03662444496251798 Centerline is valid? [True, True] Translation: X:34.13, Y:1.47, Z:-0.68 [[ 9.97404609e-01 -7.05928373e-02 1.41667664e-02 3.41347895e+01] [ 7.05973269e-02 9.97504879e-01 1.83559197e-04 1.47218748e+00] [-1.41443766e-02 8.17053052e-04 9.99899629e-01 -6.80300651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22439141799999 meters 0.0369983289773055 Centerline is valid? [True, True] Translation: X:34.20, Y:1.47, Z:-0.68 [[ 9.97261838e-01 -7.26518415e-02 1.38035072e-02 3.41964801e+01] [ 7.26563649e-02 9.97357018e-01 1.74164145e-04 1.47143596e+00] [-1.37796781e-02 8.29225398e-04 9.99904712e-01 -6.80892861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28439141799999 meters 0.03994650443468864 Centerline is valid? [True, True] Translation: X:34.26, Y:1.47, Z:-0.69 [[ 9.96949352e-01 -7.69192751e-02 1.32444290e-02 3.42572957e+01] [ 7.69238826e-02 9.97036955e-01 1.61955671e-04 1.46544905e+00] [-1.32176427e-02 8.57351298e-04 9.99912276e-01 -6.85179416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344391417999994 meters 0.044150738889540686 Centerline is valid? [True, True] Translation: X:34.32, Y:1.46, Z:-0.69 [[ 9.96672107e-01 -8.03736110e-02 1.35938722e-02 3.43172254e+01] [ 8.03787878e-02 9.96764377e-01 1.65987793e-04 1.45779843e+00] [-1.35632286e-02 9.27223566e-04 9.99907585e-01 -6.86903686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40439141799999 meters 0.04614071273846669 Centerline is valid? [True, True] Translation: X:34.38, Y:1.45, Z:-0.69 [[ 9.96561873e-01 -8.18811795e-02 1.26453989e-02 3.43798167e+01] [ 8.18857720e-02 9.96641709e-01 1.55030220e-04 1.45470698e+00] [-1.26156260e-02 8.80981044e-04 9.99920032e-01 -6.86273909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46439141799999 meters 0.04577291411732506 Centerline is valid? [True, True] Translation: X:34.44, Y:1.46, Z:-0.69 [[ 9.96676296e-01 -8.04046865e-02 1.30938119e-02 3.44418291e+01] [ 8.04094998e-02 9.96761901e-01 1.59288696e-04 1.45569495e+00] [-1.30642204e-02 8.94107596e-04 9.99914260e-01 -6.85080304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52439141799999 meters 0.04564055166256005 Centerline is valid? [True, True] Translation: X:34.50, Y:1.46, Z:-0.69 [[ 9.96747582e-01 -7.94604850e-02 1.34271714e-02 3.45043489e+01] [ 7.94654520e-02 9.96837607e-01 1.64046170e-04 1.45575262e+00] [-1.33977446e-02 9.03483622e-04 9.99909838e-01 -6.86300713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58439141799999 meters 0.045259348091411 Centerline is valid? [True, True] Translation: X:34.57, Y:1.45, Z:-0.69 [[ 9.96928099e-01 -7.70877693e-02 1.38506429e-02 3.45663985e+01] [ 7.70928985e-02 9.97023900e-01 1.64011783e-04 1.45478303e+00] [-1.38220653e-02 9.04278253e-04 9.99904062e-01 -6.87116756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64439141799999 meters 0.03840695610074536 Centerline is valid? [True, True] Translation: X:34.63, Y:1.47, Z:-0.69 [[ 9.97122704e-01 -7.47155246e-02 1.28025071e-02 3.46274767e+01] [ 7.47197283e-02 9.97204563e-01 1.50326409e-04 1.46566120e+00] [-1.27779502e-02 8.06705977e-04 9.99918033e-01 -6.87645202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70439141799999 meters 0.03708580897178986 Centerline is valid? [True, True] Translation: X:34.69, Y:1.47, Z:-0.69 [[ 9.97351162e-01 -7.18945278e-02 1.10379683e-02 3.46886376e+01] [ 7.18974841e-02 9.97412019e-01 1.29266480e-04 1.46697418e+00] [-1.10186958e-02 6.64678076e-04 9.99939071e-01 -6.91097260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764391417999995 meters 0.03771549156440897 Centerline is valid? [True, True] Translation: X:34.75, Y:1.46, Z:-0.69 [[ 9.97456078e-01 -7.04433577e-02 1.09135964e-02 3.47507772e+01] [ 7.04461406e-02 9.97515576e-01 1.29702057e-04 1.46461803e+00] [-1.08956190e-02 6.39448639e-04 9.99940437e-01 -6.92493022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82439141799999 meters 0.03798436341830924 Centerline is valid? [True, True] Translation: X:34.81, Y:1.46, Z:-0.69 [[ 9.97455211e-01 -7.03695862e-02 1.14553153e-02 3.48139559e+01] [ 7.03726839e-02 9.97520761e-01 1.32944036e-04 1.46363217e+00] [-1.14362700e-02 6.73535558e-04 9.99934377e-01 -6.90520156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88439141799999 meters 0.03919528632619319 Centerline is valid? [True, True] Translation: X:34.88, Y:1.46, Z:-0.69 [[ 9.97495661e-01 -6.97205523e-02 1.18932922e-02 3.48754686e+01] [ 6.97239105e-02 9.97566318e-01 1.32544629e-04 1.46058125e+00] [-1.18735888e-02 6.97034149e-04 9.99929264e-01 -6.92333320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944391417999995 meters 0.03780518282533444 Centerline is valid? [True, True] Translation: X:34.94, Y:1.46, Z:-0.69 [[ 9.97540549e-01 -6.91011089e-02 1.17426610e-02 3.49377901e+01] [ 6.91043485e-02 9.97609429e-01 1.30121593e-04 1.45977277e+00] [-1.17235809e-02 6.81667376e-04 9.99931044e-01 -6.94764954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00439141799999 meters 0.03860426030096734 Centerline is valid? [True, True] Translation: X:35.00, Y:1.46, Z:-0.70 [[ 9.97557180e-01 -6.88310772e-02 1.19144853e-02 3.50012727e+01] [ 6.88344300e-02 9.97628089e-01 1.28928634e-04 1.45828629e+00] [-1.18950995e-02 6.91513120e-04 9.99929012e-01 -6.95073682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06439141799999 meters 0.03772563571056444 Centerline is valid? [True, True] Translation: X:35.06, Y:1.46, Z:-0.70 [[ 9.97600241e-01 -6.81470101e-02 1.22369604e-02 3.50631844e+01] [ 6.81505491e-02 9.97675040e-01 1.28044791e-04 1.45864595e+00] [-1.22172358e-02 7.06218056e-04 9.99925117e-01 -6.95146945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124391417999995 meters 0.03902330175954234 Centerline is valid? [True, True] Translation: X:35.12, Y:1.45, Z:-0.70 [[ 9.97681456e-01 -6.69870238e-02 1.20187699e-02 3.51248801e+01] [ 6.69904134e-02 9.97753612e-01 1.20788761e-04 1.45398657e+00] [-1.19998623e-02 6.84633656e-04 9.99927765e-01 -6.97709078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18439141799999 meters 0.03844019700719062 Centerline is valid? [True, True] Translation: X:35.19, Y:1.45, Z:-0.70 [[ 9.97803099e-01 -6.52271435e-02 1.15929124e-02 3.51875785e+01] [ 6.52301869e-02 9.97870237e-01 1.15810017e-04 1.45469240e+00] [-1.15757762e-02 6.40652251e-04 9.99932793e-01 -6.99603718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24439141799999 meters 0.03398028122966049 Centerline is valid? [True, True] Translation: X:35.25, Y:1.46, Z:-0.70 [[ 9.98086915e-01 -6.08189756e-02 1.11158953e-02 3.52482940e+01] [ 6.08215198e-02 9.98148652e-01 1.09343793e-04 1.46118983e+00] [-1.11019661e-02 5.66951038e-04 9.99938211e-01 -7.03158995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304391417999994 meters 0.030689125770623365 Centerline is valid? [True, True] Translation: X:35.31, Y:1.46, Z:-0.70 [[ 9.98278392e-01 -5.72230869e-02 1.28751786e-02 3.53092566e+01] [ 5.72262061e-02 9.98361230e-01 1.26324020e-04 1.46492122e+00] [-1.28613078e-02 6.10691085e-04 9.99917103e-01 -7.01294149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36439141799999 meters 0.030084015290193784 Centerline is valid? [True, True] Translation: X:35.37, Y:1.47, Z:-0.70 [[ 9.98412773e-01 -5.48115062e-02 1.29473063e-02 3.53710135e+01] [ 5.48144575e-02 9.98496549e-01 1.27075416e-04 1.46584386e+00] [-1.29348058e-02 5.82825851e-04 9.99916172e-01 -7.03655615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42439141799999 meters 0.02760363792772761 Centerline is valid? [True, True] Translation: X:35.43, Y:1.47, Z:-0.70 [[ 9.98564370e-01 -5.15772143e-02 1.44565075e-02 3.54328536e+01] [ 5.15805704e-02 9.98668826e-01 1.40857817e-04 1.46665076e+00] [-1.44445284e-02 6.05019305e-04 9.99895489e-01 -7.03043766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484391417999994 meters 0.02670100539908172 Centerline is valid? [True, True] Translation: X:35.49, Y:1.47, Z:-0.71 [[ 9.98753754e-01 -4.80544949e-02 1.34797611e-02 3.54937541e+01] [ 4.80571044e-02 9.98844581e-01 1.30447007e-04 1.46726938e+00] [-1.34704549e-02 5.17513850e-04 9.99909135e-01 -7.05092802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54439141799999 meters 0.025565879359965425 Centerline is valid? [True, True] Translation: X:35.56, Y:1.47, Z:-0.71 [[ 9.98886981e-01 -4.50546991e-02 1.39596676e-02 3.55553372e+01] [ 4.50572135e-02 9.98984399e-01 1.34495734e-04 1.46824978e+00] [-1.39515498e-02 4.94637685e-04 9.99902550e-01 -7.05850659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60439141799999 meters 0.023382801264119117 Centerline is valid? [True, True] Translation: X:35.62, Y:1.47, Z:-0.71 [[ 9.99158458e-01 -3.87579766e-02 1.34236794e-02 3.56165462e+01] [ 3.87597423e-02 9.99248551e-01 1.28701644e-04 1.46932053e+00] [-1.34185804e-02 3.91705018e-04 9.99909890e-01 -7.08600213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664391417999994 meters 0.01993772643677807 Centerline is valid? [True, True] Translation: X:35.68, Y:1.48, Z:-0.71 [[ 9.99358841e-01 -3.28780471e-02 1.41753750e-02 3.56785029e+01] [ 3.28794262e-02 9.99459316e-01 1.35809439e-04 1.47598046e+00] [-1.41721757e-02 3.30355833e-04 9.99899515e-01 -7.08194380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72439141799999 meters 0.01645858566807624 Centerline is valid? [True, True] Translation: X:35.74, Y:1.48, Z:-0.71 [[ 9.99678992e-01 -2.19388051e-02 1.26728871e-02 3.57390216e+01] [ 2.19390426e-02 9.99759303e-01 1.20297787e-04 1.48416791e+00] [-1.26724760e-02 1.57771839e-04 9.99919689e-01 -7.10085976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78439141799999 meters 0.015326766030721578 Centerline is valid? [True, True] Translation: X:35.80, Y:1.49, Z:-0.71 [[ 9.99814977e-01 -1.43581457e-02 1.28006411e-02 3.58012051e+01] [ 1.43577586e-02 9.99896915e-01 1.22143260e-04 1.48763745e+00] [-1.28010753e-02 6.16678539e-05 9.99918061e-01 -7.11420611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844391417999994 meters 0.015563327685861756 Centerline is valid? [True, True] Translation: X:35.86, Y:1.50, Z:-0.71 [[ 9.99890948e-01 -3.34646680e-03 1.43837573e-02 3.58626005e+01] [ 3.34486041e-03 9.99994397e-01 1.35736284e-04 1.49510065e+00] [-1.43841309e-02 -8.76098212e-05 9.99896539e-01 -7.10195263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90439141799999 meters 0.016153565767574218 Centerline is valid? [True, True] Translation: X:35.92, Y:1.50, Z:-0.71 [[ 9.99886540e-01 2.42655554e-03 1.48667123e-02 3.59244848e+01] [-2.42889759e-03 9.99997040e-01 1.39483021e-04 1.49734581e+00] [-1.48663299e-02 -1.75576917e-04 9.99889475e-01 -7.10392477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96439141799999 meters 0.016931604538409476 Centerline is valid? [True, True] Translation: X:35.99, Y:1.49, Z:-0.71 [[ 9.99874922e-01 5.66792728e-03 1.47653211e-02 3.59865456e+01] [-5.67057334e-03 9.99983913e-01 1.37347463e-04 1.49291317e+00] [-1.47643051e-02 -2.21058120e-04 9.99890977e-01 -7.13590345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02439141799999 meters 0.016456279630292826 Centerline is valid? [True, True] Translation: X:36.05, Y:1.49, Z:-0.71 [[ 9.99878090e-01 4.18064660e-03 1.50441867e-02 3.60485441e+01] [-4.18322268e-03 9.99991241e-01 1.39769786e-04 1.48942763e+00] [-1.50434706e-02 -2.02685930e-04 9.99886820e-01 -7.14857390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08439141799999 meters 0.015098667798126207 Centerline is valid? [True, True] Translation: X:36.11, Y:1.48, Z:-0.72 [[ 9.99883048e-01 -2.31008180e-03 1.51180067e-02 3.61109732e+01] [ 2.30828800e-03 9.99997327e-01 1.36101400e-04 1.48160352e+00] [-1.51182807e-02 -1.01188769e-04 9.99885707e-01 -7.15478277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14439141799999 meters 0.014825976411930964 Centerline is valid? [True, True] Translation: X:36.17, Y:1.46, Z:-0.72 [[ 9.99804941e-01 -1.39286889e-02 1.40025523e-02 3.61739100e+01] [ 1.39283358e-02 9.99902988e-01 1.22745239e-04 1.46473977e+00] [-1.40029036e-02 7.23109540e-05 9.99901952e-01 -7.18917062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20439141799999 meters 0.01779203861308446 Centerline is valid? [True, True] Translation: X:36.23, Y:1.45, Z:-0.72 [[ 9.99630769e-01 -2.33606460e-02 1.38782572e-02 3.62346098e+01] [ 2.33612951e-02 9.99727081e-01 1.15367426e-04 1.45106284e+00] [-1.38771646e-02 2.08889233e-04 9.99903686e-01 -7.21558686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26439141799999 meters 0.02114477109367439 Centerline is valid? [True, True] Translation: X:36.30, Y:1.44, Z:-0.72 [[ 9.99264554e-01 -3.52915301e-02 1.49953257e-02 3.62957305e+01] [ 3.52936417e-02 9.99376978e-01 1.23876499e-04 1.43817680e+00] [-1.49903550e-02 4.05454257e-04 9.99887556e-01 -7.21097905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32439141799999 meters 0.024105640453960537 Centerline is valid? [True, True] Translation: X:36.36, Y:1.43, Z:-0.72 [[ 9.99071899e-01 -3.99456765e-02 1.61147240e-02 3.63558087e+01] [ 3.99487270e-02 9.99201722e-01 1.32689391e-04 1.42885814e+00] [-1.61071604e-02 5.11196470e-04 9.99870141e-01 -7.22179968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38439141799999 meters 0.02353129000547568 Centerline is valid? [True, True] Translation: X:36.42, Y:1.43, Z:-0.72 [[ 9.99006849e-01 -4.14157944e-02 1.64331347e-02 3.64184244e+01] [ 4.14191599e-02 9.99141849e-01 1.35645214e-04 1.42835965e+00] [-1.64246505e-02 5.45136136e-04 9.99864958e-01 -7.22894788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444391417999995 meters 0.0247706120020483 Centerline is valid? [True, True] Translation: X:36.48, Y:1.42, Z:-0.72 [[ 9.98897950e-01 -4.40692551e-02 1.61488850e-02 3.64810002e+01] [ 4.40728720e-02 9.99028310e-01 1.32021260e-04 1.42393465e+00] [-1.61390114e-02 5.79851977e-04 9.99869590e-01 -7.23646688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50439141799999 meters 0.028562087078714646 Centerline is valid? [True, True] Translation: X:36.54, Y:1.42, Z:-0.73 [[ 9.98827565e-01 -4.63122088e-02 1.40951929e-02 3.65415691e+01] [ 4.63152039e-02 9.98926869e-01 1.14037439e-04 1.41615127e+00] [-1.40853482e-02 5.38917994e-04 9.99900651e-01 -7.28364105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56439141799999 meters 0.02823368822932357 Centerline is valid? [True, True] Translation: X:36.60, Y:1.41, Z:-0.73 [[ 9.98677188e-01 -4.92421807e-02 1.48013898e-02 3.66034203e+01] [ 4.92458062e-02 9.98786682e-01 1.19647712e-04 1.41216282e+00] [-1.47893227e-02 6.09416932e-04 9.99890446e-01 -7.29341420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624391417999995 meters 0.031087300047467493 Centerline is valid? [True, True] Translation: X:36.66, Y:1.41, Z:-0.73 [[ 9.98539769e-01 -5.22149131e-02 1.38539635e-02 3.66631766e+01] [ 5.22184099e-02 9.98635682e-01 1.09451430e-04 1.40739879e+00] [-1.38407773e-02 6.14140339e-04 9.99904023e-01 -7.31995628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68439141799999 meters 0.03238112092397444 Centerline is valid? [True, True] Translation: X:36.73, Y:1.41, Z:-0.73 [[ 9.98507897e-01 -5.29455077e-02 1.33698118e-02 3.67251229e+01] [ 5.29488224e-02 9.98597222e-01 1.06177141e-04 1.40649015e+00] [-1.33566785e-02 6.01897075e-04 9.99910614e-01 -7.34469927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74439141799999 meters 0.030279294207997125 Centerline is valid? [True, True] Translation: X:36.79, Y:1.41, Z:-0.74 [[ 9.98520430e-01 -5.30673143e-02 1.18663693e-02 3.67870150e+01] [ 5.30699422e-02 9.98590793e-01 9.35442209e-05 1.41046428e+00] [-1.18546112e-02 5.36341714e-04 9.99929588e-01 -7.37033343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804391417999994 meters 0.031748243285375566 Centerline is valid? [True, True] Translation: X:36.85, Y:1.41, Z:-0.74 [[ 9.98470209e-01 -5.38239522e-02 1.26579912e-02 3.68479364e+01] [ 5.38269998e-02 9.98550271e-01 1.00042489e-04 1.40946670e+00] [-1.26450252e-02 5.81452245e-04 9.99919879e-01 -7.36926589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86439141799999 meters 0.032469377671781305 Centerline is valid? [True, True] Translation: X:36.91, Y:1.41, Z:-0.74 [[ 9.98381450e-01 -5.51552479e-02 1.38701031e-02 3.69098120e+01] [ 5.51591085e-02 9.98477572e-01 1.04348423e-04 1.40958307e+00] [-1.38547422e-02 6.60882989e-04 9.99903800e-01 -7.35707639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92439141799999 meters 0.03363182805366044 Centerline is valid? [True, True] Translation: X:36.97, Y:1.41, Z:-0.74 [[ 9.98334909e-01 -5.57377225e-02 1.48564748e-02 3.69715590e+01] [ 5.57422205e-02 9.98445187e-01 1.11475680e-04 1.41018316e+00] [-1.48395892e-02 7.16842832e-04 9.99889630e-01 -7.35762229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984391417999994 meters 0.03569100284902893 Centerline is valid? [True, True] Translation: X:37.03, Y:1.41, Z:-0.74 [[ 9.98266624e-01 -5.67038657e-02 1.57613294e-02 3.70331133e+01] [ 5.67091162e-02 9.98390737e-01 1.13964050e-04 1.40789281e+00] [-1.57424274e-02 7.80044552e-04 9.99875776e-01 -7.36362068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04439141799999 meters 0.032365029588399305 Centerline is valid? [True, True] Translation: X:37.10, Y:1.41, Z:-0.74 [[ 9.98247811e-01 -5.72534845e-02 1.49447506e-02 3.70955564e+01] [ 5.72583316e-02 9.98359391e-01 1.03697967e-04 1.41430078e+00] [-1.49261692e-02 7.52195216e-04 9.99888316e-01 -7.38719821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10439141799999 meters 0.03605100306028684 Centerline is valid? [True, True] Translation: X:37.16, Y:1.41, Z:-0.74 [[ 9.98222857e-01 -5.79973536e-02 1.36906559e-02 3.71568711e+01] [ 5.80014876e-02 9.98316492e-01 9.52401397e-05 1.41141469e+00] [-1.36731312e-02 6.99007522e-04 9.99906274e-01 -7.39967707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164391417999994 meters 0.033074255379234065 Centerline is valid? [True, True] Translation: X:37.22, Y:1.42, Z:-0.74 [[ 9.98233987e-01 -5.78018698e-02 1.37059042e-02 3.72193390e+01] [ 5.78060600e-02 9.98327828e-01 9.05723011e-05 1.41718944e+00] [-1.36882208e-02 7.01871970e-04 9.99906066e-01 -7.40322395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22439141799999 meters 0.0327019605522935 Centerline is valid? [True, True] Translation: X:37.28, Y:1.42, Z:-0.74 [[ 9.98388218e-01 -5.47828684e-02 1.48257997e-02 3.72802511e+01] [ 5.47874627e-02 9.98498034e-01 9.64035086e-05 1.42000662e+00] [-1.48088132e-02 7.16019822e-04 9.99890087e-01 -7.40793245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28439141799999 meters 0.031634008055606934 Centerline is valid? [True, True] Translation: X:37.34, Y:1.43, Z:-0.74 [[ 9.98608261e-01 -5.04664242e-02 1.53193019e-02 3.73395705e+01] [ 5.04708371e-02 9.98725530e-01 9.86651797e-05 1.42610681e+00] [-1.53047572e-02 6.74650125e-04 9.99882648e-01 -7.41329154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344391417999994 meters 0.02732290925817122 Centerline is valid? [True, True] Translation: X:37.40, Y:1.44, Z:-0.74 [[ 9.98995162e-01 -4.18642652e-02 1.60015210e-02 3.73998760e+01] [ 4.18679711e-02 9.99123147e-01 1.03472513e-04 1.43819295e+00] [-1.59918218e-02 5.66582680e-04 9.99871962e-01 -7.41437401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40439141799999 meters 0.02500538635319126 Centerline is valid? [True, True] Translation: X:37.46, Y:1.45, Z:-0.75 [[ 9.99344227e-01 -3.31475095e-02 1.45725148e-02 3.74590411e+01] [ 3.31496578e-02 9.99450395e-01 9.41719204e-05 1.44977803e+00] [-1.45676272e-02 3.88963713e-04 9.99893811e-01 -7.45302132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46439141799999 meters 0.022085514975439757 Centerline is valid? [True, True] Translation: X:37.52, Y:1.46, Z:-0.75 [[ 9.99462758e-01 -2.92897788e-02 1.47073073e-02 3.75208162e+01] [ 2.92915415e-02 9.99570906e-01 9.55877935e-05 1.45713857e+00] [-1.47037963e-02 3.35263264e-04 9.99891837e-01 -7.45614089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52439141799999 meters 0.01971623141044366 Centerline is valid? [True, True] Translation: X:37.58, Y:1.46, Z:-0.75 [[ 9.99592302e-01 -2.50418900e-02 1.37161484e-02 3.75821912e+01] [ 2.50430160e-02 9.99686370e-01 8.96888260e-05 1.46454823e+00] [-1.37140926e-02 2.53841463e-04 9.99905925e-01 -7.46989436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58439141799999 meters 0.016498177873345947 Centerline is valid? [True, True] Translation: X:37.64, Y:1.47, Z:-0.75 [[ 9.99660034e-01 -2.19909055e-02 1.40077213e-02 3.76445423e+01] [ 2.19918414e-02 9.99758146e-01 8.72331150e-05 1.47305447e+00] [-1.40062518e-02 2.20852126e-04 9.99901883e-01 -7.46617817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64439141799999 meters 0.016715335499841655 Centerline is valid? [True, True] Translation: X:37.71, Y:1.48, Z:-0.75 [[ 9.99769255e-01 -1.60875564e-02 1.42347354e-02 3.77070202e+01] [ 1.60879399e-02 9.99870577e-01 8.75746993e-05 1.48030300e+00] [-1.42343020e-02 1.41453077e-04 9.99898677e-01 -7.49097055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70439141799999 meters 0.01448338900608392 Centerline is valid? [True, True] Translation: X:37.77, Y:1.49, Z:-0.75 [[ 9.99834327e-01 -1.03107502e-02 1.50002540e-02 3.77695886e+01] [ 1.03105522e-02 9.99946841e-01 9.05339179e-05 1.48913706e+00] [-1.50003901e-02 6.41419836e-05 9.99887486e-01 -7.47403908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76439141799999 meters 0.015540118891006621 Centerline is valid? [True, True] Translation: X:37.83, Y:1.49, Z:-0.75 [[ 9.99848781e-01 -7.80773621e-03 1.55387927e-02 3.78305930e+01] [ 7.80724410e-03 9.99969519e-01 9.23314535e-05 1.49152475e+00] [-1.55390400e-02 2.89976565e-05 9.99879261e-01 -7.49789412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82439141799999 meters 0.014439790689757055 Centerline is valid? [True, True] Translation: X:37.89, Y:1.49, Z:-0.75 [[ 9.99840858e-01 -7.39945275e-03 1.62328670e-02 3.78935358e+01] [ 7.39887450e-03 9.99972623e-01 9.56789093e-05 1.49276340e+00] [-1.62331306e-02 2.44412632e-05 9.99868234e-01 -7.49312882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88439141799999 meters 0.014688331370364188 Centerline is valid? [True, True] Translation: X:37.96, Y:1.49, Z:-0.75 [[ 9.99834745e-01 -9.46944833e-03 1.55181429e-02 3.79554789e+01] [ 9.46920013e-03 9.99955162e-01 8.94722271e-05 1.49240073e+00] [-1.55182944e-02 5.74869599e-05 9.99879582e-01 -7.51093494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94439141799999 meters 0.015127538002919253 Centerline is valid? [True, True] Translation: X:38.02, Y:1.49, Z:-0.75 [[ 9.99803202e-01 -1.33048476e-02 1.47152098e-02 3.80180935e+01] [ 1.33050558e-02 9.99911480e-01 8.37516993e-05 1.48938307e+00] [-1.47150215e-02 1.12051470e-04 9.99891722e-01 -7.53670425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00439141799999 meters 0.01782677631616064 Centerline is valid? [True, True] Translation: X:38.08, Y:1.48, Z:-0.76 [[ 9.99667527e-01 -2.17718666e-02 1.38138065e-02 3.80795719e+01] [ 2.17728670e-02 9.99762940e-01 7.79774926e-05 1.48069197e+00] [-1.38122295e-02 2.22814605e-04 9.99904582e-01 -7.56316665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06439141799999 meters 0.02195073853720927 Centerline is valid? [True, True] Translation: X:38.14, Y:1.47, Z:-0.76 [[ 9.99471108e-01 -2.91235567e-02 1.44679624e-02 3.81400971e+01] [ 2.91254624e-02 9.99575761e-01 7.90093520e-05 1.47338117e+00] [-1.44641255e-02 3.42418530e-04 9.99895330e-01 -7.56686581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124391417999995 meters 0.02184994990104171 Centerline is valid? [True, True] Translation: X:38.20, Y:1.47, Z:-0.76 [[ 9.99354355e-01 -3.27417299e-02 1.47936525e-02 3.82023716e+01] [ 3.27441175e-02 9.99463764e-01 8.08566167e-05 1.47292245e+00] [-1.47883671e-02 4.03600685e-04 9.99890565e-01 -7.57113505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18439141799999 meters 0.026444343229955477 Centerline is valid? [True, True] Translation: X:38.26, Y:1.46, Z:-0.76 [[ 9.99219731e-01 -3.67546806e-02 1.44576350e-02 3.82635957e+01] [ 3.67573813e-02 9.99324216e-01 7.89697200e-05 1.46449573e+00] [-1.44507673e-02 4.52516700e-04 9.99895480e-01 -7.59366832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24439141799999 meters 0.024429339873623328 Centerline is valid? [True, True] Translation: X:38.33, Y:1.47, Z:-0.76 [[ 9.99163390e-01 -3.84359546e-02 1.39712961e-02 3.83253906e+01] [ 3.84387047e-02 9.99260957e-01 7.17431380e-05 1.46796909e+00] [-1.39637283e-02 4.65355409e-04 9.99902394e-01 -7.60144449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304391417999994 meters 0.02459495924897131 Centerline is valid? [True, True] Translation: X:38.39, Y:1.47, Z:-0.76 [[ 9.99155864e-01 -3.86193272e-02 1.40038426e-02 3.83874098e+01] [ 3.86221238e-02 9.99253885e-01 7.07859644e-05 1.46825049e+00] [-1.39961278e-02 4.70131931e-04 9.99901939e-01 -7.61089160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36439141799999 meters 0.024490428088043234 Centerline is valid? [True, True] Translation: X:38.45, Y:1.47, Z:-0.76 [[ 9.99195277e-01 -3.78845690e-02 1.31741596e-02 3.84495844e+01] [ 3.78869928e-02 9.99282028e-01 6.56385576e-05 1.47068001e+00] [-1.31671876e-02 4.33543554e-04 9.99913215e-01 -7.61897015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42439141799999 meters 0.023609112236814455 Centerline is valid? [True, True] Translation: X:38.51, Y:1.48, Z:-0.76 [[ 9.99356441e-01 -3.39531276e-02 1.15710636e-02 3.85107799e+01] [ 3.39547465e-02 9.99423370e-01 5.65721634e-05 1.47703053e+00] [-1.15663122e-02 3.36356777e-04 9.99933051e-01 -7.64790253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484391417999994 meters 0.02253583514758978 Centerline is valid? [True, True] Translation: X:38.57, Y:1.48, Z:-0.77 [[ 9.99512473e-01 -2.93853623e-02 1.05507249e-02 3.85720237e+01] [ 2.93864576e-02 9.99568123e-01 5.12327796e-05 1.48238717e+00] [-1.05476738e-02 2.58840627e-04 9.99944338e-01 -7.67504114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54439141799999 meters 0.01859655514381257 Centerline is valid? [True, True] Translation: X:38.63, Y:1.49, Z:-0.77 [[ 9.99719319e-01 -2.12106865e-02 1.05541155e-02 3.86322546e+01] [ 2.12113335e-02 9.99775013e-01 5.06424181e-05 1.49455317e+00] [-1.05528151e-02 1.73238660e-04 9.99944302e-01 -7.67587689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60439141799999 meters 0.015546646149716882 Centerline is valid? [True, True] Translation: X:38.69, Y:1.51, Z:-0.77 [[ 9.99871952e-01 -1.10087863e-02 1.16140164e-02 3.86936145e+01] [ 1.10088824e-02 9.99939399e-01 5.56596529e-05 1.51078777e+00] [-1.16139253e-02 7.22048142e-05 9.99932553e-01 -7.65647903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664391417999994 meters 0.01678084132780858 Centerline is valid? [True, True] Translation: X:38.76, Y:1.52, Z:-0.77 [[ 9.99927347e-01 -5.13193072e-03 1.09070647e-02 3.87554775e+01] [ 5.13166558e-03 9.99986832e-01 5.22959428e-05 1.51833107e+00] [-1.09071895e-02 3.67926524e-06 9.99940515e-01 -7.67620918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72439141799999 meters 0.015169584641220556 Centerline is valid? [True, True] Translation: X:38.82, Y:1.52, Z:-0.77 [[ 9.99928085e-01 -2.09352333e-03 1.18085842e-02 3.88161853e+01] [ 2.09301607e-03 9.99997808e-01 5.53145893e-05 1.52394861e+00] [-1.18086741e-02 -3.05950549e-05 9.99930275e-01 -7.67068991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78439141799999 meters 0.016468870284724327 Centerline is valid? [True, True] Translation: X:38.88, Y:1.52, Z:-0.77 [[ 9.99929887e-01 -2.28537620e-03 1.16188863e-02 3.88790717e+01] [ 2.28489987e-03 9.99997388e-01 5.42705418e-05 1.52483300e+00] [-1.16189800e-02 -2.77187448e-05 9.99932497e-01 -7.69845291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844391417999994 meters 0.015382596139908737 Centerline is valid? [True, True] Translation: X:38.94, Y:1.53, Z:-0.77 [[ 9.99924400e-01 -4.67988736e-03 1.13707253e-02 3.89421627e+01] [ 4.67957988e-03 9.99989049e-01 5.36471599e-05 1.52563211e+00] [-1.13708518e-02 -4.32886817e-07 9.99935350e-01 -7.69987680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90439141799999 meters 0.016703283440383056 Centerline is valid? [True, True] Translation: X:39.01, Y:1.52, Z:-0.77 [[ 9.99909637e-01 -7.33132755e-03 1.12680627e-02 3.90054846e+01] [ 7.33123387e-03 9.99973125e-01 4.96194911e-05 1.52380774e+00] [-1.12681237e-02 3.29937959e-05 9.99936512e-01 -7.72330835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96439141799999 meters 0.015497294606883134 Centerline is valid? [True, True] Translation: X:39.07, Y:1.52, Z:-0.77 [[ 9.99862577e-01 -1.05140940e-02 1.28171742e-02 3.90683527e+01] [ 1.05143191e-02 9.99944722e-01 4.98292497e-05 1.52246074e+00] [-1.28169896e-02 8.49414572e-05 9.99917855e-01 -7.70985300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02439141799999 meters 0.017622872989641995 Centerline is valid? [True, True] Translation: X:39.13, Y:1.52, Z:-0.77 [[ 9.99811607e-01 -1.42464904e-02 1.31828959e-02 3.91305206e+01] [ 1.42470787e-02 9.99898504e-01 4.92929379e-05 1.51972568e+00] [-1.31822601e-02 1.38534103e-04 9.99913101e-01 -7.73383227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08439141799999 meters 0.01667187482794955 Centerline is valid? [True, True] Translation: X:39.19, Y:1.52, Z:-0.77 [[ 9.99742539e-01 -1.77010396e-02 1.41960549e-02 3.91929184e+01] [ 1.77020873e-02 9.99843304e-01 5.18581688e-05 1.51655626e+00] [-1.41947484e-02 1.99454986e-04 9.99899230e-01 -7.73292162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14439141799999 meters 0.01759527236636365 Centerline is valid? [True, True] Translation: X:39.25, Y:1.51, Z:-0.77 [[ 9.99689278e-01 -1.98731675e-02 1.50467415e-02 3.92540963e+01] [ 1.98745957e-02 9.99802479e-01 5.46180278e-05 1.51417471e+00] [-1.50448549e-02 2.44446849e-04 9.99886790e-01 -7.74312746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20439141799999 meters 0.019095658083121816 Centerline is valid? [True, True] Translation: X:39.32, Y:1.51, Z:-0.78 [[ 9.99729468e-01 -1.89070833e-02 1.35467185e-02 3.93156543e+01] [ 1.89081893e-02 9.99821223e-01 4.64361858e-05 1.51394510e+00] [-1.35451747e-02 2.09720296e-04 9.99908238e-01 -7.78258348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26439141799999 meters 0.017453439450028693 Centerline is valid? [True, True] Translation: X:39.38, Y:1.52, Z:-0.78 [[ 9.99758342e-01 -1.71163021e-02 1.37945243e-02 3.93776940e+01] [ 1.71173560e-02 9.99853486e-01 4.16766735e-05 1.51555097e+00] [-1.37932166e-02 1.94459181e-04 9.99904850e-01 -7.79038730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32439141799999 meters 0.01601577352095567 Centerline is valid? [True, True] Translation: X:39.44, Y:1.52, Z:-0.78 [[ 9.99812637e-01 -1.44140001e-02 1.29200582e-02 3.94394338e+01] [ 1.44147095e-02 9.99896102e-01 3.82167007e-05 1.51948903e+00] [-1.29192667e-02 1.48029345e-04 9.99916532e-01 -7.80201108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38439141799999 meters 0.015168448602444911 Centerline is valid? [True, True] Translation: X:39.50, Y:1.53, Z:-0.78 [[ 9.99898401e-01 -7.66732847e-03 1.20166590e-02 3.95018513e+01] [ 7.66746538e-03 9.99970604e-01 3.46777611e-05 1.52639015e+00] [-1.20165716e-02 5.74630787e-05 9.99927797e-01 -7.82332262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44439141799999 meters 0.015017154742289896 Centerline is valid? [True, True] Translation: X:39.56, Y:1.53, Z:-0.78 [[ 9.99928836e-01 -1.78671411e-03 1.17953430e-02 3.95643183e+01] [ 1.78644738e-03 9.99998404e-01 3.31496797e-05 1.53290187e+00] [-1.17953834e-02 -1.20755611e-05 9.99930432e-01 -7.82887778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50439141799999 meters 0.01579530085740858 Centerline is valid? [True, True] Translation: X:39.63, Y:1.54, Z:-0.78 [[ 9.99901474e-01 6.53676629e-03 1.24222510e-02 3.96263607e+01] [-6.53769038e-03 9.99978629e-01 3.37829387e-05 1.54007521e+00] [-1.24217647e-02 -1.14992441e-04 9.99922840e-01 -7.83697204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56439141799999 meters 0.016860378902417095 Centerline is valid? [True, True] Translation: X:39.69, Y:1.54, Z:-0.78 [[ 9.99847772e-01 1.15051937e-02 1.31172881e-02 3.96872878e+01] [-1.15066342e-02 9.99933796e-01 3.43509996e-05 1.54479299e+00] [-1.31160245e-02 -1.85281607e-04 9.99913964e-01 -7.83543478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62439141799999 meters 0.01786623164288963 Centerline is valid? [True, True] Translation: X:39.75, Y:1.55, Z:-0.78 [[ 9.99825894e-01 1.37768338e-02 1.25849149e-02 3.97491954e+01] [-1.37783531e-02 9.99905073e-01 3.40180459e-05 1.54608269e+00] [-1.25832516e-02 -2.07411524e-04 9.99920806e-01 -7.84665041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68439141799999 meters 0.017266091584507832 Centerline is valid? [True, True] Translation: X:39.81, Y:1.54, Z:-0.78 [[ 9.99816225e-01 1.37884592e-02 1.33189345e-02 3.98106312e+01] [-1.37900842e-02 9.99904912e-01 3.01695422e-05 1.54308587e+00] [-1.33172520e-02 -2.13833226e-04 9.99911299e-01 -7.84771660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74439141799999 meters 0.016496836598356428 Centerline is valid? [True, True] Translation: X:39.87, Y:1.54, Z:-0.78 [[ 9.99831508e-01 1.23284625e-02 1.36001932e-02 3.98730979e+01] [-1.23300374e-02 9.99923982e-01 3.19584543e-05 1.53820133e+00] [-1.35987653e-02 -1.99643961e-04 9.99907513e-01 -7.84684698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804391417999994 meters 0.01617496262769846 Centerline is valid? [True, True] Translation: X:39.94, Y:1.53, Z:-0.79 [[ 9.99868899e-01 9.20165739e-03 1.33234550e-02 3.99351609e+01] [-9.20284186e-03 9.99957653e-01 2.75933577e-05 1.53335721e+00] [-1.33226369e-02 -1.50203390e-04 9.99911238e-01 -7.85883460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86439141799999 meters 0.017918542382068345 Centerline is valid? [True, True] Translation: X:40.00, Y:1.53, Z:-0.79 [[ 9.99889931e-01 8.39571334e-03 1.22326852e-02 3.99977531e+01] [-8.39661883e-03 9.99964748e-01 2.26644222e-05 1.52940518e+00] [-1.22320637e-02 -1.25375123e-04 9.99925178e-01 -7.89779747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92439141799999 meters 0.016075901162772688 Centerline is valid? [True, True] Translation: X:40.06, Y:1.52, Z:-0.79 [[ 9.99883840e-01 7.73396088e-03 1.31336624e-02 4.00593195e+01] [-7.73487090e-03 9.99970085e-01 1.84935449e-05 1.52326514e+00] [-1.31331264e-02 -1.20078579e-04 9.99913750e-01 -7.89266178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984391417999994 meters 0.01608883323413913 Centerline is valid? [True, True] Translation: X:40.12, Y:1.52, Z:-0.79 [[ 9.99863331e-01 9.12032387e-03 1.37891053e-02 4.01227155e+01] [-9.12144284e-03 9.99958399e-01 1.82582819e-05 1.51859068e+00] [-1.37883651e-02 -1.44032322e-04 9.99904926e-01 -7.88187616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04439141799999 meters 0.016569130389375745 Centerline is valid? [True, True] Translation: X:40.18, Y:1.52, Z:-0.79 [[ 9.99853246e-01 1.05349317e-02 1.35093513e-02 4.01845937e+01] [-1.05360744e-02 9.99944494e-01 1.34168644e-05 1.51610897e+00] [-1.35084601e-02 -1.55750425e-04 9.99908744e-01 -7.89991041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10439141799999 meters 0.016513647405835694 Centerline is valid? [True, True] Translation: X:40.25, Y:1.51, Z:-0.79 [[ 9.99849725e-01 1.21547377e-02 1.23608304e-02 4.02470706e+01] [-1.21557769e-02 9.99926116e-01 8.93779719e-06 1.50873906e+00] [-1.23598085e-02 -1.59191950e-04 9.99923602e-01 -7.91932263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164391417999994 meters 0.016810297139278386 Centerline is valid? [True, True] Translation: X:40.31, Y:1.50, Z:-0.79 [[ 9.99836387e-01 1.28695603e-02 1.27111274e-02 4.03095117e+01] [-1.28706687e-02 9.99917170e-01 5.39257719e-06 1.50403831e+00] [-1.27100052e-02 -1.68992404e-04 9.99919210e-01 -7.93150300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22439141799999 meters 0.01667137706392854 Centerline is valid? [True, True] Translation: X:40.37, Y:1.50, Z:-0.79 [[ 9.99827902e-01 1.32520459e-02 1.29826597e-02 4.03717274e+01] [-1.32531852e-02 9.99912173e-01 1.71928231e-06 1.50155211e+00] [-1.29814966e-02 -1.73780579e-04 9.99915722e-01 -7.94100760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28439141799999 meters 0.016321098048450756 Centerline is valid? [True, True] Translation: X:40.43, Y:1.49, Z:-0.80 [[ 9.99857741e-01 1.15655884e-02 1.22773941e-02 4.04340138e+01] [-1.15664425e-02 9.99933106e-01 -1.43449389e-06 1.49054608e+00] [-1.22765894e-02 -1.40571484e-04 9.99924630e-01 -7.96104193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344391417999994 meters 0.015726827976584968 Centerline is valid? [True, True] Translation: X:40.50, Y:1.48, Z:-0.80 [[ 9.99900429e-01 8.73200290e-03 1.10853161e-02 4.04962193e+01] [-8.73249666e-03 9.99961871e-01 -3.86044826e-06 1.47886263e+00] [-1.10849271e-02 -9.29424218e-05 9.99938556e-01 -7.98750971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40439141799999 meters 0.015889908962964158 Centerline is valid? [True, True] Translation: X:40.56, Y:1.47, Z:-0.80 [[ 9.99896199e-01 9.11116735e-03 1.11614036e-02 4.05586123e+01] [-9.11165741e-03 9.99958488e-01 -6.94541683e-06 1.47414713e+00] [-1.11610035e-02 -9.47541896e-05 9.99937710e-01 -8.00604469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46439141799999 meters 0.017403935863319446 Centerline is valid? [True, True] Translation: X:40.62, Y:1.47, Z:-0.80 [[ 9.99857132e-01 1.28241667e-02 1.10116750e-02 4.06206897e+01] [-1.28248100e-02 9.99917759e-01 -1.21885367e-05 1.46685583e+00] [-1.10109257e-02 -1.29035845e-04 9.99939370e-01 -8.02216550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52439141799999 meters 0.019463149492918247 Centerline is valid? [True, True] Translation: X:40.68, Y:1.46, Z:-0.80 [[ 9.99810863e-01 1.55281919e-02 1.17095685e-02 4.06830927e+01] [-1.55291134e-02 9.99879416e-01 -1.22236976e-05 1.46185949e+00] [-1.17083463e-02 -1.69617831e-04 9.99931441e-01 -8.03931586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58439141799999 meters 0.01827265157378727 Centerline is valid? [True, True] Translation: X:40.74, Y:1.45, Z:-0.80 [[ 9.99767394e-01 1.67737153e-02 1.35572889e-02 4.07446658e+01] [-1.67749978e-02 9.99859290e-01 -1.91183418e-05 1.45466557e+00] [-1.35557020e-02 -2.08309598e-04 9.99908096e-01 -8.04284185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64439141799999 meters 0.0178622683433658 Centerline is valid? [True, True] Translation: X:40.81, Y:1.45, Z:-0.81 [[ 9.99780516e-01 1.59573734e-02 1.35750603e-02 4.08068900e+01] [-1.59585393e-02 9.99872654e-01 -2.24457298e-05 1.44583908e+00] [-1.35736898e-02 -1.94197330e-04 9.99907854e-01 -8.06485922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70439141799999 meters 0.019952040321404317 Centerline is valid? [True, True] Translation: X:40.87, Y:1.44, Z:-0.81 [[ 9.99784291e-01 1.59739970e-02 1.32741220e-02 4.08695827e+01] [-1.59750677e-02 9.99872390e-01 -2.53790620e-05 1.43778181e+00] [-1.32728335e-02 -1.86681410e-04 9.99911895e-01 -8.10235884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76439141799999 meters 0.016524763656953316 Centerline is valid? [True, True] Translation: X:40.93, Y:1.43, Z:-0.81 [[ 9.99796466e-01 1.39739136e-02 1.45518714e-02 4.09321543e+01] [-1.39749053e-02 9.99902346e-01 -3.35402536e-05 1.42522035e+00] [-1.45509190e-02 -1.69827597e-04 9.99894115e-01 -8.07875383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82439141799999 meters 0.017233598993748676 Centerline is valid? [True, True] Translation: X:40.99, Y:1.42, Z:-0.81 [[ 9.99796542e-01 1.33692385e-02 1.51042662e-02 4.09936739e+01] [-1.33701612e-02 9.99910615e-01 -3.98900671e-05 1.41940164e+00] [-1.51034494e-02 -1.62064523e-04 9.99885923e-01 -8.09646404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88439141799999 meters 0.017579892751887583 Centerline is valid? [True, True] Translation: X:41.06, Y:1.41, Z:-0.81 [[ 9.99791653e-01 1.36539132e-02 1.51730531e-02 4.10555346e+01] [-1.36548129e-02 9.99906768e-01 -4.43106392e-05 1.41164064e+00] [-1.51722435e-02 -1.62883794e-04 9.99884882e-01 -8.11493057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94439141799999 meters 0.018782339776701792 Centerline is valid? [True, True] Translation: X:41.12, Y:1.40, Z:-0.81 [[ 9.99777436e-01 1.54302797e-02 1.43869529e-02 4.11176775e+01] [-1.54312162e-02 9.99880931e-01 -4.59153553e-05 1.40454840e+00] [-1.43859483e-02 -1.76103044e-04 9.99896501e-01 -8.13932337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00439141799999 meters 0.01881663326079032 Centerline is valid? [True, True] Translation: X:41.18, Y:1.40, Z:-0.81 [[ 9.99736115e-01 1.70750832e-02 1.53669194e-02 4.11794976e+01] [-1.70762663e-02 9.99854188e-01 -5.42274020e-05 1.39870679e+00] [-1.53656047e-02 -2.08196516e-04 9.99881920e-01 -8.14566853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06439141799999 meters 0.017080016325672926 Centerline is valid? [True, True] Translation: X:41.24, Y:1.39, Z:-0.81 [[ 9.99718019e-01 1.72421980e-02 1.63275525e-02 4.12426125e+01] [-1.72434620e-02 9.99851318e-01 -6.33730428e-05 1.39467329e+00] [-1.63262175e-02 -2.18188358e-04 9.99866695e-01 -8.12334765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12439141799999 meters 0.02040013775076248 Centerline is valid? [True, True] Translation: X:41.30, Y:1.39, Z:-0.82 [[ 9.99710082e-01 1.75146879e-02 1.65223381e-02 4.13047908e+01] [-1.75159200e-02 9.99846582e-01 -7.01465180e-05 1.38710232e+00] [-1.65210319e-02 -2.19277772e-04 9.99863494e-01 -8.16822946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18439141799999 meters 0.01716073118620173 Centerline is valid? [True, True] Translation: X:41.37, Y:1.38, Z:-0.82 [[ 9.99709440e-01 1.67126975e-02 1.73701222e-02 4.13674590e+01] [-1.67138337e-02 9.99860311e-01 -7.97687926e-05 1.37813084e+00] [-1.73690289e-02 -2.10575717e-04 9.99849125e-01 -8.16040980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24439141799999 meters 0.016653368632966837 Centerline is valid? [True, True] Translation: X:41.43, Y:1.37, Z:-0.82 [[ 9.99695349e-01 1.70340431e-02 1.78619964e-02 4.14307056e+01] [-1.70352003e-02 9.99854887e-01 -8.73779507e-05 1.37326437e+00] [-1.78608928e-02 -2.16931355e-04 9.99840458e-01 -8.16441232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30439141799999 meters 0.020244680032104338 Centerline is valid? [True, True] Translation: X:41.49, Y:1.37, Z:-0.82 [[ 9.99669090e-01 1.88563675e-02 1.74970818e-02 4.14921812e+01] [-1.88576518e-02 9.99822174e-01 -9.15995709e-05 1.37049772e+00] [-1.74956976e-02 -2.38384616e-04 9.99846910e-01 -8.20515390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36439141799999 meters 0.019799590516234093 Centerline is valid? [True, True] Translation: X:41.56, Y:1.37, Z:-0.82 [[ 9.99658621e-01 1.96767989e-02 1.71890720e-02 4.15551768e+01] [-1.96780860e-02 9.99806363e-01 -9.42695445e-05 1.36523277e+00] [-1.71875985e-02 -2.44010674e-04 9.99852253e-01 -8.22174740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42439141799999 meters 0.01896363048439924 Centerline is valid? [True, True] Translation: X:41.62, Y:1.36, Z:-0.82 [[ 9.99695509e-01 1.76035283e-02 1.72917577e-02 4.16174593e+01] [-1.76044127e-02 9.99845025e-01 -1.01078198e-04 1.35949582e+00] [-1.72908572e-02 -2.03363818e-04 9.99850481e-01 -8.22776291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484391417999994 meters 0.01660967204308804 Centerline is valid? [True, True] Translation: X:41.68, Y:1.35, Z:-0.82 [[ 9.99747028e-01 1.37421727e-02 1.78054085e-02 4.16792260e+01] [-1.37423995e-02 9.99905563e-01 -1.09620564e-04 1.35223945e+00] [-1.78052334e-02 -1.35096204e-04 9.99841465e-01 -8.23126789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54439141799999 meters 0.016128855601214902 Centerline is valid? [True, True] Translation: X:41.74, Y:1.34, Z:-0.83 [[ 9.99841702e-01 5.03618738e-03 1.70648017e-02 4.17406117e+01] [-5.03504359e-03 9.99987318e-01 -1.09990055e-04 1.33954471e+00] [-1.70651392e-02 2.40506230e-05 9.99854380e-01 -8.25497746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60439141799999 meters 0.017215144407862898 Centerline is valid? [True, True] Translation: X:41.80, Y:1.33, Z:-0.83 [[ 9.99849138e-01 -5.53045615e-05 1.73694337e-02 4.18025500e+01] [ 5.73409287e-05 9.99999992e-01 -1.16740541e-04 1.33222687e+00] [-1.73694271e-02 1.17718908e-04 9.99849133e-01 -8.26331365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664391417999994 meters 0.017040889813182865 Centerline is valid? [True, True] Translation: X:41.86, Y:1.33, Z:-0.83 [[ 9.99832693e-01 -4.16112916e-03 1.78121229e-02 4.18643030e+01] [ 4.16401561e-03 9.99991323e-01 -1.24964681e-04 1.32642185e+00] [-1.78114483e-02 1.99113731e-04 9.99841344e-01 -8.26227913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72439141799999 meters 0.016711397907998096 Centerline is valid? [True, True] Translation: X:41.93, Y:1.33, Z:-0.83 [[ 9.99808734e-01 -2.30396310e-03 1.94213239e-02 4.19253205e+01] [ 2.30716415e-03 9.99997328e-01 -1.42416376e-04 1.32731023e+00] [-1.94209439e-02 1.87197319e-04 9.99811378e-01 -8.25785228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78439141799999 meters 0.015874423822002607 Centerline is valid? [True, True] Translation: X:41.99, Y:1.33, Z:-0.83 [[ 9.99795293e-01 1.02303932e-03 2.02070536e-02 4.19869266e+01] [-1.02013210e-03 9.99999468e-01 -1.54179100e-04 1.32947752e+00] [-2.02072005e-02 1.33533675e-04 9.99795805e-01 -8.25194257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844391417999994 meters 0.017156711067921434 Centerline is valid? [True, True] Translation: X:42.05, Y:1.34, Z:-0.83 [[ 9.99790144e-01 7.39217953e-03 1.91055832e-02 4.20489765e+01] [-7.39068230e-03 9.99972677e-01 -1.48974023e-04 1.33861215e+00] [-1.91061624e-02 7.73946484e-06 9.99817461e-01 -8.29160358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90439141799999 meters 0.01423000646298142 Centerline is valid? [True, True] Translation: X:42.11, Y:1.34, Z:-0.83 [[ 9.99743339e-01 1.07441415e-02 1.99454266e-02 4.21116158e+01] [-1.07431439e-02 9.99942278e-01 -1.57167087e-04 1.34205231e+00] [-1.99459639e-02 -5.71498388e-05 9.99801058e-01 -8.28285759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96439141799999 meters 0.014622692388608246 Centerline is valid? [True, True] Translation: X:42.17, Y:1.35, Z:-0.83 [[ 9.99708238e-01 1.43984788e-02 1.93938991e-02 4.21748534e+01] [-1.43980976e-02 9.99896329e-01 -1.59292755e-04 1.34715173e+00] [-1.93941821e-02 -1.19988973e-04 9.99811908e-01 -8.30674664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02439141799999 meters 0.018352055241509627 Centerline is valid? [True, True] Translation: X:42.24, Y:1.35, Z:-0.84 [[ 9.99714518e-01 1.61871354e-02 1.75743741e-02 4.22373526e+01] [-1.61870032e-02 9.99868971e-01 -1.49778752e-04 1.34903958e+00] [-1.75744958e-02 -1.34740457e-04 9.99845548e-01 -8.36761426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08439141799999 meters 0.014664149832459897 Centerline is valid? [True, True] Translation: X:42.30, Y:1.35, Z:-0.83 [[ 9.99713567e-01 1.40438159e-02 1.93792653e-02 4.22994664e+01] [-1.40431138e-02 9.99901376e-01 -1.72325397e-04 1.34723055e+00] [-1.93797741e-02 -9.98691897e-05 9.99812190e-01 -8.34731267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14439141799999 meters 0.014892671887538567 Centerline is valid? [True, True] Translation: X:42.36, Y:1.35, Z:-0.84 [[ 9.99731500e-01 1.32040232e-02 1.90415580e-02 4.23622858e+01] [-1.32030833e-02 9.99912820e-01 -1.75079275e-04 1.34560930e+00] [-1.90422097e-02 -7.63750110e-05 9.99818678e-01 -8.36645878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20439141799999 meters 0.015957926229834763 Centerline is valid? [True, True] Translation: X:42.42, Y:1.34, Z:-0.84 [[ 9.99807467e-01 7.71081840e-03 1.80436370e-02 4.24249049e+01] [-7.70897233e-03 9.99970271e-01 -1.71864928e-04 1.34098266e+00] [-1.80444258e-02 3.27339397e-05 9.99837186e-01 -8.40125811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26439141799999 meters 0.01856128826267987 Centerline is valid? [True, True] Translation: X:42.49, Y:1.34, Z:-0.84 [[ 9.99839057e-01 2.40018490e-03 1.77791988e-02 4.24868571e+01] [-2.39744336e-03 9.99997111e-01 -1.75511988e-04 1.33590973e+00] [-1.77795687e-02 1.32859119e-04 9.99841922e-01 -8.41722166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32439141799999 meters 0.02027539370980453 Centerline is valid? [True, True] Translation: X:42.55, Y:1.33, Z:-0.84 [[ 9.99837532e-01 -1.66413589e-03 1.79482613e-02 4.25493802e+01] [ 1.66768292e-03 9.99998593e-01 -1.82659553e-04 1.33220007e+00] [-1.79479321e-02 2.12561886e-04 9.99838900e-01 -8.42565546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38439141799999 meters 0.019683392428408757 Centerline is valid? [True, True] Translation: X:42.61, Y:1.33, Z:-0.84 [[ 9.99765730e-01 -8.77677403e-03 1.97851943e-02 4.26106593e+01] [ 8.78260780e-03 9.99961411e-01 -2.07981482e-04 1.32631390e+00] [-1.97826054e-02 3.81698360e-04 9.99804232e-01 -8.39588475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44439141799999 meters 0.0226375788724196 Centerline is valid? [True, True] Translation: X:42.67, Y:1.32, Z:-0.84 [[ 9.99719994e-01 -1.36118776e-02 1.93558789e-02 4.26727091e+01] [ 1.36184711e-02 9.99907243e-01 -2.08870152e-04 1.32116465e+00] [-1.93512404e-02 4.72409144e-04 9.99812636e-01 -8.41673969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50439141799999 meters 0.027980254248153792 Centerline is valid? [True, True] Translation: X:42.73, Y:1.32, Z:-0.85 [[ 9.99638792e-01 -2.09507485e-02 1.68330570e-02 4.27337815e+01] [ 2.09567979e-02 9.99780365e-01 -1.83041410e-04 1.31799567e+00] [-1.68255250e-02 5.35742267e-04 9.99858297e-01 -8.47256473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56439141799999 meters 0.029080002544694467 Centerline is valid? [True, True] Translation: X:42.79, Y:1.32, Z:-0.85 [[ 9.99499331e-01 -2.54683937e-02 1.87736117e-02 4.27937641e+01] [ 2.54767202e-02 9.99675395e-01 -2.04448162e-04 1.31601186e+00] [-1.87623107e-02 6.82635853e-04 9.99823739e-01 -8.45016637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62439141799999 meters 0.031461112909634284 Centerline is valid? [True, True] Translation: X:42.86, Y:1.31, Z:-0.85 [[ 9.99398077e-01 -2.98585587e-02 1.76621148e-02 4.28550666e+01] [ 2.98666460e-02 9.99553873e-01 -1.94237855e-04 1.31468725e+00] [-1.76484356e-02 7.21629071e-04 9.99843994e-01 -8.47573754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68439141799999 meters 0.030431926368856985 Centerline is valid? [True, True] Translation: X:42.92, Y:1.33, Z:-0.85 [[ 9.99362146e-01 -3.23068847e-02 1.52172833e-02 4.29173456e+01] [ 3.23131752e-02 9.99477779e-01 -1.67625916e-04 1.32548275e+00] [-1.52039211e-02 6.59237739e-04 9.99884196e-01 -8.51262656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74439141799999 meters 0.031406058085420796 Centerline is valid? [True, True] Translation: X:42.98, Y:1.33, Z:-0.85 [[ 9.99302976e-01 -3.32146631e-02 1.70395844e-02 4.29783338e+01] [ 3.32227076e-02 9.99447956e-01 -1.89174354e-04 1.32589894e+00] [-1.70238944e-02 7.55143624e-04 9.99854798e-01 -8.50307377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80439141799999 meters 0.029655037070846484 Centerline is valid? [True, True] Translation: X:43.04, Y:1.33, Z:-0.85 [[ 9.99246608e-01 -3.39632616e-02 1.87806539e-02 4.30400861e+01] [ 3.39732289e-02 9.99422721e-01 -2.11837159e-04 1.33352094e+00] [-1.87626175e-02 8.49717016e-04 9.99823606e-01 -8.50446715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86439141799999 meters 0.03159006289486399 Centerline is valid? [True, True] Translation: X:43.10, Y:1.34, Z:-0.85 [[ 9.99213633e-01 -3.56800302e-02 1.72930877e-02 4.31021568e+01] [ 3.56887528e-02 9.99362934e-01 -1.95951910e-04 1.33960398e+00] [-1.72750793e-02 8.12966551e-04 9.99850444e-01 -8.53159403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92439141799999 meters 0.03133352200261776 Centerline is valid? [True, True] Translation: X:43.16, Y:1.35, Z:-0.86 [[ 9.99177503e-01 -3.69504802e-02 1.67026867e-02 4.31638387e+01] [ 3.69588171e-02 9.99316771e-01 -1.90623627e-04 1.34611645e+00] [-1.66842313e-02 8.07778383e-04 9.99860482e-01 -8.55063742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98439141799999 meters 0.03326991856568409 Centerline is valid? [True, True] Translation: X:43.23, Y:1.35, Z:-0.86 [[ 9.99131698e-01 -3.89054302e-02 1.49069709e-02 4.32252433e+01] [ 3.89122994e-02 9.99242615e-01 -1.70926560e-04 1.35045375e+00] [-1.48890306e-02 7.50842660e-04 9.99888870e-01 -8.58225949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04439141799999 meters 0.033614575869737526 Centerline is valid? [True, True] Translation: X:43.29, Y:1.35, Z:-0.86 [[ 9.99084572e-01 -4.00490019e-02 1.50364667e-02 4.32875785e+01] [ 4.00561325e-02 9.99197416e-01 -1.73234339e-04 1.35490367e+00] [-1.50174608e-02 7.75378459e-04 9.99886931e-01 -8.57920925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10439141799999 meters 0.03319079433551466 Centerline is valid? [True, True] Translation: X:43.35, Y:1.37, Z:-0.86 [[ 9.99176471e-01 -3.76494302e-02 1.51294255e-02 4.33489307e+01] [ 3.76563968e-02 9.99290731e-01 -1.75753146e-04 1.36598438e+00] [-1.51120777e-02 7.45328060e-04 9.99885528e-01 -8.59264931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164391417999994 meters 0.03293974125485808 Centerline is valid? [True, True] Translation: X:43.41, Y:1.38, Z:-0.86 [[ 9.99379622e-01 -3.16475035e-02 1.54533518e-02 4.34086087e+01] [ 3.16540695e-02 9.99498868e-01 -1.80422632e-04 1.37662337e+00] [-1.54398977e-02 6.69472173e-04 9.99880574e-01 -8.60371205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22439141799999 meters 0.02812393447631772 Centerline is valid? [True, True] Translation: X:43.47, Y:1.39, Z:-0.86 [[ 9.99457669e-01 -2.78314237e-02 1.76005415e-02 4.34700104e+01] [ 2.78393437e-02 9.99612389e-01 -2.05089666e-04 1.38796747e+00] [-1.75880114e-02 6.94965964e-04 9.99845077e-01 -8.57438929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28439141799999 meters 0.023519674002592573 Centerline is valid? [True, True] Translation: X:43.53, Y:1.40, Z:-0.86 [[ 9.99624315e-01 -2.13073046e-02 1.72402858e-02 4.35313601e+01] [ 2.13139468e-02 9.99772812e-01 -2.01600652e-04 1.40496301e+00] [-1.72320735e-02 5.68983449e-04 9.99851355e-01 -8.58929422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344391417999994 meters 0.02410944098771993 Centerline is valid? [True, True] Translation: X:43.59, Y:1.41, Z:-0.86 [[ 9.99665025e-01 -1.91650083e-02 1.73936984e-02 4.35924919e+01] [ 1.91714460e-02 9.99816190e-01 -2.03435187e-04 1.40718153e+00] [-1.73866024e-02 5.36829391e-04 9.99848697e-01 -8.60125610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40439141799999 meters 0.02293172774690115 Centerline is valid? [True, True] Translation: X:43.65, Y:1.42, Z:-0.86 [[ 9.99717393e-01 -1.83334131e-02 1.51334387e-02 4.36543533e+01] [ 1.83382280e-02 9.99831824e-01 -1.79444678e-04 1.41569282e+00] [-1.51276038e-02 4.56914415e-04 9.99885467e-01 -8.64426873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46439141799999 meters 0.023641656120041533 Centerline is valid? [True, True] Translation: X:43.72, Y:1.42, Z:-0.86 [[ 9.99691376e-01 -1.96091737e-02 1.52523403e-02 4.37156710e+01] [ 1.96142338e-02 9.99807606e-01 -1.82225753e-04 1.41774821e+00] [-1.52458325e-02 4.81332482e-04 9.99883660e-01 -8.64338553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52439141799999 meters 0.024840469548095073 Centerline is valid? [True, True] Translation: X:43.78, Y:1.42, Z:-0.87 [[ 9.99703978e-01 -1.93596973e-02 1.47362698e-02 4.37773585e+01] [ 1.93643864e-02 9.99812477e-01 -1.75568977e-04 1.42132706e+00] [-1.47301074e-02 4.60875827e-04 9.99891400e-01 -8.66378066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58439141799999 meters 0.021843812830763122 Centerline is valid? [True, True] Translation: X:43.84, Y:1.43, Z:-0.87 [[ 9.99724854e-01 -1.77388922e-02 1.53475786e-02 4.38401536e+01] [ 1.77438705e-02 9.99842547e-01 -1.88250327e-04 1.43016168e+00] [-1.53418228e-02 4.60523978e-04 9.99882201e-01 -8.66681741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64439141799999 meters 0.022162083597007918 Centerline is valid? [True, True] Translation: X:43.90, Y:1.43, Z:-0.87 [[ 9.99727262e-01 -1.74304367e-02 1.55428767e-02 4.39028086e+01] [ 1.74355488e-02 9.99847971e-01 -1.93446917e-04 1.43379069e+00] [-1.55371419e-02 4.64392742e-04 9.99879183e-01 -8.67404524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70439141799999 meters 0.025690863117048313 Centerline is valid? [True, True] Translation: X:43.96, Y:1.43, Z:-0.87 [[ 9.99706494e-01 -1.84054970e-02 1.57532149e-02 4.39639538e+01] [ 1.84108844e-02 9.99830486e-01 -1.97019602e-04 1.43318175e+00] [-1.57469182e-02 4.86992394e-04 9.99875891e-01 -8.69451869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76439141799999 meters 0.0245187318557597 Centerline is valid? [True, True] Translation: X:44.03, Y:1.44, Z:-0.87 [[ 9.99680593e-01 -1.96297039e-02 1.59181505e-02 4.40259393e+01] [ 1.96354032e-02 9.99807187e-01 -2.01812845e-04 1.43735192e+00] [-1.59111197e-02 5.14307688e-04 9.99873278e-01 -8.70250196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82439141799999 meters 0.02649687184453108 Centerline is valid? [True, True] Translation: X:44.09, Y:1.44, Z:-0.87 [[ 9.99648884e-01 -2.23011926e-02 1.43096008e-02 4.40883356e+01] [ 2.23060851e-02 9.99751172e-01 -1.82373288e-04 1.44029424e+00] [-1.43019730e-02 5.01500428e-04 9.99897596e-01 -8.73173063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88439141799999 meters 0.025192354710853883 Centerline is valid? [True, True] Translation: X:44.15, Y:1.44, Z:-0.87 [[ 9.99610415e-01 -2.40131404e-02 1.42263075e-02 4.41501580e+01] [ 2.40181480e-02 9.99711506e-01 -1.81222785e-04 1.44443343e+00] [-1.42178516e-02 5.22841743e-04 9.99898785e-01 -8.74032148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94439141799999 meters 0.027030125431988128 Centerline is valid? [True, True] Translation: X:44.21, Y:1.45, Z:-0.88 [[ 9.99564405e-01 -2.59498587e-02 1.40572107e-02 4.42124394e+01] [ 2.59550067e-02 9.99663095e-01 -1.83871223e-04 1.44688632e+00] [-1.40477034e-02 5.48646128e-04 9.99901176e-01 -8.76124577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00439141799999 meters 0.02766878617195896 Centerline is valid? [True, True] Translation: X:44.28, Y:1.45, Z:-0.88 [[ 9.99576375e-01 -2.58479092e-02 1.33774537e-02 4.42752340e+01] [ 2.58525714e-02 9.99665751e-01 -1.75669692e-04 1.44877404e+00] [-1.33684416e-02 5.21436851e-04 9.99910502e-01 -8.79013117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06439141799999 meters 0.0271051891259533 Centerline is valid? [True, True] Translation: X:44.34, Y:1.46, Z:-0.88 [[ 9.99629417e-01 -2.38101556e-02 1.31949129e-02 4.43368136e+01] [ 2.38145216e-02 9.99716379e-01 -1.73837846e-04 1.45575831e+00] [-1.31870314e-02 4.88003963e-04 9.99912928e-01 -8.79152296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12439141799999 meters 0.025529069755544965 Centerline is valid? [True, True] Translation: X:44.40, Y:1.47, Z:-0.88 [[ 9.99680348e-01 -2.08346225e-02 1.43220513e-02 4.43986062e+01] [ 2.08395389e-02 9.99782814e-01 -1.94106783e-04 1.46614332e+00] [-1.43148967e-02 4.92509682e-04 9.99897415e-01 -8.78318739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18439141799999 meters 0.023662540070041583 Centerline is valid? [True, True] Translation: X:44.46, Y:1.48, Z:-0.88 [[ 9.99712684e-01 -1.91222682e-02 1.44529892e-02 4.44607350e+01] [ 1.91271006e-02 9.99817041e-01 -1.96186009e-04 1.47501009e+00] [-1.44465934e-02 4.72573420e-04 9.99895531e-01 -8.79206058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24439141799999 meters 0.02358439412462831 Centerline is valid? [True, True] Translation: X:44.52, Y:1.48, Z:-0.88 [[ 9.99719229e-01 -1.74233124e-02 1.60589781e-02 4.45221003e+01] [ 1.74290710e-02 9.99848078e-01 -2.18697593e-04 1.47941247e+00] [-1.60527280e-02 4.98529259e-04 9.99871022e-01 -8.77883496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30439141799999 meters 0.021512946884799187 Centerline is valid? [True, True] Translation: X:44.58, Y:1.49, Z:-0.88 [[ 9.99771007e-01 -1.58670696e-02 1.43585889e-02 4.45841560e+01] [ 1.58715754e-02 9.99874019e-01 -1.99895950e-04 1.48949428e+00] [-1.43536083e-02 4.27743602e-04 9.99896890e-01 -8.79912376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36439141799999 meters 0.021379844672216618 Centerline is valid? [True, True] Translation: X:44.65, Y:1.49, Z:-0.88 [[ 9.99793780e-01 -1.49054758e-02 1.37922066e-02 4.46461683e+01] [ 1.49095563e-02 9.99888828e-01 -1.93075309e-04 1.49331883e+00] [-1.37877954e-02 3.98671173e-04 9.99904864e-01 -8.81940331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42439141799999 meters 0.02142360801192546 Centerline is valid? [True, True] Translation: X:44.71, Y:1.50, Z:-0.88 [[ 9.99844793e-01 -1.18528464e-02 1.30345863e-02 4.47076590e+01] [ 1.18562367e-02 9.99929696e-01 -1.82847285e-04 1.49896273e+00] [-1.30315027e-02 3.37360046e-04 9.99915029e-01 -8.84896189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48439141799999 meters 0.019192590247272653 Centerline is valid? [True, True] Translation: X:44.77, Y:1.51, Z:-0.88 [[ 9.99867264e-01 -7.84689411e-03 1.42786954e-02 4.47691907e+01] [ 7.85060227e-03 9.99969163e-01 -2.03665778e-04 1.50546415e+00] [-1.42766570e-02 3.15735103e-04 9.99898033e-01 -8.83654908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54439141799999 meters 0.018232558650224693 Centerline is valid? [True, True] Translation: X:44.83, Y:1.52, Z:-0.88 [[ 9.99895997e-01 7.46641553e-04 1.44026764e-02 4.48309611e+01] [-7.43753248e-04 9.99999702e-01 -2.05894684e-04 1.51832292e+00] [-1.44028259e-02 1.95161233e-04 9.99896255e-01 -8.84957207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60439141799999 meters 0.0153408954489457 Centerline is valid? [True, True] Translation: X:44.89, Y:1.52, Z:-0.88 [[ 9.99869586e-01 4.14159155e-03 1.56095742e-02 4.48928569e+01] [-4.13859816e-03 9.99991411e-01 -2.24064606e-04 1.52302883e+00] [-1.56103681e-02 1.59433629e-04 9.99878138e-01 -8.84370150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66439141799999 meters 0.014666753647630993 Centerline is valid? [True, True] Translation: X:44.96, Y:1.53, Z:-0.89 [[ 9.99844876e-01 8.03535671e-03 1.56734191e-02 4.49552158e+01] [-8.03279830e-03 9.99967711e-01 -2.26181306e-04 1.52752904e+00] [-1.56747305e-02 1.00244805e-04 9.99877139e-01 -8.86487252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72439141799999 meters 0.014813980166255571 Centerline is valid? [True, True] Translation: X:45.02, Y:1.53, Z:-0.89 [[ 9.99860384e-01 7.06655675e-03 1.51418914e-02 4.50183838e+01] [-7.06406053e-03 9.99975025e-01 -2.18334056e-04 1.52886297e+00] [-1.51430561e-02 1.11340336e-04 9.99885331e-01 -8.87273514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78439141799999 meters 0.015414492755656116 Centerline is valid? [True, True] Translation: X:45.08, Y:1.52, Z:-0.89 [[ 9.99891746e-01 3.97483999e-03 1.41667481e-02 4.50806754e+01] [-3.97228542e-03 9.99992089e-01 -2.08455210e-04 1.52492412e+00] [-1.41674646e-02 1.52158277e-04 9.99899625e-01 -8.89521846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844391417999994 meters 0.017155877719883326 Centerline is valid? [True, True] Translation: X:45.14, Y:1.52, Z:-0.89 [[ 9.99922206e-01 -9.74461320e-04 1.24350907e-02 4.51427645e+01] [ 9.76846301e-04 9.99999506e-01 -1.85722078e-04 1.51723414e+00] [-1.24349036e-02 1.97854802e-04 9.99922664e-01 -8.94411349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90439141799999 meters 0.018602891618076323 Centerline is valid? [True, True] Translation: X:45.20, Y:1.51, Z:-0.90 [[ 9.99917989e-01 -3.78792145e-03 1.22338056e-02 4.52034875e+01] [ 3.79049423e-03 9.99992799e-01 -1.87120179e-04 1.51239397e+00] [-1.22330087e-02 2.33477002e-04 9.99925147e-01 -8.96314957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96439141799999 meters 0.01880016309047188 Centerline is valid? [True, True] Translation: X:45.26, Y:1.51, Z:-0.90 [[ 9.99899730e-01 -5.04285839e-03 1.32324831e-02 4.52649133e+01] [ 5.04601332e-03 9.99987248e-01 -2.05046440e-04 1.50903285e+00] [-1.32312803e-02 2.71797166e-04 9.99912426e-01 -8.95556487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02439141799999 meters 0.01903489134143793 Centerline is valid? [True, True] Translation: X:45.33, Y:1.51, Z:-0.90 [[ 9.99900591e-01 -2.88181154e-03 1.38022565e-02 4.53274630e+01] [ 2.88504808e-03 9.99995815e-01 -2.14587675e-04 1.51046296e+00] [-1.38015804e-02 2.54386517e-04 9.99904721e-01 -8.96819210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08439141799999 meters 0.01664067398958255 Centerline is valid? [True, True] Translation: X:45.39, Y:1.51, Z:-0.90 [[ 9.99898596e-01 -2.03777363e-04 1.42392330e-02 4.53901437e+01] [ 2.06965832e-04 9.99999954e-01 -2.22448186e-04 1.51027887e+00] [-1.42391870e-02 2.25372663e-04 9.99898592e-01 -8.96627525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14439141799999 meters 0.01703526239036119 Centerline is valid? [True, True] Translation: X:45.45, Y:1.51, Z:-0.90 [[ 9.99904476e-01 3.43677464e-03 1.33875813e-02 4.54526167e+01] [-3.43426448e-03 9.99994081e-01 -2.10484321e-04 1.51230034e+00] [-1.33882254e-02 1.64487720e-04 9.99910360e-01 -9.00179929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20439141799999 meters 0.016256409080367438 Centerline is valid? [True, True] Translation: X:45.52, Y:1.51, Z:-0.90 [[ 9.99889646e-01 6.75099251e-03 1.32332794e-02 4.55150371e+01] [-6.74881617e-03 9.99977205e-01 -2.09109837e-04 1.51397867e+00] [-1.32343895e-02 1.19777791e-04 9.99912414e-01 -9.01336605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26439141799999 meters 0.015130719815241488 Centerline is valid? [True, True] Translation: X:45.58, Y:1.52, Z:-0.90 [[ 9.99848091e-01 1.23655139e-02 1.22836476e-02 4.55773723e+01] [-1.23640516e-02 9.99923543e-01 -1.94979620e-04 1.51629433e+00] [-1.22851195e-02 4.30743481e-05 9.99924534e-01 -9.03238531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32439141799999 meters 0.01509615994460342 Centerline is valid? [True, True] Translation: X:45.64, Y:1.52, Z:-0.90 [[ 9.99769012e-01 1.80460358e-02 1.16732241e-02 4.56382732e+01] [-1.80450973e-02 9.99837157e-01 -1.85728651e-04 1.52091199e+00] [-1.16746749e-02 -2.49587156e-05 9.99931848e-01 -9.04084262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38439141799999 meters 0.015008807531061692 Centerline is valid? [True, True] Translation: X:45.70, Y:1.52, Z:-0.91 [[ 9.99688540e-01 2.18053138e-02 1.21388640e-02 4.56973007e+01] [-2.18045351e-02 9.99762234e-01 -1.96504513e-04 1.52232266e+00] [-1.21402626e-02 -6.82389770e-05 9.99926302e-01 -9.05065696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44439141799999 meters 0.015753231555781 Centerline is valid? [True, True] Translation: X:45.76, Y:1.52, Z:-0.91 [[ 9.99548690e-01 2.71389706e-02 1.28799604e-02 4.57564004e+01] [-2.71385503e-02 9.99631660e-01 -2.07441951e-04 1.52264676e+00] [-1.28808460e-02 -1.42195124e-04 9.99917028e-01 -9.05935332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50439141799999 meters 0.016449416057263765 Centerline is valid? [True, True] Translation: X:45.82, Y:1.52, Z:-0.91 [[ 9.99460423e-01 2.98161861e-02 1.37788896e-02 4.58151643e+01] [-2.98159764e-02 9.99555381e-01 -2.20694970e-04 1.52494218e+00] [-1.37793435e-02 -1.90255159e-04 9.99905042e-01 -9.05413360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56439141799999 meters 0.016797137687206077 Centerline is valid? [True, True] Translation: X:45.87, Y:1.53, Z:-0.91 [[ 9.99414247e-01 3.08448966e-02 1.48241465e-02 4.58738518e+01] [-3.08447864e-02 9.99524158e-01 -2.36128237e-04 1.52500968e+00] [-1.48243760e-02 -2.21257709e-04 9.99890088e-01 -9.05327628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62439141799999 meters 0.016070945916463922 Centerline is valid? [True, True] Translation: X:45.93, Y:1.52, Z:-0.91 [[ 9.99505910e-01 2.74103475e-02 1.53821199e-02 4.59330008e+01] [-2.74098432e-02 9.99624250e-01 -2.43648695e-04 1.51623135e+00] [-1.53830186e-02 -1.78093184e-04 9.99881659e-01 -9.07966864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68439141799999 meters 0.015292635404455196 Centerline is valid? [True, True] Translation: X:45.99, Y:1.51, Z:-0.91 [[ 9.99590399e-01 2.39488035e-02 1.56680864e-02 4.59922065e+01] [-2.39478648e-02 9.99713178e-01 -2.47553737e-04 1.51069976e+00] [-1.56695211e-02 -1.27764878e-04 9.99877217e-01 -9.09291247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74439141799999 meters 0.0159131348645088 Centerline is valid? [True, True] Translation: X:46.05, Y:1.50, Z:-0.91 [[ 9.99676917e-01 2.05228856e-02 1.49957363e-02 4.60512830e+01] [-2.05216720e-02 9.99789381e-01 -2.34817730e-04 1.50421670e+00] [-1.49973971e-02 -7.29957181e-05 9.99887530e-01 -9.11143267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80439141799999 meters 0.014408617617322707 Centerline is valid? [True, True] Translation: X:46.11, Y:1.50, Z:-0.91 [[ 9.99694220e-01 1.88237575e-02 1.60353585e-02 4.61115131e+01] [-1.88221651e-02 9.99822816e-01 -2.50231818e-04 1.49764287e+00] [-1.60372276e-02 -5.16648636e-05 9.99871394e-01 -9.10124647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86439141799999 meters 0.014651674870500831 Centerline is valid? [True, True] Translation: X:46.17, Y:1.49, Z:-0.91 [[ 9.99671954e-01 1.92187198e-02 1.69299924e-02 4.61719854e+01] [-1.92170026e-02 9.99815301e-01 -2.64119555e-04 1.49181914e+00] [-1.69319415e-02 -6.13107962e-05 9.99856643e-01 -9.11602463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92439141799999 meters 0.015617406681283492 Centerline is valid? [True, True] Translation: X:46.23, Y:1.49, Z:-0.91 [[ 9.99648670e-01 2.02525958e-02 1.70988037e-02 4.62337716e+01] [-2.02509907e-02 9.99794892e-01 -2.67029589e-04 1.49034268e+00] [-1.71007047e-02 -7.93319418e-05 9.99853769e-01 -9.13039756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98439141799999 meters 0.015356495788428645 Centerline is valid? [True, True] Translation: X:46.29, Y:1.49, Z:-0.91 [[ 9.99568680e-01 2.36605643e-02 1.73962912e-02 4.62944671e+01] [-2.36594052e-02 9.99720040e-01 -2.72466233e-04 1.48954620e+00] [-1.73978677e-02 -1.39237190e-04 9.99848636e-01 -9.13034300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04439141799999 meters 0.016312806581245003 Centerline is valid? [True, True] Translation: X:46.35, Y:1.49, Z:-0.91 [[ 9.99434357e-01 2.87740943e-02 1.74073733e-02 4.63545704e+01] [-2.87737019e-02 9.99585914e-01 -2.73051829e-04 1.48519181e+00] [-1.74080220e-02 -2.27977191e-04 9.99848443e-01 -9.14813130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10439141799999 meters 0.018448320750674835 Centerline is valid? [True, True] Translation: X:46.41, Y:1.48, Z:-0.92 [[ 9.99328040e-01 3.21218443e-02 1.76537866e-02 4.64139128e+01] [-3.21219607e-02 9.99483918e-01 -2.77034674e-04 1.48288787e+00] [-1.76535747e-02 -2.90225724e-04 9.99844121e-01 -9.18032849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16439141799999 meters 0.017432242923162544 Centerline is valid? [True, True] Translation: X:46.47, Y:1.48, Z:-0.92 [[ 9.99288028e-01 3.35819632e-02 1.71956311e-02 4.64722330e+01] [-3.35822978e-02 9.99435919e-01 -2.69376973e-04 1.47987010e+00] [-1.71949776e-02 -3.08283621e-04 9.99852108e-01 -9.17098782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22439141799999 meters 0.01711254551040797 Centerline is valid? [True, True] Translation: X:46.53, Y:1.47, Z:-0.92 [[ 9.99387284e-01 3.14553908e-02 1.53497698e-02 4.65313333e+01] [-3.14554304e-02 9.99505127e-01 -2.38913891e-04 1.47038125e+00] [-1.53496887e-02 -2.44066109e-04 9.99882157e-01 -9.21533658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28439141799999 meters 0.016366928720336005 Centerline is valid? [True, True] Translation: X:46.59, Y:1.46, Z:-0.92 [[ 9.99491380e-01 2.82116359e-02 1.48689349e-02 4.65886353e+01] [-2.82113239e-02 9.99601955e-01 -2.30774364e-04 1.46496799e+00] [-1.48695269e-02 -1.88815349e-04 9.99889425e-01 -9.22693090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344391417999994 meters 0.016257593457989487 Centerline is valid? [True, True] Translation: X:46.65, Y:1.45, Z:-0.92 [[ 9.99617293e-01 2.25893252e-02 1.59684310e-02 4.66484388e+01] [-2.25882806e-02 9.99744822e-01 -2.45793751e-04 1.45349847e+00] [-1.59699085e-02 -1.14999716e-04 9.99872466e-01 -9.24648958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40439141799999 meters 0.014435639378703758 Centerline is valid? [True, True] Translation: X:46.71, Y:1.45, Z:-0.92 [[ 9.99684438e-01 1.78865063e-02 1.76379606e-02 4.67092379e+01] [-1.78845160e-02 9.99840023e-01 -2.70585973e-04 1.44555618e+00] [-1.76399787e-02 -4.49458020e-05 9.99844402e-01 -9.23098287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46439141799999 meters 0.016467546887299508 Centerline is valid? [True, True] Translation: X:46.77, Y:1.44, Z:-0.93 [[ 9.99739482e-01 1.44726343e-02 1.76496704e-02 4.67723477e+01] [-1.44701262e-02 9.99895266e-01 -2.69810637e-04 1.43660383e+00] [-1.76517268e-02 1.43473878e-05 9.99844196e-01 -9.26229980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52439141799999 meters 0.016526973992027443 Centerline is valid? [True, True] Translation: X:46.84, Y:1.43, Z:-0.93 [[ 9.99744160e-01 1.35892506e-02 1.80816857e-02 4.68356855e+01] [-1.35863632e-02 9.99907661e-01 -2.82525846e-04 1.43122876e+00] [-1.80838553e-02 3.67892155e-05 9.99836473e-01 -9.27450138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58439141799999 meters 0.016525486541469125 Centerline is valid? [True, True] Translation: X:46.90, Y:1.42, Z:-0.93 [[ 9.99728423e-01 1.37354597e-02 1.88259718e-02 4.68985777e+01] [-1.37322356e-02 9.99905663e-01 -3.00521581e-04 1.42427005e+00] [-1.88283236e-02 4.19172860e-05 9.99822731e-01 -9.28457072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64439141799999 meters 0.014698043806789806 Centerline is valid? [True, True] Translation: X:46.96, Y:1.42, Z:-0.93 [[ 9.99677683e-01 1.61716982e-02 1.95705238e-02 4.69615622e+01] [-1.61685532e-02 9.99869230e-01 -3.18927716e-04 1.42051417e+00] [-1.95731221e-02 2.39786488e-06 9.99808428e-01 -9.27709955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70439141799999 meters 0.014762399608798493 Centerline is valid? [True, True] Translation: X:47.02, Y:1.42, Z:-0.93 [[ 9.99629571e-01 1.97260244e-02 1.87511208e-02 4.70244707e+01] [-1.97236531e-02 9.99805421e-01 -3.11404114e-04 1.41827107e+00] [-1.87536150e-02 -5.85518413e-05 9.99824134e-01 -9.29745881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76439141799999 meters 0.01515824053759562 Centerline is valid? [True, True] Translation: X:47.09, Y:1.42, Z:-0.93 [[ 9.99517820e-01 2.53337519e-02 1.79534827e-02 4.70864063e+01] [-2.53323821e-02 9.99679038e-01 -3.03748752e-04 1.41634953e+00] [-1.79554154e-02 -1.51202193e-04 9.99838777e-01 -9.32464140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82439141799999 meters 0.016191964418911433 Centerline is valid? [True, True] Translation: X:47.15, Y:1.42, Z:-0.93 [[ 9.99406088e-01 2.93528348e-02 1.80522254e-02 4.71480976e+01] [-2.93520046e-02 9.99569089e-01 -3.10998357e-04 1.41587248e+00] [-1.80535752e-02 -2.19055351e-04 9.99836997e-01 -9.33567947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88439141799999 meters 0.018148882842554094 Centerline is valid? [True, True] Translation: X:47.21, Y:1.41, Z:-0.94 [[ 9.99262432e-01 3.36149713e-02 1.85640817e-02 4.72076291e+01] [-3.36148120e-02 9.99434811e-01 -3.20708476e-04 1.41268460e+00] [-1.85643701e-02 -3.03556183e-04 9.99827621e-01 -9.36074589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94439141799999 meters 0.0176936962530037 Centerline is valid? [True, True] Translation: X:47.27, Y:1.41, Z:-0.94 [[ 9.99260077e-01 3.34793822e-02 1.89322321e-02 4.72665958e+01] [-3.34792058e-02 9.99439361e-01 -3.26349020e-04 1.40631038e+00] [-1.89325439e-02 -3.07728548e-04 9.99820716e-01 -9.36245307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00439141799999 meters 0.016590105577432335 Centerline is valid? [True, True] Translation: X:47.33, Y:1.40, Z:-0.94 [[ 9.99311089e-01 3.16112286e-02 1.94442123e-02 4.73257915e+01] [-3.16107116e-02 9.99500201e-01 -3.34016569e-04 1.39830395e+00] [-1.94450528e-02 -2.80858928e-04 9.99810888e-01 -9.37255172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06439141799999 meters 0.015402976591034035 Centerline is valid? [True, True] Translation: X:47.39, Y:1.39, Z:-0.94 [[ 9.99430645e-01 2.70455751e-02 2.01723229e-02 4.73859888e+01] [-2.70441060e-02 9.99634182e-01 -3.45675415e-04 1.38527188e+00] [-2.01742925e-02 -2.00063836e-04 9.99796458e-01 -9.37797939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12439141799999 meters 0.01695321546285218 Centerline is valid? [True, True] Translation: X:47.45, Y:1.38, Z:-0.94 [[ 9.99535790e-01 2.31750267e-02 1.97768382e-02 4.74482690e+01] [-2.31728615e-02 9.99731416e-01 -3.38674147e-04 1.37606927e+00] [-1.97793753e-02 -1.19769002e-04 9.99804362e-01 -9.41100648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18439141799999 meters 0.015455466951879935 Centerline is valid? [True, True] Translation: X:47.51, Y:1.36, Z:-0.94 [[ 9.99672292e-01 1.49688107e-02 2.07664075e-02 4.75098667e+01] [-1.49645229e-02 9.99887960e-01 -3.61865468e-04 1.36277325e+00] [-2.07694975e-02 5.09875009e-05 9.99784289e-01 -9.41111047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24439141799999 meters 0.015519998717595308 Centerline is valid? [True, True] Translation: X:47.57, Y:1.35, Z:-0.94 [[ 9.99743999e-01 8.85522084e-03 2.08211945e-02 4.75709585e+01] [-8.84946166e-03 9.99960775e-01 -3.68725307e-04 1.35135936e+00] [-2.08236430e-02 1.84374550e-04 9.99783147e-01 -9.42332331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30439141799999 meters 0.020810055577789543 Centerline is valid? [True, True] Translation: X:47.63, Y:1.34, Z:-0.95 [[ 9.99825973e-01 1.15780412e-03 1.86194416e-02 4.76321470e+01] [-1.15178456e-03 9.99999281e-01 -3.34014836e-04 1.33654206e+00] [-1.86198149e-02 3.12511123e-04 9.99826587e-01 -9.47699319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36439141799999 meters 0.020552158608590984 Centerline is valid? [True, True] Translation: X:47.69, Y:1.33, Z:-0.95 [[ 9.99806197e-01 -2.64697593e-03 1.95079901e-02 4.76943841e+01] [ 2.65440579e-03 9.99996414e-01 -3.54978515e-04 1.33133870e+00] [-1.95069805e-02 4.06691841e-04 9.99809638e-01 -9.47410811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42439141799999 meters 0.020131058912115665 Centerline is valid? [True, True] Translation: X:47.76, Y:1.33, Z:-0.95 [[ 9.99787584e-01 -3.37367612e-03 2.03323743e-02 4.77570103e+01] [ 3.38202092e-03 9.99994210e-01 -3.76047230e-04 1.32820427e+00] [-2.03309879e-02 4.44731867e-04 9.99793205e-01 -9.47356586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48439141799999 meters 0.019455774023246206 Centerline is valid? [True, True] Translation: X:47.82, Y:1.32, Z:-0.95 [[ 9.99762688e-01 -5.26550061e-03 2.11386529e-02 4.78187466e+01] [ 5.27507619e-03 9.99986008e-01 -3.97254016e-04 1.32345727e+00] [-2.11362654e-02 5.08667748e-04 9.99776475e-01 -9.47599081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54439141799999 meters 0.021379501750359343 Centerline is valid? [True, True] Translation: X:47.88, Y:1.32, Z:-0.95 [[ 9.99790134e-01 -7.09888573e-03 1.92169986e-02 4.78802066e+01] [ 7.10722760e-03 9.99974676e-01 -3.65826128e-04 1.31841796e+00] [-1.92139150e-02 5.02328937e-04 9.99815270e-01 -9.51663623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60439141799999 meters 0.02139558591108557 Centerline is valid? [True, True] Translation: X:47.94, Y:1.32, Z:-0.95 [[ 9.99767307e-01 -9.12365845e-03 1.95471199e-02 4.79419142e+01] [ 9.13277920e-03 9.99958224e-01 -3.77383875e-04 1.31533605e+00] [-1.95428602e-02 5.55815591e-04 9.99808866e-01 -9.51927221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66439141799999 meters 0.025027277168919046 Centerline is valid? [True, True] Translation: X:48.00, Y:1.31, Z:-0.96 [[ 9.99801856e-01 -1.10762631e-02 1.65397972e-02 4.80041725e+01] [ 1.10831309e-02 9.99938528e-01 -3.23620719e-04 1.31285981e+00] [-1.65351959e-02 5.06869332e-04 9.99863156e-01 -9.57521308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72439141799999 meters 0.02440886366433328 Centerline is valid? [True, True] Translation: X:48.07, Y:1.31, Z:-0.96 [[ 9.99807237e-01 -1.15037768e-02 1.59107420e-02 4.80663611e+01] [ 1.15102058e-02 9.99933707e-01 -3.12549400e-04 1.31261265e+00] [-1.59060917e-02 4.95625066e-04 9.99873367e-01 -9.59020776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78439141799999 meters 0.022426746602892428 Centerline is valid? [True, True] Translation: X:48.13, Y:1.32, Z:-0.96 [[ 9.99819426e-01 -9.07730691e-03 1.66948406e-02 4.81277195e+01] [ 9.08406645e-03 9.99958685e-01 -3.29096995e-04 1.31519104e+00] [-1.66911635e-02 4.80694610e-04 9.99860577e-01 -9.57815087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84439141799999 meters 0.02356934146733409 Centerline is valid? [True, True] Translation: X:48.19, Y:1.32, Z:-0.96 [[ 9.99859575e-01 -5.80933425e-03 1.57188283e-02 4.81904011e+01] [ 5.81496427e-03 9.99983044e-01 -3.12489002e-04 1.31613082e+00] [-1.57167464e-02 4.03849545e-04 9.99876403e-01 -9.61860761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90439141799999 meters 0.02009806137754479 Centerline is valid? [True, True] Translation: X:48.25, Y:1.32, Z:-0.96 [[ 9.99841182e-01 -1.04230307e-04 1.78213490e-02 4.82510622e+01] [ 1.10601952e-04 9.99999930e-01 -3.56543490e-04 1.32110257e+00] [-1.78213106e-02 3.58457940e-04 9.99841124e-01 -9.59243032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96439141799999 meters 0.018837712061298934 Centerline is valid? [True, True] Translation: X:48.31, Y:1.33, Z:-0.96 [[ 9.99769790e-01 1.21668005e-02 1.76730259e-02 4.83133116e+01] [-1.21624468e-02 9.99925972e-01 -3.53809105e-04 1.33497620e+00] [-1.76760224e-02 1.38780417e-04 9.99843757e-01 -9.61359694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02439141799999 meters 0.014862136972523008 Centerline is valid? [True, True] Translation: X:48.38, Y:1.35, Z:-0.96 [[ 9.99605140e-01 2.15694638e-02 1.80089568e-02 4.83753527e+01] [-2.15664501e-02 9.99767352e-01 -3.61558293e-04 1.34552480e+00] [-1.80125657e-02 -2.69737407e-05 9.99837760e-01 -9.60068230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08439141799999 meters 0.015176059283750338 Centerline is valid? [True, True] Translation: X:48.44, Y:1.35, Z:-0.96 [[ 9.99536050e-01 2.51127549e-02 1.72346969e-02 4.84379374e+01] [-2.51105112e-02 9.99684621e-01 -3.46607365e-04 1.34858275e+00] [-1.72379657e-02 -8.63254922e-05 9.99851412e-01 -9.61992751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14439141799999 meters 0.01479780444463614 Centerline is valid? [True, True] Translation: X:48.50, Y:1.35, Z:-0.96 [[ 9.99549475e-01 2.48862372e-02 1.67786420e-02 4.84994997e+01] [-2.48839845e-02 9.99690287e-01 -3.43055516e-04 1.34878311e+00] [-1.67819828e-02 -7.46185058e-05 9.99859170e-01 -9.62993451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20439141799999 meters 0.015095304343628945 Centerline is valid? [True, True] Translation: X:48.56, Y:1.35, Z:-0.97 [[ 9.99607307e-01 2.23681330e-02 1.68789235e-02 4.85605091e+01] [-2.23654828e-02 9.99749802e-01 -3.45784216e-04 1.34547233e+00] [-1.68824350e-02 -3.18568455e-05 9.99857481e-01 -9.65016993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26439141799999 meters 0.01765799444681377 Centerline is valid? [True, True] Translation: X:48.62, Y:1.34, Z:-0.97 [[ 9.99675853e-01 2.03296888e-02 1.53262240e-02 4.86224015e+01] [-2.03272756e-02 9.99793331e-01 -3.13234885e-04 1.34196055e+00] [-1.53294245e-02 1.59297143e-06 9.99882497e-01 -9.69911146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32439141799999 meters 0.014662642364375587 Centerline is valid? [True, True] Translation: X:48.69, Y:1.34, Z:-0.97 [[ 9.99671446e-01 2.01047902e-02 1.58996110e-02 4.86850992e+01] [-2.01020888e-02 9.99797878e-01 -3.29716632e-04 1.34189481e+00] [-1.59030262e-02 9.99290949e-06 9.99873539e-01 -9.67570381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38439141799999 meters 0.014611973914598397 Centerline is valid? [True, True] Translation: X:48.75, Y:1.34, Z:-0.97 [[ 9.99602101e-01 2.26526998e-02 1.68075690e-02 4.87472686e+01] [-2.26499565e-02 9.99743394e-01 -3.53586873e-04 1.34298532e+00] [-1.68112658e-02 -2.72445256e-05 9.99858680e-01 -9.67749382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44439141799999 meters 0.014964367334548123 Centerline is valid? [True, True] Translation: X:48.81, Y:1.34, Z:-0.97 [[ 9.99529101e-01 2.52285386e-02 1.74670203e-02 4.88090137e+01] [-2.52258714e-02 9.99681707e-01 -3.73046447e-04 1.34276767e+00] [-1.74708721e-02 -6.77500275e-05 9.99847370e-01 -9.69136178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50439141799999 meters 0.01515668001474686 Centerline is valid? [True, True] Translation: X:48.87, Y:1.34, Z:-0.97 [[ 9.99486004e-01 2.73034295e-02 1.68002965e-02 4.88703034e+01] [-2.73011715e-02 9.99627187e-01 -3.63778626e-04 1.34213684e+00] [-1.68039656e-02 -9.50761312e-05 9.99858799e-01 -9.70867720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56439141799999 meters 0.014494296527619315 Centerline is valid? [True, True] Translation: X:48.93, Y:1.34, Z:-0.97 [[ 9.99476811e-01 2.74714440e-02 1.70711674e-02 4.89311301e+01] [-2.74691252e-02 9.99622584e-01 -3.70343836e-04 1.34003241e+00] [-1.70748984e-02 -9.87799607e-05 9.99854208e-01 -9.72010010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62439141799999 meters 0.016752455627893195 Centerline is valid? [True, True] Translation: X:48.99, Y:1.34, Z:-0.98 [[ 9.99491765e-01 2.73359406e-02 1.63999589e-02 4.89924780e+01] [-2.73337721e-02 9.99626299e-01 -3.56409839e-04 1.33716015e+00] [-1.64035730e-02 -9.20440397e-05 9.99865448e-01 -9.76494070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68439141799999 meters 0.017619496741672996 Centerline is valid? [True, True] Translation: X:49.05, Y:1.34, Z:-0.98 [[ 9.99513934e-01 2.72624126e-02 1.51213867e-02 4.90529471e+01] [-2.72605508e-02 9.99628308e-01 -3.29265699e-04 1.33549580e+00] [-1.51247428e-02 -8.31116762e-05 9.99885611e-01 -9.79129598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74439141799999 meters 0.016417950465250433 Centerline is valid? [True, True] Translation: X:49.11, Y:1.33, Z:-0.98 [[ 9.99510732e-01 2.67451107e-02 1.62171525e-02 4.91138294e+01] [-2.67428943e-02 9.99642282e-01 -3.53555436e-04 1.33363587e+00] [-1.62208072e-02 -8.03111429e-05 9.99868431e-01 -9.78721423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80439141799999 meters 0.01682350650221818 Centerline is valid? [True, True] Translation: X:49.17, Y:1.33, Z:-0.98 [[ 9.99533512e-01 2.60649717e-02 1.59177571e-02 4.91746927e+01] [-2.60627531e-02 9.99660249e-01 -3.46840769e-04 1.33055552e+00] [-1.59213894e-02 -6.81815999e-05 9.99873244e-01 -9.79852861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86439141799999 meters 0.015516430352722163 Centerline is valid? [True, True] Translation: X:49.24, Y:1.33, Z:-0.98 [[ 9.99537789e-01 2.59622505e-02 1.58167845e-02 4.92361418e+01] [-2.59600370e-02 9.99662922e-01 -3.45275888e-04 1.32931249e+00] [-1.58204171e-02 -6.54880136e-05 9.99874847e-01 -9.80235474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92439141799999 meters 0.0170315707046407 Centerline is valid? [True, True] Translation: X:49.30, Y:1.33, Z:-0.98 [[ 9.99523440e-01 2.64981373e-02 1.58348153e-02 4.92978884e+01] [-2.64959760e-02 9.99648860e-01 -3.46303785e-04 1.32605027e+00] [-1.58384315e-02 -7.34201355e-05 9.99874561e-01 -9.82753730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98439141799999 meters 0.014823828049836622 Centerline is valid? [True, True] Translation: X:49.36, Y:1.32, Z:-0.98 [[ 9.99547641e-01 2.49740182e-02 1.67574597e-02 4.93590130e+01] [-2.49713714e-02 9.99688099e-01 -3.67205311e-04 1.32257223e+00] [-1.67614036e-02 -5.14175478e-05 9.99859516e-01 -9.80889469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04439141799999 meters 0.014633121422582388 Centerline is valid? [True, True] Translation: X:49.42, Y:1.32, Z:-0.98 [[ 9.99565283e-01 2.44293257e-02 1.65061548e-02 4.94207289e+01] [-2.44266887e-02 9.99701559e-01 -3.61379339e-04 1.31910326e+00] [-1.65100569e-02 -4.19684629e-05 9.99863699e-01 -9.82117792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10439141799999 meters 0.014671207999311051 Centerline is valid? [True, True] Translation: X:49.48, Y:1.32, Z:-0.98 [[ 9.99564867e-01 2.46818047e-02 1.61519695e-02 4.94829544e+01] [-2.46792404e-02 9.99695357e-01 -3.58096618e-04 1.31651719e+00] [-1.61558873e-02 -4.06775384e-05 9.99869484e-01 -9.83750697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16439141799999 meters 0.016091125190066072 Centerline is valid? [True, True] Translation: X:49.54, Y:1.31, Z:-0.99 [[ 9.99573153e-01 2.46554332e-02 1.56723142e-02 4.95444107e+01] [-2.46529308e-02 9.99696008e-01 -3.52873570e-04 1.31345714e+00] [-1.56762502e-02 -3.36455308e-05 9.99877119e-01 -9.86731668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22439141799999 meters 0.014444856539548221 Centerline is valid? [True, True] Translation: X:49.61, Y:1.31, Z:-0.99 [[ 9.99628750e-01 2.15320702e-02 1.66952959e-02 4.96055127e+01] [-2.15287825e-02 9.99768158e-01 -3.76643307e-04 1.30781125e+00] [-1.66995351e-02 1.70740828e-05 9.99860553e-01 -9.87061456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28439141799999 meters 0.014512788227471034 Centerline is valid? [True, True] Translation: X:49.67, Y:1.30, Z:-0.99 [[ 9.99669122e-01 1.87867772e-02 1.75699481e-02 4.96689942e+01] [-1.87827140e-02 9.99823511e-01 -3.96264178e-04 1.30305716e+00] [-1.75742917e-02 6.61217531e-05 9.99845558e-01 -9.88324807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34439141799999 meters 0.015439385015153524 Centerline is valid? [True, True] Translation: X:49.73, Y:1.30, Z:-0.99 [[ 9.99765094e-01 1.25970401e-02 1.76372189e-02 4.97313205e+01] [-1.25918762e-02 9.99920638e-01 -4.03807137e-04 1.29599455e+00] [-1.76409059e-02 1.81626604e-04 9.99844371e-01 -9.90192944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40439141799999 meters 0.016542417907605793 Centerline is valid? [True, True] Translation: X:49.79, Y:1.29, Z:-0.99 [[ 9.99794913e-01 8.65050432e-03 1.83112386e-02 4.97936361e+01] [-8.64417638e-03 9.99962548e-01 -4.24699471e-04 1.28917584e+00] [-1.83142267e-02 2.66326795e-04 9.99832245e-01 -9.92217418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46439141799999 meters 0.01854234793348213 Centerline is valid? [True, True] Translation: X:49.85, Y:1.28, Z:-0.99 [[ 9.99767382e-01 4.23007045e-03 2.11491985e-02 4.98545528e+01] [-4.22049434e-03 9.99990970e-01 -4.97403164e-04 1.28052921e+00] [-2.11511116e-02 4.08027386e-04 9.99776207e-01 -9.92193210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524391417999986 meters 0.018024582071907512 Centerline is valid? [True, True] Translation: X:49.92, Y:1.28, Z:-0.99 [[ 9.99763549e-01 4.43231846e-03 2.12884922e-02 4.99172106e+01] [-4.42254247e-03 9.99990092e-01 -5.06272641e-04 1.28091474e+00] [-2.12905252e-02 4.12003671e-04 9.99773246e-01 -9.93234017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58439141799999 meters 0.017422426360378686 Centerline is valid? [True, True] Translation: X:49.98, Y:1.28, Z:-1.00 [[ 9.99748405e-01 7.00778116e-03 2.13076725e-02 4.99792946e+01] [-6.99842692e-03 9.99975379e-01 -5.13545914e-04 1.28100239e+00] [-2.13107467e-02 3.64296519e-04 9.99772834e-01 -9.95510078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64439141799999 meters 0.01654221685018495 Centerline is valid? [True, True] Translation: X:50.04, Y:1.28, Z:-1.00 [[ 9.99737962e-01 1.01303105e-02 2.05276449e-02 5.00419179e+01] [-1.01222538e-02 9.99948645e-01 -4.96348817e-04 1.28182642e+00] [-2.05316189e-02 2.88432723e-04 9.99789162e-01 -9.98278012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70439141799999 meters 0.01732867475090953 Centerline is valid? [True, True] Translation: X:50.10, Y:1.29, Z:-1.00 [[ 9.99643546e-01 1.69037308e-02 2.06650579e-02 5.01036313e+01] [-1.68969690e-02 9.99857110e-01 -5.01788329e-04 1.28715040e+00] [-2.06705871e-02 1.52432623e-04 9.99786329e-01 -1.00038064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76439141799999 meters 0.014567020408957382 Centerline is valid? [True, True] Translation: X:50.17, Y:1.29, Z:-1.00 [[ 9.99534203e-01 2.15185554e-02 2.16408999e-02 5.01662494e+01] [-2.15121772e-02 9.99768447e-01 -5.27510854e-04 1.29126545e+00] [-2.16472402e-02 6.17222672e-05 9.99765669e-01 -1.00037510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82439141799999 meters 0.01436770799867064 Centerline is valid? [True, True] Translation: X:50.23, Y:1.29, Z:-1.00 [[ 9.99471132e-01 2.51628255e-02 2.05982469e-02 5.02291974e+01] [-2.51577073e-02 9.99683366e-01 -5.07606534e-04 1.29319676e+00] [-2.06044976e-02 -1.08665912e-05 9.99787705e-01 -1.00311877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88439141799999 meters 0.014239833587029417 Centerline is valid? [True, True] Translation: X:50.29, Y:1.29, Z:-1.01 [[ 9.99440995e-01 2.69884102e-02 1.97312634e-02 5.02924809e+01] [-2.69839456e-02 9.99635746e-01 -4.92521471e-04 1.29276972e+00] [-1.97373686e-02 -4.01811905e-05 9.99805198e-01 -1.00591217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94439141799999 meters 0.014254299033539428 Centerline is valid? [True, True] Translation: X:50.36, Y:1.29, Z:-1.01 [[ 9.99483926e-01 2.59137808e-02 1.89831090e-02 5.03560110e+01] [-2.59093402e-02 9.99664182e-01 -4.79870734e-04 1.29139465e+00] [-1.89891694e-02 -1.22167462e-05 9.99819689e-01 -1.00783006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00439141799999 meters 0.01442961699014613 Centerline is valid? [True, True] Translation: X:50.42, Y:1.29, Z:-1.01 [[ 9.99579180e-01 2.22196297e-02 1.86480886e-02 5.04188104e+01] [-2.22145894e-02 9.99753112e-01 -4.77416588e-04 1.28751835e+00] [-1.86540926e-02 6.29560516e-05 9.99825995e-01 -1.00967145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06439141799999 meters 0.014857607635642759 Centerline is valid? [True, True] Translation: X:50.48, Y:1.28, Z:-1.01 [[ 9.99629712e-01 1.90534382e-02 1.94269479e-02 5.04800880e+01] [-1.90472381e-02 9.99818458e-01 -5.04148754e-04 1.28255129e+00] [-1.94330268e-02 1.33932373e-04 9.99811152e-01 -1.00996504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12439141799999 meters 0.01575307687191605 Centerline is valid? [True, True] Translation: X:50.54, Y:1.28, Z:-1.01 [[ 9.99685397e-01 1.55910148e-02 1.96475981e-02 5.05410907e+01] [-1.55838989e-02 9.99878431e-01 -5.15240739e-04 1.27796078e+00] [-1.96532427e-02 2.08892459e-04 9.99806835e-01 -1.01023198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18439141799999 meters 0.018175471611416544 Centerline is valid? [True, True] Translation: X:50.60, Y:1.28, Z:-1.01 [[ 9.99715342e-01 1.48530877e-02 1.86713778e-02 5.06039016e+01] [-1.48464897e-02 9.99889664e-01 -4.91946753e-04 1.27641436e+00] [-1.86766246e-02 2.14602299e-04 9.99825554e-01 -1.01381363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24439141799999 meters 0.016635810363994877 Centerline is valid? [True, True] Translation: X:50.67, Y:1.27, Z:-1.01 [[ 9.99718575e-01 1.34234340e-02 1.95596984e-02 5.06661202e+01] [-1.34157878e-02 9.99909868e-01 -5.22081881e-04 1.27325133e+00] [-1.95649436e-02 2.59526190e-04 9.99808554e-01 -1.01398159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30439141799999 meters 0.016374645135600528 Centerline is valid? [True, True] Translation: X:50.73, Y:1.27, Z:-1.02 [[ 9.99735355e-01 1.28945205e-02 1.90512775e-02 5.07291081e+01] [-1.28870725e-02 9.99916826e-01 -5.13668502e-04 1.27240203e+00] [-1.90563164e-02 2.68017368e-04 9.99818376e-01 -1.01512234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36439141799999 meters 0.019035535652159048 Centerline is valid? [True, True] Translation: X:50.79, Y:1.27, Z:-1.02 [[ 9.99733836e-01 1.44552451e-02 1.79806118e-02 5.07910296e+01] [-1.44487632e-02 9.99895491e-01 -4.90359509e-04 1.27289297e+00] [-1.79858210e-02 2.30431391e-04 9.99838215e-01 -1.01955386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42439141799999 meters 0.016459971643380568 Centerline is valid? [True, True] Translation: X:50.85, Y:1.27, Z:-1.02 [[ 9.99733223e-01 1.60818993e-02 1.65787789e-02 5.08524093e+01] [-1.60765409e-02 9.99870660e-01 -4.56439676e-04 1.27233902e+00] [-1.65839751e-02 1.89788490e-04 9.99862458e-01 -1.02131696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48439141799999 meters 0.015427392155603428 Centerline is valid? [True, True] Translation: X:50.91, Y:1.27, Z:-1.02 [[ 9.99693722e-01 1.91511096e-02 1.56747538e-02 5.09147414e+01] [-1.91466391e-02 9.99816592e-01 -4.35235881e-04 1.27395284e+00] [-1.56802142e-02 1.34983722e-04 9.99877049e-01 -1.02349749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54439141799999 meters 0.014604916846950406 Centerline is valid? [True, True] Translation: X:50.98, Y:1.28, Z:-1.02 [[ 9.99546059e-01 2.57654001e-02 1.56147458e-02 5.09770074e+01] [-2.57617057e-02 9.99668016e-01 -4.37725804e-04 1.27937941e+00] [-1.56208401e-02 3.52646177e-05 9.99877987e-01 -1.02429492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60439141799999 meters 0.016210788197864305 Centerline is valid? [True, True] Translation: X:51.04, Y:1.28, Z:-1.03 [[ 9.99407690e-01 3.08106842e-02 1.53287813e-02 5.10371987e+01] [-3.08076366e-02 9.99525237e-01 -4.34968776e-04 1.28242870e+00] [-1.53349054e-02 -3.75323834e-05 9.99882413e-01 -1.02716567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66439141799999 meters 0.014605718854761137 Centerline is valid? [True, True] Translation: X:51.10, Y:1.28, Z:-1.03 [[ 9.99299768e-01 3.41510559e-02 1.52865902e-02 5.10968795e+01] [-3.41484066e-02 9.99416679e-01 -4.34368754e-04 1.28425118e+00] [-1.52925074e-02 -8.79481048e-05 9.99883059e-01 -1.02527056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72439141799999 meters 0.014704693366367046 Centerline is valid? [True, True] Translation: X:51.16, Y:1.28, Z:-1.03 [[ 9.99299690e-01 3.41336191e-02 1.53305618e-02 5.11563620e+01] [-3.41309622e-02 9.99417274e-01 -4.34987142e-04 1.28266591e+00] [-1.53364760e-02 -8.85643090e-05 9.99882385e-01 -1.02624191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78439141799999 meters 0.016425853275567653 Centerline is valid? [True, True] Translation: X:51.22, Y:1.28, Z:-1.03 [[ 9.99428606e-01 3.03816040e-02 1.48128047e-02 5.12160373e+01] [-3.03787199e-02 9.99538372e-01 -4.19725434e-04 1.27504979e+00] [-1.48187186e-02 -3.05084399e-05 9.99890196e-01 -1.03027614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84439141799999 meters 0.015936019452602417 Centerline is valid? [True, True] Translation: X:51.28, Y:1.27, Z:-1.03 [[ 9.99602608e-01 2.43822324e-02 1.41467989e-02 5.12761076e+01] [-2.43790123e-02 9.99702708e-01 -4.00056568e-04 1.26767651e+00] [-1.41523475e-02 5.50126036e-05 9.99899849e-01 -1.03147095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90439141799999 meters 0.01777961118110797 Centerline is valid? [True, True] Translation: X:51.34, Y:1.26, Z:-1.03 [[ 9.99661238e-01 2.21222448e-02 1.37119035e-02 5.13368881e+01] [-2.21190108e-02 9.99755270e-01 -3.87480973e-04 1.26393895e+00] [-1.37171198e-02 8.40559668e-05 9.99905912e-01 -1.03353114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96439141799999 meters 0.017410119149806818 Centerline is valid? [True, True] Translation: X:51.40, Y:1.26, Z:-1.03 [[ 9.99650621e-01 2.25074390e-02 1.38582760e-02 5.13985685e+01] [-2.25041849e-02 9.99746672e-01 -3.90726871e-04 1.26177974e+00] [-1.38635596e-02 7.87211525e-05 9.99903893e-01 -1.03295113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024391417999986 meters 0.01793257883479781 Centerline is valid? [True, True] Translation: X:51.46, Y:1.26, Z:-1.03 [[ 9.99617563e-01 2.39369250e-02 1.38474378e-02 5.14600461e+01] [-2.39337432e-02 9.99713469e-01 -3.95472729e-04 1.26168158e+00] [-1.38529364e-02 6.39004664e-05 9.99904041e-01 -1.03362417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08439141799999 meters 0.014074045050287417 Centerline is valid? [True, True] Translation: X:51.52, Y:1.26, Z:-1.03 [[ 9.99542977e-01 2.61003830e-02 1.52514465e-02 5.15204632e+01] [-2.60967616e-02 9.99659326e-01 -4.36453707e-04 1.26163856e+00] [-1.52576423e-02 3.82408766e-05 9.99883595e-01 -1.03129566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14439141799999 meters 0.014062269186142723 Centerline is valid? [True, True] Translation: X:51.58, Y:1.26, Z:-1.03 [[ 9.99517404e-01 2.69405785e-02 1.54649638e-02 5.15818014e+01] [-2.69369587e-02 9.99637036e-01 -4.42354428e-04 1.26058109e+00] [-1.54712678e-02 2.55618586e-05 9.99880312e-01 -1.03174646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204391417999986 meters 0.014146065633640278 Centerline is valid? [True, True] Translation: X:51.64, Y:1.26, Z:-1.03 [[ 9.99572593e-01 2.54468863e-02 1.43905315e-02 5.16431591e+01] [-2.54435896e-02 9.99676175e-01 -4.12159508e-04 1.25683325e+00] [-1.43963597e-02 4.58365706e-05 9.99896366e-01 -1.03392759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26439141799999 meters 0.014677010997155243 Centerline is valid? [True, True] Translation: X:51.70, Y:1.25, Z:-1.04 [[ 9.99678160e-01 2.23225054e-02 1.20533007e-02 5.17032817e+01] [-2.23199591e-02 9.99750819e-01 -3.45747345e-04 1.25120324e+00] [-1.20580152e-02 7.66068901e-05 9.99927297e-01 -1.03721936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32439141799999 meters 0.016415708513880214 Centerline is valid? [True, True] Translation: X:51.76, Y:1.25, Z:-1.04 [[ 9.99717285e-01 2.12212214e-02 1.07242616e-02 5.17636551e+01] [-2.12191385e-02 9.99774801e-01 -3.07988428e-04 1.24609026e+00] [-1.07283824e-02 8.03417640e-05 9.99942446e-01 -1.03963916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38439141799999 meters 0.014804128579420347 Centerline is valid? [True, True] Translation: X:51.82, Y:1.24, Z:-1.04 [[ 9.99717720e-01 2.04106177e-02 1.21608673e-02 5.18227474e+01] [-2.04078772e-02 9.99791677e-01 -3.49410919e-04 1.24162918e+00] [-1.21654656e-02 1.01134801e-04 9.99925993e-01 -1.03825992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44439141799999 meters 0.016852595686922253 Centerline is valid? [True, True] Translation: X:51.88, Y:1.24, Z:-1.04 [[ 9.99705710e-01 2.13002653e-02 1.16100339e-02 5.18835712e+01] [-2.12978361e-02 9.99773120e-01 -3.32850915e-04 1.23946231e+00] [-1.16144897e-02 8.54843608e-05 9.99932546e-01 -1.04072343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50439141799999 meters 0.014746417211101863 Centerline is valid? [True, True] Translation: X:51.94, Y:1.24, Z:-1.04 [[ 9.99695634e-01 2.17711148e-02 1.16041780e-02 5.19443872e+01] [-2.17687104e-02 9.99762978e-01 -3.33482044e-04 1.23548055e+00] [-1.16086878e-02 8.07725541e-05 9.99932614e-01 -1.04123834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56439141799999 meters 0.014441016235470313 Centerline is valid? [True, True] Translation: X:52.00, Y:1.23, Z:-1.04 [[ 9.99662318e-01 2.30461972e-02 1.20050860e-02 5.20046303e+01] [-2.30437158e-02 9.99734399e-01 -3.45003382e-04 1.23216877e+00] [-1.20098485e-02 6.82450897e-05 9.99927877e-01 -1.04147391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62439141799999 meters 0.014766846464807882 Centerline is valid? [True, True] Translation: X:52.06, Y:1.23, Z:-1.04 [[ 9.99642081e-01 2.39842617e-02 1.18518168e-02 5.20647775e+01] [-2.39819091e-02 9.99712335e-01 -3.40598715e-04 1.22980208e+00] [-1.18565765e-02 5.62476142e-05 9.99929707e-01 -1.04313233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68439141799999 meters 0.014450890921521726 Centerline is valid? [True, True] Translation: X:52.12, Y:1.23, Z:-1.04 [[ 9.99522967e-01 2.81328617e-02 1.27428595e-02 5.21249731e+01] [-2.81304792e-02 9.99604193e-01 -3.66205591e-04 1.22895394e+00] [-1.27481182e-02 7.56815402e-06 9.99918739e-01 -1.04272651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74439141799999 meters 0.014187828231742363 Centerline is valid? [True, True] Translation: X:52.18, Y:1.23, Z:-1.04 [[ 9.99426110e-01 3.13814619e-02 1.27536461e-02 5.21849593e+01] [-3.13793360e-02 9.99507480e-01 -3.66815358e-04 1.22727237e+00] [-1.27588758e-02 -3.35960987e-05 9.99918602e-01 -1.04372286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80439141799999 meters 0.015931944901838736 Centerline is valid? [True, True] Translation: X:52.24, Y:1.23, Z:-1.05 [[ 9.99270982e-01 3.65997358e-02 1.08611076e-02 5.22443958e+01] [-3.65985055e-02 9.99330002e-01 -3.12077480e-04 1.22536023e+00] [-1.08652526e-02 -8.56503367e-05 9.99940968e-01 -1.04754099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86439141799999 meters 0.016056410569165257 Centerline is valid? [True, True] Translation: X:52.30, Y:1.22, Z:-1.05 [[ 9.99161874e-01 3.94006602e-02 1.10967762e-02 5.23019589e+01] [-3.93995477e-02 9.99223485e-01 -3.18933035e-04 1.22371412e+00] [-1.11007255e-02 -1.18542234e-04 9.99938378e-01 -1.04822554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92439141799999 meters 0.018061505333501135 Centerline is valid? [True, True] Translation: X:52.36, Y:1.22, Z:-1.05 [[ 9.99159374e-01 3.96272215e-02 1.04990189e-02 5.23609328e+01] [-3.96262507e-02 9.99214526e-01 -3.00557636e-04 1.21925248e+00] [-1.05026825e-02 -1.15731776e-04 9.99944839e-01 -1.05177118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98439141799999 meters 0.015751255385494066 Centerline is valid? [True, True] Translation: X:52.42, Y:1.21, Z:-1.05 [[ 9.99254545e-01 3.68332441e-02 1.15614279e-02 5.24198353e+01] [-3.68318868e-02 9.99321421e-01 -3.30372408e-04 1.21008818e+00] [-1.15657512e-02 -9.57030734e-05 9.99933110e-01 -1.05008680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04439141799999 meters 0.016834469581032716 Centerline is valid? [True, True] Translation: X:52.48, Y:1.21, Z:-1.05 [[ 9.99364011e-01 3.43244473e-02 9.66471150e-03 5.24781527e+01] [-3.43233869e-02 9.99410741e-01 -2.75607652e-04 1.20565185e+00] [-9.66847656e-03 -5.62932637e-05 9.99953258e-01 -1.05368832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10439141799999 meters 0.015201170458563068 Centerline is valid? [True, True] Translation: X:52.54, Y:1.20, Z:-1.06 [[ 9.99512755e-01 2.93689678e-02 1.05695831e-02 5.25366765e+01] [-2.93674362e-02 9.99568639e-01 -3.00115930e-04 1.19533357e+00] [-1.05738379e-02 -1.04318580e-05 9.99944095e-01 -1.05527646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16439141799999 meters 0.01639563774246439 Centerline is valid? [True, True] Translation: X:52.60, Y:1.19, Z:-1.05 [[ 9.99601598e-01 2.59547881e-02 1.10902335e-02 5.25960753e+01] [-2.59529023e-02 9.99663117e-01 -3.13951884e-04 1.18804752e+00] [-1.10946460e-02 2.60030572e-05 9.99938452e-01 -1.05413162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22439141799999 meters 0.014472451446128395 Centerline is valid? [True, True] Translation: X:52.66, Y:1.18, Z:-1.05 [[ 9.99687893e-01 2.10032427e-02 1.35270249e-02 5.26564371e+01] [-2.09999984e-02 9.99779403e-01 -3.81852030e-04 1.18226587e+00] [-1.35320610e-02 9.76653516e-05 9.99908433e-01 -1.05025200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28439141799999 meters 0.017122349434853704 Centerline is valid? [True, True] Translation: X:52.72, Y:1.18, Z:-1.05 [[ 9.99733284e-01 1.95931758e-02 1.22257425e-02 5.27174021e+01] [-1.95904465e-02 9.99808030e-01 -3.42964993e-04 1.17777690e+00] [-1.22301153e-02 1.03365765e-04 9.99925204e-01 -1.05426827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34439141799999 meters 0.01669856433723446 Centerline is valid? [True, True] Translation: X:52.78, Y:1.17, Z:-1.06 [[ 9.99745286e-01 1.94049711e-02 1.15243097e-02 5.27800373e+01] [-1.94025051e-02 9.99811701e-01 -3.25759303e-04 1.17458643e+00] [-1.15284611e-02 1.02075849e-04 9.99933540e-01 -1.05585665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40439141799999 meters 0.016710226319398478 Centerline is valid? [True, True] Translation: X:52.84, Y:1.17, Z:-1.06 [[ 9.99707738e-01 2.12878048e-02 1.14572556e-02 5.28411350e+01] [-2.12854416e-02 9.99773385e-01 -3.28180263e-04 1.17318516e+00] [-1.14616455e-02 8.42116029e-05 9.99934310e-01 -1.05763700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46439141799999 meters 0.01612918457156024 Centerline is valid? [True, True] Translation: X:52.90, Y:1.18, Z:-1.06 [[ 9.99587408e-01 2.63787974e-02 1.13654592e-02 5.29022934e+01] [-2.63767686e-02 9.99652019e-01 -3.28389647e-04 1.17634577e+00] [-1.13701667e-02 2.84700690e-05 9.99935357e-01 -1.05796373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524391417999986 meters 0.014939951682050378 Centerline is valid? [True, True] Translation: X:52.96, Y:1.18, Z:-1.06 [[ 9.99507624e-01 2.92172555e-02 1.14395151e-02 5.29627981e+01] [-2.92153767e-02 9.99573085e-01 -3.31347379e-04 1.17667752e+00] [-1.14443124e-02 -3.02551094e-06 9.99934512e-01 -1.05829808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58439141799999 meters 0.014785161481006713 Centerline is valid? [True, True] Translation: X:53.02, Y:1.18, Z:-1.06 [[ 9.99466894e-01 3.12173877e-02 9.56051408e-03 5.30210177e+01] [-3.12161625e-02 9.99512618e-01 -2.77385078e-04 1.17634525e+00] [-9.56451370e-03 -2.12053592e-05 9.99954259e-01 -1.06399180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64439141799999 meters 0.01770536772679711 Centerline is valid? [True, True] Translation: X:53.08, Y:1.18, Z:-1.07 [[ 9.99426260e-01 3.29828455e-02 7.69954455e-03 5.30806935e+01] [-3.29821045e-02 9.99455917e-01 -2.23237453e-04 1.17550878e+00] [-7.70271837e-03 -3.08378102e-05 9.99970333e-01 -1.06698615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704391417999986 meters 0.015895725377186726 Centerline is valid? [True, True] Translation: X:53.14, Y:1.17, Z:-1.07 [[ 9.99405236e-01 3.33970511e-02 8.59138693e-03 5.31396668e+01] [-3.33961429e-02 9.99442162e-01 -2.49183659e-04 1.17393437e+00] [-8.59491633e-03 -3.78837324e-05 9.99963062e-01 -1.06578415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76439141799999 meters 0.015514859739704963 Centerline is valid? [True, True] Translation: X:53.20, Y:1.17, Z:-1.06 [[ 9.99401277e-01 3.32187621e-02 9.67481253e-03 5.31988696e+01] [-3.32176125e-02 9.99448104e-01 -2.79526960e-04 1.17191100e+00] [-9.67875857e-03 -4.20145733e-05 9.99953159e-01 -1.06495556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82439141799999 meters 0.01666073266917789 Centerline is valid? [True, True] Translation: X:53.26, Y:1.17, Z:-1.07 [[ 9.99450912e-01 3.17177548e-02 9.58431632e-03 5.32575438e+01] [-3.17165657e-02 9.99496865e-01 -2.76066386e-04 1.16828735e+00] [-9.58825032e-03 -2.80667976e-05 9.99954031e-01 -1.06638016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884391417999986 meters 0.014237495163136969 Centerline is valid? [True, True] Translation: X:53.32, Y:1.16, Z:-1.07 [[ 9.99578712e-01 2.69016192e-02 1.08950589e-02 5.33167490e+01] [-2.68998144e-02 9.99638086e-01 -3.12181985e-04 1.16074333e+00] [-1.08995140e-02 1.89754037e-05 9.99940598e-01 -1.06558973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94439141799999 meters 0.014555357467583258 Centerline is valid? [True, True] Translation: X:53.38, Y:1.15, Z:-1.07 [[ 9.99682183e-01 2.28854070e-02 1.05730966e-02 5.33771444e+01] [-2.28834918e-02 9.99738093e-01 -3.02098939e-04 1.15396548e+00] [-1.05772411e-02 6.00535566e-05 9.99944058e-01 -1.06631903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00439141799999 meters 0.0156148148058029 Centerline is valid? [True, True] Translation: X:53.44, Y:1.15, Z:-1.07 [[ 9.99801442e-01 1.60460208e-02 1.18153614e-02 5.34374727e+01] [-1.60431538e-02 9.99871243e-01 -3.37400236e-04 1.14570891e+00] [-1.18192541e-02 1.47777582e-04 9.99930139e-01 -1.06558585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06439141799999 meters 0.016953254102195302 Centerline is valid? [True, True] Translation: X:53.50, Y:1.14, Z:-1.07 [[ 9.99882778e-01 1.07108284e-02 1.09411531e-02 5.34998126e+01] [-1.07080544e-02 9.99942618e-01 -3.12083201e-04 1.13870067e+00] [-1.09438679e-02 1.94888156e-04 9.99940095e-01 -1.06705965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12439141799999 meters 0.019785240777574077 Centerline is valid? [True, True] Translation: X:53.56, Y:1.13, Z:-1.07 [[ 9.99904458e-01 9.57813906e-03 9.96663059e-03 5.35619116e+01] [-9.57577728e-03 9.99954111e-01 -2.84662841e-04 1.13240908e+00] [-9.96889977e-03 1.89197409e-04 9.99950291e-01 -1.07092766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18439141799999 meters 0.021817145945958964 Centerline is valid? [True, True] Translation: X:53.62, Y:1.13, Z:-1.07 [[ 9.99900982e-01 1.14050685e-02 8.24318779e-03 5.36234665e+01] [-1.14035326e-02 9.99934950e-01 -2.33308875e-04 1.12925983e+00] [-8.24531248e-03 1.39284313e-04 9.99965997e-01 -1.07458369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24439141799999 meters 0.017613269718078917 Centerline is valid? [True, True] Translation: X:53.69, Y:1.13, Z:-1.07 [[ 9.99846410e-01 1.41163547e-02 1.03867625e-02 5.36858156e+01] [-1.41140070e-02 9.99900348e-01 -2.99301444e-04 1.13053580e+00] [-1.03899525e-02 1.52656636e-04 9.99946011e-01 -1.07238314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30439141799999 meters 0.0191984886025714 Centerline is valid? [True, True] Translation: X:53.75, Y:1.13, Z:-1.08 [[ 9.99732789e-01 2.10410805e-02 9.57198428e-03 5.37470975e+01] [-2.10393788e-02 9.99778609e-01 -2.78452407e-04 1.13454115e+00] [-9.57572407e-03 7.69893978e-05 9.99954149e-01 -1.07561020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36439141799999 meters 0.01645694834806399 Centerline is valid? [True, True] Translation: X:53.81, Y:1.14, Z:-1.08 [[ 9.99694316e-01 2.28782398e-02 9.37343363e-03 5.38078914e+01] [-2.28766385e-02 9.99738257e-01 -2.78028550e-04 1.13549560e+00] [-9.37734100e-03 6.35109082e-05 9.99956030e-01 -1.07757340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42439141799999 meters 0.014760644594061616 Centerline is valid? [True, True] Translation: X:53.87, Y:1.14, Z:-1.08 [[ 9.99666263e-01 2.42003459e-02 9.03915363e-03 5.38680534e+01] [-2.41989037e-02 9.99707127e-01 -2.68907781e-04 1.13545948e+00] [-9.04301397e-03 5.00804282e-05 9.99959110e-01 -1.07901723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48439141799999 meters 0.017971667509674962 Centerline is valid? [True, True] Translation: X:53.93, Y:1.13, Z:-1.08 [[ 9.99641204e-01 2.53488541e-02 8.65444572e-03 5.39278739e+01] [-2.53475825e-02 9.99678665e-01 -2.56602411e-04 1.13422710e+00] [-8.65816932e-03 3.71410665e-05 9.99962517e-01 -1.08146506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54439141799999 meters 0.014573137054966772 Centerline is valid? [True, True] Translation: X:53.99, Y:1.13, Z:-1.08 [[ 9.99638691e-01 2.45500136e-02 1.09446449e-02 5.39875043e+01] [-2.45479397e-02 9.99698601e-01 -3.23815555e-04 1.13293341e+00] [-1.09492959e-02 5.50300747e-05 9.99940053e-01 -1.07928978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60439141799999 meters 0.015923433663243846 Centerline is valid? [True, True] Translation: X:54.05, Y:1.13, Z:-1.08 [[ 9.99657695e-01 2.38137099e-02 1.08351371e-02 5.40481527e+01] [-2.38116451e-02 9.99716412e-01 -3.19542198e-04 1.13029620e+00] [-1.08396739e-02 6.14303774e-05 9.99941247e-01 -1.08073551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66439141799999 meters 0.015511370462582013 Centerline is valid? [True, True] Translation: X:54.11, Y:1.13, Z:-1.08 [[ 9.99715913e-01 2.13477367e-02 1.06003938e-02 5.41084674e+01] [-2.13456197e-02 9.99772107e-01 -3.12828414e-04 1.12603417e+00] [-1.06046562e-02 8.64675688e-05 9.99943765e-01 -1.08211638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72439141799999 meters 0.019353035719134964 Centerline is valid? [True, True] Translation: X:54.17, Y:1.12, Z:-1.08 [[ 9.99741529e-01 2.00444088e-02 1.07283178e-02 5.41701657e+01] [-2.00421653e-02 9.99799086e-01 -3.16601120e-04 1.12213502e+00] [-1.07325084e-02 1.01500569e-04 9.99942400e-01 -1.08347673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78439141799999 meters 0.01583950995277228 Centerline is valid? [True, True] Translation: X:54.23, Y:1.12, Z:-1.08 [[ 9.99756513e-01 1.78309334e-02 1.29989778e-02 5.42318189e+01] [-1.78274431e-02 9.99841005e-01 -3.84337037e-04 1.11941207e+00] [-1.30037641e-02 1.52504918e-04 9.99915436e-01 -1.08132433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84439141799999 meters 0.016177797571859855 Centerline is valid? [True, True] Translation: X:54.30, Y:1.12, Z:-1.08 [[ 9.99765520e-01 1.69524537e-02 1.34728816e-02 5.42951530e+01] [-1.69486455e-02 9.99856283e-01 -3.96791102e-04 1.11672200e+00] [-1.34776719e-02 1.68350970e-04 9.99909158e-01 -1.08204142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90439141799999 meters 0.017432706493655054 Centerline is valid? [True, True] Translation: X:54.36, Y:1.11, Z:-1.09 [[ 9.99769458e-01 1.72460135e-02 1.27908746e-02 5.43569435e+01] [-1.72425502e-02 9.99851264e-01 -3.81002067e-04 1.11264443e+00] [-1.27955429e-02 1.60366933e-04 9.99918121e-01 -1.08513768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96439141799999 meters 0.015877409720756262 Centerline is valid? [True, True] Translation: X:54.42, Y:1.11, Z:-1.09 [[ 9.99737740e-01 1.92868932e-02 1.23477803e-02 5.44194349e+01] [-1.92837731e-02 9.99813982e-01 -3.71706989e-04 1.11402369e+00] [-1.23526524e-02 1.33497712e-04 9.99923694e-01 -1.08596238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024391417999986 meters 0.01695580434383838 Centerline is valid? [True, True] Translation: X:54.48, Y:1.12, Z:-1.09 [[ 9.99650720e-01 2.29758105e-02 1.30594506e-02 5.44814100e+01] [-2.29725566e-02 9.99736016e-01 -3.99132736e-04 1.11674508e+00] [-1.30651735e-02 9.89843595e-05 9.99914642e-01 -1.08646926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08439141799999 meters 0.01493541618407646 Centerline is valid? [True, True] Translation: X:54.54, Y:1.12, Z:-1.09 [[ 9.99574597e-01 2.60063692e-02 1.32020569e-02 5.45426437e+01] [-2.60033174e-02 9.99661775e-01 -4.02787951e-04 1.11833189e+00] [-1.32080667e-02 5.93193269e-05 9.99912768e-01 -1.08685694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14439141799999 meters 0.013749007480185288 Centerline is valid? [True, True] Translation: X:54.60, Y:1.12, Z:-1.09 [[ 9.99486812e-01 2.96720814e-02 1.20697777e-02 5.46044332e+01] [-2.96697378e-02 9.99559687e-01 -3.73224544e-04 1.12186535e+00] [-1.20755375e-02 1.49258709e-05 9.99927088e-01 -1.08871610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204391417999986 meters 0.013926164537734171 Centerline is valid? [True, True] Translation: X:54.66, Y:1.12, Z:-1.09 [[ 9.99430988e-01 3.14160122e-02 1.22773614e-02 5.46640734e+01] [-3.14137030e-02 9.99506395e-01 -3.80931245e-04 1.12237209e+00] [-1.22832686e-02 -4.96289339e-06 9.99924558e-01 -1.08985934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26439141799999 meters 0.013904809553404871 Centerline is valid? [True, True] Translation: X:54.72, Y:1.12, Z:-1.09 [[ 9.99378836e-01 3.29734396e-02 1.24376102e-02 5.47236730e+01] [-3.29711975e-02 9.99456228e-01 -3.85334639e-04 1.12365950e+00] [-1.24435528e-02 -2.49876201e-05 9.99922576e-01 -1.09038215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32439141799999 meters 0.015042011655283322 Centerline is valid? [True, True] Translation: X:54.78, Y:1.12, Z:-1.09 [[ 9.99409913e-01 3.19183030e-02 1.26904353e-02 5.47819762e+01] [-3.19158909e-02 9.99490481e-01 -3.92605214e-04 1.11965591e+00] [-1.26965006e-02 -1.26530055e-05 9.99919396e-01 -1.09335757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384391417999986 meters 0.013908052488675254 Centerline is valid? [True, True] Translation: X:54.84, Y:1.11, Z:-1.09 [[ 9.99478791e-01 2.90390029e-02 1.41026072e-02 5.48426264e+01] [-2.90357521e-02 9.99578279e-01 -4.35254963e-04 1.11481477e+00] [-1.41092992e-02 2.55482972e-05 9.99900459e-01 -1.09307574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44439141799999 meters 0.014299345094342058 Centerline is valid? [True, True] Translation: X:54.90, Y:1.11, Z:-1.09 [[ 9.99566445e-01 2.56315351e-02 1.44895219e-02 5.49041271e+01] [-2.56277489e-02 9.99671455e-01 -4.46952168e-04 1.10915049e+00] [-1.44962175e-02 7.54245592e-05 9.99894921e-01 -1.09409773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50439141799999 meters 0.015306763575201825 Centerline is valid? [True, True] Translation: X:54.97, Y:1.10, Z:-1.09 [[ 9.99694744e-01 1.99317441e-02 1.45994442e-02 5.49662986e+01] [-1.99273075e-02 9.99801331e-01 -4.49313624e-04 1.10214477e+00] [-1.46054993e-02 1.58248856e-04 9.99893321e-01 -1.09449611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564391417999985 meters 0.01828634401528768 Centerline is valid? [True, True] Translation: X:55.03, Y:1.10, Z:-1.10 [[ 9.99755995e-01 1.62599214e-02 1.49520966e-02 5.50284099e+01] [-1.62547824e-02 9.99867774e-01 -4.65166820e-04 1.09595816e+00] [-1.49576831e-02 2.22010240e-04 9.99888103e-01 -1.09622803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62439141799999 meters 0.02035797151006035 Centerline is valid? [True, True] Translation: X:55.09, Y:1.09, Z:-1.10 [[ 9.99790121e-01 1.35132594e-02 1.53982216e-02 5.50895313e+01] [-1.35074126e-02 9.99908654e-01 -4.83651709e-04 1.08890824e+00] [-1.54033508e-02 2.75560068e-04 9.99881323e-01 -1.09754126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68439141799999 meters 0.0191294891973845 Centerline is valid? [True, True] Translation: X:55.15, Y:1.09, Z:-1.10 [[ 9.99839355e-01 8.06709296e-03 1.60057929e-02 5.51519535e+01] [-8.05999101e-03 9.99967389e-01 -5.08170588e-04 1.08527058e+00] [-1.60093704e-02 3.79082406e-04 9.99871770e-01 -1.09731169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74439141799999 meters 0.021739410541892084 Centerline is valid? [True, True] Translation: X:55.21, Y:1.08, Z:-1.10 [[ 9.99837783e-01 6.24874104e-03 1.68926146e-02 5.52133690e+01] [-6.24055507e-03 9.99980383e-01 -5.37258786e-04 1.07907186e+00] [-1.68956404e-02 4.31752342e-04 9.99857165e-01 -1.09939685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80439141799999 meters 0.020542852013692287 Centerline is valid? [True, True] Translation: X:55.28, Y:1.08, Z:-1.10 [[ 9.99853941e-01 4.75569239e-03 1.64158421e-02 5.52760607e+01] [-4.74769614e-03 9.99988591e-01 -5.26043113e-04 1.07936381e+00] [-1.64181565e-02 4.48028850e-04 9.99865113e-01 -1.09937269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86439141799999 meters 0.01945260146306942 Centerline is valid? [True, True] Translation: X:55.34, Y:1.08, Z:-1.10 [[ 9.99863457e-01 6.33781315e-03 1.52610683e-02 5.53380669e+01] [-6.33102736e-03 9.99979837e-01 -4.92918022e-04 1.08134890e+00] [-1.52638846e-02 3.96232477e-04 9.99883422e-01 -1.10169540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92439141799999 meters 0.017759641664260147 Centerline is valid? [True, True] Translation: X:55.40, Y:1.09, Z:-1.10 [[ 9.99821235e-01 1.15256144e-02 1.49885736e-02 5.53995093e+01] [-1.15195673e-02 9.99933528e-01 -4.89726031e-04 1.08598655e+00] [-1.49932217e-02 3.16976603e-04 9.99887545e-01 -1.10277346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98439141799999 meters 0.01783421604548555 Centerline is valid? [True, True] Translation: X:55.46, Y:1.09, Z:-1.10 [[ 9.99748544e-01 1.66204683e-02 1.50534983e-02 5.54623414e+01] [-1.66149421e-02 9.99861841e-01 -4.92102961e-04 1.08739120e+00] [-1.50595976e-02 2.41866215e-04 9.99886569e-01 -1.10489992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04439141799999 meters 0.014710606348465546 Centerline is valid? [True, True] Translation: X:55.53, Y:1.10, Z:-1.11 [[ 9.99570283e-01 2.48666197e-02 1.55209797e-02 5.55253448e+01] [-2.48617167e-02 9.99690770e-01 -5.08793221e-04 1.09633533e+00] [-1.55288321e-02 1.22696383e-04 9.99879413e-01 -1.10570726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10439141799999 meters 0.014167492893612308 Centerline is valid? [True, True] Translation: X:55.59, Y:1.10, Z:-1.11 [[ 9.99411698e-01 3.03508407e-02 1.59713824e-02 5.55864174e+01] [-3.03463087e-02 9.99539306e-01 -5.26090222e-04 1.10029620e+00] [-1.59799918e-02 4.11082208e-05 9.99872311e-01 -1.10722933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16439141799999 meters 0.016000256943664717 Centerline is valid? [True, True] Translation: X:55.65, Y:1.11, Z:-1.11 [[ 9.99214877e-01 3.72052024e-02 1.36162808e-02 5.56472751e+01] [-3.72024792e-02 9.99307645e-01 -4.53320100e-04 1.10655999e+00] [-1.36237193e-02 -5.35952139e-05 9.99907191e-01 -1.11176778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22439141799999 meters 0.014660504549709576 Centerline is valid? [True, True] Translation: X:55.71, Y:1.11, Z:-1.11 [[ 9.99135794e-01 3.92515262e-02 1.36741904e-02 5.57057299e+01] [-3.92489571e-02 9.99229359e-01 -4.56295124e-04 1.10781382e+00] [-1.36815628e-02 -8.07969217e-05 9.99906400e-01 -1.11183001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28439141799999 meters 0.01592134717271556 Centerline is valid? [True, True] Translation: X:55.76, Y:1.11, Z:-1.11 [[ 9.99063143e-01 4.10072021e-02 1.38291801e-02 5.57648292e+01] [-4.10047599e-02 9.99158845e-01 -4.60210914e-04 1.10725413e+00] [-1.38364195e-02 -1.07282447e-04 9.99904266e-01 -1.11277122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34439141799999 meters 0.015383795841337563 Centerline is valid? [True, True] Translation: X:55.82, Y:1.10, Z:-1.11 [[ 9.99040713e-01 4.14650059e-02 1.40821399e-02 5.58239789e+01] [-4.14625368e-02 9.99139950e-01 -4.67367863e-04 1.10485817e+00] [-1.40894080e-02 -1.16961723e-04 9.99900733e-01 -1.11386820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40439141799999 meters 0.01610307550386924 Centerline is valid? [True, True] Translation: X:55.88, Y:1.10, Z:-1.11 [[ 9.99074345e-01 4.07389436e-02 1.38127631e-02 5.58825648e+01] [-4.07365146e-02 9.99169819e-01 -4.57279219e-04 1.10143736e+00] [-1.38199251e-02 -1.05827890e-04 9.99904495e-01 -1.11439644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46439141799999 meters 0.014778354495618602 Centerline is valid? [True, True] Translation: X:55.94, Y:1.10, Z:-1.12 [[ 9.99185675e-01 3.75118546e-02 1.48609690e-02 5.59409805e+01] [-3.75087102e-02 9.99296180e-01 -4.90359009e-04 1.09613896e+00] [-1.48689038e-02 -6.74560817e-05 9.99889449e-01 -1.11582810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524391417999986 meters 0.014173854439287713 Centerline is valid? [True, True] Translation: X:56.00, Y:1.09, Z:-1.12 [[ 9.99359342e-01 3.27643204e-02 1.44015320e-02 5.60008759e+01] [-3.27608934e-02 9.99463106e-01 -4.73881890e-04 1.08651134e+00] [-1.44093263e-02 1.77124095e-06 9.99896180e-01 -1.11623997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58439141799999 meters 0.015352489438295536 Centerline is valid? [True, True] Translation: X:56.06, Y:1.07, Z:-1.12 [[ 9.99613669e-01 2.35440329e-02 1.47712772e-02 5.60604498e+01] [-2.35394225e-02 9.99722791e-01 -4.85931907e-04 1.07480177e+00] [-1.47786232e-02 1.38036843e-04 9.99890781e-01 -1.11743002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64439141799999 meters 0.01842494678681108 Centerline is valid? [True, True] Translation: X:56.12, Y:1.07, Z:-1.12 [[ 9.99746394e-01 1.76535579e-02 1.39821442e-02 5.61227134e+01] [-1.76488705e-02 9.99844141e-01 -4.58576406e-04 1.06672281e+00] [-1.39880605e-02 2.11691057e-04 9.99902140e-01 -1.11890301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704391417999986 meters 0.019199229556814024 Centerline is valid? [True, True] Translation: X:56.18, Y:1.05, Z:-1.12 [[ 9.99835852e-01 9.16704712e-03 1.56280246e-02 5.61837374e+01] [-9.16006010e-03 9.99957911e-01 -5.18607111e-04 1.05431200e+00] [-1.56321209e-02 3.75368339e-04 9.99877740e-01 -1.11982101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76439141799999 meters 0.02065136568671992 Centerline is valid? [True, True] Translation: X:56.25, Y:1.05, Z:-1.12 [[ 9.99857141e-01 5.53202122e-03 1.59716846e-02 5.62455846e+01] [-5.52425242e-03 9.99984600e-01 -5.30488695e-04 1.04744404e+00] [-1.59743733e-02 4.42181293e-04 9.99872304e-01 -1.12091692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82439141799999 meters 0.022406714346694917 Centerline is valid? [True, True] Translation: X:56.31, Y:1.04, Z:-1.12 [[ 9.99871731e-01 3.12303686e-03 1.57088847e-02 5.63070026e+01] [-3.11520958e-03 9.99995011e-01 -5.22716280e-04 1.04324642e+00] [-1.57104388e-02 4.73712763e-04 9.99876471e-01 -1.12186753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884391417999986 meters 0.02250664893885692 Centerline is valid? [True, True] Translation: X:56.37, Y:1.04, Z:-1.12 [[ 9.99880460e-01 3.65027462e-03 1.50246679e-02 5.63696757e+01] [-3.64315780e-03 9.99993238e-01 -5.01018527e-04 1.04066408e+00] [-1.50263951e-02 4.46221399e-04 9.99886998e-01 -1.12425701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94439141799999 meters 0.020539843474482858 Centerline is valid? [True, True] Translation: X:56.43, Y:1.04, Z:-1.13 [[ 9.99882660e-01 5.61277603e-03 1.42535191e-02 5.64320500e+01] [-5.60648938e-03 9.99984168e-01 -4.80979717e-04 1.04240404e+00] [-1.42559930e-02 4.01011076e-04 9.99898298e-01 -1.12500723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00439141799999 meters 0.021007148388913887 Centerline is valid? [True, True] Translation: X:56.49, Y:1.04, Z:-1.13 [[ 9.99873023e-01 7.58845007e-03 1.40126399e-02 5.64928836e+01] [-7.58255948e-03 9.99971140e-01 -4.73458232e-04 1.04200316e+00] [-1.40158283e-02 3.67146438e-04 9.99901706e-01 -1.12642655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064391417999985 meters 0.01954755216326305 Centerline is valid? [True, True] Translation: X:56.55, Y:1.05, Z:-1.13 [[ 9.99818236e-01 1.19835295e-02 1.48286927e-02 5.65549888e+01] [-1.19773702e-02 9.99928142e-01 -5.04100801e-04 1.04689340e+00] [-1.48336681e-02 3.26400430e-04 9.99889922e-01 -1.12648372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12439141799999 meters 0.01755358900712947 Centerline is valid? [True, True] Translation: X:56.62, Y:1.05, Z:-1.13 [[ 9.99801125e-01 1.34246128e-02 1.47475387e-02 5.66177239e+01] [-1.34186780e-02 9.99909840e-01 -5.01311593e-04 1.04748408e+00] [-1.47529389e-02 3.03319423e-04 9.99891123e-01 -1.12657346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18439141799999 meters 0.017557179837362796 Centerline is valid? [True, True] Translation: X:56.68, Y:1.05, Z:-1.13 [[ 9.99756736e-01 1.75963543e-02 1.32980180e-02 5.66789650e+01] [-1.75918422e-02 9.99845147e-01 -4.56212418e-04 1.05039020e+00] [-1.33039865e-02 2.22164802e-04 9.99911473e-01 -1.12924271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244391417999985 meters 0.01653198684939042 Centerline is valid? [True, True] Translation: X:56.74, Y:1.05, Z:-1.13 [[ 9.99739363e-01 1.91252629e-02 1.24671380e-02 5.67408895e+01] [-1.91214045e-02 9.99817077e-01 -4.28626569e-04 1.05073655e+00] [-1.24730551e-02 1.90125664e-04 9.99922190e-01 -1.13130166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30439141799999 meters 0.01652976532428981 Centerline is valid? [True, True] Translation: X:56.80, Y:1.05, Z:-1.13 [[ 9.99727008e-01 1.93097823e-02 1.31544969e-02 5.68032379e+01] [-1.93054516e-02 9.99813528e-01 -4.56132404e-04 1.04939250e+00] [-1.31608517e-02 2.02054381e-04 9.99913372e-01 -1.13163587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36439141799999 meters 0.017145902616423563 Centerline is valid? [True, True] Translation: X:56.87, Y:1.05, Z:-1.13 [[ 9.99744496e-01 1.82239231e-02 1.33727784e-02 5.68657120e+01] [-1.82192985e-02 9.99833905e-01 -4.67575990e-04 1.04845471e+00] [-1.33790783e-02 2.23813882e-04 9.99910471e-01 -1.13239782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42439141799999 meters 0.01796784808147978 Centerline is valid? [True, True] Translation: X:56.93, Y:1.04, Z:-1.13 [[ 9.99770908e-01 1.67868089e-02 1.32791103e-02 5.69279238e+01] [-1.67820733e-02 9.99859062e-01 -4.67979577e-04 1.04497160e+00] [-1.32850947e-02 2.45021363e-04 9.99911719e-01 -1.13463202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48439141799999 meters 0.017893536574361137 Centerline is valid? [True, True] Translation: X:56.99, Y:1.04, Z:-1.14 [[ 9.99745267e-01 1.77551937e-02 1.39339512e-02 5.69903052e+01] [-1.77500161e-02 9.99842333e-01 -4.95178314e-04 1.04196655e+00] [-1.39405463e-02 2.47724318e-04 9.99902795e-01 -1.13621634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54439141799999 meters 0.017191359352179452 Centerline is valid? [True, True] Translation: X:57.05, Y:1.04, Z:-1.14 [[ 9.99688992e-01 2.09380070e-02 1.35469520e-02 5.70519727e+01] [-2.09333566e-02 9.99780756e-01 -4.85001629e-04 1.04155825e+00] [-1.35541369e-02 2.01267611e-04 9.99908118e-01 -1.13749876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60439141799999 meters 0.015410490082716697 Centerline is valid? [True, True] Translation: X:57.11, Y:1.05, Z:-1.14 [[ 9.99511828e-01 2.79603599e-02 1.39400370e-02 5.71140896e+01] [-2.79560667e-02 9.99609026e-01 -5.02782671e-04 1.04533209e+00] [-1.39486448e-02 1.12828623e-04 9.99902707e-01 -1.13788226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66439141799999 meters 0.014563968757256558 Centerline is valid? [True, True] Translation: X:57.17, Y:1.05, Z:-1.14 [[ 9.99359228e-01 3.27200483e-02 1.45097322e-02 5.71744946e+01] [-3.27158062e-02 9.99464554e-01 -5.29692684e-04 1.04765795e+00] [-1.45192946e-02 5.46556841e-05 9.99894588e-01 -1.13748864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72439141799999 meters 0.014507076774166698 Centerline is valid? [True, True] Translation: X:57.23, Y:1.05, Z:-1.14 [[ 9.99200766e-01 3.73556387e-02 1.42262094e-02 5.72341580e+01] [-3.73520242e-02 9.99302034e-01 -5.19783736e-04 1.04863830e+00] [-1.42356969e-02 -1.20094111e-05 9.99898667e-01 -1.14015600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78439141799999 meters 0.014613544381912527 Centerline is valid? [True, True] Translation: X:57.29, Y:1.05, Z:-1.14 [[ 9.99187051e-01 3.78818313e-02 1.37914188e-02 5.72932119e+01] [-3.78784994e-02 9.99282226e-01 -5.02818511e-04 1.04690323e+00] [-1.38005674e-02 -1.99885033e-05 9.99904767e-01 -1.14308975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84439141799999 meters 0.016829120687667565 Centerline is valid? [True, True] Translation: X:57.35, Y:1.04, Z:-1.15 [[ 9.99284351e-01 3.56111419e-02 1.27527587e-02 5.73516200e+01] [-3.56081132e-02 9.99365722e-01 -4.64548278e-04 1.04026331e+00] [-1.27612130e-02 1.01141478e-05 9.99918572e-01 -1.14736557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90439141799999 meters 0.017365653330292944 Centerline is valid? [True, True] Translation: X:57.41, Y:1.03, Z:-1.15 [[ 9.99403064e-01 3.19326457e-02 1.31841298e-02 5.74109407e+01] [-3.19291017e-02 9.99490021e-01 -4.79262232e-04 1.03282613e+00] [-1.31927103e-02 5.80187207e-05 9.99912971e-01 -1.14822711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96439141799999 meters 0.017517294771904172 Centerline is valid? [True, True] Translation: X:57.47, Y:1.03, Z:-1.15 [[ 9.99615428e-01 2.42523424e-02 1.34469106e-02 5.74715521e+01] [-2.42479719e-02 9.99705856e-01 -4.87985177e-04 1.02534296e+00] [-1.34547901e-02 1.61737200e-04 9.99909467e-01 -1.14640288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024391417999986 meters 0.0174297899126932 Centerline is valid? [True, True] Translation: X:57.53, Y:1.02, Z:-1.15 [[ 9.99734862e-01 1.82127554e-02 1.40890535e-02 5.75323660e+01] [-1.82073614e-02 9.99834102e-01 -5.11029068e-04 1.01837283e+00] [-1.40960234e-02 2.54369085e-04 9.99900614e-01 -1.14642967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08439141799999 meters 0.02050902253338469 Centerline is valid? [True, True] Translation: X:57.59, Y:1.01, Z:-1.15 [[ 9.99826733e-01 1.08333574e-02 1.51374324e-02 5.75929852e+01] [-1.08262736e-02 9.99941243e-01 -5.49829637e-04 1.00910126e+00] [-1.51424994e-02 3.85852384e-04 9.99885271e-01 -1.14833589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14439141799999 meters 0.02328504203589234 Centerline is valid? [True, True] Translation: X:57.65, Y:1.00, Z:-1.15 [[ 9.99856417e-01 7.55160068e-03 1.51696640e-02 5.76534237e+01] [-7.54410624e-03 9.99971391e-01 -5.51205682e-04 1.00340844e+00] [-1.51733925e-02 4.36684982e-04 9.99884782e-01 -1.14990048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204391417999986 meters 0.02330440722970222 Centerline is valid? [True, True] Translation: X:57.72, Y:1.00, Z:-1.15 [[ 9.99875041e-01 4.58525791e-03 1.51287204e-02 5.77152027e+01] [-4.57747329e-03 9.99989373e-01 -5.49146969e-04 9.99539105e-01] [-1.51310776e-02 4.79827035e-04 9.99885404e-01 -1.15018644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26439141799999 meters 0.023784587430356406 Centerline is valid? [True, True] Translation: X:57.78, Y:1.00, Z:-1.15 [[ 9.99884104e-01 4.72562508e-03 1.44723056e-02 5.77777989e+01] [-4.71847051e-03 9.99988728e-01 -5.28468505e-04 9.98434808e-01] [-1.44746398e-02 4.60120110e-04 9.99895131e-01 -1.15190527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32439141799999 meters 0.02306255947816093 Centerline is valid? [True, True] Translation: X:57.84, Y:1.00, Z:-1.15 [[ 9.99881701e-01 5.05152370e-03 1.45280920e-02 5.78408771e+01] [-5.04427947e-03 9.99987134e-01 -5.35236716e-04 9.98635700e-01] [-1.45306088e-02 4.61889642e-04 9.99894318e-01 -1.15274248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384391417999986 meters 0.022918790603265814 Centerline is valid? [True, True] Translation: X:57.90, Y:1.00, Z:-1.15 [[ 9.99871305e-01 5.31790951e-03 1.51358048e-02 5.79035387e+01] [-5.30997977e-03 9.99985743e-01 -5.64045709e-04 9.97038686e-01] [-1.51385885e-02 4.83602302e-04 9.99885288e-01 -1.15359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44439141799999 meters 0.02303177454173221 Centerline is valid? [True, True] Translation: X:57.96, Y:1.00, Z:-1.16 [[ 9.99857176e-01 7.16986040e-03 1.53042455e-02 5.79646070e+01] [-7.16195041e-03 9.99974190e-01 -5.71594744e-04 9.97702505e-01] [-1.53079488e-02 4.61904859e-04 9.99882720e-01 -1.15520474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50439141799999 meters 0.023010007311744216 Centerline is valid? [True, True] Translation: X:58.03, Y:1.00, Z:-1.16 [[ 9.99856958e-01 8.66214113e-03 1.45269341e-02 5.80266583e+01] [-8.65515013e-03 9.99962395e-01 -5.44046252e-04 9.98736760e-01] [-1.45311004e-02 4.18235635e-04 9.99894331e-01 -1.15639828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564391417999985 meters 0.021059587799590322 Centerline is valid? [True, True] Translation: X:58.09, Y:1.00, Z:-1.16 [[ 9.99842233e-01 1.02957350e-02 1.44743668e-02 5.80887125e+01] [-1.02889101e-02 9.99946919e-01 -5.45905908e-04 1.00411917e+00] [-1.44792190e-02 3.96894322e-04 9.99895092e-01 -1.15698673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62439141799999 meters 0.021013901373513742 Centerline is valid? [True, True] Translation: X:58.15, Y:1.01, Z:-1.16 [[ 9.99853274e-01 9.61030628e-03 1.41799849e-02 5.81506317e+01] [-9.60363177e-03 9.99953739e-01 -5.38719422e-04 1.00574196e+00] [-1.41845061e-02 4.02461025e-04 9.99899314e-01 -1.15789107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68439141799999 meters 0.0211385093526254 Centerline is valid? [True, True] Translation: X:58.21, Y:1.01, Z:-1.16 [[ 9.99838219e-01 9.44659901e-03 1.53068067e-02 5.82135032e+01] [-9.43873085e-03 9.99955282e-01 -5.86193218e-04 1.00571281e+00] [-1.53116597e-02 4.41621554e-04 9.99882672e-01 -1.15799620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744391417999985 meters 0.023034753406070262 Centerline is valid? [True, True] Translation: X:58.28, Y:1.01, Z:-1.16 [[ 9.99845247e-01 9.55594384e-03 1.47704398e-02 5.82769561e+01] [-9.54856103e-03 9.99954249e-01 -5.70279492e-04 1.00579328e+00] [-1.47752136e-02 4.29154794e-04 9.99890748e-01 -1.16117618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80439141799999 meters 0.02270501393887249 Centerline is valid? [True, True] Translation: X:58.34, Y:1.00, Z:-1.16 [[ 9.99875199e-01 8.02922640e-03 1.36058393e-02 5.83394446e+01] [-8.02276251e-03 9.99967677e-01 -5.29597127e-04 1.00432152e+00] [-1.36096517e-02 4.20374616e-04 9.99907296e-01 -1.16344270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86439141799999 meters 0.023932478395543303 Centerline is valid? [True, True] Translation: X:58.40, Y:1.00, Z:-1.17 [[ 9.99910396e-01 5.45392165e-03 1.22251804e-02 5.84013040e+01] [-5.44847333e-03 9.99985042e-01 -4.78925558e-04 1.00451483e+00] [-1.22276096e-02 4.12274075e-04 9.99925155e-01 -1.16544056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924391417999985 meters 0.02485341263860572 Centerline is valid? [True, True] Translation: X:58.46, Y:1.00, Z:-1.17 [[ 9.99920429e-01 4.47926598e-03 1.17928893e-02 5.84638671e+01] [-4.47409638e-03 9.99989883e-01 -4.64711448e-04 1.00468905e+00] [-1.17948515e-02 4.11911947e-04 9.99930353e-01 -1.16710711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98439141799999 meters 0.02537940960563143 Centerline is valid? [True, True] Translation: X:58.53, Y:1.01, Z:-1.17 [[ 9.99903008e-01 4.65987248e-03 1.31247829e-02 5.85262668e+01] [-4.65342856e-03 9.99989037e-01 -5.21469652e-04 1.00527358e+00] [-1.31270690e-02 4.60343834e-04 9.99913730e-01 -1.16685048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04439141799999 meters 0.026329143588960952 Centerline is valid? [True, True] Translation: X:58.59, Y:1.01, Z:-1.17 [[ 9.99901715e-01 6.82004461e-03 1.22493926e-02 5.85872152e+01] [-6.81452910e-03 9.99976660e-01 -4.91950252e-04 1.00750538e+00] [-1.22524618e-02 4.08428058e-04 9.99924852e-01 -1.16885889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10439141799999 meters 0.024317981748507154 Centerline is valid? [True, True] Translation: X:58.65, Y:1.01, Z:-1.17 [[ 9.99879916e-01 9.55325346e-03 1.22020189e-02 5.86495833e+01] [-9.54799644e-03 9.99954297e-01 -4.89014857e-04 1.01337198e+00] [-1.22061330e-02 3.72451301e-04 9.99925433e-01 -1.16842842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16439141799999 meters 0.025198490121750166 Centerline is valid? [True, True] Translation: X:58.71, Y:1.01, Z:-1.17 [[ 9.99874613e-01 1.11156551e-02 1.12783316e-02 5.87120124e+01] [-1.11112336e-02 9.99938165e-01 -4.54622136e-04 1.01416693e+00] [-1.12826877e-02 3.29248955e-04 9.99936294e-01 -1.17123063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22439141799999 meters 0.024062448135454984 Centerline is valid? [True, True] Translation: X:58.77, Y:1.02, Z:-1.17 [[ 9.99900061e-01 9.21839581e-03 1.07186100e-02 5.87746316e+01] [-9.21426769e-03 9.99957453e-01 -4.34456096e-04 1.01663006e+00] [-1.07221589e-02 3.35648536e-04 9.99942460e-01 -1.17253208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28439141799999 meters 0.02465453014095323 Centerline is valid? [True, True] Translation: X:58.84, Y:1.02, Z:-1.17 [[ 9.99916917e-01 7.02984860e-03 1.08046126e-02 5.88371926e+01] [-7.02549286e-03 9.99975224e-01 -4.41039636e-04 1.01725749e+00] [-1.08074454e-02 3.65095265e-04 9.99941531e-01 -1.17284714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34439141799999 meters 0.025627373717099965 Centerline is valid? [True, True] Translation: X:58.90, Y:1.02, Z:-1.17 [[ 9.99909277e-01 8.01648994e-03 1.08246996e-02 5.88995012e+01] [-8.01214310e-03 9.99967803e-01 -4.44874044e-04 1.01715028e+00] [-1.08279174e-02 3.58104642e-04 9.99941312e-01 -1.17470509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40439141799999 meters 0.021018568372828113 Centerline is valid? [True, True] Translation: X:58.96, Y:1.03, Z:-1.17 [[ 9.99841215e-01 1.32169444e-02 1.19522534e-02 5.89615052e+01] [-1.32119475e-02 9.99912595e-01 -4.96936960e-04 1.02589828e+00] [-1.19577767e-02 3.38945509e-04 9.99928446e-01 -1.17423833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46439141799999 meters 0.01753881786041804 Centerline is valid? [True, True] Translation: X:59.02, Y:1.04, Z:-1.17 [[ 9.99707868e-01 2.10383831e-02 1.18981495e-02 5.90228769e+01] [-2.10339721e-02 9.99778639e-01 -4.95756277e-04 1.03690061e+00] [-1.19059456e-02 2.45346106e-04 9.99929092e-01 -1.17404397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524391417999986 meters 0.01640400224055892 Centerline is valid? [True, True] Translation: X:59.08, Y:1.04, Z:-1.18 [[ 9.99584019e-01 2.59634549e-02 1.25574210e-02 5.90829464e+01] [-2.59589204e-02 9.99662873e-01 -5.23991040e-04 1.04120151e+00] [-1.25667922e-02 1.97795976e-04 9.99921015e-01 -1.17557706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58439141799999 meters 0.014772650570320395 Centerline is valid? [True, True] Translation: X:59.14, Y:1.05, Z:-1.18 [[ 9.99396689e-01 3.20918673e-02 1.32804172e-02 5.91432300e+01] [-3.20873441e-02 9.99484915e-01 -5.53577018e-04 1.04842180e+00] [-1.32913420e-02 1.27109722e-04 9.99911658e-01 -1.17600308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64439141799999 meters 0.01400084720104832 Centerline is valid? [True, True] Translation: X:59.20, Y:1.05, Z:-1.18 [[ 9.99250436e-01 3.64114343e-02 1.31443435e-02 5.92009058e+01] [-3.64073781e-02 9.99336881e-01 -5.47818525e-04 1.05369443e+00] [-1.31555741e-02 6.88568173e-05 9.99913459e-01 -1.17672284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704391417999986 meters 0.013600078013884161 Centerline is valid? [True, True] Translation: X:59.26, Y:1.06, Z:-1.18 [[ 9.99191425e-01 3.79153847e-02 1.33760857e-02 5.92602359e+01] [-3.79113387e-02 9.99280952e-01 -5.56008200e-04 1.05518144e+00] [-1.33875489e-02 4.84533110e-05 9.99910382e-01 -1.17705222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76439141799999 meters 0.01366905549788396 Centerline is valid? [True, True] Translation: X:59.32, Y:1.05, Z:-1.18 [[ 9.99204110e-01 3.76435205e-02 1.31951328e-02 5.93188029e+01] [-3.76395735e-02 9.99291230e-01 -5.47431197e-04 1.05448293e+00] [-1.32063877e-02 5.03363339e-05 9.99912791e-01 -1.17889461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82439141799999 meters 0.014281456543098365 Centerline is valid? [True, True] Translation: X:59.38, Y:1.05, Z:-1.18 [[ 9.99340052e-01 3.38740346e-02 1.31152653e-02 5.93772187e+01] [-3.38698243e-02 9.99426105e-01 -5.43072267e-04 1.05099965e+00] [-1.31261346e-02 9.85021367e-05 9.99913844e-01 -1.18145230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884391417999986 meters 0.014975418579174551 Centerline is valid? [True, True] Translation: X:59.44, Y:1.05, Z:-1.18 [[ 9.99474745e-01 2.98361878e-02 1.26505209e-02 5.94357522e+01] [-2.98319591e-02 9.99554791e-01 -5.22883366e-04 1.04729099e+00] [-1.26604896e-02 1.45218899e-04 9.99919842e-01 -1.18345113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94439141799999 meters 0.017146634736399984 Centerline is valid? [True, True] Translation: X:59.49, Y:1.04, Z:-1.19 [[ 9.99640220e-01 2.36623416e-02 1.26302633e-02 5.94942286e+01] [-2.36576485e-02 9.99719983e-01 -5.20877501e-04 1.04171621e+00] [-1.26390518e-02 2.21887771e-04 9.99920099e-01 -1.18572875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00439141799999 meters 0.018821697672438416 Centerline is valid? [True, True] Translation: X:59.55, Y:1.04, Z:-1.18 [[ 9.99690367e-01 1.95111760e-02 1.54429622e-02 5.95538707e+01] [-1.95036840e-02 9.99809583e-01 -6.35608760e-04 1.03976512e+00] [-1.54524231e-02 3.34217298e-04 9.99880548e-01 -1.18495700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064391417999985 meters 0.019321918698445795 Centerline is valid? [True, True] Translation: X:59.62, Y:1.04, Z:-1.18 [[ 9.99696654e-01 1.78160194e-02 1.70055774e-02 5.96153886e+01] [-1.78067205e-02 9.99841204e-01 -6.98087754e-04 1.03682807e+00] [-1.70153141e-02 3.95062428e-04 9.99855151e-01 -1.18391989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12439141799999 meters 0.020573355782492274 Centerline is valid? [True, True] Translation: X:59.68, Y:1.03, Z:-1.19 [[ 9.99708775e-01 1.69586182e-02 1.71688602e-02 5.96774855e+01] [-1.69489370e-02 9.99856105e-01 -7.09241180e-04 1.03428821e+00] [-1.71784174e-02 4.18040702e-04 9.99852353e-01 -1.18638470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18439141799999 meters 0.018943583594611797 Centerline is valid? [True, True] Translation: X:59.74, Y:1.04, Z:-1.19 [[ 9.99693557e-01 1.80269226e-02 1.69652960e-02 5.97395051e+01] [-1.80175463e-02 9.99837422e-01 -7.05374210e-04 1.03558193e+00] [-1.69752535e-02 3.99485048e-04 9.99855830e-01 -1.18777087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244391417999985 meters 0.02032116031726863 Centerline is valid? [True, True] Translation: X:59.80, Y:1.03, Z:-1.19 [[ 9.99656216e-01 2.01732470e-02 1.67478326e-02 5.98006336e+01] [-2.01643292e-02 9.99796433e-01 -7.01191116e-04 1.03403096e+00] [-1.67585686e-02 3.63241248e-04 9.99859499e-01 -1.19052653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30439141799999 meters 0.01598862500424723 Centerline is valid? [True, True] Translation: X:59.86, Y:1.04, Z:-1.19 [[ 9.99497810e-01 2.73387184e-02 1.60225538e-02 5.98626945e+01] [-2.73313997e-02 9.99626199e-01 -6.75610102e-04 1.04082545e+00] [-1.60350349e-02 2.37351994e-04 9.99871402e-01 -1.19084836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36439141799999 meters 0.014595295643187725 Centerline is valid? [True, True] Translation: X:59.92, Y:1.05, Z:-1.19 [[ 9.99158371e-01 3.79318791e-02 1.56115922e-02 5.99221936e+01] [-3.79261882e-02 9.99280325e-01 -6.60538898e-04 1.04884343e+00] [-1.56254124e-02 6.78947875e-05 9.99877913e-01 -1.19305861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424391417999985 meters 0.014533244057928935 Centerline is valid? [True, True] Translation: X:59.98, Y:1.05, Z:-1.19 [[ 9.98900093e-01 4.40928967e-02 1.59505843e-02 5.99802179e+01] [-4.40877691e-02 9.99027435e-01 -6.73130699e-04 1.05294787e+00] [-1.59647516e-02 -3.08353609e-05 9.99872555e-01 -1.19417124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48439141799999 meters 0.01436187097602114 Centerline is valid? [True, True] Translation: X:60.04, Y:1.06, Z:-1.20 [[ 9.98677840e-01 4.92666934e-02 1.46753182e-02 6.00387825e+01] [-4.92629322e-02 9.98785654e-01 -6.17901832e-04 1.05663181e+00] [-1.46879393e-02 -1.05864339e-04 9.99892121e-01 -1.19558980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54439141799999 meters 0.014528602220914007 Centerline is valid? [True, True] Translation: X:60.10, Y:1.06, Z:-1.20 [[ 9.98655159e-01 4.98732523e-02 1.41609466e-02 6.00979306e+01] [-4.98698266e-02 9.98755549e-01 -5.95150875e-04 1.05607493e+00] [-1.41730061e-02 -1.11853462e-04 9.99899552e-01 -1.19739174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604391417999985 meters 0.01399448709756239 Centerline is valid? [True, True] Translation: X:60.16, Y:1.05, Z:-1.20 [[ 9.98835972e-01 4.61096279e-02 1.41634313e-02 6.01551279e+01] [-4.61058369e-02 9.98936384e-01 -5.94244517e-04 1.05137000e+00] [-1.41757673e-02 -5.94640550e-05 9.99899517e-01 -1.19846214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66439141799999 meters 0.013799346602442364 Centerline is valid? [True, True] Translation: X:60.21, Y:1.04, Z:-1.20 [[ 9.99172691e-01 3.77184620e-02 1.52069441e-02 6.02130225e+01] [-3.77131447e-02 9.99288404e-01 -6.36377522e-04 1.04113309e+00] [-1.52201261e-02 6.23493581e-05 9.99884165e-01 -1.19916125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72439141799999 meters 0.017004349056142662 Centerline is valid? [True, True] Translation: X:60.27, Y:1.03, Z:-1.20 [[ 9.99387283e-01 3.09685969e-02 1.63096191e-02 6.02713618e+01] [-3.09616107e-02 9.99520343e-01 -6.80736962e-04 1.03107592e+00] [-1.63228775e-02 1.75347786e-04 9.99866758e-01 -1.20115597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78439141799999 meters 0.019390220664031524 Centerline is valid? [True, True] Translation: X:60.33, Y:1.02, Z:-1.20 [[ 9.99665629e-01 1.94165057e-02 1.70771373e-02 6.03310167e+01] [-1.94071880e-02 9.99811410e-01 -7.11191613e-04 1.01664005e+00] [-1.70877256e-02 3.79534597e-04 9.99853922e-01 -1.20036669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84439141799999 meters 0.02037274320307394 Centerline is valid? [True, True] Translation: X:60.39, Y:1.01, Z:-1.20 [[ 9.99749710e-01 1.41724735e-02 1.73106642e-02 6.03932418e+01] [-1.41621249e-02 9.99899453e-01 -7.20257795e-04 1.01061580e+00] [-1.73191315e-02 4.74921732e-04 9.99849900e-01 -1.20152556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90439141799999 meters 0.022312649152649657 Centerline is valid? [True, True] Translation: X:60.45, Y:1.00, Z:-1.20 [[ 9.99803892e-01 1.00689055e-02 1.70526909e-02 6.04546196e+01] [-1.00582546e-02 9.99949162e-01 -7.10242363e-04 1.00344189e+00] [-1.70589753e-02 5.38582772e-04 9.99854340e-01 -1.20275634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96439141799999 meters 0.02345828492967139 Centerline is valid? [True, True] Translation: X:60.52, Y:1.00, Z:-1.20 [[ 9.99825403e-01 8.83541559e-03 1.64650845e-02 6.05164008e+01] [-8.82525172e-03 9.99960819e-01 -6.89856613e-04 9.98563633e-01] [-1.64705345e-02 5.44427651e-04 9.99864203e-01 -1.20483681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024391417999986 meters 0.02420815184510545 Centerline is valid? [True, True] Translation: X:60.58, Y:1.00, Z:-1.21 [[ 9.99835979e-01 9.54662915e-03 1.53908262e-02 6.05798654e+01] [-9.53777554e-03 9.99954304e-01 -6.48553385e-04 9.96067823e-01] [-1.53963144e-02 5.01652763e-04 9.99881344e-01 -1.20834539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08439141799999 meters 0.023795765826699924 Centerline is valid? [True, True] Translation: X:60.64, Y:0.99, Z:-1.21 [[ 9.99811098e-01 1.10298184e-02 1.60035050e-02 6.06423622e+01] [-1.10203443e-02 9.99939043e-01 -6.80073022e-04 9.93969146e-01] [-1.60100306e-02 5.03580420e-04 9.99871704e-01 -1.20925782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14439141799999 meters 0.021285653283634024 Centerline is valid? [True, True] Translation: X:60.70, Y:0.99, Z:-1.21 [[ 9.99767497e-01 1.51569681e-02 1.53368205e-02 6.07026927e+01] [-1.51486681e-02 9.99885036e-01 -6.57214864e-04 9.94476439e-01] [-1.53450187e-02 4.24729657e-04 9.99882168e-01 -1.20913716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204391417999986 meters 0.019234798859900887 Centerline is valid? [True, True] Translation: X:60.76, Y:1.00, Z:-1.21 [[ 9.99655463e-01 2.27427499e-02 1.31043336e-02 6.07646691e+01] [-2.27373430e-02 9.99741316e-01 -5.61461371e-04 9.97797226e-01] [-1.31137128e-02 2.63310200e-04 9.99913977e-01 -1.21332699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26439141799999 meters 0.016093014996174593 Centerline is valid? [True, True] Translation: X:60.83, Y:1.00, Z:-1.21 [[ 9.99511337e-01 2.85657013e-02 1.26920538e-02 6.08251681e+01] [-2.85610815e-02 9.99591900e-01 -5.45135285e-04 1.00127561e+00] [-1.27024463e-02 1.82370115e-04 9.99919304e-01 -1.21343864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32439141799999 meters 0.01464623324723273 Centerline is valid? [True, True] Translation: X:60.88, Y:1.00, Z:-1.21 [[ 9.99287706e-01 3.53858027e-02 1.31120243e-02 6.08838752e+01] [-3.53814567e-02 9.99373721e-01 -5.63350262e-04 1.00461704e+00] [-1.31237471e-02 9.90264708e-05 9.99913875e-01 -1.21312938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384391417999986 meters 0.014735234413354496 Centerline is valid? [True, True] Translation: X:60.94, Y:1.01, Z:-1.21 [[ 9.98974709e-01 4.31042586e-02 1.38402961e-02 6.09427982e+01] [-4.31001738e-02 9.99070580e-01 -5.93418313e-04 1.00779715e+00] [-1.38530115e-02 -3.70928086e-06 9.99904042e-01 -1.21347658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44439141799999 meters 0.014217726842818341 Centerline is valid? [True, True] Translation: X:61.00, Y:1.01, Z:-1.21 [[ 9.98780570e-01 4.69845848e-02 1.51599053e-02 6.10002157e+01] [-4.69801504e-02 9.98895612e-01 -6.48699161e-04 1.00745853e+00] [-1.51736418e-02 -6.43065134e-05 9.99884872e-01 -1.21415642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50439141799999 meters 0.01487960058397504 Centerline is valid? [True, True] Translation: X:61.06, Y:1.01, Z:-1.22 [[ 9.98520869e-01 5.20033697e-02 1.58658094e-02 6.10588913e+01] [-5.19991743e-02 9.98646898e-01 -6.77130161e-04 1.00677728e+00] [-1.58795544e-02 -1.48880392e-04 9.99873901e-01 -1.21536404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564391417999985 meters 0.015058936856998696 Centerline is valid? [True, True] Translation: X:61.12, Y:1.00, Z:-1.22 [[ 9.98446826e-01 5.36849080e-02 1.48951778e-02 6.11172669e+01] [-5.36814135e-02 9.98557912e-01 -6.34617146e-04 1.00381739e+00] [-1.49077671e-02 -1.65962726e-04 9.99888859e-01 -1.21676837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62439141799999 meters 0.014801326025164147 Centerline is valid? [True, True] Translation: X:61.18, Y:1.00, Z:-1.22 [[ 9.98540038e-01 5.20458212e-02 1.44577142e-02 6.11757476e+01] [-5.20423737e-02 9.98644688e-01 -6.14834161e-04 9.97231397e-01] [-1.44701191e-02 -1.38477241e-04 9.99895293e-01 -1.21892522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68439141799999 meters 0.014008186069668114 Centerline is valid? [True, True] Translation: X:61.23, Y:0.98, Z:-1.22 [[ 9.98845710e-01 4.59131949e-02 1.41147294e-02 6.12327675e+01] [-4.59093105e-02 9.98945432e-01 -5.99262839e-04 9.84408234e-01] [-1.41273586e-02 -4.94263802e-05 9.99900203e-01 -1.22120944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744391417999985 meters 0.013896251543451123 Centerline is valid? [True, True] Translation: X:61.29, Y:0.98, Z:-1.22 [[ 9.99028830e-01 4.14818793e-02 1.48543320e-02 6.12912669e+01] [-4.14771126e-02 9.99139256e-01 -6.28958952e-04 9.76119390e-01] [-1.48676366e-02 1.22333247e-05 9.99889471e-01 -1.22189648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80439141799999 meters 0.015422040144699674 Centerline is valid? [True, True] Translation: X:61.35, Y:0.96, Z:-1.22 [[ 9.99194047e-01 3.70589736e-02 1.54236162e-02 6.13490559e+01] [-3.70533258e-02 9.99313077e-01 -6.51883106e-04 9.64541214e-01] [-1.54371794e-02 7.98614443e-05 9.99880836e-01 -1.22389968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86439141799999 meters 0.015773241779064414 Centerline is valid? [True, True] Translation: X:61.41, Y:0.95, Z:-1.23 [[ 9.99355084e-01 3.29959085e-02 1.41664060e-02 6.14071802e+01] [-3.29907542e-02 9.99455478e-01 -5.97443392e-04 9.52857254e-01] [-1.41784053e-02 1.29697671e-04 9.99899473e-01 -1.22657751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924391417999985 meters 0.01725891814392246 Centerline is valid? [True, True] Translation: X:61.47, Y:0.94, Z:-1.23 [[ 9.99447432e-01 2.99527164e-02 1.44105900e-02 6.14652343e+01] [-2.99470856e-02 9.99551301e-01 -6.06416257e-04 9.43835685e-01] [-1.44222878e-02 1.74525999e-04 9.99895978e-01 -1.22817608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98439141799999 meters 0.017201724539321225 Centerline is valid? [True, True] Translation: X:61.52, Y:0.93, Z:-1.23 [[ 9.99591402e-01 2.42406174e-02 1.51466380e-02 6.15240958e+01] [-2.42337574e-02 9.99706117e-01 -6.36305782e-04 9.31363740e-01] [-1.51576111e-02 2.68985837e-04 9.99885081e-01 -1.22804937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04439141799999 meters 0.017924243935431117 Centerline is valid? [True, True] Translation: X:61.58, Y:0.92, Z:-1.23 [[ 9.99637755e-01 2.25990369e-02 1.46164795e-02 6.15846625e+01] [-2.25924862e-02 9.99744569e-01 -6.13162399e-04 9.23737346e-01] [-1.46266029e-02 2.82717673e-04 9.99892986e-01 -1.23061260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104391417999985 meters 0.015682052514834396 Centerline is valid? [True, True] Translation: X:61.65, Y:0.92, Z:-1.23 [[ 9.99556129e-01 2.65943080e-02 1.34270986e-02 6.16460455e+01] [-2.65891394e-02 9.99646288e-01 -5.63342862e-04 9.22320413e-01] [-1.34373310e-02 2.06077815e-04 9.99909694e-01 -1.23250534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16439141799999 meters 0.01744480362654447 Centerline is valid? [True, True] Translation: X:61.71, Y:0.92, Z:-1.24 [[ 9.99473926e-01 3.00122644e-02 1.22936850e-02 6.17052359e+01] [-3.00081765e-02 9.99549520e-01 -5.16893766e-04 9.21244760e-01] [-1.23036601e-02 1.47710773e-04 9.99924296e-01 -1.23556822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22439141799999 meters 0.01358157528073998 Centerline is valid? [True, True] Translation: X:61.76, Y:0.92, Z:-1.23 [[ 9.99114097e-01 3.93916878e-02 1.48093450e-02 6.17646345e+01] [-3.93867951e-02 9.99223846e-01 -6.22007612e-04 9.23854765e-01] [-1.48223526e-02 3.81639375e-05 9.99890142e-01 -1.23394871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28439141799999 meters 0.013706142698819866 Centerline is valid? [True, True] Translation: X:61.82, Y:0.92, Z:-1.23 [[ 9.98876302e-01 4.46623178e-02 1.58559577e-02 6.18229735e+01] [-4.46573882e-02 9.99002140e-01 -6.65003747e-04 9.22808277e-01] [-1.58698363e-02 -4.38291758e-05 9.99874065e-01 -1.23460320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34439141799999 meters 0.01576665482654937 Centerline is valid? [True, True] Translation: X:61.88, Y:0.92, Z:-1.24 [[ 9.98724541e-01 4.78530813e-02 1.61050717e-02 6.18821369e+01] [-4.78484319e-02 9.98854380e-01 -6.74119918e-04 9.19962383e-01] [-1.61188801e-02 -9.73423196e-05 9.99870078e-01 -1.23637410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40439141799999 meters 0.013731427244381993 Centerline is valid? [True, True] Translation: X:61.94, Y:0.91, Z:-1.24 [[ 9.98925179e-01 4.37969521e-02 1.51761135e-02 6.19406125e+01] [-4.37923721e-02 9.99040453e-01 -6.34131336e-04 9.11143146e-01] [-1.51893243e-02 -3.11482525e-05 9.99884635e-01 -1.23828321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46439141799999 meters 0.013808044534895113 Centerline is valid? [True, True] Translation: X:62.00, Y:0.90, Z:-1.24 [[ 9.99139309e-01 3.87560108e-02 1.47855704e-02 6.19990538e+01] [-3.87511283e-02 9.99248703e-01 -6.16674340e-04 9.01117045e-01] [-1.47983619e-02 4.31860363e-05 9.99890497e-01 -1.24058411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524391417999986 meters 0.01517451263100336 Centerline is valid? [True, True] Translation: X:62.06, Y:0.89, Z:-1.24 [[ 9.99460984e-01 2.92172452e-02 1.49697522e-02 6.20583452e+01] [-2.92111914e-02 9.99573068e-01 -6.22944588e-04 8.88120517e-01] [-1.49815619e-02 1.85324515e-04 9.99887753e-01 -1.24134508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58439141799999 meters 0.01661778902146117 Centerline is valid? [True, True] Translation: X:62.12, Y:0.88, Z:-1.24 [[ 9.99606363e-01 2.37720032e-02 1.49000030e-02 6.21182277e+01] [-2.37654134e-02 9.99717371e-01 -6.19204567e-04 8.80208095e-01] [-1.49105116e-02 2.64856095e-04 9.99888797e-01 -1.24180271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64439141799999 meters 0.020491739784702437 Centerline is valid? [True, True] Translation: X:62.18, Y:0.87, Z:-1.24 [[ 9.99683456e-01 1.90045118e-02 1.64868459e-02 6.21793883e+01] [-1.89957980e-02 9.99819329e-01 -6.84985248e-04 8.69381035e-01] [-1.64968850e-02 3.71587625e-04 9.99863848e-01 -1.24330901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704391417999986 meters 0.020477104184102524 Centerline is valid? [True, True] Translation: X:62.24, Y:0.86, Z:-1.24 [[ 9.99699107e-01 1.68557342e-02 1.78207791e-02 6.22407653e+01] [-1.68452085e-02 9.99857835e-01 -7.40599910e-04 8.61475306e-01] [-1.78307289e-02 4.40182330e-04 9.99840923e-01 -1.24290926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76439141799999 meters 0.020478797113626768 Centerline is valid? [True, True] Translation: X:62.30, Y:0.86, Z:-1.25 [[ 9.99714884e-01 1.59151182e-02 1.78005470e-02 6.23026715e+01] [-1.59043862e-02 9.99873240e-01 -7.44315425e-04 8.57827690e-01] [-1.78101364e-02 4.60996436e-04 9.99841281e-01 -1.24512822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82439141799999 meters 0.021028069933944887 Centerline is valid? [True, True] Translation: X:62.36, Y:0.85, Z:-1.25 [[ 9.99728412e-01 1.54630735e-02 1.74354650e-02 6.23645428e+01] [-1.54526259e-02 9.99880332e-01 -7.33786053e-04 8.53417965e-01] [-1.74447251e-02 4.64163047e-04 9.99847721e-01 -1.24748484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884391417999986 meters 0.022411489010238445 Centerline is valid? [True, True] Translation: X:62.43, Y:0.85, Z:-1.25 [[ 9.99762979e-01 1.48810475e-02 1.58915306e-02 6.24266773e+01] [-1.48722330e-02 9.99889176e-01 -6.72711754e-04 8.47587319e-01] [-1.58997801e-02 4.36209761e-04 9.99873495e-01 -1.25149616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94439141799999 meters 0.022365486477474807 Centerline is valid? [True, True] Translation: X:62.49, Y:0.85, Z:-1.25 [[ 9.99761556e-01 1.55865056e-02 1.52935532e-02 6.24897385e+01] [-1.55783663e-02 9.99878438e-01 -6.51200555e-04 8.45393118e-01] [-1.53018440e-02 4.12796706e-04 9.99882835e-01 -1.25295083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00439141799999 meters 0.01891913471008572 Centerline is valid? [True, True] Translation: X:62.55, Y:0.85, Z:-1.25 [[ 9.99667130e-01 1.96226212e-02 1.67505811e-02 6.25516386e+01] [-1.96133085e-02 9.99807381e-01 -7.20076396e-04 8.47773218e-01] [-1.67614844e-02 3.91302390e-04 9.99859440e-01 -1.25187046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064391417999985 meters 0.018404798087892766 Centerline is valid? [True, True] Translation: X:62.61, Y:0.85, Z:-1.26 [[ 9.99521233e-01 2.56255339e-02 1.73388894e-02 6.26132524e+01] [-2.56164377e-02 9.99671566e-01 -7.46539877e-04 8.49278696e-01] [-1.73523252e-02 3.02021878e-04 9.99849391e-01 -1.25511891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12439141799999 meters 0.014662790917398074 Centerline is valid? [True, True] Translation: X:62.68, Y:0.86, Z:-1.26 [[ 9.99241605e-01 3.53203715e-02 1.63916623e-02 6.26754569e+01] [-3.53135368e-02 9.99376033e-01 -7.06310029e-04 8.55979278e-01] [-1.64063816e-02 1.26926796e-04 9.99865398e-01 -1.25545979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18439141799999 meters 0.014911549186348688 Centerline is valid? [True, True] Translation: X:62.74, Y:0.86, Z:-1.26 [[ 9.98982317e-01 4.20311382e-02 1.63619617e-02 6.27353207e+01] [-4.20252046e-02 9.99116301e-01 -7.06457974e-04 8.59273166e-01] [-1.63771959e-02 1.81242359e-05 9.99865885e-01 -1.25671187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244391417999985 meters 0.0143804416049991 Centerline is valid? [True, True] Translation: X:62.79, Y:0.86, Z:-1.26 [[ 9.98691126e-01 4.77502298e-02 1.83289524e-02 6.27945789e+01] [-4.77437605e-02 9.98859304e-01 -7.90627913e-04 8.60770963e-01] [-1.83457973e-02 -8.55000335e-05 9.99831698e-01 -1.25577204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30439141799999 meters 0.014422146346767115 Centerline is valid? [True, True] Translation: X:62.85, Y:0.86, Z:-1.26 [[ 9.98664743e-01 4.78491831e-02 1.94727110e-02 6.28533859e+01] [-4.78419329e-02 9.98854567e-01 -8.38275109e-04 8.57228384e-01] [-1.94905171e-02 -9.44563363e-05 9.99810037e-01 -1.25594215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36439141799999 meters 0.016274637452965483 Centerline is valid? [True, True] Translation: X:62.91, Y:0.85, Z:-1.26 [[ 9.98780980e-01 4.55836661e-02 1.89389577e-02 6.29118889e+01] [-4.55764286e-02 9.98960523e-01 -8.13823780e-04 8.50558599e-01] [-1.89563681e-02 -5.03383386e-05 9.99820311e-01 -1.26027700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424391417999985 meters 0.017259831475978878 Centerline is valid? [True, True] Translation: X:62.97, Y:0.84, Z:-1.26 [[ 9.99163329e-01 3.68784912e-02 1.76810217e-02 6.29707061e+01] [-3.68708445e-02 9.99319751e-01 -7.58375749e-04 8.37362842e-01] [-1.76969620e-02 1.05827036e-04 9.99843391e-01 -1.26349653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48439141799999 meters 0.01694636774526152 Centerline is valid? [True, True] Translation: X:63.03, Y:0.82, Z:-1.26 [[ 9.99536056e-01 2.54490271e-02 1.67338107e-02 6.30310275e+01] [-2.54405906e-02 9.99676079e-01 -7.16879728e-04 8.24201055e-01] [-1.67466342e-02 2.90829108e-04 9.99859723e-01 -1.26329053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54439141799999 meters 0.019400859199549265 Centerline is valid? [True, True] Translation: X:63.09, Y:0.81, Z:-1.26 [[ 9.99693522e-01 1.82125347e-02 1.67679853e-02 6.30917283e+01] [-1.82030403e-02 9.99834053e-01 -7.18685287e-04 8.14671257e-01] [-1.67782918e-02 4.13236714e-04 9.99859149e-01 -1.26457354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604391417999985 meters 0.02269566187540699 Centerline is valid? [True, True] Translation: X:63.15, Y:0.80, Z:-1.27 [[ 9.99795809e-01 1.02244532e-02 1.74299054e-02 6.31526257e+01] [-1.02129760e-02 9.99947567e-01 -7.47366462e-04 8.04789632e-01] [-1.74366329e-02 5.69202650e-04 9.99847808e-01 -1.26544048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66439141799999 meters 0.023808364416472622 Centerline is valid? [True, True] Translation: X:63.21, Y:0.80, Z:-1.27 [[ 9.99817820e-01 7.21718414e-03 1.76702630e-02 6.32146373e+01] [-7.20490813e-03 9.99973757e-01 -7.58290565e-04 7.99614893e-01] [-1.76752720e-02 6.30839798e-04 9.99843581e-01 -1.26636341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72439141799999 meters 0.02466169961320458 Centerline is valid? [True, True] Translation: X:63.28, Y:0.80, Z:-1.27 [[ 9.99813025e-01 5.55585722e-03 1.85215231e-02 6.32772382e+01] [-5.54206270e-03 9.99984326e-01 -7.96028757e-04 7.97755729e-01] [-1.85256554e-02 6.93232477e-04 9.99828145e-01 -1.26701664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784391417999984 meters 0.027243814916262352 Centerline is valid? [True, True] Translation: X:63.34, Y:0.80, Z:-1.27 [[ 9.99837352e-01 5.02585780e-03 1.73208166e-02 6.33398054e+01] [-5.01363391e-03 9.99987151e-01 -7.49084948e-04 7.96189848e-01] [-1.73243589e-02 6.62122877e-04 9.99849703e-01 -1.27018412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84439141799999 meters 0.027105849806747656 Centerline is valid? [True, True] Translation: X:63.40, Y:0.79, Z:-1.27 [[ 9.99851197e-01 3.19857544e-03 1.69514978e-02 6.34018267e+01] [-3.18652384e-03 9.99994651e-01 -7.37908148e-04 7.93008559e-01] [-1.69537673e-02 6.83781993e-04 9.99856041e-01 -1.27125864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90439141799999 meters 0.02743061898432028 Centerline is valid? [True, True] Translation: X:63.46, Y:0.79, Z:-1.27 [[ 9.99884622e-01 6.08151290e-04 1.51780595e-02 6.34636488e+01] [-5.98135206e-04 9.99999600e-01 -6.64436249e-04 7.92914897e-01] [-1.51784575e-02 6.55281056e-04 9.99884586e-01 -1.27370213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96439141799999 meters 0.029077698857245045 Centerline is valid? [True, True] Translation: X:63.53, Y:0.79, Z:-1.28 [[ 9.99894170e-01 -2.04060716e-04 1.45467018e-02 6.35256358e+01] [ 2.13398805e-04 9.99999772e-01 -6.40389276e-04 7.91608732e-01] [-1.45465678e-02 6.43425752e-04 9.99893986e-01 -1.27607868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024391418 meters 0.029304260229941495 Centerline is valid? [True, True] Translation: X:63.59, Y:0.79, Z:-1.28 [[ 9.99901684e-01 -2.89330399e-04 1.40191996e-02 6.35875824e+01] [ 2.98083893e-04 9.99999762e-01 -6.22307762e-04 7.93466720e-01] [-1.40190162e-02 6.26425477e-04 9.99901533e-01 -1.27717939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08439141799998 meters 0.030115216993656452 Centerline is valid? [True, True] Translation: X:63.65, Y:0.79, Z:-1.28 [[ 9.99915536e-01 7.07509187e-04 1.29776724e-02 6.36501839e+01] [-7.00079831e-04 9.99999588e-01 -5.77006120e-04 7.93171459e-01] [-1.29780753e-02 5.67871978e-04 9.99915620e-01 -1.28033660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14439141799998 meters 0.02906888962164809 Centerline is valid? [True, True] Translation: X:63.71, Y:0.80, Z:-1.28 [[ 9.99896809e-01 3.61698013e-03 1.39028705e-02 6.37110924e+01] [-3.60871135e-03 9.99993297e-01 -6.19794619e-04 7.98442020e-01] [-1.39050190e-02 5.69559215e-04 9.99903158e-01 -1.27942859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20439141799999 meters 0.026213725830464996 Centerline is valid? [True, True] Translation: X:63.77, Y:0.81, Z:-1.28 [[ 9.99871219e-01 8.22209943e-03 1.37819491e-02 6.37726175e+01] [-8.21440868e-03 9.99966072e-01 -6.14547127e-04 8.05790742e-01] [-1.37865344e-02 5.01257422e-04 9.99904836e-01 -1.27966259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26439141799999 meters 0.02086409669975526 Centerline is valid? [True, True] Translation: X:63.83, Y:0.82, Z:-1.28 [[ 9.99753743e-01 1.59389739e-02 1.54402842e-02 6.38345157e+01] [-1.59302281e-02 9.99872868e-01 -6.89259343e-04 8.19147038e-01] [-1.54493073e-02 4.43122359e-04 9.99880554e-01 -1.27802898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32439141799999 meters 0.019730098931941158 Centerline is valid? [True, True] Translation: X:63.90, Y:0.82, Z:-1.28 [[ 9.99643112e-01 2.09956347e-02 1.65176111e-02 6.38955345e+01] [-2.09863079e-02 9.99779491e-01 -7.37806164e-04 8.22763719e-01] [-1.65294595e-02 3.90899177e-04 9.99863303e-01 -1.27879974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38439141799999 meters 0.01910564198742327 Centerline is valid? [True, True] Translation: X:63.96, Y:0.83, Z:-1.28 [[ 9.99514630e-01 2.59160530e-02 1.72876676e-02 6.39564897e+01] [-2.59065577e-02 9.99664070e-01 -7.73017124e-04 8.28751123e-01] [-1.73018937e-02 3.24777967e-04 9.99850258e-01 -1.27939555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44439141799998 meters 0.01641028698158242 Centerline is valid? [True, True] Translation: X:64.02, Y:0.83, Z:-1.28 [[ 9.99470302e-01 2.84572875e-02 1.57891934e-02 6.40177959e+01] [-2.84496787e-02 9.99594976e-01 -7.06348841e-04 8.34669112e-01] [-1.58028992e-02 2.56777210e-04 9.99875093e-01 -1.28171047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50439141799998 meters 0.016247531881912858 Centerline is valid? [True, True] Translation: X:64.08, Y:0.83, Z:-1.28 [[ 9.99454359e-01 2.93013034e-02 1.52452256e-02 6.40771285e+01] [-2.92943028e-02 9.99570597e-01 -6.82354739e-04 8.33917527e-01] [-1.52586731e-02 2.35384163e-04 9.99883552e-01 -1.28340277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56439141799999 meters 0.016066924647270716 Centerline is valid? [True, True] Translation: X:64.14, Y:0.84, Z:-1.28 [[ 9.99419691e-01 3.05703506e-02 1.50244560e-02 6.41364808e+01] [-3.05637037e-02 9.99532595e-01 -6.71878147e-04 8.36396765e-01] [-1.50379731e-02 2.12285228e-04 9.99886901e-01 -1.28283886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62439141799999 meters 0.015941366793403734 Centerline is valid? [True, True] Translation: X:64.20, Y:0.84, Z:-1.28 [[ 9.99354207e-01 3.12728187e-02 1.76969025e-02 6.41958758e+01] [-3.12637216e-02 9.99510858e-01 -7.90544182e-04 8.36771873e-01] [-1.77129688e-02 2.36762620e-04 9.99843085e-01 -1.28070488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68439141799999 meters 0.015336560821724498 Centerline is valid? [True, True] Translation: X:64.26, Y:0.84, Z:-1.28 [[ 9.99274195e-01 3.25672621e-02 1.97599817e-02 6.42559333e+01] [-3.25561901e-02 9.99469518e-01 -8.81839154e-04 8.38525129e-01] [-1.97782185e-02 2.37889390e-04 9.99804364e-01 -1.27700168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74439141799999 meters 0.01688172294240051 Centerline is valid? [True, True] Translation: X:64.32, Y:0.84, Z:-1.28 [[ 9.99263201e-01 3.33867211e-02 1.89310022e-02 6.43153527e+01] [-3.33767197e-02 9.99442486e-01 -8.44103442e-04 8.39225777e-01] [-1.89486297e-02 2.11626752e-04 9.99820436e-01 -1.27576872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804391418 meters 0.015843636021750433 Centerline is valid? [True, True] Translation: X:64.37, Y:0.84, Z:-1.27 [[ 9.99343868e-01 2.99977177e-02 2.02970575e-02 6.43747522e+01] [-2.99855396e-02 9.99549924e-01 -9.04135216e-04 8.37042083e-01] [-2.03150443e-02 2.94923762e-04 9.99793585e-01 -1.26958238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86439141799998 meters 0.016999456291647376 Centerline is valid? [True, True] Translation: X:64.44, Y:0.83, Z:-1.27 [[ 9.99484252e-01 2.65350291e-02 1.80865091e-02 6.44350341e+01] [-2.65248062e-02 9.99647831e-01 -8.04923097e-04 8.32132248e-01] [-1.81014982e-02 3.24766812e-04 9.99836102e-01 -1.27067838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92439141799998 meters 0.019235625896470404 Centerline is valid? [True, True] Translation: X:64.49, Y:0.83, Z:-1.28 [[ 9.99673467e-01 2.30666233e-02 1.09950289e-02 6.44948443e+01] [-2.30626438e-02 9.99733902e-01 -4.88608019e-04 8.25394328e-01] [-1.10033737e-02 2.34874037e-04 9.99939433e-01 -1.27733903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98439141799999 meters 0.01729749676049858 Centerline is valid? [True, True] Translation: X:64.55, Y:0.83, Z:-1.28 [[ 9.99614460e-01 2.69796140e-02 6.55984714e-03 6.45533304e+01] [-2.69782684e-02 9.99635977e-01 -2.93550749e-04 8.28381084e-01] [-6.56537909e-03 1.16464257e-04 9.99978441e-01 -1.28307900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04439141799999 meters 0.015956553887667365 Centerline is valid? [True, True] Translation: X:64.61, Y:0.83, Z:-1.29 [[ 9.99396102e-01 3.42658589e-02 5.76904898e-03 6.46124804e+01] [-3.42649409e-02 9.99412751e-01 -2.57926131e-04 8.31493385e-01] [-5.77449917e-03 6.00942478e-05 9.99983326e-01 -1.28635619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10439141799999 meters 0.014272413465651793 Centerline is valid? [True, True] Translation: X:64.67, Y:0.84, Z:-1.29 [[ 9.98985600e-01 4.42021539e-02 8.59888391e-03 6.46721200e+01] [-4.42004975e-02 9.99022607e-01 -3.82659532e-04 8.36369214e-01] [-8.60739380e-03 2.19641502e-06 9.99962956e-01 -1.28697680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164391418 meters 0.015674696378954203 Centerline is valid? [True, True] Translation: X:64.73, Y:0.84, Z:-1.29 [[ 9.98791185e-01 4.79966777e-02 1.06060230e-02 6.47299420e+01] [-4.79943734e-02 9.98847495e-01 -4.71823695e-04 8.35917123e-01] [-1.06164455e-02 -3.77760824e-05 9.99943643e-01 -1.28679841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22439141799998 meters 0.015179701272844199 Centerline is valid? [True, True] Translation: X:64.79, Y:0.83, Z:-1.29 [[ 9.98970304e-01 4.43269869e-02 9.66699307e-03 6.47875449e+01] [-4.43249134e-02 9.99017076e-01 -4.28748454e-04 8.29332450e-01] [-9.67649628e-03 -1.81657348e-07 9.99953182e-01 -1.28773896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28439141799998 meters 0.015408973507227901 Centerline is valid? [True, True] Translation: X:64.85, Y:0.81, Z:-1.29 [[ 9.99446432e-01 3.23983380e-02 7.56158121e-03 6.48458450e+01] [-3.23967343e-02 9.99475032e-01 -3.34504504e-04 8.14499638e-01] [-7.56844901e-03 8.93487948e-05 9.99971355e-01 -1.28975836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34439141799999 meters 0.017863671223396348 Centerline is valid? [True, True] Translation: X:64.90, Y:0.80, Z:-1.29 [[ 9.99696349e-01 2.39974742e-02 5.59745532e-03 6.49043804e+01] [-2.39964655e-02 9.99712013e-01 -2.47296427e-04 8.03667713e-01] [-5.60177781e-03 1.12902192e-04 9.99984304e-01 -1.29195763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40439141799999 meters 0.022264877395415668 Centerline is valid? [True, True] Translation: X:64.96, Y:0.79, Z:-1.29 [[ 9.99898319e-01 1.36588152e-02 4.09746405e-03 6.49638537e+01] [-1.36581911e-02 9.99906706e-01 -1.80265685e-04 7.91831632e-01] [-4.09954400e-03 1.24283408e-04 9.99991589e-01 -1.29420922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46439141799999 meters 0.027517120646074304 Centerline is valid? [True, True] Translation: X:65.02, Y:0.78, Z:-1.30 [[ 9.99971392e-01 5.08879117e-03 5.59635280e-03 6.50224342e+01] [-5.08749141e-03 9.99987028e-01 -2.46462363e-04 7.79536068e-01] [-5.59753440e-03 2.17983916e-04 9.99984310e-01 -1.29661817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524391418 meters 0.03091430839442046 Centerline is valid? [True, True] Translation: X:65.08, Y:0.77, Z:-1.30 [[ 9.99973685e-01 6.02308997e-04 7.22950457e-03 6.50834888e+01] [-6.00033149e-04 9.99999770e-01 -3.16964857e-04 7.72465635e-01] [-7.22969382e-03 3.12618574e-04 9.99973817e-01 -1.29690413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58439141799998 meters 0.03416861520730784 Centerline is valid? [True, True] Translation: X:65.14, Y:0.77, Z:-1.29 [[ 9.99938920e-01 -3.22380370e-03 1.05718336e-02 6.51435675e+01] [ 3.22889411e-03 9.99994679e-01 -4.64473343e-04 7.68090280e-01] [-1.05702800e-02 4.98580304e-04 9.99944009e-01 -1.29410578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64439141799998 meters 0.03508318809102257 Centerline is valid? [True, True] Translation: X:65.21, Y:0.77, Z:-1.29 [[ 9.99928482e-01 -3.08274805e-03 1.15554523e-02 6.52056405e+01] [ 3.08881762e-03 9.99995101e-01 -5.07445392e-04 7.68060911e-01] [-1.15538313e-02 5.43101784e-04 9.99933105e-01 -1.29332753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70439141799999 meters 0.035218107857825774 Centerline is valid? [True, True] Translation: X:65.27, Y:0.77, Z:-1.29 [[ 9.99932134e-01 -2.45501288e-03 1.13886468e-02 6.52679088e+01] [ 2.46087732e-03 9.99996847e-01 -5.00952313e-04 7.70622947e-01] [-1.13873811e-02 5.28944378e-04 9.99935022e-01 -1.29425487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76439141799999 meters 0.03632573489358964 Centerline is valid? [True, True] Translation: X:65.33, Y:0.77, Z:-1.30 [[ 9.99969391e-01 -1.87855563e-03 7.59520854e-03 6.53296356e+01] [ 1.88114131e-03 9.99998175e-01 -3.33305714e-04 7.72354922e-01] [-7.59456854e-03 3.47583173e-04 9.99971100e-01 -1.29904803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82439141799999 meters 0.02818503310339668 Centerline is valid? [True, True] Translation: X:65.39, Y:0.79, Z:-1.30 [[ 9.99983047e-01 4.05370497e-04 5.80874669e-03 6.53922970e+01] [-4.03890886e-04 9.99999886e-01 -2.55891977e-04 7.85220689e-01] [-5.80884976e-03 2.53541539e-04 9.99983096e-01 -1.29971884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88439141799999 meters 0.02593164713835197 Centerline is valid? [True, True] Translation: X:65.45, Y:0.79, Z:-1.30 [[ 9.99970471e-01 5.46789890e-03 5.39986475e-03 6.54528855e+01] [-5.46668556e-03 9.99985029e-01 -2.39432348e-04 7.90693280e-01] [-5.40109310e-03 2.09905916e-04 9.99985392e-01 -1.30187693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94439141799998 meters 0.021779530470974705 Centerline is valid? [True, True] Translation: X:65.51, Y:0.80, Z:-1.30 [[ 9.99820991e-01 1.78841924e-02 6.17592693e-03 6.55128955e+01] [-1.78828399e-02 9.99840052e-01 -2.74149794e-04 8.03148740e-01] [-6.17984205e-03 1.63657606e-04 9.99980891e-01 -1.30430971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00439141799998 meters 0.01741918016386275 Centerline is valid? [True, True] Translation: X:65.57, Y:0.81, Z:-1.30 [[ 9.99624339e-01 2.63411818e-02 7.57125712e-03 6.55731946e+01] [-2.63393937e-02 9.99653002e-01 -3.35801935e-04 8.12371539e-01] [-7.57747533e-03 1.36253465e-04 9.99971281e-01 -1.30290107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06439141799999 meters 0.015258102761163878 Centerline is valid? [True, True] Translation: X:65.63, Y:0.82, Z:-1.30 [[ 9.99383292e-01 3.37704772e-02 9.62241753e-03 6.56332075e+01] [-3.37679341e-02 9.99429610e-01 -4.26688919e-04 8.20930706e-01] [-9.63133849e-03 1.01496615e-04 9.99953612e-01 -1.30195354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12439141799999 meters 0.013951913176512747 Centerline is valid? [True, True] Translation: X:65.69, Y:0.83, Z:-1.30 [[ 9.99152950e-01 3.95684683e-02 1.13012634e-02 6.56925013e+01] [-3.95653336e-02 9.99216860e-01 -5.00907736e-04 8.28499039e-01] [-1.13122330e-02 5.33451875e-05 9.99936013e-01 -1.30156878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18439141799999 meters 0.014130344117639419 Centerline is valid? [True, True] Translation: X:65.75, Y:0.83, Z:-1.30 [[ 9.99192930e-01 3.86209900e-02 1.10412121e-02 6.57516419e+01] [-3.86179490e-02 9.99253929e-01 -4.88570908e-04 8.27234421e-01] [-1.10518437e-02 6.17876289e-05 9.99938925e-01 -1.30349792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24439141799999 meters 0.015862269976381953 Centerline is valid? [True, True] Translation: X:65.81, Y:0.82, Z:-1.31 [[ 9.99439669e-01 3.23227008e-02 8.69427012e-03 6.58095410e+01] [-3.23205779e-02 9.99477480e-01 -3.84600914e-04 8.21731481e-01] [-8.70215852e-03 1.03381576e-04 9.99962130e-01 -1.30846263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30439141799998 meters 0.01857858300455477 Centerline is valid? [True, True] Translation: X:65.87, Y:0.82, Z:-1.31 [[ 9.99635502e-01 2.57103535e-02 8.23653862e-03 6.58687457e+01] [-2.57082347e-02 9.99669423e-01 -3.63025657e-04 8.15246999e-01] [-8.24314933e-03 1.51146466e-04 9.99966013e-01 -1.31148175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36439141799998 meters 0.01836091976869118 Centerline is valid? [True, True] Translation: X:65.93, Y:0.81, Z:-1.31 [[ 9.99686377e-01 2.22233356e-02 1.15442835e-02 6.59280162e+01] [-2.22189447e-02 9.99752999e-01 -5.08480738e-04 8.13278956e-01] [-1.15527322e-02 2.51819471e-04 9.99933233e-01 -1.30911968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42439141799998 meters 0.020075252747430477 Centerline is valid? [True, True] Translation: X:65.99, Y:0.81, Z:-1.30 [[ 9.99673122e-01 1.88438540e-02 1.72788370e-02 6.59870575e+01] [-1.88335497e-02 9.99822345e-01 -7.58896238e-04 8.10493857e-01] [-1.72900678e-02 4.33226337e-04 9.99850422e-01 -1.30491867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48439141799999 meters 0.02170074173157969 Centerline is valid? [True, True] Translation: X:66.05, Y:0.80, Z:-1.31 [[ 9.99744462e-01 1.36318734e-02 1.80328487e-02 6.60477534e+01] [-1.36198362e-02 9.99906934e-01 -7.90168689e-04 8.04270492e-01] [-1.80419419e-02 5.44362326e-04 9.99837083e-01 -1.30592283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54439141799999 meters 0.024027709081343614 Centerline is valid? [True, True] Translation: X:66.11, Y:0.80, Z:-1.31 [[ 9.99821382e-01 1.06257207e-02 1.56300488e-02 6.61095958e+01] [-1.06163012e-02 9.99943411e-01 -6.85501739e-04 7.98305991e-01] [-1.56364482e-02 5.19445991e-04 9.99877608e-01 -1.31113826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60439141799999 meters 0.028051642328640835 Centerline is valid? [True, True] Translation: X:66.17, Y:0.79, Z:-1.31 [[ 9.99890357e-01 6.62246662e-03 1.32445343e-02 6.61696544e+01] [-6.61533565e-03 9.99977949e-01 -5.82146866e-04 7.89262361e-01] [-1.32480975e-02 4.94465997e-04 9.99912118e-01 -1.31497588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664391418 meters 0.025143465111727208 Centerline is valid? [True, True] Translation: X:66.23, Y:0.79, Z:-1.32 [[ 9.99896360e-01 8.24764180e-03 1.18002674e-02 6.62321149e+01] [-8.24211855e-03 9.99965900e-01 -5.16617234e-04 7.91823517e-01] [-1.18041259e-02 4.19304489e-04 9.99930241e-01 -1.31769097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72439141799998 meters 0.021218455501834096 Centerline is valid? [True, True] Translation: X:66.29, Y:0.80, Z:-1.32 [[ 9.99787932e-01 1.62806487e-02 1.26107305e-02 6.62928990e+01] [-1.62749024e-02 9.99867399e-01 -5.58162969e-04 7.98609908e-01] [-1.26181456e-02 3.52806192e-04 9.99920326e-01 -1.31790356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78439141799998 meters 0.017920115231434487 Centerline is valid? [True, True] Translation: X:66.35, Y:0.81, Z:-1.32 [[ 9.99610409e-01 2.40731478e-02 1.41249250e-02 6.63532941e+01] [-2.40667143e-02 9.99710159e-01 -6.25297897e-04 8.06398121e-01] [-1.41358839e-02 2.85113753e-04 9.99900043e-01 -1.31653093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84439141799999 meters 0.014687283617425866 Centerline is valid? [True, True] Translation: X:66.41, Y:0.81, Z:-1.31 [[ 9.99306433e-01 3.31938845e-02 1.68766103e-02 6.64130819e+01] [-3.31860058e-02 9.99448914e-01 -7.46758584e-04 8.13429219e-01] [-1.68920976e-02 1.86173371e-04 9.99857301e-01 -1.31346150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90439141799999 meters 0.014157926853285714 Centerline is valid? [True, True] Translation: X:66.47, Y:0.82, Z:-1.32 [[ 9.99168295e-01 3.82859257e-02 1.40323432e-02 6.64718098e+01] [-3.82809835e-02 9.99266822e-01 -6.20728297e-04 8.17268077e-01] [-1.40458202e-02 8.30401347e-05 9.99901349e-01 -1.31916317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96439141799999 meters 0.013892294366459668 Centerline is valid? [True, True] Translation: X:66.53, Y:0.82, Z:-1.32 [[ 9.99235517e-01 3.74967311e-02 1.10624076e-02 6.65308616e+01] [-3.74936170e-02 9.99296748e-01 -4.88826432e-04 8.15135814e-01] [-1.10729573e-02 7.36830603e-05 9.99938690e-01 -1.32465477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024391418 meters 0.014463524473680921 Centerline is valid? [True, True] Translation: X:66.59, Y:0.81, Z:-1.33 [[ 9.99376170e-01 3.39222974e-02 9.82590554e-03 6.65896423e+01] [-3.39196733e-02 9.99424468e-01 -4.33632654e-04 8.11045347e-01] [-9.83496024e-03 1.00070635e-04 9.99951631e-01 -1.32926242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08439141799998 meters 0.015214919582308292 Centerline is valid? [True, True] Translation: X:66.65, Y:0.81, Z:-1.33 [[ 9.99474135e-01 3.02311462e-02 1.17274013e-02 6.66484894e+01] [-3.02271687e-02 9.99542921e-01 -5.16298861e-04 8.07363937e-01] [-1.17376493e-02 1.61541218e-04 9.99931098e-01 -1.32843154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14439141799998 meters 0.017142258614269427 Centerline is valid? [True, True] Translation: X:66.71, Y:0.80, Z:-1.33 [[ 9.99595950e-01 2.38551817e-02 1.54553426e-02 6.67066564e+01] [-2.38475372e-02 9.99715377e-01 -6.78753316e-04 8.01297354e-01] [-1.54671355e-02 3.09907208e-04 9.99880329e-01 -1.32571908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20439141799999 meters 0.018987181653601973 Centerline is valid? [True, True] Translation: X:66.77, Y:0.80, Z:-1.33 [[ 9.99690680e-01 1.93918105e-02 1.55724945e-02 6.67659484e+01] [-1.93835378e-02 9.99811889e-01 -6.82011988e-04 7.96154888e-01] [-1.55827906e-02 3.79950992e-04 9.99878509e-01 -1.32587129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26439141799999 meters 0.0206630906186902 Centerline is valid? [True, True] Translation: X:66.83, Y:0.79, Z:-1.33 [[ 9.99764588e-01 1.71156809e-02 1.33350156e-02 6.68257496e+01] [-1.71094238e-02 9.99853453e-01 -5.83173649e-04 7.92073678e-01] [-1.33430429e-02 3.54881928e-04 9.99910915e-01 -1.32992700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32439141799999 meters 0.017477891834768094 Centerline is valid? [True, True] Translation: X:66.89, Y:0.80, Z:-1.33 [[ 9.99591312e-01 2.47878049e-02 1.42398686e-02 6.68859339e+01] [-2.47814376e-02 9.99692699e-01 -6.23445612e-04 7.97271281e-01] [-1.42509465e-02 2.70306403e-04 9.99898414e-01 -1.33284746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38439141799999 meters 0.014848956431708775 Centerline is valid? [True, True] Translation: X:66.95, Y:0.80, Z:-1.33 [[ 9.99322839e-01 3.23597616e-02 1.75131101e-02 6.69457996e+01] [-3.23513093e-02 9.99476266e-01 -7.65794779e-04 8.02314534e-01] [-1.75287188e-02 1.98704172e-04 9.99846340e-01 -1.33157662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44439141799998 meters 0.013518717383287282 Centerline is valid? [True, True] Translation: X:67.01, Y:0.81, Z:-1.33 [[ 9.98906109e-01 4.07750745e-02 2.28905710e-02 6.70055384e+01] [-4.07628693e-02 9.99168349e-01 -9.99744416e-04 8.09776151e-01] [-2.29122987e-02 6.55654522e-05 9.99737477e-01 -1.32674908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50439141799998 meters 0.013447900935732877 Centerline is valid? [True, True] Translation: X:67.06, Y:0.81, Z:-1.33 [[ 9.98952976e-01 4.12550179e-02 1.97730889e-02 6.70639367e+01] [-4.12460246e-02 9.99148648e-01 -8.62601299e-04 8.07047726e-01] [-1.97918416e-02 4.61368254e-05 9.99804121e-01 -1.33108437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56439141799999 meters 0.013428245508720477 Centerline is valid? [True, True] Translation: X:67.12, Y:0.80, Z:-1.34 [[ 9.99064666e-01 4.03654084e-02 1.55057284e-02 6.71225736e+01] [-4.03597846e-02 9.99184984e-01 -6.75570435e-04 8.03471371e-01] [-1.55203606e-02 4.91306927e-05 9.99879551e-01 -1.33677964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62439141799999 meters 0.013712418534156914 Centerline is valid? [True, True] Translation: X:67.18, Y:0.80, Z:-1.34 [[ 9.99039383e-01 4.26735772e-02 9.96373606e-03 6.71813139e+01] [-4.26713721e-02 9.99089068e-01 -4.33890941e-04 8.03870059e-01] [-9.97317546e-03 8.30784847e-06 9.99950267e-01 -1.34371477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68439141799999 meters 0.0137339856106501 Centerline is valid? [True, True] Translation: X:67.24, Y:0.80, Z:-1.35 [[ 9.98940145e-01 4.48983233e-02 1.01354241e-02 6.72396130e+01] [-4.48961604e-02 9.98991562e-01 -4.40941671e-04 8.03272698e-01] [-1.01450006e-02 -1.45672875e-05 9.99948538e-01 -1.34553459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74439141799999 meters 0.01443469303895293 Centerline is valid? [True, True] Translation: X:67.30, Y:0.80, Z:-1.35 [[ 9.98845605e-01 4.61514434e-02 1.33230005e-02 6.72978058e+01] [-4.61478512e-02 9.98934454e-01 -5.77085390e-04 7.97924329e-01] [-1.33354376e-02 -3.84086420e-05 9.99911078e-01 -1.34581202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80439141799998 meters 0.013504418901251702 Centerline is valid? [True, True] Translation: X:67.35, Y:0.79, Z:-1.35 [[ 9.98903255e-01 4.45235240e-02 1.44893955e-02 6.73549009e+01] [-4.45191218e-02 9.99008336e-01 -6.26389115e-04 7.91368995e-01] [-1.45029159e-02 -1.93530357e-05 9.99894827e-01 -1.34628927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86439141799998 meters 0.015080744372245403 Centerline is valid? [True, True] Translation: X:67.41, Y:0.79, Z:-1.35 [[ 9.98894740e-01 4.46670932e-02 1.46338482e-02 6.74131401e+01] [-4.46626383e-02 9.99001927e-01 -6.31258543e-04 7.87702956e-01] [-1.46474391e-02 -2.30254320e-05 9.99892720e-01 -1.34910570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92439141799998 meters 0.013510228432951592 Centerline is valid? [True, True] Translation: X:67.47, Y:0.78, Z:-1.35 [[ 9.98958795e-01 4.23246537e-02 1.70278958e-02 6.74713862e+01] [-4.23183254e-02 9.99103910e-01 -7.31956469e-04 7.80325117e-01] [-1.70436170e-02 1.06023192e-05 9.99854747e-01 -1.34613798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98439141799999 meters 0.013502242765313525 Centerline is valid? [True, True] Translation: X:67.53, Y:0.77, Z:-1.34 [[ 9.99056901e-01 3.89900781e-02 1.91071504e-02 6.75287909e+01] [-3.89815314e-02 9.99239595e-01 -8.19689958e-04 7.72585854e-01] [-1.91245810e-02 7.40909245e-05 9.99817106e-01 -1.34478729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04439141799999 meters 0.014836281596979852 Centerline is valid? [True, True] Translation: X:67.59, Y:0.76, Z:-1.34 [[ 9.99317635e-01 3.09450575e-02 2.01660223e-02 6.75872353e+01] [-3.09339518e-02 9.99521059e-01 -8.62495644e-04 7.58657123e-01] [-2.01830540e-02 2.38092344e-04 9.99796273e-01 -1.34366214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10439141799999 meters 0.01831167649925851 Centerline is valid? [True, True] Translation: X:67.65, Y:0.75, Z:-1.35 [[ 9.99488761e-01 2.61225913e-02 1.84344101e-02 6.76468571e+01] [-2.61125188e-02 9.99658700e-01 -7.86931548e-04 7.48665392e-01] [-1.84486751e-02 3.05160357e-04 9.99829762e-01 -1.34804773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164391418 meters 0.018143850141427557 Centerline is valid? [True, True] Translation: X:67.71, Y:0.74, Z:-1.35 [[ 9.99702201e-01 1.90813115e-02 1.52122329e-02 6.77061122e+01] [-1.90736414e-02 9.99817871e-01 -6.49148580e-04 7.35483753e-01] [-1.52218489e-02 3.58802590e-04 9.99884077e-01 -1.35322939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22439141799998 meters 0.018814764038597147 Centerline is valid? [True, True] Translation: X:67.77, Y:0.73, Z:-1.36 [[ 9.99727918e-01 1.79497458e-02 1.48962073e-02 6.77671949e+01] [-1.79422752e-02 9.99838823e-01 -6.35013871e-04 7.26021163e-01] [-1.49052047e-02 3.67569244e-04 9.99888844e-01 -1.35676221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28439141799998 meters 0.01841490226767077 Centerline is valid? [True, True] Translation: X:67.83, Y:0.72, Z:-1.36 [[ 9.99666500e-01 1.98023647e-02 1.65757230e-02 6.78281222e+01] [-1.97933559e-02 9.99803842e-01 -7.07389167e-04 7.22271878e-01] [-1.65864795e-02 3.79064068e-04 9.99862363e-01 -1.35639990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34439141799999 meters 0.016559319034181303 Centerline is valid? [True, True] Translation: X:67.89, Y:0.72, Z:-1.35 [[ 9.99500016e-01 2.61351083e-02 1.77953294e-02 6.78893448e+01] [-2.61257140e-02 9.99658376e-01 -7.60223532e-04 7.22389410e-01] [-1.78091186e-02 2.94927747e-04 9.99841362e-01 -1.35468061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40439141799999 meters 0.015051294228714946 Centerline is valid? [True, True] Translation: X:67.95, Y:0.72, Z:-1.36 [[ 9.99353089e-01 3.17289073e-02 1.69316416e-02 6.79494298e+01] [-3.17211887e-02 9.99496494e-01 -7.24304072e-04 7.22208922e-01] [-1.69460978e-02 1.86743713e-04 9.99856387e-01 -1.35633339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46439141799999 meters 0.014761651343671522 Centerline is valid? [True, True] Translation: X:68.01, Y:0.72, Z:-1.36 [[ 9.99072174e-01 4.09052340e-02 1.34741405e-02 6.80083947e+01] [-4.09011839e-02 9.99163030e-01 -5.76129862e-04 7.22265285e-01] [-1.34864298e-02 2.44870131e-05 9.99909054e-01 -1.36329265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524391418 meters 0.014131991474113058 Centerline is valid? [True, True] Translation: X:68.07, Y:0.72, Z:-1.37 [[ 9.98903704e-01 4.52580347e-02 1.19624266e-02 6.80663131e+01] [-4.52551602e-02 9.98975330e-01 -5.11008800e-04 7.20852946e-01] [-1.19732963e-02 -3.09129493e-05 9.99928317e-01 -1.36740911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58439141799998 meters 0.014567981964662356 Centerline is valid? [True, True] Translation: X:68.13, Y:0.72, Z:-1.37 [[ 9.98708796e-01 4.90274254e-02 1.33060881e-02 6.81251538e+01] [-4.90242315e-02 9.98797429e-01 -5.66299890e-04 7.18994823e-01] [-1.33178508e-02 -8.67520625e-05 9.99911310e-01 -1.36759017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64439141799998 meters 0.014052609909386638 Centerline is valid? [True, True] Translation: X:68.18, Y:0.71, Z:-1.37 [[ 9.98754936e-01 4.74056141e-02 1.55333765e-02 6.81838574e+01] [-4.74010890e-02 9.98875719e-01 -6.59567581e-04 7.13351795e-01] [-1.55471798e-02 -7.75525844e-05 9.99879132e-01 -1.36512704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70439141799999 meters 0.014218064249922996 Centerline is valid? [True, True] Translation: X:68.24, Y:0.70, Z:-1.36 [[ 9.99220983e-01 3.59286875e-02 1.63265507e-02 6.82416885e+01] [-3.59221783e-02 9.99354351e-01 -6.91871855e-04 6.96321131e-01] [-1.63408675e-02 1.04847610e-04 9.99866474e-01 -1.36386666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76439141799999 meters 0.018959362829553846 Centerline is valid? [True, True] Translation: X:68.30, Y:0.68, Z:-1.37 [[ 9.99725408e-01 1.96666687e-02 1.27409386e-02 6.83010016e+01] [-1.96613978e-02 9.99806551e-01 -5.38832458e-04 6.76928094e-01] [-1.27490710e-02 2.88179835e-04 9.99918686e-01 -1.36746004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82439141799999 meters 0.02291708965076264 Centerline is valid? [True, True] Translation: X:68.36, Y:0.66, Z:-1.37 [[ 9.99878707e-01 1.10571660e-02 1.09686113e-02 6.83611951e+01] [-1.10527477e-02 9.99938809e-01 -4.63345509e-04 6.64510354e-01] [-1.09730634e-02 3.42056015e-04 9.99939736e-01 -1.37100531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88439141799999 meters 0.024707912781161877 Centerline is valid? [True, True] Translation: X:68.42, Y:0.66, Z:-1.37 [[ 9.99905250e-01 4.99948811e-03 1.28256424e-02 6.84224006e+01] [-4.99294740e-03 9.99987388e-01 -5.41940519e-04 6.57103572e-01] [-1.28281901e-02 4.77851412e-04 9.99917601e-01 -1.37106088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94439141799998 meters 0.025987912808145195 Centerline is valid? [True, True] Translation: X:68.48, Y:0.65, Z:-1.37 [[ 9.99873449e-01 4.07939221e-03 1.53767342e-02 6.84840847e+01] [-4.06987857e-03 9.99991507e-01 -6.49945855e-04 6.52568229e-01] [-1.53792550e-02 5.87282163e-04 9.99881560e-01 -1.36870431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00439141799998 meters 0.024519803220017358 Centerline is valid? [True, True] Translation: X:68.55, Y:0.65, Z:-1.37 [[ 9.99857129e-01 5.50283970e-03 1.59825233e-02 6.85465429e+01] [-5.49271175e-03 9.99984685e-01 -6.77516956e-04 6.51901668e-01] [-1.59860068e-02 5.89632765e-04 9.99872042e-01 -1.36887054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06439141799999 meters 0.024079741417128847 Centerline is valid? [True, True] Translation: X:68.61, Y:0.65, Z:-1.37 [[ 9.99823156e-01 9.08223690e-03 1.64672035e-02 6.86068440e+01] [-9.07187146e-03 9.99958602e-01 -7.04051602e-04 6.49507539e-01] [-1.64729161e-02 5.54538742e-04 9.99864159e-01 -1.37090832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12439141799999 meters 0.021190051112894192 Centerline is valid? [True, True] Translation: X:68.67, Y:0.65, Z:-1.37 [[ 9.99784266e-01 1.28047624e-02 1.63541820e-02 6.86688124e+01] [-1.27950336e-02 9.99917896e-01 -6.99377207e-04 6.52057942e-01] [-1.63617946e-02 4.89974019e-04 9.99866017e-01 -1.37195339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18439141799999 meters 0.018219056834001858 Centerline is valid? [True, True] Translation: X:68.73, Y:0.65, Z:-1.37 [[ 9.99679615e-01 2.02198440e-02 1.52258287e-02 6.87292739e+01] [-2.02122528e-02 9.99795499e-01 -6.52304476e-04 6.54526330e-01] [-1.52359045e-02 3.44347188e-04 9.99883868e-01 -1.37492534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24439141799999 meters 0.01558133110638749 Centerline is valid? [True, True] Translation: X:68.79, Y:0.66, Z:-1.38 [[ 9.99415055e-01 3.21018928e-02 1.17904921e-02 6.87902292e+01] [-3.20981672e-02 9.99484593e-01 -5.05127893e-04 6.62836623e-01] [-1.18006307e-02 1.26379235e-04 9.99930362e-01 -1.38095579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30439141799998 meters 0.013801284932291576 Centerline is valid? [True, True] Translation: X:68.85, Y:0.67, Z:-1.38 [[ 9.99075368e-01 4.14074642e-02 1.15685532e-02 6.88496125e+01] [-4.14044930e-02 9.99142343e-01 -4.96326111e-04 6.70556117e-01] [-1.15791829e-02 1.68771141e-05 9.99932959e-01 -1.38109688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36439141799998 meters 0.016071574290232395 Centerline is valid? [True, True] Translation: X:68.91, Y:0.68, Z:-1.38 [[ 9.98532717e-01 5.24461612e-02 1.34837994e-02 6.89080549e+01] [-5.24431467e-02 9.98623745e-01 -5.77292694e-04 6.78846918e-01] [-1.34955191e-02 -1.30687229e-04 9.99908923e-01 -1.38019560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42439141799998 meters 0.015649517294187364 Centerline is valid? [True, True] Translation: X:68.97, Y:0.68, Z:-1.38 [[ 9.98458962e-01 5.38539176e-02 1.33961110e-02 6.89673174e+01] [-5.38510879e-02 9.98548814e-01 -5.72113233e-04 6.77424525e-01] [-1.34074812e-02 -1.50163565e-04 9.99910104e-01 -1.37992487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48439141799999 meters 0.015463092804128479 Centerline is valid? [True, True] Translation: X:69.03, Y:0.67, Z:-1.39 [[ 9.98557250e-01 5.29298227e-02 9.04717592e-03 6.90257355e+01] [-5.29284955e-02 9.98598230e-01 -3.86243089e-04 6.71133173e-01] [-9.05493764e-03 -9.31675728e-05 9.99958999e-01 -1.38653602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54439141799999 meters 0.015295711883491181 Centerline is valid? [True, True] Translation: X:69.08, Y:0.67, Z:-1.39 [[ 9.98597640e-01 5.22625074e-02 8.44885402e-03 6.90831555e+01] [-5.22613266e-02 9.98633378e-01 -3.60623398e-04 6.69116781e-01] [-8.45615472e-03 -8.14306451e-05 9.99964243e-01 -1.38990323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60439141799999 meters 0.01509784441767017 Centerline is valid? [True, True] Translation: X:69.14, Y:0.67, Z:-1.39 [[ 9.98555596e-01 5.18890741e-02 1.39371987e-02 6.91422266e+01] [-5.18858745e-02 9.98652846e-01 -5.91311011e-04 6.65639042e-01] [-1.39491058e-02 -1.32686825e-04 9.99902698e-01 -1.38676715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66439141799998 meters 0.015276359300829311 Centerline is valid? [True, True] Translation: X:69.20, Y:0.65, Z:-1.38 [[ 9.98655525e-01 4.78695842e-02 1.98908348e-02 6.92008424e+01] [-4.78623149e-02 9.98853588e-01 -8.41630944e-04 6.53926620e-01] [-1.99083203e-02 -1.11522007e-04 9.99801804e-01 -1.38215730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72439141799998 meters 0.013984286385437047 Centerline is valid? [True, True] Translation: X:69.26, Y:0.64, Z:-1.38 [[ 9.98964720e-01 4.13545671e-02 1.89549132e-02 6.92589535e+01] [-4.13468197e-02 9.99144534e-01 -8.00612733e-04 6.42177282e-01] [-1.89718070e-02 1.60584941e-05 9.99820019e-01 -1.38303030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78439141799998 meters 0.01403166963463189 Centerline is valid? [True, True] Translation: X:69.32, Y:0.64, Z:-1.39 [[ 9.99043145e-01 3.98936976e-02 1.79244954e-02 6.93179986e+01] [-3.98865586e-02 9.99203929e-01 -7.55750967e-04 6.37661328e-01] [-1.79403759e-02 4.00813891e-05 9.99839058e-01 -1.38512030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84439141799999 meters 0.014149694528709051 Centerline is valid? [True, True] Translation: X:69.38, Y:0.63, Z:-1.39 [[ 9.99133268e-01 3.89399031e-02 1.47104216e-02 6.93768160e+01] [-3.89350045e-02 9.99241553e-01 -6.19353238e-04 6.32753032e-01] [-1.47233821e-02 4.60660927e-05 9.99891604e-01 -1.38978812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90439141799999 meters 0.014581793795943319 Centerline is valid? [True, True] Translation: X:69.44, Y:0.63, Z:-1.40 [[ 9.99224361e-01 3.78966720e-02 1.07012926e-02 6.94352235e+01] [-3.78940239e-02 9.99281662e-01 -4.50191458e-04 6.27123040e-01] [-1.07106662e-02 4.43272346e-05 9.99942638e-01 -1.39510587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96439141799999 meters 0.015188386990541624 Centerline is valid? [True, True] Translation: X:69.49, Y:0.62, Z:-1.40 [[ 9.99373735e-01 3.38079801e-02 1.04479042e-02 6.94935730e+01] [-3.38052409e-02 9.99428343e-01 -4.38717274e-04 6.20296109e-01] [-1.04567637e-02 8.52486034e-05 9.99945323e-01 -1.39531377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024391418 meters 0.015884854772159562 Centerline is valid? [True, True] Translation: X:69.55, Y:0.61, Z:-1.40 [[ 9.99499596e-01 3.00162996e-02 9.97892707e-03 6.95523399e+01] [-3.00136192e-02 9.99549402e-01 -4.18293277e-04 6.14126772e-01] [-9.98698620e-03 1.18580245e-04 9.99950122e-01 -1.39539339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08439141799998 meters 0.0180077882063642 Centerline is valid? [True, True] Translation: X:69.61, Y:0.60, Z:-1.40 [[ 9.99697707e-01 2.29119916e-02 8.91830767e-03 6.96104890e+01] [-2.29095751e-02 9.99737472e-01 -3.73037878e-04 6.04916285e-01] [-8.92451340e-03 1.68610472e-04 9.99960162e-01 -1.39682756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14439141799998 meters 0.022180160941069504 Centerline is valid? [True, True] Translation: X:69.67, Y:0.59, Z:-1.40 [[ 9.99880133e-01 1.28868530e-02 8.58191089e-03 6.96700279e+01] [-1.28842550e-02 9.99916930e-01 -3.57957154e-04 5.93530167e-01] [-8.58581094e-03 2.47342719e-04 9.99963111e-01 -1.39793213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20439141799999 meters 0.02570261273312033 Centerline is valid? [True, True] Translation: X:69.73, Y:0.58, Z:-1.40 [[ 9.99931519e-01 6.09200374e-03 9.99227744e-03 6.97304029e+01] [-6.08814818e-03 9.99981380e-01 -4.16226834e-04 5.83882441e-01] [-9.99462705e-03 3.55363865e-04 9.99949989e-01 -1.39841227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26439141799999 meters 0.031133420860725455 Centerline is valid? [True, True] Translation: X:69.79, Y:0.57, Z:-1.40 [[ 9.99901756e-01 -5.07229566e-03 1.30671771e-02 6.97909477e+01] [ 5.07984486e-03 9.99986949e-01 -5.44595915e-04 5.69694667e-01] [-1.30642442e-02 6.10921644e-04 9.99914472e-01 -1.39750919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32439141799999 meters 0.03860825453021059 Centerline is valid? [True, True] Translation: X:69.85, Y:0.56, Z:-1.40 [[ 9.99832726e-01 -1.26464017e-02 1.32131656e-02 6.98502008e+01] [ 1.26547805e-02 9.99919773e-01 -5.50707852e-04 5.56550752e-01] [-1.32051411e-02 7.17825444e-04 9.99912551e-01 -1.39725364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38439141799999 meters 0.03599421225637433 Centerline is valid? [True, True] Translation: X:69.91, Y:0.56, Z:-1.40 [[ 9.99853864e-01 -1.44601520e-02 9.11896821e-03 6.99113179e+01] [ 1.44642271e-02 9.99895315e-01 -3.81080227e-04 5.57398908e-01] [-9.11250311e-03 5.12923364e-04 9.99958349e-01 -1.40046058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44439141799998 meters 0.03261075509684235 Centerline is valid? [True, True] Translation: X:69.97, Y:0.56, Z:-1.41 [[ 9.99927173e-01 -1.10378574e-02 4.87997200e-03 6.99726752e+01] [ 1.10389816e-02 9.99939048e-01 -2.03505074e-04 5.61522273e-01] [-4.87742830e-03 2.57360175e-04 9.99988072e-01 -1.40564585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50439141799998 meters 0.03062931048190055 Centerline is valid? [True, True] Translation: X:70.03, Y:0.56, Z:-1.40 [[ 9.99961095e-01 -5.00787465e-03 7.26149428e-03 7.00324911e+01] [ 5.01021647e-03 9.99987402e-01 -3.04343517e-04 5.63901827e-01] [-7.25987869e-03 3.40713335e-04 9.99973589e-01 -1.40491332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56439141799999 meters 0.02207435000401111 Centerline is valid? [True, True] Translation: X:70.09, Y:0.58, Z:-1.40 [[ 9.99845847e-01 1.42729722e-02 1.02256701e-02 7.00943133e+01] [-1.42693418e-02 9.99898096e-01 -4.27902583e-04 5.84416921e-01] [-1.02307355e-02 2.81923039e-04 9.99947625e-01 -1.40002334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62439141799999 meters 0.016828974973767903 Centerline is valid? [True, True] Translation: X:70.15, Y:0.60, Z:-1.40 [[ 9.99582615e-01 2.74179604e-02 9.10231956e-03 7.01549013e+01] [-2.74156259e-02 9.99624048e-01 -3.81168238e-04 5.96760142e-01] [-9.10934839e-03 1.31463356e-04 9.99958500e-01 -1.39954380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68439141799999 meters 0.014904850051069741 Centerline is valid? [True, True] Translation: X:70.21, Y:0.61, Z:-1.40 [[ 9.99226076e-01 3.87488757e-02 6.76561053e-03 7.02141270e+01] [-3.87478388e-02 9.99248980e-01 -2.84323882e-04 6.07611682e-01] [-6.77154666e-03 2.19510502e-05 9.99977073e-01 -1.40457810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74439141799999 meters 0.016507404767880398 Centerline is valid? [True, True] Translation: X:70.27, Y:0.60, Z:-1.41 [[ 9.99228799e-01 3.84166230e-02 8.12219381e-03 7.02731799e+01] [-3.84151256e-02 9.99261809e-01 -3.40347903e-04 6.04092122e-01] [-8.12927310e-03 2.80703312e-05 9.99966957e-01 -1.40703244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80439141799998 meters 0.014779286944361704 Centerline is valid? [True, True] Translation: X:70.33, Y:0.60, Z:-1.41 [[ 9.99283288e-01 3.65766435e-02 9.74989094e-03 7.03316373e+01] [-3.65744090e-02 9.99330849e-01 -4.07443070e-04 6.00884473e-01] [-9.75826969e-03 5.05545517e-05 9.99952386e-01 -1.40533576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86439141799998 meters 0.015304565991522134 Centerline is valid? [True, True] Translation: X:70.39, Y:0.60, Z:-1.40 [[ 9.99407291e-01 3.28826374e-02 1.01881918e-02 7.03900525e+01] [-3.28800146e-02 9.99459216e-01 -4.24875430e-04 5.95798378e-01] [-1.01966533e-02 8.96357057e-05 9.99948009e-01 -1.40427775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92439141799998 meters 0.017772378000940833 Centerline is valid? [True, True] Translation: X:70.45, Y:0.59, Z:-1.41 [[ 9.99660759e-01 2.55910371e-02 4.84420422e-03 7.04478765e+01] [-2.55903564e-02 9.99672493e-01 -2.02463510e-04 5.85013752e-01] [-4.84779896e-03 7.84299137e-05 9.99988246e-01 -1.41111188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98439141799999 meters 0.0215294035511098 Centerline is valid? [True, True] Translation: X:70.51, Y:0.58, Z:-1.41 [[ 9.99761017e-01 2.03389993e-02 8.01466192e-03 7.05057746e+01] [-2.03369788e-02 9.99793127e-01 -3.33527436e-04 5.75005361e-01] [-8.01978752e-03 1.70453719e-04 9.99967826e-01 -1.41012536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04439141799999 meters 0.019880563568552372 Centerline is valid? [True, True] Translation: X:70.56, Y:0.57, Z:-1.40 [[ 9.99726575e-01 1.93628832e-02 1.31092789e-02 7.05643803e+01] [-1.93574277e-02 9.99812480e-01 -5.42925928e-04 5.74699338e-01] [-1.31173332e-02 2.89015561e-04 9.99913922e-01 -1.40125669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10439141799999 meters 0.018879844139014633 Centerline is valid? [True, True] Translation: X:70.63, Y:0.57, Z:-1.41 [[ 9.99737643e-01 2.04035336e-02 1.04086512e-02 7.06250831e+01] [-2.04001638e-02 9.99791803e-01 -4.29834224e-04 5.73362700e-01] [-1.04152543e-02 2.17383265e-04 9.99945736e-01 -1.40511208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16439141799998 meters 0.020633230254844336 Centerline is valid? [True, True] Translation: X:70.68, Y:0.56, Z:-1.41 [[ 9.99756720e-01 1.94447281e-02 1.04116747e-02 7.06828860e+01] [-1.94412982e-02 9.99810907e-01 -4.30546983e-04 5.63287950e-01] [-1.04180778e-02 2.28025767e-04 9.99945704e-01 -1.40886457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22439141799998 meters 0.018718095119553364 Centerline is valid? [True, True] Translation: X:70.74, Y:0.56, Z:-1.40 [[ 9.99750829e-01 1.89507682e-02 1.17960784e-02 7.07426616e+01] [-1.89463428e-02 9.99820383e-01 -4.86803378e-04 5.61426555e-01] [-1.18031849e-02 2.63189537e-04 9.99930305e-01 -1.40428299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28439141799998 meters 0.01894372365478192 Centerline is valid? [True, True] Translation: X:70.80, Y:0.56, Z:-1.41 [[ 9.99680041e-01 2.42617710e-02 7.15420779e-03 7.08019968e+01] [-2.42602861e-02 9.99705633e-01 -2.94280873e-04 5.57464755e-01] [-7.15924160e-03 1.20623587e-04 9.99974365e-01 -1.41258831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34439141799999 meters 0.015797200027415696 Centerline is valid? [True, True] Translation: X:70.86, Y:0.56, Z:-1.41 [[ 9.99501607e-01 3.09355680e-02 6.28716557e-03 7.08611642e+01] [-3.09345420e-02 9.99521379e-01 -2.60395733e-04 5.59596591e-01] [-6.29221189e-03 6.57753660e-05 9.99980202e-01 -1.41359069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40439141799999 meters 0.015506487462737199 Centerline is valid? [True, True] Translation: X:70.92, Y:0.57, Z:-1.41 [[ 9.99018263e-01 4.34380078e-02 8.69770331e-03 7.09192992e+01] [-4.34365230e-02 9.99056124e-01 -3.59621047e-04 5.66727481e-01] [-8.70511498e-03 -1.85299966e-05 9.99962110e-01 -1.41381021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46439141799999 meters 0.015681813186122925 Centerline is valid? [True, True] Translation: X:70.98, Y:0.57, Z:-1.42 [[ 9.98774814e-01 4.86355268e-02 9.13545545e-03 7.09777543e+01] [-4.86341268e-02 9.98816590e-01 -3.75477590e-04 5.66026313e-01] [-9.14290601e-03 -6.92773387e-05 9.99958200e-01 -1.41592785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524391418 meters 0.015074615695845355 Centerline is valid? [True, True] Translation: X:71.04, Y:0.56, Z:-1.41 [[ 9.98763829e-01 4.80976205e-02 1.25472342e-02 7.10365908e+01] [-4.80949568e-02 9.98842636e-01 -5.14122024e-04 5.55617117e-01] [-1.25574406e-02 -8.99722069e-05 9.99921148e-01 -1.41357611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58439141799998 meters 0.014885725237297474 Centerline is valid? [True, True] Translation: X:71.09, Y:0.55, Z:-1.42 [[ 9.99038164e-01 4.28369123e-02 9.36727471e-03 7.10947346e+01] [-4.28351995e-02 9.99082078e-01 -3.83491622e-04 5.46163379e-01] [-9.37510388e-03 -1.81263147e-05 9.99956053e-01 -1.41714432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64439141799998 meters 0.01499689904512242 Centerline is valid? [True, True] Translation: X:71.15, Y:0.54, Z:-1.42 [[ 9.99205672e-01 3.89907268e-02 8.23089290e-03 7.11535406e+01] [-3.89892777e-02 9.99239572e-01 -3.36503947e-04 5.38297209e-01] [-8.23775444e-03 1.53200834e-05 9.99966069e-01 -1.41980288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70439141799999 meters 0.015658251766043473 Centerline is valid? [True, True] Translation: X:71.21, Y:0.53, Z:-1.42 [[ 9.99286989e-01 3.58724841e-02 1.17762116e-02 7.12124841e+01] [-3.58693211e-02 9.99356374e-01 -4.79758721e-04 5.31108399e-01] [-1.17858422e-02 5.70119325e-05 9.99930543e-01 -1.41859051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76439141799999 meters 0.016474807731403605 Centerline is valid? [True, True] Translation: X:71.27, Y:0.52, Z:-1.42 [[ 9.99400232e-01 3.19024171e-02 1.34689026e-02 7.12699708e+01] [-3.18979351e-02 9.99490981e-01 -5.47515640e-04 5.23196204e-01] [-1.34795138e-02 1.17557077e-04 9.99909140e-01 -1.41868578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82439141799999 meters 0.017925973376089876 Centerline is valid? [True, True] Translation: X:71.33, Y:0.51, Z:-1.42 [[ 9.99681564e-01 2.13004704e-02 1.35300020e-02 7.13291912e+01] [-2.12950025e-02 9.99773085e-01 -5.48088758e-04 5.07696147e-01] [-1.35386064e-02 2.59792800e-04 9.99908315e-01 -1.42090952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88439141799999 meters 0.021216706461081862 Centerline is valid? [True, True] Translation: X:71.39, Y:0.49, Z:-1.42 [[ 9.99776602e-01 1.29736391e-02 1.66862649e-02 7.13898800e+01] [-1.29641729e-02 9.99915734e-01 -6.75352978e-04 4.94369407e-01] [-1.66936206e-02 4.58878482e-04 9.99860547e-01 -1.41919192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94439141799998 meters 0.02512067743287179 Centerline is valid? [True, True] Translation: X:71.45, Y:0.48, Z:-1.42 [[ 9.99831162e-01 4.43508202e-03 1.78319159e-02 7.14505425e+01] [-4.42290736e-03 9.99989958e-01 -7.22125368e-04 4.82511739e-01] [-1.78349395e-02 6.43134534e-04 9.99840738e-01 -1.41740276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00439141799998 meters 0.0280850741494006 Centerline is valid? [True, True] Translation: X:71.51, Y:0.47, Z:-1.43 [[ 9.99910897e-01 3.48461802e-04 1.33445043e-02 7.15102398e+01] [-3.41279415e-04 9.99999796e-01 -5.40501554e-04 4.72908964e-01] [-1.33446899e-02 5.35899189e-04 9.99910812e-01 -1.42775387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06439141799999 meters 0.030296652547585474 Centerline is valid? [True, True] Translation: X:71.57, Y:0.47, Z:-1.42 [[ 9.99830162e-01 -1.77405830e-03 1.83439554e-02 7.15721421e+01] [ 1.78798739e-03 9.99998126e-01 -7.42956030e-04 4.66152493e-01] [-1.83426029e-02 7.75628608e-04 9.99831459e-01 -1.42451286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12439141799999 meters 0.031154413091885366 Centerline is valid? [True, True] Translation: X:71.63, Y:0.47, Z:-1.42 [[ 9.99806166e-01 -4.27325307e-03 1.92189923e-02 7.16344579e+01] [ 4.28911467e-03 9.99990494e-01 -7.84163754e-04 4.65243953e-01] [-1.92154587e-02 8.66444218e-04 9.99814991e-01 -1.42404504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18439141799999 meters 0.03507218443585042 Centerline is valid? [True, True] Translation: X:71.69, Y:0.45, Z:-1.43 [[ 9.99844981e-01 -1.02669435e-02 1.43040065e-02 7.16938212e+01] [ 1.02763568e-02 9.99947026e-01 -5.84739443e-04 4.54718003e-01] [-1.42972452e-02 7.31641870e-04 9.99897521e-01 -1.43341646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24439141799999 meters 0.038907634806771646 Centerline is valid? [True, True] Translation: X:71.75, Y:0.45, Z:-1.43 [[ 9.99770604e-01 -1.19962815e-02 1.77434182e-02 7.17547017e+01] [ 1.20110435e-02 9.99927602e-01 -7.25636147e-04 4.46804567e-01] [-1.77334287e-02 9.38586657e-04 9.99842310e-01 -1.43099804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30439141799998 meters 0.035450241920463706 Centerline is valid? [True, True] Translation: X:71.82, Y:0.45, Z:-1.43 [[ 9.99809855e-01 -8.39145606e-03 1.76021698e-02 7.18156810e+01] [ 8.40544757e-03 9.99964414e-01 -7.21040813e-04 4.54790850e-01] [-1.75954928e-02 8.68857826e-04 9.99844810e-01 -1.42845881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36439141799998 meters 0.027837718117236614 Centerline is valid? [True, True] Translation: X:71.88, Y:0.47, Z:-1.44 [[ 9.99930517e-01 -3.20266295e-04 1.17837963e-02 7.18765575e+01] [ 3.25976377e-04 9.99999830e-01 -4.82653114e-04 4.68318395e-01] [-1.17836397e-02 4.86460818e-04 9.99930452e-01 -1.43523671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42439141799998 meters 0.02575423627586141 Centerline is valid? [True, True] Translation: X:71.94, Y:0.47, Z:-1.44 [[ 9.99926533e-01 4.13232945e-03 1.13952402e-02 7.19378363e+01] [-4.12728140e-03 9.99991374e-01 -4.66477577e-04 4.68887786e-01] [-1.13970695e-02 4.19411944e-04 9.99934963e-01 -1.43919877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48439141799999 meters 0.02138521548013128 Centerline is valid? [True, True] Translation: X:72.00, Y:0.48, Z:-1.43 [[ 9.99799277e-01 1.32527181e-02 1.50256968e-02 7.19991114e+01] [-1.32449532e-02 9.99912092e-01 -6.16178432e-04 4.81207585e-01] [-1.50325420e-02 4.17040099e-04 9.99886918e-01 -1.43252322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54439141799999 meters 0.01822297574330757 Centerline is valid? [True, True] Translation: X:72.06, Y:0.49, Z:-1.43 [[ 9.99671250e-01 2.13132996e-02 1.42525313e-02 7.20602632e+01] [-2.13071331e-02 9.99772806e-01 -5.84382653e-04 4.89729800e-01] [-1.42617483e-02 2.80509956e-04 9.99898257e-01 -1.43385339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60439141799999 meters 0.017687984139061218 Centerline is valid? [True, True] Translation: X:72.12, Y:0.49, Z:-1.44 [[ 9.99319788e-01 3.24797232e-02 1.74650589e-02 7.21207586e+01] [-3.24721577e-02 9.99472383e-01 -7.16665723e-04 4.92163628e-01] [-1.74791212e-02 1.49050091e-04 9.99847217e-01 -1.43767670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66439141799998 meters 0.01488740164536865 Centerline is valid? [True, True] Translation: X:72.18, Y:0.50, Z:-1.43 [[ 9.98968929e-01 4.05250415e-02 2.04645885e-02 7.21801912e+01] [-4.05163411e-02 9.99178523e-01 -8.39755684e-04 4.99559408e-01] [-2.04818084e-02 9.73958844e-06 9.99790226e-01 -1.43095778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72439141799998 meters 0.014833049324318642 Centerline is valid? [True, True] Translation: X:72.24, Y:0.50, Z:-1.44 [[ 9.99020016e-01 4.23928132e-02 1.27222969e-02 7.22394016e+01] [-4.23896075e-02 9.99101020e-01 -5.21646341e-04 5.02783611e-01] [-1.27329739e-02 -1.81580368e-05 9.99918932e-01 -1.43650031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78439141799998 meters 0.014949258746808355 Centerline is valid? [True, True] Translation: X:72.30, Y:0.49, Z:-1.45 [[ 9.99251829e-01 3.76475096e-02 8.85709589e-03 7.22972620e+01] [-3.76457711e-02 9.99291081e-01 -3.62975389e-04 4.92315923e-01] [-8.86448205e-03 2.92716168e-05 9.99960709e-01 -1.44621819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84439141799999 meters 0.017161132506354402 Centerline is valid? [True, True] Translation: X:72.36, Y:0.48, Z:-1.44 [[ 9.99520108e-01 2.51961090e-02 1.80197037e-02 7.23550916e+01] [-2.51869460e-02 9.99682488e-01 -7.35303530e-04 4.78285640e-01] [-1.80325090e-02 2.81089359e-04 9.99837362e-01 -1.43765738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90439141799999 meters 0.019238730019756015 Centerline is valid? [True, True] Translation: X:72.42, Y:0.47, Z:-1.43 [[ 9.99629551e-01 1.87696228e-02 1.97094564e-02 7.24164184e+01] [-1.87574570e-02 9.99823742e-01 -8.01960528e-04 4.73559172e-01] [-1.97210350e-02 4.31964161e-04 9.99805428e-01 -1.43381111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96439141799999 meters 0.023705439281437347 Centerline is valid? [True, True] Translation: X:72.48, Y:0.46, Z:-1.45 [[ 9.99914388e-01 8.80086360e-03 9.68304351e-03 7.24760023e+01] [-8.79745685e-03 9.99961224e-01 -3.94364812e-04 4.57924500e-01] [-9.68613879e-03 3.09144892e-04 9.99953040e-01 -1.44988293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02439141799998 meters 0.029467417129329005 Centerline is valid? [True, True] Translation: X:72.53, Y:0.44, Z:-1.45 [[ 9.99934710e-01 4.09114705e-04 1.14196155e-02 7.25345243e+01] [-4.03827321e-04 9.99999810e-01 -4.65310983e-04 4.42316955e-01] [-1.14198037e-02 4.60669051e-04 9.99934686e-01 -1.45252932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08439141799998 meters 0.027998490509738502 Centerline is valid? [True, True] Translation: X:72.60, Y:0.45, Z:-1.45 [[ 9.99916188e-01 -2.83416721e-05 1.29466741e-02 7.25970612e+01] [ 3.51420452e-05 9.99999862e-01 -5.25033042e-04 4.45448346e-01] [-1.29466574e-02 5.25444010e-04 9.99916050e-01 -1.44913598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14439141799998 meters 0.026910077257944132 Centerline is valid? [True, True] Translation: X:72.66, Y:0.45, Z:-1.45 [[ 9.99922516e-01 3.99259552e-03 1.17907440e-02 7.26573379e+01] [-3.98718495e-03 9.99991935e-01 -4.82354721e-04 4.46931282e-01] [-1.17925747e-02 4.35305469e-04 9.99930370e-01 -1.45326157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20439141799999 meters 0.022059897592424688 Centerline is valid? [True, True] Translation: X:72.72, Y:0.45, Z:-1.45 [[ 9.99773176e-01 1.24852934e-02 1.72544174e-02 7.27178814e+01] [-1.24749079e-02 9.99921934e-01 -7.09409119e-04 4.52772213e-01] [-1.72619276e-02 4.94000940e-04 9.99850880e-01 -1.44806182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26439141799999 meters 0.017896211860609797 Centerline is valid? [True, True] Translation: X:72.78, Y:0.46, Z:-1.44 [[ 9.99594457e-01 2.15052309e-02 1.86667020e-02 7.27797327e+01] [-2.14946463e-02 9.99768669e-01 -7.67500317e-04 4.63951590e-01] [-1.86788891e-02 3.65954905e-04 9.99825467e-01 -1.44252822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32439141799999 meters 0.015455036943502162 Centerline is valid? [True, True] Translation: X:72.84, Y:0.48, Z:-1.45 [[ 9.99419414e-01 3.22425488e-02 1.10115021e-02 7.28403666e+01] [-3.22395166e-02 9.99480069e-01 -4.52805846e-04 4.75769420e-01] [-1.10203765e-02 9.75374497e-05 9.99939269e-01 -1.44949068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38439141799999 meters 0.015102587376693545 Centerline is valid? [True, True] Translation: X:72.90, Y:0.47, Z:-1.46 [[ 9.99345121e-01 3.52457589e-02 8.18937038e-03 7.28992802e+01] [-3.52441721e-02 9.99378674e-01 -3.38040279e-04 4.72414712e-01] [-8.19619660e-03 4.91913242e-05 9.99966409e-01 -1.45743779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44439141799998 meters 0.014853684787414773 Centerline is valid? [True, True] Translation: X:72.96, Y:0.47, Z:-1.46 [[ 9.99315373e-01 3.54273097e-02 1.06626397e-02 7.29583270e+01] [-3.54246444e-02 9.99372254e-01 -4.38784399e-04 4.70621267e-01] [-1.06714913e-02 6.07637734e-05 9.99943056e-01 -1.45836047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50439141799998 meters 0.014680067011277963 Centerline is valid? [True, True] Translation: X:73.02, Y:0.47, Z:-1.45 [[ 9.99319311e-01 3.49011001e-02 1.19510972e-02 7.30169352e+01] [-3.48977276e-02 9.99390768e-01 -4.90683430e-04 4.71984055e-01] [-1.19609416e-02 7.32832918e-05 9.99928463e-01 -1.45431254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56439141799999 meters 0.015386039529300089 Centerline is valid? [True, True] Translation: X:73.07, Y:0.46, Z:-1.46 [[ 9.99445552e-01 3.17572988e-02 1.00031265e-02 7.30739122e+01] [-3.17547799e-02 9.99495605e-01 -4.10576440e-04 4.64720371e-01] [-1.00111198e-02 9.27017169e-05 9.99949883e-01 -1.45725428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62439141799999 meters 0.015571682516203349 Centerline is valid? [True, True] Translation: X:73.13, Y:0.46, Z:-1.46 [[ 9.99533065e-01 2.92778502e-02 8.74411820e-03 7.31321300e+01] [-2.92758403e-02 9.99571307e-01 -3.57801443e-04 4.60237903e-01] [-8.75084531e-03 1.01642965e-04 9.99961705e-01 -1.45944656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68439141799999 meters 0.01714675696804789 Centerline is valid? [True, True] Translation: X:73.19, Y:0.45, Z:-1.46 [[ 9.99687512e-01 2.38607684e-02 7.45271120e-03 7.31909438e+01] [-2.38591625e-02 9.99715283e-01 -3.04329553e-04 4.51181118e-01] [-7.45785083e-03 1.26419006e-04 9.99972182e-01 -1.46344710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74439141799999 meters 0.01724322741181535 Centerline is valid? [True, True] Translation: X:73.25, Y:0.45, Z:-1.45 [[ 9.99665311e-01 2.18885297e-02 1.37897892e-02 7.32495349e+01] [-2.18828676e-02 9.99760384e-01 -5.61373397e-04 4.47624027e-01] [-1.37987725e-02 2.59425382e-04 9.99904759e-01 -1.45372027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80439141799998 meters 0.015167602007996838 Centerline is valid? [True, True] Translation: X:73.31, Y:0.45, Z:-1.46 [[ 9.99458666e-01 3.15168201e-02 9.43746991e-03 7.33102960e+01] [-3.15146081e-02 9.99503218e-01 -3.83040466e-04 4.53434334e-01] [-9.44485376e-03 8.54149481e-05 9.99955393e-01 -1.45837588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86439141799998 meters 0.01540371045720808 Centerline is valid? [True, True] Translation: X:73.37, Y:0.45, Z:-1.46 [[ 9.99230707e-01 3.79608337e-02 9.84731684e-03 7.33687899e+01] [-3.79587298e-02 9.99279227e-01 -4.00535480e-04 4.52663238e-01] [-9.85542382e-03 2.64357121e-05 9.99951434e-01 -1.46190537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92439141799998 meters 0.01718067072498104 Centerline is valid? [True, True] Translation: X:73.43, Y:0.45, Z:-1.46 [[ 9.98889736e-01 4.51906883e-02 1.33077813e-02 7.34266089e+01] [-4.51875074e-02 9.98978377e-01 -5.39768907e-04 4.54219973e-01] [-1.33185783e-02 -6.21758448e-05 9.99911302e-01 -1.46066345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98439141799999 meters 0.014653822539444243 Centerline is valid? [True, True] Translation: X:73.49, Y:0.45, Z:-1.46 [[ 9.98858755e-01 4.61149384e-02 1.24338599e-02 7.34856120e+01] [-4.61122489e-02 9.98936138e-01 -5.03054696e-04 4.52733889e-01] [-1.24438304e-02 -7.08726575e-05 9.99922570e-01 -1.45942374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04439141799999 meters 0.014571275719348215 Centerline is valid? [True, True] Translation: X:73.54, Y:0.44, Z:-1.47 [[ 9.99069643e-01 4.25415396e-02 7.07572190e-03 7.35438848e+01] [-4.25405776e-02 9.99094699e-01 -2.86475325e-04 4.41172643e-01] [-7.08150334e-03 -1.47964965e-05 9.99974926e-01 -1.46909001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10439141799999 meters 0.014553654856099817 Centerline is valid? [True, True] Translation: X:73.60, Y:0.43, Z:-1.47 [[ 9.99317333e-01 3.57408409e-02 9.35205396e-03 7.36011473e+01] [-3.57388728e-02 9.99361091e-01 -3.77537149e-04 4.28415791e-01] [-9.35957234e-03 4.30475500e-05 9.99956197e-01 -1.46984909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16439141799998 meters 0.015175708853960823 Centerline is valid? [True, True] Translation: X:73.66, Y:0.42, Z:-1.47 [[ 9.99504903e-01 3.03091787e-02 8.44412166e-03 7.36595218e+01] [-3.03073878e-02 9.99540568e-01 -3.40003260e-04 4.23720470e-01] [-8.45054738e-03 8.39156559e-05 9.99964290e-01 -1.46844333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22439141799998 meters 0.01636606642736321 Centerline is valid? [True, True] Translation: X:73.72, Y:0.41, Z:-1.47 [[ 9.99675607e-01 2.45425157e-02 6.80781737e-03 7.37182573e+01] [-2.45412214e-02 9.99698781e-01 -2.73605927e-04 4.14259530e-01] [-6.81248171e-03 1.06445017e-04 9.99976789e-01 -1.47226811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28439141799998 meters 0.019153583126746615 Centerline is valid? [True, True] Translation: X:73.78, Y:0.40, Z:-1.46 [[ 9.99750405e-01 1.58793952e-02 1.57153621e-02 7.37774737e+01] [-1.58714700e-02 9.99873843e-01 -6.28898261e-04 3.99605105e-01] [-1.57233660e-02 3.79315392e-04 9.99876308e-01 -1.46385060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34439141799999 meters 0.021349193898135832 Centerline is valid? [True, True] Translation: X:73.84, Y:0.40, Z:-1.46 [[ 9.99817915e-01 1.20596094e-02 1.47885694e-02 7.38397328e+01] [-1.20521923e-02 9.99927195e-01 -5.90559129e-04 3.97340916e-01] [-1.47946146e-02 4.12216915e-04 9.99890469e-01 -1.46248620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40439141799999 meters 0.022634437887154996 Centerline is valid? [True, True] Translation: X:73.90, Y:0.39, Z:-1.47 [[ 9.99899438e-01 9.67056112e-03 1.03727874e-02 7.39010483e+01] [-9.66679925e-03 9.99953190e-01 -4.12745048e-04 3.89436888e-01] [-1.03762933e-02 3.12431888e-04 9.99946116e-01 -1.46981290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46439141799999 meters 0.023317290909707748 Centerline is valid? [True, True] Translation: X:73.96, Y:0.39, Z:-1.47 [[ 9.99884677e-01 8.91748959e-03 1.22927451e-02 7.39632810e+01] [-8.91210056e-03 9.99960165e-01 -4.93101991e-04 3.85444284e-01] [-1.22966527e-02 3.83490945e-04 9.99924320e-01 -1.46947921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52439141799998 meters 0.02272844202412265 Centerline is valid? [True, True] Translation: X:74.02, Y:0.39, Z:-1.47 [[ 9.99861459e-01 1.24410272e-02 1.10582116e-02 7.40244141e+01] [-1.24368506e-02 9.99922560e-01 -4.46382528e-04 3.88508812e-01] [-1.10629087e-02 3.08791360e-04 9.99938756e-01 -1.47066251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58439141799998 meters 0.021048303980557286 Centerline is valid? [True, True] Translation: X:74.09, Y:0.39, Z:-1.48 [[ 9.99869338e-01 1.28534794e-02 9.80282375e-03 7.40862707e+01] [-1.28502006e-02 9.99917354e-01 -3.97391309e-04 3.87663871e-01] [-9.80712145e-03 2.71371134e-04 9.99951872e-01 -1.47590690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64439141799998 meters 0.022335406532727843 Centerline is valid? [True, True] Translation: X:74.15, Y:0.38, Z:-1.47 [[ 9.99844080e-01 1.11123937e-02 1.37233593e-02 7.41474517e+01] [-1.11056950e-02 9.99938171e-01 -5.64233294e-04 3.81559694e-01] [-1.37287807e-02 4.11737876e-04 9.99905671e-01 -1.47344743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70439141799999 meters 0.021645694666978493 Centerline is valid? [True, True] Translation: X:74.21, Y:0.39, Z:-1.47 [[ 9.99861197e-01 1.45572750e-02 8.10384738e-03 7.42094925e+01] [-1.45550766e-02 9.99894015e-01 -3.30195524e-04 3.88508372e-01] [-8.10779524e-03 2.12197572e-04 9.99967109e-01 -1.47462970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76439141799999 meters 0.020867056821330332 Centerline is valid? [True, True] Translation: X:74.27, Y:0.39, Z:-1.49 [[ 9.99843092e-01 1.76470058e-02 1.54082409e-03 7.42699465e+01] [-1.76469283e-02 9.99844279e-01 -6.38763623e-05 3.90810324e-01] [-1.54171137e-03 3.66755275e-05 9.99998811e-01 -1.48537785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82439141799999 meters 0.020444799526349807 Centerline is valid? [True, True] Translation: X:74.33, Y:0.39, Z:-1.48 [[ 9.99784474e-01 1.79100264e-02 1.04993809e-02 7.43301744e+01] [-1.79064403e-02 9.99839572e-01 -4.35464520e-04 3.88478460e-01] [-1.05054957e-02 2.47364128e-04 9.99944785e-01 -1.47966915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88439141799999 meters 0.018287995663265926 Centerline is valid? [True, True] Translation: X:74.39, Y:0.40, Z:-1.47 [[ 9.99713934e-01 1.87735670e-02 1.48190531e-02 7.43909210e+01] [-1.87665246e-02 9.99823705e-01 -6.14157115e-04 3.97612092e-01] [-1.48279705e-02 3.35879301e-04 9.99890003e-01 -1.46872711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94439141799998 meters 0.020205121472184184 Centerline is valid? [True, True] Translation: X:74.45, Y:0.40, Z:-1.48 [[ 9.99774241e-01 1.82555689e-02 1.08720193e-02 7.44522699e+01] [-1.82517556e-02 9.99833322e-01 -4.49870553e-04 3.96036215e-01] [-1.08784198e-02 2.51335551e-04 9.99940797e-01 -1.47519501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00439141799998 meters 0.02140881964892132 Centerline is valid? [True, True] Translation: X:74.51, Y:0.39, Z:-1.47 [[ 9.99815692e-01 1.21370163e-02 1.48752972e-02 7.45117303e+01] [-1.21291834e-02 9.99926249e-01 -6.16675534e-04 3.85612875e-01] [-1.48816848e-02 4.36136667e-04 9.99889166e-01 -1.47385410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06439141799999 meters 0.022275485095805413 Centerline is valid? [True, True] Translation: X:74.57, Y:0.38, Z:-1.48 [[ 9.99881755e-01 9.87599793e-03 1.17873166e-02 7.45735747e+01] [-9.87093121e-03 9.99951162e-01 -4.87946520e-04 3.83835609e-01] [-1.17915599e-02 3.71537032e-04 9.99930408e-01 -1.47616708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12439141799999 meters 0.022874272611824474 Centerline is valid? [True, True] Translation: X:74.63, Y:0.38, Z:-1.48 [[ 9.99910559e-01 1.09204588e-02 7.72119147e-03 7.46347167e+01] [-1.09183332e-02 9.99940343e-01 -3.17395654e-04 3.81746224e-01] [-7.72419695e-03 2.33064725e-04 9.99970141e-01 -1.48403251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18439141799999 meters 0.021436277886617405 Centerline is valid? [True, True] Translation: X:74.70, Y:0.38, Z:-1.48 [[ 9.99869866e-01 1.32929414e-02 9.14054580e-03 7.46950609e+01] [-1.32900038e-02 9.99911611e-01 -3.82048055e-04 3.84381187e-01] [-9.14481641e-03 2.60520449e-04 9.99958151e-01 -1.48319532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24439141799999 meters 0.01818077063664025 Centerline is valid? [True, True] Translation: X:74.76, Y:0.39, Z:-1.48 [[ 9.99773497e-01 1.85473854e-02 1.04378638e-02 7.47561518e+01] [-1.85438409e-02 9.99827953e-01 -4.36272150e-04 3.92499084e-01] [-1.04441597e-02 2.42615248e-04 9.99945429e-01 -1.48330521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30439141799998 meters 0.018839179614489273 Centerline is valid? [True, True] Translation: X:74.82, Y:0.39, Z:-1.49 [[ 9.99775109e-01 1.79042361e-02 1.13652589e-02 7.48156406e+01] [-1.78999901e-02 9.99839669e-01 -4.75220671e-04 3.87352441e-01] [-1.13719452e-02 2.71675777e-04 9.99935300e-01 -1.48577345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36439141799998 meters 0.019685094976201543 Centerline is valid? [True, True] Translation: X:74.88, Y:0.38, Z:-1.48 [[ 9.99797234e-01 1.54955101e-02 1.28600144e-02 7.48759703e+01] [-1.54898805e-02 9.99879880e-01 -5.37250167e-04 3.84961379e-01] [-1.28667947e-02 3.37941144e-04 9.99917162e-01 -1.48131448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42439141799998 meters 0.018806328247105316 Centerline is valid? [True, True] Translation: X:74.94, Y:0.39, Z:-1.48 [[ 9.99809756e-01 1.79025821e-02 7.74270577e-03 7.49377923e+01] [-1.79006177e-02 9.99839719e-01 -3.22942819e-04 3.92089257e-01] [-7.74724627e-03 1.84282166e-04 9.99969973e-01 -1.48393446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48439141799999 meters 0.019541605602648632 Centerline is valid? [True, True] Translation: X:75.00, Y:0.39, Z:-1.49 [[ 9.99822345e-01 1.80029265e-02 5.58336349e-03 7.49957093e+01] [-1.80018965e-02 9.99837925e-01 -2.34682145e-04 3.88321058e-01] [-5.58668353e-03 1.34129321e-04 9.99984385e-01 -1.49056125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54439141799999 meters 0.022002191365132474 Centerline is valid? [True, True] Translation: X:75.05, Y:0.38, Z:-1.49 [[ 9.99820062e-01 1.58160288e-02 1.04736723e-02 7.50542178e+01] [-1.58123084e-02 9.99874882e-01 -4.37934771e-04 3.77360574e-01] [-1.04792882e-02 2.72243034e-04 9.99945054e-01 -1.49437342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60439141799999 meters 0.018699792150510826 Centerline is valid? [True, True] Translation: X:75.12, Y:0.38, Z:-1.48 [[ 9.99731845e-01 1.67721655e-02 1.59665913e-02 7.51151875e+01] [-1.67636801e-02 9.99859258e-01 -6.65151730e-04 3.80898543e-01] [-1.59755002e-02 3.97314538e-04 9.99872305e-01 -1.48405048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66439141799998 meters 0.01683472618799942 Centerline is valid? [True, True] Translation: X:75.18, Y:0.39, Z:-1.49 [[ 9.99666326e-01 2.36635320e-02 1.03572787e-02 7.51768381e+01] [-2.36603356e-02 9.99719962e-01 -4.31048522e-04 3.90729299e-01] [-1.03645784e-02 1.85848001e-04 9.99946269e-01 -1.48502077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72439141799998 meters 0.01663042821011665 Centerline is valid? [True, True] Translation: X:75.24, Y:0.38, Z:-1.50 [[ 9.99664289e-01 2.50437039e-02 6.64242609e-03 7.52352552e+01] [-2.50424105e-02 9.99686351e-01 -2.77840713e-04 3.84118232e-01] [-6.64730086e-03 1.11405078e-04 9.99977900e-01 -1.49706467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78439141799998 meters 0.01643507461635405 Centerline is valid? [True, True] Translation: X:75.29, Y:0.38, Z:-1.49 [[ 9.99603468e-01 2.53612719e-02 1.22356882e-02 7.52946201e+01] [-2.53569287e-02 9.99678331e-01 -5.09990334e-04 3.81035763e-01] [-1.22446864e-02 1.99528634e-04 9.99925011e-01 -1.49278481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84439141799999 meters 0.015334749096270948 Centerline is valid? [True, True] Translation: X:75.35, Y:0.39, Z:-1.49 [[ 9.99515270e-01 2.87116607e-02 1.20360279e-02 7.53542842e+01] [-2.87077095e-02 9.99587723e-01 -5.00965146e-04 3.85409470e-01] [-1.20454493e-02 1.55195521e-04 9.99927439e-01 -1.49030758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90439141799999 meters 0.016719632201992872 Centerline is valid? [True, True] Translation: X:75.41, Y:0.38, Z:-1.50 [[ 9.99568147e-01 2.80661875e-02 8.70680400e-03 7.54127363e+01] [-2.80640949e-02 9.99606060e-01 -3.62449157e-04 3.79556889e-01] [-8.71354661e-03 1.17944058e-04 9.99962029e-01 -1.49757384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96439141799999 meters 0.017006542336167368 Centerline is valid? [True, True] Translation: X:75.47, Y:0.37, Z:-1.49 [[ 9.99677505e-01 2.28334122e-02 1.11140198e-02 7.54715889e+01] [-2.28296940e-02 9.99739262e-01 -4.61320384e-04 3.74186572e-01] [-1.11216555e-02 2.07441938e-04 9.99938131e-01 -1.49435384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02439141799998 meters 0.02005039839945353 Centerline is valid? [True, True] Translation: X:75.53, Y:0.37, Z:-1.50 [[ 9.99826292e-01 1.62429458e-02 9.14065921e-03 7.55306466e+01] [-1.62401659e-02 9.99868048e-01 -3.78276055e-04 3.66072917e-01] [-9.14559740e-03 2.29764523e-04 9.99958152e-01 -1.49929403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08439141799998 meters 0.026837234468461202 Centerline is valid? [True, True] Translation: X:75.59, Y:0.35, Z:-1.50 [[ 9.99929580e-01 1.61887784e-03 1.17564411e-02 7.55903846e+01] [-1.61327579e-03 9.99998581e-01 -4.85976425e-04 3.46068759e-01] [-1.17572112e-02 4.66975821e-04 9.99930773e-01 -1.50197890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14439141799998 meters 0.034255766837452385 Centerline is valid? [True, True] Translation: X:75.65, Y:0.34, Z:-1.49 [[ 9.99821151e-01 -1.02577937e-02 1.58884461e-02 7.56509400e+01] [ 1.02695242e-02 9.99947051e-01 -6.56889331e-04 3.38696130e-01] [-1.58808665e-02 8.19938628e-04 9.99873555e-01 -1.49350604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20439141799999 meters 0.03587695991475382 Centerline is valid? [True, True] Translation: X:75.71, Y:0.33, Z:-1.50 [[ 9.99790489e-01 -1.59842605e-02 1.27859994e-02 7.57113109e+01] [ 1.59923226e-02 9.99871975e-01 -5.28541809e-04 3.33079206e-01] [-1.27759141e-02 7.32908902e-04 9.99918116e-01 -1.49997093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26439141799999 meters 0.04325613129207114 Centerline is valid? [True, True] Translation: X:75.77, Y:0.32, Z:-1.50 [[ 9.99612217e-01 -2.41094382e-02 1.39337656e-02 7.57702688e+01] [ 2.41198021e-02 9.99708909e-01 -5.76200270e-04 3.16352483e-01] [-1.39158177e-02 9.12056497e-04 9.99902754e-01 -1.50416912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32439141799999 meters 0.038875186863022194 Centerline is valid? [True, True] Translation: X:75.83, Y:0.33, Z:-1.50 [[ 9.99616000e-01 -2.32803067e-02 1.50292874e-02 7.58328211e+01] [ 2.32922578e-02 9.99728506e-01 -6.20611571e-04 3.27315897e-01] [-1.50107591e-02 9.70439295e-04 9.99886861e-01 -1.49923916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38439141799998 meters 0.0414892899743507 Centerline is valid? [True, True] Translation: X:75.89, Y:0.33, Z:-1.51 [[ 9.99813659e-01 -1.59633161e-02 1.08544569e-02 7.58925593e+01] [ 1.59691332e-02 9.99872384e-01 -4.49456707e-04 3.28144273e-01] [-1.08458968e-02 6.22709223e-04 9.99940988e-01 -1.50851848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44439141799998 meters 0.03218977113712947 Centerline is valid? [True, True] Translation: X:75.95, Y:0.34, Z:-1.51 [[ 9.99823878e-01 -1.20780258e-02 1.43643441e-02 7.59543206e+01] [ 1.20878116e-02 9.99926763e-01 -5.94626589e-04 3.39723288e-01] [-1.43561102e-02 7.68155347e-04 9.99896651e-01 -1.50815413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50439141799998 meters 0.03056218910297541 Centerline is valid? [True, True] Translation: X:76.02, Y:0.35, Z:-1.50 [[ 9.99793715e-01 -7.41760262e-03 1.89078421e-02 7.60151759e+01] [ 7.43373904e-03 9.99972063e-01 -7.83282408e-04 3.46232901e-01] [-1.89015038e-02 9.23676793e-04 9.99820924e-01 -1.49864391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56439141799999 meters 0.029630122465412915 Centerline is valid? [True, True] Translation: X:76.08, Y:0.35, Z:-1.51 [[ 9.99930555e-01 -2.73459110e-03 1.14632757e-02 7.60760303e+01] [ 2.74021032e-03 9.99996133e-01 -4.74515344e-04 3.50373097e-01] [-1.14619337e-02 5.05894178e-04 9.99934182e-01 -1.50725928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62439141799999 meters 0.025053590858619895 Centerline is valid? [True, True] Translation: X:76.14, Y:0.36, Z:-1.51 [[ 9.99954441e-01 3.61973394e-03 8.83254192e-03 7.61371716e+01] [-3.61664192e-03 9.99993393e-01 -3.66019317e-04 3.60868727e-01] [-8.83380845e-03 3.34058500e-04 9.99960925e-01 -1.51109858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68439141799999 meters 0.021790619917575527 Centerline is valid? [True, True] Translation: X:76.20, Y:0.37, Z:-1.51 [[ 9.99869502e-01 1.07103692e-02 1.20940801e-02 7.61987410e+01] [-1.07050852e-02 9.99942573e-01 -5.01557374e-04 3.69436310e-01] [-1.20987574e-02 3.72023764e-04 9.99926738e-01 -1.50930692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74439141799999 meters 0.018953340612101015 Centerline is valid? [True, True] Translation: X:76.26, Y:0.38, Z:-1.51 [[ 9.99691944e-01 1.80930275e-02 1.69900019e-02 7.62595197e+01] [-1.80836532e-02 9.99836229e-01 -7.05238678e-04 3.75336197e-01] [-1.69999793e-02 3.97780123e-04 9.99855411e-01 -1.50759281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80439141799998 meters 0.019131856138578505 Centerline is valid? [True, True] Translation: X:76.32, Y:0.38, Z:-1.51 [[ 9.99643751e-01 2.14275657e-02 1.59132208e-02 7.63214386e+01] [-2.14197686e-02 9.99770352e-01 -6.60271162e-04 3.76212214e-01] [-1.59237144e-02 3.19178433e-04 9.99873159e-01 -1.50958279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86439141799998 meters 0.01555101688805638 Centerline is valid? [True, True] Translation: X:76.38, Y:0.39, Z:-1.51 [[ 9.99553312e-01 2.78733317e-02 1.07820665e-02 7.63819443e+01] [-2.78701164e-02 9.99611452e-01 -4.48374533e-04 3.86161823e-01] [-1.07903748e-02 1.47676802e-04 9.99941771e-01 -1.51154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92439141799998 meters 0.014533299714750446 Centerline is valid? [True, True] Translation: X:76.44, Y:0.39, Z:-1.52 [[ 9.99443289e-01 3.15733048e-02 1.07814059e-02 7.64408200e+01] [-3.15703013e-02 9.99501433e-01 -4.48706808e-04 3.86989915e-01] [-1.07901978e-02 1.08084777e-04 9.99941778e-01 -1.51521824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98439141799999 meters 0.014382578177342316 Centerline is valid? [True, True] Translation: X:76.50, Y:0.38, Z:-1.51 [[ 9.99386899e-01 3.18144676e-02 1.46173231e-02 7.64991588e+01] [-3.18089971e-02 9.99493782e-01 -6.06652570e-04 3.83659177e-01] [-1.46292239e-02 1.41318244e-04 9.99892977e-01 -1.51345145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04439141799999 meters 0.015163937009878638 Centerline is valid? [True, True] Translation: X:76.56, Y:0.38, Z:-1.51 [[ 9.99389503e-01 3.15789013e-02 1.49463712e-02 7.65582521e+01] [-3.15731731e-02 9.99501251e-01 -6.19116872e-04 3.84437088e-01] [-1.49584678e-02 1.46834536e-04 9.99888105e-01 -1.51245535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10439141799999 meters 0.01596980144067549 Centerline is valid? [True, True] Translation: X:76.62, Y:0.38, Z:-1.52 [[ 9.99586985e-01 2.56054591e-02 1.30468521e-02 7.66159689e+01] [-2.56005968e-02 9.99672105e-01 -5.39576778e-04 3.76502661e-01] [-1.30563902e-02 2.05346726e-04 9.99914741e-01 -1.51611674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16439141799998 meters 0.020277538227603295 Centerline is valid? [True, True] Translation: X:76.67, Y:0.37, Z:-1.52 [[ 9.99717409e-01 2.05229812e-02 1.19962647e-02 7.66745905e+01] [-2.05185168e-02 9.99789350e-01 -4.95119085e-04 3.65920499e-01] [-1.20038990e-02 2.48833610e-04 9.99927920e-01 -1.52226357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22439141799998 meters 0.02213109524834578 Centerline is valid? [True, True] Translation: X:76.73, Y:0.35, Z:-1.52 [[ 9.99849667e-01 1.13178576e-02 1.31358048e-02 7.67337995e+01] [-1.13117261e-02 9.99935874e-01 -5.40984276e-04 3.52756576e-01] [-1.31410852e-02 3.92314322e-04 9.99913575e-01 -1.52221451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28439141799998 meters 0.022937492638317878 Centerline is valid? [True, True] Translation: X:76.80, Y:0.35, Z:-1.52 [[ 9.99851756e-01 9.20473303e-03 1.45512615e-02 7.67966940e+01] [-9.19701598e-03 9.99957528e-01 -5.97165371e-04 3.53350892e-01] [-1.45561402e-02 4.63248660e-04 9.99893946e-01 -1.51559494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34439141799999 meters 0.023322487259827905 Centerline is valid? [True, True] Translation: X:76.86, Y:0.35, Z:-1.52 [[ 9.99868520e-01 1.12502671e-02 1.16779027e-02 7.68591789e+01] [-1.12454112e-02 9.99936652e-01 -4.81407874e-04 3.53267518e-01] [-1.16825789e-02 3.50021762e-04 9.99931695e-01 -1.52012694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40439141799999 meters 0.021454908646013213 Centerline is valid? [True, True] Translation: X:76.92, Y:0.35, Z:-1.53 [[ 9.99887827e-01 1.11735934e-02 9.97413794e-03 7.69201199e+01] [-1.11700037e-02 9.99937527e-01 -4.15537420e-04 3.49179412e-01] [-9.97815788e-03 3.04079651e-04 9.99950171e-01 -1.52705878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46439141799999 meters 0.02396192110454861 Centerline is valid? [True, True] Translation: X:76.98, Y:0.34, Z:-1.53 [[ 9.99874264e-01 9.73165066e-03 1.25200391e-02 7.69807140e+01] [-9.72587038e-03 9.99952566e-01 -5.22487287e-04 3.41358681e-01] [-1.25245298e-02 4.00653315e-04 9.99921485e-01 -1.52812144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52439141799998 meters 0.02420819426430283 Centerline is valid? [True, True] Translation: X:77.04, Y:0.34, Z:-1.52 [[ 9.99841024e-01 1.19947927e-02 1.31929010e-02 7.70421900e+01] [-1.19885903e-02 9.99927983e-01 -5.49122085e-04 3.41553500e-01] [-1.31985375e-02 3.90870502e-04 9.99912819e-01 -1.52449179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58439141799998 meters 0.019176032744545633 Centerline is valid? [True, True] Translation: X:77.10, Y:0.35, Z:-1.53 [[ 9.99776166e-01 1.92237107e-02 8.83551469e-03 7.71035761e+01] [-1.92211840e-02 9.99815187e-01 -3.70810420e-04 3.48484063e-01] [-8.84101013e-03 2.00898367e-04 9.99960897e-01 -1.52974323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64439141799998 meters 0.017290189768393444 Centerline is valid? [True, True] Translation: X:77.16, Y:0.35, Z:-1.53 [[ 9.99693821e-01 2.26366193e-02 9.99239528e-03 7.71623461e+01] [-2.26335404e-02 9.99743740e-01 -4.21120430e-04 3.46248679e-01] [-9.99936737e-03 1.94828209e-04 9.99949986e-01 -1.53281544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70439141799999 meters 0.016691738948274568 Centerline is valid? [True, True] Translation: X:77.22, Y:0.35, Z:-1.53 [[ 9.99630692e-01 2.40276986e-02 1.26944650e-02 7.72212770e+01] [-2.40228598e-02 9.99711267e-01 -5.33541270e-04 3.46741669e-01] [-1.27036195e-02 2.28386874e-04 9.99919280e-01 -1.52578031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76439141799999 meters 0.016234041053385925 Centerline is valid? [True, True] Translation: X:77.28, Y:0.35, Z:-1.53 [[ 9.99640329e-01 2.51504611e-02 9.30955595e-03 7.72803120e+01] [-2.51479103e-02 9.99683665e-01 -3.90970484e-04 3.47702302e-01] [-9.31644410e-03 1.56713985e-04 9.99956589e-01 -1.52681615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82439141799999 meters 0.016187072393538827 Centerline is valid? [True, True] Translation: X:77.34, Y:0.34, Z:-1.53 [[ 9.99644206e-01 2.60081132e-02 5.91948997e-03 7.73385867e+01] [-2.60070963e-02 9.99661727e-01 -2.48705631e-04 3.42978324e-01] [-5.92395593e-03 9.46683978e-05 9.99982449e-01 -1.53483953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88439141799998 meters 0.016073179734515795 Centerline is valid? [True, True] Translation: X:77.40, Y:0.34, Z:-1.54 [[ 9.99631607e-01 2.62768557e-02 6.79544476e-03 7.73975713e+01] [-2.62755271e-02 9.99654698e-01 -2.84728459e-04 3.38399254e-01] [-6.80058005e-03 1.06069674e-04 9.99976870e-01 -1.53820188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94439141799998 meters 0.01562800890311418 Centerline is valid? [True, True] Translation: X:77.46, Y:0.34, Z:-1.53 [[ 9.99552530e-01 2.56419052e-02 1.54023311e-02 7.74568895e+01] [-2.56350544e-02 9.99671162e-01 -6.42086940e-04 3.39199317e-01] [-1.54137306e-02 2.46960029e-04 9.99881171e-01 -1.52615421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00439141799998 meters 0.016493396484235662 Centerline is valid? [True, True] Translation: X:77.52, Y:0.33, Z:-1.53 [[ 9.99660202e-01 2.26863726e-02 1.28378096e-02 7.75157387e+01] [-2.26813816e-02 9.99742602e-01 -5.34251362e-04 3.33286550e-01] [-1.28466254e-02 2.42890567e-04 9.99917449e-01 -1.52869253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06439141799999 meters 0.01878012860401141 Centerline is valid? [True, True] Translation: X:77.58, Y:0.32, Z:-1.54 [[ 9.99834335e-01 1.63899210e-02 7.91658148e-03 7.75752855e+01] [-1.63878320e-02 9.99865656e-01 -3.28675949e-04 3.18054687e-01] [-7.92090492e-03 1.98885892e-04 9.99968609e-01 -1.54197012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12439141799999 meters 0.01929467077513573 Centerline is valid? [True, True] Translation: X:77.64, Y:0.31, Z:-1.54 [[ 9.99835754e-01 1.41730459e-02 1.12955916e-02 7.76350363e+01] [-1.41686473e-02 9.99899510e-01 -4.69346601e-04 3.14464893e-01] [-1.13011086e-02 3.09226260e-04 9.99936093e-01 -1.53821881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18439141799999 meters 0.017663639394337287 Centerline is valid? [True, True] Translation: X:77.70, Y:0.32, Z:-1.53 [[ 9.99705654e-01 1.96214395e-02 1.42690018e-02 7.76952710e+01] [-1.96149900e-02 9.99807432e-01 -5.91821171e-04 3.17538376e-01] [-1.42778664e-02 3.11760645e-04 9.99898017e-01 -1.53247111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24439141799999 meters 0.01705568424005274 Centerline is valid? [True, True] Translation: X:77.76, Y:0.32, Z:-1.53 [[ 9.99651445e-01 2.31007077e-02 1.27806485e-02 7.77550365e+01] [-2.30958138e-02 9.99733115e-01 -5.30400397e-04 3.18632221e-01] [-1.27894902e-02 2.35036045e-04 9.99918184e-01 -1.53441731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30439141799998 meters 0.018312649087625293 Centerline is valid? [True, True] Translation: X:77.81, Y:0.31, Z:-1.54 [[ 9.99727503e-01 1.87847297e-02 1.38583522e-02 7.78141874e+01] [-1.87785697e-02 9.99823502e-01 -5.74499824e-04 3.06113714e-01] [-1.38666981e-02 3.14103241e-04 9.99903803e-01 -1.53763961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36439141799998 meters 0.01950957515671488 Centerline is valid? [True, True] Translation: X:77.87, Y:0.30, Z:-1.54 [[ 9.99790887e-01 1.72217611e-02 1.10269141e-02 7.78745668e+01] [-1.72177733e-02 9.99851659e-01 -4.56475587e-04 2.97985865e-01] [-1.10331396e-02 2.66521225e-04 9.99939098e-01 -1.54197814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42439141799998 meters 0.016963994495812644 Centerline is valid? [True, True] Translation: X:77.93, Y:0.30, Z:-1.54 [[ 9.99732791e-01 2.08896726e-02 9.89787042e-03 7.79342388e+01] [-2.08866351e-02 9.99781766e-01 -4.10171316e-04 3.04779710e-01] [-9.90427872e-03 2.03328507e-04 9.99950931e-01 -1.54095328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48439141799999 meters 0.0170727845229427 Centerline is valid? [True, True] Translation: X:77.99, Y:0.30, Z:-1.54 [[ 9.99705097e-01 2.16772655e-02 1.09460562e-02 7.79927886e+01] [-2.16736016e-02 9.99764997e-01 -4.53258643e-04 3.00256380e-01] [-1.09533093e-02 2.15884515e-04 9.99939987e-01 -1.54350086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54439141799999 meters 0.017152406438504617 Centerline is valid? [True, True] Translation: X:78.05, Y:0.29, Z:-1.54 [[ 9.99680205e-01 2.02296009e-02 1.51740074e-02 7.80525585e+01] [-2.02224155e-02 9.99795310e-01 -6.26840384e-04 2.91898839e-01] [-1.51835821e-02 3.19784842e-04 9.99884672e-01 -1.54303358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60439141799999 meters 0.017667554186992222 Centerline is valid? [True, True] Translation: X:78.11, Y:0.29, Z:-1.54 [[ 9.99676421e-01 1.94033153e-02 1.64488540e-02 7.81129225e+01] [-1.93947749e-02 9.99811673e-01 -6.78590605e-04 2.90458276e-01] [-1.64589231e-02 3.59349207e-04 9.99864478e-01 -1.54118551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66439141799998 meters 0.0178057504289462 Centerline is valid? [True, True] Translation: X:78.17, Y:0.29, Z:-1.54 [[ 9.99710029e-01 1.87073416e-02 1.51622148e-02 7.81742770e+01] [-1.87000084e-02 9.99824944e-01 -6.25292546e-04 2.89090807e-01] [-1.51712581e-02 3.41577684e-04 9.99884851e-01 -1.54199085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72439141799998 meters 0.017682441458446867 Centerline is valid? [True, True] Translation: X:78.24, Y:0.28, Z:-1.55 [[ 9.99775587e-01 1.93163672e-02 8.69789622e-03 7.82351246e+01] [-1.93139772e-02 9.99813403e-01 -3.58698006e-04 2.83295863e-01] [-8.70320197e-03 1.90626540e-04 9.99962108e-01 -1.55393414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78439141799998 meters 0.017413807789124026 Centerline is valid? [True, True] Translation: X:78.29, Y:0.28, Z:-1.55 [[ 9.99691866e-01 2.09514495e-02 1.33120273e-02 7.82937982e+01] [-2.09459730e-02 9.99780457e-01 -5.50699290e-04 2.84048002e-01] [-1.33206427e-02 2.71696235e-04 9.99911239e-01 -1.55103900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84439141799999 meters 0.016105410057700824 Centerline is valid? [True, True] Translation: X:78.35, Y:0.29, Z:-1.55 [[ 9.99572700e-01 2.42533407e-02 1.63154450e-02 7.83542491e+01] [-2.42455769e-02 9.99705806e-01 -6.73516867e-04 2.86712654e-01] [-1.63269801e-02 2.77651696e-04 9.99866667e-01 -1.54869442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90439141799999 meters 0.016583074636917928 Centerline is valid? [True, True] Translation: X:78.41, Y:0.28, Z:-1.55 [[ 9.99600909e-01 2.36614617e-02 1.54323630e-02 7.84138208e+01] [-2.36544481e-02 9.99719992e-01 -6.36877580e-04 2.79759518e-01] [-1.54431112e-02 2.71579380e-04 9.99880711e-01 -1.55411723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96439141799999 meters 0.017591472221322624 Centerline is valid? [True, True] Translation: X:78.47, Y:0.28, Z:-1.55 [[ 9.99681405e-01 1.92032144e-02 1.63806517e-02 7.84742860e+01] [-1.91947279e-02 9.99815536e-01 -6.75162728e-04 2.75578234e-01] [-1.63905954e-02 3.60525472e-04 9.99865600e-01 -1.55070399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02439141799998 meters 0.018445435932032038 Centerline is valid? [True, True] Translation: X:78.54, Y:0.28, Z:-1.55 [[ 9.99755909e-01 1.80804133e-02 1.26972865e-02 7.85359022e+01] [-1.80752280e-02 9.99836493e-01 -5.23029701e-04 2.76255374e-01] [-1.27046670e-02 2.93395685e-04 9.99919249e-01 -1.55289895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08439141799998 meters 0.01800512575600284 Centerline is valid? [True, True] Translation: X:78.60, Y:0.27, Z:-1.56 [[ 9.99768590e-01 1.96508158e-02 8.75277704e-03 7.85956584e+01] [-1.96484070e-02 9.99806886e-01 -3.61115835e-04 2.72633821e-01] [-8.75818298e-03 1.89054143e-04 9.99961629e-01 -1.56240524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14439141799998 meters 0.0152967660250491 Centerline is valid? [True, True] Translation: X:78.66, Y:0.28, Z:-1.56 [[ 9.99548073e-01 2.76478121e-02 1.18003898e-02 7.86560079e+01] [-2.76439853e-02 9.99617713e-01 -4.87306391e-04 2.79923196e-01] [-1.18093516e-02 1.60876362e-04 9.99930254e-01 -1.56209162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20439141799999 meters 0.013873150990423468 Centerline is valid? [True, True] Translation: X:78.72, Y:0.29, Z:-1.56 [[ 9.99302509e-01 3.43019107e-02 1.47605870e-02 7.87153344e+01] [-3.42966615e-02 9.99411511e-01 -6.08687830e-04 2.86880552e-01] [-1.47727797e-02 1.02024421e-04 9.99890871e-01 -1.55944408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26439141799999 meters 0.01339092596030482 Centerline is valid? [True, True] Translation: X:78.77, Y:0.29, Z:-1.55 [[ 9.98949639e-01 4.08548443e-02 2.07485190e-02 7.87730605e+01] [-4.08459340e-02 9.99165092e-01 -8.53231976e-04 2.90634766e-01] [-2.07660546e-02 4.84313735e-06 9.99784362e-01 -1.55295228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32439141799999 meters 0.013450394806177747 Centerline is valid? [True, True] Translation: X:78.83, Y:0.29, Z:-1.56 [[ 9.98960859e-01 4.14206716e-02 1.90139468e-02 7.88316610e+01] [-4.14133251e-02 9.99141796e-01 -7.80131804e-04 2.87972227e-01] [-1.90299425e-02 -8.10962368e-06 9.99818914e-01 -1.55543003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38439141799998 meters 0.013818450908700658 Centerline is valid? [True, True] Translation: X:78.89, Y:0.28, Z:-1.57 [[ 9.99288527e-01 3.64821418e-02 9.56523285e-03 7.88884050e+01] [-3.64800541e-02 9.99334304e-01 -3.92700654e-04 2.79376905e-01] [-9.57319187e-03 4.34810467e-05 9.99954175e-01 -1.57026943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44439141799998 meters 0.015023629382797754 Centerline is valid? [True, True] Translation: X:78.95, Y:0.27, Z:-1.57 [[ 9.99537635e-01 2.84757929e-02 1.06604665e-02 7.89464889e+01] [-2.84727580e-02 9.99594474e-01 -4.36377163e-04 2.72156162e-01] [-1.06685696e-02 1.32642513e-04 9.99943080e-01 -1.57093990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50439141799998 meters 0.01594327391616527 Centerline is valid? [True, True] Translation: X:79.00, Y:0.27, Z:-1.57 [[ 9.99558658e-01 2.58880983e-02 1.45703781e-02 7.90038959e+01] [-2.58821861e-02 9.99664824e-01 -5.94215251e-04 2.68542025e-01] [-1.45808776e-02 2.16839760e-04 9.99893670e-01 -1.56710156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56439141799999 meters 0.01807110607648401 Centerline is valid? [True, True] Translation: X:79.06, Y:0.26, Z:-1.57 [[ 9.99708435e-01 1.94872842e-02 1.42580100e-02 7.90635964e+01] [-1.94809966e-02 9.99810059e-01 -5.79754400e-04 2.62907935e-01] [-1.42665997e-02 3.01825118e-04 9.99898181e-01 -1.56930637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62439141799999 meters 0.02274440650313894 Centerline is valid? [True, True] Translation: X:79.12, Y:0.25, Z:-1.57 [[ 9.99800185e-01 1.22798733e-02 1.57732553e-02 7.91230845e+01] [-1.22713033e-02 9.99924500e-01 -6.40003260e-04 2.52834370e-01] [-1.57799235e-02 4.46316979e-04 9.99875390e-01 -1.56958650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68439141799999 meters 0.025233160833049748 Centerline is valid? [True, True] Translation: X:79.18, Y:0.25, Z:-1.56 [[ 9.99812645e-01 5.56636999e-03 1.85389097e-02 7.91841563e+01] [-5.55333482e-03 9.99984295e-01 -7.54532208e-04 2.47317104e-01] [-1.85428185e-02 6.51438070e-04 9.99827855e-01 -1.56491179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74439141799999 meters 0.024668541860763435 Centerline is valid? [True, True] Translation: X:79.25, Y:0.25, Z:-1.57 [[ 9.99883406e-01 7.42577171e-03 1.33428684e-02 7.92466041e+01] [-7.41920746e-03 9.99972331e-01 -5.41399131e-04 2.47361680e-01] [-1.33465195e-02 4.42342499e-04 9.99910833e-01 -1.57278098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80439141799998 meters 0.02370004428210684 Centerline is valid? [True, True] Translation: X:79.31, Y:0.25, Z:-1.57 [[ 9.99825153e-01 1.07377919e-02 1.53089561e-02 7.93075465e+01] [-1.07294439e-02 9.99942241e-01 -6.27333919e-04 2.49599943e-01] [-1.53148080e-02 4.62967646e-04 9.99882614e-01 -1.57302573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86439141799998 meters 0.019050744587009196 Centerline is valid? [True, True] Translation: X:79.37, Y:0.26, Z:-1.57 [[ 9.99621408e-01 2.04596145e-02 1.83968579e-02 7.93682217e+01] [-2.04491858e-02 9.99790609e-01 -7.54828200e-04 2.59989406e-01] [-1.84084493e-02 3.78341662e-04 9.99830479e-01 -1.56880836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92439141799998 meters 0.017229857506001357 Centerline is valid? [True, True] Translation: X:79.43, Y:0.26, Z:-1.58 [[ 9.99581256e-01 2.49563754e-02 1.46455472e-02 7.94297857e+01] [-2.49502540e-02 9.99688514e-01 -6.00564963e-04 2.61327166e-01] [-1.46559732e-02 2.34903358e-04 9.99892568e-01 -1.57851495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98439141799999 meters 0.018658492918854064 Centerline is valid? [True, True] Translation: X:79.49, Y:0.26, Z:-1.58 [[ 9.99642573e-01 2.25506296e-02 1.43595335e-02 7.94880786e+01] [-2.25444815e-02 9.99745667e-01 -5.89904693e-04 2.57015386e-01] [-1.43691842e-02 2.65965606e-04 9.99896723e-01 -1.58086424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04439141799999 meters 0.018973755964673378 Centerline is valid? [True, True] Translation: X:79.55, Y:0.26, Z:-1.58 [[ 9.99685089e-01 2.24813936e-02 1.11494372e-02 7.95465672e+01] [-2.24776869e-02 9.99747240e-01 -4.57668121e-04 2.57795851e-01] [-1.11569081e-02 2.06910437e-04 9.99937738e-01 -1.58132386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10439141799999 meters 0.01572783716058808 Centerline is valid? [True, True] Translation: X:79.61, Y:0.26, Z:-1.59 [[ 9.99646157e-01 2.54691436e-02 7.67352244e-03 7.96054017e+01] [-2.54674736e-02 9.99675602e-01 -3.15287305e-04 2.61668444e-01] [-7.67906326e-03 1.19750513e-04 9.99970508e-01 -1.58618147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16439141799998 meters 0.01534129632435069 Centerline is valid? [True, True] Translation: X:79.66, Y:0.26, Z:-1.59 [[ 9.99610272e-01 2.67101564e-02 8.11609065e-03 7.96644518e+01] [-2.67083354e-02 9.99643213e-01 -3.32696646e-04 2.61073731e-01] [-8.12208132e-03 1.15799714e-04 9.99967009e-01 -1.58874992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22439141799998 meters 0.015044375275811695 Centerline is valid? [True, True] Translation: X:79.72, Y:0.26, Z:-1.58 [[ 9.99495122e-01 2.78446021e-02 1.53029036e-02 7.97234443e+01] [-2.78383017e-02 9.99612244e-01 -6.24613056e-04 2.58436886e-01] [-1.53143619e-02 1.98290856e-04 9.99882709e-01 -1.58067109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28439141799998 meters 0.013275307746874628 Centerline is valid? [True, True] Translation: X:79.78, Y:0.26, Z:-1.58 [[ 9.99242636e-01 3.49901977e-02 1.70247173e-02 7.97830831e+01] [-3.49834633e-02 9.99387651e-01 -6.93308847e-04 2.64376168e-01] [-1.70385512e-02 9.72001880e-05 9.99854829e-01 -1.57677248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34439141799999 meters 0.013291159429600841 Centerline is valid? [True, True] Translation: X:79.84, Y:0.26, Z:-1.58 [[ 9.99307703e-01 3.35350976e-02 1.61093862e-02 7.98410431e+01] [-3.35288911e-02 9.99437534e-01 -6.55275121e-04 2.60197411e-01] [-1.61223000e-02 1.14691619e-04 9.99870021e-01 -1.57917465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40439141799999 meters 0.014972622916812988 Centerline is valid? [True, True] Translation: X:79.90, Y:0.25, Z:-1.58 [[ 9.99493891e-01 2.84006360e-02 1.43305858e-02 7.98991398e+01] [-2.83952163e-02 9.99596605e-01 -5.81564097e-04 2.48406781e-01] [-1.43413217e-02 1.74349680e-04 9.99897143e-01 -1.58439196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46439141799999 meters 0.01453683583097024 Centerline is valid? [True, True] Translation: X:79.96, Y:0.24, Z:-1.59 [[ 9.99511521e-01 2.97252030e-02 9.65051875e-03 7.99562486e+01] [-2.97228062e-02 9.99558103e-01 -3.91720556e-04 2.44968983e-01] [-9.65789819e-03 1.04688710e-04 9.99953356e-01 -1.59336747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52439141799998 meters 0.014126659259304303 Centerline is valid? [True, True] Translation: X:80.02, Y:0.25, Z:-1.59 [[ 9.99490786e-01 2.91496569e-02 1.29794227e-02 8.00156516e+01] [-2.91453041e-02 9.99575048e-01 -5.24422391e-04 2.46047098e-01] [-1.29891938e-02 1.45866125e-04 9.99915626e-01 -1.59035069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58439141799998 meters 0.017138753251332375 Centerline is valid? [True, True] Translation: X:80.07, Y:0.23, Z:-1.59 [[ 9.99587004e-01 2.20857139e-02 1.83859240e-02 8.00740315e+01] [-2.20758256e-02 9.99756025e-01 -7.40627030e-04 2.32289212e-01] [-1.83977956e-02 3.34436702e-04 9.99830690e-01 -1.58618007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64439141799998 meters 0.01981834902474593 Centerline is valid? [True, True] Translation: X:80.13, Y:0.22, Z:-1.59 [[ 9.99807069e-01 1.40540212e-02 1.37225990e-02 8.01341884e+01] [-1.40477714e-02 9.99901173e-01 -5.51722360e-04 2.18315117e-01] [-1.37289968e-02 3.58843981e-04 9.99905688e-01 -1.59455344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70439141799999 meters 0.022529985600806008 Centerline is valid? [True, True] Translation: X:80.19, Y:0.21, Z:-1.60 [[ 9.99911893e-01 7.99401127e-03 1.05972205e-02 8.01947749e+01] [-7.98994303e-03 9.99967989e-01 -4.26178433e-04 2.12916964e-01] [-1.06002882e-02 3.41469695e-04 9.99943757e-01 -1.59654792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76439141799999 meters 0.023737552118577393 Centerline is valid? [True, True] Translation: X:80.26, Y:0.21, Z:-1.60 [[ 9.99941255e-01 3.61964732e-03 1.02168685e-02 8.02561687e+01] [-3.61563802e-03 9.99993379e-01 -4.10862585e-04 2.06354014e-01] [-1.02182880e-02 3.73897950e-04 9.99947722e-01 -1.59686474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82439141799999 meters 0.02701463315437603 Centerline is valid? [True, True] Translation: X:80.32, Y:0.19, Z:-1.61 [[ 9.99966834e-01 2.62021973e-03 7.71143767e-03 8.03168312e+01] [-2.61791584e-03 9.99996526e-01 -3.08842465e-04 1.94793365e-01] [-7.71222012e-03 2.88644327e-04 9.99970219e-01 -1.60647926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88439141799998 meters 0.026678556863169646 Centerline is valid? [True, True] Translation: X:80.38, Y:0.19, Z:-1.60 [[ 9.99867916e-01 8.06350451e-04 1.62326701e-02 8.03804413e+01] [-7.95820409e-04 9.99999469e-01 -6.55143463e-04 1.92466442e-01] [-1.62331897e-02 6.42138639e-04 9.99868027e-01 -1.59744626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94439141799998 meters 0.025842985899849992 Centerline is valid? [True, True] Translation: X:80.44, Y:0.19, Z:-1.59 [[ 9.99848403e-01 2.66610519e-03 1.72065041e-02 8.04425357e+01] [-2.65443289e-03 9.99996231e-01 -7.01168307e-04 1.93994906e-01] [-1.72083087e-02 6.55388501e-04 9.99851711e-01 -1.59448948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00439141799998 meters 0.02319267781598027 Centerline is valid? [True, True] Translation: X:80.50, Y:0.20, Z:-1.60 [[ 9.99871158e-01 7.44596329e-03 1.42205797e-02 8.05044600e+01] [-7.43845985e-03 9.99972166e-01 -5.80466997e-04 1.95560239e-01] [-1.42245061e-02 4.74612997e-04 9.99898714e-01 -1.59845361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06439141799999 meters 0.02268375960496522 Centerline is valid? [True, True] Translation: X:80.57, Y:0.20, Z:-1.60 [[ 9.99884990e-01 9.55579104e-03 1.17767861e-02 8.05664126e+01] [-9.55080781e-03 9.99954275e-01 -4.79309989e-04 1.95159156e-01] [-1.17808278e-02 3.66777043e-04 9.99930536e-01 -1.60260577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12439141799999 meters 0.021363671527479842 Centerline is valid? [True, True] Translation: X:80.63, Y:0.19, Z:-1.60 [[ 9.99852431e-01 1.19886377e-02 1.23040006e-02 8.06289907e+01] [-1.19833191e-02 9.99928069e-01 -5.05907547e-04 1.94690272e-01] [-1.23091807e-02 3.58390126e-04 9.99924175e-01 -1.60428665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18439141799999 meters 0.01907458922828903 Centerline is valid? [True, True] Translation: X:80.69, Y:0.20, Z:-1.60 [[ 9.99770321e-01 1.78179724e-02 1.19090709e-02 8.06908875e+01] [-1.78133854e-02 9.99841208e-01 -4.91144783e-04 2.00412952e-01] [-1.19159311e-02 2.78891108e-04 9.99928964e-01 -1.60492379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24439141799998 meters 0.017716505184187315 Centerline is valid? [True, True] Translation: X:80.75, Y:0.20, Z:-1.61 [[ 9.99714692e-01 2.01357192e-02 1.28486681e-02 8.07504961e+01] [-2.01305500e-02 9.99797219e-01 -5.31527798e-04 2.01887127e-01] [-1.28567653e-02 2.72725392e-04 9.99917311e-01 -1.60504225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30439141799998 meters 0.017625967766517 Centerline is valid? [True, True] Translation: X:80.81, Y:0.20, Z:-1.60 [[ 9.99622941e-01 2.19248556e-02 1.65310926e-02 8.08096329e+01] [-2.19165580e-02 9.99759570e-01 -6.82955960e-04 2.00652968e-01] [-1.65420918e-02 3.20393795e-04 9.99863119e-01 -1.60398609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36439141799998 meters 0.018751362952098668 Centerline is valid? [True, True] Translation: X:80.87, Y:0.20, Z:-1.61 [[ 9.99707403e-01 1.88948191e-02 1.51027553e-02 8.08695400e+01] [-1.88875598e-02 9.99821420e-01 -6.23159615e-04 1.95437373e-01] [-1.51118327e-02 3.37723086e-04 9.99885753e-01 -1.60577872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42439141799998 meters 0.018605744408111163 Centerline is valid? [True, True] Translation: X:80.93, Y:0.19, Z:-1.61 [[ 9.99771139e-01 1.78743662e-02 1.17548930e-02 8.09295751e+01] [-1.78698967e-02 9.99840203e-01 -4.85152957e-04 1.93160781e-01] [-1.17616864e-02 2.74983201e-04 9.99930791e-01 -1.61086112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48439141799999 meters 0.017251834393957097 Centerline is valid? [True, True] Translation: X:80.99, Y:0.19, Z:-1.61 [[ 9.99714819e-01 2.02494696e-02 1.26585530e-02 8.09889673e+01] [-2.02444727e-02 9.99794923e-01 -5.22771613e-04 1.93834697e-01] [-1.26665428e-02 2.66356799e-04 9.99919741e-01 -1.61225159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54439141799999 meters 0.015088894087202147 Centerline is valid? [True, True] Translation: X:81.05, Y:0.20, Z:-1.61 [[ 9.99471380e-01 2.69930076e-02 1.81200780e-02 8.10495872e+01] [-2.69838965e-02 9.99635589e-01 -7.47167618e-04 1.96933358e-01] [-1.81336432e-02 2.57822340e-04 9.99835539e-01 -1.60721151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60439141799999 meters 0.013869383603994 Centerline is valid? [True, True] Translation: X:81.11, Y:0.20, Z:-1.61 [[ 9.99316494e-01 3.33001310e-02 1.60513419e-02 8.11085083e+01] [-3.32937952e-02 9.99445389e-01 -6.61857431e-04 1.96554271e-01] [-1.60644796e-02 1.26994958e-04 9.99870950e-01 -1.61175203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66439141799998 meters 0.013572310823142017 Centerline is valid? [True, True] Translation: X:81.17, Y:0.20, Z:-1.62 [[ 9.99229480e-01 3.65246235e-02 1.43665696e-02 8.11674778e+01] [-3.65198953e-02 9.99332751e-01 -5.91405053e-04 1.95067922e-01] [-1.43785844e-02 6.62837461e-05 9.99896621e-01 -1.61548235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72439141799998 meters 0.013389552618070327 Centerline is valid? [True, True] Translation: X:81.23, Y:0.19, Z:-1.61 [[ 9.99170039e-01 3.77445712e-02 1.53160266e-02 8.12265552e+01] [-3.77393611e-02 9.99287419e-01 -6.29161902e-04 1.94497305e-01] [-1.53288601e-02 5.06226647e-05 9.99882505e-01 -1.61373854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78439141799998 meters 0.013465875015445883 Centerline is valid? [True, True] Translation: X:81.28, Y:0.19, Z:-1.62 [[ 9.99208083e-01 3.70237952e-02 1.45755382e-02 8.12849749e+01] [-3.70190154e-02 9.99314383e-01 -5.97692750e-04 1.90407937e-01] [-1.45876738e-02 5.76473547e-05 9.99893593e-01 -1.61670166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84439141799999 meters 0.013980694070077578 Centerline is valid? [True, True] Translation: X:81.34, Y:0.18, Z:-1.62 [[ 9.99348229e-01 3.32031792e-02 1.41656753e-02 8.13429322e+01] [-3.31982959e-02 9.99448616e-01 -5.79801348e-04 1.79928408e-01] [-1.41771159e-02 1.09147169e-04 9.99899494e-01 -1.62279368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90439141799999 meters 0.017798239761906007 Centerline is valid? [True, True] Translation: X:81.40, Y:0.16, Z:-1.62 [[ 9.99580794e-01 2.40388557e-02 1.61360016e-02 8.14022793e+01] [-2.40313520e-02 9.99710988e-01 -6.58794179e-04 1.64412847e-01] [-1.61471747e-02 2.70748074e-04 9.99869589e-01 -1.62362737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96439141799999 meters 0.01848680965504141 Centerline is valid? [True, True] Translation: X:81.46, Y:0.16, Z:-1.62 [[ 9.99750527e-01 1.81727313e-02 1.29859857e-02 8.14621689e+01] [-1.81673831e-02 9.99834819e-01 -5.29698599e-04 1.61720155e-01] [-1.29934667e-02 2.93645076e-04 9.99915538e-01 -1.62119280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02439141799998 meters 0.019084468796634023 Centerline is valid? [True, True] Translation: X:81.52, Y:0.15, Z:-1.63 [[ 9.99838092e-01 1.57430659e-02 8.71466453e-03 8.15215989e+01] [-1.57405655e-02 9.99876046e-01 -3.55436382e-04 1.53759476e-01] [-8.71917997e-03 2.18205086e-04 9.99961963e-01 -1.63107744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08439141799998 meters 0.019472673814747606 Centerline is valid? [True, True] Translation: X:81.58, Y:0.15, Z:-1.63 [[ 9.99810671e-01 1.52147707e-02 1.21297966e-02 8.15810484e+01] [-1.52098905e-02 9.99884201e-01 -4.94485273e-04 1.45448476e-01] [-1.21359154e-02 3.09898776e-04 9.99926309e-01 -1.63350872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14439141799998 meters 0.016950703721582507 Centerline is valid? [True, True] Translation: X:81.64, Y:0.15, Z:-1.62 [[ 9.99579660e-01 2.15505842e-02 1.93926805e-02 8.16422372e+01] [-2.15393262e-02 9.99767690e-01 -7.89238030e-04 1.51525253e-01] [-1.94051840e-02 3.71201010e-04 9.99811633e-01 -1.62118054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20439141799999 meters 0.01545563760299797 Centerline is valid? [True, True] Translation: X:81.70, Y:0.16, Z:-1.62 [[ 9.99406923e-01 2.98560265e-02 1.71586567e-02 8.17036629e+01] [-2.98484378e-02 9.99554192e-01 -6.98250345e-04 1.60175393e-01] [-1.71718542e-02 1.85677131e-04 9.99852536e-01 -1.61953792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26439141799999 meters 0.013809417257034407 Centerline is valid? [True, True] Translation: X:81.76, Y:0.16, Z:-1.63 [[ 9.99276261e-01 3.64689063e-02 1.08154267e-02 8.17619521e+01] [-3.64662676e-02 9.99334787e-01 -4.41148919e-04 1.59841088e-01] [-1.08243203e-02 4.64313990e-05 9.99941414e-01 -1.62958121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32439141799999 meters 0.01374903468537349 Centerline is valid? [True, True] Translation: X:81.82, Y:0.15, Z:-1.63 [[ 9.99239932e-01 3.69758931e-02 1.23426819e-02 8.18205018e+01] [-3.69725097e-02 9.99316157e-01 -5.02263402e-04 1.54023806e-01] [-1.23528131e-02 4.55417205e-05 9.99923700e-01 -1.63240761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38439141799998 meters 0.013692686062104166 Centerline is valid? [True, True] Translation: X:81.88, Y:0.16, Z:-1.63 [[ 9.99241667e-01 3.66635350e-02 1.31101763e-02 8.18792145e+01] [-3.66597064e-02 9.99327665e-01 -5.32310472e-04 1.55295012e-01] [-1.31208782e-02 5.12915891e-05 9.99913916e-01 -1.62863579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44439141799998 meters 0.014266469237231011 Centerline is valid? [True, True] Translation: X:81.94, Y:0.15, Z:-1.63 [[ 9.99433044e-01 3.19722770e-02 1.05529104e-02 8.19373357e+01] [-3.19695405e-02 9.99488752e-01 -4.27938574e-04 1.46293667e-01] [-1.05611974e-02 9.03242557e-05 9.99944225e-01 -1.63094976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50439141799998 meters 0.015798474677505774 Centerline is valid? [True, True] Translation: X:82.00, Y:0.14, Z:-1.63 [[ 9.99628687e-01 2.53349202e-02 1.00314029e-02 8.19955249e+01] [-2.53321205e-02 9.99679008e-01 -4.06069863e-04 1.35854935e-01] [-1.00384707e-02 1.51802377e-04 9.99949602e-01 -1.63438578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56439141799999 meters 0.020444376889464815 Centerline is valid? [True, True] Translation: X:82.06, Y:0.12, Z:-1.64 [[ 9.99847387e-01 1.30871818e-02 1.15727410e-02 8.20551556e+01] [-1.30826554e-02 9.99914309e-01 -4.66746068e-04 1.20815700e-01] [-1.15778577e-02 3.15272654e-04 9.99932925e-01 -1.63500400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62439141799999 meters 0.022706202585003415 Centerline is valid? [True, True] Translation: X:82.12, Y:0.11, Z:-1.63 [[ 9.99884223e-01 7.63244637e-03 1.31638524e-02 8.21159629e+01] [-7.62612540e-03 9.99970780e-01 -5.30306647e-04 1.13908396e-01] [-1.31675153e-02 4.29856061e-04 9.99913212e-01 -1.63437644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68439141799999 meters 0.02604015384297888 Centerline is valid? [True, True] Translation: X:82.18, Y:0.11, Z:-1.64 [[ 9.99914126e-01 5.02715526e-03 1.21024317e-02 8.21770552e+01] [-5.02164357e-03 9.99987273e-01 -4.85765354e-04 1.08139049e-01] [-1.21047197e-02 4.24949541e-04 9.99926645e-01 -1.63655215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74439141799998 meters 0.02701049691366575 Centerline is valid? [True, True] Translation: X:82.24, Y:0.10, Z:-1.64 [[ 9.99862343e-01 2.47602154e-03 1.64062072e-02 8.22387718e+01] [-2.46544943e-03 9.99996740e-01 -6.64591554e-04 1.01376756e-01] [-1.64077993e-02 6.24051394e-04 9.99865188e-01 -1.63503874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80439141799998 meters 0.028850053539298474 Centerline is valid? [True, True] Translation: X:82.30, Y:0.09, Z:-1.64 [[ 9.99870295e-01 -9.41973876e-04 1.60781201e-02 8.22998411e+01] [ 9.52647388e-04 9.99999331e-01 -6.56207284e-04 9.43042123e-02] [-1.60774912e-02 6.71438950e-04 9.99870523e-01 -1.63619512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86439141799998 meters 0.028750621789552136 Centerline is valid? [True, True] Translation: X:82.36, Y:0.09, Z:-1.64 [[ 9.99920038e-01 5.06209089e-04 1.26356984e-02 8.23624233e+01] [-4.99732401e-04 9.99999742e-01 -5.15722724e-04 9.39250058e-02] [-1.26359562e-02 5.09367018e-04 9.99920033e-01 -1.63937091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92439141799998 meters 0.025457602453475663 Centerline is valid? [True, True] Translation: X:82.42, Y:0.10, Z:-1.65 [[ 9.99955635e-01 7.04332581e-03 6.25452801e-03 8.24224880e+01] [-7.04186345e-03 9.99975173e-01 -2.55800474e-04 9.60962185e-02] [-6.25617441e-03 2.11745593e-04 9.99980408e-01 -1.65001574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98439141799999 meters 0.018919759612904333 Centerline is valid? [True, True] Translation: X:82.48, Y:0.10, Z:-1.65 [[ 9.99823583e-01 1.58967525e-02 1.00048020e-02 8.24831745e+01] [-1.58934477e-02 9.99873607e-01 -4.09747371e-04 1.04946768e-01] [-1.00100511e-02 2.50664287e-04 9.99949867e-01 -1.64812965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04439141799999 meters 0.016685251539145105 Centerline is valid? [True, True] Translation: X:82.54, Y:0.11, Z:-1.64 [[ 9.99677971e-01 2.22659029e-02 1.21731137e-02 8.25436880e+01] [-2.22614788e-02 9.99752058e-01 -4.98828315e-04 1.10616101e-01] [-1.21812023e-02 2.27676165e-04 9.99925780e-01 -1.64410586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10439141799999 meters 0.016165864932296856 Centerline is valid? [True, True] Translation: X:82.60, Y:0.11, Z:-1.65 [[ 9.99657887e-01 2.34832874e-02 1.15171272e-02 8.26035442e+01] [-2.34794084e-02 9.99724209e-01 -4.71920600e-04 1.08753809e-01] [-1.15250332e-02 2.01343816e-04 9.99933564e-01 -1.64579469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16439141799998 meters 0.01611053490689872 Centerline is valid? [True, True] Translation: X:82.66, Y:0.11, Z:-1.64 [[ 9.99672128e-01 2.35702853e-02 1.00038942e-02 8.26624377e+01] [-2.35673617e-02 9.99722167e-01 -4.10048077e-04 1.11466071e-01] [-1.00107797e-02 1.74148242e-04 9.99949876e-01 -1.64485530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22439141799998 meters 0.017532069637747706 Centerline is valid? [True, True] Translation: X:82.72, Y:0.11, Z:-1.65 [[ 9.99697455e-01 2.31311823e-02 8.36340804e-03 8.27200492e+01] [-2.31291251e-02 9.99732427e-01 -3.42627089e-04 1.10140199e-01] [-8.36909559e-03 1.49085118e-04 9.99964967e-01 -1.64762842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28439141799998 meters 0.017535464285956127 Centerline is valid? [True, True] Translation: X:82.78, Y:0.10, Z:-1.65 [[ 9.99731203e-01 2.13381510e-02 9.06667850e-03 8.27785925e+01] [-2.13356716e-02 9.99772300e-01 -3.70113469e-04 1.01477872e-01] [-9.07251156e-03 1.76570309e-04 9.99958828e-01 -1.65431874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34439141799999 meters 0.017599343737593708 Centerline is valid? [True, True] Translation: X:82.84, Y:0.10, Z:-1.65 [[ 9.99734329e-01 1.96791796e-02 1.20000684e-02 8.28370963e+01] [-1.96747339e-02 9.99806314e-01 -4.88431000e-04 1.00796903e-01] [-1.20073560e-02 2.52203087e-04 9.99927877e-01 -1.65202917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40439141799999 meters 0.01786762151004889 Centerline is valid? [True, True] Translation: X:82.90, Y:0.10, Z:-1.65 [[ 9.99709888e-01 1.96590635e-02 1.39162111e-02 8.28972617e+01] [-1.96531051e-02 9.99806700e-01 -5.64804143e-04 1.00484884e-01] [-1.39246246e-02 2.91143527e-04 9.99903005e-01 -1.64952647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46439141799999 meters 0.017881450489301814 Centerline is valid? [True, True] Translation: X:82.96, Y:0.10, Z:-1.65 [[ 9.99751416e-01 1.82092181e-02 1.28658311e-02 8.29574784e+01] [-1.82040148e-02 9.99834157e-01 -5.21434357e-04 9.52256864e-02] [-1.28731923e-02 2.87094958e-04 9.99917096e-01 -1.65251617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52439141799998 meters 0.02045493462787255 Centerline is valid? [True, True] Translation: X:83.02, Y:0.09, Z:-1.65 [[ 9.99815018e-01 1.33686794e-02 1.38278359e-02 8.30171156e+01] [-1.33622061e-02 9.99910565e-01 -5.60423081e-04 8.74706294e-02] [-1.38340913e-02 3.75549020e-04 9.99904234e-01 -1.65271875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58439141799998 meters 0.021054160215758025 Centerline is valid? [True, True] Translation: X:83.08, Y:0.08, Z:-1.66 [[ 9.99874966e-01 1.10219346e-02 1.13388298e-02 8.30794730e+01] [-1.10174397e-02 9.99939201e-01 -4.58809879e-04 8.33935769e-02] [-1.13431974e-02 3.33827639e-04 9.99935608e-01 -1.65673339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64439141799998 meters 0.025203269016078073 Centerline is valid? [True, True] Translation: X:83.14, Y:0.08, Z:-1.66 [[ 9.99930390e-01 9.25718784e-03 7.31565255e-03 8.31406771e+01] [-9.25528653e-03 9.99957126e-01 -2.93709667e-04 7.60026610e-02] [-7.31805782e-03 2.25980761e-04 9.99973197e-01 -1.66428887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70439141799999 meters 0.020998389011386804 Centerline is valid? [True, True] Translation: X:83.20, Y:0.09, Z:-1.66 [[ 9.99899302e-01 1.07870555e-02 9.22093015e-03 8.32013418e+01] [-1.07840390e-02 9.99941780e-01 -3.76798871e-04 8.50033872e-02] [-9.22445786e-03 2.77322058e-04 9.99957415e-01 -1.66030128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76439141799999 meters 0.021493992355568137 Centerline is valid? [True, True] Translation: X:83.26, Y:0.08, Z:-1.67 [[ 9.99900846e-01 1.09246202e-02 8.88545641e-03 8.32626948e+01] [-1.09218287e-02 9.99940289e-01 -3.62629591e-04 8.15926454e-02] [-8.88888744e-03 2.65548203e-04 9.99960458e-01 -1.66507322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82439141799999 meters 0.026314535390438213 Centerline is valid? [True, True] Translation: X:83.32, Y:0.07, Z:-1.67 [[ 9.99936159e-01 3.15208919e-03 1.08509227e-02 8.33230189e+01] [-3.14746020e-03 9.99994948e-01 -4.43649926e-04 7.29005441e-02] [-1.08522663e-02 4.09468756e-04 9.99941029e-01 -1.66642465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88439141799998 meters 0.03269673248001055 Centerline is valid? [True, True] Translation: X:83.38, Y:0.06, Z:-1.67 [[ 9.99917760e-01 -6.11566988e-03 1.12726108e-02 8.33829076e+01] [ 6.12125708e-03 9.99981159e-01 -4.61208314e-04 6.32787257e-02] [-1.12695779e-02 5.30172933e-04 9.99936356e-01 -1.66669479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94439141799998 meters 0.03664293692247261 Centerline is valid? [True, True] Translation: X:83.44, Y:0.05, Z:-1.67 [[ 9.99904637e-01 -1.13485561e-02 7.86942892e-03 8.34431042e+01] [ 1.13514413e-02 9.99935518e-01 -3.22061775e-04 5.46888935e-02] [-7.86526656e-03 4.11360423e-04 9.99968984e-01 -1.67346843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00439141799998 meters 0.04093536161733393 Centerline is valid? [True, True] Translation: X:83.50, Y:0.05, Z:-1.68 [[ 9.99845621e-01 -1.63411638e-02 6.45754099e-03 8.35034470e+01] [ 1.63432105e-02 9.99866406e-01 -2.64293886e-04 5.07332073e-02] [-6.45235943e-03 3.69790036e-04 9.99979115e-01 -1.67649207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06439141799999 meters 0.040146043754784845 Centerline is valid? [True, True] Translation: X:83.56, Y:0.05, Z:-1.68 [[ 9.99870513e-01 -1.43309224e-02 7.31996561e-03 8.35647303e+01] [ 1.43334955e-02 9.99897225e-01 -2.99175321e-04 5.38548643e-02] [-7.31492585e-03 4.04057275e-04 9.99973164e-01 -1.67713018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12439141799999 meters 0.03598375514844798 Centerline is valid? [True, True] Translation: X:83.63, Y:0.06, Z:-1.68 [[ 9.99937177e-01 -5.48360605e-03 9.77605226e-03 8.36252769e+01] [ 5.48778415e-03 9.99984862e-01 -4.00607118e-04 6.26250727e-02] [-9.77370750e-03 4.54230816e-04 9.99952133e-01 -1.67770079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18439141799999 meters 0.03217804284083934 Centerline is valid? [True, True] Translation: X:83.69, Y:0.07, Z:-1.67 [[ 9.99919307e-01 -1.60121803e-03 1.26022302e-02 8.36867944e+01] [ 1.60785105e-03 9.99998574e-01 -5.16222411e-04 7.05235215e-02] [-1.26013856e-02 5.36443264e-04 9.99920455e-01 -1.67454820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24439141799998 meters 0.026166492212103685 Centerline is valid? [True, True] Translation: X:83.75, Y:0.08, Z:-1.67 [[ 9.99899913e-01 1.79958523e-03 1.40330114e-02 8.37486106e+01] [-1.79169251e-03 9.99998230e-01 -5.74991487e-04 8.03380059e-02] [-1.40340213e-02 5.49791096e-04 9.99901367e-01 -1.67185000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30439141799998 meters 0.022468105833548743 Centerline is valid? [True, True] Translation: X:83.81, Y:0.09, Z:-1.67 [[ 9.99796292e-01 1.51140880e-02 1.33767968e-02 8.38086906e+01] [-1.51080939e-02 9.99885715e-01 -5.49041103e-04 9.17577148e-02] [-1.33835663e-02 3.46831356e-04 9.99910376e-01 -1.67368763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36439141799998 meters 0.014790583087425849 Centerline is valid? [True, True] Translation: X:83.87, Y:0.11, Z:-1.68 [[ 9.99503709e-01 2.83952720e-02 1.36398145e-02 8.38694103e+01] [-2.83902815e-02 9.99596758e-01 -5.59406197e-04 1.08434647e-01] [-1.36501988e-02 1.71890396e-04 9.99906817e-01 -1.67676096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42439141799998 meters 0.013537382802337466 Centerline is valid? [True, True] Translation: X:83.93, Y:0.11, Z:-1.68 [[ 9.99346354e-01 3.37008039e-02 1.30813180e-02 8.39269514e+01] [-3.36966593e-02 9.99431962e-01 -5.37173246e-04 1.07940658e-01] [-1.30919905e-02 9.60254098e-05 9.99914292e-01 -1.68335944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48439141799999 meters 0.012829649368373783 Centerline is valid? [True, True] Translation: X:83.99, Y:0.12, Z:-1.68 [[ 9.99057551e-01 4.04951578e-02 1.56253434e-02 8.39861060e+01] [-4.04901055e-02 9.99179735e-01 -6.39689561e-04 1.15426579e-01] [-1.56384308e-02 6.41488439e-06 9.99877712e-01 -1.67827438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54439141799999 meters 0.013184136531860369 Centerline is valid? [True, True] Translation: X:84.04, Y:0.12, Z:-1.68 [[ 9.98827206e-01 4.57688069e-02 1.57932966e-02 8.40438837e+01] [-4.57643201e-02 9.98952056e-01 -6.45579250e-04 1.22802919e-01] [-1.58062935e-02 -7.79473616e-05 9.99875070e-01 -1.67605165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60439141799998 meters 0.013105791707996875 Centerline is valid? [True, True] Translation: X:84.10, Y:0.11, Z:-1.69 [[ 9.98911353e-01 4.44795327e-02 1.40598870e-02 8.41022397e+01] [-4.44758776e-02 9.99010294e-01 -5.72691755e-04 1.10894203e-01] [-1.40714449e-02 -5.32575158e-05 9.99900991e-01 -1.68817173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66439141799998 meters 0.015184437199005335 Centerline is valid? [True, True] Translation: X:84.16, Y:0.09, Z:-1.69 [[ 9.99208348e-01 3.44610042e-02 1.98775410e-02 8.41603049e+01] [-3.44517596e-02 9.99406036e-01 -8.07431984e-04 9.36267920e-02] [-1.98935593e-02 1.21976515e-04 9.99802096e-01 -1.68615688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72439141799998 meters 0.014344448168478163 Centerline is valid? [True, True] Translation: X:84.22, Y:0.09, Z:-1.68 [[ 9.99392582e-01 2.85263367e-02 2.00178797e-02 8.42193226e+01] [-2.85158020e-02 9.99593012e-01 -8.11566067e-04 8.87417353e-02] [-2.00328837e-02 2.40247214e-04 9.99799293e-01 -1.68191688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78439141799998 meters 0.017219817801937785 Centerline is valid? [True, True] Translation: X:84.28, Y:0.08, Z:-1.68 [[ 9.99649538e-01 2.15092579e-02 1.54321872e-02 8.42779227e+01] [-2.15021780e-02 9.99768606e-01 -6.24570727e-04 7.72176468e-02] [-1.54420503e-02 2.92526204e-04 9.99880722e-01 -1.68468821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84439141799999 meters 0.02053052604180354 Centerline is valid? [True, True] Translation: X:84.34, Y:0.06, Z:-1.69 [[ 9.99716404e-01 1.56454300e-02 1.79536054e-02 8.43365175e+01] [-1.56349183e-02 9.99877504e-01 -7.25713581e-04 5.70909117e-02] [-1.79627602e-02 4.44804618e-04 9.99838558e-01 -1.68836628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90439141799999 meters 0.01951309301814653 Centerline is valid? [True, True] Translation: X:84.40, Y:0.05, Z:-1.69 [[ 9.99726359e-01 1.45051805e-02 1.83522883e-02 8.43984590e+01] [-1.44940235e-02 9.99894682e-01 -7.40810490e-04 5.26538351e-02] [-1.83611011e-02 4.74609277e-04 9.99831308e-01 -1.69135861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96439141799999 meters 0.01914851711984512 Centerline is valid? [True, True] Translation: X:84.46, Y:0.05, Z:-1.70 [[ 9.99761528e-01 1.56296968e-02 1.52512191e-02 8.44606244e+01] [-1.56220720e-02 9.99877776e-01 -6.18962224e-04 4.78073355e-02] [-1.52590292e-02 3.80558976e-04 9.99883502e-01 -1.69593333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02439141799998 meters 0.01880800063615932 Centerline is valid? [True, True] Translation: X:84.52, Y:0.05, Z:-1.70 [[ 9.99755546e-01 1.66830985e-02 1.45093723e-02 8.45231744e+01] [-1.66762529e-02 9.99860766e-01 -5.92670735e-04 4.54085488e-02] [-1.45172397e-02 3.50563891e-04 9.99894558e-01 -1.69666168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08439141799998 meters 0.017492140858945234 Centerline is valid? [True, True] Translation: X:84.58, Y:0.05, Z:-1.70 [[ 9.99701425e-01 2.11119117e-02 1.23023428e-02 8.45834859e+01] [-2.11072767e-02 9.99777088e-01 -5.06494257e-04 4.73707677e-02] [-1.23102936e-02 2.46674077e-04 9.99924195e-01 -1.69619023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14439141799998 meters 0.01643299885807809 Centerline is valid? [True, True] Translation: X:84.64, Y:0.05, Z:-1.70 [[ 9.99634314e-01 2.49931312e-02 1.03237937e-02 8.46419992e+01] [-2.49900457e-02 9.99687609e-01 -4.27784304e-04 4.54549940e-02] [-1.03312603e-02 1.69635793e-04 9.99946617e-01 -1.70189739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20439141799999 meters 0.014354342225859911 Centerline is valid? [True, True] Translation: X:84.70, Y:0.04, Z:-1.71 [[ 9.99484025e-01 3.01695831e-02 1.10217964e-02 8.47005380e+01] [-3.01663909e-02 9.99544787e-01 -4.55792054e-04 4.09887173e-02] [-1.10305301e-02 1.23069059e-04 9.99939154e-01 -1.70660879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26439141799999 meters 0.013509428647511264 Centerline is valid? [True, True] Translation: X:84.76, Y:0.04, Z:-1.70 [[ 9.99263869e-01 3.57592809e-02 1.38922028e-02 8.47599128e+01] [-3.57547718e-02 9.99360430e-01 -5.72891640e-04 4.26030081e-02] [-1.39038039e-02 7.57573782e-05 9.99903335e-01 -1.70031291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32439141799999 meters 0.013404734048944286 Centerline is valid? [True, True] Translation: X:84.82, Y:0.04, Z:-1.70 [[ 9.99236990e-01 3.69297779e-02 1.27133673e-02 8.48180047e+01] [-3.69261037e-02 9.99317862e-01 -5.23699866e-04 3.88906017e-02] [-1.27240352e-02 5.38451576e-05 9.99919045e-01 -1.70086384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38439141799998 meters 0.013973423255204412 Centerline is valid? [True, True] Translation: X:84.88, Y:0.03, Z:-1.70 [[ 9.99369599e-01 3.35791334e-02 1.15258982e-02 8.48755293e+01] [-3.35759065e-02 9.99436058e-01 -4.73419621e-04 2.93826814e-02] [-1.15352953e-02 8.61286975e-05 9.99933463e-01 -1.70303759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44439141799998 meters 0.014444018034179435 Centerline is valid? [True, True] Translation: X:84.93, Y:0.02, Z:-1.70 [[ 9.99436979e-01 3.12479720e-02 1.22183937e-02 8.49337190e+01] [-3.12441899e-02 9.99511656e-01 -5.00346092e-04 2.31554182e-02] [-1.22280618e-02 1.18310572e-04 9.99925227e-01 -1.70331967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50439141799998 meters 0.0157459458471849 Centerline is valid? [True, True] Translation: X:84.99, Y:0.01, Z:-1.71 [[ 9.99509345e-01 2.89929951e-02 1.18522205e-02 8.49915019e+01] [-2.89892880e-02 9.99579605e-01 -4.84490215e-04 8.20672119e-03] [-1.18612847e-02 1.40665065e-04 9.99929643e-01 -1.70991536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56439141799999 meters 0.01668158455816549 Centerline is valid? [True, True] Translation: X:85.05, Y:-0.00, Z:-1.71 [[ 9.99665629e-01 2.21956601e-02 1.32658672e-02 8.50509685e+01] [-2.21904375e-02 9.99753616e-01 -5.40767179e-04 -2.41232426e-04] [-1.32746014e-02 2.46210963e-04 9.99911858e-01 -1.70616613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62439141799999 meters 0.018558130580419958 Centerline is valid? [True, True] Translation: X:85.11, Y:-0.01, Z:-1.70 [[ 9.99759121e-01 1.72955258e-02 1.35116634e-02 8.51114759e+01] [-1.72896721e-02 9.99850371e-01 -5.49933469e-04 -6.49288486e-03] [-1.35191530e-02 3.16188772e-04 9.99908562e-01 -1.70436867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68439141799999 meters 0.02018526423001391 Centerline is valid? [True, True] Translation: X:85.17, Y:-0.02, Z:-1.71 [[ 9.99814243e-01 1.23642240e-02 1.47853454e-02 8.51722177e+01] [-1.23566792e-02 9.99923472e-01 -6.01537381e-04 -2.48194398e-02] [-1.47916515e-02 4.18727870e-04 9.99890510e-01 -1.70844785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74439141799998 meters 0.02277611431950353 Centerline is valid? [True, True] Translation: X:85.23, Y:-0.03, Z:-1.71 [[ 9.99833614e-01 1.16509974e-02 1.40356467e-02 8.52341689e+01] [-1.16441430e-02 9.99932042e-01 -5.69984042e-04 -3.37171524e-02] [-1.40413337e-02 4.06456127e-04 9.99901333e-01 -1.71182051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80439141799998 meters 0.021116452242438803 Centerline is valid? [True, True] Translation: X:85.30, Y:-0.04, Z:-1.71 [[ 9.99829991e-01 1.10692341e-02 1.47465922e-02 8.52967680e+01] [-1.10615384e-02 9.99938637e-01 -6.03331200e-04 -3.77644502e-02] [-1.47523658e-02 4.40108632e-04 9.99891081e-01 -1.71042134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86439141799998 meters 0.02294080625827942 Centerline is valid? [True, True] Translation: X:85.36, Y:-0.05, Z:-1.71 [[ 9.99844134e-01 1.03417695e-02 1.43093070e-02 8.53569509e+01] [-1.03343798e-02 9.99946425e-01 -5.90272831e-04 -5.25613095e-02] [-1.43146448e-02 4.42303014e-04 9.99897442e-01 -1.71211955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92439141799998 meters 0.02209862330671862 Centerline is valid? [True, True] Translation: X:85.42, Y:-0.06, Z:-1.71 [[ 9.99869976e-01 1.15349742e-02 1.12683208e-02 8.54201006e+01] [-1.15304751e-02 9.99933414e-01 -4.64155349e-04 -5.55065009e-02] [-1.12729245e-02 3.34165905e-04 9.99936403e-01 -1.71465551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98439141799999 meters 0.023305120665760654 Centerline is valid? [True, True] Translation: X:85.48, Y:-0.07, Z:-1.72 [[ 9.99903649e-01 1.09294581e-02 8.55807396e-03 8.54809241e+01] [-1.09268244e-02 9.99940238e-01 -3.54443533e-04 -6.67944855e-02] [-8.56143638e-03 2.60896810e-04 9.99963316e-01 -1.72347443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04439141799999 meters 0.02139617224363661 Centerline is valid? [True, True] Translation: X:85.54, Y:-0.07, Z:-1.72 [[ 9.99880184e-01 1.14598778e-02 1.04061748e-02 8.55421222e+01] [-1.14559508e-02 9.99934283e-01 -4.36905696e-04 -7.15039416e-02] [-1.04104979e-02 3.17640721e-04 9.99945759e-01 -1.72335427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10439141799998 meters 0.019347960199325578 Centerline is valid? [True, True] Translation: X:85.60, Y:-0.07, Z:-1.71 [[ 9.99740824e-01 1.70877254e-02 1.50430630e-02 8.56030071e+01] [-1.70801368e-02 9.99853924e-01 -6.32800488e-04 -6.59168452e-02] [-1.50516787e-02 3.75698907e-04 9.99886646e-01 -1.71426676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16439141799998 meters 0.01789058546803109 Centerline is valid? [True, True] Translation: X:85.67, Y:-0.07, Z:-1.72 [[ 9.99700220e-01 2.05009193e-02 1.33858955e-02 8.56652912e+01] [-2.04952436e-02 9.99789793e-01 -5.61061396e-04 -6.63011594e-02] [-1.33945840e-02 2.86546012e-04 9.99910247e-01 -1.71618107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22439141799998 meters 0.01981252667145684 Centerline is valid? [True, True] Translation: X:85.72, Y:-0.08, Z:-1.73 [[ 9.99732791e-01 2.03654216e-02 1.09360119e-02 8.57249843e+01] [-2.03615754e-02 9.99792574e-01 -4.62942513e-04 -7.97241471e-02] [-1.09431716e-02 2.40144379e-04 9.99940093e-01 -1.72718215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28439141799998 meters 0.020893212982979702 Centerline is valid? [True, True] Translation: X:85.79, Y:-0.09, Z:-1.73 [[ 9.99735755e-01 1.91358814e-02 1.27373119e-02 8.57852700e+01] [-1.91305578e-02 9.99816848e-01 -5.39670369e-04 -8.54713160e-02] [-1.27453061e-02 2.95855881e-04 9.99918732e-01 -1.72628796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34439141799999 meters 0.01745801860938436 Centerline is valid? [True, True] Translation: X:85.85, Y:-0.08, Z:-1.72 [[ 9.99616192e-01 2.43725512e-02 1.31699105e-02 8.58457330e+01] [-2.43673160e-02 9.99702917e-01 -5.57858312e-04 -8.18399903e-02] [-1.31795944e-02 2.36728832e-04 9.99913117e-01 -1.72279146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40439141799999 meters 0.014471504381358358 Centerline is valid? [True, True] Translation: X:85.91, Y:-0.08, Z:-1.73 [[ 9.99375326e-01 3.36694372e-02 1.07390245e-02 8.59056833e+01] [-3.36664854e-02 9.99433019e-01 -4.55584340e-04 -7.94357295e-02] [-1.07482749e-02 9.37545382e-05 9.99942231e-01 -1.72862861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46439141799999 meters 0.013413431782156504 Centerline is valid? [True, True] Translation: X:85.96, Y:-0.08, Z:-1.73 [[ 9.99166788e-01 3.88845529e-02 1.23984038e-02 8.59641346e+01] [-3.88810226e-02 9.99243709e-01 -5.25742144e-04 -8.04153341e-02] [-1.24094702e-02 4.32414710e-05 9.99922999e-01 -1.72888097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52439141799998 meters 0.013332367269658984 Centerline is valid? [True, True] Translation: X:86.02, Y:-0.08, Z:-1.73 [[ 9.98967343e-01 4.29485202e-02 1.48213186e-02 8.60228053e+01] [-4.29439454e-02 9.99077287e-01 -6.26931955e-04 -8.05053792e-02] [-1.48345686e-02 -1.02013465e-05 9.99889962e-01 -1.72659683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58439141799998 meters 0.013243618184692883 Centerline is valid? [True, True] Translation: X:86.08, Y:-0.08, Z:-1.73 [[ 9.99004406e-01 4.23675564e-02 1.39709517e-02 8.60812368e+01] [-4.23634490e-02 9.99102092e-01 -5.89938791e-04 -8.35149371e-02] [-1.39834013e-02 -2.50624844e-06 9.99902227e-01 -1.72573262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64439141799998 meters 0.013739037637708448 Centerline is valid? [True, True] Translation: X:86.14, Y:-0.10, Z:-1.73 [[ 9.99236677e-01 3.76707326e-02 1.03430735e-02 8.61387348e+01] [-3.76682321e-02 9.99290205e-01 -4.36528385e-04 -9.71328604e-02] [-1.03521764e-02 4.65898807e-05 9.99946414e-01 -1.73289908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70439141799999 meters 0.014741926120027856 Centerline is valid? [True, True] Translation: X:86.20, Y:-0.11, Z:-1.73 [[ 9.99442878e-01 3.06652116e-02 1.31749306e-02 8.61972222e+01] [-3.06605725e-02 9.99529701e-01 -5.53997125e-04 -1.11617291e-01] [-1.31857229e-02 1.49737565e-04 9.99913053e-01 -1.73322589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76439141799999 meters 0.016288020519569225 Centerline is valid? [True, True] Translation: X:86.26, Y:-0.12, Z:-1.74 [[ 9.99596938e-01 2.55479988e-02 1.23798978e-02 8.62565110e+01] [-2.55435302e-02 9.99673576e-01 -5.18967013e-04 -1.21480920e-01] [-1.23891153e-02 2.02531542e-04 9.99923231e-01 -1.73585032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82439141799999 meters 0.019250617908250302 Centerline is valid? [True, True] Translation: X:86.32, Y:-0.13, Z:-1.74 [[ 9.99722313e-01 1.96961610e-02 1.29366750e-02 8.63154109e+01] [-1.96907910e-02 9.99805970e-01 -5.42352536e-04 -1.33877904e-01] [-1.29448472e-02 2.87468568e-04 9.99916171e-01 -1.73661825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88439141799998 meters 0.02021496595067727 Centerline is valid? [True, True] Translation: X:86.38, Y:-0.14, Z:-1.73 [[ 9.99780204e-01 1.46276395e-02 1.50191849e-02 8.63768705e+01] [-1.46198321e-02 9.99892926e-01 -6.29498529e-04 -1.42193613e-01] [-1.50267848e-02 4.09782206e-04 9.99887008e-01 -1.73266561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94439141799998 meters 0.019974611749513323 Centerline is valid? [True, True] Translation: X:86.44, Y:-0.15, Z:-1.73 [[ 9.99792836e-01 1.36658871e-02 1.50840319e-02 8.64394869e+01] [-1.36579141e-02 9.99906527e-01 -6.31460206e-04 -1.45191944e-01] [-1.50912514e-02 4.25312978e-04 9.99886030e-01 -1.73293023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00439141799998 meters 0.022084665464449642 Centerline is valid? [True, True] Translation: X:86.50, Y:-0.16, Z:-1.74 [[ 9.99852183e-01 1.02915486e-02 1.37729970e-02 8.64997457e+01] [-1.02845101e-02 9.99946944e-01 -5.81765851e-04 -1.57809943e-01] [-1.37782535e-02 4.40031329e-04 9.99904979e-01 -1.73916257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06439141799999 meters 0.02235035825359222 Centerline is valid? [True, True] Translation: X:86.56, Y:-0.16, Z:-1.74 [[ 9.99860591e-01 1.02527956e-02 1.31787063e-02 8.65617242e+01] [-1.02463651e-02 9.99947350e-01 -5.55379074e-04 -1.64694912e-01] [-1.31837067e-02 4.20267812e-04 9.99913003e-01 -1.74214918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12439141799999 meters 0.02148261539391964 Centerline is valid? [True, True] Translation: X:86.62, Y:-0.17, Z:-1.74 [[ 9.99813212e-01 1.40779145e-02 1.32421057e-02 8.66226136e+01] [-1.40716831e-02 9.99900830e-01 -5.63632656e-04 -1.65217401e-01] [-1.32487272e-02 3.77188662e-04 9.99912161e-01 -1.74035437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18439141799999 meters 0.01972620218530366 Centerline is valid? [True, True] Translation: X:86.68, Y:-0.17, Z:-1.74 [[ 9.99767212e-01 1.79092989e-02 1.20323728e-02 8.66846499e+01] [-1.79044510e-02 9.99839572e-01 -5.10511879e-04 -1.66504467e-01] [-1.20395854e-02 2.94960009e-04 9.99927478e-01 -1.74353551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24439141799998 meters 0.01818882208252584 Centerline is valid? [True, True] Translation: X:86.75, Y:-0.17, Z:-1.74 [[ 9.99634595e-01 2.25301491e-02 1.49354794e-02 8.67451703e+01] [-2.25230899e-02 9.99746118e-01 -6.40706315e-04 -1.66550092e-01] [-1.49461227e-02 3.04079053e-04 9.99888254e-01 -1.74137000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30439141799998 meters 0.018587379257287578 Centerline is valid? [True, True] Translation: X:86.81, Y:-0.17, Z:-1.74 [[ 9.99648720e-01 2.22103163e-02 1.44615987e-02 8.68067340e+01] [-2.22036825e-02 9.99753276e-01 -6.19130638e-04 -1.73752798e-01] [-1.44717818e-02 2.97812404e-04 9.99895234e-01 -1.74471528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36439141799998 meters 0.020785312511337046 Centerline is valid? [True, True] Translation: X:86.87, Y:-0.19, Z:-1.75 [[ 9.99766957e-01 1.87151079e-02 1.07599298e-02 8.68672363e+01] [-1.87112149e-02 9.99824823e-01 -4.62370534e-04 -1.86930393e-01] [-1.07666982e-02 2.60931423e-04 9.99942003e-01 -1.75133962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42439141799998 meters 0.02187695012324797 Centerline is valid? [True, True] Translation: X:86.93, Y:-0.19, Z:-1.75 [[ 9.99796388e-01 1.77811411e-02 9.54008789e-03 8.69287734e+01] [-1.77779993e-02 9.99841873e-01 -4.14037220e-04 -1.86344242e-01] [-9.54594140e-03 2.44349241e-04 9.99954407e-01 -1.75135545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48439141799999 meters 0.019015292505195108 Centerline is valid? [True, True] Translation: X:86.99, Y:-0.18, Z:-1.75 [[ 9.99734152e-01 1.84021411e-02 1.38919409e-02 8.69897077e+01] [-1.83955233e-02 9.99830606e-01 -6.04024168e-04 -1.83525399e-01] [-1.39007030e-02 3.48314068e-04 9.99903320e-01 -1.74543529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54439141799999 meters 0.019592045232305944 Centerline is valid? [True, True] Translation: X:87.05, Y:-0.19, Z:-1.75 [[ 9.99703990e-01 1.83339293e-02 1.59937607e-02 8.70518580e+01] [-1.83251697e-02 9.99831839e-01 -6.94081821e-04 -1.91663214e-01] [-1.60037964e-02 4.00787987e-04 9.99871851e-01 -1.74750531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60439141799998 meters 0.021233660007314657 Centerline is valid? [True, True] Translation: X:87.11, Y:-0.20, Z:-1.75 [[ 9.99788552e-01 1.53674745e-02 1.36634926e-02 8.71129066e+01] [-1.53607486e-02 9.99881838e-01 -5.97069852e-04 -1.98405430e-01] [-1.36710536e-02 3.87062127e-04 9.99906472e-01 -1.75153579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66439141799998 meters 0.02158045915385868 Centerline is valid? [True, True] Translation: X:87.18, Y:-0.20, Z:-1.75 [[ 9.99810717e-01 1.41869156e-02 1.33139796e-02 8.71756077e+01] [-1.41804128e-02 9.99899283e-01 -5.82695420e-04 -1.99643975e-01] [-1.33209053e-02 3.93787398e-04 9.99911195e-01 -1.75090853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72439141799998 meters 0.022057012622423666 Centerline is valid? [True, True] Translation: X:87.24, Y:-0.21, Z:-1.75 [[ 9.99790379e-01 1.52903183e-02 1.36163133e-02 8.72366423e+01] [-1.52835621e-02 9.99883019e-01 -6.00113200e-04 -2.07723052e-01] [-1.36238964e-02 3.91881634e-04 9.99907114e-01 -1.75197735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78439141799998 meters 0.019983183660108542 Centerline is valid? [True, True] Translation: X:87.30, Y:-0.21, Z:-1.75 [[ 9.99750006e-01 1.82039447e-02 1.29823889e-02 8.72992039e+01] [-1.81980104e-02 9.99834237e-01 -5.75092601e-04 -2.07273794e-01] [-1.29907059e-02 3.38695182e-04 9.99915560e-01 -1.75262225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84439141799999 meters 0.01926613420612459 Centerline is valid? [True, True] Translation: X:87.36, Y:-0.21, Z:-1.76 [[ 9.99754776e-01 1.99310255e-02 9.65101160e-03 8.73615683e+01] [-1.99278148e-02 9.99801329e-01 -4.28733395e-04 -2.05322999e-01] [-9.65763932e-03 2.36304688e-04 9.99953336e-01 -1.75737027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90439141799999 meters 0.018481643798696684 Centerline is valid? [True, True] Translation: X:87.42, Y:-0.21, Z:-1.76 [[ 9.99723096e-01 2.04839326e-02 1.15818653e-02 8.74221596e+01] [-2.04792630e-02 9.99790142e-01 -5.21642612e-04 -2.07925655e-01] [-1.15901200e-02 2.84310101e-04 9.99932792e-01 -1.75761434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96439141799998 meters 0.020115218258082854 Centerline is valid? [True, True] Translation: X:87.48, Y:-0.22, Z:-1.76 [[ 9.99767337e-01 1.84065508e-02 1.12459329e-02 8.74819276e+01] [-1.84020190e-02 9.99830540e-01 -5.06321492e-04 -2.16908196e-01] [-1.12533468e-02 2.99255819e-04 9.99936634e-01 -1.75732024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02439141799998 meters 0.01991802429616272 Centerline is valid? [True, True] Translation: X:87.54, Y:-0.21, Z:-1.76 [[ 9.99794482e-01 1.81692912e-02 8.99281780e-03 8.75430805e+01] [-1.81663851e-02 9.99834896e-01 -4.04742034e-04 -2.14898575e-01] [-8.99868693e-03 2.41291861e-04 9.99959482e-01 -1.75912145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08439141799998 meters 0.020805045263946643 Centerline is valid? [True, True] Translation: X:87.60, Y:-0.22, Z:-1.76 [[ 9.99763079e-01 2.01481607e-02 8.23633211e-03 8.76030594e+01] [-2.01457837e-02 9.99796984e-01 -3.71469475e-04 -2.15282877e-01] [-8.24214443e-03 2.05454101e-04 9.99966012e-01 -1.76278763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14439141799998 meters 0.018547462925427412 Centerline is valid? [True, True] Translation: X:87.66, Y:-0.22, Z:-1.76 [[ 9.99710194e-01 2.11490533e-02 1.14998035e-02 8.76624569e+01] [-2.11444812e-02 9.99776296e-01 -5.19032573e-04 -2.19427933e-01] [-1.15082080e-02 2.75724775e-04 9.99933740e-01 -1.76146488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20439141799999 meters 0.018000470192127263 Centerline is valid? [True, True] Translation: X:87.72, Y:-0.22, Z:-1.76 [[ 9.99623019e-01 2.38972732e-02 1.35181461e-02 8.77228359e+01] [-2.38912200e-02 9.99714379e-01 -6.09123716e-04 -2.19639369e-01] [-1.35288414e-02 2.85929087e-04 9.99908440e-01 -1.75817535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26439141799999 meters 0.017469734664099255 Centerline is valid? [True, True] Translation: X:87.78, Y:-0.22, Z:-1.76 [[ 9.99565072e-01 2.75389442e-02 1.05486554e-02 8.77836852e+01] [-2.75354653e-02 9.99620714e-01 -4.74916911e-04 -2.19085084e-01] [-1.05577331e-02 1.84248222e-04 9.99944249e-01 -1.76314409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32439141799999 meters 0.01697587361281673 Centerline is valid? [True, True] Translation: X:87.84, Y:-0.23, Z:-1.77 [[ 9.99512629e-01 2.97725177e-02 9.38624083e-03 8.78415477e+01] [-2.97698487e-02 9.99556690e-01 -4.23969596e-04 -2.25930058e-01] [-9.39470245e-03 1.44335996e-04 9.99955858e-01 -1.76890034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38439141799998 meters 0.014751248514471326 Centerline is valid? [True, True] Translation: X:87.90, Y:-0.22, Z:-1.76 [[ 9.99269812e-01 3.61788580e-02 1.22854872e-02 8.79010706e+01] [-3.61747806e-02 9.99345325e-01 -5.54025687e-04 -2.19128882e-01] [-1.22974882e-02 1.09196341e-04 9.99924377e-01 -1.76189974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44439141799998 meters 0.013909091592112545 Centerline is valid? [True, True] Translation: X:87.96, Y:-0.21, Z:-1.76 [[ 9.99042752e-01 4.21608921e-02 1.16635444e-02 8.79602087e+01] [-4.21576344e-02 9.99110834e-01 -5.25131821e-04 -2.13537859e-01] [-1.16753136e-02 3.29216970e-05 9.99931841e-01 -1.76178787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50439141799998 meters 0.013877695448909207 Centerline is valid? [True, True] Translation: X:88.02, Y:-0.22, Z:-1.77 [[ 9.99030411e-01 4.24732378e-02 1.15871354e-02 8.80187723e+01] [-4.24700545e-02 9.99097604e-01 -5.20762753e-04 -2.23444505e-01] [-1.15987977e-02 2.81515539e-05 9.99932731e-01 -1.76824723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56439141799999 meters 0.015203339416554763 Centerline is valid? [True, True] Translation: X:88.08, Y:-0.24, Z:-1.77 [[ 9.99350789e-01 3.32651406e-02 1.38358859e-02 8.80764389e+01] [-3.32597378e-02 9.99446549e-01 -6.20473696e-04 -2.35927634e-01] [-1.38488686e-02 1.59892939e-04 9.99904087e-01 -1.76711677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62439141799999 meters 0.01896808421718716 Centerline is valid? [True, True] Translation: X:88.14, Y:-0.25, Z:-1.77 [[ 9.99679200e-01 2.14139613e-02 1.35254911e-02 8.81367861e+01] [-2.14077432e-02 9.99770645e-01 -6.04361447e-04 -2.50133727e-01] [-1.35353308e-02 3.14617327e-04 9.99908344e-01 -1.76582811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68439141799999 meters 0.0239540068558947 Centerline is valid? [True, True] Translation: X:88.20, Y:-0.27, Z:-1.77 [[ 9.99867310e-01 9.71416964e-03 1.30766206e-02 8.81964691e+01] [-9.70735277e-03 9.99952712e-01 -5.84675652e-04 -2.67159053e-01] [-1.30816819e-02 4.57658702e-04 9.99914326e-01 -1.76869067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74439141799998 meters 0.029768559340248284 Centerline is valid? [True, True] Translation: X:88.26, Y:-0.28, Z:-1.77 [[ 9.99906638e-01 7.83384854e-04 1.36419263e-02 8.82550717e+01] [-7.75135943e-04 9.99999514e-01 -6.09950428e-04 -2.82329265e-01] [-1.36423975e-02 5.99319134e-04 9.99906759e-01 -1.77202398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80439141799998 meters 0.03312415000965758 Centerline is valid? [True, True] Translation: X:88.31, Y:-0.29, Z:-1.77 [[ 9.99858370e-01 -7.14220578e-03 1.52390880e-02 8.83147935e+01] [ 7.15342099e-03 9.99974182e-01 -6.81567650e-04 -2.93274355e-01] [-1.52338266e-02 7.90482731e-04 9.99883646e-01 -1.77257210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86439141799998 meters 0.037066470578938186 Centerline is valid? [True, True] Translation: X:88.37, Y:-0.30, Z:-1.77 [[ 9.99796627e-01 -1.26393655e-02 1.57146767e-02 8.83749793e+01] [ 1.26519708e-02 9.99919714e-01 -7.02972866e-04 -3.01587665e-01] [-1.57045299e-02 9.01651532e-04 9.99876270e-01 -1.77207889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92439141799998 meters 0.03688334900651426 Centerline is valid? [True, True] Translation: X:88.44, Y:-0.30, Z:-1.77 [[ 9.99781627e-01 -1.51541984e-02 1.43891967e-02 8.84358247e+01] [ 1.51650255e-02 9.99884797e-01 -6.43623637e-04 -2.99712957e-01] [-1.43777855e-02 8.61695622e-04 9.99896263e-01 -1.77224492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98439141799999 meters 0.03642100925931699 Centerline is valid? [True, True] Translation: X:88.50, Y:-0.30, Z:-1.77 [[ 9.99754233e-01 -1.61894199e-02 1.51451547e-02 8.84975748e+01] [ 1.62015345e-02 9.99868517e-01 -6.77542182e-04 -2.97590593e-01] [-1.51321944e-02 9.22750412e-04 9.99885076e-01 -1.77404196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04439141799999 meters 0.04003329048946489 Centerline is valid? [True, True] Translation: X:88.56, Y:-0.31, Z:-1.78 [[ 9.99659589e-01 -1.89093083e-02 1.79762000e-02 8.85572181e+01] [ 1.89268370e-02 9.99820547e-01 -8.05465264e-04 -3.06087229e-01] [-1.79577433e-02 1.14542368e-03 9.99838091e-01 -1.77574800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10439141799998 meters 0.040821538132353244 Centerline is valid? [True, True] Translation: X:88.62, Y:-0.31, Z:-1.78 [[ 9.99665201e-01 -1.96181757e-02 1.68704732e-02 8.86188441e+01] [ 1.96337429e-02 9.99806952e-01 -7.57597828e-04 -3.06606731e-01] [-1.68523538e-02 1.08857472e-03 9.99857396e-01 -1.77933889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16439141799998 meters 0.04232866619536865 Centerline is valid? [True, True] Translation: X:88.68, Y:-0.30, Z:-1.78 [[ 9.99747178e-01 -1.53094543e-02 1.64681855e-02 8.86793720e+01] [ 1.53237257e-02 9.99882310e-01 -7.40760692e-04 -3.01548479e-01] [-1.64549067e-02 9.92927370e-04 9.99864116e-01 -1.77886073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22439141799998 meters 0.03806369007180725 Centerline is valid? [True, True] Translation: X:88.74, Y:-0.29, Z:-1.78 [[ 9.99778018e-01 -1.07359817e-02 1.81287862e-02 8.87401224e+01] [ 1.07525277e-02 9.99941857e-01 -8.15461183e-04 -2.93471899e-01] [-1.81189773e-02 1.01021044e-03 9.99835328e-01 -1.77672771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28439141799998 meters 0.03736880752632011 Centerline is valid? [True, True] Translation: X:88.80, Y:-0.29, Z:-1.78 [[ 9.99817037e-01 -8.24929983e-03 1.72580714e-02 8.88014429e+01] [ 8.26392000e-03 9.99965552e-01 -7.76005293e-04 -2.92592597e-01] [-1.72510754e-02 9.18482635e-04 9.99850767e-01 -1.78074641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34439141799999 meters 0.030396373316138366 Centerline is valid? [True, True] Translation: X:88.86, Y:-0.28, Z:-1.78 [[ 9.99864889e-01 -2.49423660e-03 1.62475305e-02 8.88630611e+01] [ 2.50644802e-03 9.99996591e-01 -7.31266471e-04 -2.75292166e-01] [-1.62456511e-02 7.71891260e-04 9.99867733e-01 -1.78445684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40439141799999 meters 0.0301865783430613 Centerline is valid? [True, True] Translation: X:88.92, Y:-0.27, Z:-1.78 [[ 9.99816047e-01 3.18812522e-03 1.89131637e-02 8.89230549e+01] [-3.17258670e-03 9.99994605e-01 -8.51519270e-04 -2.70275503e-01] [-1.89157764e-02 7.91358979e-04 9.99820768e-01 -1.78372048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46439141799998 meters 0.024903257151337177 Centerline is valid? [True, True] Translation: X:88.98, Y:-0.26, Z:-1.78 [[ 9.99724758e-01 1.15140956e-02 2.04409854e-02 8.89847040e+01] [-1.14976823e-02 9.99933476e-01 -9.20305160e-04 -2.55785061e-01] [-2.04502221e-02 6.85027897e-04 9.99790638e-01 -1.77946644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52439141799998 meters 0.020135059078346857 Centerline is valid? [True, True] Translation: X:89.05, Y:-0.24, Z:-1.78 [[ 9.99660872e-01 1.92024732e-02 1.75899433e-02 8.90456842e+01] [-1.91915070e-02 9.99815512e-01 -7.92044627e-04 -2.44727637e-01] [-1.76019074e-02 4.54198503e-04 9.99844971e-01 -1.78317887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58439141799998 meters 0.019896698040570572 Centerline is valid? [True, True] Translation: X:89.11, Y:-0.25, Z:-1.79 [[ 9.99579600e-01 2.30057373e-02 1.76453507e-02 8.91071648e+01] [-2.29953073e-02 9.99735258e-01 -7.93787155e-04 -2.46696028e-01] [-1.76589409e-02 3.87693184e-04 9.99843994e-01 -1.78641708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64439141799998 meters 0.017985547649292662 Centerline is valid? [True, True] Translation: X:89.17, Y:-0.24, Z:-1.79 [[ 9.99475717e-01 2.82004760e-02 1.59067263e-02 8.91684671e+01] [-2.81925840e-02 9.99602251e-01 -7.20209676e-04 -2.42836612e-01] [-1.59207097e-02 2.71380365e-04 9.99873221e-01 -1.79046970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70439141799999 meters 0.015647379663949194 Centerline is valid? [True, True] Translation: X:89.23, Y:-0.23, Z:-1.79 [[ 9.99299717e-01 3.31525962e-02 1.73487970e-02 8.92287912e+01] [-3.31439372e-02 9.99450279e-01 -7.86479770e-04 -2.34460280e-01] [-1.73653338e-02 2.10921575e-04 9.99849189e-01 -1.78691651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76439141799999 meters 0.015221244871174558 Centerline is valid? [True, True] Translation: X:89.29, Y:-0.23, Z:-1.79 [[ 9.99208804e-01 3.56297061e-02 1.76717436e-02 8.92888480e+01] [-3.56211219e-02 9.99365046e-01 -8.00389397e-04 -2.32964224e-01] [-1.76890405e-02 1.70268800e-04 9.99843522e-01 -1.78684561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82439141799999 meters 0.01573433624462864 Centerline is valid? [True, True] Translation: X:89.35, Y:-0.24, Z:-1.79 [[ 9.99294186e-01 3.25333904e-02 1.87805399e-02 8.93480726e+01] [-3.25231637e-02 9.99470621e-01 -8.49786617e-04 -2.39039299e-01] [-1.87982443e-02 2.38384252e-04 9.99823269e-01 -1.78719574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88439141799998 meters 0.01746892681614515 Centerline is valid? [True, True] Translation: X:89.41, Y:-0.25, Z:-1.79 [[ 9.99470924e-01 2.72741149e-02 1.77199217e-02 8.94070795e+01] [-2.72641977e-02 9.99627942e-01 -8.01045799e-04 -2.51711175e-01] [-1.77351767e-02 3.17502536e-04 9.99842669e-01 -1.79072435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94439141799998 meters 0.018199788455329748 Centerline is valid? [True, True] Translation: X:89.47, Y:-0.26, Z:-1.80 [[ 9.99590554e-01 2.55559213e-02 1.28693470e-02 8.94683672e+01] [-2.55505563e-02 9.99673362e-01 -5.81156059e-04 -2.55564016e-01] [-1.28799954e-02 2.52099133e-04 9.99917018e-01 -1.79644446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00439141799998 meters 0.019981635614891524 Centerline is valid? [True, True] Translation: X:89.53, Y:-0.26, Z:-1.80 [[ 9.99654823e-01 2.21599703e-02 1.41127690e-02 8.95276830e+01] [-2.21531654e-02 9.99754385e-01 -6.38343431e-04 -2.62642604e-01] [-1.41234483e-02 3.25480584e-04 9.99900206e-01 -1.79630100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06439141799999 meters 0.021834152918807505 Centerline is valid? [True, True] Translation: X:89.59, Y:-0.28, Z:-1.79 [[ 9.99616543e-01 1.86913422e-02 2.04304007e-02 8.95882530e+01] [-1.86763681e-02 9.99825155e-01 -9.23505792e-04 -2.76708378e-01] [-2.04440901e-02 5.41585984e-04 9.99790851e-01 -1.78957821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12439141799999 meters 0.020558051790728817 Centerline is valid? [True, True] Translation: X:89.65, Y:-0.28, Z:-1.79 [[ 9.99681232e-01 1.94365096e-02 1.61138337e-02 8.96509064e+01] [-1.94273049e-02 9.99811007e-01 -7.27583194e-04 -2.77401997e-01] [-1.61249300e-02 4.14302904e-04 9.99869899e-01 -1.79450725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18439141799999 meters 0.01975646539181697 Centerline is valid? [True, True] Translation: X:89.71, Y:-0.28, Z:-1.80 [[ 9.99649420e-01 2.29186278e-02 1.32579668e-02 8.97129818e+01] [-2.29126572e-02 9.99737289e-01 -6.02075898e-04 -2.81115186e-01] [-1.32682826e-02 2.98089573e-04 9.99911928e-01 -1.80187353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24439141799998 meters 0.018658312373838106 Centerline is valid? [True, True] Translation: X:89.77, Y:-0.29, Z:-1.80 [[ 9.99542653e-01 2.64496530e-02 1.46594930e-02 8.97735863e+01] [-2.64426402e-02 9.99650106e-01 -6.72037016e-04 -2.86555245e-01] [-1.46721389e-02 2.84093962e-04 9.99892318e-01 -1.80252746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30439141799998 meters 0.017236038726256342 Centerline is valid? [True, True] Translation: X:89.83, Y:-0.28, Z:-1.80 [[ 9.99379926e-01 3.22213773e-02 1.41967284e-02 8.98334385e+01] [-3.22153806e-02 9.99480738e-01 -6.50944156e-04 -2.81594354e-01] [-1.42103309e-02 1.93187514e-04 9.99899009e-01 -1.80126759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36439141799998 meters 0.015068996789787877 Centerline is valid? [True, True] Translation: X:89.89, Y:-0.27, Z:-1.80 [[ 9.99043561e-01 4.14265724e-02 1.39929672e-02 8.98926841e+01] [-4.14216470e-02 9.99141549e-01 -6.41746337e-04 -2.71152220e-01] [-1.40075403e-02 6.15207969e-05 9.99901888e-01 -1.79937317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42439141799998 meters 0.01503899106692267 Centerline is valid? [True, True] Translation: X:89.95, Y:-0.28, Z:-1.80 [[ 9.98841541e-01 4.58636580e-02 1.45636973e-02 8.99509176e+01] [-4.58588125e-02 9.98947709e-01 -6.66669585e-04 -2.76571792e-01] [-1.45789479e-02 -1.97658591e-06 9.99893721e-01 -1.80368454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48439141799999 meters 0.015347474633109495 Centerline is valid? [True, True] Translation: X:90.01, Y:-0.28, Z:-1.81 [[ 9.98618427e-01 5.07990308e-02 1.34422782e-02 9.00086031e+01] [-5.07953599e-02 9.98708893e-01 -6.14580877e-04 -2.80448968e-01] [-1.34561429e-02 -6.90735709e-05 9.99909460e-01 -1.80805482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54439141799999 meters 0.01593853721343874 Centerline is valid? [True, True] Translation: X:90.07, Y:-0.28, Z:-1.81 [[ 9.98472063e-01 5.35682222e-02 1.35641432e-02 9.00679276e+01] [-5.35647642e-02 9.98564186e-01 -6.18363180e-04 -2.77657010e-01] [-1.35777922e-02 -1.09141772e-04 9.99907812e-01 -1.80521127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60439141799998 meters 0.015646483258864974 Centerline is valid? [True, True] Translation: X:90.13, Y:-0.29, Z:-1.81 [[ 9.98551331e-01 5.19128156e-02 1.41527157e-02 9.01256525e+01] [-5.19088999e-02 9.98651617e-01 -6.44126888e-04 -2.85980976e-01] [-1.41670709e-02 -9.14581413e-05 9.99899638e-01 -1.80608688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66439141799998 meters 0.015066688978268052 Centerline is valid? [True, True] Translation: X:90.18, Y:-0.31, Z:-1.81 [[ 9.98945052e-01 4.40652016e-02 1.29244478e-02 9.01836433e+01] [-4.40612945e-02 9.99028657e-01 -5.87036380e-04 -3.07659605e-01] [-1.29377616e-02 1.69491881e-05 9.99916304e-01 -1.81018009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72439141799998 meters 0.0177020216110911 Centerline is valid? [True, True] Translation: X:90.24, Y:-0.31, Z:-1.81 [[ 9.99056266e-01 4.19617303e-02 1.12156531e-02 9.02419677e+01] [-4.19586634e-02 9.99119218e-01 -5.08718695e-04 -3.13789079e-01] [-1.12271213e-02 3.76447877e-05 9.99936973e-01 -1.81480729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78439141799998 meters 0.015730817298370108 Centerline is valid? [True, True] Translation: X:90.30, Y:-0.32, Z:-1.81 [[ 9.99267397e-01 3.66180316e-02 1.11260353e-02 9.03007599e+01] [-3.66146922e-02 9.99329330e-01 -5.03756118e-04 -3.19293879e-01] [-1.11370199e-02 9.60107084e-05 9.99937977e-01 -1.81360216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84439141799999 meters 0.01727337902151598 Centerline is valid? [True, True] Translation: X:90.36, Y:-0.33, Z:-1.81 [[ 9.99419359e-01 3.08603820e-02 1.44423484e-02 9.03588552e+01] [-3.08541795e-02 9.99523684e-01 -6.52138508e-04 -3.34446943e-01] [-1.44555945e-02 2.06153039e-04 9.99895491e-01 -1.81204646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90439141799999 meters 0.019888341962719658 Centerline is valid? [True, True] Translation: X:90.42, Y:-0.35, Z:-1.81 [[ 9.99613572e-01 2.34883883e-02 1.48661760e-02 9.04188286e+01] [-2.34810198e-02 9.99724058e-01 -6.70030779e-04 -3.50282555e-01] [-1.48778117e-02 3.20698886e-04 9.99889268e-01 -1.81217705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96439141799998 meters 0.023272943221848294 Centerline is valid? [True, True] Translation: X:90.48, Y:-0.36, Z:-1.81 [[ 9.99766097e-01 1.66315098e-02 1.38255071e-02 9.04791619e+01] [-1.66244835e-02 9.99861610e-01 -6.22997526e-04 -3.61332530e-01] [-1.38339551e-02 3.93009892e-04 9.99904229e-01 -1.81433176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02439141799998 meters 0.02493825311272008 Centerline is valid? [True, True] Translation: X:90.54, Y:-0.37, Z:-1.82 [[ 9.99792608e-01 1.49327030e-02 1.38475532e-02 9.05401861e+01] [-1.49254990e-02 9.99888414e-01 -6.23441654e-04 -3.74227962e-01] [-1.38553177e-02 4.16630716e-04 9.99903924e-01 -1.81785090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08439141799998 meters 0.021947050440271246 Centerline is valid? [True, True] Translation: X:90.60, Y:-0.38, Z:-1.82 [[ 9.99764561e-01 1.71153084e-02 1.33375296e-02 9.06026780e+01] [-1.71087968e-02 9.99853452e-01 -6.02175522e-04 -3.80789880e-01] [-1.33458814e-02 3.73844664e-04 9.99910870e-01 -1.81964247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14439141799998 meters 0.018847683334371486 Centerline is valid? [True, True] Translation: X:90.66, Y:-0.37, Z:-1.82 [[ 9.99583372e-01 2.60871268e-02 1.23508653e-02 9.06632397e+01] [-2.60821914e-02 9.99659645e-01 -5.60533157e-04 -3.73625078e-01] [-1.23612843e-02 2.38161990e-04 9.99923568e-01 -1.81959667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20439141799999 meters 0.01662369995768723 Centerline is valid? [True, True] Translation: X:90.72, Y:-0.37, Z:-1.82 [[ 9.99385102e-01 3.22062128e-02 1.38628526e-02 9.07241398e+01] [-3.22005833e-02 9.99481229e-01 -6.29153371e-04 -3.71171651e-01] [-1.38759236e-02 1.82374565e-04 9.99903708e-01 -1.81860750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26439141799999 meters 0.01604345133001499 Centerline is valid? [True, True] Translation: X:90.78, Y:-0.38, Z:-1.82 [[ 9.99224360e-01 3.66095931e-02 1.45057493e-02 9.07839523e+01] [-3.66038914e-02 9.99329636e-01 -6.58457081e-04 -3.78912775e-01] [-1.45201310e-02 1.26979485e-04 9.99894569e-01 -1.82214458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32439141799998 meters 0.01672277567654878 Centerline is valid? [True, True] Translation: X:90.84, Y:-0.38, Z:-1.83 [[ 9.99279635e-01 3.59085390e-02 1.22795860e-02 9.08445057e+01] [-3.59044047e-02 9.99355074e-01 -5.57040988e-04 -3.81328464e-01] [-1.22916691e-02 1.15748490e-04 9.99924448e-01 -1.82592401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38439141799998 meters 0.017437707063480697 Centerline is valid? [True, True] Translation: X:90.90, Y:-0.39, Z:-1.82 [[ 9.99473231e-01 3.03344142e-02 1.15361864e-02 9.09034861e+01] [-3.03303896e-02 9.99539791e-01 -5.23696364e-04 -3.85303120e-01] [-1.15467633e-02 1.73523470e-04 9.99933319e-01 -1.82484413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44439141799998 meters 0.02017241506386743 Centerline is valid? [True, True] Translation: X:90.96, Y:-0.40, Z:-1.83 [[ 9.99704173e-01 2.11606413e-02 1.19913915e-02 9.09637543e+01] [-2.11556458e-02 9.99776047e-01 -5.43292776e-04 -4.03436654e-01] [-1.20002024e-02 2.89446423e-04 9.99927953e-01 -1.82646968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50439141799998 meters 0.024638521378823743 Centerline is valid? [True, True] Translation: X:91.02, Y:-0.41, Z:-1.83 [[ 9.99833115e-01 1.62453860e-02 8.35641845e-03 9.10235075e+01] [-1.62427862e-02 9.99868005e-01 -3.78889597e-04 -4.11403557e-01] [-8.36147066e-03 2.43094847e-04 9.99965013e-01 -1.83138058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56439141799999 meters 0.027738078917593015 Centerline is valid? [True, True] Translation: X:91.08, Y:-0.42, Z:-1.83 [[ 9.99907813e-01 7.98264413e-03 1.09837363e-02 9.10845100e+01] [-7.97765820e-03 9.99968054e-01 -4.97677552e-04 -4.15550881e-01] [-1.09873582e-02 4.10007179e-04 9.99939553e-01 -1.82813993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62439141799999 meters 0.03320697278461633 Centerline is valid? [True, True] Translation: X:91.15, Y:-0.43, Z:-1.83 [[ 9.99896289e-01 -2.99333777e-03 1.40872637e-02 9.11450762e+01] [ 3.00263688e-03 9.99995288e-01 -6.39003696e-04 -4.34002104e-01] [-1.40852846e-02 6.81236362e-04 9.99900565e-01 -1.82758972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68439141799999 meters 0.03890603042457202 Centerline is valid? [True, True] Translation: X:91.21, Y:-0.44, Z:-1.83 [[ 9.99834346e-01 -1.13325067e-02 1.42427249e-02 9.12059422e+01] [ 1.13428634e-02 9.99935459e-01 -6.46581655e-04 -4.44997800e-01] [-1.42344782e-02 8.08027829e-04 9.99898358e-01 -1.82724655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74439141799998 meters 0.046069289021513825 Centerline is valid? [True, True] Translation: X:91.27, Y:-0.45, Z:-1.83 [[ 9.99716638e-01 -2.25494051e-02 7.62674237e-03 9.12662454e+01] [ 2.25527032e-02 9.99745595e-01 -3.46693987e-04 -4.48762175e-01] [-7.61698435e-03 5.18599404e-04 9.99970856e-01 -1.83336088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80439141799998 meters 0.05116418272965713 Centerline is valid? [True, True] Translation: X:91.33, Y:-0.46, Z:-1.84 [[ 9.99633292e-01 -2.64440576e-02 5.83031974e-03 9.13256757e+01] [ 2.64460515e-02 9.99650207e-01 -2.65140647e-04 -4.58381763e-01] [-5.82126894e-03 4.19232353e-04 9.99982968e-01 -1.83932921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86439141799998 meters 0.04042897238846579 Centerline is valid? [True, True] Translation: X:91.39, Y:-0.44, Z:-1.84 [[ 9.99683124e-01 -2.42685035e-02 6.68518525e-03 9.13876742e+01] [ 2.42710701e-02 9.99705368e-01 -3.03048008e-04 -4.43648141e-01] [-6.67586106e-03 4.65208580e-04 9.99977608e-01 -1.83630548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92439141799998 meters 0.04680188459418302 Centerline is valid? [True, True] Translation: X:91.45, Y:-0.44, Z:-1.83 [[ 9.99806491e-01 -1.71319663e-02 9.66836288e-03 9.14481255e+01] [ 1.71370133e-02 9.99853054e-01 -4.39398271e-04 -4.39882459e-01] [-9.65941440e-03 6.05000107e-04 9.99953164e-01 -1.83287997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98439141799999 meters 0.035982306787512915 Centerline is valid? [True, True] Translation: X:91.51, Y:-0.42, Z:-1.84 [[ 9.99887174e-01 -1.24771009e-02 8.36424965e-03 9.15093254e+01] [ 1.24807179e-02 9.99922040e-01 -3.80375266e-04 -4.23682853e-01] [-8.35885159e-03 4.84724190e-04 9.99964947e-01 -1.83520432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04439141799999 meters 0.03465452938916369 Centerline is valid? [True, True] Translation: X:91.57, Y:-0.42, Z:-1.84 [[ 9.99931232e-01 -9.75980815e-03 6.50210412e-03 9.15712604e+01] [ 9.76193101e-03 9.99952308e-01 -2.94830447e-04 -4.24678277e-01] [-6.49891653e-03 3.58283264e-04 9.99978818e-01 -1.84080296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10439141799998 meters 0.032496813781312334 Centerline is valid? [True, True] Translation: X:91.63, Y:-0.41, Z:-1.84 [[ 9.99955451e-01 -7.02606179e-03 6.30320680e-03 9.16330365e+01] [ 7.02800658e-03 9.99975262e-01 -2.86442865e-04 -4.14701505e-01] [-6.30103831e-03 3.30729083e-04 9.99980094e-01 -1.83944435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16439141799998 meters 0.028188127474521422 Centerline is valid? [True, True] Translation: X:91.70, Y:-0.40, Z:-1.84 [[ 9.99974260e-01 2.22347413e-03 6.82170237e-03 9.16950585e+01] [-2.22140641e-03 9.99997484e-01 -3.10670595e-04 -3.95938534e-01] [-6.82237598e-03 2.95508825e-04 9.99976684e-01 -1.83716596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22439141799998 meters 0.0254671316482199 Centerline is valid? [True, True] Translation: X:91.76, Y:-0.39, Z:-1.84 [[ 9.99929589e-01 9.29324555e-03 7.37922300e-03 9.17555007e+01] [-9.29101386e-03 9.99956781e-01 -3.36652657e-04 -3.89588834e-01] [-7.38203267e-03 2.68068490e-04 9.99972716e-01 -1.83977905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28439141799998 meters 0.02245813385287058 Centerline is valid? [True, True] Translation: X:91.82, Y:-0.38, Z:-1.84 [[ 9.99824198e-01 1.63252592e-02 9.22270005e-03 9.18171054e+01] [-1.63220769e-02 9.99866698e-01 -4.20210878e-04 -3.79827097e-01] [-9.22833070e-03 2.69603384e-04 9.99957382e-01 -1.83944003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34439141799999 meters 0.02115460827718599 Centerline is valid? [True, True] Translation: X:91.88, Y:-0.37, Z:-1.84 [[ 9.99759060e-01 2.00804426e-02 8.86550185e-03 9.18785491e+01] [-2.00776479e-02 9.99798342e-01 -4.04129058e-04 -3.73729467e-01] [-8.87182914e-03 2.26033262e-04 9.99960619e-01 -1.84120307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40439141799999 meters 0.019060540952823744 Centerline is valid? [True, True] Translation: X:91.94, Y:-0.37, Z:-1.84 [[ 9.99714901e-01 2.20747493e-02 9.10065880e-03 9.19379766e+01] [-2.20718802e-02 9.99756300e-01 -4.15598269e-04 -3.71239618e-01] [-9.10761520e-03 2.14611132e-04 9.99958502e-01 -1.84141975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46439141799998 meters 0.017224760014645003 Centerline is valid? [True, True] Translation: X:92.00, Y:-0.36, Z:-1.84 [[ 9.99623555e-01 2.55628171e-02 9.96446453e-03 9.19982543e+01] [-2.55595553e-02 9.99673198e-01 -4.54571757e-04 -3.64367926e-01] [-9.97282825e-03 1.99713353e-04 9.99950250e-01 -1.83926931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52439141799998 meters 0.01857371399496538 Centerline is valid? [True, True] Translation: X:92.06, Y:-0.37, Z:-1.85 [[ 9.99654494e-01 2.47357031e-02 8.89026535e-03 9.20565669e+01] [-2.47330744e-02 9.99694008e-01 -4.05519335e-04 -3.71034766e-01] [-8.89757581e-03 1.85495632e-04 9.99960399e-01 -1.84561101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58439141799998 meters 0.01894863563404965 Centerline is valid? [True, True] Translation: X:92.12, Y:-0.38, Z:-1.85 [[ 9.99716164e-01 2.16880346e-02 9.86007263e-03 9.21158955e+01] [-2.16846623e-02 9.99764759e-01 -4.48801331e-04 -3.78815748e-01] [-9.86748676e-03 2.34861599e-04 9.99951288e-01 -1.84731813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64439141799998 meters 0.01952586978864091 Centerline is valid? [True, True] Translation: X:92.18, Y:-0.38, Z:-1.85 [[ 9.99749216e-01 2.00390802e-02 9.99704365e-03 9.21756245e+01] [-2.00355354e-02 9.99799165e-01 -4.54620343e-04 -3.82172058e-01] [-1.00041461e-02 2.54210210e-04 9.99949925e-01 -1.84740940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70439141799999 meters 0.02180502748413348 Centerline is valid? [True, True] Translation: X:92.24, Y:-0.38, Z:-1.84 [[ 9.99817794e-01 1.61357778e-02 1.01987818e-02 9.22350299e+01] [-1.61318921e-02 9.99869765e-01 -4.63155151e-04 -3.81143525e-01] [-1.02049270e-02 2.98545113e-04 9.99947884e-01 -1.84443034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76439141799999 meters 0.021804101457925128 Centerline is valid? [True, True] Translation: X:92.30, Y:-0.39, Z:-1.85 [[ 9.99853379e-01 1.40914177e-02 9.72894394e-03 9.22957087e+01] [-1.40877931e-02 9.99900665e-01 -4.40990697e-04 -3.89559893e-01] [-9.73419170e-03 3.03866690e-04 9.99952575e-01 -1.84875816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82439141799998 meters 0.022838918111969055 Centerline is valid? [True, True] Translation: X:92.36, Y:-0.40, Z:-1.85 [[ 9.99877722e-01 1.30873034e-02 8.55943133e-03 9.23562977e+01] [-1.30844590e-02 9.99914319e-01 -3.88235487e-04 -3.97407181e-01] [-8.56377891e-03 2.76192486e-04 9.99963292e-01 -1.85409265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88439141799998 meters 0.0235253235598781 Centerline is valid? [True, True] Translation: X:92.42, Y:-0.40, Z:-1.85 [[ 9.99859674e-01 1.29251581e-02 1.06570345e-02 9.24161934e+01] [-1.29207306e-02 9.99916407e-01 -4.84206911e-04 -3.99356520e-01] [-1.06624021e-02 3.46442293e-04 9.99943095e-01 -1.85208605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94439141799998 meters 0.022936728796790592 Centerline is valid? [True, True] Translation: X:92.48, Y:-0.40, Z:-1.85 [[ 9.99830548e-01 1.47587014e-02 1.10025898e-02 9.24778189e+01] [-1.47540925e-02 9.99891027e-01 -4.99954646e-04 -4.00820131e-01] [-1.10087695e-02 3.37536700e-04 9.99939345e-01 -1.85136875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00439141799998 meters 0.02130572977924367 Centerline is valid? [True, True] Translation: X:92.54, Y:-0.41, Z:-1.86 [[ 9.99793354e-01 1.79949994e-02 9.45669231e-03 9.25393847e+01] [-1.79917412e-02 9.99838043e-01 -4.29505996e-04 -4.05317060e-01] [-9.46288970e-03 2.59274880e-04 9.99955192e-01 -1.85672557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06439141799999 meters 0.020582940772701664 Centerline is valid? [True, True] Translation: X:92.60, Y:-0.41, Z:-1.86 [[ 9.99742955e-01 2.01727904e-02 1.03480572e-02 9.26000812e+01] [-2.01689869e-02 9.99796474e-01 -4.71793786e-04 -4.08965884e-01] [-1.03554685e-02 2.62962683e-04 9.99946346e-01 -1.85970754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12439141799999 meters 0.01758501239382064 Centerline is valid? [True, True] Translation: X:92.66, Y:-0.41, Z:-1.86 [[ 9.99646827e-01 2.32812471e-02 1.28142204e-02 9.26601534e+01] [-2.32756657e-02 9.99728914e-01 -5.84550975e-04 -4.05794288e-01] [-1.28243557e-02 2.86085018e-04 9.99917724e-01 -1.85652231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18439141799999 meters 0.01557354134274682 Centerline is valid? [True, True] Translation: X:92.72, Y:-0.40, Z:-1.86 [[ 9.99485190e-01 2.97469510e-02 1.20197016e-02 9.27205000e+01] [-2.97425126e-02 9.99557443e-01 -5.47885359e-04 -4.04363760e-01] [-1.20306801e-02 1.90107177e-04 9.99927611e-01 -1.85734386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24439141799998 meters 0.014253649640392722 Centerline is valid? [True, True] Translation: X:92.78, Y:-0.41, Z:-1.86 [[ 9.99354503e-01 3.44132473e-02 1.03104960e-02 9.27789444e+01] [-3.44102291e-02 9.99407682e-01 -4.70040346e-04 -4.05949769e-01] [-1.03205645e-02 1.14950408e-04 9.99946735e-01 -1.86243695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30439141799998 meters 0.014047807600280654 Centerline is valid? [True, True] Translation: X:92.84, Y:-0.41, Z:-1.86 [[ 9.99289578e-01 3.55603628e-02 1.24819596e-02 9.28377251e+01] [-3.55560460e-02 9.99367523e-01 -5.67653539e-04 -4.10113488e-01] [-1.24942510e-02 1.23441135e-04 9.99921936e-01 -1.86269085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36439141799998 meters 0.014088900906211788 Centerline is valid? [True, True] Translation: X:92.90, Y:-0.41, Z:-1.86 [[ 9.99239863e-01 3.58410061e-02 1.53335752e-02 9.28963141e+01] [-3.58345492e-02 9.99357494e-01 -6.95727732e-04 -4.12960655e-01] [-1.53486588e-02 1.45727130e-04 9.99882192e-01 -1.85945368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42439141799998 meters 0.014520011988422434 Centerline is valid? [True, True] Translation: X:92.96, Y:-0.42, Z:-1.86 [[ 9.99345492e-01 3.36749542e-02 1.32130479e-02 9.29556083e+01] [-3.36699857e-02 9.99432826e-01 -5.98362620e-04 -4.18743133e-01] [-1.32257037e-02 1.53087852e-04 9.99912525e-01 -1.86299884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48439141799999 meters 0.016498723998334488 Centerline is valid? [True, True] Translation: X:93.01, Y:-0.43, Z:-1.86 [[ 9.99554866e-01 2.56034061e-02 1.53145620e-02 9.30149816e+01] [-2.55957955e-02 9.99672134e-01 -6.92788544e-04 -4.31214445e-01] [-1.53272786e-02 3.00491764e-04 9.99882485e-01 -1.86393657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54439141799999 meters 0.019856813743843304 Centerline is valid? [True, True] Translation: X:93.08, Y:-0.44, Z:-1.86 [[ 9.99611014e-01 2.12041829e-02 1.81163685e-02 9.30757046e+01] [-2.11928301e-02 9.99775072e-01 -8.18431974e-04 -4.39611195e-01] [-1.81296478e-02 4.34176495e-04 9.99835550e-01 -1.86355579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60439141799998 meters 0.021471104092803114 Centerline is valid? [True, True] Translation: X:93.14, Y:-0.45, Z:-1.86 [[ 9.99688706e-01 1.64976014e-02 1.87168520e-02 9.31369962e+01] [-1.64846475e-02 9.99863761e-01 -8.46185661e-04 -4.46448455e-01] [-1.87282621e-02 5.37381542e-04 9.99824466e-01 -1.86109455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66439141799998 meters 0.02206294959205551 Centerline is valid? [True, True] Translation: X:93.20, Y:-0.45, Z:-1.87 [[ 9.99750824e-01 1.63149670e-02 1.52351854e-02 9.31986339e+01] [-1.63063509e-02 9.99866805e-01 -6.89599464e-04 -4.50115399e-01] [-1.52444069e-02 4.40997353e-04 9.99883700e-01 -1.86678853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72439141799998 meters 0.01961341138338523 Centerline is valid? [True, True] Translation: X:93.26, Y:-0.45, Z:-1.87 [[ 9.99674037e-01 1.90836104e-02 1.69598190e-02 9.32604212e+01] [-1.90732423e-02 9.99817790e-01 -7.72887350e-04 -4.54430986e-01] [-1.69714783e-02 4.49156680e-04 9.99855873e-01 -1.86927640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78439141799998 meters 0.017923100707960608 Centerline is valid? [True, True] Translation: X:93.32, Y:-0.45, Z:-1.87 [[ 9.99430398e-01 2.74462200e-02 1.96362937e-02 9.33202584e+01] [-2.74337992e-02 9.99623216e-01 -9.01686670e-04 -4.50475331e-01] [-1.96536429e-02 3.62474929e-04 9.99806783e-01 -1.86546878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84439141799999 meters 0.014472562291585288 Centerline is valid? [True, True] Translation: X:93.38, Y:-0.44, Z:-1.87 [[ 9.99216211e-01 3.50651678e-02 1.83684037e-02 9.33821267e+01] [-3.50555948e-02 9.99385008e-01 -8.42991586e-04 -4.43297277e-01] [-1.83866669e-02 1.98415542e-04 9.99830931e-01 -1.86560959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90439141799999 meters 0.013360823404543615 Centerline is valid? [True, True] Translation: X:93.44, Y:-0.44, Z:-1.87 [[ 9.98888411e-01 4.48694545e-02 1.44455751e-02 9.34421910e+01] [-4.48645474e-02 9.98992859e-01 -6.63738440e-04 -4.42997966e-01] [-1.44608079e-02 1.49064468e-05 9.99895437e-01 -1.87467853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96439141799998 meters 0.013464198779826308 Centerline is valid? [True, True] Translation: X:93.50, Y:-0.45, Z:-1.88 [[ 9.98699594e-01 4.86618668e-02 1.52034180e-02 9.34994985e+01] [-4.86568693e-02 9.98815309e-01 -6.98650821e-04 -4.48134764e-01] [-1.52194043e-02 -4.20084284e-05 9.99884177e-01 -1.87705202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02439141799998 meters 0.013855179562796787 Centerline is valid? [True, True] Translation: X:93.56, Y:-0.44, Z:-1.87 [[ 9.98562841e-01 5.11234381e-02 1.60824734e-02 9.35588851e+01] [-5.11181940e-02 9.98692338e-01 -7.37253680e-04 -4.44517927e-01] [-1.60991339e-02 -8.59128675e-05 9.99870397e-01 -1.87284321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08439141799998 meters 0.014324807267617756 Centerline is valid? [True, True] Translation: X:93.62, Y:-0.45, Z:-1.87 [[ 9.98390441e-01 5.45649863e-02 1.54657289e-02 9.36173469e+01] [-5.45605668e-02 9.98510212e-01 -7.07872018e-04 -4.48161146e-01] [-1.54813132e-02 -1.37086276e-04 9.99880148e-01 -1.87347130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14439141799998 meters 0.014333771481757084 Centerline is valid? [True, True] Translation: X:93.68, Y:-0.46, Z:-1.88 [[ 9.98387653e-01 5.47742091e-02 1.48956582e-02 9.36758644e+01] [-5.47701499e-02 9.98498757e-01 -6.80621079e-04 -4.56915765e-01] [-1.49105767e-02 -1.36313750e-04 9.99888822e-01 -1.87804916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20439141799999 meters 0.013674628118166167 Centerline is valid? [True, True] Translation: X:93.73, Y:-0.47, Z:-1.88 [[ 9.98604928e-01 4.96100969e-02 1.80841386e-02 9.37345183e+01] [-4.96033002e-02 9.98768658e-01 -8.24473424e-04 -4.66732682e-01] [-1.81027731e-02 -7.37097339e-05 9.99836129e-01 -1.87695861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26439141799999 meters 0.013595499282030379 Centerline is valid? [True, True] Translation: X:93.79, Y:-0.48, Z:-1.88 [[ 9.98902397e-01 4.27853860e-02 1.90633842e-02 9.37924680e+01] [-4.27766213e-02 9.99084285e-01 -8.67488054e-04 -4.79388386e-01] [-1.90830434e-02 5.10687307e-05 9.99817901e-01 -1.87536660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32439141799998 meters 0.014082821780271142 Centerline is valid? [True, True] Translation: X:93.85, Y:-0.49, Z:-1.88 [[ 9.99105774e-01 3.87755520e-02 1.68555310e-02 9.38528258e+01] [-3.87681540e-02 9.99247939e-01 -7.65560164e-04 -4.90523867e-01] [-1.68725396e-02 1.11417758e-04 9.99857642e-01 -1.87850009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38439141799998 meters 0.015455372298203226 Centerline is valid? [True, True] Translation: X:93.91, Y:-0.50, Z:-1.88 [[ 9.99370276e-01 3.19325457e-02 1.54713669e-02 9.39129747e+01] [-3.19254928e-02 9.99490005e-01 -7.02692914e-04 -5.04693216e-01] [-1.54859154e-02 2.08319398e-04 9.99880064e-01 -1.88200027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44439141799998 meters 0.017674695847797777 Centerline is valid? [True, True] Translation: X:93.97, Y:-0.52, Z:-1.88 [[ 9.99526540e-01 2.60736047e-02 1.63359682e-02 9.39731025e+01] [-2.60649605e-02 9.99659976e-01 -7.41877554e-04 -5.16858882e-01] [-1.63497570e-02 3.15729939e-04 9.99866284e-01 -1.88355672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50439141799998 meters 0.018478106839263014 Centerline is valid? [True, True] Translation: X:94.04, Y:-0.53, Z:-1.89 [[ 9.99599201e-01 2.37130692e-02 1.54637618e-02 9.40351290e+01] [-2.37050572e-02 9.99718750e-01 -7.01227729e-04 -5.26191075e-01] [-1.54760408e-02 3.34377320e-04 9.99880183e-01 -1.88580301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56439141799999 meters 0.01895355541140463 Centerline is valid? [True, True] Translation: X:94.10, Y:-0.53, Z:-1.89 [[ 9.99636057e-01 2.25820791e-02 1.47581417e-02 9.40969120e+01] [-2.25746011e-02 9.99744935e-01 -6.73119301e-04 -5.31529539e-01] [-1.47695778e-02 3.39715162e-04 9.99890866e-01 -1.88718127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62439141799999 meters 0.021457260348302566 Centerline is valid? [True, True] Translation: X:94.16, Y:-0.54, Z:-1.89 [[ 9.99770283e-01 1.75228463e-02 1.23422380e-02 9.41578667e+01] [-1.75171751e-02 9.99846401e-01 -5.67464560e-04 -5.38952378e-01] [-1.23502858e-02 3.51133060e-04 9.99923671e-01 -1.88908704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68439141799999 meters 0.022890363789754495 Centerline is valid? [True, True] Translation: X:94.22, Y:-0.55, Z:-1.89 [[ 9.99830265e-01 1.37125962e-02 1.23046754e-02 9.42191782e+01] [-1.37066877e-02 9.99905900e-01 -5.64393034e-04 -5.47261809e-01] [-1.23112568e-02 3.95640895e-04 9.99924135e-01 -1.89116207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74439141799998 meters 0.022149841988449902 Centerline is valid? [True, True] Translation: X:94.28, Y:-0.55, Z:-1.89 [[ 9.99819424e-01 1.42379694e-02 1.25857155e-02 9.42823554e+01] [-1.42317932e-02 9.99898555e-01 -5.80164637e-04 -5.53732323e-01] [-1.25926991e-02 4.00942574e-04 9.99920628e-01 -1.89330221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80439141799998 meters 0.019829337317889183 Centerline is valid? [True, True] Translation: X:94.34, Y:-0.55, Z:-1.89 [[ 9.99707595e-01 2.10028800e-02 1.19834460e-02 9.43419957e+01] [-2.09976965e-02 9.99779368e-01 -5.58222051e-04 -5.50135434e-01] [-1.19925263e-02 3.06434062e-04 9.99928040e-01 -1.89267671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86439141799998 meters 0.016376340005577326 Centerline is valid? [True, True] Translation: X:94.40, Y:-0.54, Z:-1.89 [[ 9.99337644e-01 3.41146624e-02 1.26674396e-02 9.44021494e+01] [-3.41099037e-02 9.99417913e-01 -5.91586898e-04 -5.41614777e-01] [-1.26802478e-02 1.59109911e-04 9.99919590e-01 -1.89330195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92439141799998 meters 0.014390001701729542 Centerline is valid? [True, True] Translation: X:94.46, Y:-0.54, Z:-1.90 [[ 9.99029019e-01 4.19056269e-02 1.35991439e-02 9.44621911e+01] [-4.19008537e-02 9.99121571e-01 -6.35849278e-04 -5.39767907e-01] [-1.36138437e-02 6.54161411e-05 9.99907325e-01 -1.89515804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98439141799999 meters 0.015534268587036763 Centerline is valid? [True, True] Translation: X:94.52, Y:-0.53, Z:-1.90 [[ 9.98791586e-01 4.71301153e-02 1.39327071e-02 9.45211609e+01] [-4.71256174e-02 9.98888759e-01 -6.51142981e-04 -5.34458081e-01] [-1.39479129e-02 -6.23129265e-06 9.99902723e-01 -1.89509178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04439141799999 meters 0.014162637167702209 Centerline is valid? [True, True] Translation: X:94.58, Y:-0.54, Z:-1.90 [[ 9.98988465e-01 4.23857870e-02 1.50163818e-02 9.45800078e+01] [-4.23800480e-02 9.99101317e-01 -7.00338402e-04 -5.42255697e-01] [-1.50325712e-02 6.32350037e-05 9.99887003e-01 -1.89550103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10439141799998 meters 0.016979970179602438 Centerline is valid? [True, True] Translation: X:94.64, Y:-0.56, Z:-1.90 [[ 9.99318859e-01 3.43003074e-02 1.36127817e-02 9.46391472e+01] [-3.42948589e-02 9.99411558e-01 -6.33548307e-04 -5.57277803e-01] [-1.36265022e-02 1.66268345e-04 9.99907141e-01 -1.89830401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16439141799998 meters 0.01808364559111451 Centerline is valid? [True, True] Translation: X:94.70, Y:-0.56, Z:-1.90 [[ 9.99524269e-01 2.81880715e-02 1.25166972e-02 9.46994939e+01] [-2.81829960e-02 9.99602611e-01 -5.81730597e-04 -5.61377740e-01] [-1.25281210e-02 2.28695824e-04 9.99921494e-01 -1.89823496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22439141799998 meters 0.022271454850684692 Centerline is valid? [True, True] Translation: X:94.76, Y:-0.58, Z:-1.90 [[ 9.99762220e-01 1.83114678e-02 1.18403792e-02 9.47590723e+01] [-1.83062429e-02 9.99832276e-01 -5.49517897e-04 -5.75517533e-01] [-1.18484557e-02 3.32634376e-04 9.99929749e-01 -1.90277686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28439141799998 meters 0.02668923919434232 Centerline is valid? [True, True] Translation: X:94.82, Y:-0.59, Z:-1.90 [[ 9.99852835e-01 1.08444942e-02 1.32930651e-02 9.48194144e+01] [-1.08372256e-02 9.99941084e-01 -6.18710832e-04 -5.87746808e-01] [-1.32989915e-02 4.74559835e-04 9.99911452e-01 -1.90285272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34439141799999 meters 0.02945244717522646 Centerline is valid? [True, True] Translation: X:94.88, Y:-0.59, Z:-1.90 [[ 9.99875689e-01 3.03553720e-03 1.54722807e-02 9.48803891e+01] [-3.02474163e-03 9.99995165e-01 -7.21089963e-04 -5.89433519e-01] [-1.54743948e-02 6.74200672e-04 9.99880037e-01 -1.89797737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40439141799999 meters 0.02886523659791655 Centerline is valid? [True, True] Translation: X:94.94, Y:-0.59, Z:-1.90 [[ 9.99899344e-01 -3.85291255e-04 1.41828599e-02 9.49415656e+01] [ 3.94703042e-04 9.99999704e-01 -6.60809718e-04 -5.92240688e-01] [-1.41826011e-02 6.66341222e-04 9.99899200e-01 -1.90168341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46439141799998 meters 0.02907018076065899 Centerline is valid? [True, True] Translation: X:95.00, Y:-0.59, Z:-1.90 [[ 9.99912719e-01 -6.77074898e-04 1.31945615e-02 9.50036995e+01] [ 6.85248347e-04 9.99999576e-01 -6.14944736e-04 -5.92176374e-01] [-1.31941396e-02 6.23932614e-04 9.99912759e-01 -1.90499878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52439141799998 meters 0.027693477663914615 Centerline is valid? [True, True] Translation: X:95.07, Y:-0.59, Z:-1.90 [[ 9.99894023e-01 2.63873386e-03 1.43171287e-02 9.50655479e+01] [-2.62942657e-03 9.99996319e-01 -6.68865610e-04 -5.87621357e-01] [-1.43188409e-02 6.31148887e-04 9.99897281e-01 -1.90385252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58439141799998 meters 0.02585024918040156 Centerline is valid? [True, True] Translation: X:95.13, Y:-0.58, Z:-1.90 [[ 9.99870374e-01 7.33302780e-03 1.43339761e-02 9.51270150e+01] [-7.32416959e-03 9.99972953e-01 -6.70385160e-04 -5.84421275e-01] [-1.43385044e-02 5.65313789e-04 9.99897039e-01 -1.90362255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64439141799998 meters 0.023927862781135557 Centerline is valid? [True, True] Translation: X:95.19, Y:-0.58, Z:-1.91 [[ 9.99837978e-01 1.25516621e-02 1.29024617e-02 9.51884139e+01] [-1.25449180e-02 9.99921127e-01 -6.03506326e-04 -5.79965509e-01] [-1.29090191e-02 4.41548220e-04 9.99916578e-01 -1.90683186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70439141799999 meters 0.02291519758265919 Centerline is valid? [True, True] Translation: X:95.25, Y:-0.57, Z:-1.91 [[ 9.99774092e-01 1.76035450e-02 1.19113066e-02 9.52491776e+01] [-1.75981484e-02 9.99844985e-01 -5.57736535e-04 -5.74789672e-01] [-1.19192783e-02 3.47993598e-04 9.99928902e-01 -1.91097076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76439141799999 meters 0.0209884094121308 Centerline is valid? [True, True] Translation: X:95.31, Y:-0.57, Z:-1.91 [[ 9.99719048e-01 1.97426261e-02 1.31169457e-02 9.53116060e+01] [-1.97362875e-02 9.99805033e-01 -6.12518746e-04 -5.70117569e-01] [-1.31264810e-02 3.53466847e-04 9.99913782e-01 -1.91030787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82439141799998 meters 0.021269911336131455 Centerline is valid? [True, True] Translation: X:95.37, Y:-0.57, Z:-1.91 [[ 9.99687747e-01 2.08247552e-02 1.38107650e-02 9.53731295e+01] [-2.08177701e-02 9.99783076e-01 -6.49354208e-04 -5.67848348e-01] [-1.38212918e-02 3.61642114e-04 9.99904416e-01 -1.90835666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88439141799998 meters 0.02186246255752234 Centerline is valid? [True, True] Translation: X:95.43, Y:-0.57, Z:-1.91 [[ 9.99689627e-01 2.14444065e-02 1.26802230e-02 9.54348289e+01] [-2.14385092e-02 9.99769988e-01 -6.00834049e-04 -5.66850591e-01] [-1.26901910e-02 3.28802488e-04 9.99919422e-01 -1.91100829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94439141799998 meters 0.021454352076530483 Centerline is valid? [True, True] Translation: X:95.50, Y:-0.56, Z:-1.91 [[ 9.99702064e-01 1.97974599e-02 1.42773678e-02 9.54964182e+01] [-1.97898065e-02 9.99803933e-01 -6.77141982e-04 -5.64728523e-01] [-1.42879741e-02 3.94393892e-04 9.99897844e-01 -1.91271970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00439141799998 meters 0.021385672771762884 Centerline is valid? [True, True] Translation: X:95.56, Y:-0.57, Z:-1.91 [[ 9.99697034e-01 1.84241439e-02 1.63214900e-02 9.55589209e+01] [-1.84139630e-02 9.99830149e-01 -7.73845898e-04 -5.69354348e-01] [-1.63329752e-02 4.73068137e-04 9.99866496e-01 -1.91311605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06439141799999 meters 0.021514227057402583 Centerline is valid? [True, True] Translation: X:95.62, Y:-0.57, Z:-1.91 [[ 9.99696746e-01 1.98654368e-02 1.45526817e-02 9.56207427e+01] [-1.98574423e-02 9.99802581e-01 -6.93653916e-04 -5.67774136e-01] [-1.45635885e-02 4.04464526e-04 9.99893864e-01 -1.91362460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12439141799999 meters 0.020110665270856396 Centerline is valid? [True, True] Translation: X:95.68, Y:-0.56, Z:-1.91 [[ 9.99615308e-01 2.40520432e-02 1.38107006e-02 9.56816730e+01] [-2.40451736e-02 9.99710653e-01 -6.63267601e-04 -5.59524034e-01] [-1.38226574e-02 3.30931754e-04 9.99904408e-01 -1.91334686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18439141799998 meters 0.018274602075516684 Centerline is valid? [True, True] Translation: X:95.74, Y:-0.56, Z:-1.92 [[ 9.99511348e-01 2.77935327e-02 1.43033044e-02 9.57425706e+01] [-2.77865430e-02 9.99613643e-01 -6.87217716e-04 -5.60579199e-01] [-1.43168785e-02 2.89442522e-04 9.99897466e-01 -1.91639142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24439141799998 meters 0.017346588685782892 Centerline is valid? [True, True] Translation: X:95.80, Y:-0.56, Z:-1.92 [[ 9.99437753e-01 3.09098816e-02 1.29906439e-02 9.58028238e+01] [-3.09043724e-02 9.99522151e-01 -6.24669730e-04 -5.58997412e-01] [-1.30037448e-02 2.22850815e-04 9.99915423e-01 -1.91956216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30439141799998 meters 0.01616190255674518 Centerline is valid? [True, True] Translation: X:95.86, Y:-0.55, Z:-1.92 [[ 9.99279376e-01 3.67367075e-02 9.54690496e-03 9.58621629e+01] [-3.67339920e-02 9.99324973e-01 -4.59686814e-04 -5.49898502e-01] [-9.55734792e-03 1.08659622e-04 9.99954322e-01 -1.92097866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36439141799998 meters 0.014883012673075504 Centerline is valid? [True, True] Translation: X:95.92, Y:-0.55, Z:-1.92 [[ 9.99128899e-01 4.03434665e-02 1.06699083e-02 9.59209755e+01] [-4.03402919e-02 9.99185868e-01 -5.12665986e-04 -5.48910042e-01] [-1.06819043e-02 8.17921865e-05 9.99942943e-01 -1.92029337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42439141799998 meters 0.014866963058512223 Centerline is valid? [True, True] Translation: X:95.98, Y:-0.55, Z:-1.92 [[ 9.99127544e-01 4.00556676e-02 1.18192036e-02 9.59783753e+01] [-4.00517637e-02 9.99197445e-01 -5.66902861e-04 -5.52986799e-01] [-1.18324257e-02 9.30283128e-05 9.99929990e-01 -1.92077678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48439141799999 meters 0.015195977291881465 Centerline is valid? [True, True] Translation: X:96.04, Y:-0.56, Z:-1.92 [[ 9.99205796e-01 3.79298772e-02 1.22107254e-02 9.60369013e+01] [-3.79255696e-02 9.99280396e-01 -5.84226079e-04 -5.56704602e-01] [-1.22240982e-02 1.20663367e-04 9.99925276e-01 -1.92184809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54439141799999 meters 0.017169386901619756 Centerline is valid? [True, True] Translation: X:96.09, Y:-0.56, Z:-1.93 [[ 9.99356405e-01 3.40244206e-02 1.13628467e-02 9.60945271e+01] [-3.40204451e-02 9.99420990e-01 -5.43031188e-04 -5.63511673e-01] [-1.13747438e-02 1.56112594e-04 9.99935293e-01 -1.92587039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60439141799998 meters 0.02034228951641217 Centerline is valid? [True, True] Translation: X:96.15, Y:-0.57, Z:-1.93 [[ 9.99562807e-01 2.74176490e-02 1.10665277e-02 9.61530703e+01] [-2.74134895e-02 9.99624041e-01 -5.27406652e-04 -5.74338028e-01] [-1.10768274e-02 2.23803932e-04 9.99938625e-01 -1.92804359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66439141799998 meters 0.018946558771420832 Centerline is valid? [True, True] Translation: X:96.21, Y:-0.58, Z:-1.93 [[ 9.99682777e-01 2.23290803e-02 1.16515049e-02 9.62121192e+01] [-2.23241309e-02 9.99750632e-01 -5.54689200e-04 -5.78339402e-01] [-1.16609851e-02 2.94403519e-04 9.99931965e-01 -1.92711136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72439141799998 meters 0.02355306407630255 Centerline is valid? [True, True] Translation: X:96.27, Y:-0.59, Z:-1.93 [[ 9.99810818e-01 1.56802766e-02 1.15090435e-02 9.62715971e+01] [-1.56750220e-02 9.99876990e-01 -5.46631605e-04 -5.85457251e-01] [-1.15161991e-02 3.66123682e-04 9.99933619e-01 -1.92722541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78439141799998 meters 0.024511308059020197 Centerline is valid? [True, True] Translation: X:96.33, Y:-0.59, Z:-1.93 [[ 9.99862576e-01 1.11529488e-02 1.22654671e-02 9.63328761e+01] [-1.11466446e-02 9.99937705e-01 -5.82222007e-04 -5.87882867e-01] [-1.22711965e-02 4.45423192e-04 9.99924607e-01 -1.92753971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84439141799999 meters 0.028340904265816046 Centerline is valid? [True, True] Translation: X:96.39, Y:-0.60, Z:-1.93 [[ 9.99903681e-01 5.30525322e-03 1.28250756e-02 9.63927732e+01] [-5.29787111e-03 9.99985780e-01 -6.09505177e-04 -5.98349359e-01] [-1.28281269e-02 5.41500873e-04 9.99917570e-01 -1.93156276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90439141799999 meters 0.03097619769144466 Centerline is valid? [True, True] Translation: X:96.45, Y:-0.60, Z:-1.93 [[ 9.99922295e-01 7.69531374e-04 1.24423200e-02 9.64540296e+01] [-7.62231977e-04 9.99999535e-01 -5.91390316e-04 -6.02104694e-01] [-1.24427693e-02 5.81860427e-04 9.99922416e-01 -1.93258634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96439141799998 meters 0.03345395657710412 Centerline is valid? [True, True] Translation: X:96.52, Y:-0.60, Z:-1.93 [[ 9.99915618e-01 -4.19272738e-03 1.22954307e-02 9.65154676e+01] [ 4.20023556e-03 9.99991008e-01 -5.84889248e-04 -6.03750989e-01] [-1.22928678e-02 6.36483599e-04 9.99924237e-01 -1.93217402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02439141799998 meters 0.03680468920852341 Centerline is valid? [True, True] Translation: X:96.58, Y:-0.61, Z:-1.93 [[ 9.99905698e-01 -6.41431836e-03 1.21429310e-02 9.65761147e+01] [ 6.42180055e-03 9.99979213e-01 -5.77285521e-04 -6.08728456e-01] [-1.21389757e-02 6.55210564e-04 9.99926105e-01 -1.93393239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08439141799998 meters 0.03434584455706749 Centerline is valid? [True, True] Translation: X:96.64, Y:-0.61, Z:-1.94 [[ 9.99921514e-01 -5.82753030e-03 1.10907960e-02 9.66382997e+01] [ 5.83375627e-03 9.99982844e-01 -5.29094320e-04 -6.05185481e-01] [-1.10875224e-02 5.93753794e-04 9.99938355e-01 -1.93581514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14439141799998 meters 0.03353231559141066 Centerline is valid? [True, True] Translation: X:96.70, Y:-0.60, Z:-1.94 [[ 9.99926722e-01 -1.90233992e-03 1.19554321e-02 9.66981319e+01] [ 1.90931611e-03 9.99998014e-01 -5.72129549e-04 -6.01904664e-01] [-1.19543200e-02 5.94914323e-04 9.99928368e-01 -1.93787263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20439141799999 meters 0.029228178232670272 Centerline is valid? [True, True] Translation: X:96.76, Y:-0.59, Z:-1.94 [[ 9.99898878e-01 2.82838037e-03 1.39367727e-02 9.67593014e+01] [-2.81936096e-03 9.99995803e-01 -6.66770886e-04 -5.94069539e-01] [-1.39386001e-02 6.27410668e-04 9.99902656e-01 -1.93579308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26439141799999 meters 0.024428042217145292 Centerline is valid? [True, True] Translation: X:96.82, Y:-0.58, Z:-1.93 [[ 9.99826516e-01 1.15337197e-02 1.46257283e-02 9.68205561e+01] [-1.15247078e-02 9.99933343e-01 -7.00305731e-04 -5.80271935e-01] [-1.46328305e-02 5.31626995e-04 9.99892793e-01 -1.93316330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32439141799998 meters 0.022097906419454024 Centerline is valid? [True, True] Translation: X:96.88, Y:-0.57, Z:-1.94 [[ 9.99716987e-01 2.00153828e-02 1.28580765e-02 9.68819566e+01] [-2.00091203e-02 9.99799608e-01 -6.15518063e-04 -5.70163353e-01] [-1.28678197e-02 3.58065064e-04 9.99917142e-01 -1.93740275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38439141799998 meters 0.020915622660179493 Centerline is valid? [True, True] Translation: X:96.94, Y:-0.57, Z:-1.94 [[ 9.99628315e-01 2.38131537e-02 1.32727285e-02 9.69423112e+01] [-2.38068096e-02 9.99716376e-01 -6.35792812e-04 -5.68466545e-01] [-1.32841043e-02 3.19575177e-04 9.99911711e-01 -1.94028259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44439141799998 meters 0.018457030231103934 Centerline is valid? [True, True] Translation: X:97.00, Y:-0.57, Z:-1.94 [[ 9.99511452e-01 2.79016381e-02 1.40838993e-02 9.70017478e+01] [-2.78948969e-02 9.99610634e-01 -6.74900061e-04 -5.66206316e-01] [-1.40972463e-02 2.81701421e-04 9.99900589e-01 -1.94153950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50439141799998 meters 0.01664840708395161 Centerline is valid? [True, True] Translation: X:97.06, Y:-0.55, Z:-1.94 [[ 9.99310801e-01 3.51221999e-02 1.20147297e-02 9.70615124e+01] [-3.51178177e-02 9.99383013e-01 -5.75573264e-04 -5.54534887e-01] [-1.20275322e-02 1.53245492e-04 9.99927655e-01 -1.94108583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56439141799999 meters 0.014719692457643518 Centerline is valid? [True, True] Translation: X:97.12, Y:-0.55, Z:-1.94 [[ 9.99180854e-01 3.88984892e-02 1.11592733e-02 9.71202393e+01] [-3.88949485e-02 9.99243162e-01 -5.34225010e-04 -5.51601941e-01] [-1.11716081e-02 9.97480399e-05 9.99937591e-01 -1.94244563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62439141799999 meters 0.014246787950705027 Centerline is valid? [True, True] Translation: X:97.18, Y:-0.56, Z:-1.95 [[ 9.99127789e-01 3.95363076e-02 1.34365673e-02 9.71789845e+01] [-3.95312511e-02 9.99218128e-01 -6.41810325e-04 -5.56345719e-01] [-1.34514364e-02 1.10086215e-04 9.99909519e-01 -1.94536020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68439141799998 meters 0.015480130194240525 Centerline is valid? [True, True] Translation: X:97.24, Y:-0.56, Z:-1.94 [[ 9.99270412e-01 3.49054139e-02 1.55001979e-02 9.72368317e+01] [-3.48981505e-02 9.99390601e-01 -7.38921751e-04 -5.59265206e-01] [-1.55165445e-02 1.97454404e-04 9.99879592e-01 -1.94329457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74439141799998 meters 0.01762499021793713 Centerline is valid? [True, True] Translation: X:97.29, Y:-0.57, Z:-1.95 [[ 9.99498564e-01 2.82557491e-02 1.42910062e-02 9.72948532e+01] [-2.82489175e-02 9.99600689e-01 -6.79711568e-04 -5.68539478e-01] [-1.43045054e-02 2.75665281e-04 9.99897647e-01 -1.94602447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80439141799998 meters 0.018993381826629487 Centerline is valid? [True, True] Translation: X:97.35, Y:-0.58, Z:-1.95 [[ 9.99664434e-01 2.22527708e-02 1.32602503e-02 9.73536764e+01] [-2.22463703e-02 9.99752320e-01 -6.30011755e-04 -5.77868072e-01] [-1.32709855e-02 3.34807906e-04 9.99911881e-01 -1.94953378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86439141799998 meters 0.023819135752628055 Centerline is valid? [True, True] Translation: X:97.41, Y:-0.59, Z:-1.95 [[ 9.99781096e-01 1.52959863e-02 1.42755721e-02 9.74135469e+01] [-1.52878771e-02 9.99882904e-01 -6.77009952e-04 -5.85997654e-01] [-1.42842561e-02 4.58618560e-04 9.99897870e-01 -1.95018398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92439141799998 meters 0.02419753211225507 Centerline is valid? [True, True] Translation: X:97.47, Y:-0.59, Z:-1.95 [[ 9.99799326e-01 1.23273394e-02 1.57906581e-02 9.74740660e+01] [-1.23170580e-02 9.99923862e-01 -7.48201325e-04 -5.93077235e-01] [-1.57986792e-02 5.53556729e-04 9.99875040e-01 -1.94947891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98439141799999 meters 0.023771633188419218 Centerline is valid? [True, True] Translation: X:97.54, Y:-0.60, Z:-1.95 [[ 9.99804351e-01 1.15305055e-02 1.60719217e-02 9.75356141e+01] [-1.15197586e-02 9.99933356e-01 -7.61092762e-04 -6.00185905e-01] [-1.60796264e-02 5.75799196e-04 9.99870549e-01 -1.95331918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04439141799999 meters 0.024944448305030283 Centerline is valid? [True, True] Translation: X:97.60, Y:-0.60, Z:-1.95 [[ 9.99833727e-01 9.84535542e-03 1.53488784e-02 9.75973564e+01] [-9.83528071e-03 9.99951365e-01 -7.31729711e-04 -6.01220070e-01] [-1.53553360e-02 5.80647517e-04 9.99881931e-01 -1.95385800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10439141799998 meters 0.026134514209977967 Centerline is valid? [True, True] Translation: X:97.66, Y:-0.61, Z:-1.95 [[ 9.99812593e-01 8.45798765e-03 1.74138287e-02 9.76593717e+01] [-8.44476371e-03 9.99963996e-01 -8.32787583e-04 -6.08822809e-01] [-1.74202455e-02 6.85575843e-04 9.99848021e-01 -1.95462617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16439141799998 meters 0.025875806240123186 Centerline is valid? [True, True] Translation: X:97.72, Y:-0.61, Z:-1.96 [[ 9.99824714e-01 8.42160150e-03 1.67217652e-02 9.77219048e+01] [-8.40932741e-03 9.99964318e-01 -8.04198757e-04 -6.13709101e-01] [-1.67279412e-02 6.63438994e-04 9.99859858e-01 -1.95738438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22439141799998 meters 0.026858106878109946 Centerline is valid? [True, True] Translation: X:97.78, Y:-0.61, Z:-1.96 [[ 9.99851411e-01 1.05788255e-02 1.36104208e-02 9.77830770e+01] [-1.05708533e-02 9.99943911e-01 -6.57549557e-04 -6.10812861e-01] [-1.36166135e-02 5.13578090e-04 9.99907158e-01 -1.95931531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28439141799998 meters 0.025073819848566367 Centerline is valid? [True, True] Translation: X:97.85, Y:-0.61, Z:-1.96 [[ 9.99825669e-01 1.33364393e-02 1.30679169e-02 9.78454127e+01] [-1.33292849e-02 9.99910960e-01 -6.34431265e-04 -6.10644925e-01] [-1.30752144e-02 4.60134677e-04 9.99914410e-01 -1.96174342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34439141799999 meters 0.023700807188737016 Centerline is valid? [True, True] Translation: X:97.91, Y:-0.61, Z:-1.96 [[ 9.99788090e-01 1.53316031e-02 1.37374374e-02 9.79073464e+01] [-1.53238287e-02 9.99882358e-01 -6.71012839e-04 -6.13411064e-01] [-1.37461090e-02 4.60360506e-04 9.99905412e-01 -1.96373753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40439141799999 meters 0.023228226077641623 Centerline is valid? [True, True] Translation: X:97.97, Y:-0.62, Z:-1.96 [[ 9.99697857e-01 1.93000232e-02 1.52218367e-02 9.79677029e+01] [-1.92908416e-02 9.99813633e-01 -7.49796643e-04 -6.16472871e-01] [-1.52334709e-02 4.55928056e-04 9.99883860e-01 -1.96496927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46439141799998 meters 0.019321618727858487 Centerline is valid? [True, True] Translation: X:98.03, Y:-0.60, Z:-1.96 [[ 9.99541599e-01 2.41522005e-02 1.82554702e-02 9.80296244e+01] [-2.41397943e-02 9.99708188e-01 -8.99672677e-04 -6.04834574e-01] [-1.82718722e-02 4.58576970e-04 9.99832950e-01 -1.95816065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52439141799998 meters 0.019805971102905735 Centerline is valid? [True, True] Translation: X:98.09, Y:-0.61, Z:-1.96 [[ 9.99427896e-01 2.75768470e-02 1.95805764e-02 9.80893499e+01] [-2.75632221e-02 9.99619596e-01 -9.65427034e-04 -6.08712626e-01] [-1.95997513e-02 4.25170933e-04 9.99807816e-01 -1.95886574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58439141799998 meters 0.018584520736436207 Centerline is valid? [True, True] Translation: X:98.15, Y:-0.61, Z:-1.97 [[ 9.99366643e-01 3.10186279e-02 1.74401170e-02 9.81497578e+01] [-3.10083431e-02 9.99518756e-01 -8.59890950e-04 -6.11860724e-01] [-1.74583967e-02 3.18557200e-04 9.99847540e-01 -1.96686604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64439141799998 meters 0.01731413076298589 Centerline is valid? [True, True] Translation: X:98.21, Y:-0.61, Z:-1.97 [[ 9.99390731e-01 3.07370228e-02 1.65348838e-02 9.82092849e+01] [-3.07277370e-02 9.99527459e-01 -8.15415346e-04 -6.11562224e-01] [-1.65521338e-02 3.06838978e-04 9.99862957e-01 -1.96730556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70439141799999 meters 0.018293253868892377 Centerline is valid? [True, True] Translation: X:98.27, Y:-0.61, Z:-1.97 [[ 9.99430910e-01 2.95629342e-02 1.62446320e-02 9.82682030e+01] [-2.95538253e-02 9.99562870e-01 -8.00557452e-04 -6.14021633e-01] [-1.62611978e-02 3.20010848e-04 9.99867727e-01 -1.96861670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76439141799999 meters 0.01739370790572948 Centerline is valid? [True, True] Translation: X:98.33, Y:-0.62, Z:-1.97 [[ 9.99399233e-01 3.00530325e-02 1.72623487e-02 9.83279517e+01] [-3.00428391e-02 9.99548251e-01 -8.49580008e-04 -6.17041074e-01] [-1.72800829e-02 3.30459642e-04 9.99850634e-01 -1.96789767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82439141799998 meters 0.015454390657154158 Centerline is valid? [True, True] Translation: X:98.39, Y:-0.61, Z:-1.97 [[ 9.99230841e-01 3.54899525e-02 1.66790214e-02 9.83876160e+01] [-3.54812041e-02 9.99370007e-01 -8.20231397e-04 -6.12524731e-01] [-1.66976237e-02 2.27808747e-04 9.99860559e-01 -1.96859481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88439141799998 meters 0.01421616366285299 Centerline is valid? [True, True] Translation: X:98.45, Y:-0.61, Z:-1.97 [[ 9.98948706e-01 4.24157664e-02 1.73892530e-02 9.84461524e+01] [-4.24073167e-02 9.99100040e-01 -8.54536231e-04 -6.11789173e-01] [-1.74098492e-02 1.16206302e-04 9.99848430e-01 -1.97107410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94439141799998 meters 0.013997820588803134 Centerline is valid? [True, True] Translation: X:98.51, Y:-0.62, Z:-1.97 [[ 9.98822461e-01 4.51976017e-02 1.76314388e-02 9.85052989e+01] [-4.51893736e-02 9.98978064e-01 -8.65005623e-04 -6.15281834e-01] [-1.76525168e-02 6.72333699e-05 9.99844180e-01 -1.97258140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00439141799998 meters 0.013859753886328416 Centerline is valid? [True, True] Translation: X:98.56, Y:-0.62, Z:-1.97 [[ 9.98755928e-01 4.65705551e-02 1.78263665e-02 9.85640772e+01] [-4.65623892e-02 9.98915002e-01 -8.73083772e-04 -6.17851391e-01] [-1.78476849e-02 4.19593771e-05 9.99840717e-01 -1.97139308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06439141799999 meters 0.013931278680261405 Centerline is valid? [True, True] Translation: X:98.62, Y:-0.62, Z:-1.97 [[ 9.98849803e-01 4.46819277e-02 1.73952944e-02 9.86223478e+01] [-4.46738898e-02 9.99001261e-01 -8.50580526e-04 -6.22814047e-01] [-1.74159266e-02 7.24867251e-05 9.99848329e-01 -1.97285417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12439141799999 meters 0.014878597327431421 Centerline is valid? [True, True] Translation: X:98.68, Y:-0.64, Z:-1.98 [[ 9.99119732e-01 3.83916153e-02 1.69069305e-02 9.86798012e+01] [-3.83831433e-02 9.99262755e-01 -8.25428218e-04 -6.35546383e-01] [-1.69261555e-02 1.75760484e-04 9.99856727e-01 -1.97740713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18439141799998 meters 0.01693857873957538 Centerline is valid? [True, True] Translation: X:98.74, Y:-0.65, Z:-1.98 [[ 9.99330986e-01 3.20609468e-02 1.75976039e-02 9.87376952e+01] [-3.20508217e-02 9.99485873e-01 -8.57166831e-04 -6.48898838e-01] [-1.76160381e-02 2.92575708e-04 9.99844783e-01 -1.97961519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24439141799998 meters 0.017556908490288875 Centerline is valid? [True, True] Translation: X:98.80, Y:-0.65, Z:-1.98 [[ 9.99433551e-01 2.94395771e-02 1.63060976e-02 9.87968195e+01] [-2.94305508e-02 9.99566513e-01 -7.93298828e-04 -6.53769078e-01] [-1.63223835e-02 3.12952032e-04 9.99866732e-01 -1.98051341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30439141799998 meters 0.018530639146349052 Centerline is valid? [True, True] Translation: X:98.85, Y:-0.66, Z:-1.98 [[ 9.99491680e-01 2.79068701e-02 1.54139103e-02 9.88548561e+01] [-2.78986297e-02 9.99610477e-01 -7.49422711e-04 -6.58844620e-01] [-1.54288203e-02 3.19014787e-04 9.99880918e-01 -1.98201559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36439141799998 meters 0.019188077433253046 Centerline is valid? [True, True] Translation: X:98.91, Y:-0.67, Z:-1.98 [[ 9.99489944e-01 2.74020048e-02 1.64006603e-02 9.89134285e+01] [-2.73926246e-02 9.99624434e-01 -7.96357319e-04 -6.66909088e-01] [-1.64163226e-02 3.46694002e-04 9.99865183e-01 -1.98395522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42439141799998 meters 0.01852239441661469 Centerline is valid? [True, True] Translation: X:98.97, Y:-0.67, Z:-1.98 [[ 9.99488493e-01 2.65302109e-02 1.78578004e-02 9.89727903e+01] [-2.65189715e-02 9.99647935e-01 -8.65933476e-04 -6.71055608e-01] [-1.78744867e-02 3.91920043e-04 9.99840162e-01 -1.98447691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48439141799999 meters 0.020480852217237697 Centerline is valid? [True, True] Translation: X:99.03, Y:-0.68, Z:-1.99 [[ 9.99570430e-01 2.31754244e-02 1.79403246e-02 9.90329515e+01] [-2.31635567e-02 9.99731311e-01 -8.69053926e-04 -6.79381801e-01] [-1.79556449e-02 4.53118881e-04 9.99838682e-01 -1.98618817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54439141799998 meters 0.02240421559828715 Centerline is valid? [True, True] Translation: X:99.09, Y:-0.69, Z:-1.99 [[ 9.99719149e-01 1.70181987e-02 1.64925292e-02 9.90941592e+01] [-1.70073286e-02 9.99855046e-01 -7.99129990e-04 -6.85745144e-01] [-1.65037383e-02 5.18411690e-04 9.99863670e-01 -1.98828853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60439141799998 meters 0.024646195243139858 Centerline is valid? [True, True] Translation: X:99.15, Y:-0.69, Z:-1.99 [[ 9.99799248e-01 1.19896198e-02 1.60534559e-02 9.91548606e+01] [-1.19786620e-02 9.99927950e-01 -7.78570974e-04 -6.92753391e-01] [-1.60616340e-02 5.86115753e-04 9.99870832e-01 -1.99005458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66439141799998 meters 0.030449756541692453 Centerline is valid? [True, True] Translation: X:99.21, Y:-0.70, Z:-1.99 [[ 9.99878107e-01 3.83514158e-03 1.51348264e-02 9.92137372e+01] [-3.82446213e-03 9.99992417e-01 -7.34500879e-04 -7.04126854e-01] [-1.51375285e-02 6.76528778e-04 9.99885192e-01 -1.99299363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72439141799998 meters 0.03377679905985282 Centerline is valid? [True, True] Translation: X:99.27, Y:-0.71, Z:-1.99 [[ 9.99895051e-01 -2.86672913e-03 1.42010461e-02 9.92743759e+01] [ 2.87680077e-03 9.99995625e-01 -6.88841141e-04 -7.12349620e-01] [-1.41990093e-02 7.29622428e-04 9.99898923e-01 -1.99495800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78439141799998 meters 0.031873378212328454 Centerline is valid? [True, True] Translation: X:99.34, Y:-0.71, Z:-1.99 [[ 9.99882905e-01 -4.57264235e-03 1.46036621e-02 9.93368010e+01] [ 4.58346847e-03 9.99989245e-01 -7.07945634e-04 -7.11676571e-01] [-1.46002679e-02 7.74798162e-04 9.99893110e-01 -1.99447747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84439141799999 meters 0.033120478316379175 Centerline is valid? [True, True] Translation: X:99.40, Y:-0.71, Z:-1.99 [[ 9.99879845e-01 -2.92636062e-03 1.52227783e-02 9.93981665e+01] [ 2.93795622e-03 9.99995411e-01 -7.39419607e-04 -7.14390440e-01] [-1.52205446e-02 7.84054618e-04 9.99883853e-01 -1.99457160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90439141799999 meters 0.02928730476541035 Centerline is valid? [True, True] Translation: X:99.46, Y:-0.71, Z:-2.00 [[ 9.99866542e-01 4.06524658e-03 1.58231605e-02 9.94588996e+01] [-4.05357080e-03 9.99991488e-01 -7.69893891e-04 -7.09827402e-01] [-1.58261556e-02 7.05650841e-04 9.99874510e-01 -1.99595538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96439141799998 meters 0.02365608181476043 Centerline is valid? [True, True] Translation: X:99.52, Y:-0.70, Z:-2.00 [[ 9.99757411e-01 1.39666686e-02 1.70309012e-02 9.95201284e+01] [-1.39545764e-02 9.99902287e-01 -8.28651375e-04 -7.01434548e-01] [-1.70408106e-02 5.90791341e-04 9.99854620e-01 -1.99659898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02439141799998 meters 0.018581159519213224 Centerline is valid? [True, True] Translation: X:99.58, Y:-0.69, Z:-2.00 [[ 9.99538799e-01 2.52251778e-02 1.69079969e-02 9.95813060e+01] [-2.52148659e-02 9.99681716e-01 -8.22820527e-04 -6.88920678e-01] [-1.69233711e-02 3.96108167e-04 9.99856711e-01 -1.99702484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08439141799998 meters 0.015505063277154445 Centerline is valid? [True, True] Translation: X:99.64, Y:-0.68, Z:-2.00 [[ 9.99245602e-01 3.55222577e-02 1.56970307e-02 9.96416149e+01] [-3.55146390e-02 9.99368864e-01 -7.63933329e-04 -6.81635135e-01] [-1.57142603e-02 2.05882641e-04 9.99876502e-01 -2.00104499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14439141799998 meters 0.01423632913133282 Centerline is valid? [True, True] Translation: X:99.70, Y:-0.68, Z:-2.00 [[ 9.99031214e-01 4.13162029e-02 1.51527190e-02 9.97003420e+01] [-4.13097632e-02 9.99146115e-01 -7.37872429e-04 -6.76860795e-01] [-1.51702664e-02 1.11202354e-04 9.99884919e-01 -2.00269853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20439141799999 meters 0.013654950163879926 Centerline is valid? [True, True] Translation: X:99.76, Y:-0.67, Z:-2.00 [[ 9.98782778e-01 4.68976533e-02 1.52830723e-02 9.97596613e+01] [-4.68917741e-02 9.98899699e-01 -7.43002805e-04 -6.72282768e-01] [-1.53011014e-02 2.54480315e-05 9.99882931e-01 -2.00326672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26439141799999 meters 0.013765915275148484 Centerline is valid? [True, True] Translation: X:99.82, Y:-0.67, Z:-2.01 [[ 9.98650041e-01 4.97028189e-02 1.50905964e-02 9.98169460e+01] [-4.96974207e-02 9.98764051e-01 -7.32741967e-04 -6.72505269e-01] [-1.51083645e-02 -1.82109223e-05 9.99885862e-01 -2.00510321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32439141799998 meters 0.014582249337362513 Centerline is valid? [True, True] Translation: X:99.88, Y:-0.67, Z:-2.01 [[ 9.98221801e-01 5.72899241e-02 1.64651514e-02 9.98756062e+01] [-5.72845762e-02 9.98357573e-01 -7.96637823e-04 -6.69910819e-01] [-1.64837479e-02 -1.47977979e-04 9.99864123e-01 -2.00577560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38439141799998 meters 0.015434634618880276 Centerline is valid? [True, True] Translation: X:99.93, Y:-0.67, Z:-2.00 [[ 9.97958668e-01 6.11861431e-02 1.82962597e-02 9.99344516e+01] [-6.11802246e-02 9.98126344e-01 -8.83559283e-04 -6.69086484e-01] [-1.83160404e-02 -2.37613633e-04 9.99832219e-01 -2.00495614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44439141799998 meters 0.015433078948256053 Centerline is valid? [True, True] Translation: X:99.99, Y:-0.67, Z:-2.01 [[ 9.97977808e-01 6.05387674e-02 1.93740344e-02 9.99935223e+01] [-6.05320414e-02 9.98165818e-01 -9.33949301e-04 -6.73983716e-01] [-1.93950390e-02 -2.40689177e-04 9.99811870e-01 -2.00629316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50439141799998 meters 0.014485717671314787 Centerline is valid? [True, True] Translation: X:100.05, Y:-0.69, Z:-2.01 [[ 9.98345125e-01 5.45853794e-02 1.80954937e-02 1.00051020e+02] [-5.45785571e-02 9.98509100e-01 -8.71025288e-04 -6.85667601e-01] [-1.81160604e-02 -1.18042084e-04 9.99835884e-01 -2.01096479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56439141799999 meters 0.014053758257608559 Centerline is valid? [True, True] Translation: X:100.11, Y:-0.70, Z:-2.01 [[ 9.98837097e-01 4.50611670e-02 1.71447971e-02 1.00109539e+02] [-4.50536672e-02 9.98984228e-01 -8.23633356e-04 -6.97965929e-01] [-1.71644957e-02 5.02395708e-05 9.99852678e-01 -2.01209681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62439141799999 meters 0.014879490199500517 Centerline is valid? [True, True] Translation: X:100.17, Y:-0.71, Z:-2.01 [[ 9.99119871e-01 3.85075505e-02 1.66328526e-02 1.00167605e+02] [-3.84996051e-02 9.99258297e-01 -7.97751824e-04 -7.07791777e-01] [-1.66512354e-02 1.56691444e-04 9.99861346e-01 -2.01375516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68439141799998 meters 0.016908259296538605 Centerline is valid? [True, True] Translation: X:100.23, Y:-0.72, Z:-2.02 [[ 9.99374535e-01 3.08075254e-02 1.73618871e-02 1.00226483e+02] [-3.07977336e-02 9.99525292e-01 -8.31138683e-04 -7.22487180e-01] [-1.73792506e-02 2.95912061e-04 9.99848926e-01 -2.01608178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74439141799998 meters 0.01766400031595534 Centerline is valid? [True, True] Translation: X:100.29, Y:-0.73, Z:-2.02 [[ 9.99449227e-01 2.72291263e-02 1.89688341e-02 1.00286752e+02] [-2.72168106e-02 9.99629142e-01 -9.07162906e-04 -7.29576824e-01] [-1.89865006e-02 3.90392101e-04 9.99819664e-01 -2.01638684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80439141799998 meters 0.01888268321537772 Centerline is valid? [True, True] Translation: X:100.35, Y:-0.74, Z:-2.02 [[ 9.99501961e-01 2.42262237e-02 2.02217603e-02 1.00347436e+02] [-2.42116131e-02 9.99706388e-01 -9.67069616e-04 -7.37306666e-01] [-2.02392514e-02 4.76986542e-04 9.99795052e-01 -2.01712391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86439141799998 meters 0.01997891106274351 Centerline is valid? [True, True] Translation: X:100.41, Y:-0.75, Z:-2.02 [[ 9.99555147e-01 2.21341870e-02 1.99896617e-02 1.00409121e+02] [-2.21194782e-02 9.99754877e-01 -9.56650113e-04 -7.46087209e-01] [-2.00059364e-02 5.14063657e-04 9.99799729e-01 -2.01906202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92439141799998 meters 0.021887712639727105 Centerline is valid? [True, True] Translation: X:100.47, Y:-0.76, Z:-2.02 [[ 9.99683524e-01 1.57378327e-02 1.96257882e-02 1.00469350e+02] [-1.57223103e-02 9.99875950e-01 -9.44974266e-04 -7.55327282e-01] [-1.96382254e-02 6.36112474e-04 9.99806949e-01 -2.02076073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98439141799999 meters 0.026843845353777557 Centerline is valid? [True, True] Translation: X:100.53, Y:-0.77, Z:-2.02 [[ 9.99825206e-01 7.09618824e-03 1.72974334e-02 1.00528597e+02] [-7.08283193e-03 9.99974569e-01 -8.33296573e-04 -7.67607427e-01] [-1.73029068e-02 7.10636104e-04 9.99850041e-01 -2.02480633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04439141799998 meters 0.03136424308198817 Centerline is valid? [True, True] Translation: X:100.59, Y:-0.78, Z:-2.03 [[ 9.99889711e-01 -4.51623083e-04 1.48445952e-02 1.00588691e+02] [ 4.62285106e-04 9.99999638e-01 -7.14819210e-04 -7.81398137e-01] [-1.48442670e-02 7.21602808e-04 9.99889557e-01 -2.03039208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10439141799998 meters 0.033211956022379384 Centerline is valid? [True, True] Translation: X:100.65, Y:-0.79, Z:-2.03 [[ 9.99895767e-01 -2.99917084e-03 1.41230252e-02 1.00650060e+02] [ 3.00907216e-03 9.99995242e-01 -6.79878495e-04 -7.85654054e-01] [-1.41209189e-02 7.22304831e-04 9.99900034e-01 -2.03108551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16439141799998 meters 0.03181746500139609 Centerline is valid? [True, True] Translation: X:100.71, Y:-0.78, Z:-2.03 [[ 9.99880000e-01 -1.27230792e-03 1.54391110e-02 1.00712189e+02] [ 1.28394299e-03 9.99998899e-01 -7.43721278e-04 -7.83768457e-01] [-1.54381478e-02 7.63454970e-04 9.99880533e-01 -2.02862654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22439141799998 meters 0.03208645993430001 Centerline is valid? [True, True] Translation: X:100.77, Y:-0.79, Z:-2.03 [[ 9.99854394e-01 2.86013344e-03 1.68229242e-02 1.00772003e+02] [-2.84687183e-03 9.99995618e-01 -8.12200790e-04 -7.86761554e-01] [-1.68251735e-02 7.64189819e-04 9.99858155e-01 -2.02892702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28439141799998 meters 0.027467608819529445 Centerline is valid? [True, True] Translation: X:100.83, Y:-0.78, Z:-2.03 [[ 9.99825364e-01 7.99432362e-03 1.68917605e-02 1.00833534e+02] [-7.98168581e-03 9.99967813e-01 -8.15450073e-04 -7.81886755e-01] [-1.68977358e-02 6.80482941e-04 9.99856992e-01 -2.03057903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34439141799999 meters 0.02498892585045255 Centerline is valid? [True, True] Translation: X:100.89, Y:-0.78, Z:-2.03 [[ 9.99741958e-01 1.50672796e-02 1.69998142e-02 1.00893497e+02] [-1.50554935e-02 9.99886323e-01 -8.21086489e-04 -7.78376633e-01] [-1.70102532e-02 5.64934023e-04 9.99855156e-01 -2.03087774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40439141799999 meters 0.023001738613179293 Centerline is valid? [True, True] Translation: X:100.95, Y:-0.78, Z:-2.03 [[ 9.99665696e-01 1.96809427e-02 1.67677099e-02 1.00954893e+02] [-1.96701270e-02 9.99806196e-01 -8.09729792e-04 -7.76679198e-01] [-1.67803965e-02 4.79636114e-04 9.99859084e-01 -2.03228245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46439141799998 meters 0.020301652383027405 Centerline is valid? [True, True] Translation: X:101.02, Y:-0.77, Z:-2.03 [[ 9.99527740e-01 2.59772918e-02 1.64157448e-02 1.01015842e+02] [-2.59677636e-02 9.99662466e-01 -7.93352492e-04 -7.74016730e-01] [-1.64308131e-02 3.66697643e-04 9.99864938e-01 -2.03409301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52439141799998 meters 0.016064502932240838 Centerline is valid? [True, True] Translation: X:101.08, Y:-0.76, Z:-2.03 [[ 9.99319213e-01 3.29906632e-02 1.65144221e-02 1.01077058e+02] [-3.29819643e-02 9.99455628e-01 -7.98902920e-04 -7.63263775e-01] [-1.65317884e-02 2.53680957e-04 9.99863308e-01 -2.03286225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58439141799998 meters 0.015086701364905352 Centerline is valid? [True, True] Translation: X:101.14, Y:-0.76, Z:-2.04 [[ 9.99158909e-01 3.77633657e-02 1.59813152e-02 1.01135636e+02] [-3.77558252e-02 9.99286695e-01 -7.73391827e-04 -7.61876735e-01] [-1.59991216e-02 1.69353589e-04 9.99871992e-01 -2.03505397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64439141799998 meters 0.0139138745992415 Centerline is valid? [True, True] Translation: X:101.19, Y:-0.76, Z:-2.04 [[ 9.98867276e-01 4.52471758e-02 1.47260668e-02 1.01194412e+02] [-4.52415963e-02 9.98975821e-01 -7.11972487e-04 -7.60693555e-01] [-1.47431994e-02 4.49352516e-05 9.99891312e-01 -2.03913363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70439141799999 meters 0.014233781586983763 Centerline is valid? [True, True] Translation: X:101.25, Y:-0.76, Z:-2.04 [[ 9.98526591e-01 5.23237496e-02 1.43830723e-02 1.01253695e+02] [-5.23191776e-02 9.98630173e-01 -6.94223559e-04 -7.56319029e-01] [-1.43996944e-02 -5.93098307e-05 9.99896317e-01 -2.03898386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76439141799999 meters 0.014771749142698682 Centerline is valid? [True, True] Translation: X:101.31, Y:-0.76, Z:-2.04 [[ 9.98231980e-01 5.71503594e-02 1.63325215e-02 1.01312945e+02] [-5.71451353e-02 9.98365572e-01 -7.86754611e-04 -7.57055747e-01] [-1.63507905e-02 -1.47960538e-04 9.99866306e-01 -2.03816100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82439141799998 meters 0.014595128065343714 Centerline is valid? [True, True] Translation: X:101.37, Y:-0.77, Z:-2.04 [[ 9.98274411e-01 5.66040235e-02 1.56264188e-02 1.01370893e+02] [-5.65991897e-02 9.98396698e-01 -7.51761674e-04 -7.66801524e-01] [-1.56439176e-02 -1.33978198e-04 9.99877617e-01 -2.04168489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88439141799998 meters 0.014328185167404668 Centerline is valid? [True, True] Translation: X:101.43, Y:-0.77, Z:-2.04 [[ 9.98468213e-01 5.32557760e-02 1.50016578e-02 1.01428106e+02] [-5.32509716e-02 9.98580901e-01 -7.19804243e-04 -7.74026662e-01] [-1.50187027e-02 -8.01511972e-05 9.99887210e-01 -2.04360861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94439141799998 meters 0.014288332651609505 Centerline is valid? [True, True] Translation: X:101.49, Y:-0.79, Z:-2.05 [[ 9.98920035e-01 4.38330786e-02 1.54085829e-02 1.01485320e+02] [-4.38269141e-02 9.99038867e-01 -7.37680391e-04 -7.89484933e-01] [-1.54261080e-02 6.15730812e-05 9.99881009e-01 -2.04502701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00439141799998 meters 0.015289413151803216 Centerline is valid? [True, True] Translation: X:101.54, Y:-0.80, Z:-2.05 [[ 9.99262114e-01 3.55398738e-02 1.45651891e-02 1.01543721e+02] [-3.55335056e-02 9.99368243e-01 -6.95857462e-04 -8.02645770e-01] [-1.45807181e-02 1.77791771e-04 9.99893680e-01 -2.04629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06439141799999 meters 0.01766682325063692 Centerline is valid? [True, True] Translation: X:101.60, Y:-0.81, Z:-2.05 [[ 9.99542825e-01 2.67914211e-02 1.40129103e-02 1.01602510e+02] [-2.67846837e-02 9.99641003e-01 -6.68285791e-04 -8.13920150e-01] [-1.40257840e-02 2.92648898e-04 9.99901591e-01 -2.04747527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12439141799999 meters 0.02274605209316734 Centerline is valid? [True, True] Translation: X:101.66, Y:-0.83, Z:-2.05 [[ 9.99771020e-01 1.61167830e-02 1.40767990e-02 1.01661482e+02] [-1.61089438e-02 9.99870018e-01 -6.70103187e-04 -8.31285224e-01] [-1.40857692e-02 4.43187383e-04 9.99900692e-01 -2.04969519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18439141799998 meters 0.024214904135858296 Centerline is valid? [True, True] Translation: X:101.72, Y:-0.84, Z:-2.05 [[ 9.99841480e-01 1.07297185e-02 1.42087345e-02 1.01722436e+02] [-1.07211967e-02 9.99942298e-01 -6.75794987e-04 -8.40490624e-01] [-1.42151657e-02 5.23353222e-04 9.99898822e-01 -2.05111634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24439141799998 meters 0.02670500502586846 Centerline is valid? [True, True] Translation: X:101.78, Y:-0.85, Z:-2.05 [[ 9.99874126e-01 6.21819583e-03 1.45967592e-02 1.01782700e+02] [-6.20871131e-03 9.99980484e-01 -6.94995727e-04 -8.49254926e-01] [-1.46007960e-02 6.04281181e-04 9.99893220e-01 -2.05226739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30439141799998 meters 0.03271384308384808 Centerline is valid? [True, True] Translation: X:101.84, Y:-0.86, Z:-2.05 [[ 9.99871026e-01 1.67980720e-03 1.59721339e-02 1.01841942e+02] [-1.66786562e-03 9.99998320e-01 -7.60942063e-04 -8.61355688e-01] [-1.59733853e-02 7.34204549e-04 9.99872148e-01 -2.05103475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36439141799998 meters 0.031082882151742718 Centerline is valid? [True, True] Translation: X:101.90, Y:-0.86, Z:-2.05 [[ 9.99865233e-01 -7.65033889e-04 1.63990796e-02 1.01904428e+02] [ 7.77945055e-04 9.99999392e-01 -7.80945647e-04 -8.60923342e-01] [-1.63984722e-02 7.93597984e-04 9.99865221e-01 -2.05082503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42439141799998 meters 0.032875119966501276 Centerline is valid? [True, True] Translation: X:101.97, Y:-0.87, Z:-2.06 [[ 9.99900913e-01 -1.43489687e-03 1.40037851e-02 1.01966546e+02] [ 1.44437124e-03 9.99998735e-01 -6.66467079e-04 -8.66523315e-01] [-1.40028111e-02 6.86627705e-04 9.99901720e-01 -2.05618898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48439141799999 meters 0.033635276603125534 Centerline is valid? [True, True] Translation: X:102.03, Y:-0.87, Z:-2.06 [[ 9.99906081e-01 -2.56055609e-03 1.34637412e-02 1.02028490e+02] [ 2.56946390e-03 9.99996491e-01 -6.44358576e-04 -8.72589904e-01] [-1.34620440e-02 6.78892655e-04 9.99909152e-01 -2.05930348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54439141799998 meters 0.03082879066123315 Centerline is valid? [True, True] Translation: X:102.09, Y:-0.87, Z:-2.06 [[ 9.99937270e-01 -3.12537008e-03 1.07558676e-02 1.02090719e+02] [ 3.13112765e-03 9.99994964e-01 -5.18497375e-04 -8.67881983e-01] [-1.07541929e-02 5.52142844e-04 9.99942020e-01 -2.06143799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60439141799998 meters 0.030795122634056284 Centerline is valid? [True, True] Translation: X:102.15, Y:-0.86, Z:-2.06 [[ 9.99952289e-01 -8.18844187e-04 9.73393989e-03 1.02152639e+02] [ 8.23459270e-04 9.99999550e-01 -4.70124426e-04 -8.64935066e-01] [-9.73355056e-03 4.78117499e-04 9.99952514e-01 -2.06211459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66439141799998 meters 0.028066028213737697 Centerline is valid? [True, True] Translation: X:102.21, Y:-0.86, Z:-2.06 [[ 9.99935217e-01 3.15852155e-03 1.09355101e-02 1.02213646e+02] [-3.15292056e-03 9.99994889e-01 -5.29385452e-04 -8.62080824e-01] [-1.09371263e-02 4.94872362e-04 9.99940065e-01 -2.06216945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72439141799998 meters 0.023994442837337284 Centerline is valid? [True, True] Translation: X:102.28, Y:-0.85, Z:-2.06 [[ 9.99833319e-01 1.27439740e-02 1.30738056e-02 1.02275118e+02] [-1.27367801e-02 9.99918683e-01 -6.33365469e-04 -8.52322471e-01] [-1.30808141e-02 4.66741713e-04 9.99914334e-01 -2.06124993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78439141799998 meters 0.021197778391898545 Centerline is valid? [True, True] Translation: X:102.34, Y:-0.85, Z:-2.06 [[ 9.99702431e-01 2.01054526e-02 1.38137951e-02 1.02336685e+02] [-2.00981233e-02 9.99797788e-01 -6.69209388e-04 -8.45441148e-01] [-1.38244565e-02 3.91378896e-04 9.99904361e-01 -2.06156416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84439141799999 meters 0.018046528071596225 Centerline is valid? [True, True] Translation: X:102.40, Y:-0.84, Z:-2.06 [[ 9.99455088e-01 2.92266912e-02 1.53404061e-02 1.02397009e+02] [-2.92187186e-02 9.99572765e-01 -7.43626218e-04 -8.37159949e-01] [-1.53555859e-02 2.94993998e-04 9.99882053e-01 -2.06131195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90439141799997 meters 0.01679229542800282 Centerline is valid? [True, True] Translation: X:102.46, Y:-0.83, Z:-2.06 [[ 9.99298160e-01 3.43212490e-02 1.50079565e-02 1.02457224e+02] [-3.43141892e-02 9.99410830e-01 -7.27731122e-04 -8.30185271e-01] [-1.50240909e-02 2.12234513e-04 9.99887109e-01 -2.06209712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96439141799998 meters 0.015582865721684155 Centerline is valid? [True, True] Translation: X:102.52, Y:-0.83, Z:-2.06 [[ 9.99261194e-01 3.58467137e-02 1.38592684e-02 1.02516193e+02] [-3.58408431e-02 9.99357285e-01 -6.71806433e-04 -8.28696378e-01] [-1.38744428e-02 1.74582235e-04 9.99903730e-01 -2.06412174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02439141799998 meters 0.015423139437928501 Centerline is valid? [True, True] Translation: X:102.57, Y:-0.83, Z:-2.07 [[ 9.99228903e-01 3.74797928e-02 1.16989048e-02 1.02574695e+02] [-3.74757296e-02 9.99297378e-01 -5.66411522e-04 -8.30321719e-01] [-1.17119139e-02 1.27549771e-04 9.99931405e-01 -2.07050419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08439141799998 meters 0.014659629301963177 Centerline is valid? [True, True] Translation: X:102.63, Y:-0.83, Z:-2.07 [[ 9.99157567e-01 3.95343983e-02 1.10085659e-02 1.02633880e+02] [-3.95309337e-02 9.99218205e-01 -5.32224861e-04 -8.28748359e-01] [-1.10210007e-02 9.65976084e-05 9.99939262e-01 -2.07115634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14439141799998 meters 0.014423015900858989 Centerline is valid? [True, True] Translation: X:102.69, Y:-0.83, Z:-2.07 [[ 9.99071793e-01 4.13252478e-02 1.21563176e-02 1.02692413e+02] [-4.13211699e-02 9.99145744e-01 -5.86540238e-04 -8.26570003e-01] [-1.21701720e-02 8.36825401e-05 9.99925937e-01 -2.07033659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20439141799999 meters 0.014132398733939022 Centerline is valid? [True, True] Translation: X:102.75, Y:-0.83, Z:-2.07 [[ 9.98916071e-01 4.41947816e-02 1.46118193e-02 1.02751371e+02] [-4.41892184e-02 9.99022932e-01 -7.03535581e-04 -8.27054974e-01] [-1.46286352e-02 5.70881232e-05 9.99892994e-01 -2.07072799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26439141799999 meters 0.014146087720362173 Centerline is valid? [True, True] Translation: X:102.81, Y:-0.83, Z:-2.07 [[ 9.98875236e-01 4.49938790e-02 1.49603795e-02 1.02810213e+02] [-4.49881557e-02 9.98987262e-01 -7.19047082e-04 -8.29505255e-01] [-1.49775813e-02 4.51984414e-05 9.99887829e-01 -2.07346459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32439141799998 meters 0.014010455953924281 Centerline is valid? [True, True] Translation: X:102.87, Y:-0.83, Z:-2.08 [[ 9.98898777e-01 4.45204597e-02 1.48041148e-02 1.02868881e+02] [-4.45148212e-02 9.99008471e-01 -7.10343330e-04 -8.33307001e-01] [-1.48210609e-02 5.05585612e-05 9.99890161e-01 -2.07600318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38439141799998 meters 0.014308559736322245 Centerline is valid? [True, True] Translation: X:102.93, Y:-0.84, Z:-2.08 [[ 9.98991194e-01 4.26822040e-02 1.39579124e-02 1.02927435e+02] [-4.26770266e-02 9.99088697e-01 -6.68710933e-04 -8.39837277e-01] [-1.39737346e-02 7.23541347e-05 9.99902360e-01 -2.07956085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44439141799998 meters 0.015141368999213258 Centerline is valid? [True, True] Translation: X:102.98, Y:-0.85, Z:-2.08 [[ 9.99168797e-01 3.85160744e-02 1.33502098e-02 1.02984798e+02] [-3.85109763e-02 9.99257973e-01 -6.38830938e-04 -8.48146389e-01] [-1.33649088e-02 1.24170326e-04 9.99910678e-01 -2.08219996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50439141799998 meters 0.015628255948488063 Centerline is valid? [True, True] Translation: X:103.04, Y:-0.85, Z:-2.08 [[ 9.99241809e-01 3.65575771e-02 1.33921766e-02 1.03043412e+02] [-3.65522937e-02 9.99331537e-01 -6.39155906e-04 -8.52720363e-01] [-1.34065904e-02 1.49156531e-04 9.99910117e-01 -2.08315687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56439141799999 meters 0.01563591693000261 Centerline is valid? [True, True] Translation: X:103.10, Y:-0.86, Z:-2.09 [[ 9.99217076e-01 3.72941589e-02 1.32052995e-02 1.03101026e+02] [-3.72890975e-02 9.99304322e-01 -6.29378651e-04 -8.56857977e-01] [-1.32195851e-02 1.36472193e-04 9.99912608e-01 -2.08574241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62439141799999 meters 0.01465106775997757 Centerline is valid? [True, True] Translation: X:103.16, Y:-0.85, Z:-2.09 [[ 9.98991916e-01 4.28939063e-02 1.32387417e-02 1.03158577e+02] [-4.28893275e-02 9.99079631e-01 -6.29708906e-04 -8.54622666e-01] [-1.32535679e-02 6.12733759e-05 9.99912166e-01 -2.08738551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68439141799998 meters 0.014423048010734772 Centerline is valid? [True, True] Translation: X:103.22, Y:-0.85, Z:-2.09 [[ 9.98759887e-01 4.78084596e-02 1.38938741e-02 1.03217979e+02] [-4.78039127e-02 9.98856522e-01 -6.59371675e-04 -8.50205446e-01] [-1.39095103e-02 -5.62756361e-06 9.99903258e-01 -2.08696281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74439141799998 meters 0.014971902947821938 Centerline is valid? [True, True] Translation: X:103.28, Y:-0.85, Z:-2.09 [[ 9.98473732e-01 5.30582154e-02 1.53307911e-02 1.03276406e+02] [-5.30533159e-02 9.98591417e-01 -7.26392549e-04 -8.47350168e-01] [-1.53477375e-02 -8.80654225e-05 9.99882213e-01 -2.08735632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80439141799998 meters 0.01470648463481606 Centerline is valid? [True, True] Translation: X:103.34, Y:-0.85, Z:-2.09 [[ 9.98481383e-01 5.32470848e-02 1.41306736e-02 1.03335007e+02] [-5.32429580e-02 9.98581364e-01 -6.68354253e-04 -8.52423368e-01] [-1.41462152e-02 -8.50195796e-05 9.99899934e-01 -2.09007420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86439141799998 meters 0.014800012411184324 Centerline is valid? [True, True] Translation: X:103.39, Y:-0.86, Z:-2.09 [[ 9.98636890e-01 5.05681781e-02 1.29314138e-02 1.03392104e+02] [-5.05645032e-02 9.98720610e-01 -6.11184780e-04 -8.56747597e-01] [-1.29457760e-02 -4.35188466e-05 9.99916199e-01 -2.09478522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92439141799998 meters 0.014347689487367555 Centerline is valid? [True, True] Translation: X:103.45, Y:-0.87, Z:-2.09 [[ 9.99024704e-01 4.25132595e-02 1.19274158e-02 1.03450111e+02] [-4.25095808e-02 9.99095901e-01 -5.61892517e-04 -8.66787437e-01] [-1.19405201e-02 5.43150593e-05 9.99928708e-01 -2.09391059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98439141799999 meters 0.015193598999496632 Centerline is valid? [True, True] Translation: X:103.51, Y:-0.87, Z:-2.09 [[ 9.99271205e-01 3.60237369e-02 1.26233755e-02 1.03508842e+02] [-3.60191127e-02 9.99350925e-01 -5.93553686e-04 -8.74551305e-01] [-1.26365640e-02 1.38438321e-04 9.99920146e-01 -2.09366310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04439141799998 meters 0.017889034415812594 Centerline is valid? [True, True] Translation: X:103.57, Y:-0.89, Z:-2.10 [[ 9.99576403e-01 2.60153901e-02 1.30466285e-02 1.03567329e+02] [-2.60096150e-02 9.99661505e-01 -6.12155013e-04 -8.86170557e-01] [-1.30581378e-02 2.72557919e-04 9.99914702e-01 -2.09507490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10439141799998 meters 0.018872920559341387 Centerline is valid? [True, True] Translation: X:103.63, Y:-0.89, Z:-2.10 [[ 9.99654815e-01 2.29180611e-02 1.28457795e-02 1.03626228e+02] [-2.29122172e-02 9.99737299e-01 -6.01929879e-04 -8.91586846e-01] [-1.28562000e-02 3.07396811e-04 9.99917308e-01 -2.09654704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16439141799998 meters 0.02304586313223626 Centerline is valid? [True, True] Translation: X:103.69, Y:-0.90, Z:-2.10 [[ 9.99808840e-01 1.40796640e-02 1.35664025e-02 1.03686138e+02] [-1.40723503e-02 9.99900778e-01 -6.34416494e-04 -9.00930786e-01] [-1.35739888e-02 4.43384051e-04 9.99907771e-01 -2.09688037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22439141799998 meters 0.027926504436936984 Centerline is valid? [True, True] Translation: X:103.75, Y:-0.91, Z:-2.10 [[ 9.99874939e-01 3.20294906e-03 1.54870014e-02 1.03746412e+02] [-3.19211858e-03 9.99994643e-01 -7.23996403e-04 -9.12198651e-01] [-1.54892374e-02 6.74469514e-04 9.99879807e-01 -2.09552341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28439141799998 meters 0.03112069042293225 Centerline is valid? [True, True] Translation: X:103.81, Y:-0.92, Z:-2.10 [[ 9.99858280e-01 -4.19139473e-03 1.63049920e-02 1.03806768e+02] [ 4.20439669e-03 9.99990870e-01 -7.63225136e-04 -9.21376112e-01] [-1.63016442e-02 8.31669626e-04 9.99866773e-01 -2.09581305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34439141799999 meters 0.03691425912202929 Centerline is valid? [True, True] Translation: X:103.87, Y:-0.93, Z:-2.10 [[ 9.99793621e-01 -1.37848497e-02 1.49229202e-02 1.03866695e+02] [ 1.37968059e-02 9.99904576e-01 -6.98540367e-04 -9.32213977e-01] [-1.49118669e-02 9.04284837e-04 9.99888403e-01 -2.09847055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40439141799997 meters 0.039242752897727495 Centerline is valid? [True, True] Translation: X:103.93, Y:-0.94, Z:-2.10 [[ 9.99769841e-01 -1.73333103e-02 1.26420203e-02 1.03927755e+02] [ 1.73421714e-02 9.99849438e-01 -5.91631169e-04 -9.38486041e-01] [-1.26298620e-02 8.10735084e-04 9.99919911e-01 -2.10266395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46439141799998 meters 0.038686895257830256 Centerline is valid? [True, True] Translation: X:103.99, Y:-0.94, Z:-2.10 [[ 9.99809072e-01 -1.53842634e-02 1.20475953e-02 1.03988770e+02] [ 1.53921753e-02 9.99881374e-01 -5.64265820e-04 -9.39630385e-01] [-1.20374853e-02 7.49596784e-04 9.99927266e-01 -2.10402209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52439141799998 meters 0.03377950157791819 Centerline is valid? [True, True] Translation: X:104.05, Y:-0.93, Z:-2.10 [[ 9.99912935e-01 -7.55102704e-03 1.08214347e-02 1.04049697e+02] [ 7.55696144e-03 9.99971317e-01 -5.07607061e-04 -9.28724549e-01] [-1.08172913e-02 5.89340031e-04 9.99941318e-01 -2.10417068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58439141799998 meters 0.02970816330661965 Centerline is valid? [True, True] Translation: X:104.11, Y:-0.92, Z:-2.10 [[ 9.99941502e-01 -7.41091130e-04 1.07908874e-02 1.04110851e+02] [ 7.46596112e-04 9.99999593e-01 -5.06131614e-04 -9.20993591e-01] [-1.07905079e-02 5.14158441e-04 9.99941649e-01 -2.10467177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64439141799998 meters 0.024299521426832567 Centerline is valid? [True, True] Translation: X:104.17, Y:-0.91, Z:-2.10 [[ 9.99864958e-01 1.06688516e-02 1.24996678e-02 1.04172459e+02] [-1.06623563e-02 9.99942984e-01 -5.86164382e-04 -9.09973665e-01] [-1.25052088e-02 4.52809313e-04 9.99921704e-01 -2.10489095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70439141799999 meters 0.020838408619245557 Centerline is valid? [True, True] Translation: X:104.23, Y:-0.90, Z:-2.10 [[ 9.99734522e-01 1.85438082e-02 1.36752749e-02 1.04233299e+02] [-1.85367642e-02 9.99827974e-01 -6.41671150e-04 -9.02393427e-01] [-1.36848214e-02 3.88005454e-04 9.99906283e-01 -2.10460050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76439141799999 meters 0.016795415534388843 Centerline is valid? [True, True] Translation: X:104.29, Y:-0.89, Z:-2.10 [[ 9.99459478e-01 2.95140689e-02 1.44800404e-02 1.04294927e+02] [-2.95073239e-02 9.99564333e-01 -6.79284293e-04 -8.91023467e-01] [-1.44937803e-02 2.51649884e-04 9.99894928e-01 -2.10440785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82439141799998 meters 0.014863838126904541 Centerline is valid? [True, True] Translation: X:104.35, Y:-0.88, Z:-2.11 [[ 9.99189952e-01 3.80208590e-02 1.31853421e-02 1.04352998e+02] [-3.80159908e-02 9.99276939e-01 -6.19741235e-04 -8.83415559e-01] [-1.31993714e-02 1.17985371e-04 9.99912878e-01 -2.10665222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88439141799998 meters 0.014272503153940777 Centerline is valid? [True, True] Translation: X:104.41, Y:-0.88, Z:-2.11 [[ 9.99034490e-01 4.23133765e-02 1.18179957e-02 1.04411305e+02] [-4.23097777e-02 9.99104387e-01 -5.54481644e-04 -8.82167807e-01] [-1.18308733e-02 5.39295164e-05 9.99930011e-01 -2.11050055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94439141799998 meters 0.01439081728339059 Centerline is valid? [True, True] Translation: X:104.47, Y:-0.88, Z:-2.12 [[ 9.98821373e-01 4.75642251e-02 9.66999641e-03 1.04469825e+02] [-4.75620694e-02 9.98868182e-01 -4.52903196e-04 -8.79722042e-01] [-9.68059372e-03 -7.55564893e-06 9.99953142e-01 -2.11523573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00439141799998 meters 0.014600925268830486 Centerline is valid? [True, True] Translation: X:104.53, Y:-0.88, Z:-2.12 [[ 9.98683730e-01 5.03090578e-02 9.99030629e-03 1.04528897e+02] [-5.03069023e-02 9.98733697e-01 -4.67090590e-04 -8.78307903e-01] [-1.00011544e-02 -3.61055901e-05 9.99949987e-01 -2.11527323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06439141799999 meters 0.014805685687713954 Centerline is valid? [True, True] Translation: X:104.59, Y:-0.88, Z:-2.11 [[ 9.98567582e-01 5.22805116e-02 1.13811937e-02 1.04587587e+02] [-5.22778551e-02 9.98632437e-01 -5.30992621e-04 -8.76087521e-01] [-1.13933898e-02 -6.47523781e-05 9.99935091e-01 -2.11254465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12439141799999 meters 0.014385090140517304 Centerline is valid? [True, True] Translation: X:104.65, Y:-0.88, Z:-2.11 [[ 9.98705015e-01 4.93588277e-02 1.23288211e-02 1.04646144e+02] [-4.93555014e-02 9.98781110e-01 -5.74099432e-04 -8.81085331e-01] [-1.23421305e-02 -3.51391667e-05 9.99923832e-01 -2.11351639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18439141799998 meters 0.014132133467949996 Centerline is valid? [True, True] Translation: X:104.70, Y:-0.89, Z:-2.12 [[ 9.98938250e-01 4.42430663e-02 1.28422811e-02 1.04704135e+02] [-4.42390486e-02 9.99020796e-01 -5.96899917e-04 -8.89247405e-01] [-1.28561146e-02 2.81358600e-05 9.99917356e-01 -2.11590367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24439141799998 meters 0.015433151713719895 Centerline is valid? [True, True] Translation: X:104.76, Y:-0.90, Z:-2.12 [[ 9.99324621e-01 3.44854787e-02 1.26906541e-02 1.04762433e+02] [-3.44807806e-02 9.99405188e-01 -5.88881893e-04 -9.03040435e-01] [-1.27034134e-02 1.50900514e-04 9.99919297e-01 -2.11828642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30439141799998 meters 0.017024679272235575 Centerline is valid? [True, True] Translation: X:104.82, Y:-0.91, Z:-2.12 [[ 9.99544347e-01 2.76754437e-02 1.20485485e-02 1.04821147e+02] [-2.76707269e-02 9.99616936e-01 -5.58040605e-04 -9.12861094e-01] [-1.20593772e-02 2.24394237e-04 9.99927258e-01 -2.11853178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36439141799998 meters 0.01780043270301302 Centerline is valid? [True, True] Translation: X:104.88, Y:-0.92, Z:-2.12 [[ 9.99575655e-01 2.65211523e-02 1.20473120e-02 1.04879919e+02] [-2.65163596e-02 9.99648224e-01 -5.57411197e-04 -9.17424314e-01] [-1.20578572e-02 2.37723807e-04 9.99927273e-01 -2.11994592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42439141799998 meters 0.017553979936601755 Centerline is valid? [True, True] Translation: X:104.94, Y:-0.92, Z:-2.12 [[ 9.99556528e-01 2.68205845e-02 1.29384684e-02 1.04938295e+02] [-2.68150965e-02 9.99640232e-01 -5.97486001e-04 -9.21156697e-01] [-1.29498385e-02 2.50274754e-04 9.99916116e-01 -2.12017694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48439141799999 meters 0.01607109163480135 Centerline is valid? [True, True] Translation: X:105.00, Y:-0.92, Z:-2.12 [[ 9.99440919e-01 3.06046550e-02 1.34611981e-02 1.04996659e+02] [-3.05990729e-02 9.99531546e-01 -6.20487875e-04 -9.23000790e-01] [-1.34738819e-02 2.08240790e-04 9.99909201e-01 -2.12246910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54439141799998 meters 0.014942038367317298 Centerline is valid? [True, True] Translation: X:105.06, Y:-0.92, Z:-2.12 [[ 9.99237851e-01 3.65905008e-02 1.35960443e-02 1.05055179e+02] [-3.65853758e-02 9.99330335e-01 -6.25562034e-04 -9.23014028e-01] [-1.36098292e-02 1.27668871e-04 9.99907374e-01 -2.12491776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60439141799998 meters 0.014280780009853463 Centerline is valid? [True, True] Translation: X:105.11, Y:-0.92, Z:-2.12 [[ 9.99085780e-01 4.06463525e-02 1.32468422e-02 1.05114396e+02] [-4.06418574e-02 9.99173593e-01 -6.08468496e-04 -9.22207113e-01] [-1.32606270e-02 6.95359479e-05 9.99912072e-01 -2.12466107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66439141799998 meters 0.014035402099137484 Centerline is valid? [True, True] Translation: X:105.17, Y:-0.92, Z:-2.12 [[ 9.98906333e-01 4.46412965e-02 1.39029987e-02 1.05172542e+02] [-4.46367471e-02 9.99003080e-01 -6.37512514e-04 -9.23721604e-01] [-1.39175979e-02 1.62306511e-05 9.99903145e-01 -2.12384462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72439141799998 meters 0.014090030638069588 Centerline is valid? [True, True] Translation: X:105.23, Y:-0.93, Z:-2.13 [[ 9.98888211e-01 4.54201504e-02 1.26234467e-02 1.05230786e+02] [-4.54164778e-02 9.98967972e-01 -5.77595652e-04 -9.32791083e-01] [-1.26366535e-02 3.64099935e-06 9.99920154e-01 -2.12895476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78439141799998 meters 0.014206834902224517 Centerline is valid? [True, True] Translation: X:105.29, Y:-0.94, Z:-2.13 [[ 9.98917025e-01 4.51501803e-02 1.12356059e-02 1.05288874e+02] [-4.51472616e-02 9.98980211e-01 -5.13397124e-04 -9.39520896e-01] [-1.12473279e-02 5.58428824e-06 9.99936747e-01 -2.13255678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84439141799999 meters 0.014268708479835914 Centerline is valid? [True, True] Translation: X:105.35, Y:-0.95, Z:-2.13 [[ 9.98954362e-01 4.41361459e-02 1.19240895e-02 1.05347625e+02] [-4.41327992e-02 9.99025525e-01 -5.43781743e-04 -9.46133066e-01] [-1.19364702e-02 1.69696976e-05 9.99928758e-01 -2.13292542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90439141799997 meters 0.01429271018399701 Centerline is valid? [True, True] Translation: X:105.41, Y:-0.95, Z:-2.13 [[ 9.98967879e-01 4.33305639e-02 1.36249373e-02 1.05406056e+02] [-4.33261369e-02 9.99060790e-01 -6.20055833e-04 -9.51032593e-01] [-1.36390080e-02 2.90999596e-05 9.99906984e-01 -2.13047754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96439141799998 meters 0.014295694486632758 Centerline is valid? [True, True] Translation: X:105.46, Y:-0.96, Z:-2.13 [[ 9.98997769e-01 4.22432340e-02 1.47975019e-02 1.05464293e+02] [-4.22379131e-02 9.99107355e-01 -6.72064071e-04 -9.56288587e-01] [-1.48126831e-02 4.63749088e-05 9.99890285e-01 -2.12960348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02439141799998 meters 0.014203244841031965 Centerline is valid? [True, True] Translation: X:105.52, Y:-0.96, Z:-2.13 [[ 9.99046527e-01 4.08601093e-02 1.53781620e-02 1.05522438e+02] [-4.08542177e-02 9.99164875e-01 -6.97199615e-04 -9.60894313e-01] [-1.53938070e-02 6.82720761e-05 9.99881506e-01 -2.13038428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08439141799998 meters 0.014514670609335261 Centerline is valid? [True, True] Translation: X:105.58, Y:-0.97, Z:-2.13 [[ 9.99120945e-01 3.86726145e-02 1.61792178e-02 1.05581304e+02] [-3.86658369e-02 9.99251929e-01 -7.31629935e-04 -9.68171735e-01] [-1.61954086e-02 1.05403796e-04 9.99868840e-01 -2.13336405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14439141799998 meters 0.01473384188975959 Centerline is valid? [True, True] Translation: X:105.64, Y:-0.98, Z:-2.14 [[ 9.99166488e-01 3.71716679e-02 1.68699605e-02 1.05638408e+02] [-3.71641087e-02 9.99308886e-01 -7.61473461e-04 -9.77202409e-01] [-1.68866067e-02 1.33881719e-04 9.99857402e-01 -2.13534533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20439141799999 meters 0.01475570385384713 Centerline is valid? [True, True] Translation: X:105.70, Y:-0.98, Z:-2.14 [[ 9.99173801e-01 3.74965086e-02 1.56756969e-02 1.05697503e+02] [-3.74900460e-02 9.99296752e-01 -7.06026451e-04 -9.80848408e-01] [-1.56911465e-02 1.17760536e-04 9.99876879e-01 -2.13643436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26439141799997 meters 0.014597573128853214 Centerline is valid? [True, True] Translation: X:105.76, Y:-0.98, Z:-2.14 [[ 9.99116595e-01 3.94122416e-02 1.45844269e-02 1.05756593e+02] [-3.94068670e-02 9.99223033e-01 -6.55824326e-04 -9.81346572e-01] [-1.45989428e-02 8.05183969e-05 9.99893427e-01 -2.13720374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32439141799998 meters 0.01416549542432043 Centerline is valid? [True, True] Translation: X:105.82, Y:-0.98, Z:-2.14 [[ 9.98910316e-01 4.41968339e-02 1.49940383e-02 1.05815718e+02] [-4.41917104e-02 9.99022842e-01 -6.73013794e-04 -9.83636936e-01] [-1.50091318e-02 9.66822329e-06 9.99887357e-01 -2.13896462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38439141799998 meters 0.015388746994426026 Centerline is valid? [True, True] Translation: X:105.87, Y:-0.99, Z:-2.14 [[ 9.98713570e-01 4.86315022e-02 1.43590119e-02 1.05873919e+02] [-4.86272777e-02 9.98816787e-01 -6.43407448e-04 -9.86962597e-01] [-1.43733120e-02 -5.56599116e-05 9.99896697e-01 -2.14342978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44439141799998 meters 0.015522230724997784 Centerline is valid? [True, True] Translation: X:105.93, Y:-0.99, Z:-2.15 [[ 9.98580768e-01 5.19764231e-02 1.16147066e-02 1.05932532e+02] [-5.19738924e-02 9.98648309e-01 -5.19833231e-04 -9.86991603e-01] [-1.16260262e-02 -8.45660427e-05 9.99932412e-01 -2.14541075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50439141799998 meters 0.015004522537769106 Centerline is valid? [True, True] Translation: X:105.99, Y:-0.99, Z:-2.14 [[ 9.98580235e-01 5.19705083e-02 1.16867663e-02 1.05990301e+02] [-5.19679528e-02 9.98648616e-01 -5.22446717e-04 -9.88827208e-01] [-1.16981249e-02 -8.56323559e-05 9.99931571e-01 -2.14428445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56439141799999 meters 0.014657756977354183 Centerline is valid? [True, True] Translation: X:106.05, Y:-1.00, Z:-2.14 [[ 9.98702273e-01 4.92501257e-02 1.29690357e-02 1.06048777e+02] [-4.92467777e-02 9.98786474e-01 -5.77573852e-04 -9.99492138e-01] [-1.29817430e-02 -6.18588977e-05 9.99915732e-01 -2.14455663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62439141799999 meters 0.01454092776670385 Centerline is valid? [True, True] Translation: X:106.11, Y:-1.01, Z:-2.15 [[ 9.99014239e-01 4.23587175e-02 1.32773827e-02 1.06106818e+02] [-4.23546142e-02 9.99102466e-01 -5.90212964e-04 -1.01227752e+00] [-1.32904665e-02 2.72727339e-05 9.99911677e-01 -2.14606663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68439141799998 meters 0.014619761983675173 Centerline is valid? [True, True] Translation: X:106.16, Y:-1.02, Z:-2.15 [[ 9.99233885e-01 3.68881063e-02 1.30732944e-02 1.06164917e+02] [-3.68836738e-02 9.99319397e-01 -5.80074153e-04 -1.02116307e+00] [-1.30857945e-02 9.74386244e-05 9.99914373e-01 -2.14761428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74439141799998 meters 0.016781682690221383 Centerline is valid? [True, True] Translation: X:106.22, Y:-1.04, Z:-2.15 [[ 9.99505284e-01 2.81471512e-02 1.40329763e-02 1.06223975e+02] [-2.81412040e-02 9.99603765e-01 -6.21121007e-04 -1.03824024e+00] [-1.40448988e-02 2.25908879e-04 9.99901340e-01 -2.14988937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80439141799998 meters 0.019020522779122945 Centerline is valid? [True, True] Translation: X:106.28, Y:-1.05, Z:-2.15 [[ 9.99699069e-01 2.00587673e-02 1.41215207e-02 1.06284040e+02] [-2.00519499e-02 9.99798745e-01 -6.24205120e-04 -1.04890439e+00] [-1.41311994e-02 3.40853251e-04 9.99900092e-01 -2.14934902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86439141799998 meters 0.022502267023220144 Centerline is valid? [True, True] Translation: X:106.34, Y:-1.06, Z:-2.15 [[ 9.99780730e-01 1.52113801e-02 1.43911623e-02 1.06344415e+02] [-1.52038016e-02 9.99884213e-01 -6.35874798e-04 -1.05640983e+00] [-1.43991685e-02 4.16934995e-04 9.99896240e-01 -2.15018520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92439141799998 meters 0.026200698763577623 Centerline is valid? [True, True] Translation: X:106.41, Y:-1.07, Z:-2.15 [[ 9.99850225e-01 8.26454993e-03 1.52060726e-02 1.06405146e+02] [-8.25527599e-03 9.99965698e-01 -6.72553372e-04 -1.06984176e+00] [-1.52111094e-02 5.46922314e-04 9.99884155e-01 -2.15359612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98439141799999 meters 0.026657779692696226 Centerline is valid? [True, True] Translation: X:106.47, Y:-1.08, Z:-2.15 [[ 9.99873621e-01 2.91538797e-03 1.56282814e-02 1.06465615e+02] [-2.90492814e-03 9.99995541e-01 -6.91947483e-04 -1.07505404e+00] [-1.56302290e-02 6.46461001e-04 9.99877632e-01 -2.15492604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04439141799998 meters 0.03223671728334852 Centerline is valid? [True, True] Translation: X:106.53, Y:-1.08, Z:-2.16 [[ 9.99889673e-01 1.96823985e-03 1.47230610e-02 1.06527029e+02] [-1.95887089e-03 9.99997870e-01 -6.50739774e-04 -1.08173247e+00] [-1.47243104e-02 6.21827404e-04 9.99891398e-01 -2.15650478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10439141799998 meters 0.026297848141159163 Centerline is valid? [True, True] Translation: X:106.59, Y:-1.07, Z:-2.16 [[ 9.99888994e-01 3.13072824e-03 1.45670573e-02 1.06589240e+02] [-3.12160954e-03 9.99994917e-01 -6.48676290e-04 -1.07381554e+00] [-1.45690141e-02 6.03131617e-04 9.99893684e-01 -2.15664390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16439141799998 meters 0.02695484711148815 Centerline is valid? [True, True] Translation: X:106.65, Y:-1.08, Z:-2.16 [[ 9.99869253e-01 4.44845581e-03 1.55463460e-02 1.06650574e+02] [-4.43822087e-03 9.99989911e-01 -6.92789589e-04 -1.07654314e+00] [-1.55492710e-02 6.23700891e-04 9.99878908e-01 -2.15776789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22439141799998 meters 0.02693414924226864 Centerline is valid? [True, True] Translation: X:106.71, Y:-1.08, Z:-2.16 [[ 9.99867441e-01 5.06641069e-03 1.54736104e-02 1.06713167e+02] [-5.05628352e-03 9.99986976e-01 -6.93532292e-04 -1.07558935e+00] [-1.54769226e-02 6.15201397e-04 9.99880036e-01 -2.15884140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28439141799998 meters 0.02473826886906532 Centerline is valid? [True, True] Translation: X:106.78, Y:-1.07, Z:-2.16 [[ 9.99874001e-01 8.66601476e-03 1.32997312e-02 1.06775043e+02] [-8.65879087e-03 9.99962332e-01 -6.00648064e-04 -1.07090569e+00] [-1.33044355e-02 4.85412791e-04 9.99911374e-01 -2.16235587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34439141799999 meters 0.023085831055777144 Centerline is valid? [True, True] Translation: X:106.84, Y:-1.07, Z:-2.16 [[ 9.99826208e-01 1.31844208e-02 1.31804847e-02 1.06836861e+02] [-1.31777098e-02 9.99912993e-01 -5.95885115e-04 -1.06793677e+00] [-1.31871943e-02 4.22092953e-04 9.99912956e-01 -2.16393348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40439141799997 meters 0.020133401046582313 Centerline is valid? [True, True] Translation: X:106.90, Y:-1.06, Z:-2.16 [[ 9.99674850e-01 2.13746076e-02 1.39039776e-02 1.06897612e+02] [-2.13679051e-02 9.99771481e-01 -6.30449525e-04 -1.05719405e+00] [-1.39142759e-02 3.33145662e-04 9.99903136e-01 -2.16188377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46439141799998 meters 0.017210681130424132 Centerline is valid? [True, True] Translation: X:106.96, Y:-1.05, Z:-2.16 [[ 9.99476781e-01 2.85602145e-02 1.51814905e-02 1.06958646e+02] [-2.85530520e-02 9.99592041e-01 -6.88375929e-04 -1.04810929e+00] [-1.51949572e-02 2.54537870e-04 9.99884518e-01 -2.16174290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52439141799998 meters 0.016283935191172345 Centerline is valid? [True, True] Translation: X:107.02, Y:-1.05, Z:-2.16 [[ 9.99356117e-01 3.22041620e-02 1.58190803e-02 1.07018091e+02] [-3.21968386e-02 9.99481290e-01 -7.17478066e-04 -1.04654691e+00] [-1.58339805e-02 2.07691720e-04 9.99874613e-01 -2.16398939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58439141799998 meters 0.015765402820164247 Centerline is valid? [True, True] Translation: X:107.08, Y:-1.04, Z:-2.17 [[ 9.99265907e-01 3.55711425e-02 1.42246412e-02 1.07076939e+02] [-3.55655674e-02 9.99367137e-01 -6.44789008e-04 -1.04358009e+00] [-1.42385749e-02 1.38408237e-04 9.99898617e-01 -2.16693362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64439141799998 meters 0.015873713789486397 Centerline is valid? [True, True] Translation: X:107.14, Y:-1.04, Z:-2.17 [[ 9.99282112e-01 3.55859894e-02 1.29961054e-02 1.07136140e+02] [-3.55813440e-02 9.99366610e-01 -5.88561322e-04 -1.04377990e+00] [-1.30088183e-02 1.25719903e-04 9.99915374e-01 -2.16891294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70439141799999 meters 0.0162666717295908 Centerline is valid? [True, True] Translation: X:107.19, Y:-1.05, Z:-2.17 [[ 9.99386257e-01 3.25585149e-02 1.29248786e-02 1.07194826e+02] [-3.25536796e-02 9.99469818e-01 -5.84369592e-04 -1.04714989e+00] [-1.29370523e-02 1.63258582e-04 9.99916300e-01 -2.16946624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76439141799997 meters 0.018628160385071174 Centerline is valid? [True, True] Translation: X:107.25, Y:-1.06, Z:-2.17 [[ 9.99561780e-01 2.64119214e-02 1.33662885e-02 1.07252742e+02] [-2.64062216e-02 9.99651113e-01 -6.02763470e-04 -1.05518486e+00] [-1.33775453e-02 2.49546151e-04 9.99910485e-01 -2.17157822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82439141799998 meters 0.020216122358521705 Centerline is valid? [True, True] Translation: X:107.31, Y:-1.06, Z:-2.17 [[ 9.99681692e-01 2.14093670e-02 1.33474005e-02 1.07312257e+02] [-2.14032392e-02 9.99770743e-01 -6.01791817e-04 -1.06077963e+00] [-1.33572245e-02 3.15922656e-04 9.99910738e-01 -2.17287836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88439141799998 meters 0.01969773508919168 Centerline is valid? [True, True] Translation: X:107.37, Y:-1.06, Z:-2.17 [[ 9.99697356e-01 2.09029980e-02 1.29715639e-02 1.07372879e+02] [-2.08971780e-02 9.99781460e-01 -5.84064212e-04 -1.06256694e+00] [-1.29809378e-02 3.12818367e-04 9.99915695e-01 -2.17409576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94439141799998 meters 0.0188243535821348 Centerline is valid? [True, True] Translation: X:107.43, Y:-1.06, Z:-2.18 [[ 9.99670745e-01 2.30997868e-02 1.11714903e-02 1.07433745e+02] [-2.30956072e-02 9.99733134e-01 -5.03013182e-04 -1.06212181e+00] [-1.11801285e-02 2.44835211e-04 9.99937470e-01 -2.17597406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00439141799998 meters 0.01673920698323963 Centerline is valid? [True, True] Translation: X:107.49, Y:-1.06, Z:-2.18 [[ 9.99482916e-01 3.02051232e-02 1.10250669e-02 1.07493651e+02] [-3.02014803e-02 9.99543708e-01 -4.96799027e-04 -1.05629960e+00] [-1.10350421e-02 1.63568800e-04 9.99939099e-01 -2.17566005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06439141799999 meters 0.01574285678442275 Centerline is valid? [True, True] Translation: X:107.55, Y:-1.05, Z:-2.18 [[ 9.99277603e-01 3.64774251e-02 1.06616025e-02 1.07551369e+02] [-3.64743735e-02 9.99334473e-01 -4.80595852e-04 -1.05364992e+00] [-1.06720378e-02 9.13733994e-05 9.99943048e-01 -2.17802186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12439141799999 meters 0.014807811379456998 Centerline is valid? [True, True] Translation: X:107.61, Y:-1.05, Z:-2.18 [[ 9.98966132e-01 4.45509143e-02 9.04896691e-03 1.07610536e+02] [-4.45490543e-02 9.99007115e-01 -4.07108493e-04 -1.04714052e+00] [-9.05811939e-03 3.56467845e-06 9.99958974e-01 -2.17940701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18439141799998 meters 0.014850032876595937 Centerline is valid? [True, True] Translation: X:107.67, Y:-1.04, Z:-2.18 [[ 9.98786371e-01 4.83239986e-02 9.51719810e-03 1.07668280e+02] [-4.83221162e-02 9.98831713e-01 -4.27775336e-04 -1.04496776e+00] [-9.52675109e-03 -3.26349769e-05 9.99954619e-01 -2.18021915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24439141799998 meters 0.015372206743829787 Centerline is valid? [True, True] Translation: X:107.73, Y:-1.04, Z:-2.18 [[ 9.98631582e-01 5.15606996e-02 8.74400453e-03 1.07726134e+02] [-5.15592443e-02 9.98669861e-01 -3.91924329e-04 -1.04207275e+00] [-8.75258168e-03 -5.94462531e-05 9.99961694e-01 -2.18121394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30439141799998 meters 0.014948252545864993 Centerline is valid? [True, True] Translation: X:107.78, Y:-1.05, Z:-2.18 [[ 9.98663473e-01 5.10118670e-02 8.31002130e-03 1.07784395e+02] [-5.10105371e-02 9.98698046e-01 -3.72049679e-04 -1.04579363e+00] [-8.31818098e-03 -5.23462253e-05 9.99965402e-01 -2.18142731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36439141799998 meters 0.014278485505017853 Centerline is valid? [True, True] Translation: X:107.84, Y:-1.05, Z:-2.18 [[ 9.98902414e-01 4.61233624e-02 8.16110041e-03 1.07842534e+02] [-4.61219283e-02 9.98935751e-01 -3.63949411e-04 -1.05305894e+00] [-8.16920154e-03 -1.28557428e-05 9.99966631e-01 -2.18244922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42439141799998 meters 0.014236185128600618 Centerline is valid? [True, True] Translation: X:107.90, Y:-1.06, Z:-2.18 [[ 9.99099614e-01 4.17164211e-02 7.72673890e-03 1.07901381e+02] [-4.17150079e-02 9.99129491e-01 -3.44040182e-04 -1.06040850e+00] [-7.73436482e-03 2.14094382e-05 9.99970089e-01 -2.18438991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48439141799999 meters 0.014727015369814854 Centerline is valid? [True, True] Translation: X:107.96, Y:-1.07, Z:-2.19 [[ 9.99352307e-01 3.50008312e-02 8.36106779e-03 1.07959649e+02] [-3.49989482e-02 9.99387280e-01 -3.71467173e-04 -1.07125680e+00] [-8.36894646e-03 7.85979978e-05 9.99964977e-01 -2.18603420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54439141799998 meters 0.015710694371374186 Centerline is valid? [True, True] Translation: X:108.02, Y:-1.08, Z:-2.19 [[ 9.99518097e-01 2.96021836e-02 9.34263361e-03 1.08017808e+02] [-2.95996055e-02 9.99561750e-01 -4.14138039e-04 -1.07921988e+00] [-9.35079859e-03 1.37400196e-04 9.99956271e-01 -2.18606486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60439141799998 meters 0.016992881626830467 Centerline is valid? [True, True] Translation: X:108.08, Y:-1.09, Z:-2.19 [[ 9.99609257e-01 2.60151917e-02 1.02246387e-02 1.08075072e+02] [-2.60119243e-02 9.99661530e-01 -4.52438257e-04 -1.08512553e+00] [-1.02329482e-02 1.86298942e-04 9.99947625e-01 -2.18619826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66439141799998 meters 0.0183472652306728 Centerline is valid? [True, True] Translation: X:108.13, Y:-1.09, Z:-2.19 [[ 9.99717971e-01 2.01360646e-02 1.25903856e-02 1.08133967e+02] [-2.01306699e-02 9.99797203e-01 -5.55074102e-04 -1.09378154e+00] [-1.25990093e-02 3.01464658e-04 9.99920584e-01 -2.18638883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72439141799998 meters 0.02098292179424247 Centerline is valid? [True, True] Translation: X:108.19, Y:-1.10, Z:-2.19 [[ 9.99812792e-01 1.41927511e-02 1.31509225e-02 1.08194477e+02] [-1.41863711e-02 9.99899201e-01 -5.78306742e-04 -1.10235749e+00] [-1.31578047e-02 3.91634612e-04 9.99913356e-01 -2.18879120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78439141799998 meters 0.02405733980379136 Centerline is valid? [True, True] Translation: X:108.25, Y:-1.11, Z:-2.19 [[ 9.99877687e-01 9.60847789e-03 1.23404803e-02 1.08254143e+02] [-9.60250632e-03 9.99953747e-01 -5.43063449e-04 -1.10986726e+00] [-1.23451275e-02 4.24497486e-04 9.99923706e-01 -2.19223138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84439141799999 meters 0.028703159692211655 Centerline is valid? [True, True] Translation: X:108.31, Y:-1.12, Z:-2.19 [[ 9.99922204e-01 1.34538976e-03 1.24006479e-02 1.08313855e+02] [-1.33872586e-03 9.99998955e-01 -5.45668453e-04 -1.11959309e+00] [-1.24013691e-02 5.29024934e-04 9.99922960e-01 -2.19488811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90439141799997 meters 0.03222634943508431 Centerline is valid? [True, True] Translation: X:108.37, Y:-1.13, Z:-2.20 [[ 9.99907317e-01 -3.88757341e-03 1.30477447e-02 1.08374665e+02] [ 3.89539514e-03 9.99992248e-01 -5.74109099e-04 -1.12715188e+00] [-1.30454117e-02 6.24882010e-04 9.99914710e-01 -2.19602173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96439141799998 meters 0.03638817899059229 Centerline is valid? [True, True] Translation: X:108.44, Y:-1.13, Z:-2.20 [[ 9.99869470e-01 -9.34545448e-03 1.31797542e-02 1.08435210e+02] [ 9.35391317e-03 9.99956083e-01 -5.80294799e-04 -1.13312745e+00] [-1.31737523e-02 7.03501330e-04 9.99912975e-01 -2.19628816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02439141799998 meters 0.03526124801218484 Centerline is valid? [True, True] Translation: X:108.50, Y:-1.13, Z:-2.20 [[ 9.99859815e-01 -9.94902431e-03 1.34672304e-02 1.08497304e+02] [ 9.95790423e-03 9.99950243e-01 -5.92475606e-04 -1.13191371e+00] [-1.34606658e-02 7.26497941e-04 9.99909137e-01 -2.19808461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08439141799998 meters 0.03457652540247793 Centerline is valid? [True, True] Translation: X:108.56, Y:-1.13, Z:-2.20 [[ 9.99884403e-01 -6.10225156e-03 1.39263607e-02 1.08557318e+02] [ 6.11139881e-03 9.99981137e-01 -6.14366854e-04 -1.12879183e+00] [-1.39223490e-02 6.99405379e-04 9.99902835e-01 -2.19916132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14439141799998 meters 0.031842165173692094 Centerline is valid? [True, True] Translation: X:108.62, Y:-1.12, Z:-2.20 [[ 9.99900405e-01 -2.15864022e-03 1.39470650e-02 1.08618396e+02] [ 2.16743017e-03 9.99997462e-01 -6.15151839e-04 -1.12270487e+00] [-1.39457017e-02 6.45319862e-04 9.99902546e-01 -2.19927325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20439141799999 meters 0.02838273689133377 Centerline is valid? [True, True] Translation: X:108.68, Y:-1.11, Z:-2.20 [[ 9.99868413e-01 5.92584509e-03 1.51010100e-02 1.08679029e+02] [-5.91645406e-03 9.99982276e-01 -6.66479975e-04 -1.11332924e+00] [-1.51046918e-02 5.77047843e-04 9.99885751e-01 -2.20099525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26439141799997 meters 0.023998501254604475 Centerline is valid? [True, True] Translation: X:108.74, Y:-1.11, Z:-2.20 [[ 9.99813469e-01 1.14480221e-02 1.55553604e-02 1.08739878e+02] [-1.14387248e-02 9.99934340e-01 -6.86536563e-04 -1.10672627e+00] [-1.55621985e-02 5.08475016e-04 9.99878772e-01 -2.19983344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32439141799998 meters 0.022122368641301807 Centerline is valid? [True, True] Translation: X:108.80, Y:-1.10, Z:-2.20 [[ 9.99697526e-01 1.84706436e-02 1.62385858e-02 1.08800220e+02] [-1.84614370e-02 9.99829316e-01 -7.16690745e-04 -1.10142357e+00] [-1.62490518e-02 4.16686337e-04 9.99867889e-01 -2.20131393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38439141799998 meters 0.016560240616411755 Centerline is valid? [True, True] Translation: X:108.86, Y:-1.09, Z:-2.20 [[ 9.99414552e-01 2.99294594e-02 1.65765007e-02 1.08862027e+02] [-2.99214416e-02 9.99551986e-01 -7.31543139e-04 -1.08723731e+00] [-1.65909688e-02 2.35122062e-04 9.99862333e-01 -2.20205458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44439141799998 meters 0.014115707345103394 Centerline is valid? [True, True] Translation: X:108.92, Y:-1.08, Z:-2.20 [[ 9.99038584e-01 4.04405290e-02 1.69254911e-02 1.08921104e+02] [-4.04336676e-02 9.99181945e-01 -7.47539338e-04 -1.07542057e+00] [-1.69418760e-02 6.24609600e-05 9.99856474e-01 -2.20279680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50439141799998 meters 0.013957204262896202 Centerline is valid? [True, True] Translation: X:108.98, Y:-1.07, Z:-2.20 [[ 9.98792173e-01 4.60462916e-02 1.71444989e-02 1.08979984e+02] [-4.60400990e-02 9.98939306e-01 -7.55931502e-04 -1.07026230e+00] [-1.71611216e-02 -3.43159580e-05 9.99852737e-01 -2.20307899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56439141799999 meters 0.014820354108888 Centerline is valid? [True, True] Translation: X:109.04, Y:-1.07, Z:-2.21 [[ 9.98436342e-01 5.29718758e-02 1.78564197e-02 1.09039353e+02] [-5.29662919e-02 9.98595992e-01 -7.85834517e-04 -1.06652175e+00] [-1.78729763e-02 -1.61182597e-04 9.99840253e-01 -2.20509742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62439141799999 meters 0.016008487816393857 Centerline is valid? [True, True] Translation: X:109.10, Y:-1.07, Z:-2.21 [[ 9.98175271e-01 5.74735446e-02 1.85181125e-02 1.09098233e+02] [-5.74683419e-02 9.98346998e-01 -8.13418507e-04 -1.06619272e+00] [-1.85342521e-02 -2.52270984e-04 9.99828194e-01 -2.20684125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68439141799998 meters 0.017337278088994268 Centerline is valid? [True, True] Translation: X:109.16, Y:-1.07, Z:-2.21 [[ 9.97992043e-01 6.05626036e-02 1.85486876e-02 1.09155773e+02] [-6.05579434e-02 9.98164352e-01 -8.13338240e-04 -1.06621830e+00] [-1.85638966e-02 -3.11565281e-04 9.99827627e-01 -2.20820058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74439141799998 meters 0.016316243102648238 Centerline is valid? [True, True] Translation: X:109.21, Y:-1.07, Z:-2.21 [[ 9.98057383e-01 5.94987601e-02 1.84758684e-02 1.09214223e+02] [-5.94939875e-02 9.98228337e-01 -8.08343229e-04 -1.07397799e+00] [-1.84912308e-02 -2.92430156e-04 9.99828980e-01 -2.20943807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80439141799998 meters 0.017034730594811226 Centerline is valid? [True, True] Translation: X:109.27, Y:-1.08, Z:-2.21 [[ 9.98113757e-01 5.85461489e-02 1.84736595e-02 1.09272120e+02] [-5.85412412e-02 9.98284665e-01 -8.06795456e-04 -1.07604076e+00] [-1.84892057e-02 -2.76197311e-04 9.99829022e-01 -2.21119233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86439141799998 meters 0.015258851536095635 Centerline is valid? [True, True] Translation: X:109.33, Y:-1.09, Z:-2.21 [[ 9.98348436e-01 5.45543639e-02 1.80061760e-02 1.09330821e+02] [-5.45490852e-02 9.98510782e-01 -7.84544614e-04 -1.08917141e+00] [-1.80221612e-02 -1.98971540e-04 9.99837568e-01 -2.21419956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92439141799998 meters 0.015045919754968988 Centerline is valid? [True, True] Translation: X:109.39, Y:-1.10, Z:-2.22 [[ 9.98450111e-01 5.28623345e-02 1.74054281e-02 1.09389120e+02] [-5.28571612e-02 9.98601796e-01 -7.57448722e-04 -1.09788520e+00] [-1.74211322e-02 -1.63726757e-04 9.99848227e-01 -2.21673839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98439141799999 meters 0.015116867781199242 Centerline is valid? [True, True] Translation: X:109.45, Y:-1.11, Z:-2.22 [[ 9.98453936e-01 5.28140464e-02 1.73324777e-02 1.09445719e+02] [-5.28089271e-02 9.98604351e-01 -7.53231543e-04 -1.10714272e+00] [-1.73480688e-02 -1.63242553e-04 9.99849498e-01 -2.21822099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04439141799998 meters 0.015339170872724605 Centerline is valid? [True, True] Translation: X:109.50, Y:-1.11, Z:-2.22 [[ 9.98377787e-01 5.40894350e-02 1.77799595e-02 1.09504231e+02] [-5.40843110e-02 9.98536076e-01 -7.69264220e-04 -1.11236462e+00] [-1.77955401e-02 -1.93600551e-04 9.99841628e-01 -2.21784209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10439141799998 meters 0.015905990072841922 Centerline is valid? [True, True] Translation: X:109.56, Y:-1.12, Z:-2.22 [[ 9.98235832e-01 5.63193630e-02 1.87976854e-02 1.09562335e+02] [-5.63140592e-02 9.98412774e-01 -8.11786665e-04 -1.12158330e+00] [-1.88135685e-02 -2.48219433e-04 9.99822978e-01 -2.21860452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16439141799998 meters 0.015709496242568944 Centerline is valid? [True, True] Translation: X:109.62, Y:-1.13, Z:-2.22 [[ 9.98224711e-01 5.68082029e-02 1.78956328e-02 1.09620291e+02] [-5.68034967e-02 9.98385080e-01 -7.71589534e-04 -1.13008623e+00] [-1.79105654e-02 -2.46314779e-04 9.99839563e-01 -2.22108204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22439141799998 meters 0.015450080810775363 Centerline is valid? [True, True] Translation: X:109.68, Y:-1.14, Z:-2.22 [[ 9.98363482e-01 5.49144760e-02 1.59611540e-02 1.09678730e+02] [-5.49105139e-02 9.98491043e-01 -6.86708070e-04 -1.14205141e+00] [-1.59747795e-02 -1.90850910e-04 9.99872377e-01 -2.22493043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28439141799998 meters 0.014860723805444072 Centerline is valid? [True, True] Translation: X:109.74, Y:-1.15, Z:-2.23 [[ 9.98565135e-01 5.16504782e-02 1.41385718e-02 1.09737013e+02] [-5.16470556e-02 9.98665216e-01 -6.07340274e-04 -1.15476341e+00] [-1.41510693e-02 -1.23746783e-04 9.99899861e-01 -2.22724800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34439141799999 meters 0.014657213348969661 Centerline is valid? [True, True] Translation: X:109.80, Y:-1.16, Z:-2.23 [[ 9.98660588e-01 4.99605364e-02 1.34526729e-02 1.09795233e+02] [-4.99572980e-02 9.98751188e-01 -5.76867736e-04 -1.16272179e+00] [-1.34646937e-02 -9.59641175e-05 9.99909342e-01 -2.22805198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40439141799997 meters 0.014464560429650209 Centerline is valid? [True, True] Translation: X:109.85, Y:-1.17, Z:-2.23 [[ 9.98724501e-01 4.85543441e-02 1.38508984e-02 1.09852641e+02] [-4.85507904e-02 9.98820539e-01 -5.92904615e-04 -1.17073695e+00] [-1.38633499e-02 -8.03236992e-05 9.99903896e-01 -2.22842446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46439141799998 meters 0.014210222351513077 Centerline is valid? [True, True] Translation: X:109.91, Y:-1.18, Z:-2.23 [[ 9.98724994e-01 4.82895624e-02 1.47140794e-02 1.09910809e+02] [-4.82855479e-02 9.98833375e-01 -6.28176287e-04 -1.17818972e+00] [-1.47272480e-02 -8.31020284e-05 9.99891545e-01 -2.22862731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52439141799998 meters 0.014055334072598034 Centerline is valid? [True, True] Translation: X:109.97, Y:-1.19, Z:-2.23 [[ 9.98756370e-01 4.74923092e-02 1.51721466e-02 1.09968966e+02] [-4.74879687e-02 9.98871601e-01 -6.46430873e-04 -1.18841319e+00] [-1.51857268e-02 -7.48674682e-05 9.99884687e-01 -2.23018775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58439141799998 meters 0.013975712248664177 Centerline is valid? [True, True] Translation: X:110.03, Y:-1.20, Z:-2.23 [[ 9.98836763e-01 4.56190147e-02 1.56213230e-02 1.10026754e+02] [-4.56142035e-02 9.98958910e-01 -6.64337710e-04 -1.19918156e+00] [-1.56353662e-02 -4.89892794e-05 9.99877759e-01 -2.23047913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64439141799998 meters 0.01392378544382721 Centerline is valid? [True, True] Translation: X:110.09, Y:-1.20, Z:-2.23 [[ 9.98868879e-01 4.49957148e-02 1.53736416e-02 1.10085329e+02] [-4.49910060e-02 9.98987179e-01 -6.52183927e-04 -1.20440924e+00] [-1.53874163e-02 -4.02293740e-05 9.99881606e-01 -2.23149970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70439141799999 meters 0.013785796467208759 Centerline is valid? [True, True] Translation: X:110.14, Y:-1.22, Z:-2.23 [[ 9.98960844e-01 4.29419005e-02 1.52717136e-02 1.10143852e+02] [-4.29370318e-02 9.99077571e-01 -6.46693816e-04 -1.21575827e+00] [-1.52853968e-02 -9.70025388e-06 9.99883171e-01 -2.23261192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76439141799997 meters 0.013656402895376585 Centerline is valid? [True, True] Translation: X:110.20, Y:-1.23, Z:-2.24 [[ 9.99080439e-01 4.05637241e-02 1.38874122e-02 1.10202209e+02] [-4.05594813e-02 9.99176953e-01 -5.87136262e-04 -1.22742445e+00] [-1.38997986e-02 2.33301189e-05 9.99903393e-01 -2.23591288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82439141799998 meters 0.013824687272886844 Centerline is valid? [True, True] Translation: X:110.26, Y:-1.24, Z:-2.24 [[ 9.99158119e-01 3.89363237e-02 1.29234824e-02 1.10260518e+02] [-3.89325250e-02 9.99241693e-01 -5.45485807e-04 -1.23539761e+00] [-1.29349216e-02 4.18827731e-05 9.99916340e-01 -2.23890112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88439141799998 meters 0.014262085724766931 Centerline is valid? [True, True] Translation: X:110.32, Y:-1.24, Z:-2.24 [[ 9.99258195e-01 3.63973187e-02 1.25815401e-02 1.10320020e+02] [-3.63935327e-02 9.99337396e-01 -5.29813687e-04 -1.24432842e+00] [-1.25924873e-02 7.15339765e-05 9.99920709e-01 -2.24018408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94439141799998 meters 0.01424419844303989 Centerline is valid? [True, True] Translation: X:110.38, Y:-1.25, Z:-2.24 [[ 9.99271575e-01 3.57865525e-02 1.32530235e-02 1.10378893e+02] [-3.57823009e-02 9.99359453e-01 -5.57863195e-04 -1.25026335e+00] [-1.32644983e-02 8.32331584e-05 9.99912019e-01 -2.23909561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00439141799998 meters 0.01420378006265243 Centerline is valid? [True, True] Translation: X:110.44, Y:-1.26, Z:-2.24 [[ 9.99242306e-01 3.65405630e-02 1.34015371e-02 1.10437757e+02] [-3.65363001e-02 9.99332168e-01 -5.62863824e-04 -1.25576803e+00] [-1.34131544e-02 7.27947663e-05 9.99910037e-01 -2.24103301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06439141799999 meters 0.013835169360607767 Centerline is valid? [True, True] Translation: X:110.50, Y:-1.26, Z:-2.24 [[ 9.99142566e-01 3.91536887e-02 1.34581338e-02 1.10496927e+02] [-3.91496396e-02 9.99233200e-01 -5.64288809e-04 -1.26016345e+00] [-1.34699081e-02 3.69238814e-05 9.99909276e-01 -2.24222723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12439141799997 meters 0.013670376686152185 Centerline is valid? [True, True] Translation: X:110.56, Y:-1.27, Z:-2.24 [[ 9.99067358e-01 4.09190280e-02 1.37857400e-02 1.10555314e+02] [-4.09149515e-02 9.99162466e-01 -5.77729922e-04 -1.26562241e+00] [-1.37978341e-02 1.31482246e-05 9.99904805e-01 -2.24222229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18439141799998 meters 0.013646382280928956 Centerline is valid? [True, True] Translation: X:110.61, Y:-1.27, Z:-2.24 [[ 9.99069747e-01 4.08179178e-02 1.39118320e-02 1.10612567e+02] [-4.08137701e-02 9.99166601e-01 -5.82042107e-04 -1.27212115e+00] [-1.39239957e-02 1.37063458e-05 9.99903056e-01 -2.24326080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24439141799998 meters 0.013967126223838557 Centerline is valid? [True, True] Translation: X:110.67, Y:-1.28, Z:-2.25 [[ 9.99141719e-01 3.94707906e-02 1.25650756e-02 1.10671726e+02] [-3.94673207e-02 9.99220724e-01 -5.24098234e-04 -1.28079542e+00] [-1.25759705e-02 2.77385443e-05 9.99920919e-01 -2.24583434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30439141799998 meters 0.014374240884976637 Centerline is valid? [True, True] Translation: X:110.73, Y:-1.29, Z:-2.25 [[ 9.99191006e-01 3.85594746e-02 1.14237030e-02 1.10729787e+02] [-3.85565448e-02 9.99256306e-01 -4.76667979e-04 -1.28914795e+00] [-1.14335874e-02 3.58238385e-05 9.99934634e-01 -2.24934055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36439141799998 meters 0.014090871198396386 Centerline is valid? [True, True] Translation: X:110.79, Y:-1.30, Z:-2.25 [[ 9.99222447e-01 3.78276777e-02 1.11161306e-02 1.10788281e+02] [-3.78248627e-02 9.99284276e-01 -4.63437762e-04 -1.29567578e+00] [-1.11257053e-02 4.26113009e-05 9.99938107e-01 -2.24900089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42439141799998 meters 0.01437070548761522 Centerline is valid? [True, True] Translation: X:110.85, Y:-1.30, Z:-2.25 [[ 9.99266361e-01 3.68786304e-02 1.03299056e-02 1.10846687e+02] [-3.68761594e-02 9.99319751e-01 -4.29646402e-04 -1.30414898e+00] [-1.03387235e-02 4.84039510e-05 9.99946553e-01 -2.25099666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48439141799999 meters 0.014517090055387831 Centerline is valid? [True, True] Translation: X:110.91, Y:-1.31, Z:-2.25 [[ 9.99305922e-01 3.58673136e-02 1.00603355e-02 1.10905812e+02] [-3.58649223e-02 9.99356559e-01 -4.18056634e-04 -1.30900431e+00] [-1.00688568e-02 5.69533192e-05 9.99949306e-01 -2.25112072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54439141799998 meters 0.015266982012311659 Centerline is valid? [True, True] Translation: X:110.96, Y:-1.32, Z:-2.25 [[ 9.99372140e-01 3.41528347e-02 9.42921181e-03 1.10963990e+02] [-3.41506668e-02 9.99416619e-01 -3.90867932e-04 -1.31789159e+00] [-9.43706024e-03 6.86086510e-05 9.99955468e-01 -2.25408128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60439141799998 meters 0.015469111158826558 Centerline is valid? [True, True] Translation: X:111.02, Y:-1.33, Z:-2.25 [[ 9.99438062e-01 3.17537826e-02 1.07358481e-02 1.11023043e+02] [-3.17508456e-02 9.99495716e-01 -4.43944064e-04 -1.32752916e+00] [-1.07445311e-02 1.02822339e-04 9.99942271e-01 -2.25331289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66439141799998 meters 0.01592885236165434 Centerline is valid? [True, True] Translation: X:111.08, Y:-1.34, Z:-2.25 [[ 9.99487948e-01 2.98746638e-02 1.14606593e-02 1.11083216e+02] [-2.98712038e-02 9.99553644e-01 -4.72995493e-04 -1.33528002e+00] [-1.14696744e-02 1.30409604e-04 9.99934213e-01 -2.25388113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72439141799998 meters 0.016369192401997985 Centerline is valid? [True, True] Translation: X:111.14, Y:-1.34, Z:-2.25 [[ 9.99543846e-01 2.79019857e-02 1.15576681e-02 1.11143897e+02] [-2.78983351e-02 9.99610652e-01 -4.76999162e-04 -1.34093321e+00] [-1.15664773e-02 1.54341881e-04 9.99933094e-01 -2.25361661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78439141799998 meters 0.01770387751594155 Centerline is valid? [True, True] Translation: X:111.20, Y:-1.35, Z:-2.25 [[ 9.99584966e-01 2.63294614e-02 1.16899217e-02 1.11203722e+02] [-2.63256214e-02 9.99653304e-01 -4.82270412e-04 -1.34793440e+00] [-1.16985668e-02 1.74325801e-04 9.99931554e-01 -2.25499102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84439141799999 meters 0.020357674473921658 Centerline is valid? [True, True] Translation: X:111.27, Y:-1.35, Z:-2.26 [[ 9.99646114e-01 2.47075932e-02 9.85808248e-03 1.11265122e+02] [-2.47047845e-02 9.99694708e-01 -4.06607454e-04 -1.35421104e+00] [-9.86511917e-03 1.62921758e-04 9.99951325e-01 -2.25833791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90439141799997 meters 0.01809646876953489 Centerline is valid? [True, True] Translation: X:111.33, Y:-1.36, Z:-2.26 [[ 9.99672026e-01 2.33459017e-02 1.05266273e-02 1.11325861e+02] [-2.33426137e-02 9.99727429e-01 -4.35118388e-04 -1.35822794e+00] [-1.05339163e-02 1.89256684e-04 9.99944499e-01 -2.25830165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96439141799998 meters 0.017859946335672682 Centerline is valid? [True, True] Translation: X:111.39, Y:-1.36, Z:-2.26 [[ 9.99648933e-01 2.45394068e-02 9.99139120e-03 1.11387216e+02] [-2.45365089e-02 9.99698849e-01 -4.12542477e-04 -1.36095176e+00] [-9.99850584e-03 1.67243789e-04 9.99950000e-01 -2.26018163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02439141799998 meters 0.015506084270443192 Centerline is valid? [True, True] Translation: X:111.45, Y:-1.36, Z:-2.26 [[ 9.99486860e-01 3.00847607e-02 1.09965241e-02 1.11448264e+02] [-3.00815775e-02 9.99547343e-01 -4.54803311e-04 -1.35826386e+00] [-1.10052291e-02 1.23777142e-04 9.99939433e-01 -2.25951490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08439141799998 meters 0.014111209692718008 Centerline is valid? [True, True] Translation: X:111.51, Y:-1.36, Z:-2.26 [[ 9.99313238e-01 3.52967119e-02 1.12780537e-02 1.11508715e+02] [-3.52936901e-02 9.99376875e-01 -4.66908782e-04 -1.35595556e+00] [-1.12875064e-02 6.85439948e-05 9.99936292e-01 -2.25922638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14439141799998 meters 0.013938529116264758 Centerline is valid? [True, True] Translation: X:111.57, Y:-1.35, Z:-2.26 [[ 9.99003459e-01 4.30906715e-02 1.16310849e-02 1.11568671e+02] [-4.30879810e-02 9.99071165e-01 -4.81921429e-04 -1.35118649e+00] [-1.16410479e-02 -1.97187907e-05 9.99932241e-01 -2.25972055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20439141799999 meters 0.014437861716795638 Centerline is valid? [True, True] Translation: X:111.63, Y:-1.35, Z:-2.26 [[ 9.98806053e-01 4.73377117e-02 1.20668656e-02 1.11627406e+02] [-4.73351281e-02 9.98878940e-01 -4.99782860e-04 -1.35006917e+00] [-1.20769965e-02 -7.20004823e-05 9.99927068e-01 -2.26115396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26439141799997 meters 0.014024612622298697 Centerline is valid? [True, True] Translation: X:111.69, Y:-1.36, Z:-2.26 [[ 9.98929496e-01 4.47159638e-02 1.18466791e-02 1.11685702e+02] [-4.47133012e-02 9.98999740e-01 -4.89656693e-04 -1.35637846e+00] [-1.18567248e-02 -4.05716172e-05 9.99929706e-01 -2.26299031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32439141799998 meters 0.013666986928949413 Centerline is valid? [True, True] Translation: X:111.74, Y:-1.36, Z:-2.26 [[ 9.99137749e-01 3.99842980e-02 1.11810043e-02 1.11744949e+02] [-3.99816449e-02 9.99200308e-01 -4.60798637e-04 -1.36356649e+00] [-1.11904877e-02 1.33663689e-05 9.99937384e-01 -2.26439109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38439141799998 meters 0.017987687535752823 Centerline is valid? [True, True] Translation: X:111.80, Y:-1.37, Z:-2.27 [[ 9.99417992e-01 3.24811100e-02 1.04237278e-02 1.11804135e+02] [-3.24784002e-02 9.99472345e-01 -4.29187327e-04 -1.37176567e+00] [-1.04321681e-02 9.03915342e-05 9.99945579e-01 -2.26688122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44439141799998 meters 0.017650071003079915 Centerline is valid? [True, True] Translation: X:111.86, Y:-1.38, Z:-2.27 [[ 9.99642616e-01 2.37080228e-02 1.23519205e-02 1.11863845e+02] [-2.37035591e-02 9.99718902e-01 -5.07667917e-04 -1.38201694e+00] [-1.23604842e-02 2.14702007e-04 9.99923583e-01 -2.26596698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50439141799998 meters 0.01891125644150304 Centerline is valid? [True, True] Translation: X:111.93, Y:-1.39, Z:-2.27 [[ 9.99676940e-01 2.20431350e-02 1.26537108e-02 1.11926014e+02] [-2.20383540e-02 9.99756992e-01 -5.17172518e-04 -1.38688117e+00] [-1.26620360e-02 2.38138482e-04 9.99919805e-01 -2.26783548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56439141799999 meters 0.02141047851570066 Centerline is valid? [True, True] Translation: X:111.99, Y:-1.39, Z:-2.27 [[ 9.99795861e-01 1.52519387e-02 1.32519771e-02 1.11986970e+02] [-1.52460148e-02 9.99883623e-01 -5.47936582e-04 -1.39442375e+00] [-1.32587920e-02 3.45784888e-04 9.99912039e-01 -2.26870441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62439141799997 meters 0.02451815099807924 Centerline is valid? [True, True] Translation: X:112.05, Y:-1.40, Z:-2.27 [[ 9.99852126e-01 1.07514057e-02 1.34213654e-02 1.12047285e+02] [-1.07449161e-02 9.99942117e-01 -5.55548251e-04 -1.40053210e+00] [-1.34265615e-02 4.11254656e-04 9.99909775e-01 -2.26988448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68439141799998 meters 0.027951277486806935 Centerline is valid? [True, True] Translation: X:112.11, Y:-1.41, Z:-2.27 [[ 9.99892112e-01 3.82543750e-03 1.41820586e-02 1.12108077e+02] [-3.81748399e-03 9.99992541e-01 -5.87844069e-04 -1.40729061e+00] [-1.41842016e-02 5.33640866e-04 9.99899257e-01 -2.27042150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74439141799998 meters 0.033007266020133944 Centerline is valid? [True, True] Translation: X:112.17, Y:-1.41, Z:-2.27 [[ 9.99890680e-01 -1.92748288e-03 1.46599106e-02 1.12167646e+02] [ 1.93659840e-03 9.99997940e-01 -6.07628887e-04 -1.41340713e+00] [-1.46587092e-02 6.35952820e-04 9.99892353e-01 -2.27250494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80439141799998 meters 0.02879523554592279 Centerline is valid? [True, True] Translation: X:112.23, Y:-1.41, Z:-2.27 [[ 9.99881632e-01 -3.41889570e-03 1.50010722e-02 1.12229744e+02] [ 3.42861019e-03 9.99993929e-01 -6.21916075e-04 -1.40629524e+00] [-1.49988549e-02 6.73275290e-04 9.99887284e-01 -2.27323448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86439141799998 meters 0.028810434638661682 Centerline is valid? [True, True] Translation: X:112.29, Y:-1.40, Z:-2.28 [[ 9.99890407e-01 -1.48371789e-03 1.47299644e-02 1.12291297e+02] [ 1.49295370e-03 9.99998696e-01 -6.16031556e-04 -1.40246800e+00] [-1.47290312e-02 6.37955198e-04 9.99891318e-01 -2.27510682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92439141799998 meters 0.026617395284518577 Centerline is valid? [True, True] Translation: X:112.35, Y:-1.39, Z:-2.28 [[ 9.99869280e-01 4.67007139e-03 1.54794194e-02 1.12351276e+02] [-4.66059381e-03 9.99988929e-01 -6.48286763e-04 -1.39245036e+00] [-1.54822756e-02 5.76058733e-04 9.99879976e-01 -2.27508790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98439141799999 meters 0.024304158334885514 Centerline is valid? [True, True] Translation: X:112.41, Y:-1.38, Z:-2.28 [[ 9.99832377e-01 9.72163619e-03 1.55147485e-02 1.12413317e+02] [-9.71270210e-03 9.99952619e-01 -6.51092137e-04 -1.38384875e+00] [-1.55203431e-02 5.00292868e-04 9.99879427e-01 -2.27570409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04439141799998 meters 0.02253897127771258 Centerline is valid? [True, True] Translation: X:112.48, Y:-1.38, Z:-2.28 [[ 9.99785060e-01 1.41684009e-02 1.51357481e-02 1.12475319e+02] [-1.41603941e-02 9.99899534e-01 -6.36040495e-04 -1.37689735e+00] [-1.51432392e-02 4.21575626e-04 9.99885246e-01 -2.27727181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10439141799998 meters 0.019055633752529003 Centerline is valid? [True, True] Translation: X:112.54, Y:-1.36, Z:-2.28 [[ 9.99705128e-01 1.82798711e-02 1.59844736e-02 1.12537007e+02] [-1.82714494e-02 9.99832837e-01 -6.72762993e-04 -1.36330299e+00] [-1.59940996e-02 3.80505114e-04 9.99872014e-01 -2.27927674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16439141799998 meters 0.021554585480388546 Centerline is valid? [True, True] Translation: X:112.60, Y:-1.37, Z:-2.28 [[ 9.99715293e-01 1.73181013e-02 1.64139051e-02 1.12597934e+02] [-1.73090947e-02 9.99849948e-01 -6.90629114e-04 -1.36601282e+00] [-1.64234025e-02 4.06322649e-04 9.99865044e-01 -2.28022370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22439141799998 meters 0.02131550718118058 Centerline is valid? [True, True] Translation: X:112.66, Y:-1.36, Z:-2.28 [[ 9.99786618e-01 1.30654179e-02 1.60004006e-02 1.12660529e+02] [-1.30562359e-02 9.99914534e-01 -6.78190261e-04 -1.36211781e+00] [-1.60078939e-02 4.69140543e-04 9.99871755e-01 -2.28112643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28439141799998 meters 0.023832733687231683 Centerline is valid? [True, True] Translation: X:112.72, Y:-1.36, Z:-2.28 [[ 9.99855079e-01 6.78483620e-03 1.56137079e-02 1.12721737e+02] [-6.77530376e-03 9.99976827e-01 -6.63334376e-04 -1.36307403e+00] [-1.56178467e-02 5.57450631e-04 9.99877879e-01 -2.28224101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34439141799999 meters 0.03148345092832954 Centerline is valid? [True, True] Translation: X:112.78, Y:-1.37, Z:-2.28 [[ 9.99860969e-01 3.55035922e-03 1.62922597e-02 1.12782096e+02] [-3.53955402e-03 9.99993496e-01 -6.91998239e-04 -1.37257259e+00] [-1.62946106e-02 6.34234697e-04 9.99867033e-01 -2.28390142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40439141799997 meters 0.02759111193250623 Centerline is valid? [True, True] Translation: X:112.84, Y:-1.36, Z:-2.28 [[ 9.99854032e-01 5.63900307e-04 1.70761848e-02 1.12844464e+02] [-5.51558652e-04 9.99999583e-01 -7.27441755e-04 -1.36437068e+00] [-1.70765879e-02 7.17917054e-04 9.99853927e-01 -2.28429844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46439141799998 meters 0.028526566903972463 Centerline is valid? [True, True] Translation: X:112.91, Y:-1.36, Z:-2.29 [[ 9.99845578e-01 -1.51379042e-03 1.75079772e-02 1.12906799e+02] [ 1.52717537e-03 9.99998552e-01 -7.51161521e-04 -1.36259675e+00] [-1.75068147e-02 7.77783276e-04 9.99846441e-01 -2.28503576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52439141799998 meters 0.030131121266133234 Centerline is valid? [True, True] Translation: X:112.97, Y:-1.36, Z:-2.29 [[ 9.99845535e-01 -1.86632438e-03 1.74763665e-02 1.12968390e+02] [ 1.87973019e-03 9.99997952e-01 -7.50687107e-04 -1.36221874e+00] [-1.74749297e-02 7.83422005e-04 9.99846995e-01 -2.28551192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58439141799998 meters 0.030411451443737785 Centerline is valid? [True, True] Translation: X:113.03, Y:-1.36, Z:-2.29 [[ 9.99858112e-01 -2.20397455e-03 1.67002704e-02 1.13030221e+02] [ 2.21633186e-03 9.99997284e-01 -7.21475260e-04 -1.36056436e+00] [-1.66986349e-02 7.58386233e-04 9.99860280e-01 -2.28640834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64439141799998 meters 0.028709439165632778 Centerline is valid? [True, True] Translation: X:113.09, Y:-1.36, Z:-2.29 [[ 9.99858031e-01 -2.50731172e-03 1.66622542e-02 1.13092400e+02] [ 2.51973818e-03 9.99996563e-01 -7.24833296e-04 -1.35745401e+00] [-1.66603796e-02 7.66714911e-04 9.99860912e-01 -2.28783770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70439141799999 meters 0.03350093275512013 Centerline is valid? [True, True] Translation: X:113.15, Y:-1.36, Z:-2.29 [[ 9.99878988e-01 -2.85390959e-03 1.52926261e-02 1.13153850e+02] [ 2.86442010e-03 9.99995676e-01 -6.65433149e-04 -1.36175282e+00] [-1.52906609e-02 7.09157130e-04 9.99882840e-01 -2.29081730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76439141799997 meters 0.029899679206134348 Centerline is valid? [True, True] Translation: X:113.22, Y:-1.35, Z:-2.29 [[ 9.99890314e-01 -2.90728704e-03 1.45226531e-02 1.13216504e+02] [ 2.91683902e-03 9.99995543e-01 -6.36591744e-04 -1.35481754e+00] [-1.45207377e-02 6.78882160e-04 9.99894338e-01 -2.29156381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82439141799998 meters 0.027921931617441772 Centerline is valid? [True, True] Translation: X:113.28, Y:-1.35, Z:-2.29 [[ 9.99915954e-01 -9.27129931e-04 1.29315748e-02 1.13279337e+02] [ 9.34549291e-04 9.99999402e-01 -5.67708800e-04 -1.34940323e+00] [-1.29310407e-02 5.79746281e-04 9.99916223e-01 -2.29314033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88439141799998 meters 0.02626815683735829 Centerline is valid? [True, True] Translation: X:113.34, Y:-1.34, Z:-2.29 [[ 9.99926460e-01 3.32708656e-03 1.16620868e-02 1.13340849e+02] [-3.32132762e-03 9.99994353e-01 -5.13150064e-04 -1.34301766e+00] [-1.16637282e-02 4.74378716e-04 9.99931864e-01 -2.29357104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94439141799998 meters 0.024367424341796534 Centerline is valid? [True, True] Translation: X:113.40, Y:-1.34, Z:-2.29 [[ 9.99866356e-01 1.08608591e-02 1.22193121e-02 1.13400889e+02] [-1.08550864e-02 9.99940937e-01 -5.38648664e-04 -1.33527455e+00] [-1.22244405e-02 4.05934988e-04 9.99925196e-01 -2.29365253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00439141799998 meters 0.021681172207966264 Centerline is valid? [True, True] Translation: X:113.46, Y:-1.33, Z:-2.30 [[ 9.99770615e-01 1.76606130e-02 1.21169562e-02 1.13461267e+02] [-1.76554382e-02 9.99843988e-01 -5.33913875e-04 -1.33040108e+00] [-1.21244951e-02 3.19861231e-04 9.99926444e-01 -2.29513122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06439141799999 meters 0.016453764799797984 Centerline is valid? [True, True] Translation: X:113.52, Y:-1.32, Z:-2.30 [[ 9.99549249e-01 2.76690021e-02 1.16501422e-02 1.13522222e+02] [-2.76648977e-02 9.99617122e-01 -5.13344478e-04 -1.31731933e+00] [-1.16598853e-02 1.90813095e-04 9.99932003e-01 -2.29545922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12439141799997 meters 0.01518115440446755 Centerline is valid? [True, True] Translation: X:113.58, Y:-1.31, Z:-2.29 [[ 9.99369313e-01 3.30561143e-02 1.29718632e-02 1.13580305e+02] [-3.30514695e-02 9.99453487e-01 -5.72336900e-04 -1.31241499e+00] [-1.29836932e-02 1.43236793e-04 9.99915698e-01 -2.29491519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18439141799998 meters 0.014294257170443274 Centerline is valid? [True, True] Translation: X:113.64, Y:-1.31, Z:-2.30 [[ 9.99184405e-01 3.80609128e-02 1.34867467e-02 1.13639797e+02] [-3.80563654e-02 9.99275418e-01 -5.93753186e-04 -1.30825639e+00] [-1.34995732e-02 8.00123648e-05 9.99908873e-01 -2.29616813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24439141799998 meters 0.014336093331451001 Centerline is valid? [True, True] Translation: X:113.70, Y:-1.31, Z:-2.30 [[ 9.99151762e-01 3.90377837e-02 1.31075631e-02 1.13698214e+02] [-3.90335953e-02 9.99237733e-01 -5.75314755e-04 -1.30966049e+00] [-1.31200307e-02 6.31914367e-05 9.99913927e-01 -2.29845554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30439141799998 meters 0.01444934056131007 Centerline is valid? [True, True] Translation: X:113.76, Y:-1.31, Z:-2.30 [[ 9.99239209e-01 3.70666062e-02 1.21272530e-02 1.13756580e+02] [-3.70628856e-02 9.99312794e-01 -5.31466552e-04 -1.31271280e+00] [-1.21386187e-02 8.15912269e-05 9.99926321e-01 -2.30017835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36439141799998 meters 0.015388419235758823 Centerline is valid? [True, True] Translation: X:113.81, Y:-1.32, Z:-2.30 [[ 9.99413638e-01 3.26450022e-02 1.03288108e-02 1.13813897e+02] [-3.26420714e-02 9.99467003e-01 -4.52256564e-04 -1.32030327e+00] [-1.03380695e-02 1.14837600e-04 9.99946554e-01 -2.30348313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42439141799998 meters 0.016627630818444483 Centerline is valid? [True, True] Translation: X:113.87, Y:-1.33, Z:-2.30 [[ 9.99559283e-01 2.79284133e-02 1.00619574e-02 1.13872196e+02] [-2.79254043e-02 9.99609913e-01 -4.39444354e-04 -1.32726321e+00] [-1.00703054e-02 1.58266455e-04 9.99949281e-01 -2.30490728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48439141799997 meters 0.017621699397032845 Centerline is valid? [True, True] Translation: X:113.93, Y:-1.33, Z:-2.31 [[ 9.99649956e-01 2.47318230e-02 9.39698765e-03 1.13931137e+02] [-2.47290657e-02 9.99694106e-01 -4.09519740e-04 -1.33335411e+00] [-9.40424134e-03 1.76997665e-04 9.99955763e-01 -2.30630295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54439141799998 meters 0.018599284164078075 Centerline is valid? [True, True] Translation: X:113.99, Y:-1.34, Z:-2.31 [[ 9.99757249e-01 2.02393451e-02 8.70698202e-03 1.13990194e+02] [-2.02368111e-02 9.99795143e-01 -3.79044416e-04 -1.34004874e+00] [-8.71286994e-03 2.02750852e-04 9.99962022e-01 -2.30789386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60439141799998 meters 0.02113364146903996 Centerline is valid? [True, True] Translation: X:114.05, Y:-1.35, Z:-2.31 [[ 9.99807169e-01 1.74677838e-02 8.97229042e-03 1.14048471e+02] [-1.74649879e-02 9.99847399e-01 -3.89874615e-04 -1.34825923e+00] [-8.97773149e-03 2.33098491e-04 9.99959672e-01 -2.30978922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66439141799998 meters 0.02223312515116785 Centerline is valid? [True, True] Translation: X:114.11, Y:-1.35, Z:-2.31 [[ 9.99873718e-01 1.25219931e-02 9.78503758e-03 1.14108291e+02] [-1.25184420e-02 9.99921551e-01 -4.24079598e-04 -1.35328535e+00] [-9.78958028e-03 3.01532619e-04 9.99952035e-01 -2.30864856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72439141799998 meters 0.023945757227829316 Centerline is valid? [True, True] Translation: X:114.17, Y:-1.36, Z:-2.31 [[ 9.99913058e-01 9.18604093e-03 9.46006521e-03 1.14169261e+02] [-9.18257735e-03 9.99957755e-01 -4.09497961e-04 -1.35936208e+00] [-9.46342724e-03 3.22594578e-04 9.99955169e-01 -2.31021373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78439141799998 meters 0.027509471084726404 Centerline is valid? [True, True] Translation: X:114.23, Y:-1.37, Z:-2.31 [[ 9.99946535e-01 4.79541425e-03 9.16140888e-03 1.14229460e+02] [-4.79198006e-03 9.99988440e-01 -3.96768324e-04 -1.36840504e+00] [-9.16320564e-03 3.52845822e-04 9.99957955e-01 -2.31295983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84439141799999 meters 0.03159889761118753 Centerline is valid? [True, True] Translation: X:114.29, Y:-1.38, Z:-2.31 [[ 9.99958576e-01 -2.88516265e-03 8.63258603e-03 1.14289895e+02] [ 2.88850599e-03 9.99995758e-01 -3.74850685e-04 -1.37709808e+00] [-8.63146790e-03 3.99770434e-04 9.99962668e-01 -2.31447635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90439141799997 meters 0.033371533158380325 Centerline is valid? [True, True] Translation: X:114.35, Y:-1.38, Z:-2.32 [[ 9.99914281e-01 -9.96030031e-03 8.49846262e-03 1.14350024e+02] [ 9.96379582e-03 9.99950292e-01 -3.69069880e-04 -1.38166758e+00] [-8.49436414e-03 4.53715190e-04 9.99963819e-01 -2.31525459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96439141799998 meters 0.0371058718708629 Centerline is valid? [True, True] Translation: X:114.41, Y:-1.39, Z:-2.32 [[ 9.99855527e-01 -1.46849405e-02 8.56019895e-03 1.14410490e+02] [ 1.46886591e-02 9.99892047e-01 -3.71689510e-04 -1.38818931e+00] [-8.55381661e-03 4.97373655e-04 9.99963292e-01 -2.31640831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02439141799998 meters 0.037805098680217954 Centerline is valid? [True, True] Translation: X:114.47, Y:-1.39, Z:-2.32 [[ 9.99827934e-01 -1.63781363e-02 8.70975286e-03 1.14472896e+02] [ 1.63820431e-02 9.99865734e-01 -3.77397372e-04 -1.39022986e+00] [-8.70240237e-03 5.20015981e-04 9.99961998e-01 -2.31707695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08439141799998 meters 0.037903703673437934 Centerline is valid? [True, True] Translation: X:114.54, Y:-1.39, Z:-2.32 [[ 9.99829976e-01 -1.66237101e-02 7.97945210e-03 1.14535473e+02] [ 1.66270010e-02 9.99861702e-01 -3.46255998e-04 -1.38905016e+00] [-7.97259250e-03 4.78871485e-04 9.99968104e-01 -2.31866423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14439141799998 meters 0.03861843870698106 Centerline is valid? [True, True] Translation: X:114.60, Y:-1.39, Z:-2.32 [[ 9.99881001e-01 -1.29191915e-02 8.43075206e-03 1.14595338e+02] [ 1.29227487e-02 9.99916430e-01 -3.67594253e-04 -1.38934537e+00] [-8.42529848e-03 4.76499000e-04 9.99964393e-01 -2.32065071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20439141799999 meters 0.034313965710466014 Centerline is valid? [True, True] Translation: X:114.66, Y:-1.38, Z:-2.32 [[ 9.99923955e-01 -7.61238372e-03 9.70240772e-03 1.14656249e+02] [ 7.61684558e-03 9.99970902e-01 -4.23002846e-04 -1.38171972e+00] [-9.69890534e-03 4.96872420e-04 9.99952841e-01 -2.31880816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26439141799997 meters 0.026365739168856716 Centerline is valid? [True, True] Translation: X:114.72, Y:-1.37, Z:-2.32 [[ 9.99923167e-01 3.42607784e-03 1.19130823e-02 1.14717332e+02] [-3.42013138e-03 9.99994016e-01 -5.19490184e-04 -1.36580900e+00] [-1.19147908e-02 4.78705963e-04 9.99928902e-01 -2.31580700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32439141799998 meters 0.02327409616103154 Centerline is valid? [True, True] Translation: X:114.78, Y:-1.36, Z:-2.32 [[ 9.99864196e-01 1.04471538e-02 1.27454732e-02 1.14778516e+02] [-1.04409195e-02 9.99945338e-01 -5.55583990e-04 -1.36122204e+00] [-1.27505808e-02 4.22434080e-04 9.99918619e-01 -2.31688796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38439141799998 meters 0.020643548016632082 Centerline is valid? [True, True] Translation: X:114.84, Y:-1.36, Z:-2.32 [[ 9.99728213e-01 1.99341971e-02 1.20883306e-02 1.14838339e+02] [-1.99292772e-02 9.99801253e-01 -5.27331051e-04 -1.35771765e+00] [-1.20964400e-02 2.86276039e-04 9.99926794e-01 -2.32113604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44439141799998 meters 0.01573110824300071 Centerline is valid? [True, True] Translation: X:114.90, Y:-1.35, Z:-2.32 [[ 9.99515569e-01 2.92968218e-02 1.05035385e-02 1.14898909e+02] [-2.92936221e-02 9.99570745e-01 -4.58383884e-04 -1.34758869e+00] [-1.05124590e-02 1.50475141e-04 9.99944731e-01 -2.32245388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50439141799998 meters 0.014707598187444252 Centerline is valid? [True, True] Translation: X:114.96, Y:-1.35, Z:-2.32 [[ 9.99421487e-01 3.24260004e-02 1.02589830e-02 1.14957655e+02] [-3.24231084e-02 9.99474132e-01 -4.48137048e-04 -1.34657939e+00] [-1.02681194e-02 1.15249677e-04 9.99947275e-01 -2.32351529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56439141799999 meters 0.01366254116961332 Centerline is valid? [True, True] Translation: X:115.02, Y:-1.34, Z:-2.33 [[ 9.99078708e-01 4.17020114e-02 1.01330213e-02 1.15016540e+02] [-4.16996750e-02 9.99130093e-01 -4.41830029e-04 -1.34166650e+00] [-1.01426317e-02 1.88792781e-05 9.99948562e-01 -2.32509549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62439141799997 meters 0.0137719023363951 Centerline is valid? [True, True] Translation: X:115.08, Y:-1.34, Z:-2.33 [[ 9.98867249e-01 4.63667851e-02 1.06929679e-02 1.15075026e+02] [-4.63644566e-02 9.98924482e-01 -4.65682468e-04 -1.34038026e+00] [-1.07030596e-02 -3.06186811e-05 9.99942720e-01 -2.32594203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68439141799998 meters 0.01443098519893003 Centerline is valid? [True, True] Translation: X:115.13, Y:-1.34, Z:-2.33 [[ 9.98646510e-01 5.05024472e-02 1.24358414e-02 1.15132888e+02] [-5.04996434e-02 9.98723933e-01 -5.39572109e-04 -1.34008728e+00] [-1.24472221e-02 -8.91637521e-05 9.99922526e-01 -2.32655363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74439141799998 meters 0.014265494065016756 Centerline is valid? [True, True] Translation: X:115.19, Y:-1.34, Z:-2.33 [[ 9.98593630e-01 5.15132306e-02 1.25359388e-02 1.15191072e+02] [-5.15104758e-02 9.98672307e-01 -5.42739923e-04 -1.34409596e+00] [-1.25472532e-02 -1.03755542e-04 9.99921275e-01 -2.32699836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80439141799998 meters 0.014249481404090898 Centerline is valid? [True, True] Translation: X:115.25, Y:-1.35, Z:-2.33 [[ 9.98699469e-01 4.95954972e-02 1.18176543e-02 1.15249274e+02] [-4.95929293e-02 9.98769383e-01 -5.10420059e-04 -1.35108552e+00] [-1.18284259e-02 -7.63158546e-05 9.99930039e-01 -2.32869358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86439141799998 meters 0.0138326036285701 Centerline is valid? [True, True] Translation: X:115.31, Y:-1.36, Z:-2.33 [[ 9.98982571e-01 4.36759205e-02 1.12355331e-02 1.15306903e+02] [-4.36732288e-02 9.99045752e-01 -4.84931406e-04 -1.36179683e+00] [-1.12459914e-02 -6.25398568e-06 9.99936762e-01 -2.33170431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92439141799998 meters 0.014259447273065105 Centerline is valid? [True, True] Translation: X:115.36, Y:-1.37, Z:-2.33 [[ 9.99199464e-01 3.85052254e-02 1.08525541e-02 1.15364960e+02] [-3.85024305e-02 9.99258398e-01 -4.66428129e-04 -1.37363990e+00] [-1.08624657e-02 4.82050282e-05 9.99941001e-01 -2.33437401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98439141799997 meters 0.015551385661980568 Centerline is valid? [True, True] Translation: X:115.42, Y:-1.39, Z:-2.34 [[ 9.99398312e-01 3.26178609e-02 1.17936248e-02 1.15421718e+02] [-3.26141582e-02 9.99467889e-01 -5.06200360e-04 -1.38814958e+00] [-1.18038605e-02 1.21256640e-04 9.99930325e-01 -2.33565469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04439141799998 meters 0.014382388621232676 Centerline is valid? [True, True] Translation: X:115.48, Y:-1.39, Z:-2.33 [[ 9.99346465e-01 3.38992277e-02 1.25493202e-02 1.15480279e+02] [-3.38951573e-02 9.99425250e-01 -5.36958929e-04 -1.39247245e+00] [-1.25603100e-02 1.11246825e-04 9.99921110e-01 -2.33465366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10439141799998 meters 0.014098596957560345 Centerline is valid? [True, True] Translation: X:115.54, Y:-1.40, Z:-2.34 [[ 9.99211535e-01 3.77156182e-02 1.24032303e-02 1.15539298e+02] [-3.77119483e-02 9.99288511e-01 -5.29713131e-04 -1.39530429e+00] [-1.24143840e-02 6.15454886e-05 9.99922937e-01 -2.33644890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16439141799998 meters 0.013851173987034778 Centerline is valid? [True, True] Translation: X:115.60, Y:-1.40, Z:-2.34 [[ 9.98961645e-01 4.38266340e-02 1.24442200e-02 1.15596595e+02] [-4.38234245e-02 9.99039151e-01 -5.30613229e-04 -1.39827596e+00] [-1.24555180e-02 -1.52860724e-05 9.99922427e-01 -2.33826569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22439141799998 meters 0.013876872344633022 Centerline is valid? [True, True] Translation: X:115.66, Y:-1.40, Z:-2.34 [[ 9.98877152e-01 4.57934891e-02 1.21404924e-02 1.15655075e+02] [-4.57905956e-02 9.98950927e-01 -5.16341737e-04 -1.40312521e+00] [-1.21514012e-02 -4.01584123e-05 9.99926168e-01 -2.34007931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28439141799998 meters 0.013981759226919063 Centerline is valid? [True, True] Translation: X:115.71, Y:-1.41, Z:-2.34 [[ 9.98924236e-01 4.49493433e-02 1.13985930e-02 1.15713805e+02] [-4.49467468e-02 9.98989267e-01 -4.83997680e-04 -1.41278118e+00] [-1.14088274e-02 -2.88526592e-05 9.99934917e-01 -2.34365365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34439141799999 meters 0.01388378238651397 Centerline is valid? [True, True] Translation: X:115.77, Y:-1.43, Z:-2.34 [[ 9.99137690e-01 3.98973293e-02 1.14926201e-02 1.15771991e+02] [-3.98943650e-02 9.99203784e-01 -4.87160616e-04 -1.42564077e+00] [-1.15029060e-02 2.82497498e-05 9.99933839e-01 -2.34497767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40439141799997 meters 0.014316424040870954 Centerline is valid? [True, True] Translation: X:115.83, Y:-1.44, Z:-2.35 [[ 9.99315700e-01 3.51174747e-02 1.16144243e-02 1.15830509e+02] [-3.51141356e-02 9.99383188e-01 -4.91357221e-04 -1.43537222e+00] [-1.16245157e-02 8.31905141e-05 9.99932430e-01 -2.34624929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46439141799998 meters 0.016512344242560137 Centerline is valid? [True, True] Translation: X:115.89, Y:-1.45, Z:-2.35 [[ 9.99589121e-01 2.59660162e-02 1.21390170e-02 1.15889348e+02] [-2.59617105e-02 9.99662807e-01 -5.12173579e-04 -1.45060487e+00] [-1.21482229e-02 1.96813493e-04 9.99926188e-01 -2.34616700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52439141799998 meters 0.02045278992467114 Centerline is valid? [True, True] Translation: X:115.95, Y:-1.47, Z:-2.35 [[ 9.99774384e-01 1.55872806e-02 1.44297629e-02 1.15949429e+02] [-1.55801297e-02 9.99878438e-01 -6.07855250e-04 -1.46740625e+00] [-1.44374836e-02 3.82900531e-04 9.99895701e-01 -2.34537670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58439141799998 meters 0.02176394260059519 Centerline is valid? [True, True] Translation: X:116.01, Y:-1.48, Z:-2.35 [[ 9.99822782e-01 1.03521199e-02 1.57238336e-02 1.16009825e+02] [-1.03429864e-02 9.99946291e-01 -6.62084052e-04 -1.47566982e+00] [-1.57298431e-02 4.99335322e-04 9.99876154e-01 -2.34587905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64439141799998 meters 0.024572596628768473 Centerline is valid? [True, True] Translation: X:116.07, Y:-1.49, Z:-2.35 [[ 9.99869631e-01 4.98315622e-03 1.53587084e-02 1.16070640e+02] [-4.97379444e-03 9.99987421e-01 -6.47680445e-04 -1.48709314e+00] [-1.53617427e-02 5.71204949e-04 9.99881838e-01 -2.34873621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70439141799999 meters 0.026609719432148043 Centerline is valid? [True, True] Translation: X:116.13, Y:-1.49, Z:-2.35 [[ 9.99884717e-01 3.23421836e-03 1.48355135e-02 1.16131909e+02] [-3.22529157e-03 9.99994603e-01 -6.25603755e-04 -1.49479466e+00] [-1.48374568e-02 5.77682777e-04 9.99889752e-01 -2.35000260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76439141799997 meters 0.027010198387323235 Centerline is valid? [True, True] Translation: X:116.19, Y:-1.50, Z:-2.35 [[ 9.99880309e-01 3.74836471e-03 1.50105832e-02 1.16194232e+02] [-3.73926166e-03 9.99992808e-01 -6.34462299e-04 -1.49875363e+00] [-1.50128534e-02 5.78257861e-04 9.99887134e-01 -2.35066182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82439141799998 meters 0.02492567528880567 Centerline is valid? [True, True] Translation: X:116.26, Y:-1.50, Z:-2.35 [[ 9.99887105e-01 5.05557800e-03 1.41498228e-02 1.16256190e+02] [-5.04757012e-03 9.99987080e-01 -6.01590961e-04 -1.49833066e+00] [-1.41526813e-02 5.30100822e-04 9.99899705e-01 -2.35250955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88439141799998 meters 0.02477464737968237 Centerline is valid? [True, True] Translation: X:116.32, Y:-1.50, Z:-2.36 [[ 9.99892811e-01 6.11652242e-03 1.33024318e-02 1.16318094e+02] [-6.10949258e-03 9.99981175e-01 -5.69036176e-04 -1.50155620e+00] [-1.33056619e-02 4.87704073e-04 9.99911357e-01 -2.35602327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94439141799998 meters 0.023213545618852208 Centerline is valid? [True, True] Translation: X:116.38, Y:-1.50, Z:-2.36 [[ 9.99889535e-01 8.58564771e-03 1.21327863e-02 1.16380687e+02] [-8.57994597e-03 9.99963055e-01 -5.21918588e-04 -1.50127707e+00] [-1.21368191e-02 4.17762284e-04 9.99926259e-01 -2.35768042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00439141799998 meters 0.02176524670520913 Centerline is valid? [True, True] Translation: X:116.44, Y:-1.50, Z:-2.36 [[ 9.99862362e-01 1.15504178e-02 1.19098604e-02 1.16443038e+02] [-1.15450944e-02 9.99933220e-01 -5.15627514e-04 -1.49970025e+00] [-1.19150208e-02 3.78056081e-04 9.99928942e-01 -2.35797759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06439141799999 meters 0.021686847786206002 Centerline is valid? [True, True] Translation: X:116.50, Y:-1.50, Z:-2.36 [[ 9.99773736e-01 1.64687605e-02 1.34631392e-02 1.16503998e+02] [-1.64623164e-02 9.99864313e-01 -5.89337668e-04 -1.50014037e+00] [-1.34710181e-02 3.67569865e-04 9.99909194e-01 -2.35764350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12439141799997 meters 0.019374676541843435 Centerline is valid? [True, True] Translation: X:116.57, Y:-1.50, Z:-2.36 [[ 9.99713118e-01 1.89952532e-02 1.45898173e-02 1.16566150e+02] [-1.89879655e-02 9.99819509e-01 -6.37878524e-04 -1.49838146e+00] [-1.45993006e-02 3.60664580e-04 9.99893359e-01 -2.35669377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18439141799998 meters 0.01893434462654906 Centerline is valid? [True, True] Translation: X:116.63, Y:-1.50, Z:-2.36 [[ 9.99683657e-01 2.01741901e-02 1.50195955e-02 1.16628423e+02] [-2.01665330e-02 9.99796416e-01 -6.61107871e-04 -1.49960116e+00] [-1.50298751e-02 3.58005567e-04 9.99886981e-01 -2.35781334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24439141799998 meters 0.018063062537680016 Centerline is valid? [True, True] Translation: X:116.69, Y:-1.50, Z:-2.36 [[ 9.99665585e-01 2.15006374e-02 1.43680191e-02 1.16690937e+02] [-2.14937123e-02 9.99768781e-01 -6.36242262e-04 -1.50103234e+00] [-1.43783766e-02 3.27207424e-04 9.99896572e-01 -2.35998433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30439141799998 meters 0.017180306440133294 Centerline is valid? [True, True] Translation: X:116.75, Y:-1.50, Z:-2.36 [[ 9.99593801e-01 2.53010713e-02 1.31182351e-02 1.16752700e+02] [-2.52955601e-02 9.99679844e-01 -5.85893267e-04 -1.50162954e+00] [-1.31288589e-02 2.53822175e-04 9.99913781e-01 -2.36232658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36439141799998 meters 0.015795141041514825 Centerline is valid? [True, True] Translation: X:116.81, Y:-1.50, Z:-2.36 [[ 9.99462451e-01 2.97374103e-02 1.38020137e-02 1.16813037e+02] [-2.97317093e-02 9.99557724e-01 -6.18104115e-04 -1.50064275e+00] [-1.38142902e-02 2.07414396e-04 9.99904557e-01 -2.36180070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42439141799998 meters 0.01532448896142355 Centerline is valid? [True, True] Translation: X:116.87, Y:-1.50, Z:-2.36 [[ 9.99419788e-01 3.08135692e-02 1.45124833e-02 1.16872497e+02] [-3.08073919e-02 9.99525129e-01 -6.49075132e-04 -1.50216580e+00] [-1.45255920e-02 2.01606771e-04 9.99894478e-01 -2.36229901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48439141799997 meters 0.014945784610864855 Centerline is valid? [True, True] Translation: X:116.93, Y:-1.51, Z:-2.37 [[ 9.99390385e-01 3.22885001e-02 1.32782016e-02 1.16932378e+02] [-3.22834655e-02 9.99478577e-01 -5.93393895e-04 -1.50624927e+00] [-1.32904378e-02 1.64365791e-04 9.99911665e-01 -2.36560262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54439141799998 meters 0.015451147570764165 Centerline is valid? [True, True] Translation: X:116.99, Y:-1.51, Z:-2.37 [[ 9.99421776e-01 3.15698230e-02 1.26277237e-02 1.16990948e+02] [-3.15652176e-02 9.99501535e-01 -5.63896146e-04 -1.51020737e+00] [-1.26392313e-02 1.64973242e-04 9.99920108e-01 -2.36832679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60439141799998 meters 0.016618622529703746 Centerline is valid? [True, True] Translation: X:117.05, Y:-1.52, Z:-2.37 [[ 9.99584455e-01 2.67825369e-02 1.06589453e-02 1.17050167e+02] [-2.67789883e-02 9.99641265e-01 -4.75533548e-04 -1.51749468e+00] [-1.06678576e-02 1.89900171e-04 9.99943079e-01 -2.37140266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66439141799998 meters 0.0198928095808848 Centerline is valid? [True, True] Translation: X:117.11, Y:-1.53, Z:-2.37 [[ 9.99772891e-01 1.87127928e-02 1.01979670e-02 1.17108973e+02] [-1.87091287e-02 9.99824866e-01 -4.54581805e-04 -1.52856337e+00] [-1.02046875e-02 2.63683488e-04 9.99947896e-01 -2.37304827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72439141799998 meters 0.0230429175558702 Centerline is valid? [True, True] Translation: X:117.17, Y:-1.54, Z:-2.37 [[ 9.99869118e-01 1.31227329e-02 9.46263714e-03 1.17169825e+02] [-1.31193410e-02 9.99913849e-01 -4.20437960e-04 -1.53580823e+00] [-9.46733922e-03 2.96239369e-04 9.99955140e-01 -2.37468233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78439141799998 meters 0.026751276602231193 Centerline is valid? [True, True] Translation: X:117.23, Y:-1.54, Z:-2.38 [[ 9.99929077e-01 6.61024137e-03 9.90683655e-03 1.17230177e+02] [-6.60619477e-03 9.99978082e-01 -4.41134924e-04 -1.54297029e+00] [-9.90953542e-03 3.75657146e-04 9.99950829e-01 -2.37521803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84439141799997 meters 0.030528690813735222 Centerline is valid? [True, True] Translation: X:117.29, Y:-1.55, Z:-2.38 [[ 9.99935076e-01 1.80661854e-03 1.12507430e-02 1.17290342e+02] [-1.80109284e-03 9.99998252e-01 -5.01254252e-04 -1.55062300e+00] [-1.12516289e-02 4.80958076e-04 9.99936583e-01 -2.37706575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90439141799997 meters 0.028411877343373793 Centerline is valid? [True, True] Translation: X:117.35, Y:-1.55, Z:-2.38 [[ 9.99932419e-01 1.88819651e-03 1.14713469e-02 1.17353181e+02] [-1.88248608e-03 9.99998099e-01 -5.08576507e-04 -1.54944936e+00] [-1.14722854e-02 4.86947486e-04 9.99934073e-01 -2.37718953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96439141799998 meters 0.03173743288844143 Centerline is valid? [True, True] Translation: X:117.42, Y:-1.55, Z:-2.38 [[ 9.99933198e-01 2.21502465e-03 1.13442664e-02 1.17415575e+02] [-2.20941795e-03 9.99997431e-01 -5.06739917e-04 -1.55393703e+00] [-1.13453597e-02 4.81641840e-04 9.99935523e-01 -2.37899495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02439141799998 meters 0.031372420597304586 Centerline is valid? [True, True] Translation: X:117.48, Y:-1.55, Z:-2.38 [[ 9.99920823e-01 4.29940039e-03 1.18263719e-02 1.17477190e+02] [-4.29338153e-03 9.99990641e-01 -5.34277545e-04 -1.55295834e+00] [-1.18285583e-02 4.83460116e-04 9.99929923e-01 -2.37958726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08439141799998 meters 0.02568991643661218 Centerline is valid? [True, True] Translation: X:117.54, Y:-1.55, Z:-2.38 [[ 9.99909306e-01 6.35830700e-03 1.18722764e-02 1.17539904e+02] [-6.35238548e-03 9.99979680e-01 -5.36412379e-04 -1.54568076e+00] [-1.18754458e-02 4.60946453e-04 9.99929378e-01 -2.37922886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14439141799998 meters 0.024100779144698128 Centerline is valid? [True, True] Translation: X:117.60, Y:-1.54, Z:-2.38 [[ 9.99905494e-01 9.77595213e-03 9.66607818e-03 1.17601293e+02] [-9.77217756e-03 9.99952155e-01 -4.37650792e-04 -1.54004791e+00] [-9.66989417e-03 3.43150800e-04 9.99953187e-01 -2.38161454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20439141799999 meters 0.022053080269975392 Centerline is valid? [True, True] Translation: X:117.66, Y:-1.54, Z:-2.38 [[ 9.99877880e-01 1.37195043e-02 7.48329614e-03 1.17663358e+02] [-1.37173535e-02 9.99905855e-01 -3.38664547e-04 -1.53531234e+00] [-7.48723794e-03 2.35972170e-04 9.99971942e-01 -2.38490640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26439141799997 meters 0.02104092054930153 Centerline is valid? [True, True] Translation: X:117.72, Y:-1.53, Z:-2.39 [[ 9.99826366e-01 1.70083602e-02 7.61272238e-03 1.17724352e+02] [-1.70062198e-02 9.99855324e-01 -3.45815261e-04 -1.53203012e+00] [-7.61750275e-03 2.16291585e-04 9.99970963e-01 -2.38505743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32439141799998 meters 0.020061679542360288 Centerline is valid? [True, True] Translation: X:117.78, Y:-1.53, Z:-2.38 [[ 9.99753821e-01 2.03408875e-02 8.86259159e-03 1.17784573e+02] [-2.03381132e-02 9.99793078e-01 -4.03057273e-04 -1.52700663e+00] [-8.86895626e-03 2.22709658e-04 9.99960645e-01 -2.38298937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38439141799998 meters 0.01955212097804723 Centerline is valid? [True, True] Translation: X:117.84, Y:-1.53, Z:-2.38 [[ 9.99709688e-01 2.22117605e-02 9.33692215e-03 1.17844781e+02] [-2.22087688e-02 9.99753265e-01 -4.23987927e-04 -1.52670083e+00] [-9.34403593e-03 2.16503292e-04 9.99956320e-01 -2.38366696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44439141799998 meters 0.019464889990807876 Centerline is valid? [True, True] Translation: X:117.90, Y:-1.53, Z:-2.38 [[ 9.99682842e-01 2.32437601e-02 9.69242580e-03 1.17903474e+02] [-2.32405827e-02 9.99729804e-01 -4.40341887e-04 -1.52769227e+00] [-9.70004214e-03 2.14944606e-04 9.99952930e-01 -2.38470051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50439141799998 meters 0.019979074097368786 Centerline is valid? [True, True] Translation: X:117.96, Y:-1.53, Z:-2.39 [[ 9.99711305e-01 2.25338451e-02 8.33858262e-03 1.17963221e+02] [-2.25314733e-02 9.99746063e-01 -3.78271136e-04 -1.52886335e+00] [-8.34498904e-03 1.90281379e-04 9.99965162e-01 -2.38615088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56439141799999 meters 0.02093414738540585 Centerline is valid? [True, True] Translation: X:118.02, Y:-1.53, Z:-2.39 [[ 9.99754079e-01 2.09018511e-02 7.40911821e-03 1.18021488e+02] [-2.08999336e-02 9.99781516e-01 -3.36149955e-04 -1.53240673e+00] [-7.41452559e-03 1.81217210e-04 9.99972496e-01 -2.38824530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62439141799997 meters 0.021148144665456472 Centerline is valid? [True, True] Translation: X:118.08, Y:-1.53, Z:-2.39 [[ 9.99728476e-01 2.22796651e-02 6.82573244e-03 1.18079890e+02] [-2.22780718e-02 9.99751765e-01 -3.09374511e-04 -1.53381174e+00] [-6.83093081e-03 1.57226351e-04 9.99976657e-01 -2.39038621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68439141799998 meters 0.01978899520324358 Centerline is valid? [True, True] Translation: X:118.14, Y:-1.53, Z:-2.39 [[ 9.99657399e-01 2.52551528e-02 6.87470354e-03 1.18138555e+02] [-2.52536080e-02 9.99681028e-01 -3.11437012e-04 -1.53217882e+00] [-6.88037609e-03 1.37719245e-04 9.99976320e-01 -2.39143328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74439141799998 meters 0.01609286767852717 Centerline is valid? [True, True] Translation: X:118.20, Y:-1.53, Z:-2.39 [[ 9.99505523e-01 3.06057820e-02 7.21083660e-03 1.18197966e+02] [-3.06042251e-02 9.99531528e-01 -3.26178747e-04 -1.52592402e+00] [-7.21744148e-03 1.05335393e-04 9.99973948e-01 -2.39062021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80439141799998 meters 0.015371037044153987 Centerline is valid? [True, True] Translation: X:118.26, Y:-1.53, Z:-2.39 [[ 9.99443234e-01 3.24886887e-02 7.59647624e-03 1.18256699e+02] [-3.24870204e-02 9.99472099e-01 -3.42939994e-04 -1.52714040e+00] [-7.60360772e-03 9.59621781e-05 9.99971088e-01 -2.39157531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86439141799998 meters 0.01607633464897682 Centerline is valid? [True, True] Translation: X:118.31, Y:-1.53, Z:-2.39 [[ 9.99484198e-01 3.12342613e-02 7.46719402e-03 1.18313812e+02] [-3.12326198e-02 9.99512086e-01 -3.36365289e-04 -1.53180226e+00] [-7.47405680e-03 1.02971759e-04 9.99972064e-01 -2.39322790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92439141799998 meters 0.01684718846574863 Centerline is valid? [True, True] Translation: X:118.37, Y:-1.54, Z:-2.39 [[ 9.99624163e-01 2.64749484e-02 7.11400459e-03 1.18371868e+02] [-2.64733379e-02 9.99649468e-01 -3.20476205e-04 -1.53729794e+00] [-7.11999550e-03 1.32024311e-04 9.99974644e-01 -2.39300901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98439141799997 meters 0.01869488114017297 Centerline is valid? [True, True] Translation: X:118.43, Y:-1.54, Z:-2.39 [[ 9.99735628e-01 2.16368838e-02 7.77941093e-03 1.18431073e+02] [-2.16348255e-02 9.99765879e-01 -3.48652138e-04 -1.54463013e+00] [-7.78513335e-03 1.80253766e-04 9.99969679e-01 -2.39424782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04439141799998 meters 0.022916700802123328 Centerline is valid? [True, True] Translation: X:118.49, Y:-1.56, Z:-2.40 [[ 9.99871564e-01 1.43357968e-02 7.16527522e-03 1.18489799e+02] [-1.43338699e-02 9.99897214e-01 -3.20203128e-04 -1.55554623e+00] [-7.16912909e-03 2.17455879e-04 9.99974278e-01 -2.39764878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10439141799998 meters 0.024409099297978566 Centerline is valid? [True, True] Translation: X:118.55, Y:-1.56, Z:-2.40 [[ 9.99918750e-01 1.02721837e-02 7.54815700e-03 1.18550409e+02] [-1.02699279e-02 9.99947206e-01 -3.37562769e-04 -1.56055211e+00] [-7.55122601e-03 2.60016315e-04 9.99971455e-01 -2.39843298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16439141799998 meters 0.026230929383369028 Centerline is valid? [True, True] Translation: X:118.61, Y:-1.57, Z:-2.40 [[ 9.99938634e-01 6.39709255e-03 9.04468357e-03 1.18611913e+02] [-6.39369929e-03 9.99979478e-01 -4.04031151e-04 -1.56525383e+00] [-9.04708258e-03 3.46177370e-04 9.99959014e-01 -2.39849522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22439141799998 meters 0.026530928545538988 Centerline is valid? [True, True] Translation: X:118.67, Y:-1.57, Z:-2.40 [[ 9.99923806e-01 7.34532838e-03 9.92115662e-03 1.18674252e+02] [-7.34131234e-03 9.99972955e-01 -4.41153727e-04 -1.56645931e+00] [-9.92412872e-03 3.68285804e-04 9.99950687e-01 -2.39902409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28439141799998 meters 0.025433750300349122 Centerline is valid? [True, True] Translation: X:118.74, Y:-1.56, Z:-2.40 [[ 9.99886741e-01 1.06503460e-02 1.06337191e-02 1.18736426e+02] [-1.06458606e-02 9.99943217e-01 -4.78329612e-04 -1.56480114e+00] [-1.06382096e-02 3.65070347e-04 9.99943346e-01 -2.39921636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34439141799997 meters 0.02210905014432399 Centerline is valid? [True, True] Translation: X:118.80, Y:-1.56, Z:-2.40 [[ 9.99814657e-01 1.54854905e-02 1.14390411e-02 1.18798464e+02] [-1.54806075e-02 9.99880035e-01 -5.15300705e-04 -1.56055216e+00] [-1.14456485e-02 3.38121892e-04 9.99934439e-01 -2.39915250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40439141799997 meters 0.018139851207724635 Centerline is valid? [True, True] Translation: X:118.86, Y:-1.55, Z:-2.40 [[ 9.99626696e-01 2.45224975e-02 1.20464124e-02 1.18859158e+02] [-2.45177222e-02 9.99699247e-01 -5.43957430e-04 -1.55396940e+00] [-1.20561286e-02 2.48403776e-04 9.99927291e-01 -2.40054021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46439141799998 meters 0.016255277269813212 Centerline is valid? [True, True] Translation: X:118.92, Y:-1.55, Z:-2.40 [[ 9.99484142e-01 2.98978643e-02 1.17288892e-02 1.18918597e+02] [-2.98937012e-02 9.99552943e-01 -5.30146765e-04 -1.54998022e+00] [-1.17394959e-02 1.79253377e-04 9.99931074e-01 -2.40277356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52439141799998 meters 0.015274535895731233 Centerline is valid? [True, True] Translation: X:118.98, Y:-1.55, Z:-2.41 [[ 9.99332506e-01 3.49017890e-02 1.07892293e-02 1.18976465e+02] [-3.48985596e-02 9.99390741e-01 -4.87497306e-04 -1.54544946e+00] [-1.07996704e-02 1.10643340e-04 9.99941676e-01 -2.40533487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58439141799998 meters 0.015205564004147479 Centerline is valid? [True, True] Translation: X:119.03, Y:-1.55, Z:-2.41 [[ 9.99315730e-01 3.54426353e-02 1.05778835e-02 1.19033848e+02] [-3.54395724e-02 9.99371707e-01 -4.76925405e-04 -1.54540864e+00] [-1.05881410e-02 1.01723392e-04 9.99943939e-01 -2.40658714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64439141799998 meters 0.015173404518317777 Centerline is valid? [True, True] Translation: X:119.09, Y:-1.55, Z:-2.41 [[ 9.99350457e-01 3.41598803e-02 1.14789687e-02 1.19092541e+02] [-3.41562044e-02 9.99416373e-01 -5.16177244e-04 -1.54570048e+00] [-1.14899018e-02 1.23763963e-04 9.99933981e-01 -2.40595622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70439141799999 meters 0.015382898884997998 Centerline is valid? [True, True] Translation: X:119.15, Y:-1.55, Z:-2.41 [[ 9.99376732e-01 3.31267324e-02 1.21970231e-02 1.19149910e+02] [-3.31225166e-02 9.99451149e-01 -5.47536813e-04 -1.54764980e+00] [-1.22084668e-02 1.43199451e-04 9.99925464e-01 -2.40625883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76439141799997 meters 0.015358316594956374 Centerline is valid? [True, True] Translation: X:119.21, Y:-1.55, Z:-2.41 [[ 9.99413751e-01 3.14360506e-02 1.35620434e-02 1.19208604e+02] [-3.14307068e-02 9.99505749e-01 -6.07039153e-04 -1.55008800e+00] [-1.35744233e-02 1.80418667e-04 9.99907847e-01 -2.40681865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82439141799998 meters 0.0166419961117943 Centerline is valid? [True, True] Translation: X:119.27, Y:-1.56, Z:-2.41 [[ 9.99502838e-01 2.80334187e-02 1.44292641e-02 1.19266738e+02] [-2.80270360e-02 9.99606958e-01 -6.44409760e-04 -1.55756522e+00] [-1.44416578e-02 2.39679880e-04 9.99895685e-01 -2.40844444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88439141799998 meters 0.018369859979989717 Centerline is valid? [True, True] Translation: X:119.33, Y:-1.57, Z:-2.41 [[ 9.99630128e-01 2.25471348e-02 1.52063570e-02 1.19326328e+02] [-2.25394284e-02 9.99745725e-01 -6.78004401e-04 -1.56577992e+00] [-1.52177775e-02 3.35011031e-04 9.99884147e-01 -2.40831213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94439141799998 meters 0.019479249731912136 Centerline is valid? [True, True] Translation: X:119.39, Y:-1.57, Z:-2.41 [[ 9.99694987e-01 2.00049400e-02 1.44822363e-02 1.19386880e+02] [-1.99976950e-02 9.99799818e-01 -6.44923698e-04 -1.57251334e+00] [-1.44922389e-02 3.55115644e-04 9.99894919e-01 -2.41014764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00439141799998 meters 0.019613487873606485 Centerline is valid? [True, True] Translation: X:119.45, Y:-1.58, Z:-2.41 [[ 9.99715499e-01 1.95515952e-02 1.36622038e-02 1.19448238e+02] [-1.95451090e-02 9.99808791e-01 -6.08127213e-04 -1.57773378e+00] [-1.36714814e-02 3.40924936e-04 9.99906483e-01 -2.41265380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06439141799999 meters 0.019051089200726422 Centerline is valid? [True, True] Translation: X:119.51, Y:-1.58, Z:-2.41 [[ 9.99673647e-01 2.17417868e-02 1.34124692e-02 1.19508250e+02] [-2.17357216e-02 9.99763573e-01 -5.97828292e-04 -1.58099209e+00] [-1.34222960e-02 3.06103491e-04 9.99909870e-01 -2.41467601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12439141799997 meters 0.01633024793488074 Centerline is valid? [True, True] Translation: X:119.57, Y:-1.58, Z:-2.42 [[ 9.99531318e-01 2.78141314e-02 1.27874649e-02 1.19568551e+02] [-2.78091129e-02 9.99613089e-01 -5.70131274e-04 -1.57915949e+00] [-1.27983750e-02 2.14256010e-04 9.99918074e-01 -2.41538006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18439141799998 meters 0.014826187706777776 Centerline is valid? [True, True] Translation: X:119.63, Y:-1.58, Z:-2.42 [[ 9.99299886e-01 3.48791441e-02 1.35344939e-02 1.19627147e+02] [-3.48741682e-02 9.99391529e-01 -6.03557243e-04 -1.57791162e+00] [-1.35473101e-02 1.31130468e-04 9.99908222e-01 -2.41557604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24439141799998 meters 0.014160900709878277 Centerline is valid? [True, True] Translation: X:119.69, Y:-1.58, Z:-2.42 [[ 9.99128283e-01 3.91824639e-02 1.44016638e-02 1.19686529e+02] [-3.91772971e-02 9.99232070e-01 -6.40819437e-04 -1.57891044e+00] [-1.44157133e-02 7.60425604e-05 9.99896085e-01 -2.41589568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30439141799998 meters 0.014068075786477162 Centerline is valid? [True, True] Translation: X:119.74, Y:-1.58, Z:-2.42 [[ 9.99128065e-01 3.91148491e-02 1.45992411e-02 1.19744736e+02] [-3.91095438e-02 9.99234718e-01 -6.48831075e-04 -1.58324971e+00] [-1.46134475e-02 7.72956772e-05 9.99893215e-01 -2.41692663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36439141799998 meters 0.014409379629365253 Centerline is valid? [True, True] Translation: X:119.80, Y:-1.59, Z:-2.42 [[ 9.99254282e-01 3.54998180e-02 1.51869622e-02 1.19803451e+02] [-3.54936792e-02 9.99369674e-01 -6.73642883e-04 -1.59279393e+00] [-1.52013037e-02 1.34099370e-04 9.99884445e-01 -2.41809274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42439141799998 meters 0.014762410071347511 Centerline is valid? [True, True] Translation: X:119.86, Y:-1.60, Z:-2.42 [[ 9.99378157e-01 3.17221669e-02 1.53949386e-02 1.19862078e+02] [-3.17154303e-02 9.99496707e-01 -6.81590096e-04 -1.60104281e+00] [-1.54088119e-02 1.92909152e-04 9.99881259e-01 -2.41897967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48439141799997 meters 0.016700158490698988 Centerline is valid? [True, True] Translation: X:119.92, Y:-1.61, Z:-2.42 [[ 9.99554298e-01 2.54346354e-02 1.56296037e-02 1.19920353e+02] [-2.54269458e-02 9.99676444e-01 -6.90542772e-04 -1.61369485e+00] [-1.56421103e-02 2.92821911e-04 9.99877612e-01 -2.42058282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54439141799998 meters 0.020181445625064045 Centerline is valid? [True, True] Translation: X:119.98, Y:-1.63, Z:-2.42 [[ 9.99663330e-01 2.07646399e-02 1.55581528e-02 1.19979819e+02] [-2.07564763e-02 9.99784326e-01 -6.86029223e-04 -1.62844339e+00] [-1.55690424e-02 3.62865829e-04 9.99878729e-01 -2.42358834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60439141799998 meters 0.0192519161005944 Centerline is valid? [True, True] Translation: X:120.04, Y:-1.63, Z:-2.43 [[ 9.99695779e-01 1.97822400e-02 1.47313407e-02 1.20042196e+02] [-1.97748328e-02 9.99804249e-01 -6.48328357e-04 -1.63448741e+00] [-1.47412824e-02 3.56821324e-04 9.99891278e-01 -2.42598827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66439141799998 meters 0.018153264411373552 Centerline is valid? [True, True] Translation: X:120.10, Y:-1.64, Z:-2.43 [[ 9.99636412e-01 2.27749869e-02 1.44341519e-02 1.20103298e+02] [-2.27681092e-02 9.99740568e-01 -6.40659414e-04 -1.63732594e+00] [-1.44449982e-02 3.11788132e-04 9.99895617e-01 -2.42760204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72439141799998 meters 0.016664458430754862 Centerline is valid? [True, True] Translation: X:120.16, Y:-1.64, Z:-2.43 [[ 9.99539603e-01 2.61645172e-02 1.53623224e-02 1.20163711e+02] [-2.61571128e-02 9.99657611e-01 -6.82753236e-04 -1.63909962e+00] [-1.53749264e-02 2.80604900e-04 9.99881759e-01 -2.42773916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78439141799998 meters 0.015711057114562298 Centerline is valid? [True, True] Translation: X:120.22, Y:-1.64, Z:-2.43 [[ 9.99422833e-01 3.01042226e-02 1.57396359e-02 1.20223211e+02] [-3.00969368e-02 9.99546740e-01 -6.99619314e-04 -1.64108172e+00] [-1.57535633e-02 2.25500690e-04 9.99875879e-01 -2.42879941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84439141799997 meters 0.015044480835887284 Centerline is valid? [True, True] Translation: X:120.28, Y:-1.64, Z:-2.43 [[ 9.99339156e-01 3.29638741e-02 1.53177773e-02 1.20283027e+02] [-3.29573124e-02 9.99456528e-01 -6.80676206e-04 -1.64323012e+00] [-1.53318902e-02 1.75393614e-04 9.99882444e-01 -2.43056789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90439141799997 meters 0.015351090841954459 Centerline is valid? [True, True] Translation: X:120.34, Y:-1.65, Z:-2.43 [[ 9.99408994e-01 3.13748052e-02 1.40457896e-02 1.20342328e+02] [-3.13691383e-02 9.99507673e-01 -6.23648412e-04 -1.64994315e+00] [-1.40584414e-02 1.82675515e-04 9.99901159e-01 -2.43317745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96439141799998 meters 0.01630266068766634 Centerline is valid? [True, True] Translation: X:120.40, Y:-1.66, Z:-2.43 [[ 9.99495713e-01 2.82488868e-02 1.45023949e-02 1.20401976e+02] [-2.82425252e-02 9.99600893e-01 -6.43313335e-04 -1.65760140e+00] [-1.45147798e-02 2.33404668e-04 9.99894628e-01 -2.43458939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02439141799998 meters 0.01758380407680571 Centerline is valid? [True, True] Translation: X:120.46, Y:-1.67, Z:-2.44 [[ 9.99586686e-01 2.44380370e-02 1.51406289e-02 1.20461833e+02] [-2.44306791e-02 9.99701301e-01 -6.70767784e-04 -1.66561324e+00] [-1.51524987e-02 3.00594701e-04 9.99885149e-01 -2.43591640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08439141799998 meters 0.020586226691519518 Centerline is valid? [True, True] Translation: X:120.52, Y:-1.68, Z:-2.44 [[ 9.99674110e-01 1.91970126e-02 1.68270119e-02 1.20521712e+02] [-1.91871833e-02 9.99815631e-01 -7.45405373e-04 -1.67744660e+00] [-1.68382191e-02 4.22299492e-04 9.99858138e-01 -2.43609234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14439141799998 meters 0.021413803227203574 Centerline is valid? [True, True] Translation: X:120.58, Y:-1.68, Z:-2.44 [[ 9.99713297e-01 1.53396611e-02 1.83853017e-02 1.20583155e+02] [-1.53272772e-02 9.99882199e-01 -8.14308412e-04 -1.68403509e+00] [-1.83956271e-02 5.32278332e-04 9.99830644e-01 -2.43684710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20439141799997 meters 0.021924942598247097 Centerline is valid? [True, True] Translation: X:120.65, Y:-1.69, Z:-2.44 [[ 9.99731781e-01 1.40878667e-02 1.83819846e-02 1.20645495e+02] [-1.40751872e-02 9.99900604e-01 -8.18974970e-04 -1.68910691e+00] [-1.83916951e-02 5.60025430e-04 9.99830702e-01 -2.43813449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26439141799997 meters 0.023342951857654816 Centerline is valid? [True, True] Translation: X:120.71, Y:-1.70, Z:-2.44 [[ 9.99746633e-01 1.26915342e-02 1.85901569e-02 1.20706395e+02] [-1.26782244e-02 9.99919281e-01 -8.33643161e-04 -1.69710602e+00] [-1.85992366e-02 5.97741761e-04 9.99826841e-01 -2.44090064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32439141799998 meters 0.022258786591847487 Centerline is valid? [True, True] Translation: X:120.77, Y:-1.70, Z:-2.44 [[ 9.99740263e-01 1.29862702e-02 1.87286945e-02 1.20769781e+02] [-1.29727237e-02 9.99915494e-01 -8.44617783e-04 -1.69915177e+00] [-1.87380803e-02 6.01436224e-04 9.99824246e-01 -2.44214931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38439141799998 meters 0.022762044390634326 Centerline is valid? [True, True] Translation: X:120.83, Y:-1.70, Z:-2.44 [[ 9.99722013e-01 1.46202394e-02 1.84971473e-02 1.20831366e+02] [-1.46071920e-02 9.99892956e-01 -8.40292674e-04 -1.70410807e+00] [-1.85074526e-02 5.69867702e-04 9.99828560e-01 -2.44361762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44439141799998 meters 0.022827484470748456 Centerline is valid? [True, True] Translation: X:120.89, Y:-1.71, Z:-2.44 [[ 9.99697072e-01 1.61191196e-02 1.85994270e-02 1.20893903e+02] [-1.61060878e-02 9.99869927e-01 -8.50250183e-04 -1.70764510e+00] [-1.86107130e-02 5.50428614e-04 9.99826654e-01 -2.44483554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50439141799998 meters 0.02066094938753213 Centerline is valid? [True, True] Translation: X:120.96, Y:-1.71, Z:-2.45 [[ 9.99634169e-01 1.96139361e-02 1.86231748e-02 1.20956097e+02] [-1.96013816e-02 9.99807508e-01 -8.56449152e-04 -1.70688218e+00] [-1.86363883e-02 4.91095881e-04 9.99826207e-01 -2.44615408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56439141799999 meters 0.019596714433944156 Centerline is valid? [True, True] Translation: X:121.02, Y:-1.71, Z:-2.45 [[ 9.99576500e-01 2.30100205e-02 1.78146167e-02 1.21018707e+02] [-2.29989786e-02 9.99735149e-01 -8.24480264e-04 -1.70776144e+00] [-1.78288698e-02 4.14413107e-04 9.99840967e-01 -2.44879531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62439141799997 meters 0.01891652686301402 Centerline is valid? [True, True] Translation: X:121.08, Y:-1.71, Z:-2.45 [[ 9.99506574e-01 2.54576940e-02 1.83987484e-02 1.21081332e+02] [-2.54463027e-02 9.99675826e-01 -8.53017980e-04 -1.70895532e+00] [-1.84144999e-02 3.84416957e-04 9.99830365e-01 -2.44937825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68439141799998 meters 0.01775072584034396 Centerline is valid? [True, True] Translation: X:121.14, Y:-1.71, Z:-2.45 [[ 9.99452125e-01 2.69588820e-02 1.92007574e-02 1.21143931e+02] [-2.69466472e-02 9.99636472e-01 -8.95689201e-04 -1.70920067e+00] [-1.92179242e-02 3.77802440e-04 9.99815247e-01 -2.44932250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74439141799998 meters 0.018016422382262337 Centerline is valid? [True, True] Translation: X:121.21, Y:-1.71, Z:-2.45 [[ 9.99400516e-01 2.83817530e-02 1.98263718e-02 1.21205634e+02] [-2.83688715e-02 9.99597089e-01 -9.30723577e-04 -1.71211889e+00] [-1.98447991e-02 3.67713830e-04 9.99803005e-01 -2.44960987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80439141799998 meters 0.017476271762281927 Centerline is valid? [True, True] Translation: X:121.27, Y:-1.71, Z:-2.45 [[ 9.99401008e-01 2.89109198e-02 1.90206010e-02 1.21267886e+02] [-2.88990631e-02 9.99581931e-01 -8.97986499e-04 -1.71382169e+00] [-1.90386107e-02 3.47771062e-04 9.99818689e-01 -2.45205793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86439141799998 meters 0.01753641028741053 Centerline is valid? [True, True] Translation: X:121.33, Y:-1.72, Z:-2.45 [[ 9.99407844e-01 2.88737448e-02 1.87154297e-02 1.21330068e+02] [-2.88621622e-02 9.99583006e-01 -8.88747460e-04 -1.71592690e+00] [-1.87332870e-02 3.48053415e-04 9.99824456e-01 -2.45456525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92439141799998 meters 0.01811146964943718 Centerline is valid? [True, True] Translation: X:121.39, Y:-1.72, Z:-2.46 [[ 9.99408376e-01 2.86479426e-02 1.90313877e-02 1.21391027e+02] [-2.86358172e-02 9.99589497e-01 -9.09395002e-04 -1.72023670e+00] [-1.90496275e-02 3.63877645e-04 9.99818473e-01 -2.45510994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98439141799997 meters 0.0178287903543714 Centerline is valid? [True, True] Translation: X:121.45, Y:-1.72, Z:-2.46 [[ 9.99347952e-01 3.05094859e-02 1.93091432e-02 1.21452880e+02] [-3.04972518e-02 9.99534420e-01 -9.27811945e-04 -1.72204774e+00] [-1.93284603e-02 3.38331165e-04 9.99813131e-01 -2.45605755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04439141799998 meters 0.015926776542119887 Centerline is valid? [True, True] Translation: X:121.51, Y:-1.72, Z:-2.46 [[ 9.99180984e-01 3.56417211e-02 1.91579754e-02 1.21514581e+02] [-3.56305098e-02 9.99364602e-01 -9.26326737e-04 -1.72101460e+00] [-1.91788183e-02 2.42959632e-04 9.99816040e-01 -2.45630308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10439141799998 meters 0.0151594714980961 Centerline is valid? [True, True] Translation: X:121.57, Y:-1.72, Z:-2.46 [[ 9.99018495e-01 4.01200273e-02 1.87731407e-02 1.21574465e+02] [-4.01100356e-02 9.99194856e-01 -9.08609603e-04 -1.72032286e+00] [-1.87944791e-02 1.54726455e-04 9.99823356e-01 -2.45773644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16439141799998 meters 0.01460851802826249 Centerline is valid? [True, True] Translation: X:121.63, Y:-1.72, Z:-2.46 [[ 9.98871301e-01 4.40903501e-02 1.76682174e-02 1.21634224e+02] [-4.40821327e-02 9.99027545e-01 -8.54470960e-04 -1.72189037e+00] [-1.76887098e-02 7.46538169e-05 9.99843540e-01 -2.46099291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22439141799998 meters 0.014811997378651801 Centerline is valid? [True, True] Translation: X:121.69, Y:-1.73, Z:-2.46 [[ 9.98954879e-01 4.27043653e-02 1.62937848e-02 1.21693774e+02] [-4.26972018e-02 9.99087748e-01 -7.87420141e-04 -1.72769415e+00] [-1.63125471e-02 9.08981729e-05 9.99866937e-01 -2.46381792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28439141799998 meters 0.015068051367224852 Centerline is valid? [True, True] Translation: X:121.75, Y:-1.73, Z:-2.46 [[ 9.99067100e-01 4.01211858e-02 1.59756164e-02 1.21752067e+02] [-4.01139759e-02 9.99194813e-01 -7.71628311e-04 -1.73229729e+00] [-1.59937117e-02 1.30062969e-04 9.99872084e-01 -2.46454974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34439141799997 meters 0.01566817436274523 Centerline is valid? [True, True] Translation: X:121.81, Y:-1.74, Z:-2.46 [[ 9.99236868e-01 3.56367320e-02 1.59907837e-02 1.21810962e+02] [-3.56289571e-02 9.99364790e-01 -7.70923427e-04 -1.74080889e+00] [-1.60080994e-02 2.00600163e-04 9.99871842e-01 -2.46490542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40439141799997 meters 0.01655289812826562 Centerline is valid? [True, True] Translation: X:121.87, Y:-1.75, Z:-2.47 [[ 9.99337210e-01 3.26389359e-02 1.61195448e-02 1.21871582e+02] [-3.26306624e-02 9.99467177e-01 -7.76075973e-04 -1.74759171e+00] [-1.61362862e-02 2.49570173e-04 9.99869771e-01 -2.46644574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46439141799998 meters 0.018277655143206246 Centerline is valid? [True, True] Translation: X:121.93, Y:-1.76, Z:-2.47 [[ 9.99452016e-01 2.84356016e-02 1.69435752e-02 1.21930675e+02] [-2.84258554e-02 9.99595571e-01 -8.15821281e-04 -1.75740890e+00] [-1.69599211e-02 3.33738607e-04 9.99856114e-01 -2.46773834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52439141799998 meters 0.019802001843451114 Centerline is valid? [True, True] Translation: X:121.99, Y:-1.77, Z:-2.47 [[ 9.99573659e-01 2.35556115e-02 1.72520810e-02 1.21991606e+02] [-2.35447902e-02 9.99722438e-01 -8.30121349e-04 -1.76657932e+00] [-1.72668465e-02 4.23570806e-04 9.99850827e-01 -2.46907640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58439141799998 meters 0.021048299434686252 Centerline is valid? [True, True] Translation: X:122.05, Y:-1.77, Z:-2.47 [[ 9.99656340e-01 2.04948255e-02 1.63451705e-02 1.22053096e+02] [-2.04847084e-02 9.99789857e-01 -7.86163945e-04 -1.77407751e+00] [-1.63578479e-02 4.51067721e-04 9.99866100e-01 -2.47085271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64439141799998 meters 0.022830879687640877 Centerline is valid? [True, True] Translation: X:122.11, Y:-1.78, Z:-2.47 [[ 9.99705902e-01 1.76843518e-02 1.65943589e-02 1.22114678e+02] [-1.76734624e-02 9.99843490e-01 -8.02640377e-04 -1.78174048e+00] [-1.66059559e-02 5.09124545e-04 9.99861982e-01 -2.47201069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70439141799997 meters 0.02355435329754039 Centerline is valid? [True, True] Translation: X:122.18, Y:-1.79, Z:-2.47 [[ 9.99694070e-01 1.79559417e-02 1.70103325e-02 1.22177725e+02] [-1.79444645e-02 9.99838643e-01 -8.27122874e-04 -1.78702085e+00] [-1.70224396e-02 5.21628522e-04 9.99854972e-01 -2.47321089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76439141799997 meters 0.021494520229346725 Centerline is valid? [True, True] Translation: X:122.24, Y:-1.79, Z:-2.47 [[ 9.99662798e-01 1.95843153e-02 1.70512650e-02 1.22240158e+02] [-1.95729256e-02 9.99808084e-01 -8.34610050e-04 -1.78629293e+00] [-1.70643378e-02 5.00585477e-04 9.99854268e-01 -2.47429289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82439141799998 meters 0.02107750207116587 Centerline is valid? [True, True] Translation: X:122.30, Y:-1.79, Z:-2.48 [[ 9.99629328e-01 2.23983923e-02 1.54763613e-02 1.22301809e+02] [-2.23892847e-02 9.99749039e-01 -7.61521431e-04 -1.78715713e+00] [-1.54895341e-02 4.14734499e-04 9.99879944e-01 -2.47647022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88439141799998 meters 0.020103223082930298 Centerline is valid? [True, True] Translation: X:122.36, Y:-1.79, Z:-2.48 [[ 9.99571647e-01 2.49836680e-02 1.52426531e-02 1.22364392e+02] [-2.49750690e-02 9.99687790e-01 -7.54266307e-04 -1.78663186e+00] [-1.52567385e-02 3.73256902e-04 9.99883540e-01 -2.47815366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94439141799998 meters 0.020295891426859024 Centerline is valid? [True, True] Translation: X:122.43, Y:-1.79, Z:-2.48 [[ 9.99547861e-01 2.60397704e-02 1.50334409e-02 1.22425476e+02] [-2.60314600e-02 9.99660844e-01 -7.48245331e-04 -1.78908977e+00] [-1.50478264e-02 3.56564604e-04 9.99886711e-01 -2.47895156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00439141799998 meters 0.020333386092530985 Centerline is valid? [True, True] Translation: X:122.49, Y:-1.79, Z:-2.48 [[ 9.99549668e-01 2.64226649e-02 1.42233933e-02 1.22487212e+02] [-2.64151967e-02 9.99650804e-01 -7.12706726e-04 -1.79076717e+00] [-1.42372582e-02 3.36672039e-04 9.99898588e-01 -2.48063625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06439141799999 meters 0.021156898989093988 Centerline is valid? [True, True] Translation: X:122.55, Y:-1.79, Z:-2.48 [[ 9.99568800e-01 2.56239366e-02 1.43397533e-02 1.22547760e+02] [-2.56162536e-02 9.99671591e-01 -7.19231990e-04 -1.79425062e+00] [-1.43534735e-02 3.51591100e-04 9.99896922e-01 -2.48139303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12439141799997 meters 0.020725663116674644 Centerline is valid? [True, True] Translation: X:122.61, Y:-1.80, Z:-2.48 [[ 9.99582741e-01 2.47460928e-02 1.48988352e-02 1.22608985e+02] [-2.47376989e-02 9.99693697e-01 -7.47453272e-04 -1.79512629e+00] [-1.49127682e-02 3.78578493e-04 9.99888727e-01 -2.48170704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18439141799998 meters 0.02033692362407911 Centerline is valid? [True, True] Translation: X:122.67, Y:-1.80, Z:-2.48 [[ 9.99615140e-01 2.31255643e-02 1.53225205e-02 1.22670604e+02] [-2.31164858e-02 9.99732482e-01 -7.69362082e-04 -1.79799424e+00] [-1.53362134e-02 4.14863158e-04 9.99882307e-01 -2.48164994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24439141799998 meters 0.02178187887655659 Centerline is valid? [True, True] Translation: X:122.73, Y:-1.80, Z:-2.48 [[ 9.99670315e-01 2.15014707e-02 1.40338502e-02 1.22731378e+02] [-2.14937086e-02 9.99768736e-01 -7.03712886e-04 -1.80191072e+00] [-1.40457355e-02 4.01841397e-04 9.99901273e-01 -2.48384993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30439141799998 meters 0.021820516020711143 Centerline is valid? [True, True] Translation: X:122.79, Y:-1.80, Z:-2.48 [[ 9.99681423e-01 2.12004949e-02 1.36963941e-02 1.22793848e+02] [-2.11930271e-02 9.99775164e-01 -6.90162868e-04 -1.80327050e+00] [-1.37079464e-02 3.99674947e-04 9.99905962e-01 -2.48494567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36439141799998 meters 0.021525029050561303 Centerline is valid? [True, True] Translation: X:122.86, Y:-1.80, Z:-2.49 [[ 9.99642747e-01 2.27759872e-02 1.39868692e-02 1.22855459e+02] [-2.27682731e-02 9.99740517e-01 -7.10538425e-04 -1.80455790e+00] [-1.39994230e-02 3.91827726e-04 9.99901927e-01 -2.48622498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42439141799998 meters 0.018614313345679204 Centerline is valid? [True, True] Translation: X:122.92, Y:-1.80, Z:-2.49 [[ 9.99473869e-01 2.90454310e-02 1.44342427e-02 1.22916998e+02] [-2.90378599e-02 9.99578043e-01 -7.33867779e-04 -1.80059133e+00] [-1.44494675e-02 3.14342153e-04 9.99895552e-01 -2.48623732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48439141799997 meters 0.01617327605434104 Centerline is valid? [True, True] Translation: X:122.98, Y:-1.80, Z:-2.49 [[ 9.99210457e-01 3.76130804e-02 1.27952908e-02 1.22976744e+02] [-3.76078194e-02 9.99292363e-01 -6.51613200e-04 -1.79602025e+00] [-1.28107456e-02 1.69895737e-04 9.99917925e-01 -2.48774454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54439141799998 meters 0.015190601622615667 Centerline is valid? [True, True] Translation: X:123.04, Y:-1.80, Z:-2.49 [[ 9.99025839e-01 4.25409531e-02 1.17320284e-02 1.23035942e+02] [-4.25368706e-02 9.99094719e-01 -5.97399146e-04 -1.79575086e+00] [-1.17468216e-02 9.77734088e-05 9.99930999e-01 -2.48901106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60439141799998 meters 0.014837848911773623 Centerline is valid? [True, True] Translation: X:123.09, Y:-1.80, Z:-2.49 [[ 9.98872251e-01 4.61080553e-02 1.13257626e-02 1.23094390e+02] [-4.61044896e-02 9.98936457e-01 -5.75854265e-04 -1.79700084e+00] [-1.13402687e-02 5.30363427e-05 9.99935696e-01 -2.48990030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66439141799998 meters 0.014860674300670756 Centerline is valid? [True, True] Translation: X:123.15, Y:-1.80, Z:-2.49 [[ 9.98889194e-01 4.58460914e-02 1.08864600e-02 1.23152379e+02] [-4.58427873e-02 9.98948514e-01 -5.52981808e-04 -1.80146061e+00] [-1.09003651e-02 5.33018832e-05 9.99940588e-01 -2.49189334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72439141799998 meters 0.016376232857770005 Centerline is valid? [True, True] Translation: X:123.21, Y:-1.81, Z:-2.49 [[ 9.98997118e-01 4.38411650e-02 9.09452632e-03 1.23211187e+02] [-4.38387844e-02 9.99038512e-01 -4.61046291e-04 -1.80749149e+00] [-9.10599484e-03 6.18909379e-05 9.99958538e-01 -2.49420775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78439141799998 meters 0.01613875862919021 Centerline is valid? [True, True] Translation: X:123.27, Y:-1.82, Z:-2.50 [[ 9.99250233e-01 3.77047169e-02 8.79349131e-03 1.23269489e+02] [-3.77022595e-02 9.99288918e-01 -4.45123185e-04 -1.81782640e+00] [-8.80402166e-03 1.13254955e-04 9.99961237e-01 -2.49544239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84439141799997 meters 0.018290366716237575 Centerline is valid? [True, True] Translation: X:123.33, Y:-1.83, Z:-2.50 [[ 9.99540950e-01 2.89280386e-02 9.00320375e-03 1.23328024e+02] [-2.89251155e-02 9.99581478e-01 -4.54752151e-04 -1.82948396e+00] [-9.01259080e-03 1.94124689e-04 9.99959367e-01 -2.49513965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90439141799997 meters 0.02102173714970773 Centerline is valid? [True, True] Translation: X:123.39, Y:-1.84, Z:-2.50 [[ 9.99707154e-01 2.20252652e-02 1.00246810e-02 1.23387815e+02] [-2.20213062e-02 9.99757374e-01 -5.05144980e-04 -1.83982475e+00] [-1.00333747e-02 2.84240480e-04 9.99949624e-01 -2.49553722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96439141799998 meters 0.02704128679020418 Centerline is valid? [True, True] Translation: X:123.45, Y:-1.86, Z:-2.50 [[ 9.99905313e-01 9.77375322e-03 9.68708312e-03 1.23447838e+02] [-9.76948637e-03 9.99952159e-01 -4.87692042e-04 -1.85707700e+00] [-9.69138626e-03 3.93008037e-04 9.99952960e-01 -2.49705632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02439141799998 meters 0.033308698973609635 Centerline is valid? [True, True] Translation: X:123.51, Y:-1.87, Z:-2.50 [[ 9.99942011e-01 -3.40146005e-03 1.02178670e-02 1.23508097e+02] [ 3.40689402e-03 9.99994064e-01 -5.14451397e-04 -1.87281517e+00] [-1.02160565e-02 5.49232755e-04 9.99947664e-01 -2.49844617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08439141799998 meters 0.04417692709892657 Centerline is valid? [True, True] Translation: X:123.57, Y:-1.89, Z:-2.50 [[ 9.99845609e-01 -1.49781528e-02 9.18765320e-03 1.23566867e+02] [ 1.49830354e-02 9.99887641e-01 -4.62825229e-04 -1.89134684e+00] [-9.17968862e-03 6.00412707e-04 9.99957686e-01 -2.50093606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14439141799998 meters 0.040245462694580146 Centerline is valid? [True, True] Translation: X:123.63, Y:-1.89, Z:-2.50 [[ 9.99773920e-01 -1.93035149e-02 8.91528517e-03 1.23627199e+02] [ 1.93082803e-02 9.99813477e-01 -4.48746551e-04 -1.88916167e+00] [-8.90495988e-03 6.20783924e-04 9.99960157e-01 -2.50102078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20439141799997 meters 0.044451032750447095 Centerline is valid? [True, True] Translation: X:123.69, Y:-1.89, Z:-2.50 [[ 9.99748722e-01 -2.06301138e-02 8.76877131e-03 1.23688256e+02] [ 2.06347691e-02 9.99786983e-01 -4.40738012e-04 -1.89468555e+00] [-8.75781094e-03 6.21568835e-04 9.99961456e-01 -2.50301323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26439141799997 meters 0.04272109893477077 Centerline is valid? [True, True] Translation: X:123.75, Y:-1.89, Z:-2.50 [[ 9.99787844e-01 -1.84427018e-02 9.17240339e-03 1.23749604e+02] [ 1.84477119e-02 9.99829720e-01 -4.61895501e-04 -1.89251245e+00] [-9.16232291e-03 6.31007363e-04 9.99957826e-01 -2.50424663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32439141799998 meters 0.036803573476862875 Centerline is valid? [True, True] Translation: X:123.81, Y:-1.88, Z:-2.51 [[ 9.99875942e-01 -1.25938314e-02 9.46024902e-03 1.23810679e+02] [ 1.25989084e-02 9.99920517e-01 -4.77262917e-04 -1.88328683e+00] [-9.45348652e-03 5.96392519e-04 9.99955137e-01 -2.50569970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38439141799998 meters 0.03512803323225539 Centerline is valid? [True, True] Translation: X:123.87, Y:-1.88, Z:-2.51 [[ 9.99925413e-01 -7.40077290e-03 9.71585139e-03 1.23871297e+02] [ 7.40588330e-03 9.99972456e-01 -4.90113324e-04 -1.88043682e+00] [-9.71195656e-03 5.62031229e-04 9.99952680e-01 -2.50722416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44439141799998 meters 0.029927668006170763 Centerline is valid? [True, True] Translation: X:123.93, Y:-1.87, Z:-2.51 [[ 9.99934249e-01 1.64366341e-03 1.13487922e-02 1.23932377e+02] [-1.63727044e-03 9.99998496e-01 -5.72585405e-04 -1.86985853e+00] [-1.13497163e-02 5.53966715e-04 9.99935436e-01 -2.50750836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50439141799998 meters 0.025398043669651194 Centerline is valid? [True, True] Translation: X:123.99, Y:-1.86, Z:-2.51 [[ 9.99850459e-01 1.23765500e-02 1.20781077e-02 1.23993802e+02] [-1.23700923e-02 9.99923302e-01 -6.09227880e-04 -1.85967035e+00] [-1.20847215e-02 4.59729468e-04 9.99926871e-01 -2.50898095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56439141799999 meters 0.021285705508296598 Centerline is valid? [True, True] Translation: X:124.05, Y:-1.85, Z:-2.51 [[ 9.99616867e-01 2.37854385e-02 1.41552954e-02 1.24054428e+02] [-2.37777063e-02 9.99717015e-01 -7.14315446e-04 -1.85056461e+00] [-1.41682800e-02 3.77461310e-04 9.99899554e-01 -2.50982634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62439141799997 meters 0.018020202215942485 Centerline is valid? [True, True] Translation: X:124.12, Y:-1.84, Z:-2.51 [[ 9.99421757e-01 3.07169205e-02 1.45815886e-02 1.24115268e+02] [-3.07094527e-02 9.99528083e-01 -7.35818516e-04 -1.84470480e+00] [-1.45973094e-02 2.87600428e-04 9.99893412e-01 -2.51117847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68439141799998 meters 0.016393056043942176 Centerline is valid? [True, True] Translation: X:124.17, Y:-1.84, Z:-2.51 [[ 9.99184080e-01 3.74023257e-02 1.52394066e-02 1.24173927e+02] [-3.73949412e-02 9.99300268e-01 -7.69331806e-04 -1.84155779e+00] [-1.52575179e-02 1.98827377e-04 9.99883578e-01 -2.51383503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74439141799998 meters 0.015954222496377197 Centerline is valid? [True, True] Translation: X:124.23, Y:-1.84, Z:-2.51 [[ 9.99106645e-01 3.90699091e-02 1.61076025e-02 1.24232766e+02] [-3.90618912e-02 9.99236463e-01 -8.12207714e-04 -1.84195836e+00] [-1.61270366e-02 1.82288710e-04 9.99869934e-01 -2.51484706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80439141799998 meters 0.01617031601676184 Centerline is valid? [True, True] Translation: X:124.29, Y:-1.84, Z:-2.52 [[ 9.99095086e-01 3.86673604e-02 1.77156790e-02 1.24290957e+02] [-3.86576252e-02 9.99252117e-01 -8.91774574e-04 -1.84394660e+00] [-1.77369123e-02 2.06121516e-04 9.99842667e-01 -2.51529830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86439141799998 meters 0.016562763558755057 Centerline is valid? [True, True] Translation: X:124.35, Y:-1.85, Z:-2.52 [[ 9.99185866e-01 3.57980363e-02 1.86039315e-02 1.24350467e+02] [-3.57868406e-02 9.99359009e-01 -9.34469279e-04 -1.84810807e+00] [-1.86254587e-02 2.67932564e-04 9.99826495e-01 -2.51661035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92439141799998 meters 0.01751252182420551 Centerline is valid? [True, True] Translation: X:124.41, Y:-1.85, Z:-2.52 [[ 9.99242759e-01 3.35263104e-02 1.97457500e-02 1.24409328e+02] [-3.35132720e-02 9.99437781e-01 -9.90943647e-04 -1.85413330e+00] [-1.97678712e-02 3.28448575e-04 9.99804543e-01 -2.51767968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98439141799997 meters 0.019338151600326845 Centerline is valid? [True, True] Translation: X:124.47, Y:-1.86, Z:-2.52 [[ 9.99296520e-01 3.04242843e-02 2.19278052e-02 1.24469753e+02] [-3.04074679e-02 9.99536981e-01 -1.09999067e-03 -1.85951606e+00] [-2.19511186e-02 4.32447820e-04 9.99758952e-01 -2.51852059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04439141799998 meters 0.01914573440129085 Centerline is valid? [True, True] Translation: X:124.53, Y:-1.86, Z:-2.52 [[ 9.99338755e-01 2.92827764e-02 2.15539395e-02 1.24530476e+02] [-2.92662575e-02 9.99571066e-01 -1.08150348e-03 -1.86493075e+00] [-2.15763637e-02 4.49985201e-04 9.99767102e-01 -2.51892152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10439141799998 meters 0.019415505677677032 Centerline is valid? [True, True] Translation: X:124.59, Y:-1.87, Z:-2.52 [[ 9.99389343e-01 2.79527576e-02 2.09662684e-02 1.24592162e+02] [-2.79367220e-02 9.99609134e-01 -1.05738879e-03 -1.87089521e+00] [-2.09876303e-02 4.71014279e-04 9.99779624e-01 -2.52174320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16439141799998 meters 0.019785478662417033 Centerline is valid? [True, True] Translation: X:124.65, Y:-1.88, Z:-2.52 [[ 9.99355581e-01 2.94043187e-02 2.05866331e-02 1.24652947e+02] [-2.93890477e-02 9.99567503e-01 -1.04400850e-03 -1.87660555e+00] [-2.06084278e-02 4.38314181e-04 9.99787528e-01 -2.52373767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22439141799998 meters 0.017909185006684137 Centerline is valid? [True, True] Translation: X:124.72, Y:-1.88, Z:-2.53 [[ 9.99248199e-01 3.27534716e-02 2.07423750e-02 1.24715420e+02] [-3.27385766e-02 9.99463390e-01 -1.05735161e-03 -1.87715166e+00] [-2.07658764e-02 3.77480858e-04 9.99784295e-01 -2.52579603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28439141799998 meters 0.0163159586602646 Centerline is valid? [True, True] Translation: X:124.78, Y:-1.88, Z:-2.53 [[ 9.99069574e-01 3.83818123e-02 1.96678254e-02 1.24776528e+02] [-3.83694014e-02 9.99263115e-01 -1.00813622e-03 -1.87747374e+00] [-1.96920265e-02 2.52555539e-04 9.99806061e-01 -2.52887348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34439141799997 meters 0.016939700077848757 Centerline is valid? [True, True] Translation: X:124.84, Y:-1.88, Z:-2.53 [[ 9.98894991e-01 4.29416403e-02 1.91000449e-02 1.24835445e+02] [-4.29307593e-02 9.99077570e-01 -9.79536428e-04 -1.87843961e+00] [-1.91244893e-02 1.58474603e-04 9.99817098e-01 -2.53107615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40439141799997 meters 0.01576025082797042 Centerline is valid? [True, True] Translation: X:124.89, Y:-1.88, Z:-2.53 [[ 9.98542208e-01 5.05322263e-02 1.89724067e-02 1.24894562e+02] [-5.05228811e-02 9.98722431e-01 -9.71869185e-04 -1.87620730e+00] [-1.89972789e-02 1.19117525e-05 9.99819535e-01 -2.53188751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46439141799998 meters 0.015183722225809233 Centerline is valid? [True, True] Translation: X:124.95, Y:-1.88, Z:-2.53 [[ 9.98258829e-01 5.60089014e-02 1.85016932e-02 1.24952094e+02] [-5.60009818e-02 9.98430265e-01 -9.46277874e-04 -1.87758634e+00] [-1.85256504e-02 -9.14827409e-05 9.99828381e-01 -2.53261461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52439141799998 meters 0.015104879391132944 Centerline is valid? [True, True] Translation: X:125.01, Y:-1.88, Z:-2.53 [[ 9.98169933e-01 5.73550345e-02 1.91620838e-02 1.25010628e+02] [-5.73468271e-02 9.98353838e-01 -9.77984601e-04 -1.88276892e+00] [-1.91866322e-02 -1.22689882e-04 9.99815912e-01 -2.53370145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58439141799998 meters 0.01479275865554969 Centerline is valid? [True, True] Translation: X:125.07, Y:-1.89, Z:-2.54 [[ 9.98359706e-01 5.41746084e-02 1.85205089e-02 1.25068698e+02] [-5.41664211e-02 9.98531476e-01 -9.43788679e-04 -1.89220612e+00] [-1.85444404e-02 -6.09490947e-05 9.99828035e-01 -2.53523669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64439141799998 meters 0.014849613847185942 Centerline is valid? [True, True] Translation: X:125.13, Y:-1.91, Z:-2.54 [[ 9.98721323e-01 4.73044577e-02 1.78327309e-02 1.25126592e+02] [-4.72957965e-02 9.98880516e-01 -9.07358842e-04 -1.90708531e+00] [-1.78556895e-02 6.27854149e-05 9.99840572e-01 -2.53747888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70439141799997 meters 0.015463450297775202 Centerline is valid? [True, True] Translation: X:125.19, Y:-1.92, Z:-2.54 [[ 9.98934589e-01 4.24063590e-02 1.82040588e-02 1.25185428e+02] [-4.23965492e-02 9.99100434e-01 -9.24642529e-04 -1.91916147e+00] [-1.82268937e-02 1.51868132e-04 9.99833865e-01 -2.53867860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76439141799997 meters 0.017185534511274397 Centerline is valid? [True, True] Translation: X:125.25, Y:-1.93, Z:-2.54 [[ 9.99219506e-01 3.48715230e-02 1.85568123e-02 1.25245356e+02] [-3.48600458e-02 9.99391760e-01 -9.41704170e-04 -1.93404173e+00] [-1.85783640e-02 2.94077849e-04 9.99827364e-01 -2.53836449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82439141799998 meters 0.020309291983136517 Centerline is valid? [True, True] Translation: X:125.30, Y:-1.95, Z:-2.54 [[ 9.99458832e-01 2.76638273e-02 1.77976268e-02 1.25304675e+02] [-2.76521324e-02 9.99617199e-01 -9.02906069e-04 -1.95009668e+00] [-1.78157916e-02 4.10275114e-04 9.99841202e-01 -2.54024095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88439141799998 meters 0.022145098425027362 Centerline is valid? [True, True] Translation: X:125.37, Y:-1.96, Z:-2.54 [[ 9.99607309e-01 2.18111217e-02 1.75926937e-02 1.25365685e+02] [-2.17987554e-02 9.99761979e-01 -8.94404877e-04 -1.96333257e+00] [-1.76080142e-02 5.10554826e-04 9.99844837e-01 -2.54129203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94439141799998 meters 0.022708543092329433 Centerline is valid? [True, True] Translation: X:125.43, Y:-1.97, Z:-2.54 [[ 9.99666246e-01 1.89000398e-02 1.76120528e-02 1.25427457e+02] [-1.88871845e-02 9.99821220e-01 -8.95975632e-04 -1.97019834e+00] [-1.76258381e-02 5.63034506e-04 9.99844494e-01 -2.54210185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00439141799998 meters 0.023718179689623028 Centerline is valid? [True, True] Translation: X:125.49, Y:-1.98, Z:-2.54 [[ 9.99739357e-01 1.56584780e-02 1.66141254e-02 1.25489019e+02] [-1.56465742e-02 9.99877227e-01 -8.46235841e-04 -1.97773299e+00] [-1.66253364e-02 5.86061130e-04 9.99861618e-01 -2.54374043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06439141799997 meters 0.025342864759531094 Centerline is valid? [True, True] Translation: X:125.55, Y:-1.98, Z:-2.55 [[ 9.99785354e-01 1.39932168e-02 1.52785857e-02 1.25549656e+02] [-1.39829252e-02 9.99901930e-01 -7.80216467e-04 -1.98492782e+00] [-1.52880051e-02 5.66409675e-04 9.99882971e-01 -2.54623326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12439141799997 meters 0.026723764306289723 Centerline is valid? [True, True] Translation: X:125.61, Y:-1.99, Z:-2.55 [[ 9.99840292e-01 1.20725949e-02 1.31773537e-02 1.25611360e+02] [-1.20647468e-02 9.99926991e-01 -6.74908535e-04 -1.99119604e+00] [-1.31845395e-02 5.15819311e-04 9.99912947e-01 -2.54869777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18439141799998 meters 0.032482650456855396 Centerline is valid? [True, True] Translation: X:125.67, Y:-2.00, Z:-2.55 [[ 9.99849098e-01 1.16258628e-02 1.29081879e-02 1.25672124e+02] [-1.16182993e-02 9.99932287e-01 -6.60781360e-04 -2.00210820e+00] [-1.29149960e-02 5.10710457e-04 9.99916468e-01 -2.55136122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24439141799998 meters 0.027331378436632723 Centerline is valid? [True, True] Translation: X:125.73, Y:-2.00, Z:-2.55 [[ 9.99816060e-01 1.34414546e-02 1.36811544e-02 1.25734530e+02] [-1.34330767e-02 9.99909524e-01 -7.04082749e-04 -1.99589470e+00] [-1.36893805e-02 5.20173243e-04 9.99906161e-01 -2.55022869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30439141799998 meters 0.026196567167774007 Centerline is valid? [True, True] Translation: X:125.80, Y:-2.00, Z:-2.55 [[ 9.99774516e-01 1.60189537e-02 1.39395472e-02 1.25796694e+02] [-1.60104513e-02 9.99871564e-01 -7.21338570e-04 -1.99528140e+00] [-1.39493120e-02 4.97997477e-04 9.99902580e-01 -2.55128364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36439141799998 meters 0.024063822193639627 Centerline is valid? [True, True] Translation: X:125.86, Y:-1.99, Z:-2.55 [[ 9.99689833e-01 2.14524768e-02 1.26502331e-02 1.25858215e+02] [-2.14458480e-02 9.99769794e-01 -6.59445231e-04 -1.99047557e+00] [-1.26614677e-02 3.87945717e-04 9.99919765e-01 -2.55373518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42439141799998 meters 0.019305155838949924 Centerline is valid? [True, True] Translation: X:125.92, Y:-1.98, Z:-2.55 [[ 9.99518039e-01 2.80676876e-02 1.32624935e-02 1.25920168e+02] [-2.80609762e-02 9.99605974e-01 -6.91897747e-04 -1.98145524e+00] [-1.32766877e-02 3.19405764e-04 9.99911810e-01 -2.55349235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48439141799997 meters 0.01804751600670301 Centerline is valid? [True, True] Translation: X:125.98, Y:-1.98, Z:-2.55 [[ 9.99353395e-01 3.27440820e-02 1.48531580e-02 1.25979828e+02] [-3.27361708e-02 9.99463727e-01 -7.75514095e-04 -1.97867694e+00] [-1.48705861e-02 2.88777128e-04 9.99889385e-01 -2.55343534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54439141799998 meters 0.01803134365607572 Centerline is valid? [True, True] Translation: X:126.04, Y:-1.98, Z:-2.56 [[ 9.99315957e-01 3.38643559e-02 1.48601491e-02 1.26039037e+02] [-3.38565409e-02 9.99426401e-01 -7.77229442e-04 -1.97969048e+00] [-1.48779457e-02 2.73584537e-04 9.99889280e-01 -2.55510230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60439141799998 meters 0.018009544674253048 Centerline is valid? [True, True] Translation: X:126.10, Y:-1.98, Z:-2.56 [[ 9.99284545e-01 3.48121770e-02 1.47821147e-02 1.26098095e+02] [-3.48045579e-02 9.99393839e-01 -7.72449074e-04 -1.98114969e+00] [-1.48000450e-02 2.57411456e-04 9.99890440e-01 -2.55724809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66439141799998 meters 0.01748905960934425 Centerline is valid? [True, True] Translation: X:126.16, Y:-1.98, Z:-2.56 [[ 9.99246336e-01 3.63716646e-02 1.35595788e-02 1.26157373e+02] [-3.63653985e-02 9.99338309e-01 -7.08468497e-04 -1.98279233e+00] [-1.35763748e-02 2.14835061e-04 9.99907814e-01 -2.55978558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72439141799998 meters 0.01787819256880203 Centerline is valid? [True, True] Translation: X:126.22, Y:-1.98, Z:-2.56 [[ 9.99182935e-01 3.79819577e-02 1.38142517e-02 1.26216522e+02] [-3.79756156e-02 9.99278406e-01 -7.21218204e-04 -1.98482970e+00] [-1.38316767e-02 1.96024209e-04 9.99904319e-01 -2.56116007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78439141799998 meters 0.016751768820348425 Centerline is valid? [True, True] Translation: X:126.28, Y:-1.99, Z:-2.56 [[ 9.99092117e-01 3.96774771e-02 1.55125574e-02 1.26275421e+02] [-3.96696918e-02 9.99212520e-01 -8.09378354e-04 -1.98652785e+00] [-1.55324557e-02 1.93265162e-04 9.99879345e-01 -2.56081012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84439141799997 meters 0.016048219930548616 Centerline is valid? [True, True] Translation: X:126.33, Y:-1.99, Z:-2.56 [[ 9.99095397e-01 3.93948340e-02 1.60136047e-02 1.26334851e+02] [-3.93865238e-02 9.99223702e-01 -8.34115746e-04 -1.99005666e+00] [-1.60340332e-02 2.02640978e-04 9.99871426e-01 -2.56171776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90439141799997 meters 0.016475014211752292 Centerline is valid? [True, True] Translation: X:126.39, Y:-2.00, Z:-2.56 [[ 9.99128196e-01 3.82982816e-02 1.66159393e-02 1.26392962e+02] [-3.82891944e-02 9.99266326e-01 -8.64798250e-04 -1.99562502e+00] [-1.66368689e-02 2.27833386e-04 9.99861572e-01 -2.56295649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96439141799998 meters 0.0166416468465739 Centerline is valid? [True, True] Translation: X:126.45, Y:-2.00, Z:-2.56 [[ 9.99138119e-01 3.80239549e-02 1.66492633e-02 1.26452617e+02] [-3.80148059e-02 9.99276801e-01 -8.65765968e-04 -1.99938779e+00] [-1.66701424e-02 2.32101268e-04 9.99861017e-01 -2.56451862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02439141799998 meters 0.01630312824883497 Centerline is valid? [True, True] Translation: X:126.51, Y:-2.00, Z:-2.57 [[ 9.99111641e-01 3.86655819e-02 1.67600914e-02 1.26512458e+02] [-3.86564120e-02 9.99252182e-01 -8.70865172e-04 -2.00228222e+00] [-1.67812304e-02 2.22206533e-04 9.99859161e-01 -2.56563454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08439141799998 meters 0.015665652700735493 Centerline is valid? [True, True] Translation: X:126.57, Y:-2.01, Z:-2.57 [[ 9.99007454e-01 4.14320067e-02 1.63553005e-02 1.26570776e+02] [-4.14236544e-02 9.99141311e-01 -8.49262835e-04 -2.00601067e+00] [-1.63764431e-02 1.70923585e-04 9.99865882e-01 -2.56719337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14439141799998 meters 0.015265149036278819 Centerline is valid? [True, True] Translation: X:126.63, Y:-2.01, Z:-2.57 [[ 9.98855357e-01 4.53021622e-02 1.53522072e-02 1.26629187e+02] [-4.52952733e-02 9.98973325e-01 -7.96322201e-04 -2.00913094e+00] [-1.53725206e-02 1.00028276e-04 9.99881831e-01 -2.56955481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20439141799997 meters 0.01501778721553638 Centerline is valid? [True, True] Translation: X:126.69, Y:-2.01, Z:-2.57 [[ 9.98788011e-01 4.70393065e-02 1.44849108e-02 1.26687753e+02] [-4.70333666e-02 9.98893037e-01 -7.50650926e-04 -2.01250928e+00] [-1.45041866e-02 6.84670268e-05 9.99894806e-01 -2.57180040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26439141799997 meters 0.01476463656301455 Centerline is valid? [True, True] Translation: X:126.75, Y:-2.02, Z:-2.57 [[ 9.98726151e-01 4.85472842e-02 1.37563176e-02 1.26746027e+02] [-4.85420829e-02 9.98820885e-01 -7.11945993e-04 -2.01763473e+00] [-1.37746603e-02 4.32787721e-05 9.99905124e-01 -2.57362206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32439141799998 meters 0.014653175661130845 Centerline is valid? [True, True] Translation: X:126.80, Y:-2.02, Z:-2.57 [[ 9.98746103e-01 4.79731169e-02 1.43108745e-02 1.26804963e+02] [-4.79674456e-02 9.98848626e-01 -7.39475802e-04 -2.02357753e+00] [-1.43298723e-02 5.20924806e-05 9.99897321e-01 -2.57359312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38439141799998 meters 0.014675074351652617 Centerline is valid? [True, True] Translation: X:126.86, Y:-2.03, Z:-2.57 [[ 9.98853313e-01 4.56605437e-02 1.43935627e-02 1.26862825e+02] [-4.56545819e-02 9.98957010e-01 -7.42683483e-04 -2.03028712e+00] [-1.44124617e-02 8.46997710e-05 9.99896131e-01 -2.57432586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44439141799998 meters 0.01595534334588534 Centerline is valid? [True, True] Translation: X:126.92, Y:-2.04, Z:-2.58 [[ 9.99133215e-01 3.87035169e-02 1.53250046e-02 1.26921494e+02] [-3.86959702e-02 9.99250719e-01 -7.88773906e-04 -2.04374645e+00] [-1.53440502e-02 1.95074286e-04 9.99882254e-01 -2.57516104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50439141799998 meters 0.01818084756071725 Centerline is valid? [True, True] Translation: X:126.98, Y:-2.06, Z:-2.58 [[ 9.99350218e-01 3.21122410e-02 1.63690497e-02 1.26980597e+02] [-3.21027599e-02 9.99484219e-01 -8.41707691e-04 -2.05543407e+00] [-1.63876359e-02 3.15669093e-04 9.99865664e-01 -2.57562435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56439141799997 meters 0.022373849120488922 Centerline is valid? [True, True] Translation: X:127.04, Y:-2.07, Z:-2.58 [[ 9.99637700e-01 2.20519031e-02 1.54331250e-02 1.27040784e+02] [-2.20422844e-02 9.99756725e-01 -7.93097568e-04 -2.06990902e+00] [-1.54468599e-02 4.52628898e-04 9.99880588e-01 -2.57824900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62439141799997 meters 0.027171793455968343 Centerline is valid? [True, True] Translation: X:127.10, Y:-2.08, Z:-2.58 [[ 9.99804481e-01 1.36250293e-02 1.43303047e-02 1.27100725e+02] [-1.36158665e-02 9.99907028e-01 -7.36773468e-04 -2.08344126e+00] [-1.43390110e-02 5.41509898e-04 9.99897044e-01 -2.58062182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68439141799998 meters 0.027131842307048393 Centerline is valid? [True, True] Translation: X:127.16, Y:-2.09, Z:-2.58 [[ 9.99830136e-01 1.06471139e-02 1.50445196e-02 1.27162411e+02] [-1.06366990e-02 9.99943131e-01 -7.72120392e-04 -2.08800618e+00] [-1.50518849e-02 6.11965211e-04 9.99886527e-01 -2.58057312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74439141799998 meters 0.026795264044119166 Centerline is valid? [True, True] Translation: X:127.22, Y:-2.09, Z:-2.58 [[ 9.99794256e-01 1.26059914e-02 1.58913656e-02 1.27224566e+02] [-1.25945471e-02 9.99920349e-01 -8.20030989e-04 -2.09038650e+00] [-1.59004371e-02 6.19717720e-04 9.99873388e-01 -2.58079027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80439141799998 meters 0.023950181937183592 Centerline is valid? [True, True] Translation: X:127.29, Y:-2.09, Z:-2.58 [[ 9.99754975e-01 1.54161844e-02 1.58849427e-02 1.27286613e+02] [-1.54050334e-02 9.99880996e-01 -8.24114977e-04 -2.08907445e+00] [-1.58957570e-02 5.79204975e-04 9.99873487e-01 -2.58182745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86439141799998 meters 0.02285496992800885 Centerline is valid? [True, True] Translation: X:127.35, Y:-2.09, Z:-2.58 [[ 9.99714818e-01 1.78345556e-02 1.58811644e-02 1.27349424e+02] [-1.78236271e-02 9.99840803e-01 -8.29424087e-04 -2.08888037e+00] [-1.58934286e-02 5.46127597e-04 9.99873542e-01 -2.58394781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92439141799998 meters 0.023157889972036667 Centerline is valid? [True, True] Translation: X:127.41, Y:-2.09, Z:-2.59 [[ 9.99704439e-01 1.98791927e-02 1.39947558e-02 1.27410971e+02] [-1.98709045e-02 9.99802287e-01 -7.31053186e-04 -2.09025488e+00] [-1.40065216e-02 4.52748660e-04 9.99901801e-01 -2.58710300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98439141799997 meters 0.022472135386000083 Centerline is valid? [True, True] Translation: X:127.47, Y:-2.09, Z:-2.59 [[ 9.99732151e-01 1.89315379e-02 1.33124915e-02 1.27473446e+02] [-1.89239127e-02 9.99820683e-01 -6.98531498e-04 -2.08942607e+00] [-1.33233286e-02 4.46419971e-04 9.99911141e-01 -2.58819342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044391418 meters 0.02375936874753268 Centerline is valid? [True, True] Translation: X:127.54, Y:-2.09, Z:-2.59 [[ 9.99782169e-01 1.60310601e-02 1.33648361e-02 1.27535842e+02] [-1.60230433e-02 9.99871373e-01 -7.06709366e-04 -2.09122174e+00] [-1.33744463e-02 4.92410075e-04 9.99910437e-01 -2.58868463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104391418 meters 0.025870692951066553 Centerline is valid? [True, True] Translation: X:127.60, Y:-2.09, Z:-2.59 [[ 9.99797462e-01 1.43570236e-02 1.41035474e-02 1.27596741e+02] [-1.43479283e-02 9.99896785e-01 -7.45870959e-04 -2.09343125e+00] [-1.41128001e-02 5.43363205e-04 9.99900262e-01 -2.58989975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16439141799998 meters 0.025985713275978206 Centerline is valid? [True, True] Translation: X:127.66, Y:-2.09, Z:-2.59 [[ 9.99763914e-01 1.54801621e-02 1.52473532e-02 1.27659159e+02] [-1.54695942e-02 9.99880010e-01 -8.10800144e-04 -2.09441765e+00] [-1.52580750e-02 5.74738358e-04 9.99883424e-01 -2.59108493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22439141799998 meters 0.02390524828763638 Centerline is valid? [True, True] Translation: X:127.72, Y:-2.09, Z:-2.59 [[ 9.99697444e-01 1.89334473e-02 1.57017752e-02 1.27720896e+02] [-1.89225751e-02 9.99820599e-01 -8.40715088e-04 -2.08898553e+00] [-1.57148760e-02 5.43342703e-04 9.99876366e-01 -2.59248190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28439141799998 meters 0.02333282314373004 Centerline is valid? [True, True] Translation: X:127.78, Y:-2.09, Z:-2.60 [[ 9.99611827e-01 2.31958205e-02 1.54320608e-02 1.27781299e+02] [-2.31858226e-02 9.99730831e-01 -8.26488695e-04 -2.08599348e+00] [-1.54470780e-02 4.68362852e-04 9.99880577e-01 -2.59503376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344391418 meters 0.021009448175350425 Centerline is valid? [True, True] Translation: X:127.84, Y:-2.08, Z:-2.60 [[ 9.99542660e-01 2.60484584e-02 1.53606174e-02 1.27843526e+02] [-2.60388743e-02 9.99660592e-01 -8.23644458e-04 -2.08245502e+00] [-1.53768585e-02 4.23294589e-04 9.99881680e-01 -2.59646969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404391418 meters 0.01851269484471408 Centerline is valid? [True, True] Translation: X:127.91, Y:-2.08, Z:-2.60 [[ 9.99406537e-01 3.05860261e-02 1.58451398e-02 1.27905803e+02] [-3.05763072e-02 9.99532069e-01 -8.55316819e-04 -2.07734092e+00] [-1.58638861e-02 3.70323358e-04 9.99874092e-01 -2.59705476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464391418 meters 0.01736874019006698 Centerline is valid? [True, True] Translation: X:127.97, Y:-2.07, Z:-2.60 [[ 9.99315305e-01 3.39115619e-02 1.47961839e-02 1.27966797e+02] [-3.39034338e-02 9.99424793e-01 -7.99894901e-04 -2.07475896e+00] [-1.48147987e-02 2.97705776e-04 9.99890211e-01 -2.59908443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524391418 meters 0.016414964129233788 Centerline is valid? [True, True] Translation: X:128.03, Y:-2.07, Z:-2.60 [[ 9.99189799e-01 3.78883138e-02 1.35727919e-02 1.28027165e+02] [-3.78818391e-02 9.99281956e-01 -7.33901203e-04 -2.07184422e+00] [-1.35908524e-02 2.19144276e-04 9.99907616e-01 -2.60164718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584391418 meters 0.015867424276805167 Centerline is valid? [True, True] Translation: X:128.09, Y:-2.07, Z:-2.60 [[ 9.99112046e-01 3.96336908e-02 1.42930007e-02 1.28085858e+02] [-3.96266884e-02 9.99214255e-01 -7.72904619e-04 -2.07046572e+00] [-1.43124032e-02 2.05834029e-04 9.99897551e-01 -2.60209377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644391418 meters 0.0160728721281253 Centerline is valid? [True, True] Translation: X:128.15, Y:-2.07, Z:-2.60 [[ 9.99135881e-01 3.89477132e-02 1.45108957e-02 1.28145134e+02] [-3.89404408e-02 9.99241226e-01 -7.83482558e-04 -2.07190752e+00] [-1.45304001e-02 2.17744860e-04 9.99894404e-01 -2.60287923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704391418 meters 0.01725360153702895 Centerline is valid? [True, True] Translation: X:128.20, Y:-2.08, Z:-2.60 [[ 9.99248612e-01 3.53664368e-02 1.58564428e-02 1.28203417e+02] [-3.53573269e-02 9.99374369e-01 -8.54579817e-04 -2.07809746e+00] [-1.58767460e-02 2.93296264e-04 9.99873914e-01 -2.60349700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764391418 meters 0.02109629662758589 Centerline is valid? [True, True] Translation: X:128.26, Y:-2.09, Z:-2.61 [[ 9.99389050e-01 3.19054606e-02 1.42677196e-02 1.28262483e+02] [-3.18977485e-02 9.99490842e-01 -7.67827091e-04 -2.08526707e+00] [-1.42849529e-02 3.12249857e-04 9.99897916e-01 -2.60595964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824391418 meters 0.020000262247848857 Centerline is valid? [True, True] Translation: X:128.32, Y:-2.09, Z:-2.61 [[ 9.99440655e-01 2.97427715e-02 1.52887380e-02 1.28322508e+02] [-2.97336623e-02 9.99557518e-01 -8.22826887e-04 -2.09001062e+00] [-1.53064461e-02 3.67776471e-04 9.99882782e-01 -2.60563112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88439141799998 meters 0.020448556599795196 Centerline is valid? [True, True] Translation: X:128.38, Y:-2.09, Z:-2.61 [[ 9.99448885e-01 2.96549562e-02 1.49167950e-02 1.28383009e+02] [-2.96462750e-02 9.99560130e-01 -8.02809233e-04 -2.09451011e+00] [-1.49340408e-02 3.60139385e-04 9.99888416e-01 -2.60714138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94439141799998 meters 0.019855441612928303 Centerline is valid? [True, True] Translation: X:128.44, Y:-2.10, Z:-2.61 [[ 9.99390261e-01 3.15320572e-02 1.49945451e-02 1.28443532e+02] [-3.15234964e-02 9.99502685e-01 -8.06993677e-04 -2.09811904e+00] [-1.50125343e-02 3.33821132e-04 9.99887250e-01 -2.60888204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00439141799998 meters 0.0174967386244568 Centerline is valid? [True, True] Translation: X:128.50, Y:-2.10, Z:-2.61 [[ 9.99204874e-01 3.73495180e-02 1.39511170e-02 1.28503244e+02] [-3.73426705e-02 9.99302237e-01 -7.51082561e-04 -2.09672891e+00] [-1.39694350e-02 2.29513390e-04 9.99902396e-01 -2.61090043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06439141799999 meters 0.014771152757839143 Centerline is valid? [True, True] Translation: X:128.56, Y:-2.09, Z:-2.61 [[ 9.98862251e-01 4.57688133e-02 1.33947646e-02 1.28561890e+02] [-4.57632624e-02 9.98952053e-01 -7.20787073e-04 -2.09233381e+00] [-1.34137172e-02 1.06978870e-04 9.99910026e-01 -2.61258531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124391418 meters 0.013714598968681126 Centerline is valid? [True, True] Translation: X:128.62, Y:-2.09, Z:-2.61 [[ 9.98494157e-01 5.31294556e-02 1.36630677e-02 1.28621168e+02] [-5.31243770e-02 9.98587633e-01 -7.34630218e-04 -2.08946843e+00] [-1.36828009e-02 7.68202213e-06 9.99906386e-01 -2.61246003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184391418 meters 0.013795988121250635 Centerline is valid? [True, True] Translation: X:128.68, Y:-2.09, Z:-2.61 [[ 9.98308193e-01 5.66672279e-02 1.30222052e-02 1.28679554e+02] [-5.66629283e-02 9.98393121e-01 -6.99192904e-04 -2.09014129e+00] [-1.30409014e-02 -3.98662770e-05 9.99914963e-01 -2.61354284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244391418 meters 0.014221428760705972 Centerline is valid? [True, True] Translation: X:128.74, Y:-2.09, Z:-2.61 [[ 9.98156042e-01 5.93171745e-02 1.28836839e-02 1.28737844e+02] [-5.93131996e-02 9.98239183e-01 -6.90735520e-04 -2.09319088e+00] [-1.29019706e-02 -7.47106838e-05 9.99916763e-01 -2.61490421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304391418 meters 0.014058102501584022 Centerline is valid? [True, True] Translation: X:128.80, Y:-2.10, Z:-2.62 [[ 9.98157271e-01 5.91589512e-02 1.35011193e-02 1.28796391e+02] [-5.91545870e-02 9.98248573e-01 -7.22710456e-04 -2.10117634e+00] [-1.35202278e-02 -7.72744382e-05 9.99908595e-01 -2.61584239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364391418 meters 0.013920305726013592 Centerline is valid? [True, True] Translation: X:128.85, Y:-2.11, Z:-2.62 [[ 9.98293009e-01 5.70159477e-02 1.26589529e-02 1.28853761e+02] [-5.70119464e-02 9.98373267e-01 -6.77020769e-04 -2.11016053e+00] [-1.26769611e-02 -4.58464415e-05 9.99919643e-01 -2.61813015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424391418 meters 0.013735657514223927 Centerline is valid? [True, True] Translation: X:128.91, Y:-2.12, Z:-2.62 [[ 9.98422781e-01 5.48993020e-02 1.17480853e-02 1.28912644e+02] [-5.48957276e-02 9.98491896e-01 -6.26757341e-04 -2.11816076e+00] [-1.17647765e-02 -1.91508830e-05 9.99930792e-01 -2.61948221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484391418 meters 0.013736336875995734 Centerline is valid? [True, True] Translation: X:128.97, Y:-2.13, Z:-2.62 [[ 9.98579904e-01 5.17726800e-02 1.25604514e-02 1.28970426e+02] [-5.17683560e-02 9.98658895e-01 -6.69357460e-04 -2.12971583e+00] [-1.25782610e-02 1.81729882e-05 9.99920890e-01 -2.62145231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544391418 meters 0.013912452625307147 Centerline is valid? [True, True] Translation: X:129.03, Y:-2.14, Z:-2.62 [[ 9.98678224e-01 4.96004003e-02 1.34761230e-02 1.29027965e+02] [-4.95952543e-02 9.98769142e-01 -7.15995626e-04 -2.13888798e+00] [-1.34950495e-02 4.66974911e-05 9.99908937e-01 -2.62195354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604391418 meters 0.0145010539564414 Centerline is valid? [True, True] Translation: X:129.09, Y:-2.15, Z:-2.62 [[ 9.98836875e-01 4.58085528e-02 1.50490383e-02 1.29085306e+02] [-4.58017366e-02 9.98950231e-01 -7.97456927e-04 -2.15150041e+00] [-1.50697707e-02 1.07257296e-04 9.99886439e-01 -2.62187325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66439141799998 meters 0.01584640151966504 Centerline is valid? [True, True] Translation: X:129.14, Y:-2.17, Z:-2.62 [[ 9.99105821e-01 3.97494061e-02 1.44063806e-02 1.29144590e+02] [-3.97425561e-02 9.99209662e-01 -7.61573544e-04 -2.16615853e+00] [-1.44252668e-02 1.88346171e-04 9.99895933e-01 -2.62348802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72439141799998 meters 0.02098196321885572 Centerline is valid? [True, True] Translation: X:129.20, Y:-2.19, Z:-2.63 [[ 9.99452821e-01 3.06167049e-02 1.25170229e-02 1.29203562e+02] [-3.06108278e-02 9.99531160e-01 -6.60894638e-04 -2.18688678e+00] [-1.25313889e-02 2.77376578e-04 9.99921441e-01 -2.62789417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78439141799998 meters 0.021508705525652 Centerline is valid? [True, True] Translation: X:129.26, Y:-2.20, Z:-2.63 [[ 9.99689394e-01 2.16328798e-02 1.23747132e-02 1.29263947e+02] [-2.16264497e-02 9.99765908e-01 -6.53212925e-04 -2.19742351e+00] [-1.23859473e-02 3.85388920e-04 9.99923217e-01 -2.62734128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844391418 meters 0.024019855652318182 Centerline is valid? [True, True] Translation: X:129.32, Y:-2.21, Z:-2.63 [[ 9.99763867e-01 1.72424065e-02 1.32253085e-02 1.29324871e+02] [-1.72346762e-02 9.99851228e-01 -6.98266291e-04 -2.20874890e+00] [-1.32353807e-02 4.70167498e-04 9.99912298e-01 -2.62761902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904391418 meters 0.030032337913435635 Centerline is valid? [True, True] Translation: X:129.38, Y:-2.23, Z:-2.63 [[ 9.99834483e-01 1.22745268e-02 1.34291861e-02 1.29384243e+02] [-1.22660994e-02 9.99924517e-01 -7.09731073e-04 -2.22571518e+00] [-1.34368840e-02 5.44889869e-04 9.99909573e-01 -2.62954298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964391418 meters 0.02925419511070478 Centerline is valid? [True, True] Translation: X:129.45, Y:-2.23, Z:-2.63 [[ 9.99865084e-01 9.80105439e-03 1.31815429e-02 1.29446448e+02] [-9.79272303e-03 9.99951808e-01 -6.96444635e-04 -2.22985673e+00] [-1.31877335e-02 5.67267475e-04 9.99912877e-01 -2.63075968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024391418 meters 0.03072636279826326 Centerline is valid? [True, True] Translation: X:129.51, Y:-2.24, Z:-2.63 [[ 9.99880583e-01 7.86404978e-03 1.33032700e-02 1.29508018e+02] [-7.85537980e-03 9.99968898e-01 -7.03846841e-04 -2.23726503e+00] [-1.33083914e-02 5.99260551e-04 9.99911260e-01 -2.63233397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084391418 meters 0.029848254485854483 Centerline is valid? [True, True] Translation: X:129.57, Y:-2.24, Z:-2.63 [[ 9.99863858e-01 8.25500964e-03 1.42870560e-02 1.29570370e+02] [-8.24504455e-03 9.99965723e-01 -7.56253387e-04 -2.24065854e+00] [-1.42928092e-02 6.38353016e-04 9.99897649e-01 -2.63212879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144391418 meters 0.031672777043537034 Centerline is valid? [True, True] Translation: X:129.63, Y:-2.25, Z:-2.63 [[ 9.99859049e-01 9.14713828e-03 1.40787724e-02 1.29632409e+02] [-9.13748484e-03 9.99957971e-01 -7.49847789e-04 -2.24613095e+00] [-1.40850396e-02 6.21097528e-04 9.99900608e-01 -2.63393823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204391418 meters 0.02994339746439089 Centerline is valid? [True, True] Translation: X:129.69, Y:-2.25, Z:-2.64 [[ 9.99841320e-01 1.15173689e-02 1.35898822e-02 1.29694394e+02] [-1.15085418e-02 9.99933510e-01 -7.27559270e-04 -2.24563541e+00] [-1.35973582e-02 5.71044094e-04 9.99907389e-01 -2.63588637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264391418 meters 0.02942451764223351 Centerline is valid? [True, True] Translation: X:129.76, Y:-2.25, Z:-2.64 [[ 9.99807143e-01 1.39439814e-02 1.38289996e-02 1.29756725e+02] [-1.39350122e-02 9.99902626e-01 -7.44727468e-04 -2.24722975e+00] [-1.38380375e-02 5.51876564e-04 9.99904097e-01 -2.63736411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324391418 meters 0.02753163161995694 Centerline is valid? [True, True] Translation: X:129.82, Y:-2.24, Z:-2.64 [[ 9.99739060e-01 1.82381443e-02 1.37543119e-02 1.29818439e+02] [-1.82295965e-02 9.99833548e-01 -7.46591182e-04 -2.24478642e+00] [-1.37656389e-02 4.95660812e-04 9.99905126e-01 -2.63866192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38439141799998 meters 0.024536380197839942 Centerline is valid? [True, True] Translation: X:129.88, Y:-2.24, Z:-2.64 [[ 9.99636131e-01 2.36782370e-02 1.29207607e-02 1.29880335e+02] [-2.36711434e-02 9.99719553e-01 -7.01684273e-04 -2.23960126e+00] [-1.29337518e-02 3.95579772e-04 9.99916277e-01 -2.64033176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44439141799998 meters 0.022929012123621622 Centerline is valid? [True, True] Translation: X:129.94, Y:-2.24, Z:-2.64 [[ 9.99527554e-01 2.76337621e-02 1.34552868e-02 1.29941621e+02] [-2.76264129e-02 9.99618050e-01 -7.31795563e-04 -2.23755020e+00] [-1.34703698e-02 3.59728520e-04 9.99909206e-01 -2.64099005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50439141799998 meters 0.01832662827253169 Centerline is valid? [True, True] Translation: X:130.00, Y:-2.23, Z:-2.64 [[ 9.99356396e-01 3.26632554e-02 1.48292161e-02 1.30003838e+02] [-3.26548731e-02 9.99466362e-01 -8.07109380e-04 -2.22966776e+00] [-1.48476654e-02 3.22343754e-04 9.99889715e-01 -2.64028927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56439141799999 meters 0.018675995696811405 Centerline is valid? [True, True] Translation: X:130.06, Y:-2.23, Z:-2.64 [[ 9.99222958e-01 3.59637401e-02 1.61273206e-02 1.30064403e+02] [-3.59542348e-02 9.99353051e-01 -8.79041293e-04 -2.23121577e+00] [-1.61485006e-02 2.98512770e-04 9.99869560e-01 -2.64173917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624391418 meters 0.018042639604636902 Centerline is valid? [True, True] Translation: X:130.12, Y:-2.23, Z:-2.64 [[ 9.99138489e-01 3.83715554e-02 1.58083074e-02 1.30124994e+02] [-3.83627119e-02 9.99263508e-01 -8.62399021e-04 -2.23197201e+00] [-1.58297563e-02 2.55206511e-04 9.99874669e-01 -2.64353197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684391418 meters 0.017487183461039505 Centerline is valid? [True, True] Translation: X:130.18, Y:-2.23, Z:-2.65 [[ 9.98979357e-01 4.22994529e-02 1.58429795e-02 1.30184991e+02] [-4.22910600e-02 9.99104959e-01 -8.64558730e-04 -2.23125144e+00] [-1.58653698e-02 1.93659926e-04 9.99874118e-01 -2.64542057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744391418 meters 0.015879801007472157 Centerline is valid? [True, True] Translation: X:130.25, Y:-2.23, Z:-2.65 [[ 9.98932288e-01 4.33870020e-02 1.58698549e-02 1.30245796e+02] [-4.33787064e-02 9.99058325e-01 -8.66744372e-04 -2.23215636e+00] [-1.58925161e-02 1.77405162e-04 9.99873690e-01 -2.64530656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804391418 meters 0.015053569782155593 Centerline is valid? [True, True] Translation: X:130.31, Y:-2.23, Z:-2.65 [[ 9.98784802e-01 4.63806675e-02 1.66659431e-02 1.30305059e+02] [-4.63719324e-02 9.98923828e-01 -9.10395075e-04 -2.23301033e+00] [-1.66902324e-02 1.36456777e-04 9.99860699e-01 -2.64582138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864391418 meters 0.01495480735781268 Centerline is valid? [True, True] Translation: X:130.36, Y:-2.24, Z:-2.65 [[ 9.98746945e-01 4.69674528e-02 1.72799851e-02 1.30364595e+02] [-4.69581676e-02 9.98896412e-01 -9.42917295e-04 -2.23758492e+00] [-1.73052015e-02 1.30299331e-04 9.99850245e-01 -2.64682366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924391418 meters 0.015587042017111932 Centerline is valid? [True, True] Translation: X:130.42, Y:-2.25, Z:-2.65 [[ 9.98889142e-01 4.40473749e-02 1.67424732e-02 1.30424770e+02] [-4.40382406e-02 9.99029428e-01 -9.14043811e-04 -2.24544701e+00] [-1.67664846e-02 1.75719376e-04 9.99859417e-01 -2.64849105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984391418 meters 0.01802106196801207 Centerline is valid? [True, True] Translation: X:130.49, Y:-2.26, Z:-2.65 [[ 9.99218621e-01 3.60668873e-02 1.61655977e-02 1.30485286e+02] [-3.60573304e-02 9.99349334e-01 -8.82355816e-04 -2.25898350e+00] [-1.61869031e-02 2.98778065e-04 9.99868939e-01 -2.65035352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044391418 meters 0.025640827248153093 Centerline is valid? [True, True] Translation: X:130.54, Y:-2.28, Z:-2.65 [[ 9.99560078e-01 2.49716524e-02 1.60020866e-02 1.30544185e+02] [-2.49608576e-02 9.99688047e-01 -8.73989429e-04 -2.27786433e+00] [-1.60189197e-02 4.74179137e-04 9.99871576e-01 -2.65364375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10439141799998 meters 0.028212647834146537 Centerline is valid? [True, True] Translation: X:130.60, Y:-2.29, Z:-2.65 [[ 9.99722428e-01 1.66271803e-02 1.66914284e-02 1.30603653e+02] [-1.66142485e-02 9.99861557e-01 -9.13132314e-04 -2.29002116e+00] [-1.67043004e-02 6.35563314e-04 9.99860271e-01 -2.65241113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16439141799998 meters 0.03519413224746539 Centerline is valid? [True, True] Translation: X:130.66, Y:-2.31, Z:-2.65 [[ 9.99853258e-01 6.30121564e-03 1.59297300e-02 1.30664184e+02] [-6.28812071e-03 9.99979849e-01 -8.71997362e-04 -2.30700396e+00] [-1.59349037e-02 7.71701339e-04 9.99872734e-01 -2.65411995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22439141799998 meters 0.03357232857159541 Centerline is valid? [True, True] Translation: X:130.73, Y:-2.31, Z:-2.66 [[ 9.99879335e-01 1.61330767e-03 1.54503311e-02 1.30725545e+02] [-1.60042409e-03 9.99998361e-01 -8.46198972e-04 -2.31051777e+00] [-1.54516709e-02 8.21369783e-04 9.99880278e-01 -2.65532251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28439141799998 meters 0.037671665929880305 Centerline is valid? [True, True] Translation: X:130.79, Y:-2.32, Z:-2.66 [[ 9.99886676e-01 -1.51522666e-03 1.49779600e-02 1.30785965e+02] [ 1.52769470e-03 9.99998496e-01 -8.21019283e-04 -2.32028898e+00] [-1.49766934e-02 8.43807991e-04 9.99887487e-01 -2.65706162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344391418 meters 0.0374552782136585 Centerline is valid? [True, True] Translation: X:130.85, Y:-2.32, Z:-2.66 [[ 9.99896251e-01 -1.32024516e-03 1.43438196e-02 1.30848039e+02] [ 1.33163728e-03 9.99998805e-01 -7.84696506e-04 -2.32272919e+00] [-1.43427665e-02 8.03715859e-04 9.99896814e-01 -2.65880049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404391418 meters 0.03456052966605231 Centerline is valid? [True, True] Translation: X:130.91, Y:-2.32, Z:-2.66 [[ 9.99903130e-01 1.05173608e-03 1.38788879e-02 1.30909423e+02] [-1.04121384e-03 9.99999165e-01 -7.65351340e-04 -2.32011022e+00] [-1.38796813e-02 7.50826311e-04 9.99903391e-01 -2.65987462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464391418 meters 0.03241920302213956 Centerline is valid? [True, True] Translation: X:130.97, Y:-2.32, Z:-2.66 [[ 9.99911008e-01 4.18385639e-03 1.26677394e-02 1.30971662e+02] [-4.17533769e-03 9.99991039e-01 -6.98844719e-04 -2.31739150e+00] [-1.26705497e-02 6.45890438e-04 9.99919517e-01 -2.66210763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524391418 meters 0.0317848772012977 Centerline is valid? [True, True] Translation: X:131.03, Y:-2.32, Z:-2.66 [[ 9.99893228e-01 8.35270773e-03 1.19902047e-02 1.31031293e+02] [-8.34535862e-03 9.99964957e-01 -6.62829222e-04 -2.31533094e+00] [-1.19953209e-02 5.62695893e-04 9.99927895e-01 -2.66446029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584391418 meters 0.03215794054785916 Centerline is valid? [True, True] Translation: X:131.09, Y:-2.32, Z:-2.67 [[ 9.99867073e-01 1.17585453e-02 1.12947880e-02 1.31092749e+02] [-1.17522518e-02 9.99930746e-01 -6.23419785e-04 -2.31648119e+00] [-1.13013363e-02 4.90597724e-04 9.99936018e-01 -2.66559942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644391418 meters 0.02794019409829581 Centerline is valid? [True, True] Translation: X:131.15, Y:-2.31, Z:-2.67 [[ 9.99760000e-01 1.87976371e-02 1.12512650e-02 1.31154043e+02] [-1.87918247e-02 9.99823225e-01 -6.22105860e-04 -2.30840527e+00] [-1.12609702e-02 4.10524756e-04 9.99936509e-01 -2.66605039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704391418 meters 0.023803785490264424 Centerline is valid? [True, True] Translation: X:131.22, Y:-2.30, Z:-2.67 [[ 9.99650349e-01 2.40174414e-02 1.10608045e-02 1.31215339e+02] [-2.40121429e-02 9.99711480e-01 -6.11601760e-04 -2.30182510e+00] [-1.10723023e-02 3.45794296e-04 9.99938640e-01 -2.66623232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764391418 meters 0.01942366445483442 Centerline is valid? [True, True] Translation: X:131.28, Y:-2.29, Z:-2.67 [[ 9.99448982e-01 3.11299138e-02 1.15178397e-02 1.31276495e+02] [-3.11246298e-02 9.99515308e-01 -6.37774123e-04 -2.29406538e+00] [-1.15321109e-02 2.78934202e-04 9.99933464e-01 -2.66592715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824391418 meters 0.017892901335205616 Centerline is valid? [True, True] Translation: X:131.34, Y:-2.29, Z:-2.67 [[ 9.99281209e-01 3.56028729e-02 1.30192514e-02 1.31336642e+02] [-3.55964969e-02 9.99365984e-01 -7.21214953e-04 -2.29059950e+00] [-1.30366743e-02 2.57256810e-04 9.99914986e-01 -2.66581909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88439141799998 meters 0.018217650610629407 Centerline is valid? [True, True] Translation: X:131.40, Y:-2.29, Z:-2.67 [[ 9.99214834e-01 3.76396147e-02 1.23682995e-02 1.31395931e+02] [-3.76340217e-02 9.99291355e-01 -6.84716278e-04 -2.29287752e+00] [-1.23853072e-02 2.18709812e-04 9.99923275e-01 -2.66841849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94439141799998 meters 0.018566326554972628 Centerline is valid? [True, True] Translation: X:131.45, Y:-2.30, Z:-2.67 [[ 9.99184694e-01 3.86957722e-02 1.15145206e-02 1.31454076e+02] [-3.86909977e-02 9.99251020e-01 -6.37211055e-04 -2.29506896e+00] [-1.15305538e-02 1.91183245e-04 9.99933503e-01 -2.67106724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00439141799998 meters 0.01841066680175052 Centerline is valid? [True, True] Translation: X:131.51, Y:-2.30, Z:-2.67 [[ 9.99237680e-01 3.75540818e-02 1.06653097e-02 1.31513294e+02] [-3.75499291e-02 9.99294579e-01 -5.89418565e-04 -2.29816763e+00] [-1.06799213e-02 1.88487617e-04 9.99942950e-01 -2.67205999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06439141799999 meters 0.01818829861016163 Centerline is valid? [True, True] Translation: X:131.57, Y:-2.30, Z:-2.67 [[ 9.99355683e-01 3.42725194e-02 1.06589463e-02 1.31572458e+02] [-3.42681884e-02 9.99412500e-01 -5.88744159e-04 -2.30159248e+00] [-1.06728619e-02 2.23102041e-04 9.99943018e-01 -2.67156833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124391418 meters 0.018770656299288858 Centerline is valid? [True, True] Translation: X:131.63, Y:-2.31, Z:-2.67 [[ 9.99429462e-01 3.19027822e-02 1.10889051e-02 1.31632066e+02] [-3.18979582e-02 9.99490943e-01 -6.11667903e-04 -2.30677634e+00] [-1.11027742e-02 2.57605490e-04 9.99938329e-01 -2.67258490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184391418 meters 0.02176441955785475 Centerline is valid? [True, True] Translation: X:131.69, Y:-2.32, Z:-2.68 [[ 9.99481878e-01 3.06799271e-02 9.73230247e-03 1.31690943e+02] [-3.06761584e-02 9.99529232e-01 -5.36310382e-04 -2.31612444e+00] [-9.74417478e-03 2.37482856e-04 9.99952496e-01 -2.67673275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244391418 meters 0.018495759776903757 Centerline is valid? [True, True] Translation: X:131.75, Y:-2.31, Z:-2.68 [[ 9.99408499e-01 3.31966613e-02 8.97965773e-03 1.31750567e+02] [-3.31935537e-02 9.99448820e-01 -4.94924609e-04 -2.31425548e+00] [-8.99113817e-03 1.96565109e-04 9.99959560e-01 -2.67624708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304391418 meters 0.01670960401368817 Centerline is valid? [True, True] Translation: X:131.81, Y:-2.31, Z:-2.68 [[ 9.99206214e-01 3.87825087e-02 9.10267959e-03 1.31809413e+02] [-3.87795464e-02 9.99247664e-01 -5.01773252e-04 -2.31353581e+00] [-9.11529135e-03 1.48377165e-04 9.99958444e-01 -2.67672048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364391418 meters 0.016345763316925593 Centerline is valid? [True, True] Translation: X:131.87, Y:-2.32, Z:-2.68 [[ 9.99057321e-01 4.24110831e-02 9.26118547e-03 1.31868342e+02] [-4.24081815e-02 9.99100238e-01 -5.09553426e-04 -2.31667182e+00] [-9.27446332e-03 1.16323047e-04 9.99956984e-01 -2.67906676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424391418 meters 0.01562639494055174 Centerline is valid? [True, True] Translation: X:131.93, Y:-2.32, Z:-2.68 [[ 9.98960837e-01 4.47883615e-02 8.44091603e-03 1.31926736e+02] [-4.47860371e-02 9.98996494e-01 -4.64286257e-04 -2.31839319e+00] [-8.45324014e-03 8.57686097e-05 9.99964267e-01 -2.68074909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484391418 meters 0.016114175845733887 Centerline is valid? [True, True] Translation: X:131.98, Y:-2.32, Z:-2.68 [[ 9.99035864e-01 4.32716858e-02 7.40969819e-03 1.31984976e+02] [-4.32698563e-02 9.99063338e-01 -4.07114988e-04 -2.32350703e+00] [-7.42037436e-03 8.61058976e-05 9.99972465e-01 -2.68301185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544391418 meters 0.017015275287495777 Centerline is valid? [True, True] Translation: X:132.04, Y:-2.33, Z:-2.68 [[ 9.99185472e-01 3.97652448e-02 6.86421502e-03 1.32043060e+02] [-3.97635931e-02 9.99209044e-01 -3.76982936e-04 -2.32940059e+00] [-6.87377655e-03 1.03730019e-04 9.99976370e-01 -2.68433188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60439141799998 meters 0.0215011622775546 Centerline is valid? [True, True] Translation: X:132.10, Y:-2.34, Z:-2.69 [[ 9.99478522e-01 3.16069279e-02 6.60960944e-03 1.32101230e+02] [-3.16052266e-02 9.99500365e-01 -3.61721253e-04 -2.34188125e+00] [-6.61773995e-03 1.52634419e-04 9.99978091e-01 -2.68633666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66439141799998 meters 0.020056950407616757 Centerline is valid? [True, True] Translation: X:132.16, Y:-2.34, Z:-2.68 [[ 9.99573763e-01 2.83645107e-02 6.90997992e-03 1.32161252e+02] [-2.83625793e-02 9.99597630e-01 -3.77365647e-04 -2.34313076e+00] [-6.91790335e-03 1.81219946e-04 9.99976055e-01 -2.68469299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72439141799998 meters 0.022905845856083545 Centerline is valid? [True, True] Translation: X:132.22, Y:-2.35, Z:-2.69 [[ 9.99736190e-01 2.19098107e-02 6.89286359e-03 1.32221249e+02] [-2.19077397e-02 9.99759926e-01 -3.75816061e-04 -2.35125536e+00] [-6.89944285e-03 2.24709855e-04 9.99976173e-01 -2.68511878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78439141799998 meters 0.028283292383889026 Centerline is valid? [True, True] Translation: X:132.28, Y:-2.36, Z:-2.69 [[ 9.99909030e-01 1.09429885e-02 7.88564200e-03 1.32281215e+02] [-1.09399416e-02 9.99940065e-01 -4.29429000e-04 -2.36249317e+00] [-7.88986861e-03 3.43121472e-04 9.99968816e-01 -2.68617681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844391418 meters 0.03489758559505516 Centerline is valid? [True, True] Translation: X:132.34, Y:-2.37, Z:-2.69 [[ 9.99959275e-01 1.62644112e-04 9.02345011e-03 1.32340846e+02] [-1.58215792e-04 9.99999867e-01 -4.91468514e-04 -2.37239479e+00] [-9.02352884e-03 4.90020847e-04 9.99959167e-01 -2.68637586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904391418 meters 0.04268538363810639 Centerline is valid? [True, True] Translation: X:132.40, Y:-2.38, Z:-2.69 [[ 9.99924592e-01 -7.89724530e-03 9.40445714e-03 1.32400136e+02] [ 7.90240235e-03 9.99968645e-01 -5.11329160e-04 -2.38111933e+00] [-9.40012417e-03 5.85608406e-04 9.99955646e-01 -2.68712329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964391418 meters 0.046045727447117824 Centerline is valid? [True, True] Translation: X:132.46, Y:-2.38, Z:-2.69 [[ 9.99882446e-01 -1.19578899e-02 9.59708155e-03 1.32460640e+02] [ 1.19634622e-02 9.99928298e-01 -5.23421616e-04 -2.38498628e+00] [-9.59013441e-03 6.38174408e-04 9.99953810e-01 -2.68832953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024391418 meters 0.04801145929175601 Centerline is valid? [True, True] Translation: X:132.52, Y:-2.38, Z:-2.69 [[ 9.99843918e-01 -1.47235546e-02 9.76506650e-03 1.32521820e+02] [ 1.47294511e-02 9.99891374e-01 -5.32187199e-04 -2.38334015e+00] [-9.75617007e-03 6.75938203e-04 9.99952179e-01 -2.68878000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084391418 meters 0.04951089063096387 Centerline is valid? [True, True] Translation: X:132.58, Y:-2.38, Z:-2.69 [[ 9.99853928e-01 -1.45102360e-02 9.03189324e-03 1.32583735e+02] [ 1.45152697e-02 9.99894527e-01 -4.92021045e-04 -2.37993165e+00] [-9.02380127e-03 6.23049541e-04 9.99959091e-01 -2.69086775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144391418 meters 0.04967191996639659 Centerline is valid? [True, True] Translation: X:132.64, Y:-2.38, Z:-2.69 [[ 9.99884035e-01 -1.21717569e-02 9.15227180e-03 1.32644480e+02] [ 1.21768424e-02 9.99925734e-01 -5.00137112e-04 -2.37735096e+00] [-9.14550456e-03 6.11524885e-04 9.99957992e-01 -2.69251868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204391418 meters 0.03908032909944074 Centerline is valid? [True, True] Translation: X:132.71, Y:-2.36, Z:-2.69 [[ 9.99924597e-01 -8.48147640e-03 8.88061880e-03 1.32706322e+02] [ 8.48612408e-03 9.99963874e-01 -4.85799479e-04 -2.36034021e+00] [-8.87617769e-03 5.61124881e-04 9.99960449e-01 -2.69168610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264391418 meters 0.03401424105822107 Centerline is valid? [True, True] Translation: X:132.77, Y:-2.34, Z:-2.69 [[ 9.99965288e-01 -5.13020312e-04 8.31623117e-03 1.32767640e+02] [ 5.16824803e-04 9.99999763e-01 -4.55335196e-04 -2.34479825e+00] [-8.31599560e-03 4.59617425e-04 9.99965316e-01 -2.69242634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324391418 meters 0.031180193259375443 Centerline is valid? [True, True] Translation: X:132.83, Y:-2.33, Z:-2.69 [[ 9.99919743e-01 8.76318322e-03 9.14956819e-03 1.32827637e+02] [-8.75896337e-03 9.99961514e-01 -5.01177440e-04 -2.33339001e+00] [-9.15360796e-03 4.20996484e-04 9.99958016e-01 -2.69252303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38439141799998 meters 0.0244317575173644 Centerline is valid? [True, True] Translation: X:132.89, Y:-2.32, Z:-2.69 [[ 9.99785276e-01 1.83222243e-02 9.67976598e-03 1.32889591e+02] [-1.83179536e-02 9.99832072e-01 -5.29688196e-04 -2.31731935e+00] [-9.68784554e-03 3.52260955e-04 9.99953010e-01 -2.69163034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44439141799998 meters 0.02041715671273716 Centerline is valid? [True, True] Translation: X:132.95, Y:-2.31, Z:-2.69 [[ 9.99576901e-01 2.74939893e-02 9.49206499e-03 1.32951142e+02] [-2.74902942e-02 9.99621935e-01 -5.19571290e-04 -2.30518417e+00] [-9.50276147e-03 2.58411801e-04 9.99954814e-01 -2.69243744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50439141799998 meters 0.019617398976024266 Centerline is valid? [True, True] Translation: X:133.01, Y:-2.30, Z:-2.69 [[ 9.99434405e-01 3.23813340e-02 9.07304938e-03 1.33010656e+02] [-3.23781556e-02 9.99475566e-01 -4.97012374e-04 -2.30229927e+00] [-9.08438510e-03 2.02962661e-04 9.99958716e-01 -2.69436134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56439141799999 meters 0.01735099305534837 Centerline is valid? [True, True] Translation: X:133.07, Y:-2.30, Z:-2.70 [[ 9.99233671e-01 3.81548661e-02 8.73369575e-03 1.33069785e+02] [-3.81521402e-02 9.99271827e-01 -4.78569776e-04 -2.29525346e+00] [-8.74559588e-03 1.44993849e-04 9.99961746e-01 -2.69512673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624391418 meters 0.01719340979119341 Centerline is valid? [True, True] Translation: X:133.13, Y:-2.29, Z:-2.70 [[ 9.99173632e-01 3.98380328e-02 8.06122171e-03 1.33127804e+02] [-3.98357676e-02 9.99206143e-01 -4.41429786e-04 -2.29340027e+00] [-8.07240795e-03 1.19940048e-04 9.99967410e-01 -2.69699340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684391418 meters 0.016963402190952867 Centerline is valid? [True, True] Translation: X:133.19, Y:-2.29, Z:-2.70 [[ 9.99220390e-01 3.87205306e-02 7.70271626e-03 1.33186713e+02] [-3.87184361e-02 9.99250072e-01 -4.20899918e-04 -2.29454285e+00] [-7.71323724e-03 1.22334653e-04 9.99970245e-01 -2.69742849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744391418 meters 0.018695038672640732 Centerline is valid? [True, True] Translation: X:133.25, Y:-2.30, Z:-2.70 [[ 9.99402327e-01 3.36711859e-02 7.82558103e-03 1.33245497e+02] [-3.36688746e-02 9.99432952e-01 -4.26941867e-04 -2.29951504e+00] [-7.83551919e-03 1.63208189e-04 9.99969289e-01 -2.69839569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804391418 meters 0.020804800027010406 Centerline is valid? [True, True] Translation: X:133.30, Y:-2.31, Z:-2.70 [[ 9.99579783e-01 2.80908122e-02 7.15289708e-03 1.33304774e+02] [-2.80887453e-02 9.99605358e-01 -3.89277423e-04 -2.30651031e+00] [-7.16100937e-03 1.88197937e-04 9.99974342e-01 -2.70052745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864391418 meters 0.026328835160659474 Centerline is valid? [True, True] Translation: X:133.36, Y:-2.32, Z:-2.70 [[ 9.99825908e-01 1.75241286e-02 6.40771105e-03 1.33363627e+02] [-1.75222560e-02 9.99846413e-01 -3.48270719e-04 -2.31892153e+00] [-6.41283004e-03 2.35932535e-04 9.99979410e-01 -2.70188216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924391418 meters 0.02915246646128134 Centerline is valid? [True, True] Translation: X:133.42, Y:-2.33, Z:-2.70 [[ 9.99943599e-01 8.66502469e-03 6.14133529e-03 1.33424035e+02] [-8.66314017e-03 9.99962419e-01 -3.33394564e-04 -2.32679327e+00] [-6.14399336e-03 2.80172511e-04 9.99981086e-01 -2.70211174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984391418 meters 0.030774054238521423 Centerline is valid? [True, True] Translation: X:133.49, Y:-2.33, Z:-2.70 [[ 9.99975339e-01 4.49209419e-03 5.39838594e-03 1.33485131e+02] [-4.49058074e-03 9.99989875e-01 -2.92441737e-04 -2.33191951e+00] [-5.39964495e-03 2.68192637e-04 9.99985386e-01 -2.70329063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044391418 meters 0.031161970224049488 Centerline is valid? [True, True] Translation: X:133.55, Y:-2.34, Z:-2.70 [[ 9.99981320e-01 3.30056763e-03 5.14450655e-03 1.33546554e+02] [-3.29917658e-03 9.99994519e-01 -2.78857796e-04 -2.33528233e+00] [-5.14539874e-03 2.61879952e-04 9.99986728e-01 -2.70449228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10439141799998 meters 0.031743200288348906 Centerline is valid? [True, True] Translation: X:133.61, Y:-2.34, Z:-2.71 [[ 9.99978429e-01 4.65092703e-03 4.63790066e-03 1.33607592e+02] [-4.64981192e-03 9.99989158e-01 -2.51188107e-04 -2.33840362e+00] [-4.63901863e-03 2.29617323e-04 9.99989213e-01 -2.70593861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16439141799998 meters 0.028933529828183376 Centerline is valid? [True, True] Translation: X:133.67, Y:-2.34, Z:-2.71 [[ 9.99962895e-01 7.03599618e-03 4.97022514e-03 1.33669135e+02] [-7.03474146e-03 9.99975219e-01 -2.69884081e-04 -2.33544411e+00] [-4.97200088e-03 2.34909818e-04 9.99987612e-01 -2.70562251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22439141799998 meters 0.028824180066429613 Centerline is valid? [True, True] Translation: X:133.73, Y:-2.34, Z:-2.71 [[ 9.99944294e-01 9.33854197e-03 4.91934006e-03 1.33729389e+02] [-9.33734565e-03 9.99956371e-01 -2.66098082e-04 -2.33657735e+00] [-4.92161040e-03 2.20149680e-04 9.99987865e-01 -2.70757380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28439141799998 meters 0.02758776127341189 Centerline is valid? [True, True] Translation: X:133.79, Y:-2.34, Z:-2.71 [[ 9.99926808e-01 1.12879432e-02 4.35444640e-03 1.33789506e+02] [-1.12870133e-02 9.99936271e-01 -2.38062862e-04 -2.33628530e+00] [-4.35685614e-03 1.88896743e-04 9.99990491e-01 -2.70924711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344391418 meters 0.026882797643540166 Centerline is valid? [True, True] Translation: X:133.85, Y:-2.34, Z:-2.71 [[ 9.99887451e-01 1.42605165e-02 4.66081163e-03 1.33849801e+02] [-1.42594841e-02 9.99898296e-01 -2.54681126e-04 -2.33579633e+00] [-4.66396949e-03 1.88191692e-04 9.99989106e-01 -2.71054970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404391418 meters 0.025853700851220157 Centerline is valid? [True, True] Translation: X:133.91, Y:-2.33, Z:-2.71 [[ 9.99845492e-01 1.66721663e-02 5.57047201e-03 1.33909646e+02] [-1.66707282e-02 9.99860987e-01 -3.04493313e-04 -2.33475730e+00] [-5.57477421e-03 2.11582442e-04 9.99984438e-01 -2.71081754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464391418 meters 0.025870722853303187 Centerline is valid? [True, True] Translation: X:133.97, Y:-2.34, Z:-2.71 [[ 9.99818511e-01 1.76668581e-02 7.12928320e-03 1.33968950e+02] [-1.76645297e-02 9.99843894e-01 -3.89439878e-04 -2.33695974e+00] [-7.13505046e-03 2.63433764e-04 9.99974511e-01 -2.71127927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524391418 meters 0.024200965147035 Centerline is valid? [True, True] Translation: X:134.03, Y:-2.34, Z:-2.71 [[ 9.99789286e-01 1.85857089e-02 8.71524331e-03 1.34028347e+02] [-1.85822729e-02 9.99827222e-01 -4.75065099e-04 -2.33631260e+00] [-8.72256693e-03 3.13015966e-04 9.99961909e-01 -2.71107693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584391418 meters 0.024097846750224895 Centerline is valid? [True, True] Translation: X:134.09, Y:-2.34, Z:-2.71 [[ 9.99771452e-01 1.91995436e-02 9.40328666e-03 1.34088074e+02] [-1.91955751e-02 9.99815617e-01 -5.12118980e-04 -2.33917014e+00] [-9.41138530e-03 3.31500441e-04 9.99955657e-01 -2.71221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644391418 meters 0.02352510386761054 Centerline is valid? [True, True] Translation: X:134.15, Y:-2.34, Z:-2.71 [[ 9.99706683e-01 2.16539865e-02 1.08468212e-02 1.34147208e+02] [-2.16488564e-02 9.99765462e-01 -5.90162464e-04 -2.34051503e+00] [-1.08570566e-02 3.55168085e-04 9.99940997e-01 -2.71331371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704391418 meters 0.022018798929864913 Centerline is valid? [True, True] Translation: X:134.21, Y:-2.34, Z:-2.71 [[ 9.99654285e-01 2.33129973e-02 1.21578665e-02 1.34207340e+02] [-2.33066837e-02 9.99728144e-01 -6.60751007e-04 -2.34135577e+00] [-1.21699654e-02 3.77163026e-04 9.99925872e-01 -2.71412539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764391418 meters 0.02154191487341656 Centerline is valid? [True, True] Translation: X:134.27, Y:-2.35, Z:-2.72 [[ 9.99591607e-01 2.47971093e-02 1.42029385e-02 1.34266975e+02] [-2.47886457e-02 9.99692416e-01 -7.71664555e-04 -2.34510134e+00] [-1.42177049e-02 4.19277802e-04 9.99898835e-01 -2.71553725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824391418 meters 0.0207672663918784 Centerline is valid? [True, True] Translation: X:134.33, Y:-2.35, Z:-2.72 [[ 9.99478534e-01 2.80360119e-02 1.60200720e-02 1.34326408e+02] [-2.80256730e-02 9.99606825e-01 -8.69551858e-04 -2.34803657e+00] [-1.60381521e-02 4.20125117e-04 9.99871292e-01 -2.71728051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88439141799998 meters 0.0180897516619183 Centerline is valid? [True, True] Translation: X:134.39, Y:-2.35, Z:-2.72 [[ 9.99354733e-01 3.20064446e-02 1.63004567e-02 1.34386361e+02] [-3.19962723e-02 9.99487597e-01 -8.84533074e-04 -2.34669100e+00] [-1.63204150e-02 3.62408465e-04 9.99866747e-01 -2.71860548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94439141799998 meters 0.01625619861958637 Centerline is valid? [True, True] Translation: X:134.45, Y:-2.35, Z:-2.72 [[ 9.99067230e-01 3.92936258e-02 1.79075555e-02 1.34445336e+02] [-3.92825329e-02 9.99227672e-01 -9.70921853e-04 -2.34801454e+00] [-1.79318760e-02 2.66562070e-04 9.99839175e-01 -2.72015241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00439141799998 meters 0.014826592708576114 Centerline is valid? [True, True] Translation: X:134.50, Y:-2.35, Z:-2.72 [[ 9.98833975e-01 4.46244171e-02 1.84214962e-02 1.34504675e+02] [-4.46135978e-02 9.99003819e-01 -9.98061659e-04 -2.34991933e+00] [-1.84476830e-02 1.75048671e-04 9.99829812e-01 -2.72246988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06439141799999 meters 0.01449390528210662 Centerline is valid? [True, True] Translation: X:134.56, Y:-2.36, Z:-2.72 [[ 9.98788927e-01 4.55027974e-02 1.87129777e-02 1.34563725e+02] [-4.54918074e-02 9.98964198e-01 -1.01277720e-03 -2.35506934e+00] [-1.87396790e-02 1.60263474e-04 9.99824384e-01 -2.72449986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124391418 meters 0.014663036254657875 Centerline is valid? [True, True] Translation: X:134.62, Y:-2.37, Z:-2.73 [[ 9.98865306e-01 4.38007376e-02 1.86975078e-02 1.34621756e+02] [-4.37894959e-02 9.99040269e-01 -1.01042709e-03 -2.36519967e+00] [-1.87238207e-02 1.90526119e-04 9.99824676e-01 -2.72678825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184391418 meters 0.01548426127361064 Centerline is valid? [True, True] Translation: X:134.68, Y:-2.38, Z:-2.73 [[ 9.99005077e-01 3.98614488e-02 1.99980335e-02 1.34680165e+02] [-3.98478345e-02 9.99205177e-01 -1.07895971e-03 -2.37662188e+00] [-2.00251475e-02 2.81007901e-04 9.99799437e-01 -2.72782482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244391418 meters 0.01768143213768696 Centerline is valid? [True, True] Translation: X:134.74, Y:-2.39, Z:-2.73 [[ 9.99208146e-01 3.38632176e-02 2.08893283e-02 1.34738654e+02] [-3.38470891e-02 9.99426390e-01 -1.12527037e-03 -2.39109931e+00] [-2.09154512e-02 4.17336368e-04 9.99781161e-01 -2.72929772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304391418 meters 0.01901544993671112 Centerline is valid? [True, True] Translation: X:134.80, Y:-2.40, Z:-2.73 [[ 9.99364841e-01 2.90707323e-02 2.06108569e-02 1.34799478e+02] [-2.90540375e-02 9.99577227e-01 -1.10904904e-03 -2.40114098e+00] [-2.06343841e-02 5.09516008e-04 9.99786959e-01 -2.73111385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364391418 meters 0.021695835759969685 Centerline is valid? [True, True] Translation: X:134.86, Y:-2.41, Z:-2.73 [[ 9.99507290e-01 2.27692767e-02 2.16041146e-02 1.34859436e+02] [-2.27494431e-02 9.99740521e-01 -1.16340632e-03 -2.41477624e+00] [-2.16249987e-02 6.71351517e-04 9.99765927e-01 -2.73248178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424391418 meters 0.02408383714144452 Centerline is valid? [True, True] Translation: X:134.92, Y:-2.43, Z:-2.73 [[ 9.99609465e-01 1.77295074e-02 2.16005038e-02 1.34919752e+02] [-1.77084955e-02 9.99842515e-01 -1.16365551e-03 -2.42611450e+00] [-2.16177331e-02 7.80688634e-04 9.99766005e-01 -2.73392724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484391418 meters 0.026400493341242812 Centerline is valid? [True, True] Translation: X:134.98, Y:-2.44, Z:-2.74 [[ 9.99665664e-01 1.46798953e-02 2.12852134e-02 1.34981240e+02] [-1.46587920e-02 9.99891896e-01 -1.14714640e-03 -2.43549965e+00] [-2.12997524e-02 8.34747354e-04 9.99772786e-01 -2.73597975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544391418 meters 0.031642255745005905 Centerline is valid? [True, True] Translation: X:135.04, Y:-2.45, Z:-2.74 [[ 9.99716861e-01 9.07179551e-03 2.19977219e-02 1.35040852e+02] [-9.04786021e-03 9.99958362e-01 -1.18736680e-03 -2.44706711e+00] [-2.20075776e-02 9.87998295e-04 9.99757316e-01 -2.73757655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60439141799998 meters 0.034942199546152616 Centerline is valid? [True, True] Translation: X:135.10, Y:-2.46, Z:-2.74 [[ 9.99762025e-01 3.97214519e-03 2.14503018e-02 1.35100046e+02] [-3.94818534e-03 9.99991534e-01 -1.15922799e-03 -2.45736241e+00] [-2.14547248e-02 1.07426236e-03 9.99769244e-01 -2.73806997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66439141799998 meters 0.03551417566160158 Centerline is valid? [True, True] Translation: X:135.16, Y:-2.46, Z:-2.74 [[ 9.99786561e-01 -2.16146436e-03 2.05465489e-02 1.35160761e+02] [ 2.18473864e-03 9.99996997e-01 -1.11037956e-03 -2.46321412e+00] [-2.05440871e-02 1.15503140e-03 9.99788281e-01 -2.74040754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72439141799998 meters 0.037406318060312735 Centerline is valid? [True, True] Translation: X:135.22, Y:-2.47, Z:-2.74 [[ 9.99776769e-01 -6.71258594e-03 2.00337877e-02 1.35220835e+02] [ 6.73562491e-03 9.99976729e-01 -1.08274956e-03 -2.46926315e+00] [-2.00260534e-02 1.21744793e-03 9.99798717e-01 -2.74203241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78439141799998 meters 0.044500911327697415 Centerline is valid? [True, True] Translation: X:135.28, Y:-2.48, Z:-2.74 [[ 9.99798736e-01 -8.32836443e-03 1.82517558e-02 1.35281343e+02] [ 8.34774713e-03 9.99964671e-01 -9.86032954e-04 -2.48219592e+00] [-1.82428989e-02 1.13819554e-03 9.99832937e-01 -2.74483225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844391418 meters 0.039839070464036765 Centerline is valid? [True, True] Translation: X:135.34, Y:-2.48, Z:-2.75 [[ 9.99823250e-01 -8.08192914e-03 1.69750056e-02 1.35343991e+02] [ 8.09873922e-03 9.99966780e-01 -9.21773636e-04 -2.47785330e+00] [-1.69669920e-02 1.05908686e-03 9.99855489e-01 -2.74647578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904391418 meters 0.0352688014361139 Centerline is valid? [True, True] Translation: X:135.41, Y:-2.47, Z:-2.75 [[ 9.99828397e-01 -2.40757389e-03 1.83679107e-02 1.35405295e+02] [ 2.42633519e-03 9.99996557e-01 -9.99200531e-04 -2.47064143e+00] [-1.83654418e-02 1.04359577e-03 9.99830796e-01 -2.74544889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964391418 meters 0.03262356946888686 Centerline is valid? [True, True] Translation: X:135.47, Y:-2.47, Z:-2.75 [[ 9.99802418e-01 4.50427039e-03 1.93607010e-02 1.35465908e+02] [-4.48471742e-03 9.99989389e-01 -1.05323015e-03 -2.46730144e+00] [-1.93652396e-02 9.66194782e-04 9.99812009e-01 -2.74598565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024391418 meters 0.026065821985151654 Centerline is valid? [True, True] Translation: X:135.53, Y:-2.46, Z:-2.75 [[ 9.99657100e-01 1.75489920e-02 1.94349199e-02 1.35527347e+02] [-1.75317491e-02 9.99845748e-01 -1.05725004e-03 -2.45603135e+00] [-1.94504757e-02 7.16159375e-04 9.99810565e-01 -2.74647566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084391418 meters 0.021932595836659425 Centerline is valid? [True, True] Translation: X:135.59, Y:-2.45, Z:-2.75 [[ 9.99448406e-01 2.71066344e-02 1.91863174e-02 1.35587777e+02] [-2.70915838e-02 9.99632411e-01 -1.04397639e-03 -2.44893271e+00] [-1.92075634e-02 5.23612808e-04 9.99815381e-01 -2.74753022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144391418 meters 0.015964695949152546 Centerline is valid? [True, True] Translation: X:135.65, Y:-2.44, Z:-2.75 [[ 9.98999156e-01 4.10143278e-02 1.78468698e-02 1.35648894e+02] [-4.10035291e-02 9.99158530e-01 -9.70727405e-04 -2.43604001e+00] [-1.78716659e-02 2.37971212e-04 9.99840261e-01 -2.74947986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204391418 meters 0.01554561158684584 Centerline is valid? [True, True] Translation: X:135.71, Y:-2.43, Z:-2.75 [[ 9.98526622e-01 5.20999028e-02 1.51718660e-02 1.35708109e+02] [-5.20933669e-02 9.98641877e-01 -8.25942354e-04 -2.42773713e+00] [-1.51942923e-02 3.43718466e-05 9.99884559e-01 -2.75304540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264391418 meters 0.014470349750779099 Centerline is valid? [True, True] Translation: X:135.77, Y:-2.42, Z:-2.75 [[ 9.98187387e-01 5.84354823e-02 1.43956424e-02 1.35766885e+02] [-5.84302723e-02 9.98291185e-01 -7.82603048e-04 -2.42375274e+00] [-1.44167747e-02 -5.99568139e-05 9.99896071e-01 -2.75410058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324391418 meters 0.01471702177149539 Centerline is valid? [True, True] Translation: X:135.83, Y:-2.42, Z:-2.75 [[ 9.98094250e-01 5.98905768e-02 1.48656173e-02 1.35825823e+02] [-5.98852008e-02 9.98204945e-01 -8.06920904e-04 -2.42469394e+00] [-1.48872596e-02 -8.48473615e-05 9.99889175e-01 -2.75474493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38439141799998 meters 0.014320228381173123 Centerline is valid? [True, True] Translation: X:135.88, Y:-2.43, Z:-2.76 [[ 9.98274607e-01 5.68438595e-02 1.47168287e-02 1.35884336e+02] [-5.68382758e-02 9.98383080e-01 -7.97731328e-04 -2.43070134e+00] [-1.47383789e-02 -4.01242393e-05 9.99891383e-01 -2.75579038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44439141799998 meters 0.014174525571782207 Centerline is valid? [True, True] Translation: X:135.94, Y:-2.44, Z:-2.76 [[ 9.98431022e-01 5.40250278e-02 1.47238400e-02 1.35942775e+02] [-5.40191496e-02 9.98539582e-01 -7.96934127e-04 -2.43594456e+00] [-1.47453915e-02 3.14437227e-07 9.99891281e-01 -2.75675179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50439141799998 meters 0.0158768360097853 Centerline is valid? [True, True] Translation: X:136.00, Y:-2.45, Z:-2.76 [[ 9.99041695e-01 4.10435605e-02 1.52025347e-02 1.36000387e+02] [-4.10358075e-02 9.99157339e-01 -8.21703996e-04 -2.45103853e+00] [-1.52234498e-02 1.97068265e-04 9.99884097e-01 -2.75725516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56439141799999 meters 0.023228436366339793 Centerline is valid? [True, True] Translation: X:136.06, Y:-2.47, Z:-2.76 [[ 9.99592340e-01 2.41611707e-02 1.52115388e-02 1.36058181e+02] [-2.41514817e-02 9.99707974e-01 -8.20358254e-04 -2.47306456e+00] [-1.52269174e-02 4.52642627e-04 9.99883961e-01 -2.75850398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624391418 meters 0.028034527987632903 Centerline is valid? [True, True] Translation: X:136.12, Y:-2.49, Z:-2.76 [[ 9.99798172e-01 1.33353370e-02 1.50261122e-02 1.36117619e+02] [-1.33246720e-02 9.99910895e-01 -8.09658358e-04 -2.48690915e+00] [-1.50355704e-02 6.09276929e-04 9.99886774e-01 -2.76024841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684391418 meters 0.03650441930911925 Centerline is valid? [True, True] Translation: X:136.18, Y:-2.51, Z:-2.76 [[ 9.99899752e-01 6.66757157e-04 1.41436279e-02 1.36176585e+02] [-6.56049871e-04 9.99999495e-01 -7.61665775e-04 -2.50540475e+00] [-1.41441286e-02 7.52310494e-04 9.99899684e-01 -2.76280077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744391418 meters 0.04116330192344811 Centerline is valid? [True, True] Translation: X:136.24, Y:-2.52, Z:-2.77 [[ 9.99899775e-01 -4.72055519e-03 1.33475411e-02 1.36235953e+02] [ 4.73057568e-03 9.99988552e-01 -7.19264410e-04 -2.51640098e+00] [-1.33439929e-02 7.82333875e-04 9.99910659e-01 -2.76513978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804391418 meters 0.046465187461238885 Centerline is valid? [True, True] Translation: X:136.29, Y:-2.53, Z:-2.77 [[ 9.99876796e-01 -1.03503599e-02 1.18010074e-02 1.36294827e+02] [ 1.03585815e-02 9.99946146e-01 -6.35780542e-04 -2.52710600e+00] [-1.17937913e-02 7.57943909e-04 9.99930164e-01 -2.76810884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864391418 meters 0.04914947443117093 Centerline is valid? [True, True] Translation: X:136.36, Y:-2.53, Z:-2.77 [[ 9.99859525e-01 -1.27376331e-02 1.08941978e-02 1.36355617e+02] [ 1.27447756e-02 9.99918610e-01 -5.86447126e-04 -2.53282067e+00] [-1.08858412e-02 7.25208852e-04 9.99940484e-01 -2.76964932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924391418 meters 0.0528844113268438 Centerline is valid? [True, True] Translation: X:136.42, Y:-2.54, Z:-2.77 [[ 9.99836664e-01 -1.51417737e-02 9.86772798e-03 1.36415532e+02] [ 1.51477449e-02 9.99885126e-01 -5.30669082e-04 -2.53822713e+00] [-9.85855916e-03 6.80056231e-04 9.99951172e-01 -2.77169042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984391418 meters 0.05480463693169903 Centerline is valid? [True, True] Translation: X:136.48, Y:-2.54, Z:-2.78 [[ 9.99847571e-01 -1.53812453e-02 8.26146002e-03 1.36476172e+02] [ 1.53854377e-02 9.99881539e-01 -4.44145163e-04 -2.54080471e+00] [-8.25364985e-03 5.71183641e-04 9.99965775e-01 -2.77537386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044391418 meters 0.05256089635145777 Centerline is valid? [True, True] Translation: X:136.54, Y:-2.54, Z:-2.78 [[ 9.99887388e-01 -1.30351943e-02 7.43607430e-03 1.36538000e+02] [ 1.30385399e-02 9.99914914e-01 -4.01617056e-04 -2.53618538e+00] [-7.43020644e-03 4.98527381e-04 9.99972271e-01 -2.77639625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10439141799998 meters 0.040743091822900326 Centerline is valid? [True, True] Translation: X:136.60, Y:-2.52, Z:-2.77 [[ 9.99946822e-01 -8.14340205e-03 6.32754017e-03 1.36599508e+02] [ 8.14573062e-03 9.99966764e-01 -3.42320229e-04 -2.51759376e+00] [-6.32454222e-03 3.93844463e-04 9.99979922e-01 -2.77394889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16439141799998 meters 0.048165510022822475 Centerline is valid? [True, True] Translation: X:136.66, Y:-2.53, Z:-2.78 [[ 9.99973083e-01 -3.39382764e-03 6.50501522e-03 1.36658469e+02] [ 3.39619039e-03 9.99994171e-01 -3.52208381e-04 -2.52645055e+00] [-6.50378197e-03 3.74291171e-04 9.99978780e-01 -2.77791456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22439141799998 meters 0.03324137705405421 Centerline is valid? [True, True] Translation: X:136.72, Y:-2.50, Z:-2.77 [[ 9.99956712e-01 6.20225369e-03 6.93593373e-03 1.36721067e+02] [-6.19980151e-03 9.99980711e-01 -3.74992656e-04 -2.50356789e+00] [-6.93812574e-03 3.31975010e-04 9.99975876e-01 -2.77463893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28439141799998 meters 0.02622188663974625 Centerline is valid? [True, True] Translation: X:136.78, Y:-2.49, Z:-2.77 [[ 9.99878852e-01 1.36144881e-02 7.54495148e-03 1.36782717e+02] [-1.36117942e-02 9.99907272e-01 -4.08285383e-04 -2.49229902e+00] [-7.54981044e-03 3.05535594e-04 9.99971453e-01 -2.77334320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344391418 meters 0.02166875219574531 Centerline is valid? [True, True] Translation: X:136.84, Y:-2.48, Z:-2.77 [[ 9.99661459e-01 2.47800475e-02 7.93204421e-03 1.36843646e+02] [-2.47774210e-02 9.99692900e-01 -4.29244007e-04 -2.48207733e+00] [-7.94024497e-03 2.32563092e-04 9.99968449e-01 -2.77402727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404391418 meters 0.01856471671758557 Centerline is valid? [True, True] Translation: X:136.90, Y:-2.47, Z:-2.78 [[ 9.99373397e-01 3.45718830e-02 7.58936591e-03 1.36903047e+02] [-3.45697564e-02 9.99402203e-01 -4.11258604e-04 -2.47458833e+00] [-7.59904699e-03 1.48638378e-04 9.99971116e-01 -2.77558352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464391418 meters 0.01690402790215951 Centerline is valid? [True, True] Translation: X:136.96, Y:-2.47, Z:-2.78 [[ 9.99191028e-01 3.96004253e-02 7.00686315e-03 1.36962471e+02] [-3.95987338e-02 9.99215590e-01 -3.80018142e-04 -2.47066554e+00] [-7.01641578e-03 1.02247809e-04 9.99975379e-01 -2.77697679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524391418 meters 0.01575305508989452 Centerline is valid? [True, True] Translation: X:137.02, Y:-2.47, Z:-2.78 [[ 9.98982629e-01 4.45897011e-02 6.74277650e-03 1.37021536e+02] [-4.45882516e-02 9.99005383e-01 -3.65227054e-04 -2.46792152e+00] [-6.75235538e-03 6.42068680e-05 9.99977201e-01 -2.77806520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584391418 meters 0.01559764137914381 Centerline is valid? [True, True] Translation: X:137.08, Y:-2.47, Z:-2.78 [[ 9.98895348e-01 4.64768814e-02 6.92695152e-03 1.37080532e+02] [-4.64754012e-02 9.98919364e-01 -3.74589431e-04 -2.46928760e+00] [-6.93687576e-03 5.22427894e-05 9.99975938e-01 -2.77899855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644391418 meters 0.015596396085107368 Centerline is valid? [True, True] Translation: X:137.14, Y:-2.47, Z:-2.78 [[ 9.98920769e-01 4.58487712e-02 7.42883988e-03 1.37138266e+02] [-4.58470529e-02 9.98948390e-01 -4.01532924e-04 -2.47175600e+00] [-7.43943743e-03 6.05091624e-05 9.99972325e-01 -2.77930580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704391418 meters 0.016054679943971934 Centerline is valid? [True, True] Translation: X:137.20, Y:-2.48, Z:-2.78 [[ 9.99100426e-01 4.15380906e-02 8.53962084e-03 1.37197046e+02] [-4.15356785e-02 9.99136916e-01 -4.59699578e-04 -2.47915407e+00] [-8.55134547e-03 1.04587099e-04 9.99963431e-01 -2.77929623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764391418 meters 0.018375859318480712 Centerline is valid? [True, True] Translation: X:137.26, Y:-2.49, Z:-2.78 [[ 9.99425040e-01 3.25700629e-02 9.42238912e-03 1.37256263e+02] [-3.25667405e-02 9.99469435e-01 -5.05858644e-04 -2.49217893e+00] [-9.43386578e-03 1.98711294e-04 9.99955480e-01 -2.78011178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82439141799998 meters 0.02076086283599051 Centerline is valid? [True, True] Translation: X:137.32, Y:-2.50, Z:-2.78 [[ 9.99619884e-01 2.58141549e-02 9.68071965e-03 1.37315190e+02] [-2.58103331e-02 9.99666723e-01 -5.19533162e-04 -2.50259774e+00] [-9.69090460e-03 2.69473080e-04 9.99953006e-01 -2.78099491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88439141799998 meters 0.02484070112365628 Centerline is valid? [True, True] Translation: X:137.37, Y:-2.52, Z:-2.78 [[ 9.99810554e-01 1.71165818e-02 9.26711756e-03 1.37374519e+02] [-1.71127164e-02 9.99853444e-01 -4.96256654e-04 -2.51678074e+00] [-9.27425363e-03 3.37577086e-04 9.99956936e-01 -2.78320289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94439141799998 meters 0.0289916551020794 Centerline is valid? [True, True] Translation: X:137.43, Y:-2.53, Z:-2.79 [[ 9.99886068e-01 1.28242527e-02 7.96179286e-03 1.37433812e+02] [-1.28212743e-02 9.99917714e-01 -4.25013396e-04 -2.53038777e+00] [-7.96658819e-03 3.22884643e-04 9.99968214e-01 -2.78656689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00439141799998 meters 0.028848874486501253 Centerline is valid? [True, True] Translation: X:137.49, Y:-2.54, Z:-2.79 [[ 9.99878655e-01 1.33645385e-02 8.00405545e-03 1.37494455e+02] [-1.33615305e-02 9.99910639e-01 -4.29169684e-04 -2.53570780e+00] [-8.00907586e-03 3.22171175e-04 9.99967875e-01 -2.78808574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06439141799999 meters 0.023409685402115833 Centerline is valid? [True, True] Translation: X:137.56, Y:-2.53, Z:-2.79 [[ 9.99781734e-01 1.94802008e-02 7.55023241e-03 1.37555272e+02] [-1.94776983e-02 9.99810210e-01 -4.04836133e-04 -2.53242762e+00] [-7.55668574e-03 2.57686622e-04 9.99971415e-01 -2.78745695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124391418 meters 0.019717756587043805 Centerline is valid? [True, True] Translation: X:137.62, Y:-2.53, Z:-2.79 [[ 9.99557429e-01 2.87218754e-02 7.74599893e-03 1.37616197e+02] [-2.87195181e-02 9.99587423e-01 -4.15398891e-04 -2.53047430e+00] [-7.75473414e-03 1.92753691e-04 9.99969913e-01 -2.78812462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184391418 meters 0.017339230744106447 Centerline is valid? [True, True] Translation: X:137.68, Y:-2.53, Z:-2.79 [[ 9.99359450e-01 3.49507588e-02 7.68985751e-03 1.37676354e+02] [-3.49486188e-02 9.99389025e-01 -4.12540828e-04 -2.53132575e+00] [-7.69957782e-03 1.43526676e-04 9.99970348e-01 -2.78977579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244391418 meters 0.015283622614688859 Centerline is valid? [True, True] Translation: X:137.73, Y:-2.53, Z:-2.79 [[ 9.99091517e-01 4.21250820e-02 6.45117050e-03 1.37734502e+02] [-4.21237204e-02 9.99112342e-01 -3.46853867e-04 -2.53251333e+00] [-6.46005531e-03 7.47914540e-05 9.99979131e-01 -2.79189267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304391418 meters 0.014696886099570703 Centerline is valid? [True, True] Translation: X:137.79, Y:-2.54, Z:-2.79 [[ 9.98945943e-01 4.54379565e-02 6.51115505e-03 1.37793690e+02] [-4.54366451e-02 9.98967161e-01 -3.49258729e-04 -2.53544605e+00] [-6.52029968e-03 5.30455486e-05 9.99978741e-01 -2.79346912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364391418 meters 0.014279894112112635 Centerline is valid? [True, True] Translation: X:137.85, Y:-2.54, Z:-2.79 [[ 9.98809510e-01 4.82445971e-02 7.21263035e-03 1.37852188e+02] [-4.82430629e-02 9.98835551e-01 -3.86648980e-04 -2.53871234e+00] [-7.22288533e-03 3.82292991e-05 9.99973914e-01 -2.79341608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424391418 meters 0.013856198593171987 Centerline is valid? [True, True] Translation: X:137.91, Y:-2.54, Z:-2.79 [[ 9.98680712e-01 5.06985320e-02 8.15438703e-03 1.37910435e+02] [-5.06966599e-02 9.98714002e-01 -4.36257385e-04 -2.54330785e+00] [-8.16601811e-03 2.22816507e-05 9.99966657e-01 -2.79347721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484391418 meters 0.013748522195461911 Centerline is valid? [True, True] Translation: X:137.97, Y:-2.55, Z:-2.79 [[ 9.98479621e-01 5.41364945e-02 1.03772425e-02 1.37968661e+02] [-5.41336619e-02 9.98533545e-01 -5.53860928e-04 -2.54763881e+00] [-1.03920089e-02 -8.73928821e-06 9.99946002e-01 -2.79285944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544391418 meters 0.013811287714275769 Centerline is valid? [True, True] Translation: X:138.03, Y:-2.56, Z:-2.79 [[ 9.98427006e-01 5.49146908e-02 1.13089051e-02 1.38027155e+02] [-5.49113886e-02 9.98491050e-01 -6.02526165e-04 -2.55600460e+00] [-1.13249281e-02 -1.94092903e-05 9.99935871e-01 -2.79437417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60439141799998 meters 0.013946138424610063 Centerline is valid? [True, True] Translation: X:138.09, Y:-2.57, Z:-2.80 [[ 9.98517202e-01 5.31408305e-02 1.18088652e-02 1.38085984e+02] [-5.31371184e-02 9.98587028e-01 -6.28107783e-04 -2.56500352e+00] [-1.18255578e-02 -3.12643570e-07 9.99930076e-01 -2.79667666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66439141799998 meters 0.01406399054014096 Centerline is valid? [True, True] Translation: X:138.14, Y:-2.58, Z:-2.80 [[ 9.98712875e-01 4.89409100e-02 1.33183978e-02 1.38143970e+02] [-4.89358318e-02 9.98801674e-01 -7.07112047e-04 -2.57824267e+00] [-1.33370447e-02 5.44550321e-05 9.99911056e-01 -2.79772277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72439141799998 meters 0.01436949497446272 Centerline is valid? [True, True] Translation: X:138.20, Y:-2.59, Z:-2.80 [[ 9.98873971e-01 4.53164869e-02 1.40429937e-02 1.38202340e+02] [-4.53104997e-02 9.98972675e-01 -7.44381006e-04 -2.58936372e+00] [-1.40622997e-02 1.07247750e-04 9.99901115e-01 -2.79885905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78439141799998 meters 0.01516736480049584 Centerline is valid? [True, True] Translation: X:138.26, Y:-2.60, Z:-2.80 [[ 9.99073541e-01 4.05170362e-02 1.45061743e-02 1.38260220e+02] [-4.05101593e-02 9.99178832e-01 -7.67711165e-04 -2.60478425e+00] [-1.45253676e-02 1.79352483e-04 9.99894485e-01 -2.80022207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844391418 meters 0.015410679904430045 Centerline is valid? [True, True] Translation: X:138.32, Y:-2.62, Z:-2.80 [[ 9.99147174e-01 3.85406014e-02 1.48171298e-02 1.38318687e+02] [-3.85332275e-02 9.99257013e-01 -7.82938108e-04 -2.61689278e+00] [-1.48362957e-02 2.11318566e-04 9.99889914e-01 -2.80164069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904391418 meters 0.015544667372071014 Centerline is valid? [True, True] Translation: X:138.38, Y:-2.63, Z:-2.80 [[ 9.99105406e-01 3.94599905e-02 1.52084216e-02 1.38377127e+02] [-3.94523486e-02 9.99221131e-01 -8.02289990e-04 -2.62523396e+00] [-1.52282346e-02 2.01564317e-04 9.99884023e-01 -2.80296747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964391418 meters 0.015223656052236948 Centerline is valid? [True, True] Translation: X:138.44, Y:-2.64, Z:-2.80 [[ 9.98995311e-01 4.20459703e-02 1.55082006e-02 1.38435463e+02] [-4.20383576e-02 9.99115664e-01 -8.16689075e-04 -2.63562178e+00] [-1.55288246e-02 1.63929274e-04 9.99879407e-01 -2.80495498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024391418 meters 0.014609151139705175 Centerline is valid? [True, True] Translation: X:138.49, Y:-2.65, Z:-2.81 [[ 9.98966995e-01 4.26723804e-02 1.56208673e-02 1.38493930e+02] [-4.26647465e-02 9.99089107e-01 -8.21780404e-04 -2.64540273e+00] [-1.56417057e-02 1.54471158e-04 9.99877649e-01 -2.80560183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084391418 meters 0.015009075114564726 Centerline is valid? [True, True] Translation: X:138.55, Y:-2.66, Z:-2.81 [[ 9.99051991e-01 4.05649928e-02 1.57987501e-02 1.38552819e+02] [-4.05569446e-02 9.99176884e-01 -8.29611036e-04 -2.65527894e+00] [-1.58193991e-02 1.88075525e-04 9.99874848e-01 -2.80719004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144391418 meters 0.016713925222374155 Centerline is valid? [True, True] Translation: X:138.61, Y:-2.67, Z:-2.81 [[ 9.99275020e-01 3.43379383e-02 1.64420436e-02 1.38612254e+02] [-3.43283929e-02 9.99410235e-01 -8.62514680e-04 -2.67157990e+00] [-1.64619636e-02 2.97460442e-04 9.99864448e-01 -2.80841217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204391418 meters 0.019095630015387173 Centerline is valid? [True, True] Translation: X:138.67, Y:-2.69, Z:-2.81 [[ 9.99447493e-01 2.86012871e-02 1.69314715e-02 1.38672253e+02] [-2.85903445e-02 9.99590818e-01 -8.88042995e-04 -2.68571467e+00] [-1.69499426e-02 4.03475743e-04 9.99856258e-01 -2.80950480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264391418 meters 0.02478725630796807 Centerline is valid? [True, True] Translation: X:138.73, Y:-2.71, Z:-2.81 [[ 9.99678019e-01 1.89971248e-02 1.68216557e-02 1.38730947e+02] [-1.89849526e-02 9.99819380e-01 -8.83012650e-04 -2.70599523e+00] [-1.68353921e-02 5.63369999e-04 9.99858116e-01 -2.81115731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32439141799998 meters 0.029709609341019835 Centerline is valid? [True, True] Translation: X:138.79, Y:-2.72, Z:-2.81 [[ 9.99787190e-01 1.16937725e-02 1.69950157e-02 1.38790734e+02] [-1.16802853e-02 9.99931385e-01 -8.92643863e-04 -2.72271266e+00] [-1.70042880e-02 6.93947267e-04 9.99855176e-01 -2.81185943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38439141799998 meters 0.027717707434502834 Centerline is valid? [True, True] Translation: X:138.85, Y:-2.73, Z:-2.81 [[ 9.99811045e-01 1.01820305e-02 1.65590121e-02 1.38852704e+02] [-1.01690369e-02 9.99947917e-01 -8.68698038e-04 -2.72598781e+00] [-1.65669948e-02 7.00144689e-04 9.99862513e-01 -2.81227367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44439141799998 meters 0.030087836396800963 Centerline is valid? [True, True] Translation: X:138.91, Y:-2.74, Z:-2.81 [[ 9.99788396e-01 1.26566281e-02 1.62164718e-02 1.38912432e+02] [-1.26444070e-02 9.99919690e-01 -8.55931229e-04 -2.73506726e+00] [-1.62260027e-02 6.50702440e-04 9.99868138e-01 -2.81387346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50439141799998 meters 0.022387429794023396 Centerline is valid? [True, True] Translation: X:138.97, Y:-2.73, Z:-2.81 [[ 9.99668121e-01 2.02585413e-02 1.59135276e-02 1.38973741e+02] [-2.02476984e-02 9.99794640e-01 -8.42201919e-04 -2.72719021e+00] [-1.59273214e-02 5.19710101e-04 9.99873017e-01 -2.81487877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56439141799999 meters 0.019955091144408348 Centerline is valid? [True, True] Translation: X:139.03, Y:-2.73, Z:-2.82 [[ 9.99522456e-01 2.67532528e-02 1.54636009e-02 1.39034836e+02] [-2.67437863e-02 9.99641986e-01 -8.18682262e-04 -2.72527088e+00] [-1.54799672e-02 4.04736067e-04 9.99880096e-01 -2.81675070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624391418 meters 0.017426129674196898 Centerline is valid? [True, True] Translation: X:139.10, Y:-2.72, Z:-2.82 [[ 9.99240102e-01 3.59292878e-02 1.51097839e-02 1.39095516e+02] [-3.59212935e-02 9.99354302e-01 -8.00237076e-04 -2.72208340e+00] [-1.51287795e-02 2.56865994e-04 9.99885520e-01 -2.81885933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684391418 meters 0.01567753071637539 Centerline is valid? [True, True] Translation: X:139.16, Y:-2.72, Z:-2.82 [[ 9.99029780e-01 4.16699930e-02 1.42516816e-02 1.39155074e+02] [-4.16634569e-02 9.99131416e-01 -7.55343922e-04 -2.72007267e+00] [-1.42707780e-02 1.60836751e-04 9.99898154e-01 -2.82145551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744391418 meters 0.015583556400835724 Centerline is valid? [True, True] Translation: X:139.21, Y:-2.72, Z:-2.82 [[ 9.98995259e-01 4.26449091e-02 1.37798581e-02 1.39214040e+02] [-4.26388953e-02 9.99090282e-01 -7.30051862e-04 -2.72230028e+00] [-1.37984554e-02 1.41760421e-04 9.99904787e-01 -2.82332907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804391418 meters 0.015559544030824443 Centerline is valid? [True, True] Translation: X:139.27, Y:-2.73, Z:-2.82 [[ 9.99045207e-01 4.14734508e-02 1.37341443e-02 1.39273335e+02] [-4.14673679e-02 9.99139594e-01 -7.27500043e-04 -2.72566270e+00] [-1.37524993e-02 1.57286617e-04 9.99905418e-01 -2.82411063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864391418 meters 0.016778581819436228 Centerline is valid? [True, True] Translation: X:139.33, Y:-2.73, Z:-2.83 [[ 9.99115365e-01 3.94373766e-02 1.46007008e-02 1.39332758e+02] [-3.94302969e-02 9.99222025e-01 -7.72554333e-04 -2.73337037e+00] [-1.46198093e-02 1.96160937e-04 9.99893106e-01 -2.82559845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924391418 meters 0.019544002066743914 Centerline is valid? [True, True] Translation: X:139.39, Y:-2.74, Z:-2.83 [[ 9.99291314e-01 3.43112052e-02 1.54793794e-02 1.39392399e+02] [-3.43026417e-02 9.99411156e-01 -8.18466058e-04 -2.74287951e+00] [-1.54983470e-02 2.86902417e-04 9.99879852e-01 -2.82563691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984391418 meters 0.02134099599464875 Centerline is valid? [True, True] Translation: X:139.45, Y:-2.75, Z:-2.83 [[ 9.99467643e-01 2.80126574e-02 1.67248973e-02 1.39453603e+02] [-2.80017739e-02 9.99607482e-01 -8.84608794e-04 -2.75060040e+00] [-1.67431127e-02 4.15811073e-04 9.99859738e-01 -2.82615748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044391418 meters 0.02456953090303069 Centerline is valid? [True, True] Translation: X:139.51, Y:-2.76, Z:-2.83 [[ 9.99594873e-01 2.23059585e-02 1.76786084e-02 1.39514677e+02] [-2.22928920e-02 9.99751045e-01 -9.35861199e-04 -2.76184905e+00] [-1.76950825e-02 5.41374749e-04 9.99843283e-01 -2.82765918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10439141799998 meters 0.025228544706487943 Centerline is valid? [True, True] Translation: X:139.58, Y:-2.77, Z:-2.83 [[ 9.99644739e-01 1.98738249e-02 1.77602451e-02 1.39576493e+02] [-1.98602535e-02 9.99802324e-01 -9.40210890e-04 -2.76692908e+00] [-1.77754199e-02 5.87153900e-04 9.99841832e-01 -2.82949153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16439141799998 meters 0.024824647131709936 Centerline is valid? [True, True] Translation: X:139.64, Y:-2.77, Z:-2.83 [[ 9.99659696e-01 2.00219160e-02 1.67216953e-02 1.39638948e+02] [-2.00098291e-02 9.99799387e-01 -8.89847348e-04 -2.76998126e+00] [-1.67361572e-02 5.54946264e-04 9.99859787e-01 -2.83207928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22439141799998 meters 0.024518397981570142 Centerline is valid? [True, True] Translation: X:139.70, Y:-2.77, Z:-2.83 [[ 9.99621416e-01 2.21017630e-02 1.63870725e-02 1.39700956e+02] [-2.20903452e-02 9.99755593e-01 -8.77463551e-04 -2.77275043e+00] [-1.64024609e-02 5.15135270e-04 9.99865338e-01 -2.83489712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28439141799998 meters 0.023242581321096488 Centerline is valid? [True, True] Translation: X:139.76, Y:-2.77, Z:-2.84 [[ 9.99546712e-01 2.54730657e-02 1.60466067e-02 1.39763701e+02] [-2.54624610e-02 9.99675405e-01 -8.64862596e-04 -2.77430544e+00] [-1.60634288e-02 4.55884466e-04 9.99870871e-01 -2.83679833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344391418 meters 0.02081392057130487 Centerline is valid? [True, True] Translation: X:139.82, Y:-2.77, Z:-2.84 [[ 9.99374875e-01 3.15398115e-02 1.59718600e-02 1.39824776e+02] [-3.15300476e-02 9.99502432e-01 -8.62825837e-04 -2.77155993e+00] [-1.59911262e-02 3.58692958e-04 9.99872069e-01 -2.83928939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404391418 meters 0.01875810608250593 Centerline is valid? [True, True] Translation: X:139.89, Y:-2.77, Z:-2.84 [[ 9.99218170e-01 3.59581492e-02 1.64334886e-02 1.39886899e+02] [-3.59484149e-02 9.99353253e-01 -8.87452574e-04 -2.77001180e+00] [-1.64547714e-02 2.96000872e-04 9.99864567e-01 -2.84052841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464391418 meters 0.01609018811660718 Centerline is valid? [True, True] Translation: X:139.95, Y:-2.77, Z:-2.84 [[ 9.98927393e-01 4.29386424e-02 1.73302225e-02 1.39947059e+02] [-4.29287559e-02 9.99077692e-01 -9.42256052e-04 -2.76535699e+00] [-1.73546979e-02 1.97280492e-04 9.99849376e-01 -2.84145348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524391418 meters 0.014451877590473129 Centerline is valid? [True, True] Translation: X:140.01, Y:-2.76, Z:-2.84 [[ 9.98683289e-01 4.79685722e-02 1.81852703e-02 1.40007913e+02] [-4.79585196e-02 9.98848839e-01 -9.88745587e-04 -2.76131820e+00] [-1.82117648e-02 1.15305054e-04 9.99834145e-01 -2.84162697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584391418 meters 0.014329526554430537 Centerline is valid? [True, True] Translation: X:140.07, Y:-2.76, Z:-2.84 [[ 9.98642241e-01 4.86548951e-02 1.86111616e-02 1.40067519e+02] [-4.86444837e-02 9.98815644e-01 -1.01198205e-03 -2.76349041e+00] [-1.86383572e-02 1.05277678e-04 9.99826285e-01 -2.84315237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644391418 meters 0.0149526737211769 Centerline is valid? [True, True] Translation: X:140.13, Y:-2.77, Z:-2.85 [[ 9.98796643e-01 4.55506028e-02 1.81771471e-02 1.40127298e+02] [-4.55401725e-02 9.98962020e-01 -9.87542332e-04 -2.77062509e+00] [-1.82032628e-02 1.58563550e-04 9.99834294e-01 -2.84561587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704391418 meters 0.016656773756909035 Centerline is valid? [True, True] Translation: X:140.19, Y:-2.78, Z:-2.85 [[ 9.99032430e-01 4.00893842e-02 1.80843621e-02 1.40188261e+02] [-4.00781673e-02 9.99196065e-01 -9.82396493e-04 -2.78006949e+00] [-1.81092071e-02 2.56657867e-04 9.99835982e-01 -2.84688329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764391418 meters 0.017682179604829873 Centerline is valid? [True, True] Translation: X:140.25, Y:-2.79, Z:-2.85 [[ 9.99172649e-01 3.64915021e-02 1.79551429e-02 1.40249026e+02] [-3.64798505e-02 9.99333912e-01 -9.76137522e-04 -2.78697400e+00] [-1.79788039e-02 3.20328987e-04 9.99838317e-01 -2.84809764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82439141799998 meters 0.019733350004443418 Centerline is valid? [True, True] Translation: X:140.31, Y:-2.80, Z:-2.85 [[ 9.99300809e-01 3.27109311e-02 1.81076914e-02 1.40309327e+02] [-3.26984456e-02 9.99464777e-01 -9.85237616e-04 -2.79662323e+00] [-1.81302278e-02 3.92455383e-04 9.99835557e-01 -2.84960948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88439141799998 meters 0.020480597623420208 Centerline is valid? [True, True] Translation: X:140.37, Y:-2.80, Z:-2.85 [[ 9.99331736e-01 3.15997643e-02 1.83721583e-02 1.40370863e+02] [-3.15867180e-02 9.99500515e-01 -9.99934631e-04 -2.80222058e+00] [-1.83945794e-02 4.18950226e-04 9.99830718e-01 -2.84997762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94439141799998 meters 0.020706592443822145 Centerline is valid? [True, True] Translation: X:140.43, Y:-2.81, Z:-2.85 [[ 9.99294248e-01 3.26342054e-02 1.86014925e-02 1.40431779e+02] [-3.26209126e-02 9.99467278e-01 -1.01766464e-03 -2.80695866e+00] [-1.86247938e-02 4.10148754e-04 9.99826459e-01 -2.85122155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00439141799998 meters 0.02039461481998552 Centerline is valid? [True, True] Translation: X:140.49, Y:-2.81, Z:-2.85 [[ 9.99248013e-01 3.40988541e-02 1.84574360e-02 1.40493566e+02] [-3.40859245e-02 9.99418391e-01 -1.01474151e-03 -2.81104008e+00] [-1.84813025e-02 3.84839673e-04 9.99829132e-01 -2.85293070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06439141799999 meters 0.0182041755633276 Centerline is valid? [True, True] Translation: X:140.56, Y:-2.81, Z:-2.85 [[ 9.99154177e-01 3.69049180e-02 1.81371638e-02 1.40555892e+02] [-3.68928035e-02 9.99318726e-01 -1.00219242e-03 -2.81218736e+00] [-1.81617932e-02 3.32213922e-04 9.99835006e-01 -2.85445896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124391418 meters 0.016990182335608967 Centerline is valid? [True, True] Translation: X:140.62, Y:-2.81, Z:-2.86 [[ 9.98974959e-01 4.13493010e-02 1.84192122e-02 1.40616789e+02] [-4.13374550e-02 9.99144718e-01 -1.02356835e-03 -2.81460531e+00] [-1.84457825e-02 2.61115790e-04 9.99829828e-01 -2.85508598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184391418 meters 0.015515134046706042 Centerline is valid? [True, True] Translation: X:140.68, Y:-2.82, Z:-2.86 [[ 9.98798329e-01 4.53635423e-02 1.85485092e-02 1.40677893e+02] [-4.53521152e-02 9.98970526e-01 -1.03646033e-03 -2.81586783e+00] [-1.85764315e-02 1.94000725e-04 9.99827424e-01 -2.85661229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244391418 meters 0.013862635839438545 Centerline is valid? [True, True] Translation: X:140.74, Y:-2.82, Z:-2.86 [[ 9.98470380e-01 5.25292808e-02 1.72503572e-02 1.40738585e+02] [-5.25204524e-02 9.98619383e-01 -9.64727129e-04 -2.81551060e+00] [-1.72772175e-02 5.72548974e-05 9.99850736e-01 -2.85914352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304391418 meters 0.013527329810086353 Centerline is valid? [True, True] Translation: X:140.80, Y:-2.82, Z:-2.86 [[ 9.98271005e-01 5.61271010e-02 1.74570454e-02 1.40798160e+02] [-5.61186075e-02 9.98423632e-01 -9.76417159e-04 -2.81838549e+00] [-1.74843301e-02 -4.93613911e-06 9.99847137e-01 -2.85999837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364391418 meters 0.01380677390316318 Centerline is valid? [True, True] Translation: X:140.86, Y:-2.83, Z:-2.86 [[ 9.98221337e-01 5.72146216e-02 1.67525777e-02 1.40857349e+02] [-5.72069643e-02 9.98361902e-01 -9.36335873e-04 -2.82587729e+00] [-1.67787074e-02 -2.36936671e-05 9.99859227e-01 -2.86214196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424391418 meters 0.013811071309414818 Centerline is valid? [True, True] Translation: X:140.92, Y:-2.84, Z:-2.86 [[ 9.98438223e-01 5.36220989e-02 1.56775149e-02 1.40916256e+02] [-5.36149596e-02 9.98561300e-01 -8.75632204e-04 -2.83854983e+00] [-1.57019129e-02 3.37153336e-05 9.99876717e-01 -2.86406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484391418 meters 0.015203113300459597 Centerline is valid? [True, True] Translation: X:140.97, Y:-2.86, Z:-2.86 [[ 9.98799516e-01 4.65275159e-02 1.53205030e-02 1.40974930e+02] [-4.65198745e-02 9.98916999e-01 -8.54957090e-04 -2.85532546e+00] [-1.53436899e-02 1.41222849e-04 9.99882269e-01 -2.86498155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544391418 meters 0.01855529828385188 Centerline is valid? [True, True] Translation: X:141.03, Y:-2.87, Z:-2.87 [[ 9.99112858e-01 3.93619501e-02 1.49711213e-02 1.41034648e+02] [-3.93538567e-02 9.99224988e-01 -8.34934329e-04 -2.87298143e+00] [-1.49923831e-02 2.45022262e-04 9.99887578e-01 -2.86572186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60439141799998 meters 0.019265070814240778 Centerline is valid? [True, True] Translation: X:141.10, Y:-2.88, Z:-2.87 [[ 9.99257190e-01 3.55536896e-02 1.48661613e-02 1.41095729e+02] [-3.55452855e-02 9.99367723e-01 -8.29246291e-04 -2.88097505e+00] [-1.48862445e-02 3.00208371e-04 9.99889149e-01 -2.86561468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66439141799998 meters 0.021872417701314095 Centerline is valid? [True, True] Translation: X:141.16, Y:-2.89, Z:-2.87 [[ 9.99446209e-01 2.96649206e-02 1.50753722e-02 1.41157471e+02] [-2.96556023e-02 9.99559822e-01 -8.41335340e-04 -2.89483761e+00] [-1.50936945e-02 3.93800174e-04 9.99886006e-01 -2.86579421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72439141799998 meters 0.027702332230299023 Centerline is valid? [True, True] Translation: X:141.22, Y:-2.91, Z:-2.87 [[ 9.99643653e-01 2.24422464e-02 1.44538134e-02 1.41216207e+02] [-2.24329016e-02 9.99748024e-01 -8.08358717e-04 -2.91112891e+00] [-1.44683128e-02 4.83829687e-04 9.99895211e-01 -2.86739239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78439141799998 meters 0.029993420660690252 Centerline is valid? [True, True] Translation: X:141.28, Y:-2.92, Z:-2.87 [[ 9.99803038e-01 1.45052879e-02 1.35455486e-02 1.41276297e+02] [-1.44963544e-02 9.99894635e-01 -7.57474027e-04 -2.91984020e+00] [-1.35551088e-02 5.60963760e-04 9.99907968e-01 -2.86845358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844391418 meters 0.03191319106033912 Centerline is valid? [True, True] Translation: X:141.34, Y:-2.93, Z:-2.87 [[ 9.99880072e-01 9.14191914e-03 1.25006646e-02 1.41336616e+02] [-9.13389433e-03 9.99958041e-01 -6.98893179e-04 -2.92671071e+00] [-1.25065293e-02 5.84629613e-04 9.99921619e-01 -2.86994172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904391418 meters 0.03520626707690447 Centerline is valid? [True, True] Translation: X:141.40, Y:-2.93, Z:-2.87 [[ 9.99923064e-01 3.88956681e-03 1.17786444e-02 1.41397599e+02] [-3.88207228e-03 9.99992248e-01 -6.59077448e-04 -2.93445926e+00] [-1.17811166e-02 6.13301193e-04 9.99930412e-01 -2.87149638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964391418 meters 0.03883814288595757 Centerline is valid? [True, True] Translation: X:141.46, Y:-2.94, Z:-2.87 [[ 9.99929177e-01 2.94430820e-03 1.15313371e-02 1.41458071e+02] [-2.93707705e-03 9.99995479e-01 -6.43971505e-04 -2.94002022e+00] [-1.15331810e-02 6.10057471e-04 9.99933305e-01 -2.87339061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024391418 meters 0.03568921667132248 Centerline is valid? [True, True] Translation: X:141.52, Y:-2.93, Z:-2.87 [[ 9.99932131e-01 4.47780642e-03 1.07555853e-02 1.41520443e+02] [-4.47156381e-03 9.99989820e-01 -6.04384468e-04 -2.93288956e+00] [-1.07581821e-02 5.56249163e-04 9.99941974e-01 -2.87454632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084391418 meters 0.03476465321380714 Centerline is valid? [True, True] Translation: X:141.58, Y:-2.93, Z:-2.88 [[ 9.99909024e-01 8.88696122e-03 1.01471683e-02 1.41580637e+02] [-8.88161419e-03 9.99960394e-01 -5.71890850e-04 -2.92754954e+00] [-1.01518488e-02 4.81715588e-04 9.99948353e-01 -2.87619920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144391418 meters 0.031876982122206944 Centerline is valid? [True, True] Translation: X:141.64, Y:-2.92, Z:-2.88 [[ 9.99834722e-01 1.33319171e-02 1.23607660e-02 1.41641709e+02] [-1.33243215e-02 9.99910985e-01 -6.96648438e-04 -2.91773165e+00] [-1.23689534e-02 5.31834478e-04 9.99923360e-01 -2.87555130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204391418 meters 0.0311660981992068 Centerline is valid? [True, True] Translation: X:141.70, Y:-2.92, Z:-2.88 [[ 9.99808685e-01 1.49440298e-02 1.26202044e-02 1.41703953e+02] [-1.49362697e-02 9.99888196e-01 -7.08929075e-04 -2.91772342e+00] [-1.26293877e-02 5.20294670e-04 9.99920111e-01 -2.87645933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264391418 meters 0.03056988116695828 Centerline is valid? [True, True] Translation: X:141.77, Y:-2.91, Z:-2.88 [[ 9.99768367e-01 1.73862950e-02 1.26857649e-02 1.41766169e+02] [-1.73786018e-02 9.99848724e-01 -7.16435128e-04 -2.91498126e+00] [-1.26963020e-02 4.95808320e-04 9.99919276e-01 -2.87808961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32439141799998 meters 0.03029121014676693 Centerline is valid? [True, True] Translation: X:141.83, Y:-2.91, Z:-2.88 [[ 9.99717349e-01 1.96780485e-02 1.33415139e-02 1.41827765e+02] [-1.96696846e-02 9.99806246e-01 -7.57850137e-04 -2.90905486e+00] [-1.33538420e-02 4.95212559e-04 9.99910711e-01 -2.87925176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38439141799998 meters 0.028058160609632603 Centerline is valid? [True, True] Translation: X:141.89, Y:-2.90, Z:-2.88 [[ 9.99699099e-01 2.02278137e-02 1.38761508e-02 1.41890914e+02] [-2.02187661e-02 9.99795266e-01 -7.92020244e-04 -2.90079893e+00] [-1.38893307e-02 5.11223277e-04 9.99903408e-01 -2.87957992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44439141799998 meters 0.023923351012553756 Centerline is valid? [True, True] Translation: X:141.95, Y:-2.89, Z:-2.88 [[ 9.99672681e-01 2.08954855e-02 1.47617661e-02 1.41953832e+02] [-2.08852524e-02 9.99781521e-01 -8.47054785e-04 -2.89048592e+00] [-1.47762406e-02 5.38474317e-04 9.99890680e-01 -2.87984105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50439141799998 meters 0.023605392666658988 Centerline is valid? [True, True] Translation: X:142.02, Y:-2.89, Z:-2.88 [[ 9.99631670e-01 2.24361813e-02 1.52690217e-02 1.42016601e+02] [-2.24253413e-02 9.99748132e-01 -8.80804258e-04 -2.88818015e+00] [-1.52849378e-02 5.38066808e-04 9.99883034e-01 -2.88140078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56439141799999 meters 0.02262388597819531 Centerline is valid? [True, True] Translation: X:142.08, Y:-2.88, Z:-2.88 [[ 9.99553870e-01 2.60603370e-02 1.45917884e-02 1.42077226e+02] [-2.60507421e-02 9.99660263e-01 -8.47276802e-04 -2.88181281e+00] [-1.46089113e-02 4.66771891e-04 9.99893175e-01 -2.88342428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624391418 meters 0.020715647279057645 Centerline is valid? [True, True] Translation: X:142.14, Y:-2.88, Z:-2.88 [[ 9.99424698e-01 3.03580404e-02 1.51216149e-02 1.42139687e+02] [-3.03482258e-02 9.99539001e-01 -8.78142359e-04 -2.87552044e+00] [-1.51413025e-02 4.18722978e-04 9.99885276e-01 -2.88446640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684391418 meters 0.01960745889624087 Centerline is valid? [True, True] Translation: X:142.20, Y:-2.87, Z:-2.89 [[ 9.99326415e-01 3.32001667e-02 1.56353713e-02 1.42201301e+02] [-3.31900042e-02 9.99448647e-01 -9.09075789e-04 -2.87161179e+00] [-1.56569321e-02 3.89525412e-04 9.99877347e-01 -2.88545759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744391418 meters 0.019700042214670636 Centerline is valid? [True, True] Translation: X:142.26, Y:-2.87, Z:-2.89 [[ 9.99334713e-01 3.31129512e-02 1.52860991e-02 1.42261316e+02] [-3.31032152e-02 9.99451543e-01 -8.89574922e-04 -2.87279699e+00] [-1.53071717e-02 3.82964073e-04 9.99882765e-01 -2.88738667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804391418 meters 0.02221556498864213 Centerline is valid? [True, True] Translation: X:142.32, Y:-2.88, Z:-2.89 [[ 9.99422632e-01 2.99548654e-02 1.60346036e-02 1.42321729e+02] [-2.99437514e-02 9.99551150e-01 -9.32816835e-04 -2.87762413e+00] [-1.60553489e-02 4.52142074e-04 9.99871002e-01 -2.88893253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864391418 meters 0.025291343090878184 Centerline is valid? [True, True] Translation: X:142.38, Y:-2.88, Z:-2.89 [[ 9.99542284e-01 2.54091504e-02 1.64194363e-02 1.42382696e+02] [-2.53968618e-02 9.99676990e-01 -9.56532774e-04 -2.88386483e+00] [-1.64384374e-02 5.39092798e-04 9.99864734e-01 -2.89012271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924391418 meters 0.027275621152211042 Centerline is valid? [True, True] Translation: X:142.44, Y:-2.89, Z:-2.89 [[ 9.99623155e-01 2.25901158e-02 1.55959513e-02 1.42444540e+02] [-2.25786806e-02 9.99744656e-01 -9.08927965e-04 -2.88881872e+00] [-1.56125017e-02 5.56449437e-04 9.99877963e-01 -2.89191377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984391418 meters 0.02416590257812226 Centerline is valid? [True, True] Translation: X:142.51, Y:-2.89, Z:-2.89 [[ 9.99619731e-01 2.26528571e-02 1.57239089e-02 1.42507562e+02] [-2.26412413e-02 9.99743234e-01 -9.16378771e-04 -2.88744617e+00] [-1.57406302e-02 5.60021485e-04 9.99875952e-01 -2.89282957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044391418 meters 0.022427799335314726 Centerline is valid? [True, True] Translation: X:142.57, Y:-2.89, Z:-2.89 [[ 9.99534713e-01 2.63746529e-02 1.53210687e-02 1.42569427e+02] [-2.63639677e-02 9.99652006e-01 -8.99008036e-04 -2.88572260e+00] [-1.53394481e-02 4.94665578e-04 9.99882221e-01 -2.89447734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10439141799998 meters 0.020854655381038704 Centerline is valid? [True, True] Translation: X:142.63, Y:-2.88, Z:-2.90 [[ 9.99342124e-01 3.24884760e-02 1.61188870e-02 1.42630448e+02] [-3.24774145e-02 9.99472020e-01 -9.47608557e-04 -2.88319463e+00] [-1.61411630e-02 4.23485372e-04 9.99869633e-01 -2.89517105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16439141799998 meters 0.01893599060749427 Centerline is valid? [True, True] Translation: X:142.69, Y:-2.88, Z:-2.90 [[ 9.99179405e-01 3.72459108e-02 1.59140794e-02 1.42691555e+02] [-3.72357203e-02 9.99306071e-01 -9.36275747e-04 -2.88157303e+00] [-1.59379086e-02 3.42935234e-04 9.99872925e-01 -2.89616773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22439141799998 meters 0.016849970958529602 Centerline is valid? [True, True] Translation: X:142.75, Y:-2.88, Z:-2.90 [[ 9.98925163e-01 4.36258209e-02 1.56622496e-02 1.42750425e+02] [-4.36167234e-02 9.99047912e-01 -9.22137401e-04 -2.87885445e+00] [-1.56875668e-02 2.38010243e-04 9.99876914e-01 -2.89841921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28439141799998 meters 0.015077440814211644 Centerline is valid? [True, True] Translation: X:142.81, Y:-2.88, Z:-2.90 [[ 9.98766828e-01 4.73399394e-02 1.49584050e-02 1.42809409e+02] [-4.73320678e-02 9.98878822e-01 -8.80017115e-04 -2.87738698e+00] [-1.49832939e-02 1.70919664e-04 9.99887730e-01 -2.89944213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344391418 meters 0.014664639219537486 Centerline is valid? [True, True] Translation: X:142.87, Y:-2.88, Z:-2.90 [[ 9.98607932e-01 5.08858083e-02 1.38864123e-02 1.42866917e+02] [-5.08793796e-02 9.98704472e-01 -8.16065512e-04 -2.87880162e+00] [-1.39099482e-02 1.08397451e-04 9.99903246e-01 -2.90182780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404391418 meters 0.014383700977780215 Centerline is valid? [True, True] Translation: X:142.93, Y:-2.88, Z:-2.90 [[ 9.98606981e-01 5.12784016e-02 1.24347592e-02 1.42925760e+02] [-5.12732917e-02 9.98684393e-01 -7.29601913e-04 -2.88215199e+00] [-1.24558128e-02 9.10145291e-05 9.99922419e-01 -2.90313385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464391418 meters 0.014761546232696559 Centerline is valid? [True, True] Translation: X:142.98, Y:-2.89, Z:-2.90 [[ 9.98756084e-01 4.82976614e-02 1.23943490e-02 1.42984743e+02] [-4.82923676e-02 9.98832979e-01 -7.26220022e-04 -2.88873743e+00] [-1.24149592e-02 1.26764208e-04 9.99922923e-01 -2.90361476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524391418 meters 0.015380102388902769 Centerline is valid? [True, True] Translation: X:143.04, Y:-2.90, Z:-2.90 [[ 9.98875350e-01 4.57194012e-02 1.25607006e-02 1.43043725e+02] [-4.57137742e-02 9.98954309e-01 -7.34879744e-04 -2.89528434e+00] [-1.25811642e-02 1.59856231e-04 9.99920841e-01 -2.90414876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584391418 meters 0.016457347003774048 Centerline is valid? [True, True] Translation: X:143.10, Y:-2.90, Z:-2.90 [[ 9.99057645e-01 4.14514329e-02 1.28685614e-02 1.43101695e+02] [-4.14451836e-02 9.99140496e-01 -7.52042312e-04 -2.90352260e+00] [-1.28886740e-02 2.17993732e-04 9.99916914e-01 -2.90390375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644391418 meters 0.0192593859782888 Centerline is valid? [True, True] Translation: X:143.16, Y:-2.92, Z:-2.91 [[ 9.99307444e-01 3.48662735e-02 1.29990781e-02 1.43160060e+02] [-3.48593657e-02 9.99391940e-01 -7.57676142e-04 -2.91520345e+00] [-1.30175912e-02 3.04011793e-04 9.99915221e-01 -2.90526808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704391418 meters 0.023775032800590224 Centerline is valid? [True, True] Translation: X:143.22, Y:-2.93, Z:-2.91 [[ 9.99559101e-01 2.75502497e-02 1.10719552e-02 1.43219457e+02] [-2.75447994e-02 9.99620362e-01 -6.44485708e-04 -2.92751362e+00] [-1.10855076e-02 3.39226769e-04 9.99938496e-01 -2.90776233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764391418 meters 0.02721684503560241 Centerline is valid? [True, True] Translation: X:143.28, Y:-2.94, Z:-2.91 [[ 9.99729312e-01 2.07619355e-02 1.04997692e-02 1.43278770e+02] [-2.07566645e-02 9.99784371e-01 -6.10747521e-04 -2.93998503e+00] [-1.05101854e-02 3.92642013e-04 9.99944689e-01 -2.90870459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82439141799998 meters 0.02849093973316019 Centerline is valid? [True, True] Translation: X:143.34, Y:-2.95, Z:-2.91 [[ 9.99761754e-01 1.90324917e-02 1.06864165e-02 1.43340099e+02] [-1.90269363e-02 9.99818778e-01 -6.21296565e-04 -2.94634880e+00] [-1.06963048e-02 4.17818778e-04 9.99942706e-01 -2.90991160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88439141799998 meters 0.02828692061609932 Centerline is valid? [True, True] Translation: X:143.40, Y:-2.95, Z:-2.91 [[ 9.99763443e-01 1.93473841e-02 9.93661283e-03 1.43401764e+02] [-1.93425932e-02 9.99812747e-01 -5.78034229e-04 -2.94969591e+00] [-9.94593562e-03 3.85697631e-04 9.99950464e-01 -2.91123472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94439141799998 meters 0.027924095545732955 Centerline is valid? [True, True] Translation: X:143.46, Y:-2.95, Z:-2.91 [[ 9.99723477e-01 2.16436397e-02 9.19365527e-03 1.43463213e+02] [-2.16396326e-02 9.99765693e-01 -5.35117142e-04 -2.95054399e+00] [-9.20308301e-03 3.36021848e-04 9.99957594e-01 -2.91355355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00439141799998 meters 0.02737069970359333 Centerline is valid? [True, True] Translation: X:143.52, Y:-2.95, Z:-2.92 [[ 9.99700356e-01 2.28749862e-02 8.71398963e-03 1.43523608e+02] [-2.28714267e-02 9.99738286e-01 -5.07934311e-04 -2.95086785e+00] [-8.72332805e-03 3.08480736e-04 9.99961903e-01 -2.91565246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06439141799999 meters 0.025662562062363926 Centerline is valid? [True, True] Translation: X:143.58, Y:-2.95, Z:-2.92 [[ 9.99694343e-01 2.29541292e-02 9.18306649e-03 1.43583144e+02] [-2.29501754e-02 9.99736467e-01 -5.35721250e-04 -2.95126111e+00] [-9.19294346e-03 3.24804516e-04 9.99957691e-01 -2.91593210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124391418 meters 0.02483086804289403 Centerline is valid? [True, True] Translation: X:143.64, Y:-2.95, Z:-2.92 [[ 9.99700676e-01 2.23192220e-02 1.00205467e-02 1.43642598e+02] [-2.23144867e-02 9.99750830e-01 -5.84127458e-04 -2.95178881e+00] [-1.00310871e-02 3.60349259e-04 9.99949622e-01 -2.91522091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184391418 meters 0.025643500205952595 Centerline is valid? [True, True] Translation: X:143.70, Y:-2.96, Z:-2.92 [[ 9.99710322e-01 2.14158467e-02 1.09833089e-02 1.43702631e+02] [-2.14101134e-02 9.99770573e-01 -6.39334429e-04 -2.95553600e+00] [-1.09944809e-02 4.03995340e-04 9.99939477e-01 -2.91566257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244391418 meters 0.026273036602925126 Centerline is valid? [True, True] Translation: X:143.76, Y:-2.96, Z:-2.92 [[ 9.99712262e-01 2.07934598e-02 1.19593400e-02 1.43764314e+02] [-2.07866217e-02 9.99783693e-01 -6.95806645e-04 -2.95810971e+00] [-1.19712214e-02 4.47012157e-04 9.99928242e-01 -2.91636465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304391418 meters 0.02564206939480829 Centerline is valid? [True, True] Translation: X:143.83, Y:-2.96, Z:-2.92 [[ 9.99685989e-01 2.17217901e-02 1.24935181e-02 1.43825922e+02] [-2.17143932e-02 9.99763950e-01 -7.27421148e-04 -2.95925771e+00] [-1.25063699e-02 4.55903564e-04 9.99921688e-01 -2.91701824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364391418 meters 0.022838794745414854 Centerline is valid? [True, True] Translation: X:143.89, Y:-2.96, Z:-2.92 [[ 9.99589724e-01 2.57939571e-02 1.24520883e-02 1.43887406e+02] [-2.57869166e-02 9.99667199e-01 -7.25660832e-04 -2.95560813e+00] [-1.24666619e-02 4.04262148e-04 9.99922206e-01 -2.91755433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424391418 meters 0.020246304852206253 Centerline is valid? [True, True] Translation: X:143.95, Y:-2.95, Z:-2.92 [[ 9.99373142e-01 3.32447047e-02 1.21701328e-02 1.43947739e+02] [-3.32385263e-02 9.99447196e-01 -7.09641430e-04 -2.95218213e+00] [-1.21869969e-02 3.04679308e-04 9.99925689e-01 -2.91861135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484391418 meters 0.018234082288091747 Centerline is valid? [True, True] Translation: X:144.01, Y:-2.95, Z:-2.92 [[ 9.99152762e-01 3.91967485e-02 1.25448626e-02 1.44008232e+02] [-3.91906505e-02 9.99231483e-01 -7.31649231e-04 -2.94988354e+00] [-1.25639000e-02 2.39388023e-04 9.99921042e-01 -2.91978025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544391418 meters 0.01710590024695184 Centerline is valid? [True, True] Translation: X:144.07, Y:-2.95, Z:-2.92 [[ 9.98925633e-01 4.46111553e-02 1.25468839e-02 1.44066006e+02] [-4.46054776e-02 9.99004412e-01 -7.32134386e-04 -2.94827391e+00] [-1.25670538e-02 1.71688056e-04 9.99921017e-01 -2.92158620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60439141799998 meters 0.015076104661013728 Centerline is valid? [True, True] Translation: X:144.13, Y:-2.94, Z:-2.92 [[ 9.98610335e-01 5.12235862e-02 1.23912690e-02 1.44125651e+02] [-5.12185755e-02 9.98687207e-01 -7.21582066e-04 -2.94406596e+00] [-1.24119639e-02 8.59161595e-05 9.99922965e-01 -2.92231671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66439141799998 meters 0.014805776721430623 Centerline is valid? [True, True] Translation: X:144.18, Y:-2.95, Z:-2.92 [[ 9.98556466e-01 5.22748983e-02 1.23417363e-02 1.44184197e+02] [-5.22700150e-02 9.98632730e-01 -7.18123685e-04 -2.94667915e+00] [-1.23624016e-02 7.19843086e-05 9.99923580e-01 -2.92351171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72439141799998 meters 0.01621569641815193 Centerline is valid? [True, True] Translation: X:144.24, Y:-2.96, Z:-2.93 [[ 9.98748585e-01 4.82678634e-02 1.30949429e-02 1.44241575e+02] [-4.82620348e-02 9.98834419e-01 -7.60932687e-04 -2.95597774e+00] [-1.31164083e-02 1.27991853e-04 9.99913968e-01 -2.92509790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78439141799998 meters 0.0169041588275191 Centerline is valid? [True, True] Translation: X:144.30, Y:-2.96, Z:-2.93 [[ 9.98964822e-01 4.37610334e-02 1.24199962e-02 1.44300240e+02] [-4.37554577e-02 9.99042012e-01 -7.20437368e-04 -2.96321336e+00] [-1.24396251e-02 1.76248969e-04 9.99922609e-01 -2.92566359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844391418 meters 0.01958116884598251 Centerline is valid? [True, True] Translation: X:144.36, Y:-2.98, Z:-2.93 [[ 9.99226320e-01 3.72319742e-02 1.26705345e-02 1.44358271e+02] [-3.72256611e-02 9.99306615e-01 -7.33808294e-04 -2.97503451e+00] [-1.26890701e-02 2.61571538e-04 9.99919456e-01 -2.92697733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904391418 meters 0.022367388448424435 Centerline is valid? [True, True] Translation: X:144.42, Y:-2.98, Z:-2.93 [[ 9.99393039e-01 3.24797622e-02 1.25944207e-02 1.44417994e+02] [-3.24731618e-02 9.99472342e-01 -7.28267890e-04 -2.98397180e+00] [-1.26114291e-02 3.18845200e-04 9.99920422e-01 -2.92821811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964391418 meters 0.024180616975267154 Centerline is valid? [True, True] Translation: X:144.48, Y:-2.99, Z:-2.93 [[ 9.99470730e-01 3.00323021e-02 1.25028549e-02 1.44476845e+02] [-3.00256072e-02 9.99548868e-01 -7.22883999e-04 -2.99195517e+00] [-1.25189244e-02 3.47095588e-04 9.99921575e-01 -2.92979449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024391418 meters 0.020977565334314538 Centerline is valid? [True, True] Translation: X:144.54, Y:-2.99, Z:-2.93 [[ 9.99510157e-01 2.86317198e-02 1.26360764e-02 1.44536883e+02] [-2.86247645e-02 9.99589960e-01 -7.30988829e-04 -2.99141806e+00] [-1.26518246e-02 3.68926049e-04 9.99919894e-01 -2.92911137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084391418 meters 0.02290003767412447 Centerline is valid? [True, True] Translation: X:144.60, Y:-3.00, Z:-2.93 [[ 9.99571258e-01 2.67929374e-02 1.18084356e-02 1.44595936e+02] [-2.67867426e-02 9.99640938e-01 -6.82492350e-04 -2.99883874e+00] [-1.18224816e-02 3.65890212e-04 9.99930045e-01 -2.93078626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144391418 meters 0.02360892482189301 Centerline is valid? [True, True] Translation: X:144.66, Y:-3.01, Z:-2.93 [[ 9.99642944e-01 2.42394507e-02 1.12442676e-02 1.44655554e+02] [-2.42336769e-02 9.99706110e-01 -6.49475391e-04 -3.00535821e+00] [-1.12567060e-02 3.76753543e-04 9.99936570e-01 -2.93241283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204391418 meters 0.025476110677061212 Centerline is valid? [True, True] Translation: X:144.72, Y:-3.01, Z:-2.94 [[ 9.99712583e-01 2.17613880e-02 1.00594639e-02 1.44715686e+02] [-2.17566414e-02 9.99763127e-01 -5.81063182e-04 -3.01361645e+00] [-1.00697258e-02 3.62036027e-04 9.99949233e-01 -2.93551043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264391418 meters 0.025715886153377467 Centerline is valid? [True, True] Translation: X:144.78, Y:-3.02, Z:-2.94 [[ 9.99720497e-01 2.15713311e-02 9.67499263e-03 1.44776359e+02] [-2.15669336e-02 9.99767251e-01 -5.58639787e-04 -3.01758620e+00] [-9.68479139e-03 3.49823723e-04 9.99953040e-01 -2.93766637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32439141799998 meters 0.025679117008961232 Centerline is valid? [True, True] Translation: X:144.84, Y:-3.02, Z:-2.94 [[ 9.99662799e-01 2.36711324e-02 1.06755090e-02 1.44836100e+02] [-2.36658910e-02 9.99719733e-01 -6.17051409e-04 -3.02009703e+00] [-1.06871233e-02 3.64197907e-04 9.99942825e-01 -2.93827990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38439141799998 meters 0.02226058105250614 Centerline is valid? [True, True] Translation: X:144.90, Y:-3.02, Z:-2.94 [[ 9.99579811e-01 2.67405508e-02 1.11868073e-02 1.44896482e+02] [-2.67349898e-02 9.99642347e-01 -6.46375976e-04 -3.01741717e+00] [-1.12000908e-02 3.47025196e-04 9.99937217e-01 -2.93759472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44439141799998 meters 0.02107269500783275 Centerline is valid? [True, True] Translation: X:144.96, Y:-3.02, Z:-2.94 [[ 9.99445762e-01 3.12403261e-02 1.14983089e-02 1.44956364e+02] [-3.12347515e-02 9.99511855e-01 -6.64125053e-04 -3.01631188e+00] [-1.15134435e-02 3.04610151e-04 9.99933672e-01 -2.93807136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50439141799998 meters 0.01922779664992393 Centerline is valid? [True, True] Translation: X:145.02, Y:-3.01, Z:-2.94 [[ 9.99361564e-01 3.36320000e-02 1.20562806e-02 1.45015944e+02] [-3.36260461e-02 9.99434242e-01 -6.96269901e-04 -3.01424610e+00] [-1.20728766e-02 2.90420331e-04 9.99927078e-01 -2.93853076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56439141799999 meters 0.021276613211367 Centerline is valid? [True, True] Translation: X:145.07, Y:-3.02, Z:-2.94 [[ 9.99400458e-01 3.19630989e-02 1.33073076e-02 1.45074753e+02] [-3.19557039e-02 9.99488991e-01 -7.68025282e-04 -3.02036743e+00] [-1.33250559e-02 3.42320437e-04 9.99911159e-01 -2.94089277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624391418 meters 0.020567779342628132 Centerline is valid? [True, True] Translation: X:145.13, Y:-3.02, Z:-2.94 [[ 9.99489316e-01 2.87168920e-02 1.40160014e-02 1.45134935e+02] [-2.87083876e-02 9.99587503e-01 -8.07623327e-04 -3.02173359e+00] [-1.40334123e-02 4.04834085e-04 9.99901445e-01 -2.94127207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684391418 meters 0.023013847891094136 Centerline is valid? [True, True] Translation: X:145.20, Y:-3.03, Z:-2.94 [[ 9.99636595e-01 2.28413816e-02 1.43160482e-02 1.45195350e+02] [-2.28319072e-02 9.99738978e-01 -8.24912476e-04 -3.02806641e+00] [-1.43311535e-02 4.97750016e-04 9.99897180e-01 -2.94308696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744391418 meters 0.02647324974696894 Centerline is valid? [True, True] Translation: X:145.26, Y:-3.04, Z:-2.95 [[ 9.99759567e-01 1.65685634e-02 1.43628103e-02 1.45256163e+02] [-1.65583824e-02 9.99862558e-01 -8.27479495e-04 -3.03576859e+00] [-1.43745464e-02 5.89455636e-04 9.99896507e-01 -2.94551822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804391418 meters 0.029291441475296644 Centerline is valid? [True, True] Translation: X:145.32, Y:-3.04, Z:-2.95 [[ 9.99810507e-01 1.25485514e-02 1.48823154e-02 1.45316543e+02] [-1.25371740e-02 9.99921039e-01 -8.57547874e-04 -3.04319860e+00] [-1.48919012e-02 6.70803198e-04 9.99888884e-01 -2.94732304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864391418 meters 0.033477695732579346 Centerline is valid? [True, True] Translation: X:145.38, Y:-3.05, Z:-2.95 [[ 9.99851286e-01 7.23948444e-03 1.56523411e-02 1.45375963e+02] [-7.22623707e-03 9.99973483e-01 -9.02743231e-04 -3.04931906e+00] [-1.56584614e-02 7.89501453e-04 9.99877087e-01 -2.94863655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924391418 meters 0.03282872290819861 Centerline is valid? [True, True] Translation: X:145.44, Y:-3.05, Z:-2.95 [[ 9.99860528e-01 3.70266076e-03 1.62854193e-02 1.45437571e+02] [-3.68783158e-03 9.99992758e-01 -9.40516919e-04 -3.04874200e+00] [-1.62887837e-02 8.80327860e-04 9.99866941e-01 -2.94918991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984391418 meters 0.03791514582213675 Centerline is valid? [True, True] Translation: X:145.50, Y:-3.06, Z:-2.95 [[ 9.99852867e-01 3.35400555e-03 1.68224397e-02 1.45497862e+02] [-3.33812697e-03 9.99993956e-01 -9.71883727e-04 -3.05803217e+00] [-1.68255977e-02 9.15585291e-04 9.99858020e-01 -2.95086383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04439141799998 meters 0.034332880275042096 Centerline is valid? [True, True] Translation: X:145.56, Y:-3.05, Z:-2.95 [[ 9.99862595e-01 3.83640352e-03 1.61268029e-02 1.45561513e+02] [-3.82185137e-03 9.99992261e-01 -9.33080305e-04 -3.05283631e+00] [-1.61302578e-02 8.71317851e-04 9.99869519e-01 -2.95253668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10439141799998 meters 0.034958718383740546 Centerline is valid? [True, True] Translation: X:145.62, Y:-3.05, Z:-2.95 [[ 9.99834774e-01 5.47778309e-03 1.73326022e-02 1.45623167e+02] [-5.46110818e-03 9.99984579e-01 -1.00923976e-03 -3.05263502e+00] [-1.73378633e-02 9.14417787e-04 9.99849270e-01 -2.95291902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16439141799998 meters 0.03406501006054996 Centerline is valid? [True, True] Translation: X:145.68, Y:-3.05, Z:-2.96 [[ 9.99841300e-01 8.01240419e-03 1.59114924e-02 1.45684850e+02] [-7.99859660e-03 9.99967577e-01 -9.31224736e-04 -3.04987835e+00] [-1.59184378e-02 8.03807342e-04 9.99872971e-01 -2.95595101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22439141799998 meters 0.03276449860058683 Centerline is valid? [True, True] Translation: X:145.75, Y:-3.05, Z:-2.96 [[ 9.99832960e-01 1.06926072e-02 1.48229611e-02 1.45746116e+02] [-1.06809102e-02 9.99942581e-01 -8.68055966e-04 -3.04800789e+00] [-1.48313917e-02 7.09588250e-04 9.99889757e-01 -2.95843104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28439141799998 meters 0.02961955914401448 Centerline is valid? [True, True] Translation: X:145.81, Y:-3.04, Z:-2.96 [[ 9.99761464e-01 1.61012945e-02 1.47568177e-02 1.45807431e+02] [-1.60902793e-02 9.99870169e-01 -8.64880268e-04 -3.04005682e+00] [-1.47688275e-02 6.27232645e-04 9.99890738e-01 -2.95960883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344391418 meters 0.027568380343674745 Centerline is valid? [True, True] Translation: X:145.87, Y:-3.03, Z:-2.96 [[ 9.99635490e-01 2.19236706e-02 1.57556286e-02 1.45868297e+02] [-2.19118287e-02 9.99759480e-01 -9.23853410e-04 -3.03271824e+00] [-1.57720934e-02 5.78282021e-04 9.99875446e-01 -2.95921182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404391418 meters 0.023414886165030034 Centerline is valid? [True, True] Translation: X:145.93, Y:-3.02, Z:-2.96 [[ 9.99442687e-01 2.89361986e-02 1.66436581e-02 1.45930364e+02] [-2.89239563e-02 9.99581139e-01 -9.75847801e-04 -3.02210730e+00] [-1.66649240e-02 4.93903509e-04 9.99861009e-01 -2.95920643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464391418 meters 0.021314319996347936 Centerline is valid? [True, True] Translation: X:145.99, Y:-3.02, Z:-2.96 [[ 9.99265742e-01 3.43621298e-02 1.69476010e-02 1.45990609e+02] [-3.43502089e-02 9.99409363e-01 -9.94080121e-04 -3.01801390e+00] [-1.69717498e-02 4.11196576e-04 9.99855885e-01 -2.96112296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524391418 meters 0.018830199925540747 Centerline is valid? [True, True] Translation: X:146.05, Y:-3.01, Z:-2.96 [[ 9.99020950e-01 4.11731736e-02 1.61837025e-02 1.46049844e+02] [-4.11631923e-02 9.99151985e-01 -9.49519776e-04 -3.01085876e+00] [-1.62090732e-02 2.82417293e-04 9.99868584e-01 -2.96296249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584391418 meters 0.018142182374134955 Centerline is valid? [True, True] Translation: X:146.11, Y:-3.01, Z:-2.97 [[ 9.98926900e-01 4.36155659e-02 1.55798322e-02 1.46107372e+02] [-4.36066227e-02 9.99048361e-01 -9.13433235e-04 -3.00910609e+00] [-1.56048458e-02 2.33069162e-04 9.99878210e-01 -2.96534283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644391418 meters 0.018574546351146574 Centerline is valid? [True, True] Translation: X:146.17, Y:-3.01, Z:-2.97 [[ 9.98991386e-01 4.24289878e-02 1.46966274e-02 1.46165831e+02] [-4.24209222e-02 9.99099457e-01 -8.60250519e-04 -3.01251082e+00] [-1.47198921e-02 2.35938369e-04 9.99891629e-01 -2.96778235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704391418 meters 0.021449497022623644 Centerline is valid? [True, True] Translation: X:146.22, Y:-3.02, Z:-2.97 [[ 9.99234052e-01 3.67345760e-02 1.34862937e-02 1.46224505e+02] [-3.67272792e-02 9.99325015e-01 -7.88407297e-04 -3.02004135e+00] [-1.35061525e-02 2.92488543e-04 9.99908745e-01 -2.97066473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764391418 meters 0.026290556475596867 Centerline is valid? [True, True] Translation: X:146.28, Y:-3.03, Z:-2.97 [[ 9.99493348e-01 2.93281288e-02 1.23656258e-02 1.46284365e+02] [-2.93214387e-02 9.99569773e-01 -7.22016794e-04 -3.03026676e+00] [-1.23814811e-02 3.59073045e-04 9.99923282e-01 -2.97345738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82439141799998 meters 0.027046577723563562 Centerline is valid? [True, True] Translation: X:146.34, Y:-3.03, Z:-2.97 [[ 9.99689069e-01 2.16424510e-02 1.23842160e-02 1.46344160e+02] [-2.16351541e-02 9.99765671e-01 -7.22892565e-04 -3.03425117e+00] [-1.23969592e-02 4.54733374e-04 9.99923051e-01 -2.97308668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88439141799998 meters 0.029831622718657854 Centerline is valid? [True, True] Translation: X:146.40, Y:-3.04, Z:-2.97 [[ 9.99765582e-01 1.74960988e-02 1.27541402e-02 1.46403880e+02] [-1.74880259e-02 9.99846796e-01 -7.44224055e-04 -3.04021614e+00] [-1.27652072e-02 5.21004861e-04 9.99918386e-01 -2.97368579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94439141799998 meters 0.03276435214472042 Centerline is valid? [True, True] Translation: X:146.46, Y:-3.05, Z:-2.97 [[ 9.99821097e-01 1.39934416e-02 1.27262545e-02 1.46464320e+02] [-1.39851277e-02 9.99901928e-01 -7.42054802e-04 -3.04598464e+00] [-1.27353903e-02 5.63943752e-04 9.99918743e-01 -2.97498920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00439141799998 meters 0.03715179410930328 Centerline is valid? [True, True] Translation: X:146.52, Y:-3.05, Z:-2.97 [[ 9.99867887e-01 7.96091067e-03 1.41715261e-02 1.46524610e+02] [-7.94999055e-03 9.99968057e-01 -8.26736139e-04 -3.05419167e+00] [-1.41776550e-02 7.13963418e-04 9.99899237e-01 -2.97446113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06439141799999 meters 0.042288342537199375 Centerline is valid? [True, True] Translation: X:146.58, Y:-3.06, Z:-2.98 [[ 9.99891302e-01 2.87266894e-03 1.44614215e-02 1.46583960e+02] [-2.86076746e-03 9.99995552e-01 -8.43600245e-04 -3.06208774e+00] [-1.44637806e-02 8.02137783e-04 9.99895072e-01 -2.97559515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124391418 meters 0.04571318655768053 Centerline is valid? [True, True] Translation: X:146.64, Y:-3.07, Z:-2.98 [[ 9.99900511e-01 3.74435619e-06 1.41056276e-02 1.46644649e+02] [ 7.86522873e-06 9.99999661e-01 -8.22990762e-04 -3.06689348e+00] [-1.41056259e-02 8.23019827e-04 9.99900172e-01 -2.97714736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184391418 meters 0.04055093294211744 Centerline is valid? [True, True] Translation: X:146.71, Y:-3.06, Z:-2.98 [[ 9.99906411e-01 5.62568246e-04 1.36694249e-02 1.46707708e+02] [-5.51712521e-04 9.99999529e-01 -7.97918992e-04 -3.06130009e+00] [-1.36698674e-02 7.90302722e-04 9.99906251e-01 -2.97767234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244391418 meters 0.037663439423792466 Centerline is valid? [True, True] Translation: X:146.77, Y:-3.06, Z:-2.98 [[ 9.99918204e-01 4.83955200e-03 1.18391240e-02 1.46768872e+02] [-4.83169354e-03 9.99988088e-01 -6.92282682e-04 -3.05568896e+00] [-1.18423333e-02 6.35023037e-04 9.99929675e-01 -2.97983121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304391418 meters 0.03895112573631535 Centerline is valid? [True, True] Translation: X:146.83, Y:-3.06, Z:-2.98 [[ 9.99848803e-01 1.32224363e-02 1.12932840e-02 1.46828817e+02] [-1.32158147e-02 9.99912449e-01 -6.60754539e-04 -3.05519648e+00] [-1.13010321e-02 5.11404686e-04 9.99936011e-01 -2.98291658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364391418 meters 0.023377491504731965 Centerline is valid? [True, True] Translation: X:146.89, Y:-3.03, Z:-2.98 [[ 9.99656616e-01 2.43389861e-02 9.70900802e-03 1.46890750e+02] [-2.43346166e-02 9.99703708e-01 -5.67945988e-04 -3.03018145e+00] [-9.71995455e-03 3.31485977e-04 9.99952705e-01 -2.98217446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424391418 meters 0.020230871766607813 Centerline is valid? [True, True] Translation: X:146.95, Y:-3.02, Z:-2.98 [[ 9.99404783e-01 3.31907931e-02 9.40478768e-03 1.46950206e+02] [-3.31870793e-02 9.99449005e-01 -5.50723795e-04 -3.02343918e+00] [-9.41788465e-03 2.38278561e-04 9.99955622e-01 -2.98332398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484391418 meters 0.01600963903837763 Centerline is valid? [True, True] Translation: X:147.01, Y:-3.01, Z:-2.98 [[ 9.98876726e-01 4.63532370e-02 9.83178763e-03 1.47011490e+02] [-4.63498191e-02 9.98925104e-01 -5.75339361e-04 -3.01213458e+00] [-9.84788832e-03 1.18991520e-04 9.99951501e-01 -2.98343681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54439141799998 meters 0.014642863859803928 Centerline is valid? [True, True] Translation: X:147.07, Y:-3.01, Z:-2.98 [[ 9.98463805e-01 5.41917466e-02 1.15448612e-02 1.47070970e+02] [-5.41875598e-02 9.98530546e-01 -6.75379937e-04 -3.00717578e+00] [-1.15644966e-02 4.87545645e-05 9.99933128e-01 -2.98353106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60439141799998 meters 0.01477487998743309 Centerline is valid? [True, True] Translation: X:147.13, Y:-3.00, Z:-2.98 [[ 9.97863631e-01 6.41034814e-02 1.26062645e-02 1.47129812e+02] [-6.40992896e-02 9.97943254e-01 -7.36695971e-04 -3.00003124e+00] [-1.26275614e-02 -7.29304821e-05 9.99920267e-01 -2.98272946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66439141799998 meters 0.01569045175068974 Centerline is valid? [True, True] Translation: X:147.19, Y:-3.00, Z:-2.98 [[ 9.97467112e-01 6.99022917e-02 1.31540717e-02 1.47189003e+02] [-6.98982585e-02 9.97553831e-01 -7.66671011e-04 -2.99774306e+00] [-1.31754866e-02 -1.54717581e-04 9.99913188e-01 -2.98483963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72439141799998 meters 0.015061204842093289 Centerline is valid? [True, True] Translation: X:147.25, Y:-3.00, Z:-2.99 [[ 9.97687006e-01 6.67091788e-02 1.30584745e-02 1.47247534e+02] [-6.67049442e-02 9.97772455e-01 -7.60052351e-04 -3.00426892e+00] [-1.30800886e-02 -1.12770455e-04 9.99914446e-01 -2.98789362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78439141799998 meters 0.014398846979895201 Centerline is valid? [True, True] Translation: X:147.30, Y:-3.01, Z:-2.99 [[ 9.98133909e-01 5.97759041e-02 1.24715695e-02 1.47304882e+02] [-5.97715098e-02 9.98211822e-01 -7.25119688e-04 -3.01446733e+00] [-1.24926128e-02 -2.16779864e-05 9.99921964e-01 -2.99077508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844391418 meters 0.015565798276047225 Centerline is valid? [True, True] Translation: X:147.36, Y:-3.03, Z:-2.99 [[ 9.98840721e-01 4.63943320e-02 1.28366523e-02 1.47362290e+02] [-4.63885878e-02 9.98923192e-01 -7.45028393e-04 -3.03181578e+00] [-1.28573948e-02 1.48690527e-04 9.99917329e-01 -2.99204336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904391418 meters 0.017628038187314246 Centerline is valid? [True, True] Translation: X:147.42, Y:-3.04, Z:-2.99 [[ 9.99166478e-01 3.86810493e-02 1.30432571e-02 1.47421184e+02] [-3.86744841e-02 9.99251577e-01 -7.55292966e-04 -3.04343234e+00] [-1.30627107e-02 2.50222175e-04 9.99914648e-01 -2.99295931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964391418 meters 0.0198155937509664 Centerline is valid? [True, True] Translation: X:147.48, Y:-3.05, Z:-2.99 [[ 9.99349134e-01 3.31599367e-02 1.42030647e-02 1.47480111e+02] [-3.31516037e-02 9.99449997e-01 -8.21810448e-04 -3.05442624e+00] [-1.42225041e-02 3.50421187e-04 9.99898794e-01 -2.99402155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024391418 meters 0.02158897775448163 Centerline is valid? [True, True] Translation: X:147.54, Y:-3.07, Z:-2.99 [[ 9.99469202e-01 2.82404803e-02 1.62416159e-02 1.47539253e+02] [-2.82289465e-02 9.99601043e-01 -9.39002829e-04 -3.06555012e+00] [-1.62616540e-02 4.80020704e-04 9.99867655e-01 -2.99390280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084391418 meters 0.022190403879433898 Centerline is valid? [True, True] Translation: X:147.60, Y:-3.07, Z:-2.99 [[ 9.99447939e-01 2.77398894e-02 1.82843153e-02 1.47598502e+02] [-2.77252033e-02 9.99615025e-01 -1.05625716e-03 -3.07290072e+00] [-1.83065768e-02 5.48737678e-04 9.99832270e-01 -2.99439049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144391418 meters 0.020480414144520245 Centerline is valid? [True, True] Translation: X:147.66, Y:-3.08, Z:-3.00 [[ 9.99347963e-01 3.09912040e-02 1.85254930e-02 1.47658812e+02] [-3.09767014e-02 9.99519535e-01 -1.06936147e-03 -3.07670397e+00] [-1.85497329e-02 4.94805548e-04 9.99827816e-01 -2.99568233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204391418 meters 0.017238468596285018 Centerline is valid? [True, True] Translation: X:147.72, Y:-3.08, Z:-3.00 [[ 9.99093436e-01 3.85135280e-02 1.81387640e-02 1.47719026e+02] [-3.85008623e-02 9.99258018e-01 -1.04708617e-03 -3.07637773e+00] [-1.81656323e-02 3.47778863e-04 9.99834931e-01 -2.99805334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264391418 meters 0.014522075619079523 Centerline is valid? [True, True] Translation: X:147.78, Y:-3.07, Z:-3.00 [[ 9.98671615e-01 4.82706002e-02 1.80264809e-02 1.47778798e+02] [-4.82596848e-02 9.98834281e-01 -1.04029300e-03 -3.07450805e+00] [-1.80556827e-02 1.68958805e-04 9.99836969e-01 -3.00065394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32439141799998 meters 0.0134613008388635 Centerline is valid? [True, True] Translation: X:147.84, Y:-3.07, Z:-3.00 [[ 9.98253599e-01 5.63307971e-02 1.77930897e-02 1.47837608e+02] [-5.63214528e-02 9.98412160e-01 -1.02623018e-03 -3.07323952e+00] [-1.78226455e-02 2.23053061e-05 9.99841164e-01 -3.00269561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38439141799998 meters 0.013519799718932846 Centerline is valid? [True, True] Translation: X:147.90, Y:-3.08, Z:-3.00 [[ 9.98085443e-01 5.91746211e-02 1.79947907e-02 1.47895231e+02] [-5.91655496e-02 9.98247646e-01 -1.03654602e-03 -3.07522165e+00] [-1.80245947e-02 -3.01101937e-05 9.99837543e-01 -3.00377660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44439141799998 meters 0.013412868422820039 Centerline is valid? [True, True] Translation: X:147.95, Y:-3.08, Z:-3.00 [[ 9.98093809e-01 5.89944211e-02 1.81219949e-02 1.47953451e+02] [-5.89852314e-02 9.98258312e-01 -1.04165664e-03 -3.07947132e+00] [-1.81518840e-02 -2.92590234e-05 9.99835241e-01 -3.00490479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50439141799998 meters 0.013591686199199302 Centerline is valid? [True, True] Translation: X:148.01, Y:-3.09, Z:-3.01 [[ 9.98270034e-01 5.55033488e-02 1.93988804e-02 1.48010689e+02] [-5.54922080e-02 9.98458500e-01 -1.11254028e-03 -3.08800246e+00] [-1.94307267e-02 3.41289200e-05 9.99811205e-01 -3.00533748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56439141799999 meters 0.01408570708965186 Centerline is valid? [True, True] Translation: X:148.07, Y:-3.10, Z:-3.01 [[ 9.98514980e-01 5.05850331e-02 2.02234715e-02 1.48069070e+02] [-5.05719673e-02 9.98719749e-01 -1.15730382e-03 -3.09960860e+00] [-2.02561226e-02 1.32844462e-04 9.99794815e-01 -3.00658010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624391418 meters 0.014887978202920588 Centerline is valid? [True, True] Translation: X:148.13, Y:-3.11, Z:-3.01 [[ 9.98682861e-01 4.63973880e-02 2.19049127e-02 1.48127493e+02] [-4.63810920e-02 9.98923034e-01 -1.25168006e-03 -3.10948385e+00] [-2.19393966e-02 2.34057649e-04 9.99759275e-01 -3.00713080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684391418 meters 0.01524882704789995 Centerline is valid? [True, True] Translation: X:148.19, Y:-3.12, Z:-3.01 [[ 9.98757443e-01 4.45039156e-02 2.24270434e-02 1.48186165e+02] [-4.44863975e-02 9.99009171e-01 -1.27966818e-03 -3.11703520e+00] [-2.24617723e-02 2.80379753e-04 9.99747663e-01 -3.00852753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744391418 meters 0.016555692729576948 Centerline is valid? [True, True] Translation: X:148.24, Y:-3.13, Z:-3.01 [[ 9.98798484e-01 4.33277441e-02 2.28974676e-02 1.48244351e+02] [-4.33092167e-02 9.99060864e-01 -1.30466189e-03 -3.12800701e+00] [-2.29324918e-02 3.11422932e-04 9.99736967e-01 -3.00962196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804391418 meters 0.014857707053355953 Centerline is valid? [True, True] Translation: X:148.30, Y:-3.13, Z:-3.01 [[ 9.98675576e-01 4.61520700e-02 2.27394099e-02 1.48302890e+02] [-4.61345613e-02 9.98934396e-01 -1.29425145e-03 -3.13006570e+00] [-2.27749111e-02 2.43464612e-04 9.99740588e-01 -3.01145283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864391418 meters 0.014255495257039697 Centerline is valid? [True, True] Translation: X:148.36, Y:-3.13, Z:-3.01 [[ 9.98478693e-01 5.01656055e-02 2.28847621e-02 1.48361864e+02] [-5.01489694e-02 9.98740902e-01 -1.30063282e-03 -3.13229268e+00] [-2.29211949e-02 1.51006930e-04 9.99737263e-01 -3.01284543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924391418 meters 0.013815597965214744 Centerline is valid? [True, True] Translation: X:148.42, Y:-3.13, Z:-3.01 [[ 9.98147609e-01 5.64899988e-02 2.25882929e-02 1.48421157e+02] [-5.64754498e-02 9.98403165e-01 -1.28200946e-03 -3.13393717e+00] [-2.26246439e-02 3.95067238e-06 9.99744030e-01 -3.01483192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984391418 meters 0.013753682950312556 Centerline is valid? [True, True] Translation: X:148.48, Y:-3.14, Z:-3.02 [[ 9.98001397e-01 5.95187319e-02 2.12304696e-02 1.48479613e+02] [-5.95065913e-02 9.98227187e-01 -1.20370006e-03 -3.13985797e+00] [-2.12644746e-02 -6.20585344e-05 9.99773884e-01 -3.01791364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04439141799998 meters 0.013828840643237653 Centerline is valid? [True, True] Translation: X:148.54, Y:-3.15, Z:-3.02 [[ 9.98106634e-01 5.81935504e-02 1.99162892e-02 1.48536711e+02] [-5.81826322e-02 9.98305319e-01 -1.12770688e-03 -3.14818798e+00] [-1.99481628e-02 -3.32104156e-05 9.99801015e-01 -3.02086128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10439141799998 meters 0.014072408554985458 Centerline is valid? [True, True] Translation: X:148.59, Y:-3.16, Z:-3.02 [[ 9.98489241e-01 5.19795753e-02 1.78146062e-02 1.48594443e+02] [-5.19698864e-02 9.98648145e-01 -1.00670842e-03 -3.16306600e+00] [-1.78428517e-02 7.93644663e-05 9.99840800e-01 -3.02423651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16439141799998 meters 0.015467191018851733 Centerline is valid? [True, True] Translation: X:148.65, Y:-3.18, Z:-3.03 [[ 9.98889095e-01 4.43992814e-02 1.57885767e-02 1.48651129e+02] [-4.43907394e-02 9.99013848e-01 -8.91238964e-04 -3.18013757e+00] [-1.58125771e-02 1.89382288e-04 9.99874955e-01 -3.02694961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22439141799998 meters 0.017304874405744262 Centerline is valid? [True, True] Translation: X:148.71, Y:-3.20, Z:-3.03 [[ 9.99109740e-01 3.93875085e-02 1.51113331e-02 1.48710390e+02] [-3.93791364e-02 9.99223978e-01 -8.51299048e-04 -3.19526934e+00] [-1.51331370e-02 2.55469922e-04 9.99885455e-01 -3.02819603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28439141799998 meters 0.01776789415480779 Centerline is valid? [True, True] Translation: X:148.77, Y:-3.20, Z:-3.03 [[ 9.99124898e-01 3.87274345e-02 1.57994952e-02 1.48767702e+02] [-3.87182058e-02 9.99249773e-01 -8.89691250e-04 -3.20458344e+00] [-1.58220974e-02 2.77184572e-04 9.99874784e-01 -3.02910687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344391418 meters 0.016864988574225633 Centerline is valid? [True, True] Translation: X:148.83, Y:-3.21, Z:-3.03 [[ 9.99017142e-01 4.14870694e-02 1.56068231e-02 1.48826725e+02] [-4.14784281e-02 9.99139015e-01 -8.77111204e-04 -3.21305610e+00] [-1.56297746e-02 2.28902640e-04 9.99877821e-01 -3.03037909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404391418 meters 0.014629010851778573 Centerline is valid? [True, True] Translation: X:148.89, Y:-3.22, Z:-3.03 [[ 9.98859548e-01 4.56640216e-02 1.39427918e-02 1.48885591e+02] [-4.56575336e-02 9.98956844e-01 -7.83456213e-04 -3.21807998e+00] [-1.39640231e-02 1.45969234e-04 9.99902488e-01 -3.03194888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464391418 meters 0.014427965780327678 Centerline is valid? [True, True] Translation: X:148.94, Y:-3.22, Z:-3.03 [[ 9.98743622e-01 4.84463002e-02 1.28114965e-02 1.48943730e+02] [-4.84410631e-02 9.98825784e-01 -7.18957423e-04 -3.22477680e+00] [-1.28312839e-02 9.74516300e-05 9.99917671e-01 -3.03415265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524391418 meters 0.014014055213240877 Centerline is valid? [True, True] Translation: X:149.00, Y:-3.23, Z:-3.04 [[ 9.98548216e-01 5.26839288e-02 1.12188702e-02 1.49001194e+02] [-5.26801864e-02 9.98611237e-01 -6.29044247e-04 -3.23275281e+00] [-1.12364303e-02 3.71188401e-05 9.99936869e-01 -3.03713560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584391418 meters 0.014446720077147718 Centerline is valid? [True, True] Translation: X:149.06, Y:-3.24, Z:-3.04 [[ 9.98271104e-01 5.79506095e-02 9.82500397e-03 1.49059309e+02] [-5.79480054e-02 9.98319451e-01 -5.49753902e-04 -3.23943632e+00] [-9.84035114e-03 -2.05359494e-05 9.99951582e-01 -3.04039558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644391418 meters 0.015119813092305204 Centerline is valid? [True, True] Translation: X:149.12, Y:-3.24, Z:-3.04 [[ 9.98045243e-01 6.17901249e-02 9.36338181e-03 1.49117380e+02] [-6.17879292e-02 9.98089163e-01 -5.23866224e-04 -3.24485816e+00] [-9.37785968e-03 -5.57017796e-05 9.99956025e-01 -3.04219920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704391418 meters 0.01639117886831869 Centerline is valid? [True, True] Translation: X:149.18, Y:-3.25, Z:-3.04 [[ 9.97812753e-01 6.54872036e-02 9.00752789e-03 1.49175717e+02] [-6.54853323e-02 9.97853405e-01 -5.02852183e-04 -3.25292305e+00] [-9.02112276e-03 -8.81086355e-05 9.99959305e-01 -3.04342323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764391418 meters 0.016684385123130842 Centerline is valid? [True, True] Translation: X:149.23, Y:-3.26, Z:-3.05 [[ 9.97838469e-01 6.51914430e-02 8.27436410e-03 1.49232847e+02] [-6.51898563e-02 9.97872772e-01 -4.61608143e-04 -3.26454483e+00] [-8.28685555e-03 -7.87942442e-05 9.99965660e-01 -3.04512149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82439141799998 meters 0.01639886793983834 Centerline is valid? [True, True] Translation: X:149.29, Y:-3.27, Z:-3.05 [[ 9.97938199e-01 6.36739616e-02 8.06081667e-03 1.49291005e+02] [-6.36724147e-02 9.97970752e-01 -4.48650368e-04 -3.27196079e+00] [-8.07302663e-03 -6.55263223e-05 9.99967410e-01 -3.04682171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88439141799998 meters 0.01449742422216767 Centerline is valid? [True, True] Translation: X:149.35, Y:-3.29, Z:-3.04 [[ 9.98302522e-01 5.74581826e-02 9.52006962e-03 1.49349027e+02] [-5.74557517e-02 9.98347914e-01 -5.28875829e-04 -3.29131500e+00] [-9.53472989e-03 -1.90046818e-05 9.99954543e-01 -3.04464082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94439141799998 meters 0.01432472693582446 Centerline is valid? [True, True] Translation: X:149.41, Y:-3.31, Z:-3.04 [[ 9.98575817e-01 5.22907098e-02 1.05839411e-02 1.49407599e+02] [-5.22874268e-02 9.98631904e-01 -5.86849910e-04 -3.30517642e+00] [-1.06001481e-02 3.26070806e-05 9.99943816e-01 -3.04381532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00439141799998 meters 0.01528134609483109 Centerline is valid? [True, True] Translation: X:149.47, Y:-3.32, Z:-3.04 [[ 9.98877340e-01 4.59805833e-02 1.13949397e-02 1.49465679e+02] [-4.59763799e-02 9.98942328e-01 -6.30710094e-04 -3.32183858e+00] [-1.14118881e-02 1.06103943e-04 9.99934877e-01 -3.04334811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06439141799999 meters 0.01685873166871938 Centerline is valid? [True, True] Translation: X:149.52, Y:-3.34, Z:-3.05 [[ 9.99051931e-01 4.21187470e-02 1.10113772e-02 1.49523499e+02] [-4.21145996e-02 9.99112601e-01 -6.08354996e-04 -3.33707291e+00] [-1.10272288e-02 1.44038494e-04 9.99939188e-01 -3.04545279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124391418 meters 0.016873603828488556 Centerline is valid? [True, True] Translation: X:149.58, Y:-3.34, Z:-3.05 [[ 9.99067214e-01 4.16805396e-02 1.12886462e-02 1.49582809e+02] [-4.16761637e-02 9.99130977e-01 -6.22705270e-04 -3.34473807e+00] [-1.13047908e-02 1.51656953e-04 9.99936087e-01 -3.04641300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184391418 meters 0.016187713883412284 Centerline is valid? [True, True] Translation: X:149.64, Y:-3.35, Z:-3.05 [[ 9.98951469e-01 4.45616092e-02 1.04987914e-02 1.49642266e+02] [-4.45579874e-02 9.99006632e-01 -5.78743322e-04 -3.34942183e+00] [-1.05141520e-02 1.10331477e-04 9.99944719e-01 -3.04850399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244391418 meters 0.014529954199134854 Centerline is valid? [True, True] Translation: X:149.70, Y:-3.35, Z:-3.05 [[ 9.98645196e-01 5.07463180e-02 1.15144652e-02 1.49702359e+02] [-5.07423787e-02 9.98711574e-01 -6.34189091e-04 -3.35037447e+00] [-1.15318125e-02 4.90585340e-05 9.99933505e-01 -3.04805626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304391418 meters 0.014393962335558778 Centerline is valid? [True, True] Translation: X:149.76, Y:-3.35, Z:-3.05 [[ 9.98300379e-01 5.69235516e-02 1.24925301e-02 1.49760707e+02] [-5.69194017e-02 9.98378540e-01 -6.87776532e-04 -3.35097423e+00] [-1.25114247e-02 -2.44597671e-05 9.99921729e-01 -3.04877750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364391418 meters 0.014723164510911688 Centerline is valid? [True, True] Translation: X:149.82, Y:-3.35, Z:-3.05 [[ 9.98209379e-01 5.85949757e-02 1.20276732e-02 1.49819470e+02] [-5.85912618e-02 9.98281837e-01 -6.61218138e-04 -3.35428316e+00] [-1.20457518e-02 -4.46824049e-05 9.99927446e-01 -3.05085698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424391418 meters 0.014399426572707028 Centerline is valid? [True, True] Translation: X:149.88, Y:-3.37, Z:-3.05 [[ 9.98446202e-01 5.46982798e-02 1.06432645e-02 1.49878131e+02] [-5.46951572e-02 9.98502928e-01 -5.84465273e-04 -3.36524676e+00] [-1.06593000e-02 1.42210934e-06 9.99943188e-01 -3.05374263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484391418 meters 0.01609286588202637 Centerline is valid? [True, True] Translation: X:149.94, Y:-3.38, Z:-3.06 [[ 9.98950300e-01 4.47705823e-02 9.68985057e-03 1.49936531e+02] [-4.47675359e-02 9.98997290e-01 -5.31168447e-04 -3.38151162e+00] [-9.70391518e-03 9.68201455e-05 9.99952911e-01 -3.05616652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54439141799998 meters 0.019078381850141327 Centerline is valid? [True, True] Translation: X:150.00, Y:-3.39, Z:-3.06 [[ 9.99244102e-01 3.74412766e-02 1.04583117e-02 1.49996303e+02] [-3.74373413e-02 9.99298813e-01 -5.71867133e-04 -3.39381887e+00] [-1.04723899e-02 1.79903474e-04 9.99945147e-01 -3.05614032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60439141799998 meters 0.022286909949438785 Centerline is valid? [True, True] Translation: X:150.06, Y:-3.41, Z:-3.05 [[ 9.99491055e-01 2.94858695e-02 1.21742975e-02 1.50057283e+02] [-2.94799513e-02 9.99565150e-01 -6.65335807e-04 -3.40587333e+00] [-1.21886216e-02 3.06099490e-04 9.99925669e-01 -3.05385050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66439141799998 meters 0.02654264209329968 Centerline is valid? [True, True] Translation: X:150.12, Y:-3.42, Z:-3.05 [[ 9.99584119e-01 2.52453895e-02 1.39376839e-02 1.50117514e+02] [-2.52372103e-02 9.99681200e-01 -7.62443631e-04 -3.41792551e+00] [-1.39524888e-02 4.10378286e-04 9.99902575e-01 -3.05392546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72439141799998 meters 0.024881513254809154 Centerline is valid? [True, True] Translation: X:150.18, Y:-3.42, Z:-3.05 [[ 9.99590754e-01 2.48304684e-02 1.42046670e-02 1.50179994e+02] [-2.48219453e-02 9.99691587e-01 -7.76038810e-04 -3.41908818e+00] [-1.42195555e-02 4.23133751e-04 9.99898807e-01 -3.05404424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78439141799998 meters 0.02426412486631156 Centerline is valid? [True, True] Translation: X:150.24, Y:-3.42, Z:-3.06 [[ 9.99525595e-01 2.70920991e-02 1.46493624e-02 1.50241946e+02] [-2.70832086e-02 9.99632859e-01 -8.04968759e-04 -3.42192557e+00] [-1.46657923e-02 4.07835138e-04 9.99892368e-01 -3.05512516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844391418 meters 0.021485141486127485 Centerline is valid? [True, True] Translation: X:150.30, Y:-3.42, Z:-3.06 [[ 9.99343840e-01 3.32332251e-02 1.44028558e-02 1.50303301e+02] [-3.32251859e-02 9.99447573e-01 -7.97154900e-04 -3.41945527e+00] [-1.44213913e-02 3.18094277e-04 9.99895956e-01 -3.05689790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904391418 meters 0.018751544435705557 Centerline is valid? [True, True] Translation: X:150.37, Y:-3.42, Z:-3.06 [[ 9.99147604e-01 3.85156294e-02 1.48530072e-02 1.50365688e+02] [-3.85076753e-02 9.99257967e-01 -8.21254543e-04 -3.41673864e+00] [-1.48736170e-02 2.48599729e-04 9.99889351e-01 -3.05770314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964391418 meters 0.015906083588534604 Centerline is valid? [True, True] Translation: X:150.43, Y:-3.41, Z:-3.06 [[ 9.98814940e-01 4.67622150e-02 1.34911533e-02 1.50427735e+02] [-4.67563330e-02 9.98906042e-01 -7.51249104e-04 -3.41046056e+00] [-1.35115246e-02 1.19561972e-04 9.99908708e-01 -3.06075368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024391418 meters 0.015669440718549955 Centerline is valid? [True, True] Translation: X:150.49, Y:-3.41, Z:-3.06 [[ 9.98771202e-01 4.79638051e-02 1.24723096e-02 1.50487856e+02] [-4.79588613e-02 9.98849070e-01 -6.95342058e-04 -3.41115336e+00] [-1.24913061e-02 9.63298555e-05 9.99921976e-01 -3.06351566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084391418 meters 0.01597699017816966 Centerline is valid? [True, True] Translation: X:150.55, Y:-3.41, Z:-3.06 [[ 9.98837400e-01 4.65120682e-02 1.26679396e-02 1.50547178e+02] [-4.65068470e-02 9.98917721e-01 -7.06595758e-04 -3.41458835e+00] [-1.26870946e-02 1.16628339e-04 9.99919509e-01 -3.06445899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144391418 meters 0.016943920882439994 Centerline is valid? [True, True] Translation: X:150.61, Y:-3.42, Z:-3.07 [[ 9.98947047e-01 4.39240386e-02 1.32467695e-02 1.50606357e+02] [-4.39181122e-02 9.99034862e-01 -7.38091795e-04 -3.42091383e+00] [-1.32664045e-02 1.55541511e-04 9.99911985e-01 -3.06507207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204391418 meters 0.01938416209773543 Centerline is valid? [True, True] Translation: X:150.67, Y:-3.43, Z:-3.07 [[ 9.99191892e-01 3.78745724e-02 1.34565950e-02 1.50666811e+02] [-3.78679163e-02 9.99282472e-01 -7.49180981e-04 -3.42912218e+00] [-1.34753145e-02 2.39002348e-04 9.99909175e-01 -3.06533842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264391418 meters 0.0203747075393308 Centerline is valid? [True, True] Translation: X:150.73, Y:-3.44, Z:-3.07 [[ 9.99337605e-01 3.36967140e-02 1.37434425e-02 1.50728150e+02] [-3.36893852e-02 9.99432059e-01 -7.64487612e-04 -3.43553807e+00] [-1.37613978e-02 3.00973090e-04 9.99905262e-01 -3.06583391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32439141799998 meters 0.022785793413492374 Centerline is valid? [True, True] Translation: X:150.79, Y:-3.45, Z:-3.07 [[ 9.99454316e-01 2.94214303e-02 1.50150000e-02 1.50789322e+02] [-2.94121691e-02 9.99567018e-01 -8.37298350e-04 -3.44560948e+00] [-1.50331333e-02 3.95217731e-04 9.99886918e-01 -3.06610957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38439141799998 meters 0.02372619297900267 Centerline is valid? [True, True] Translation: X:150.85, Y:-3.45, Z:-3.07 [[ 9.99464284e-01 2.88175226e-02 1.55143919e-02 1.50850105e+02] [-2.88074897e-02 9.99584600e-01 -8.69819815e-04 -3.45143390e+00] [-1.55330132e-02 4.22423154e-04 9.99879266e-01 -3.06700537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44439141799998 meters 0.02316413947226243 Centerline is valid? [True, True] Translation: X:150.91, Y:-3.45, Z:-3.07 [[ 9.99393901e-01 3.14939542e-02 1.48310703e-02 1.50911507e+02] [-3.14850214e-02 9.99503875e-01 -8.35464838e-04 -3.45251967e+00] [-1.48500243e-02 3.68001899e-04 9.99889665e-01 -3.06912502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50439141799998 meters 0.02163099909142402 Centerline is valid? [True, True] Translation: X:150.97, Y:-3.45, Z:-3.07 [[ 9.99273513e-01 3.50829883e-02 1.48872563e-02 1.50974129e+02] [-3.50743107e-02 9.99384351e-01 -8.43663240e-04 -3.45250070e+00] [-1.49076892e-02 3.20890076e-04 9.99888823e-01 -3.07059136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56439141799999 meters 0.018842537053109915 Centerline is valid? [True, True] Translation: X:151.04, Y:-3.45, Z:-3.07 [[ 9.98952525e-01 4.33282938e-02 1.47143241e-02 1.51036081e+02] [-4.33206831e-02 9.99060869e-01 -8.35722600e-04 -3.44641317e+00] [-1.47367158e-02 1.97412631e-04 9.99891389e-01 -3.07205616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624391418 meters 0.015605542015263886 Centerline is valid? [True, True] Translation: X:151.10, Y:-3.44, Z:-3.07 [[ 9.98641090e-01 4.99079807e-02 1.50055749e-02 1.51095829e+02] [-4.99007984e-02 9.98753815e-01 -8.52911124e-04 -3.44175791e+00] [-1.50294423e-02 1.02961926e-04 9.99887046e-01 -3.07290375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684391418 meters 0.01591013190367221 Centerline is valid? [True, True] Translation: X:151.16, Y:-3.44, Z:-3.07 [[ 9.98585271e-01 5.12753692e-02 1.40816840e-02 1.51156477e+02] [-5.12691696e-02 9.98684550e-01 -8.01146718e-04 -3.44304197e+00] [-1.41042394e-02 7.80570650e-05 9.99900527e-01 -3.07492760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744391418 meters 0.015383578152278938 Centerline is valid? [True, True] Translation: X:151.22, Y:-3.45, Z:-3.08 [[ 9.98673864e-01 4.97567819e-02 1.32203113e-02 1.51215532e+02] [-4.97511803e-02 9.98761360e-01 -7.52450718e-04 -3.44809164e+00] [-1.32413756e-02 9.37267740e-05 9.99912325e-01 -3.07696105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804391418 meters 0.017763704725573197 Centerline is valid? [True, True] Translation: X:151.28, Y:-3.46, Z:-3.08 [[ 9.99092332e-01 4.05164663e-02 1.31502505e-02 1.51275855e+02] [-4.05101348e-02 9.99178848e-01 -7.47597139e-04 -3.45963956e+00] [-1.31697421e-02 2.14200148e-04 9.99913252e-01 -3.07688527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864391418 meters 0.02182916424386246 Centerline is valid? [True, True] Translation: X:151.34, Y:-3.47, Z:-3.08 [[ 9.99394089e-01 3.23359711e-02 1.28778495e-02 1.51335243e+02] [-3.23292202e-02 9.99477006e-01 -7.32111032e-04 -3.47155605e+00] [-1.28947880e-02 3.15336605e-04 9.99916809e-01 -3.07791942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924391418 meters 0.026911064368023895 Centerline is valid? [True, True] Translation: X:151.40, Y:-3.49, Z:-3.08 [[ 9.99661299e-01 2.19295687e-02 1.40136125e-02 1.51395196e+02] [-2.19205531e-02 9.99759398e-01 -7.96646289e-04 -3.48524675e+00] [-1.40277109e-02 4.89190327e-04 9.99901487e-01 -3.07769413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984391418 meters 0.028988027371990906 Centerline is valid? [True, True] Translation: X:151.46, Y:-3.49, Z:-3.08 [[ 9.99757991e-01 1.65629367e-02 1.44785628e-02 1.51455675e+02] [-1.65527541e-02 9.99862655e-01 -8.22853910e-04 -3.49223991e+00] [-1.44902031e-02 5.82994682e-04 9.99894842e-01 -3.07826759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04439141799998 meters 0.031133505672870796 Centerline is valid? [True, True] Translation: X:151.52, Y:-3.50, Z:-3.08 [[ 9.99756771e-01 1.71554093e-02 1.38596712e-02 1.51517863e+02] [-1.71461506e-02 9.99852685e-01 -7.86588783e-04 -3.49833821e+00] [-1.38711238e-02 5.48757451e-04 9.99903641e-01 -3.08076753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10439141799998 meters 0.026611126589412743 Centerline is valid? [True, True] Translation: X:151.58, Y:-3.49, Z:-3.08 [[ 9.99678742e-01 2.13569204e-02 1.36489524e-02 1.51579748e+02] [-2.13482464e-02 9.99771795e-01 -7.80905131e-04 -3.49338096e+00] [-1.36625154e-02 4.89273060e-04 9.99906544e-01 -3.08159043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16439141799998 meters 0.024926603443824285 Centerline is valid? [True, True] Translation: X:151.64, Y:-3.49, Z:-3.08 [[ 9.99561863e-01 2.63091575e-02 1.35613323e-02 1.51640857e+02] [-2.63010414e-02 9.99653766e-01 -7.76499844e-04 -3.49202643e+00] [-1.35770660e-02 4.19482467e-04 9.99907739e-01 -3.08332510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22439141799998 meters 0.020636480330465515 Centerline is valid? [True, True] Translation: X:151.70, Y:-3.49, Z:-3.08 [[ 9.99311684e-01 3.43335632e-02 1.40486539e-02 1.51702178e+02] [-3.43256343e-02 9.99410377e-01 -8.05193231e-04 -3.48535955e+00] [-1.40680157e-02 3.22410046e-04 9.99900989e-01 -3.08453875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28439141799998 meters 0.018161698074031132 Centerline is valid? [True, True] Translation: X:151.76, Y:-3.48, Z:-3.09 [[ 9.99005608e-01 4.23597287e-02 1.39085764e-02 1.51762747e+02] [-4.23527303e-02 9.99102402e-01 -7.97467675e-04 -3.48039044e+00] [-1.39298726e-02 2.07608495e-04 9.99902953e-01 -3.08713543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344391418 meters 0.016084703597068786 Centerline is valid? [True, True] Translation: X:151.82, Y:-3.48, Z:-3.09 [[ 9.98783473e-01 4.73336412e-02 1.38238951e-02 1.51823471e+02] [-4.73271977e-02 9.98879126e-01 -7.93063559e-04 -3.47609186e+00] [-1.38459388e-02 1.37852560e-04 9.99904131e-01 -3.08836586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404391418 meters 0.015024954186326666 Centerline is valid? [True, True] Translation: X:151.88, Y:-3.47, Z:-3.09 [[ 9.98491703e-01 5.31996284e-02 1.35690653e-02 1.51883933e+02] [-5.31939597e-02 9.98583896e-01 -7.78595222e-04 -3.47216422e+00] [-1.35912710e-02 5.56285588e-05 9.99907633e-01 -3.09055001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464391418 meters 0.014795352802767236 Centerline is valid? [True, True] Translation: X:151.94, Y:-3.47, Z:-3.09 [[ 9.98326449e-01 5.59771387e-02 1.45210529e-02 1.51943522e+02] [-5.59709435e-02 9.98432051e-01 -8.33007112e-04 -3.47261049e+00] [-1.45449140e-02 1.88560024e-05 9.99894217e-01 -3.09096246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524391418 meters 0.014808968233486172 Centerline is valid? [True, True] Translation: X:152.00, Y:-3.48, Z:-3.09 [[ 9.98271593e-01 5.68033390e-02 1.50734189e-02 1.52001881e+02] [-5.67967664e-02 9.98385387e-01 -8.64111764e-04 -3.47525633e+00] [-1.50981656e-02 6.49677712e-06 9.99886016e-01 -3.09179095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584391418 meters 0.014852721264515176 Centerline is valid? [True, True] Translation: X:152.06, Y:-3.48, Z:-3.09 [[ 9.98245224e-01 5.69929501e-02 1.60710103e-02 1.52061476e+02] [-5.69855229e-02 9.98374581e-01 -9.20080026e-04 -3.47982808e+00] [-1.60973262e-02 2.65056593e-06 9.99870430e-01 -3.09199932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644391418 meters 0.014738119702370416 Centerline is valid? [True, True] Translation: X:152.12, Y:-3.49, Z:-3.09 [[ 9.98217272e-01 5.72941343e-02 1.67230486e-02 1.52120854e+02] [-5.72861472e-02 9.98357342e-01 -9.56650388e-04 -3.48519847e+00] [-1.67503888e-02 -3.05408161e-06 9.99859702e-01 -3.09266981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704391418 meters 0.014803622673891681 Centerline is valid? [True, True] Translation: X:152.18, Y:-3.49, Z:-3.10 [[ 9.98152251e-01 5.87857693e-02 1.53725799e-02 1.52179634e+02] [-5.87792046e-02 9.98270621e-01 -8.78903875e-04 -3.49046535e+00] [-1.53976620e-02 -2.63081401e-05 9.99881449e-01 -3.09545030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76439141799997 meters 0.014837665676119173 Centerline is valid? [True, True] Translation: X:152.24, Y:-3.50, Z:-3.10 [[ 9.98013500e-01 6.10030486e-02 1.57379085e-02 1.52238733e+02] [-6.09964616e-02 9.98137578e-01 -8.98656569e-04 -3.49690706e+00] [-1.57634186e-02 -6.30853440e-05 9.99875748e-01 -3.09583027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82439141799998 meters 0.015415184324731209 Centerline is valid? [True, True] Translation: X:152.30, Y:-3.50, Z:-3.10 [[ 9.97851215e-01 6.35485642e-02 1.59540723e-02 1.52296894e+02] [-6.35421303e-02 9.97978742e-01 -9.10379150e-04 -3.50037510e+00] [-1.59796782e-02 -1.05332797e-04 9.99872311e-01 -3.09675634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88439141799998 meters 0.016495150103765954 Centerline is valid? [True, True] Translation: X:152.36, Y:-3.50, Z:-3.10 [[ 9.97558053e-01 6.79162204e-02 1.62886070e-02 1.52355307e+02] [-6.79101121e-02 9.97691012e-01 -9.28464547e-04 -3.50445098e+00] [-1.63140546e-02 -1.79963840e-04 9.99866901e-01 -3.09753029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94439141799998 meters 0.018266550309959145 Centerline is valid? [True, True] Translation: X:152.41, Y:-3.51, Z:-3.10 [[ 9.97320965e-01 7.15417754e-02 1.52534386e-02 1.52413309e+02] [-7.15368624e-02 9.97437579e-01 -8.68170727e-04 -3.51162381e+00] [-1.52764633e-02 -2.25338271e-04 9.99883283e-01 -3.10074662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00439141799998 meters 0.017714510548553553 Centerline is valid? [True, True] Translation: X:152.47, Y:-3.52, Z:-3.10 [[ 9.97320779e-01 7.17548814e-02 1.42302589e-02 1.52471881e+02] [-7.17506362e-02 9.97422273e-01 -8.09301669e-04 -3.52164710e+00] [-1.42516485e-02 -2.13896755e-04 9.99898417e-01 -3.10248762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06439141799999 meters 0.01711087828642739 Centerline is valid? [True, True] Translation: X:152.53, Y:-3.54, Z:-3.10 [[ 9.97507196e-01 6.92139643e-02 1.37412542e-02 1.52528838e+02] [-6.92097787e-02 9.97601823e-01 -7.80479800e-04 -3.53567773e+00] [-1.37623204e-02 -1.72494949e-04 9.99905280e-01 -3.10418339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124391418 meters 0.015957185373124565 Centerline is valid? [True, True] Translation: X:152.59, Y:-3.55, Z:-3.10 [[ 9.97712553e-01 6.60684991e-02 1.43043645e-02 1.52587319e+02] [-6.60636694e-02 9.97815080e-01 -8.10415299e-04 -3.55256781e+00] [-1.43266535e-02 -1.36437287e-04 9.99897359e-01 -3.10412330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184391418 meters 0.015731680239362986 Centerline is valid? [True, True] Translation: X:152.65, Y:-3.56, Z:-3.11 [[ 9.97761411e-01 6.54027756e-02 1.39514593e-02 1.52646449e+02] [-6.53981241e-02 9.97858939e-01 -7.89851497e-04 -3.56434327e+00] [-1.39732468e-02 -1.24315921e-04 9.99902362e-01 -3.10510833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244391418 meters 0.016469947036213115 Centerline is valid? [True, True] Translation: X:152.71, Y:-3.58, Z:-3.11 [[ 9.97651419e-01 6.72219535e-02 1.31474053e-02 1.52705220e+02] [-6.72179897e-02 9.97738036e-01 -7.43647162e-04 -3.57596836e+00] [-1.31676558e-02 -1.41841509e-04 9.99913293e-01 -3.10741262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304391418 meters 0.016967842585893372 Centerline is valid? [True, True] Translation: X:152.76, Y:-3.59, Z:-3.11 [[ 9.97531002e-01 6.90790106e-02 1.26487561e-02 1.52763878e+02] [-6.90754920e-02 9.97611179e-01 -7.15365121e-04 -3.58857429e+00] [-1.26679572e-02 -1.60120167e-04 9.99919745e-01 -3.10861252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364391418 meters 0.01671387540597274 Centerline is valid? [True, True] Translation: X:152.82, Y:-3.60, Z:-3.11 [[ 9.97657224e-01 6.73012754e-02 1.22719910e-02 1.52822663e+02] [-6.72978373e-02 9.97732690e-01 -6.93361801e-04 -3.60064440e+00] [-1.22908307e-02 -1.34141044e-04 9.99924456e-01 -3.10931225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424391418 meters 0.014636285240019769 Centerline is valid? [True, True] Translation: X:152.88, Y:-3.62, Z:-3.11 [[ 9.98212581e-01 5.85020370e-02 1.22128947e-02 1.52882411e+02] [-5.84979828e-02 9.98287289e-01 -6.89237464e-04 -3.62479971e+00] [-1.22322993e-02 -2.64241958e-05 9.99925182e-01 -3.10838961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484391418 meters 0.015109179209903486 Centerline is valid? [True, True] Translation: X:152.94, Y:-3.64, Z:-3.11 [[ 9.98630841e-01 5.08139238e-02 1.24252823e-02 1.52943518e+02] [-5.08091521e-02 9.98708136e-01 -6.99605819e-04 -3.64321093e+00] [-1.24447803e-02 6.73298873e-05 9.99922558e-01 -3.10797179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54439141799998 meters 0.018717404335691988 Centerline is valid? [True, True] Translation: X:153.00, Y:-3.67, Z:-3.11 [[ 9.99062108e-01 4.13466800e-02 1.28591222e-02 1.53003200e+02] [-4.13407283e-02 9.99144841e-01 -7.28427561e-04 -3.66697369e+00] [-1.28782437e-02 1.96138897e-04 9.99917053e-01 -3.10896226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60439141799998 meters 0.019997664014123586 Centerline is valid? [True, True] Translation: X:153.07, Y:-3.68, Z:-3.11 [[ 9.99259320e-01 3.67321825e-02 1.14699173e-02 1.53065009e+02] [-3.67270941e-02 9.99325119e-01 -6.54026546e-04 -3.67868171e+00] [-1.14862003e-02 2.32285388e-04 9.99934004e-01 -3.11077368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66439141799998 meters 0.02634841090551473 Centerline is valid? [True, True] Translation: X:153.12, Y:-3.70, Z:-3.12 [[ 9.99482080e-01 3.07095316e-02 9.61747121e-03 1.53123993e+02] [-3.07056628e-02 9.99528319e-01 -5.49705126e-04 -3.69948333e+00] [-9.62981601e-03 2.54109595e-04 9.99953600e-01 -3.11578547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72439141799998 meters 0.026126102657026227 Centerline is valid? [True, True] Translation: X:153.19, Y:-3.71, Z:-3.12 [[ 9.99578513e-01 2.74376940e-02 9.48520336e-03 1.53185320e+02] [-2.74338089e-02 9.99623477e-01 -5.39491392e-04 -3.70608237e+00] [-9.49643436e-03 2.79048747e-04 9.99954869e-01 -3.11527637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78439141799998 meters 0.028947894315658276 Centerline is valid? [True, True] Translation: X:153.25, Y:-3.72, Z:-3.12 [[ 9.99684962e-01 2.30887394e-02 9.84310991e-03 1.53246371e+02] [-2.30843152e-02 9.99733363e-01 -5.62855132e-04 -3.71632968e+00] [-9.85348099e-03 3.35456359e-04 9.99951397e-01 -3.11614543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844391418 meters 0.031511635552060234 Centerline is valid? [True, True] Translation: X:153.31, Y:-3.72, Z:-3.12 [[ 9.99742950e-01 1.98853912e-02 1.08905889e-02 1.53308508e+02] [-1.98797256e-02 9.99802181e-01 -6.28245125e-04 -3.72382914e+00] [-1.09009275e-02 4.11581715e-04 9.99940498e-01 -3.11703810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904391418 meters 0.03702443752163136 Centerline is valid? [True, True] Translation: X:153.37, Y:-3.73, Z:-3.12 [[ 9.99829327e-01 1.36195061e-02 1.24830621e-02 1.53367991e+02] [-1.36115575e-02 9.99907098e-01 -7.21499556e-04 -3.73292216e+00] [-1.24917288e-02 5.51462499e-04 9.99921823e-01 -3.11862384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964391418 meters 0.03724015731755499 Centerline is valid? [True, True] Translation: X:153.43, Y:-3.73, Z:-3.12 [[ 9.99826976e-01 1.37512097e-02 1.25268390e-02 1.53430969e+02] [-1.37432288e-02 9.99905296e-01 -7.22968203e-04 -3.73372467e+00] [-1.25355943e-02 5.50683899e-04 9.99921275e-01 -3.12003840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024391418 meters 0.035643869758210246 Centerline is valid? [True, True] Translation: X:153.49, Y:-3.73, Z:-3.12 [[ 9.99752575e-01 1.75249186e-02 1.36991294e-02 1.53493272e+02] [-1.75156325e-02 9.99846271e-01 -7.97559949e-04 -3.72853838e+00] [-1.37110006e-02 5.57413696e-04 9.99905844e-01 -3.11980513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084391418 meters 0.03284152265845261 Centerline is valid? [True, True] Translation: X:153.55, Y:-3.72, Z:-3.12 [[ 9.99656316e-01 2.15522341e-02 1.49248745e-02 1.53554846e+02] [-2.15416430e-02 9.99767573e-01 -8.70042740e-04 -3.72260737e+00] [-1.49401569e-02 5.48237402e-04 9.99888239e-01 -3.11945963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144391418 meters 0.028932360490120212 Centerline is valid? [True, True] Translation: X:153.62, Y:-3.71, Z:-3.12 [[ 9.99481491e-01 2.79099601e-02 1.60556174e-02 1.53615579e+02] [-2.78985081e-02 9.99610322e-01 -9.36851465e-04 -3.71324628e+00] [-1.60755084e-02 4.88437927e-04 9.99870661e-01 -3.12062287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204391418 meters 0.022257041807623057 Centerline is valid? [True, True] Translation: X:153.68, Y:-3.70, Z:-3.12 [[ 9.99316085e-01 3.32612637e-02 1.61570736e-02 1.53677608e+02] [-3.32503684e-02 9.99446609e-01 -9.42576980e-04 -3.69781896e+00] [-1.61794837e-02 4.04703688e-04 9.99869022e-01 -3.12233460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26439141799997 meters 0.02366604622197303 Centerline is valid? [True, True] Translation: X:153.74, Y:-3.70, Z:-3.13 [[ 9.99191819e-01 3.71500998e-02 1.53486016e-02 1.53739206e+02] [-3.71407370e-02 9.99309644e-01 -8.94706161e-04 -3.69831265e+00] [-1.53712440e-02 3.23924700e-04 9.99881803e-01 -3.12633906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32439141799998 meters 0.018125486785616932 Centerline is valid? [True, True] Translation: X:153.80, Y:-3.69, Z:-3.13 [[ 9.98947023e-01 4.33764488e-02 1.49442145e-02 1.53801486e+02] [-4.33681818e-02 9.99058773e-01 -8.76968470e-04 -3.68563127e+00] [-1.49681884e-02 2.27941631e-04 9.99887944e-01 -3.12753759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38439141799998 meters 0.015932399663736427 Centerline is valid? [True, True] Translation: X:153.86, Y:-3.68, Z:-3.13 [[ 9.98665031e-01 4.89966993e-02 1.63548027e-02 1.53864569e+02] [-4.89875559e-02 9.98798928e-01 -9.59457287e-04 -3.67822788e+00] [-1.63821697e-02 1.56994629e-04 9.99865791e-01 -3.12743062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44439141799998 meters 0.015158153726645012 Centerline is valid? [True, True] Translation: X:153.93, Y:-3.68, Z:-3.13 [[ 9.98476478e-01 5.19810281e-02 1.85120221e-02 1.53927115e+02] [-5.19697079e-02 9.98648064e-01 -1.09238006e-03 -3.67620830e+00] [-1.85437781e-02 1.28651414e-04 9.99828041e-01 -3.12750709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50439141799998 meters 0.014877061088406465 Centerline is valid? [True, True] Translation: X:153.99, Y:-3.68, Z:-3.13 [[ 9.98379418e-01 5.36220169e-02 1.90582329e-02 1.53989382e+02] [-5.36102055e-02 9.98561299e-01 -1.13048641e-03 -3.67670450e+00] [-1.90914327e-02 1.06938588e-04 9.99817736e-01 -3.12976277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56439141799999 meters 0.01554595370987889 Centerline is valid? [True, True] Translation: X:154.05, Y:-3.68, Z:-3.13 [[ 9.98483823e-01 5.15868228e-02 1.92056136e-02 1.54050967e+02] [-5.15743328e-02 9.98668502e-01 -1.14539739e-03 -3.68102908e+00] [-1.92391287e-02 1.53144065e-04 9.99814899e-01 -3.13172730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624391418 meters 0.01644366090969431 Centerline is valid? [True, True] Translation: X:154.11, Y:-3.69, Z:-3.13 [[ 9.98549916e-01 4.94601037e-02 2.12547062e-02 1.54112867e+02] [-4.94441720e-02 9.98776075e-01 -1.27474919e-03 -3.68664100e+00] [-2.12917413e-02 2.21979351e-04 9.99773281e-01 -3.13142227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684391418 meters 0.017536087628486442 Centerline is valid? [True, True] Translation: X:154.17, Y:-3.69, Z:-3.13 [[ 9.98661995e-01 4.71476794e-02 2.12442013e-02 1.54173318e+02] [-4.71311070e-02 9.98887891e-01 -1.28038305e-03 -3.69321038e+00] [-2.12809425e-02 2.77407164e-04 9.99773497e-01 -3.13311440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744391418 meters 0.01928709854276904 Centerline is valid? [True, True] Translation: X:154.24, Y:-3.70, Z:-3.14 [[ 9.98920536e-01 4.18343573e-02 2.01903207e-02 1.54235153e+02] [-4.18182421e-02 9.99124490e-01 -1.21989522e-03 -3.70182785e+00] [-2.02236774e-02 3.74254666e-04 9.99795410e-01 -3.13645420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804391418 meters 0.02121111716578511 Centerline is valid? [True, True] Translation: X:154.30, Y:-3.71, Z:-3.14 [[ 9.99065735e-01 3.84651154e-02 1.97000390e-02 1.54296450e+02] [-3.84490003e-02 9.99259848e-01 -1.19627220e-03 -3.70912995e+00] [-1.97314727e-02 4.37707757e-04 9.99805220e-01 -3.13848661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864391418 meters 0.02316245966715397 Centerline is valid? [True, True] Translation: X:154.36, Y:-3.72, Z:-3.14 [[ 9.99174045e-01 3.51382621e-02 2.04090981e-02 1.54357751e+02] [-3.51201486e-02 9.99382321e-01 -1.24537687e-03 -3.71673168e+00] [-2.04402522e-02 5.27577685e-04 9.99790937e-01 -3.13910456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924391418 meters 0.02437376314773901 Centerline is valid? [True, True] Translation: X:154.42, Y:-3.72, Z:-3.14 [[ 9.99228095e-01 3.37104942e-02 2.01696820e-02 1.54419334e+02] [-3.36923984e-02 9.99431485e-01 -1.23642050e-03 -3.72200774e+00] [-2.01998956e-02 5.55901141e-04 9.99795807e-01 -3.14015052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984391418 meters 0.026591998798318514 Centerline is valid? [True, True] Translation: X:154.48, Y:-3.73, Z:-3.14 [[ 9.99272699e-01 3.22153921e-02 2.04019870e-02 1.54480226e+02] [-3.21964379e-02 9.99480770e-01 -1.25691183e-03 -3.72807019e+00] [-2.04318855e-02 5.99126373e-04 9.99791068e-01 -3.14128081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04439141799998 meters 0.02258991112251426 Centerline is valid? [True, True] Translation: X:154.54, Y:-3.72, Z:-3.14 [[ 9.99153800e-01 3.44546605e-02 2.24624050e-02 1.54543260e+02] [-3.44321041e-02 9.99406072e-01 -1.39029127e-03 -3.72435664e+00] [-2.24969660e-02 6.15686939e-04 9.99746722e-01 -3.14117615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10439141799998 meters 0.020281024241232768 Centerline is valid? [True, True] Translation: X:154.60, Y:-3.72, Z:-3.14 [[ 9.98896390e-01 4.16103535e-02 2.17848619e-02 1.54603729e+02] [-4.15907873e-02 9.99133816e-01 -1.35066022e-03 -3.72120377e+00] [-2.18221937e-02 4.43120061e-04 9.99761769e-01 -3.14270009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16439141799998 meters 0.018768783187216757 Centerline is valid? [True, True] Translation: X:154.67, Y:-3.72, Z:-3.15 [[ 9.98696718e-01 4.71603727e-02 1.95132025e-02 1.54665091e+02] [-4.71457309e-02 9.98887289e-01 -1.20995660e-03 -3.72022420e+00] [-1.95485520e-02 2.88415490e-04 9.99808867e-01 -3.14669624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22439141799998 meters 0.015826906131694667 Centerline is valid? [True, True] Translation: X:154.73, Y:-3.72, Z:-3.15 [[ 9.98472286e-01 5.24481531e-02 1.73863431e-02 1.54727697e+02] [-5.24372593e-02 9.98623634e-01 -1.08217694e-03 -3.71515430e+00] [-1.74191713e-02 1.68831500e-04 9.99848260e-01 -3.15030957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28439141799998 meters 0.01556169976942213 Centerline is valid? [True, True] Translation: X:154.79, Y:-3.72, Z:-3.15 [[ 9.98408610e-01 5.38098036e-02 1.68746326e-02 1.54790250e+02] [-5.37996536e-02 9.98551192e-01 -1.05520466e-03 -3.71721517e+00] [-1.69069649e-02 1.45676026e-04 9.99857056e-01 -3.15137962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344391418 meters 0.015742869950293323 Centerline is valid? [True, True] Translation: X:154.85, Y:-3.72, Z:-3.15 [[ 9.98400262e-01 5.37320809e-02 1.76005818e-02 1.54852415e+02] [-5.37209100e-02 9.98555375e-01 -1.10721776e-03 -3.72017921e+00] [-1.76346487e-02 1.59927229e-04 9.99844485e-01 -3.15138887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404391418 meters 0.01750388435038072 Centerline is valid? [True, True] Translation: X:154.91, Y:-3.73, Z:-3.15 [[ 9.98602206e-01 4.97661323e-02 1.78035710e-02 1.54912836e+02] [-4.97539684e-02 9.98760870e-01 -1.12578639e-03 -3.72811442e+00] [-1.78375361e-02 2.38414462e-04 9.99840870e-01 -3.15241523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464391418 meters 0.021464349914040226 Centerline is valid? [True, True] Translation: X:154.97, Y:-3.74, Z:-3.15 [[ 9.98922780e-01 4.27260772e-02 1.81041993e-02 1.54973961e+02] [-4.27122895e-02 9.99086755e-01 -1.14773544e-03 -3.73890304e+00] [-1.81367039e-02 3.73227276e-04 9.99835447e-01 -3.15244705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524391418 meters 0.022036921874255697 Centerline is valid? [True, True] Translation: X:155.04, Y:-3.74, Z:-3.15 [[ 9.98995562e-01 4.05776976e-02 1.90083684e-02 1.55035833e+02] [-4.05620592e-02 9.99176291e-01 -1.20769298e-03 -3.74359526e+00] [-1.90417165e-02 4.35461366e-04 9.99818595e-01 -3.15265557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584391418 meters 0.025069694155070984 Centerline is valid? [True, True] Translation: X:155.10, Y:-3.75, Z:-3.15 [[ 9.99170268e-01 3.50484893e-02 2.07455568e-02 1.55097407e+02] [-3.50285308e-02 9.99385435e-01 -1.32477383e-03 -3.75189674e+00] [-2.07792386e-02 5.96988249e-04 9.99783910e-01 -3.15125594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644391418 meters 0.026314188274875434 Centerline is valid? [True, True] Translation: X:155.16, Y:-3.76, Z:-3.15 [[ 9.99232707e-01 3.26094438e-02 2.16938299e-02 1.55159148e+02] [-3.25869076e-02 9.99467937e-01 -1.39162669e-03 -3.75662366e+00] [-2.17276676e-02 6.83624069e-04 9.99763693e-01 -3.15117830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704391418 meters 0.02693389665906607 Centerline is valid? [True, True] Translation: X:155.22, Y:-3.76, Z:-3.15 [[ 9.99278082e-01 3.14812151e-02 2.12661371e-02 1.55221332e+02] [-3.14591709e-02 9.99504098e-01 -1.37042363e-03 -3.76046808e+00] [-2.12987338e-02 7.00419254e-04 9.99772911e-01 -3.15321762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76439141799997 meters 0.026496368144986345 Centerline is valid? [True, True] Translation: X:155.28, Y:-3.76, Z:-3.16 [[ 9.99249390e-01 3.29990742e-02 2.02908078e-02 1.55283183e+02] [-3.29792005e-02 9.99455175e-01 -1.31337651e-03 -3.76300990e+00] [-2.03230931e-02 6.43216059e-04 9.99793258e-01 -3.15560024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82439141799998 meters 0.022253748186633268 Centerline is valid? [True, True] Translation: X:155.35, Y:-3.76, Z:-3.16 [[ 9.99072810e-01 3.93329247e-02 1.75054801e-02 1.55345226e+02] [-3.93190157e-02 9.99226060e-01 -1.13815134e-03 -3.75661241e+00] [-1.75366988e-02 4.48797810e-04 9.99846120e-01 -3.15918197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88439141799998 meters 0.017265292809509857 Centerline is valid? [True, True] Translation: X:155.41, Y:-3.75, Z:-3.16 [[ 9.98568728e-01 5.13467399e-02 1.49668812e-02 1.55406110e+02] [-5.13379036e-02 9.98680865e-01 -9.74248799e-04 -3.74528511e+00] [-1.49971624e-02 2.04486080e-04 9.99887515e-01 -3.16266390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94439141799998 meters 0.014219887130294815 Centerline is valid? [True, True] Translation: X:155.47, Y:-3.73, Z:-3.16 [[ 9.97799589e-01 6.45610813e-02 1.50946168e-02 1.55467410e+02] [-6.45536043e-02 9.97913757e-01 -9.82563577e-04 -3.73391743e+00] [-1.51265612e-02 5.98961121e-06 9.99885587e-01 -3.16321288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00439141799998 meters 0.01471183488444706 Centerline is valid? [True, True] Translation: X:155.53, Y:-3.73, Z:-3.16 [[ 9.97400343e-01 7.04429853e-02 1.51770135e-02 1.55527874e+02] [-7.04361035e-02 9.97515804e-01 -9.88158682e-04 -3.73051186e+00] [-1.52089197e-02 -8.34198881e-05 9.99884334e-01 -3.16423465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06439141799999 meters 0.014691904181689317 Centerline is valid? [True, True] Translation: X:155.59, Y:-3.73, Z:-3.17 [[ 9.97393106e-01 7.04319968e-02 1.56948015e-02 1.55586943e+02] [-7.04246457e-02 9.97516579e-01 -1.02126086e-03 -3.73279063e+00] [-1.57277541e-02 -8.67022879e-05 9.99876307e-01 -3.16514051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124391418 meters 0.014206245185095008 Centerline is valid? [True, True] Translation: X:155.65, Y:-3.74, Z:-3.17 [[ 9.97839669e-01 6.39564703e-02 1.50188451e-02 1.55645720e+02] [-6.39490203e-02 9.97952689e-01 -9.76260044e-04 -3.74363279e+00] [-1.50505350e-02 1.37105686e-05 9.99886734e-01 -3.16608843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184391418 meters 0.017265731950697808 Centerline is valid? [True, True] Translation: X:155.71, Y:-3.76, Z:-3.17 [[ 9.98624726e-01 4.99445823e-02 1.59434844e-02 1.55705453e+02] [-4.99344209e-02 9.98751962e-01 -1.03504300e-03 -3.76306185e+00] [-1.59752811e-02 2.37490872e-04 9.99872359e-01 -3.16518738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244391418 meters 0.02230252434400218 Centerline is valid? [True, True] Translation: X:155.77, Y:-3.78, Z:-3.16 [[ 9.99126712e-01 3.74178595e-02 1.85934970e-02 1.55765765e+02] [-3.74018362e-02 9.99299575e-01 -1.20888815e-03 -3.77986743e+00] [-1.86257077e-02 5.12401508e-04 9.99826395e-01 -3.16315928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304391418 meters 0.027284004950879737 Centerline is valid? [True, True] Translation: X:155.83, Y:-3.79, Z:-3.16 [[ 9.99336964e-01 3.13409331e-02 1.85304705e-02 1.55825411e+02] [-3.13239667e-02 9.99508558e-01 -1.20521056e-03 -3.79329726e+00] [-1.85591363e-02 6.23963618e-04 9.99827570e-01 -3.16434156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364391418 meters 0.025900241515626633 Centerline is valid? [True, True] Translation: X:155.89, Y:-3.80, Z:-3.17 [[ 9.99348156e-01 3.20240256e-02 1.66650516e-02 1.55887965e+02] [-3.20103987e-02 9.99486948e-01 -1.08387142e-03 -3.79620141e+00] [-1.66912115e-02 5.49709961e-04 9.99860541e-01 -3.16776575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424391418 meters 0.023678190958011207 Centerline is valid? [True, True] Translation: X:155.95, Y:-3.80, Z:-3.17 [[ 9.99194888e-01 3.75159829e-02 1.42171119e-02 1.55948240e+02] [-3.75066051e-02 9.99295951e-01 -9.25763213e-04 -3.79546448e+00] [-1.42418333e-02 3.91782267e-04 9.99898503e-01 -3.17159694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484391418 meters 0.019828733651529967 Centerline is valid? [True, True] Translation: X:156.01, Y:-3.79, Z:-3.17 [[ 9.98988338e-01 4.29638985e-02 1.32817247e-02 1.56009932e+02] [-4.29561667e-02 9.99076582e-01 -8.66996925e-04 -3.79109101e+00] [-1.33067097e-02 2.95587837e-04 9.99911418e-01 -3.17255025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54439141799998 meters 0.016344763962191106 Centerline is valid? [True, True] Translation: X:156.07, Y:-3.78, Z:-3.17 [[ 9.98485202e-01 5.34357227e-02 1.31120434e-02 1.56071486e+02] [-5.34290817e-02 9.98571279e-01 -8.56510184e-04 -3.78493724e+00] [-1.31390781e-02 1.54648308e-04 9.99913667e-01 -3.17354018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60439141799998 meters 0.014111161158787522 Centerline is valid? [True, True] Translation: X:156.13, Y:-3.78, Z:-3.17 [[ 9.97827978e-01 6.46225863e-02 1.27768256e-02 1.56132173e+02] [-6.46171833e-02 9.97909776e-01 -8.35677426e-04 -3.77722914e+00] [-1.28041229e-02 8.25983204e-06 9.99918024e-01 -3.17479086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66439141799998 meters 0.016246020281162923 Centerline is valid? [True, True] Translation: X:156.19, Y:-3.77, Z:-3.18 [[ 9.97043000e-01 7.60286711e-02 1.11757229e-02 1.56191225e+02] [-7.60252509e-02 9.97105625e-01 -7.31174826e-04 -3.76962244e+00] [-1.11989664e-02 -1.20624396e-04 9.99937282e-01 -3.17712608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72439141799998 meters 0.019152500670100277 Centerline is valid? [True, True] Translation: X:156.25, Y:-3.77, Z:-3.18 [[ 9.96518198e-01 8.28231328e-02 9.58170810e-03 1.56250740e+02] [-8.28209367e-02 9.96564248e-01 -6.26446256e-04 -3.76769439e+00] [-9.60067196e-03 -1.69300945e-04 9.99953898e-01 -3.17910596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78439141799998 meters 0.023429795433437664 Centerline is valid? [True, True] Translation: X:156.31, Y:-3.77, Z:-3.18 [[ 9.95900408e-01 9.00390591e-02 8.68016809e-03 1.56309983e+02] [-9.00375320e-02 9.95938211e-01 -5.67349975e-04 -3.76637876e+00] [-8.69599474e-03 -2.16516840e-04 9.99962166e-01 -3.18021236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844391418 meters 0.025680698260658403 Centerline is valid? [True, True] Translation: X:156.37, Y:-3.77, Z:-3.18 [[ 9.95634773e-01 9.28221900e-02 9.76933178e-03 1.56367172e+02] [-9.28204003e-02 9.95682664e-01 -6.37430021e-04 -3.77068160e+00] [-9.78632194e-03 -2.72145791e-04 9.99952076e-01 -3.18025251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904391418 meters 0.02558951774777106 Centerline is valid? [True, True] Translation: X:156.43, Y:-3.78, Z:-3.18 [[ 9.95345574e-01 9.55572144e-02 1.24902572e-02 1.56425184e+02] [-9.55545252e-02 9.95423865e-01 -8.13271439e-04 -3.78243857e+00] [-1.25108140e-02 -3.84014466e-04 9.99921663e-01 -3.17745394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964391418 meters 0.027078186568660203 Centerline is valid? [True, True] Translation: X:156.48, Y:-3.79, Z:-3.18 [[ 9.95070010e-01 9.82860770e-02 1.32484783e-02 1.56483360e+02] [-9.82833103e-02 9.95158103e-01 -8.61335486e-04 -3.79397206e+00] [-1.32689878e-02 -4.45015188e-04 9.99911864e-01 -3.17803854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024391418 meters 0.028759621019204942 Centerline is valid? [True, True] Translation: X:156.54, Y:-3.80, Z:-3.18 [[ 9.94981448e-01 9.92741148e-02 1.25127327e-02 1.56540466e+02] [-9.92717357e-02 9.95060029e-01 -8.12631190e-04 -3.80278113e+00] [-1.25315935e-02 -4.33607740e-04 9.99921382e-01 -3.18081614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084391418 meters 0.028846365149790477 Centerline is valid? [True, True] Translation: X:156.60, Y:-3.82, Z:-3.18 [[ 9.94967311e-01 9.94988353e-02 1.18335195e-02 1.56598021e+02] [-9.94967401e-02 9.95037592e-01 -7.67114477e-04 -3.81957572e+00] [-1.18511238e-02 -4.14142787e-04 9.99929687e-01 -3.18244155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144391418 meters 0.02900005277929611 Centerline is valid? [True, True] Translation: X:156.66, Y:-3.84, Z:-3.18 [[ 9.95030085e-01 9.87517257e-02 1.27760546e-02 1.56656206e+02] [-9.87492386e-02 9.95112006e-01 -8.26909048e-04 -3.83588268e+00] [-1.27952640e-02 -4.38826282e-04 9.99918041e-01 -3.18265492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204391418 meters 0.02935394996668135 Centerline is valid? [True, True] Translation: X:156.71, Y:-3.85, Z:-3.18 [[ 9.95055141e-01 9.83555419e-02 1.38367042e-02 1.56714297e+02] [-9.83526057e-02 9.95151227e-01 -8.94166220e-04 -3.84727540e+00] [-1.38575594e-02 -4.71131217e-04 9.99903868e-01 -3.18307797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26439141799997 meters 0.0294583087618817 Centerline is valid? [True, True] Translation: X:156.77, Y:-3.86, Z:-3.19 [[ 9.95185114e-01 9.72372649e-02 1.23086670e-02 1.56772386e+02] [-9.72348713e-02 9.95261146e-01 -7.94174690e-04 -3.86421054e+00] [-1.23275614e-02 -4.06480827e-04 9.99923930e-01 -3.18694755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32439141799998 meters 0.028916830660321035 Centerline is valid? [True, True] Translation: X:156.83, Y:-3.88, Z:-3.19 [[ 9.95346448e-01 9.58100701e-02 1.02897571e-02 1.56831392e+02] [-9.58083242e-02 9.95399580e-01 -6.63608693e-04 -3.87752508e+00] [-1.03060003e-02 -3.25323826e-04 9.99946839e-01 -3.19047817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38439141799998 meters 0.0257955714732497 Centerline is valid? [True, True] Translation: X:156.89, Y:-3.90, Z:-3.19 [[ 9.95555330e-01 9.35521102e-02 1.08437767e-02 1.56890019e+02] [-9.35500427e-02 9.95614334e-01 -6.98852373e-04 -3.89792715e+00] [-1.08615987e-02 -3.18689572e-04 9.99940960e-01 -3.18990688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44439141799998 meters 0.027225574042057 Centerline is valid? [True, True] Translation: X:156.95, Y:-3.90, Z:-3.19 [[ 9.95680314e-01 9.21788208e-02 1.11255650e-02 1.56948949e+02] [-9.21765647e-02 9.95742420e-01 -7.16482885e-04 -3.90354325e+00] [-1.11442416e-02 -3.12128460e-04 9.99937852e-01 -3.19124430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50439141799998 meters 0.021258451652857023 Centerline is valid? [True, True] Translation: X:157.01, Y:-3.93, Z:-3.19 [[ 9.96290024e-01 8.52623683e-02 1.16840704e-02 1.57009327e+02] [-8.52594222e-02 9.96358503e-01 -7.50930379e-04 -3.92982820e+00] [-1.17055490e-02 -2.48032643e-04 9.99931457e-01 -3.18953829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56439141799999 meters 0.017110176499330842 Centerline is valid? [True, True] Translation: X:157.07, Y:-3.95, Z:-3.19 [[ 9.96888794e-01 7.77040851e-02 1.32214441e-02 1.57069673e+02] [-7.76996339e-02 9.96976451e-01 -8.50781953e-04 -3.95438354e+00] [-1.32475777e-02 -1.79166372e-04 9.99912231e-01 -3.18847392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624391418 meters 0.014618952698920542 Centerline is valid? [True, True] Translation: X:157.13, Y:-3.98, Z:-3.19 [[ 9.97344678e-01 7.16045395e-02 1.32809453e-02 1.57129638e+02] [-7.15995158e-02 9.97433096e-01 -8.53964010e-04 -3.97623762e+00] [-1.33080021e-02 -9.92127901e-05 9.99911440e-01 -3.19009456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684391418 meters 0.013690586384420488 Centerline is valid? [True, True] Translation: X:157.19, Y:-3.99, Z:-3.19 [[ 9.97623800e-01 6.79225389e-02 1.15448366e-02 1.57191567e+02] [-6.79184744e-02 9.97690597e-01 -7.44216786e-04 -3.99187460e+00] [-1.15687240e-02 -4.16593089e-05 9.99933079e-01 -3.19272931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744391418 meters 0.013553418330200425 Centerline is valid? [True, True] Translation: X:157.25, Y:-4.01, Z:-3.19 [[ 9.97756221e-01 6.60680082e-02 1.08416585e-02 1.57253109e+02] [-6.60642772e-02 9.97815122e-01 -7.02301577e-04 -4.00751848e+00] [-1.08643705e-02 -1.55205667e-05 9.99940981e-01 -3.19372938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804391418 meters 0.013588060434009548 Centerline is valid? [True, True] Translation: X:157.32, Y:-4.02, Z:-3.19 [[ 9.97639572e-01 6.76185615e-02 1.19588658e-02 1.57316138e+02] [-6.76140842e-02 9.97711245e-01 -7.78770583e-04 -4.01508467e+00] [-1.19841542e-02 -3.16554051e-05 9.99928187e-01 -3.19334897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864391418 meters 0.014358045045390023 Centerline is valid? [True, True] Translation: X:157.38, Y:-4.02, Z:-3.19 [[ 9.97350304e-01 7.15967251e-02 1.28949787e-02 1.57377819e+02] [-7.15917901e-02 9.97433658e-01 -8.44500271e-04 -4.02050491e+00] [-1.29223492e-02 -8.09120045e-05 9.99916500e-01 -3.19350170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924391418 meters 0.013874596290569594 Centerline is valid? [True, True] Translation: X:157.44, Y:-4.03, Z:-3.20 [[ 9.97355261e-01 7.17146647e-02 1.18106341e-02 1.57440512e+02] [-7.17105034e-02 9.97425186e-01 -7.75994200e-04 -4.03131966e+00] [-1.18358741e-02 -7.30046216e-05 9.99929951e-01 -3.19582174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984391418 meters 0.01297113832646465 Centerline is valid? [True, True] Translation: X:157.50, Y:-4.04, Z:-3.20 [[ 9.97590345e-01 6.84289843e-02 1.14445908e-02 1.57503075e+02] [-6.84248214e-02 9.97655989e-01 -7.55373632e-04 -4.04329210e+00] [-1.14694540e-02 -2.95406364e-05 9.99934223e-01 -3.19668659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04439141799998 meters 0.013617277417096504 Centerline is valid? [True, True] Translation: X:157.56, Y:-4.06, Z:-3.20 [[ 9.98132285e-01 5.99781930e-02 1.15998982e-02 1.57564202e+02] [-5.99732910e-02 9.98199685e-01 -7.70296167e-04 -4.06094989e+00] [-1.16252157e-02 7.31734024e-05 9.99932422e-01 -3.19709911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10439141799998 meters 0.017435698073905753 Centerline is valid? [True, True] Translation: X:157.62, Y:-4.08, Z:-3.20 [[ 9.98507331e-01 5.30678764e-02 1.29193759e-02 1.57624163e+02] [-5.30611510e-02 9.98590892e-01 -8.63025990e-04 -4.07793156e+00] [-1.29469701e-02 1.76220822e-04 9.99916169e-01 -3.19737534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16439141799998 meters 0.018968503725786408 Centerline is valid? [True, True] Translation: X:157.68, Y:-4.09, Z:-3.20 [[ 9.98597436e-01 5.11486029e-02 1.36740845e-02 1.57684533e+02] [-5.11408263e-02 9.98691030e-01 -9.18006982e-04 -4.08748025e+00] [-1.37031403e-02 2.17415441e-04 9.99906084e-01 -3.19796850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22439141799998 meters 0.017385750122573793 Centerline is valid? [True, True] Translation: X:157.75, Y:-4.09, Z:-3.20 [[ 9.98629108e-01 5.08574890e-02 1.23862736e-02 1.57746385e+02] [-5.08510577e-02 9.98705900e-01 -8.33824331e-04 -4.08965333e+00] [-1.24126507e-02 2.02826134e-04 9.99922940e-01 -3.19979410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28439141799998 meters 0.02096428344647518 Centerline is valid? [True, True] Translation: X:157.81, Y:-4.10, Z:-3.21 [[ 9.98686556e-01 5.04230806e-02 9.09264727e-03 1.57806669e+02] [-5.04195708e-02 9.98727935e-01 -6.14965041e-04 -4.09771688e+00] [-9.11208926e-03 1.55709946e-04 9.99958472e-01 -3.20776496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344391418 meters 0.01902245826970124 Centerline is valid? [True, True] Translation: X:157.87, Y:-4.10, Z:-3.21 [[ 9.98736492e-01 4.96718610e-02 7.62404732e-03 1.57868525e+02] [-4.96693801e-02 9.98765582e-01 -5.14517657e-04 -4.09874212e+00] [-7.64019311e-03 1.35185856e-04 9.99970804e-01 -3.20705031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404391418 meters 0.020648862138806765 Centerline is valid? [True, True] Translation: X:157.93, Y:-4.10, Z:-3.20 [[ 9.98823526e-01 4.76572062e-02 8.96411165e-03 1.57929287e+02] [-4.76536574e-02 9.98863733e-01 -6.09180314e-04 -4.10439584e+00] [-8.98295786e-03 1.81290923e-04 9.99959636e-01 -3.20493800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464391418 meters 0.022946627985247665 Centerline is valid? [True, True] Translation: X:157.99, Y:-4.11, Z:-3.20 [[ 9.98924800e-01 4.50954630e-02 1.07537501e-02 1.57989789e+02] [-4.50901571e-02 9.98982651e-01 -7.35467199e-04 -4.10947884e+00] [-1.07759760e-02 2.49788143e-04 9.99941906e-01 -3.20376582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524391418 meters 0.024146372492860946 Centerline is valid? [True, True] Translation: X:158.05, Y:-4.11, Z:-3.20 [[ 9.98994296e-01 4.35270065e-02 1.07608552e-02 1.58051531e+02] [-4.35215813e-02 9.99052215e-01 -7.37927397e-04 -4.11355458e+00] [-1.07827760e-02 2.68855825e-04 9.99941828e-01 -3.20498082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584391418 meters 0.025560310928439363 Centerline is valid? [True, True] Translation: X:158.11, Y:-4.12, Z:-3.21 [[ 9.99030157e-01 4.28928566e-02 9.94730983e-03 1.58112526e+02] [-4.28881620e-02 9.99079645e-01 -6.84880965e-04 -4.11582200e+00] [-9.96753128e-03 2.57594902e-04 9.99950290e-01 -3.20662580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644391418 meters 0.02124816213086154 Centerline is valid? [True, True] Translation: X:158.18, Y:-4.11, Z:-3.21 [[ 9.98866266e-01 4.65975712e-02 9.73908884e-03 1.58175748e+02] [-4.65932273e-02 9.98913719e-01 -6.72573752e-04 -4.10807248e+00] [-9.75984976e-03 2.18035652e-04 9.99952348e-01 -3.20501083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704391418 meters 0.02006726730745838 Centerline is valid? [True, True] Translation: X:158.24, Y:-4.11, Z:-3.20 [[ 9.98740417e-01 4.90266364e-02 1.06755933e-02 1.58238671e+02] [-4.90214932e-02 9.98797447e-01 -7.43073208e-04 -4.10682530e+00] [-1.06991857e-02 2.18803723e-04 9.99942738e-01 -3.20496083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76439141799997 meters 0.022935264930700645 Centerline is valid? [True, True] Translation: X:158.30, Y:-4.11, Z:-3.21 [[ 9.98795576e-01 4.79468645e-02 1.04161090e-02 1.58299654e+02] [-4.79419159e-02 9.98849863e-01 -7.24401968e-04 -4.10944743e+00] [-1.04388619e-02 2.24161257e-04 9.99945488e-01 -3.20816611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82439141799998 meters 0.023484769871254144 Centerline is valid? [True, True] Translation: X:158.36, Y:-4.11, Z:-3.21 [[ 9.99049333e-01 4.26086536e-02 9.21587492e-03 1.58361556e+02] [-4.26045369e-02 9.99091808e-01 -6.42646400e-04 -4.10984852e+00] [-9.23488743e-03 2.49397374e-04 9.99957326e-01 -3.21025004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88439141799998 meters 0.026672258461602864 Centerline is valid? [True, True] Translation: X:158.42, Y:-4.12, Z:-3.21 [[ 9.99237099e-01 3.82171311e-02 8.04178081e-03 1.58422925e+02] [-3.82138171e-02 9.99269425e-01 -5.65409706e-04 -4.11518385e+00] [-8.05751402e-03 2.57671214e-04 9.99967505e-01 -3.21350940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94439141799998 meters 0.030491999176426515 Centerline is valid? [True, True] Translation: X:158.48, Y:-4.12, Z:-3.22 [[ 9.99394076e-01 3.41569386e-02 6.69215843e-03 1.58483323e+02] [-3.41545496e-02 9.99416452e-01 -4.70972121e-04 -4.11790480e+00] [-6.70434020e-03 2.42119091e-04 9.99977496e-01 -3.21657212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00439141799998 meters 0.028467427218144534 Centerline is valid? [True, True] Translation: X:158.55, Y:-4.12, Z:-3.22 [[ 9.99404777e-01 3.38003956e-02 6.90114546e-03 1.58545763e+02] [-3.37978732e-02 9.99428573e-01 -4.81825492e-04 -4.11542678e+00] [-6.91348785e-03 2.48294658e-04 9.99976071e-01 -3.21626826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06439141799999 meters 0.027077182139143428 Centerline is valid? [True, True] Translation: X:158.61, Y:-4.11, Z:-3.22 [[ 9.99291429e-01 3.64237923e-02 9.48409546e-03 1.58607994e+02] [-3.64190687e-02 9.99336381e-01 -6.70338698e-04 -4.10977570e+00] [-9.50221792e-03 3.24461791e-04 9.99954800e-01 -3.21524202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124391418 meters 0.024249334418940432 Centerline is valid? [True, True] Translation: X:158.67, Y:-4.10, Z:-3.21 [[ 9.99025616e-01 4.23454925e-02 1.24369946e-02 1.58670027e+02] [-4.23378073e-02 9.99102965e-01 -8.80685861e-04 -4.10068828e+00] [-1.24631312e-02 3.53272655e-04 9.99922270e-01 -3.21395475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184391418 meters 0.021113548214315228 Centerline is valid? [True, True] Translation: X:158.73, Y:-4.09, Z:-3.21 [[ 9.98764436e-01 4.78377185e-02 1.34593230e-02 1.58732078e+02] [-4.78292137e-02 9.98855073e-01 -9.53252181e-04 -4.09471861e+00] [-1.34895145e-02 3.08325540e-04 9.99908965e-01 -3.21465486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244391418 meters 0.01651330669927028 Centerline is valid? [True, True] Translation: X:158.79, Y:-4.08, Z:-3.22 [[ 9.98275895e-01 5.72339386e-02 1.30197191e-02 1.58794845e+02] [-5.72267737e-02 9.98360779e-01 -9.22504646e-04 -4.08316093e+00] [-1.30511755e-02 1.75837633e-04 9.99914814e-01 -3.21724419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304391418 meters 0.015118157100060642 Centerline is valid? [True, True] Translation: X:158.86, Y:-4.08, Z:-3.22 [[ 9.98067176e-01 6.06806090e-02 1.34080655e-02 1.58857761e+02] [-6.06733130e-02 9.98157225e-01 -9.50634190e-04 -4.08218672e+00] [-1.34410425e-02 1.35285026e-04 9.99909656e-01 -3.21928511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364391418 meters 0.012819358330934075 Centerline is valid? [True, True] Translation: X:158.92, Y:-4.07, Z:-3.22 [[ 9.97312428e-01 7.19029297e-02 1.40673199e-02 1.58921218e+02] [-7.18960098e-02 9.97411634e-01 -9.97670618e-04 -4.07026676e+00] [-1.41026440e-02 -1.63948655e-05 9.99900553e-01 -3.22051979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424391418 meters 0.013950564873236473 Centerline is valid? [True, True] Translation: X:158.98, Y:-4.07, Z:-3.22 [[ 9.96756121e-01 7.91511932e-02 1.45713564e-02 1.58984364e+02] [-7.91444733e-02 9.96862616e-01 -1.03815132e-03 -4.06501997e+00] [-1.46078113e-02 -1.18458643e-04 9.99893293e-01 -3.22181812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484391418 meters 0.01765021198010333 Centerline is valid? [True, True] Translation: X:159.05, Y:-4.06, Z:-3.22 [[ 9.95985412e-01 8.81327847e-02 1.56739007e-02 1.59045795e+02] [-8.81260237e-02 9.96108700e-01 -1.12285626e-03 -4.05713453e+00] [-1.57118693e-02 -2.62930095e-04 9.99876526e-01 -3.22415592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54439141799998 meters 0.021666678661105335 Centerline is valid? [True, True] Translation: X:159.11, Y:-4.06, Z:-3.23 [[ 9.95414188e-01 9.43421226e-02 1.58163639e-02 1.59106525e+02] [-9.43359710e-02 9.95539770e-01 -1.13622948e-03 -4.05540783e+00] [-1.58530136e-02 -3.61033104e-04 9.99874268e-01 -3.22711919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60439141799998 meters 0.024674337282902928 Centerline is valid? [True, True] Translation: X:159.17, Y:-4.06, Z:-3.23 [[ 9.95050458e-01 9.80307857e-02 1.62649970e-02 1.59166242e+02] [-9.80247710e-02 9.95183289e-01 -1.16854849e-03 -4.05788773e+00] [-1.63012069e-02 -4.31607893e-04 9.99867033e-01 -3.22928850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66439141799998 meters 0.025033628479407394 Centerline is valid? [True, True] Translation: X:159.23, Y:-4.06, Z:-3.23 [[ 9.94919216e-01 9.92069023e-02 1.71389375e-02 1.59225962e+02] [-9.92004061e-02 9.95066714e-01 -1.23087928e-03 -4.06494472e+00] [-1.71764979e-02 -4.75564106e-04 9.99852360e-01 -3.22978117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72439141799998 meters 0.026732747800452494 Centerline is valid? [True, True] Translation: X:159.29, Y:-4.07, Z:-3.23 [[ 9.94660665e-01 1.01050260e-01 2.09525002e-02 1.59285845e+02] [-1.01040960e-01 9.94881129e-01 -1.50476063e-03 -4.07432803e+00] [-2.09973035e-02 -6.20334518e-04 9.99779340e-01 -3.22754715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78439141799998 meters 0.028119031011988246 Centerline is valid? [True, True] Translation: X:159.35, Y:-4.08, Z:-3.23 [[ 9.94456201e-01 1.02670093e-01 2.27094027e-02 1.59348005e+02] [-1.02659575e-01 9.94715210e-01 -1.63157100e-03 -4.08192427e+00] [-2.27569019e-02 -7.08811736e-04 9.99740777e-01 -3.22756922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844391418 meters 0.030500526832867417 Centerline is valid? [True, True] Translation: X:159.41, Y:-4.09, Z:-3.23 [[ 9.94167555e-01 1.05408376e-01 2.28023346e-02 1.59409894e+02] [-1.05398340e-01 9.94428723e-01 -1.64482858e-03 -4.09218910e+00] [-2.28486751e-02 -7.68093014e-04 9.99738640e-01 -3.23111382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904391418 meters 0.03167737459548638 Centerline is valid? [True, True] Translation: X:159.47, Y:-4.10, Z:-3.24 [[ 9.94062940e-01 1.06715922e-01 2.12269602e-02 1.59470936e+02] [-1.06707404e-01 9.94289278e-01 -1.53679360e-03 -4.10210553e+00] [-2.12697393e-02 -7.37404251e-04 9.99773502e-01 -3.23532943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964391418 meters 0.025519161490884616 Centerline is valid? [True, True] Translation: X:159.53, Y:-4.13, Z:-3.24 [[ 9.94304835e-01 1.04646674e-01 2.01734662e-02 1.59532042e+02] [-1.04638453e-01 9.94509249e-01 -1.46556264e-03 -4.12590386e+00] [-2.02160650e-02 -6.53704282e-04 9.99795421e-01 -3.23893781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024391418 meters 0.020064188829673434 Centerline is valid? [True, True] Translation: X:159.59, Y:-4.15, Z:-3.24 [[ 9.95139002e-01 9.60439020e-02 2.17700620e-02 1.59591267e+02] [-9.60322146e-02 9.95376966e-01 -1.58408128e-03 -4.15075544e+00] [-2.18215596e-02 -5.14246198e-04 9.99761749e-01 -3.23888111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084391418 meters 0.013778085079233256 Centerline is valid? [True, True] Translation: X:159.65, Y:-4.18, Z:-3.24 [[ 9.96415081e-01 8.12658284e-02 2.35128039e-02 1.59649370e+02] [-8.12480617e-02 9.96692442e-01 -1.71153369e-03 -4.17923451e+00] [-2.35741231e-02 -2.04971763e-04 9.99722071e-01 -3.23816226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144391418 meters 0.012394199835229327 Centerline is valid? [True, True] Translation: X:159.71, Y:-4.20, Z:-3.24 [[ 9.97213260e-01 7.08100170e-02 2.34873388e-02 1.59709799e+02] [-7.07893646e-02 9.97489819e-01 -1.71062247e-03 -4.20162835e+00] [-2.35495105e-02 4.32016178e-05 9.99722671e-01 -3.23965555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204391418 meters 0.018175941561211384 Centerline is valid? [True, True] Translation: X:159.77, Y:-4.23, Z:-3.24 [[ 9.98246308e-01 5.48482770e-02 2.22704819e-02 1.59769115e+02] [-5.48255953e-02 9.98494618e-01 -1.62822478e-03 -4.23116596e+00] [-2.23262616e-02 4.04376950e-04 9.99750656e-01 -3.24226707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26439141799997 meters 0.024806056188622593 Centerline is valid? [True, True] Translation: X:159.83, Y:-4.25, Z:-3.24 [[ 9.98686283e-01 4.55373665e-02 2.34958896e-02 1.59827673e+02] [-4.55095206e-02 9.98962426e-01 -1.71877533e-03 -4.25053748e+00] [-2.35497793e-02 6.47230677e-04 9.99722456e-01 -3.24150118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32439141799998 meters 0.03207549874321975 Centerline is valid? [True, True] Translation: X:159.89, Y:-4.27, Z:-3.24 [[ 9.99066058e-01 3.47591080e-02 2.56674093e-02 1.59887494e+02] [-3.47223211e-02 9.99395235e-01 -1.87764956e-03 -4.26767421e+00] [-2.57171519e-02 9.84663919e-04 9.99668774e-01 -3.23905457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38439141799998 meters 0.030705542815277452 Centerline is valid? [True, True] Translation: X:159.95, Y:-4.27, Z:-3.24 [[ 9.99196246e-01 3.00025381e-02 2.65840205e-02 1.59948511e+02] [-2.99613832e-02 9.99549164e-01 -1.94516302e-03 -4.27020479e+00] [-2.66303953e-02 1.14710556e-03 9.99644690e-01 -3.24000413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44439141799998 meters 0.034633711561008 Centerline is valid? [True, True] Translation: X:160.01, Y:-4.28, Z:-3.24 [[ 9.99322974e-01 2.68698891e-02 2.51317218e-02 1.60009582e+02] [-2.68320568e-02 9.99638260e-01 -1.84143318e-03 -4.27654174e+00] [-2.51721098e-02 1.16585069e-03 9.99682452e-01 -3.24261663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50439141799998 meters 0.03513659005604858 Centerline is valid? [True, True] Translation: X:160.07, Y:-4.27, Z:-3.25 [[ 9.99383159e-01 2.77687383e-02 2.14987918e-02 1.60072456e+02] [-2.77411445e-02 9.99613891e-01 -1.58073176e-03 -4.27330730e+00] [-2.15343859e-02 9.83355606e-04 9.99767625e-01 -3.24881009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56439141799999 meters 0.03493838817404974 Centerline is valid? [True, True] Translation: X:160.14, Y:-4.27, Z:-3.25 [[ 9.99356247e-01 2.97457383e-02 2.00569874e-02 1.60135296e+02] [-2.97220025e-02 9.99557107e-01 -1.48054404e-03 -4.27105953e+00] [-2.00921442e-02 8.83457103e-04 9.99797742e-01 -3.25195638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624391418 meters 0.03223313866242692 Centerline is valid? [True, True] Translation: X:160.20, Y:-4.26, Z:-3.25 [[ 9.99298587e-01 3.19564665e-02 1.95222708e-02 1.60198336e+02] [-3.19343419e-02 9.99488926e-01 -1.44407951e-03 -4.26114211e+00] [-1.95584411e-02 8.19635743e-04 9.99808379e-01 -3.25232745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684391418 meters 0.030084674114562518 Centerline is valid? [True, True] Translation: X:160.26, Y:-4.25, Z:-3.25 [[ 9.99225240e-01 3.36296612e-02 2.04442107e-02 1.60261206e+02] [-3.36056096e-02 9.99434018e-01 -1.51896870e-03 -4.25475738e+00] [-2.04837221e-02 8.30751703e-04 9.99789841e-01 -3.25152671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744391418 meters 0.03015979097690548 Centerline is valid? [True, True] Translation: X:160.32, Y:-4.25, Z:-3.25 [[ 9.99136589e-01 3.51248987e-02 2.21882262e-02 1.60323058e+02] [-3.50967655e-02 9.99382546e-01 -1.65619912e-03 -4.24611009e+00] [-2.22326999e-02 8.76034164e-04 9.99752439e-01 -3.25092162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804391418 meters 0.028960459858446475 Centerline is valid? [True, True] Translation: X:160.39, Y:-4.24, Z:-3.25 [[ 9.99066956e-01 3.68350621e-02 2.25476358e-02 1.60385829e+02] [-3.68062924e-02 9.99320990e-01 -1.68976371e-03 -4.23662013e+00] [-2.25945682e-02 8.58292208e-04 9.99744342e-01 -3.25198215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864391418 meters 0.029143004065590793 Centerline is valid? [True, True] Translation: X:160.45, Y:-4.23, Z:-3.25 [[ 9.99026688e-01 3.85882032e-02 2.13688610e-02 1.60447591e+02] [-3.85626276e-02 9.99254892e-01 -1.60779286e-03 -4.23225340e+00] [-2.14149807e-02 7.82188540e-04 9.99770367e-01 -3.25460191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924391418 meters 0.0274744928172362 Centerline is valid? [True, True] Translation: X:160.51, Y:-4.22, Z:-3.26 [[ 9.98935608e-01 4.16818652e-02 1.97553574e-02 1.60510496e+02] [-4.16605044e-02 9.99130711e-01 -1.49176309e-03 -4.22039253e+00] [-1.98003637e-02 6.67157120e-04 9.99803731e-01 -3.25780749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98439141799997 meters 0.02662169950131166 Centerline is valid? [True, True] Translation: X:160.57, Y:-4.22, Z:-3.26 [[ 9.98823098e-01 4.42804078e-02 1.97905053e-02 1.60572123e+02] [-4.42594562e-02 9.99018951e-01 -1.49563787e-03 -4.21542148e+00] [-1.98373173e-02 6.17960653e-04 9.99803030e-01 -3.25788034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04439141799998 meters 0.0249290915671115 Centerline is valid? [True, True] Translation: X:160.63, Y:-4.21, Z:-3.26 [[ 9.98645385e-01 4.78523592e-02 2.04339408e-02 1.60634988e+02] [-4.78306953e-02 9.98854258e-01 -1.54789298e-03 -4.20595961e+00] [-2.04845991e-02 5.68426583e-04 9.99790007e-01 -3.25754737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10439141799998 meters 0.023145791257337164 Centerline is valid? [True, True] Translation: X:160.70, Y:-4.20, Z:-3.26 [[ 9.98479289e-01 5.18924875e-02 1.86085524e-02 1.60695979e+02] [-5.18752049e-02 9.98652579e-01 -1.41057155e-03 -4.19701506e+00] [-1.86566769e-02 4.43104008e-04 9.99825851e-01 -3.26140290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16439141799998 meters 0.021396647152257656 Centerline is valid? [True, True] Translation: X:160.76, Y:-4.19, Z:-3.26 [[ 9.98308167e-01 5.54362392e-02 1.75392829e-02 1.60758324e+02] [-5.54214061e-02 9.98462166e-01 -1.33101758e-03 -4.19201998e+00] [-1.75860970e-02 3.56714003e-04 9.99845289e-01 -3.26422824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22439141799998 meters 0.019043750200120384 Centerline is valid? [True, True] Translation: X:160.82, Y:-4.19, Z:-3.27 [[ 9.98048450e-01 5.99392046e-02 1.75094941e-02 1.60821261e+02] [-5.99250274e-02 9.98201990e-01 -1.33371321e-03 -4.18653483e+00] [-1.75579535e-02 2.81853491e-04 9.99845808e-01 -3.26530245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28439141799998 meters 0.016239873184568838 Centerline is valid? [True, True] Translation: X:160.88, Y:-4.18, Z:-3.26 [[ 9.97781453e-01 6.40178020e-02 1.82727259e-02 1.60884057e+02] [-6.40029477e-02 9.97948731e-01 -1.39717017e-03 -4.18044851e+00] [-1.83246874e-02 2.24562158e-04 9.99832064e-01 -3.26457334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344391418 meters 0.015302695785369361 Centerline is valid? [True, True] Translation: X:160.95, Y:-4.18, Z:-3.26 [[ 9.97610585e-01 6.64071704e-02 1.90580264e-02 1.60946348e+02] [-6.63913303e-02 9.97792589e-01 -1.46335212e-03 -4.17615949e+00] [-1.91131346e-02 1.94567833e-04 9.99817308e-01 -3.26412398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404391418 meters 0.015328674712809702 Centerline is valid? [True, True] Translation: X:161.01, Y:-4.18, Z:-3.27 [[ 9.97633316e-01 6.61520425e-02 1.87529675e-02 1.61009588e+02] [-6.61365545e-02 9.97809534e-01 -1.44556085e-03 -4.17744037e+00] [-1.88075166e-02 2.01883012e-04 9.99823103e-01 -3.26589205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464391418 meters 0.016028860474048157 Centerline is valid? [True, True] Translation: X:161.07, Y:-4.18, Z:-3.27 [[ 9.97747513e-01 6.49194512e-02 1.68927269e-02 1.61070994e+02] [-6.49066129e-02 9.97890486e-01 -1.30772623e-03 -4.17992533e+00] [-1.69419884e-02 2.08330909e-04 9.99856453e-01 -3.27031466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524391418 meters 0.018270249427818252 Centerline is valid? [True, True] Translation: X:161.13, Y:-4.19, Z:-3.28 [[ 9.98035211e-01 6.13504335e-02 1.27217186e-02 1.61131526e+02] [-6.13428346e-02 9.98116267e-01 -9.87043229e-04 -4.18685845e+00] [-1.27583098e-02 2.04717620e-04 9.99918588e-01 -3.27634074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584391418 meters 0.01887460427339676 Centerline is valid? [True, True] Translation: X:161.19, Y:-4.19, Z:-3.28 [[ 9.98212853e-01 5.86538652e-02 1.14378664e-02 1.61192146e+02] [-5.86474895e-02 9.98278356e-01 -8.92326536e-04 -4.19150045e+00] [-1.14705129e-02 2.19929665e-04 9.99934187e-01 -3.27776307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644391418 meters 0.01998488925025248 Centerline is valid? [True, True] Translation: X:161.25, Y:-4.20, Z:-3.28 [[ 9.98367456e-01 5.60215240e-02 1.11360235e-02 1.61253490e+02] [-5.60153164e-02 9.98429532e-01 -8.68803186e-04 -4.19668408e+00] [-1.11672064e-02 2.43596948e-04 9.99937615e-01 -3.27784245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704391418 meters 0.020152789380101246 Centerline is valid? [True, True] Translation: X:161.31, Y:-4.20, Z:-3.28 [[ 9.98351717e-01 5.63428567e-02 1.09238688e-02 1.61314320e+02] [-5.63368974e-02 9.98411452e-01 -8.52723929e-04 -4.20054103e+00] [-1.09545606e-02 2.35901522e-04 9.99939969e-01 -3.27917050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76439141799997 meters 0.018984232908356255 Centerline is valid? [True, True] Translation: X:161.37, Y:-4.20, Z:-3.28 [[ 9.98166136e-01 5.93695274e-02 1.18162524e-02 1.61373781e+02] [-5.93627529e-02 9.98236050e-01 -9.23541224e-04 -4.20056699e+00] [-1.18502393e-02 2.20402303e-04 9.99929759e-01 -3.27917609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82439141799998 meters 0.01705562202561619 Centerline is valid? [True, True] Translation: X:161.43, Y:-4.20, Z:-3.28 [[ 9.97974785e-01 6.24160557e-02 1.22704670e-02 1.61434897e+02] [-6.24089862e-02 9.98050199e-01 -9.58584891e-04 -4.20011145e+00] [-1.23063731e-02 1.90856144e-04 9.99924256e-01 -3.27888118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88439141799998 meters 0.015290457269162722 Centerline is valid? [True, True] Translation: X:161.50, Y:-4.20, Z:-3.28 [[ 9.97624030e-01 6.78015172e-02 1.22167629e-02 1.61496062e+02] [-6.77949130e-02 9.97698822e-01 -9.54389451e-04 -4.19800590e+00] [-1.22533590e-02 1.23887476e-04 9.99924917e-01 -3.27899287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94439141799998 meters 0.01433753164049045 Centerline is valid? [True, True] Translation: X:161.56, Y:-4.20, Z:-3.28 [[ 9.97335276e-01 7.18275936e-02 1.27727564e-02 1.61555734e+02] [-7.18207002e-02 9.97417060e-01 -9.98158926e-04 -4.19758220e+00] [-1.28114605e-02 7.81508009e-05 9.99917927e-01 -3.27925055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00439141799998 meters 0.013809325631444755 Centerline is valid? [True, True] Translation: X:161.62, Y:-4.20, Z:-3.28 [[ 9.96997392e-01 7.64033475e-02 1.25987332e-02 1.61615784e+02] [-7.63970125e-02 9.97076992e-01 -9.84039458e-04 -4.19700224e+00] [-1.26370909e-02 1.85791984e-05 9.99920149e-01 -3.27970818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06439141799999 meters 0.013988159815941259 Centerline is valid? [True, True] Translation: X:161.67, Y:-4.20, Z:-3.28 [[ 9.97032517e-01 7.61849529e-02 1.10459438e-02 1.61674881e+02] [-7.61800742e-02 9.97093703e-01 -8.62367109e-04 -4.20324856e+00] [-1.10795404e-02 1.83272329e-05 9.99938620e-01 -3.28346864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124391418 meters 0.01453817258240335 Centerline is valid? [True, True] Translation: X:161.73, Y:-4.21, Z:-3.29 [[ 9.97267520e-01 7.34256090e-02 8.13474740e-03 1.61733624e+02] [-7.34228723e-02 9.97300696e-01 -6.34963640e-04 -4.21135433e+00] [-8.15941183e-03 3.59520955e-05 9.99966711e-01 -3.28735083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184391418 meters 0.015388170354327336 Centerline is valid? [True, True] Translation: X:161.79, Y:-4.22, Z:-3.29 [[ 9.97518596e-01 7.01516241e-02 5.94976445e-03 1.61792531e+02] [-7.01501020e-02 9.97536339e-01 -4.64393588e-04 -4.22083417e+00] [-5.96768421e-03 4.58646568e-05 9.99982192e-01 -3.29000625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244391418 meters 0.015535979876842822 Centerline is valid? [True, True] Translation: X:161.85, Y:-4.23, Z:-3.29 [[ 9.97627103e-01 6.86493943e-02 5.23681983e-03 1.61850595e+02] [-6.86481913e-02 9.97640846e-01 -4.09340611e-04 -4.22740634e+00] [-5.25256635e-03 4.88710782e-05 9.99986204e-01 -3.28983788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304391418 meters 0.015582042632619869 Centerline is valid? [True, True] Translation: X:161.91, Y:-4.23, Z:-3.29 [[ 9.97598011e-01 6.90007143e-02 6.09171846e-03 1.61908060e+02] [-6.89990965e-02 9.97616609e-01 -4.75595371e-04 -4.23377326e+00] [-6.11001593e-03 5.41299267e-05 9.99981332e-01 -3.28923438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364391418 meters 0.015251724579763933 Centerline is valid? [True, True] Translation: X:161.97, Y:-4.24, Z:-3.29 [[ 9.97546022e-01 6.97093424e-02 6.52242361e-03 1.61966358e+02] [-6.97075108e-02 9.97567344e-01 -5.08011280e-04 -4.23875244e+00] [-6.54196993e-03 5.21027170e-05 9.99978600e-01 -3.28934323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424391418 meters 0.015523550685065274 Centerline is valid? [True, True] Translation: X:162.02, Y:-4.25, Z:-3.29 [[ 9.97581221e-01 6.90937588e-02 7.59996002e-03 1.62023922e+02] [-6.90912594e-02 9.97610169e-01 -5.91233306e-04 -4.24672418e+00] [-7.62264793e-03 6.47124340e-05 9.99970945e-01 -3.28999894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48439141799997 meters 0.015203543705713595 Centerline is valid? [True, True] Translation: X:162.08, Y:-4.25, Z:-3.29 [[ 9.97631392e-01 6.84125388e-02 7.16450283e-03 1.62082755e+02] [-6.84103109e-02 9.97657116e-01 -5.55863761e-04 -4.25422469e+00] [-7.18574528e-03 6.44212715e-05 9.99974180e-01 -3.28886578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54439141799998 meters 0.015100837518420975 Centerline is valid? [True, True] Translation: X:162.14, Y:-4.26, Z:-3.29 [[ 9.97553747e-01 6.94482201e-02 7.96663876e-03 1.62141042e+02] [-6.94454999e-02 9.97585556e-01 -6.17897200e-04 -4.25984931e+00] [-7.99031562e-03 6.31384548e-05 9.99968075e-01 -3.28986735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60439141799998 meters 0.01451982352414805 Centerline is valid? [True, True] Translation: X:162.20, Y:-4.26, Z:-3.29 [[ 9.97273827e-01 7.33694586e-02 7.86362716e-03 1.62200853e+02] [-7.33669364e-02 9.97304829e-01 -6.09122546e-04 -4.26421657e+00] [-7.88712433e-03 3.05317386e-05 9.99968896e-01 -3.29173138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66439141799998 meters 0.014222998329964688 Centerline is valid? [True, True] Translation: X:162.26, Y:-4.27, Z:-3.29 [[ 9.97136186e-01 7.51985427e-02 8.03779473e-03 1.62259834e+02] [-7.51959653e-02 9.97168581e-01 -6.22811526e-04 -4.26917634e+00] [-8.06187088e-03 1.66181758e-05 9.99967502e-01 -3.29333593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72439141799998 meters 0.01439849300214808 Centerline is valid? [True, True] Translation: X:162.32, Y:-4.28, Z:-3.30 [[ 9.97162239e-01 7.48801325e-02 7.77403081e-03 1.62318206e+02] [-7.48777192e-02 9.97192542e-01 -6.01428116e-04 -4.27746077e+00] [-7.79724057e-03 1.76197101e-05 9.99969601e-01 -3.29607533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78439141799998 meters 0.014832621724923254 Centerline is valid? [True, True] Translation: X:162.38, Y:-4.29, Z:-3.30 [[ 9.97294297e-01 7.31881325e-02 6.89804527e-03 1.62377191e+02] [-7.31861962e-02 9.97318152e-01 -5.33046165e-04 -4.28562057e+00] [-6.91855842e-03 2.67622058e-05 9.99976066e-01 -3.29835774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844391418 meters 0.015701106634191487 Centerline is valid? [True, True] Translation: X:162.44, Y:-4.30, Z:-3.30 [[ 9.97577413e-01 6.92652663e-02 6.45203252e-03 1.62435610e+02] [-6.92634898e-02 9.97598276e-01 -4.98655350e-04 -4.29721221e+00] [-6.47107602e-03 5.05570252e-05 9.99979061e-01 -3.30022285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904391418 meters 0.017022104644405196 Centerline is valid? [True, True] Translation: X:162.49, Y:-4.31, Z:-3.30 [[ 9.97951979e-01 6.33289162e-02 9.01641174e-03 1.62494145e+02] [-6.33252165e-02 9.97992702e-01 -6.95514582e-04 -4.30966179e+00] [-9.04235930e-03 1.23123928e-04 9.99959109e-01 -3.29788489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964391418 meters 0.018619430029145928 Centerline is valid? [True, True] Translation: X:162.56, Y:-4.32, Z:-3.30 [[ 9.98174914e-01 5.92577780e-02 1.16342854e-02 1.62555299e+02] [-5.92513598e-02 9.98242693e-01 -8.95881760e-04 -4.32004919e+00] [-1.16669284e-02 2.04899465e-04 9.99931918e-01 -3.29709043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024391418 meters 0.01947225367171828 Centerline is valid? [True, True] Translation: X:162.62, Y:-4.33, Z:-3.30 [[ 9.98262103e-01 5.73214226e-02 1.36757909e-02 1.62617263e+02] [-5.73123868e-02 9.98355740e-01 -1.05203999e-03 -4.32810318e+00] [-1.37136087e-02 2.66419439e-04 9.99905929e-01 -3.29639960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084391418 meters 0.018670819923017598 Centerline is valid? [True, True] Translation: X:162.68, Y:-4.33, Z:-3.30 [[ 9.98140277e-01 5.93229858e-02 1.40275360e-02 1.62679107e+02] [-5.93136135e-02 9.98238810e-01 -1.08359449e-03 -4.33251538e+00] [-1.40671129e-02 2.49555455e-04 9.99901022e-01 -3.29815939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144391418 meters 0.018110801423163875 Centerline is valid? [True, True] Translation: X:162.74, Y:-4.34, Z:-3.30 [[ 9.98065167e-01 6.07309259e-02 1.33295630e-02 1.62741646e+02] [-6.07225192e-02 9.98154149e-01 -1.03487200e-03 -4.33633838e+00] [-1.33678073e-02 2.23465051e-04 9.99910622e-01 -3.30047766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204391418 meters 0.016524480359239074 Centerline is valid? [True, True] Translation: X:162.80, Y:-4.34, Z:-3.30 [[ 9.97775821e-01 6.56213338e-02 1.17154275e-02 1.62802745e+02] [-6.56151715e-02 9.97844588e-01 -9.10008349e-04 -4.33743540e+00] [-1.17498919e-02 1.39274543e-04 9.99930958e-01 -3.30415202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26439141799997 meters 0.01481743659091655 Centerline is valid? [True, True] Translation: X:162.86, Y:-4.34, Z:-3.30 [[ 9.97487090e-01 6.98735126e-02 1.17131641e-02 1.62864431e+02] [-6.98676087e-02 9.97555855e-01 -9.12980438e-04 -4.33798673e+00] [-1.17483286e-02 9.23154357e-05 9.99930982e-01 -3.30462083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32439141799998 meters 0.013827345743910695 Centerline is valid? [True, True] Translation: X:162.92, Y:-4.34, Z:-3.30 [[ 9.96922905e-01 7.73891134e-02 1.24758465e-02 1.62924914e+02] [-7.73829915e-02 9.97000965e-01 -9.73405167e-04 -4.33551484e+00] [-1.25137620e-02 4.99158358e-06 9.99921700e-01 -3.30469030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38439141799998 meters 0.014162760512381772 Centerline is valid? [True, True] Translation: X:162.98, Y:-4.34, Z:-3.31 [[ 9.96579474e-01 8.16278323e-02 1.28937705e-02 1.62984851e+02] [-8.16216459e-02 9.96662879e-01 -1.00618041e-03 -4.33574320e+00] [-1.29328748e-02 -4.96720261e-05 9.99916366e-01 -3.30653444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44439141799998 meters 0.01486699427535092 Centerline is valid? [True, True] Translation: X:163.04, Y:-4.34, Z:-3.31 [[ 9.96310005e-01 8.50454037e-02 1.15608903e-02 1.63044751e+02] [-8.50406603e-02 9.96377073e-01 -9.02161739e-04 -4.33826498e+00] [-1.15957308e-02 -8.43129797e-05 9.99932764e-01 -3.30927738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50439141799998 meters 0.014935016304838582 Centerline is valid? [True, True] Translation: X:163.10, Y:-4.34, Z:-3.31 [[ 9.96292820e-01 8.52836696e-02 1.12832988e-02 1.63104023e+02] [-8.52791720e-02 9.96356707e-01 -8.80019907e-04 -4.34359849e+00] [-1.13172418e-02 -8.54728671e-05 9.99935954e-01 -3.31091042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56439141799999 meters 0.013985660121280644 Centerline is valid? [True, True] Translation: X:163.16, Y:-4.36, Z:-3.31 [[ 9.96697055e-01 8.02434327e-02 1.24888996e-02 1.63164046e+02] [-8.02375394e-02 9.96775296e-01 -9.73031097e-04 -4.35668503e+00] [-1.25267059e-02 -3.22613448e-05 9.99921537e-01 -3.31036149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624391418 meters 0.013788547627690152 Centerline is valid? [True, True] Translation: X:163.22, Y:-4.37, Z:-3.31 [[ 9.97152925e-01 7.37682557e-02 1.56297396e-02 1.63224257e+02] [-7.37582330e-02 9.97275409e-01 -1.21752202e-03 -4.37060953e+00] [-1.56769694e-02 6.12336684e-05 9.99877107e-01 -3.30818712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684391418 meters 0.01740112743068559 Centerline is valid? [True, True] Translation: X:163.29, Y:-4.39, Z:-3.31 [[ 9.97852471e-01 6.25806360e-02 1.93419386e-02 1.63285142e+02] [-6.25631636e-02 9.98039868e-01 -1.50772386e-03 -4.39112319e+00] [-1.93983801e-02 2.94393106e-04 9.99811790e-01 -3.30604224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744391418 meters 0.023357294752065456 Centerline is valid? [True, True] Translation: X:163.34, Y:-4.41, Z:-3.31 [[ 9.98461097e-01 5.23421082e-02 1.83232503e-02 1.63343634e+02] [-5.23246761e-02 9.98629102e-01 -1.42982621e-03 -4.40944722e+00] [-1.83729711e-02 4.68867705e-04 9.99831093e-01 -3.30895816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804391418 meters 0.026740867385331622 Centerline is valid? [True, True] Translation: X:163.40, Y:-4.42, Z:-3.31 [[ 9.98728410e-01 4.77594688e-02 1.61430136e-02 1.63404404e+02] [-4.77453334e-02 9.98858746e-01 -1.26012763e-03 -4.42009328e+00] [-1.61847734e-02 4.87771697e-04 9.99868899e-01 -3.31340584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864391418 meters 0.029481431372755884 Centerline is valid? [True, True] Translation: X:163.47, Y:-4.43, Z:-3.32 [[ 9.98891768e-01 4.49229875e-02 1.40413839e-02 1.63465576e+02] [-4.49119694e-02 9.98990344e-01 -1.09919009e-03 -4.42756204e+00] [-1.40765859e-02 4.67345731e-04 9.99900811e-01 -3.31660291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924391418 meters 0.028708786314973016 Centerline is valid? [True, True] Translation: X:163.53, Y:-4.43, Z:-3.32 [[ 9.98832339e-01 4.56967325e-02 1.56769762e-02 1.63528290e+02] [-4.56830191e-02 9.98955226e-01 -1.23193079e-03 -4.42931859e+00] [-1.57168925e-02 5.14320704e-04 9.99876350e-01 -3.31581001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98439141799997 meters 0.02800738371411572 Centerline is valid? [True, True] Translation: X:163.59, Y:-4.43, Z:-3.31 [[ 9.98686768e-01 4.80671111e-02 1.77282983e-02 1.63589726e+02] [-4.80498402e-02 9.98843959e-01 -1.39911609e-03 -4.42835382e+00] [-1.77750551e-02 5.45436823e-04 9.99841862e-01 -3.31466533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04439141799998 meters 0.02796778463244229 Centerline is valid? [True, True] Translation: X:163.65, Y:-4.43, Z:-3.32 [[ 9.98630874e-01 4.96214059e-02 1.65557510e-02 1.63651615e+02] [-4.96064918e-02 9.98767980e-01 -1.31054255e-03 -4.42778896e+00] [-1.66003850e-02 4.87475529e-04 9.99862085e-01 -3.31736033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10439141799998 meters 0.02907773252287592 Centerline is valid? [True, True] Translation: X:163.71, Y:-4.43, Z:-3.32 [[ 9.98693873e-01 4.89767919e-02 1.45540936e-02 1.63713671e+02] [-4.89651484e-02 9.98799819e-01 -1.15549862e-03 -4.43051345e+00] [-1.45932186e-02 4.41346038e-04 9.99893416e-01 -3.32057192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16439141799998 meters 0.03307350576945312 Centerline is valid? [True, True] Translation: X:163.77, Y:-4.43, Z:-3.32 [[ 9.98929145e-01 4.42458074e-02 1.35229983e-02 1.63774951e+02] [-4.42352553e-02 9.99020560e-01 -1.07856765e-03 -4.43395552e+00] [-1.35574754e-02 4.79219380e-04 9.99907978e-01 -3.32165995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22439141799998 meters 0.027859100166532074 Centerline is valid? [True, True] Translation: X:163.84, Y:-4.43, Z:-3.32 [[ 9.99037229e-01 4.11333628e-02 1.52532680e-02 1.63837859e+02] [-4.11195689e-02 9.99153492e-01 -1.21698364e-03 -4.42699705e+00] [-1.52904146e-02 5.88604158e-04 9.99882922e-01 -3.31845165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28439141799998 meters 0.031064943031742263 Centerline is valid? [True, True] Translation: X:163.90, Y:-4.43, Z:-3.32 [[ 9.99168587e-01 3.70433896e-02 1.70271240e-02 1.63898039e+02] [-3.70255719e-02 9.99313392e-01 -1.36058890e-03 -4.42785745e+00] [-1.70658339e-02 7.29018687e-04 9.99854102e-01 -3.31802984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344391418 meters 0.032396169793509365 Centerline is valid? [True, True] Translation: X:163.96, Y:-4.43, Z:-3.32 [[ 9.99206395e-01 3.64718286e-02 1.60120766e-02 1.63959902e+02] [-3.64560192e-02 9.99334441e-01 -1.27821929e-03 -4.42803739e+00] [-1.60480386e-02 6.93468313e-04 9.99870981e-01 -3.32140428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404391418 meters 0.03243776234945882 Centerline is valid? [True, True] Translation: X:164.02, Y:-4.42, Z:-3.33 [[ 9.99163701e-01 3.89300207e-02 1.25040616e-02 1.64022250e+02] [-3.89205456e-02 9.99241808e-01 -1.00030793e-03 -4.42097474e+00] [-1.25335231e-02 5.12806474e-04 9.99921321e-01 -3.32755482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464391418 meters 0.029294404691389733 Centerline is valid? [True, True] Translation: X:164.08, Y:-4.41, Z:-3.33 [[ 9.99018032e-01 4.27440342e-02 1.16584185e-02 1.64084462e+02] [-4.27359949e-02 9.99085960e-01 -9.37943647e-04 -4.41298725e+00] [-1.16878537e-02 4.38788503e-04 9.99931598e-01 -3.32946304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524391418 meters 0.024280663363856102 Centerline is valid? [True, True] Translation: X:164.15, Y:-4.40, Z:-3.33 [[ 9.98649633e-01 4.98856809e-02 1.45027356e-02 1.64146914e+02] [-4.98739778e-02 9.98754836e-01 -1.16774113e-03 -4.39894867e+00] [-1.45429309e-02 4.42855133e-04 9.99894148e-01 -3.32685512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584391418 meters 0.022444576661768887 Centerline is valid? [True, True] Translation: X:164.21, Y:-4.39, Z:-3.33 [[ 9.98440914e-01 5.32305184e-02 1.68003632e-02 1.64208536e+02] [-5.32152799e-02 9.98582146e-01 -1.35309883e-03 -4.39405170e+00] [-1.68485689e-02 4.56953205e-04 9.99857948e-01 -3.32634348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644391418 meters 0.022404260632273517 Centerline is valid? [True, True] Translation: X:164.27, Y:-4.39, Z:-3.33 [[ 9.98303441e-01 5.56774449e-02 1.70370960e-02 1.64269297e+02] [-5.56621155e-02 9.98448719e-01 -1.37300914e-03 -4.38826114e+00] [-1.70871123e-02 4.22358944e-04 9.99853915e-01 -3.32904715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704391418 meters 0.02040739795225121 Centerline is valid? [True, True] Translation: X:164.33, Y:-4.38, Z:-3.33 [[ 9.98236252e-01 5.73697459e-02 1.52675611e-02 1.64329932e+02] [-5.73576275e-02 9.98352937e-01 -1.23079766e-03 -4.38326268e+00] [-1.53130250e-02 3.52915766e-04 9.99882686e-01 -3.33284219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76439141799997 meters 0.01880122570616182 Centerline is valid? [True, True] Translation: X:164.39, Y:-4.38, Z:-3.34 [[ 9.98039908e-01 6.12163379e-02 1.29962455e-02 1.64390386e+02] [-6.12078788e-02 9.98124490e-01 -1.04801757e-03 -4.37540222e+00] [-1.30360268e-02 2.50490739e-04 9.99914996e-01 -3.33653935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82439141799998 meters 0.016501372607850038 Centerline is valid? [True, True] Translation: X:164.45, Y:-4.37, Z:-3.34 [[ 9.97748027e-01 6.55088945e-02 1.44034274e-02 1.64450331e+02] [-6.54989577e-02 9.97851962e-01 -1.16105159e-03 -4.36761057e+00] [-1.44485475e-02 2.15027445e-04 9.99895591e-01 -3.33563094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88439141799998 meters 0.0161527901893881 Centerline is valid? [True, True] Translation: X:164.51, Y:-4.37, Z:-3.34 [[ 9.97655706e-01 6.64877717e-02 1.62008748e-02 1.64509862e+02] [-6.64753520e-02 9.97787215e-01 -1.30451618e-03 -4.36698416e+00] [-1.62517601e-02 2.24499159e-04 9.99867906e-01 -3.33540758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94439141799998 meters 0.017070378267863187 Centerline is valid? [True, True] Translation: X:164.57, Y:-4.37, Z:-3.34 [[ 9.97827127e-01 6.36789622e-02 1.69119602e-02 1.64569381e+02] [-6.36650729e-02 9.97970396e-01 -1.35893883e-03 -4.36796573e+00] [-1.69641714e-02 2.79284849e-04 9.99856059e-01 -3.33699438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00439141799998 meters 0.01830709121844583 Centerline is valid? [True, True] Translation: X:164.63, Y:-4.37, Z:-3.34 [[ 9.98057649e-01 5.98874022e-02 1.71589377e-02 1.64628359e+02] [-5.98725559e-02 9.98205078e-01 -1.37809380e-03 -4.37237456e+00] [-1.72106692e-02 3.48067596e-04 9.99851825e-01 -3.33829811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06439141799999 meters 0.0212554900261145 Centerline is valid? [True, True] Translation: X:164.69, Y:-4.38, Z:-3.34 [[ 9.98305843e-01 5.55909596e-02 1.71781689e-02 1.64687389e+02] [-5.55754665e-02 9.98453538e-01 -1.37833640e-03 -4.37991594e+00] [-1.72282266e-02 4.21316527e-04 9.99851494e-01 -3.33996749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124391418 meters 0.02310409355022076 Centerline is valid? [True, True] Translation: X:164.75, Y:-4.39, Z:-3.34 [[ 9.98517640e-01 5.14706810e-02 1.77000418e-02 1.64747867e+02] [-5.14535934e-02 9.98674377e-01 -1.41974734e-03 -4.38642086e+00] [-1.77496536e-02 5.06912013e-04 9.99842334e-01 -3.34056802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184391418 meters 0.026514596958705852 Centerline is valid? [True, True] Translation: X:164.81, Y:-4.39, Z:-3.34 [[ 9.98705899e-01 4.70308272e-02 1.93553285e-02 1.64808064e+02] [-4.70095611e-02 9.98893233e-01 -1.55249640e-03 -4.39384283e+00] [-1.94069218e-02 6.40601815e-04 9.99811463e-01 -3.34010963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244391418 meters 0.026844505943818413 Centerline is valid? [True, True] Translation: X:164.87, Y:-4.40, Z:-3.34 [[ 9.98679756e-01 4.71832120e-02 2.03098205e-02 1.64869459e+02] [-4.71598188e-02 9.98886028e-01 -1.62950154e-03 -4.39779603e+00] [-2.03640810e-02 6.69542752e-04 9.99792406e-01 -3.34095573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304391418 meters 0.022243434007308684 Centerline is valid? [True, True] Translation: X:164.93, Y:-4.39, Z:-3.34 [[ 9.98421740e-01 5.27200749e-02 1.93551745e-02 1.64930791e+02] [-5.26998538e-02 9.98609189e-01 -1.55367115e-03 -4.39320966e+00] [-1.94101648e-02 5.31204185e-04 9.99811464e-01 -3.34404556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364391418 meters 0.0195880651367648 Centerline is valid? [True, True] Translation: X:164.99, Y:-4.39, Z:-3.35 [[ 9.98030856e-01 6.03470944e-02 1.71067014e-02 1.64991682e+02] [-6.03324054e-02 9.98177396e-01 -1.37392442e-03 -4.39088417e+00] [-1.71584350e-02 3.39130518e-04 9.99852726e-01 -3.34778651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424391418 meters 0.014134083491726925 Centerline is valid? [True, True] Translation: X:165.05, Y:-4.38, Z:-3.35 [[ 9.97148755e-01 7.38684513e-02 1.54211533e-02 1.65051533e+02] [-7.38581265e-02 9.97267989e-01 -1.23875565e-03 -4.38026261e+00] [-1.54705275e-02 9.62461601e-05 9.99880320e-01 -3.35111038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48439141799997 meters 0.01342323838066497 Centerline is valid? [True, True] Translation: X:165.11, Y:-4.37, Z:-3.35 [[ 9.96298135e-01 8.41186538e-02 1.77222494e-02 1.65111045e+02] [-8.41066505e-02 9.96455743e-01 -1.42287833e-03 -4.37433267e+00] [-1.77791278e-02 -7.29480160e-05 9.99841936e-01 -3.34926016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54439141799998 meters 0.014387786922708127 Centerline is valid? [True, True] Translation: X:165.17, Y:-4.38, Z:-3.35 [[ 9.95885627e-01 8.85795951e-02 1.91173621e-02 1.65170187e+02] [-8.85664827e-02 9.96069088e-01 -1.53312571e-03 -4.37558440e+00] [-1.91780171e-02 -1.66339660e-04 9.99816071e-01 -3.34921612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60439141799998 meters 0.015691603374514227 Centerline is valid? [True, True] Translation: X:165.23, Y:-4.38, Z:-3.35 [[ 9.95584753e-01 9.19875074e-02 1.86895233e-02 1.65227857e+02] [-9.19756034e-02 9.95760135e-01 -1.49732710e-03 -4.37964842e+00] [-1.87480177e-02 -2.28264160e-04 9.99824214e-01 -3.35215916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66439141799998 meters 0.01512182219670469 Centerline is valid? [True, True] Translation: X:165.29, Y:-4.39, Z:-3.36 [[ 9.95744040e-01 9.05188091e-02 1.73248672e-02 1.65286005e+02] [-9.05083873e-02 9.95894728e-01 -1.38630290e-03 -4.38931522e+00] [-1.73792304e-02 -1.87642941e-04 9.99848952e-01 -3.35587343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72439141799998 meters 0.013896125946506074 Centerline is valid? [True, True] Translation: X:165.34, Y:-4.40, Z:-3.36 [[ 9.96147684e-01 8.63777761e-02 1.51218645e-02 1.65343703e+02] [-8.63693746e-02 9.96262450e-01 -1.20899770e-03 -4.40239108e+00] [-1.51697763e-02 -1.01725723e-04 9.99884927e-01 -3.35944423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78439141799998 meters 0.012467683335083522 Centerline is valid? [True, True] Translation: X:165.40, Y:-4.42, Z:-3.36 [[ 9.96676860e-01 7.99720637e-02 1.54824613e-02 1.65400075e+02] [-7.99625020e-02 9.96797105e-01 -1.23664170e-03 -4.42063468e+00] [-1.55317694e-02 -5.48417394e-06 9.99879375e-01 -3.35910826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844391418 meters 0.012495853140397669 Centerline is valid? [True, True] Translation: X:165.46, Y:-4.43, Z:-3.36 [[ 9.96866546e-01 7.72253943e-02 1.71267929e-02 1.65458258e+02] [-7.72133219e-02 9.97013659e-01 -1.36601599e-03 -4.43328520e+00] [-1.71811375e-02 3.93190757e-05 9.99852393e-01 -3.35804537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904391418 meters 0.012329274611363598 Centerline is valid? [True, True] Translation: X:165.52, Y:-4.45, Z:-3.36 [[ 9.96880455e-01 7.66795920e-02 1.86975706e-02 1.65515381e+02] [-7.66651365e-02 9.97055785e-01 -1.48974839e-03 -4.44596969e+00] [-1.87567543e-02 5.16492518e-05 9.99824075e-01 -3.35735561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964391418 meters 0.012291970726896738 Centerline is valid? [True, True] Translation: X:165.57, Y:-4.46, Z:-3.36 [[ 9.96951752e-01 7.59271193e-02 1.79520820e-02 1.65573262e+02] [-7.59137044e-02 9.97113368e-01 -1.42852614e-03 -4.45989452e+00] [-1.80087249e-02 6.13625875e-05 9.99837828e-01 -3.36062924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024391418 meters 0.013113211850294957 Centerline is valid? [True, True] Translation: X:165.63, Y:-4.47, Z:-3.36 [[ 9.97166283e-01 7.31559878e-02 1.75386892e-02 1.65632111e+02] [-7.31427796e-02 9.97320505e-01 -1.39423320e-03 -4.47320676e+00] [-1.75936909e-02 1.07453856e-04 9.99845213e-01 -3.36245120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084391418 meters 0.017029956177492853 Centerline is valid? [True, True] Translation: X:165.69, Y:-4.49, Z:-3.36 [[ 9.97621939e-01 6.61301951e-02 1.94232743e-02 1.65690338e+02] [-6.61126801e-02 9.97810970e-01 -1.54320326e-03 -4.49480220e+00] [-1.94828085e-02 2.55408706e-04 9.99810159e-01 -3.36127064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144391418 meters 0.017952684817024635 Centerline is valid? [True, True] Translation: X:165.75, Y:-4.51, Z:-3.36 [[ 9.97885515e-01 6.15177139e-02 2.09778239e-02 1.65751351e+02] [-6.14962605e-02 9.98105922e-01 -1.66685214e-03 -4.50648643e+00] [-2.10406312e-02 3.73269888e-04 9.99778552e-01 -3.36093543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204391418 meters 0.021267129232696153 Centerline is valid? [True, True] Translation: X:165.81, Y:-4.52, Z:-3.36 [[ 9.98161004e-01 5.69643053e-02 2.07286566e-02 1.65812105e+02] [-5.69423594e-02 9.98376108e-01 -1.64789908e-03 -4.52288138e+00] [-2.07888670e-02 4.64529989e-04 9.99783780e-01 -3.36387230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26439141799997 meters 0.019486120658494546 Centerline is valid? [True, True] Translation: X:165.87, Y:-4.53, Z:-3.37 [[ 9.98212151e-01 5.67165604e-02 1.88608895e-02 1.65874503e+02] [-5.66983299e-02 9.98390228e-01 -1.50034394e-03 -4.52817527e+00] [-1.89156221e-02 4.28280621e-04 9.99820992e-01 -3.36788607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32439141799998 meters 0.019866243925057522 Centerline is valid? [True, True] Translation: X:165.94, Y:-4.54, Z:-3.37 [[ 9.98128343e-01 5.90912115e-02 1.57492572e-02 1.65935617e+02] [-5.90787218e-02 9.98252535e-01 -1.25751297e-03 -4.53558323e+00] [-1.57960439e-02 3.24713349e-04 9.99875182e-01 -3.37270860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38439141799998 meters 0.016152084663841753 Centerline is valid? [True, True] Translation: X:166.00, Y:-4.53, Z:-3.37 [[ 9.97814882e-01 6.43261226e-02 1.50867929e-02 1.65997079e+02] [-6.43151780e-02 9.97928902e-01 -1.21000807e-03 -4.53362086e+00] [-1.51333818e-02 2.37054290e-04 9.99885456e-01 -3.37251963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44439141799998 meters 0.015414274367129846 Centerline is valid? [True, True] Translation: X:166.06, Y:-4.54, Z:-3.37 [[ 9.97602082e-01 6.73222233e-02 1.60562640e-02 1.66056254e+02] [-6.73102083e-02 9.97731265e-01 -1.28816488e-03 -4.53675411e+00] [-1.61065587e-02 2.04325494e-04 9.99870260e-01 -3.37282523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50439141799998 meters 0.014286655203623653 Centerline is valid? [True, True] Translation: X:166.12, Y:-4.54, Z:-3.37 [[ 9.97446946e-01 6.92140354e-02 1.75786138e-02 1.66116400e+02] [-6.91999348e-02 9.97601815e-01 -1.40987953e-03 -4.53959422e+00] [-1.76340405e-02 1.89841103e-04 9.99844490e-01 -3.37220057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56439141799999 meters 0.014607891026190882 Centerline is valid? [True, True] Translation: X:166.18, Y:-4.55, Z:-3.37 [[ 9.97544889e-01 6.78915471e-02 1.71735862e-02 1.66176913e+02] [-6.78779002e-02 9.97692685e-01 -1.37697020e-03 -4.54520433e+00] [-1.72274459e-02 2.07882613e-04 9.99851575e-01 -3.37397832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624391418 meters 0.01554769072929546 Centerline is valid? [True, True] Translation: X:166.24, Y:-4.55, Z:-3.37 [[ 9.97726035e-01 6.53654247e-02 1.64353164e-02 1.66237471e+02] [-6.53525833e-02 9.97861365e-01 -1.31777607e-03 -4.55134077e+00] [-1.64863042e-02 2.40689108e-04 9.99864063e-01 -3.37477599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684391418 meters 0.016800646055760766 Centerline is valid? [True, True] Translation: X:166.30, Y:-4.56, Z:-3.37 [[ 9.97758299e-01 6.46560886e-02 1.72617255e-02 1.66297378e+02] [-6.46418225e-02 9.97907571e-01 -1.38371955e-03 -4.55800202e+00] [-1.73150724e-02 2.64788265e-04 9.99850048e-01 -3.37483077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744391418 meters 0.016063924840067703 Centerline is valid? [True, True] Translation: X:166.36, Y:-4.56, Z:-3.37 [[ 9.97797327e-01 6.38157724e-02 1.81119253e-02 1.66358945e+02] [-6.37998915e-02 9.97961653e-01 -1.45387760e-03 -4.55999559e+00] [-1.81677873e-02 2.95136309e-04 9.99834909e-01 -3.37359571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804391418 meters 0.016375481089397754 Centerline is valid? [True, True] Translation: X:166.42, Y:-4.56, Z:-3.37 [[ 9.97804998e-01 6.35957461e-02 1.84599021e-02 1.66419994e+02] [-6.35791957e-02 9.97975695e-01 -1.48265691e-03 -4.56383885e+00] [-1.85168243e-02 3.05736753e-04 9.99828502e-01 -3.37435071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864391418 meters 0.016401125020334976 Centerline is valid? [True, True] Translation: X:166.48, Y:-4.57, Z:-3.38 [[ 9.97807690e-01 6.37952109e-02 1.76063960e-02 1.66480934e+02] [-6.37801737e-02 9.97962969e-01 -1.41484253e-03 -4.56651459e+00] [-1.76607914e-02 2.88801764e-04 9.99843994e-01 -3.37654265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924391418 meters 0.01661620544836764 Centerline is valid? [True, True] Translation: X:166.54, Y:-4.57, Z:-3.38 [[ 9.97817420e-01 6.38340916e-02 1.68998386e-02 1.66541794e+02] [-6.38202308e-02 9.97960486e-01 -1.35877084e-03 -4.57028219e+00] [-1.69521071e-02 2.77253610e-04 9.99856264e-01 -3.37822012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98439141799997 meters 0.01700850180693326 Centerline is valid? [True, True] Translation: X:166.60, Y:-4.57, Z:-3.38 [[ 9.97934517e-01 6.24875184e-02 1.49000133e-02 1.66602535e+02] [-6.24765839e-02 9.98045710e-01 -1.19866741e-03 -4.57324265e+00] [-1.49457961e-02 2.65289647e-04 9.99888270e-01 -3.38131147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04439141799998 meters 0.01909866531077645 Centerline is valid? [True, True] Translation: X:166.66, Y:-4.58, Z:-3.38 [[ 9.98184295e-01 5.84797789e-02 1.44301634e-02 1.66662606e+02] [-5.84690981e-02 9.98288543e-01 -1.16130741e-03 -4.58025649e+00] [-1.44733798e-02 3.15480178e-04 9.99895205e-01 -3.38336674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10439141799998 meters 0.023743816597662382 Centerline is valid? [True, True] Translation: X:166.72, Y:-4.59, Z:-3.38 [[ 9.98624630e-01 5.00539669e-02 1.56028681e-02 1.66723160e+02] [-5.00404529e-02 9.98746403e-01 -1.25557773e-03 -4.58963522e+00] [-1.56461550e-02 4.73076259e-04 9.99877480e-01 -3.38316120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16439141799998 meters 0.026300750733737367 Centerline is valid? [True, True] Translation: X:166.78, Y:-4.60, Z:-3.38 [[ 9.98742392e-01 4.72579989e-02 1.67426407e-02 1.66784273e+02] [-4.72420550e-02 9.98882563e-01 -1.34674008e-03 -4.59507125e+00] [-1.67875761e-02 5.54089650e-04 9.99858925e-01 -3.38272026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22439141799998 meters 0.02531545629578806 Centerline is valid? [True, True] Translation: X:166.85, Y:-4.59, Z:-3.38 [[ 9.98551982e-01 5.03697506e-02 1.88898704e-02 1.66845341e+02] [-5.03498904e-02 9.98730474e-01 -1.52579811e-03 -4.59174420e+00] [-1.89427433e-02 5.72485823e-04 9.99820406e-01 -3.38162634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28439141799998 meters 0.02212470247990807 Centerline is valid? [True, True] Translation: X:166.91, Y:-4.59, Z:-3.38 [[ 9.98237228e-01 5.61232161e-02 1.93033819e-02 1.66907662e+02] [-5.61035441e-02 9.98423738e-01 -1.55955973e-03 -4.58737275e+00] [-1.93604822e-02 4.73822442e-04 9.99812456e-01 -3.38257602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344391418 meters 0.018243051286386782 Centerline is valid? [True, True] Translation: X:166.97, Y:-4.58, Z:-3.38 [[ 9.97767080e-01 6.38788499e-02 1.95024905e-02 1.66968678e+02] [-6.38602252e-02 9.97957607e-01 -1.57691230e-03 -4.57799977e+00] [-1.95633901e-02 3.27957748e-04 9.99808565e-01 -3.38463835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404391418 meters 0.01783933645803259 Centerline is valid? [True, True] Translation: X:167.03, Y:-4.58, Z:-3.39 [[ 9.97680555e-01 6.53144114e-02 1.91712823e-02 1.67028190e+02] [-6.52966779e-02 9.97864691e-01 -1.55018382e-03 -4.57522155e+00] [-1.92315951e-02 2.94767207e-04 9.99815012e-01 -3.38704615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464391418 meters 0.020052116118063065 Centerline is valid? [True, True] Translation: X:167.09, Y:-4.58, Z:-3.39 [[ 9.97881801e-01 6.22068983e-02 1.90318994e-02 1.67088329e+02] [-6.21888720e-02 9.98063214e-01 -1.53811397e-03 -4.58032394e+00] [-1.90907199e-02 3.51283584e-04 9.99817694e-01 -3.38889491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524391418 meters 0.021586116815382587 Centerline is valid? [True, True] Translation: X:167.15, Y:-4.58, Z:-3.39 [[ 9.98331162e-01 5.49121030e-02 1.78760088e-02 1.67148251e+02] [-5.48950298e-02 9.98491086e-01 -1.44475439e-03 -4.58405137e+00] [-1.79283700e-02 4.61039295e-04 9.99839168e-01 -3.39152691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584391418 meters 0.02411590611046723 Centerline is valid? [True, True] Translation: X:167.21, Y:-4.59, Z:-3.39 [[ 9.98564650e-01 5.08796418e-02 1.67302832e-02 1.67208821e+02] [-5.08641286e-02 9.98704668e-01 -1.35173974e-03 -4.58865759e+00] [-1.67773880e-02 4.98828238e-04 9.99859125e-01 -3.39428029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644391418 meters 0.02699674228541206 Centerline is valid? [True, True] Translation: X:167.27, Y:-4.59, Z:-3.40 [[ 9.98718717e-01 4.78028543e-02 1.66075420e-02 1.67268642e+02] [-4.77871443e-02 9.98856641e-01 -1.34173893e-03 -4.59376946e+00] [-1.66526925e-02 5.46392778e-04 9.99861185e-01 -3.39606638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70439141799997 meters 0.024583992396006935 Centerline is valid? [True, True] Translation: X:167.33, Y:-4.59, Z:-3.39 [[ 9.98602916e-01 4.94532176e-02 1.86170517e-02 1.67330239e+02] [-4.94337532e-02 9.98776271e-01 -1.50454397e-03 -4.58887858e+00] [-1.86686741e-02 5.82131253e-04 9.99825556e-01 -3.39476763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76439141799997 meters 0.025249092786807578 Centerline is valid? [True, True] Translation: X:167.39, Y:-4.59, Z:-3.39 [[ 9.98471354e-01 5.13349354e-02 2.04860989e-02 1.67389731e+02] [-5.13117515e-02 9.98681311e-01 -1.65607771e-03 -4.59054313e+00] [-2.05440987e-02 6.02368537e-04 9.99788766e-01 -3.39338143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82439141799998 meters 0.020590785319100392 Centerline is valid? [True, True] Translation: X:167.45, Y:-4.58, Z:-3.39 [[ 9.98248009e-01 5.51299623e-02 2.14848723e-02 1.67451132e+02] [-5.51053502e-02 9.98479036e-01 -1.73636426e-03 -4.58253079e+00] [-2.15479203e-02 5.49390757e-04 9.99767666e-01 -3.39356767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88439141799998 meters 0.021961467270350626 Centerline is valid? [True, True] Translation: X:167.51, Y:-4.58, Z:-3.40 [[ 9.98074864e-01 5.88004262e-02 1.97250147e-02 1.67512015e+02] [-5.87803977e-02 9.98269665e-01 -1.59413610e-03 -4.58145543e+00] [-1.97846197e-02 4.31622965e-04 9.99804172e-01 -3.39662219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94439141799998 meters 0.01699940124711011 Centerline is valid? [True, True] Translation: X:167.57, Y:-4.58, Z:-3.40 [[ 9.97918219e-01 6.22939910e-02 1.66939298e-02 1.67572193e+02] [-6.22801314e-02 9.98057796e-01 -1.34932633e-03 -4.57651789e+00] [-1.67455617e-02 3.06817183e-04 9.99859736e-01 -3.39944791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00439141799998 meters 0.01976752398843591 Centerline is valid? [True, True] Translation: X:167.63, Y:-4.58, Z:-3.40 [[ 9.97765620e-01 6.49485371e-02 1.56669904e-02 1.67629914e+02] [-6.49366619e-02 9.97888585e-01 -1.26604054e-03 -4.57937867e+00] [-1.57161383e-02 2.45849669e-04 9.99876464e-01 -3.40176533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06439141799999 meters 0.016698888456853363 Centerline is valid? [True, True] Translation: X:167.69, Y:-4.58, Z:-3.40 [[ 9.97671784e-01 6.65303250e-02 1.49909229e-02 1.67688957e+02] [-6.65196554e-02 9.97784381e-01 -1.20979784e-03 -4.57859430e+00] [-1.50381970e-02 2.09790147e-04 9.99886898e-01 -3.40289565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124391418 meters 0.01818708280791733 Centerline is valid? [True, True] Translation: X:167.75, Y:-4.58, Z:-3.41 [[ 9.97687976e-01 6.64776980e-02 1.41215749e-02 1.67747598e+02] [-6.64682401e-02 9.97787892e-01 -1.13855471e-03 -4.57988918e+00] [-1.41660249e-02 1.97286117e-04 9.99899637e-01 -3.40529199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184391418 meters 0.017556652687146873 Centerline is valid? [True, True] Translation: X:167.81, Y:-4.58, Z:-3.41 [[ 9.97831713e-01 6.41906498e-02 1.45407151e-02 1.67806061e+02] [-6.41803981e-02 9.97937626e-01 -1.17105768e-03 -4.58477709e+00] [-1.45858976e-02 2.35289606e-04 9.99893592e-01 -3.40617815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244391418 meters 0.017402508517245258 Centerline is valid? [True, True] Translation: X:167.87, Y:-4.59, Z:-3.40 [[ 9.97977485e-01 6.12089489e-02 1.71582156e-02 1.67865289e+02] [-6.11942635e-02 9.98124921e-01 -1.38009728e-03 -4.58764890e+00] [-1.72105169e-02 3.27321646e-04 9.99851835e-01 -3.40349991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304391418 meters 0.018662113676494216 Centerline is valid? [True, True] Translation: X:167.92, Y:-4.59, Z:-3.40 [[ 9.98073862e-01 5.91003617e-02 1.88603589e-02 1.67922860e+02] [-5.90822748e-02 9.98251967e-01 -1.51524724e-03 -4.59336425e+00] [-1.89169420e-02 3.98015763e-04 9.99820979e-01 -3.40310088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364391418 meters 0.02041992182174133 Centerline is valid? [True, True] Translation: X:167.98, Y:-4.60, Z:-3.40 [[ 9.98260166e-01 5.54311399e-02 2.01004672e-02 1.67981544e+02] [-5.54098949e-02 9.98462389e-01 -1.61277116e-03 -4.60106972e+00] [-2.01589582e-02 4.96200429e-04 9.99796664e-01 -3.40338858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424391418 meters 0.021365045541165285 Centerline is valid? [True, True] Translation: X:168.04, Y:-4.61, Z:-3.41 [[ 9.98338914e-01 5.40193916e-02 2.00329276e-02 1.68040855e+02] [-5.39980286e-02 9.98539750e-01 -1.60618258e-03 -4.60759802e+00] [-2.00904395e-02 5.21775976e-04 9.99798031e-01 -3.40500860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48439141799997 meters 0.0205177235462561 Centerline is valid? [True, True] Translation: X:168.10, Y:-4.61, Z:-3.41 [[ 9.98303404e-01 5.50024759e-02 1.91060748e-02 1.68100179e+02] [-5.49832376e-02 9.98486104e-01 -1.53116895e-03 -4.61050841e+00] [-1.91613682e-02 4.78057321e-04 9.99816290e-01 -3.40736365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54439141799998 meters 0.019519320792935006 Centerline is valid? [True, True] Translation: X:168.16, Y:-4.61, Z:-3.41 [[ 9.98172391e-01 5.77938059e-02 1.76565529e-02 1.68159447e+02] [-5.77778239e-02 9.98328464e-01 -1.41436886e-03 -4.61325992e+00] [-1.77087811e-02 3.91626743e-04 9.99843111e-01 -3.41016224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60439141799998 meters 0.01779998315908426 Centerline is valid? [True, True] Translation: X:168.22, Y:-4.61, Z:-3.41 [[ 9.97900183e-01 6.27008121e-02 1.62429493e-02 1.68217578e+02] [-6.26879422e-02 9.98032329e-01 -1.30077847e-03 -4.61353719e+00] [-1.62925484e-02 2.79810005e-04 9.99867228e-01 -3.41384238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66439141799998 meters 0.016955030807732953 Centerline is valid? [True, True] Translation: X:168.28, Y:-4.62, Z:-3.41 [[ 9.97667303e-01 6.61342019e-02 1.69180444e-02 1.68276251e+02] [-6.61207610e-02 9.97810710e-01 -1.35320963e-03 -4.61557481e+00] [-1.69704993e-02 2.31419029e-04 9.99855964e-01 -3.41494460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72439141799998 meters 0.01508999400992436 Centerline is valid? [True, True] Translation: X:168.33, Y:-4.61, Z:-3.41 [[ 9.97127447e-01 7.34183937e-02 1.86170579e-02 1.68334108e+02] [-7.34034169e-02 9.97301221e-01 -1.48745662e-03 -4.61294986e+00] [-1.86760212e-02 1.16628158e-04 9.99825581e-01 -3.41476116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78439141799998 meters 0.01449798095674094 Centerline is valid? [True, True] Translation: X:168.39, Y:-4.61, Z:-3.41 [[ 9.96520995e-01 8.10112280e-02 1.95726442e-02 1.68393771e+02] [-8.09961794e-02 9.96713188e-01 -1.56167866e-03 -4.61056734e+00] [-1.96348261e-02 -2.90638223e-05 9.99807218e-01 -3.41444869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844391418 meters 0.01472784826813481 Centerline is valid? [True, True] Translation: X:168.45, Y:-4.61, Z:-3.42 [[ 9.96378791e-01 8.27540591e-02 1.95210358e-02 1.68452222e+02] [-8.27394545e-02 9.96569998e-01 -1.55601040e-03 -4.61368249e+00] [-1.95828448e-02 -6.47840893e-05 9.99808236e-01 -3.41560528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904391418 meters 0.014816610568514263 Centerline is valid? [True, True] Translation: X:168.51, Y:-4.62, Z:-3.42 [[ 9.96352794e-01 8.31505173e-02 1.91599012e-02 1.68509526e+02] [-8.31365496e-02 9.96536997e-01 -1.52575380e-03 -4.62008927e+00] [-1.92204176e-02 -7.26990073e-05 9.99815268e-01 -3.41670528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964391418 meters 0.014519229538691449 Centerline is valid? [True, True] Translation: X:168.57, Y:-4.63, Z:-3.42 [[ 9.96603726e-01 8.00336892e-02 1.93809658e-02 1.68567577e+02] [-8.00188552e-02 9.96792159e-01 -1.54092722e-03 -4.63083506e+00] [-1.94421209e-02 -1.51488920e-05 9.99810984e-01 -3.41762157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024391418 meters 0.014748077138856277 Centerline is valid? [True, True] Translation: X:168.63, Y:-4.64, Z:-3.42 [[ 9.96993206e-01 7.50390917e-02 1.93308608e-02 1.68625865e+02] [-7.50234259e-02 9.97180590e-01 -1.53535742e-03 -4.64368614e+00] [-1.93915710e-02 8.04735130e-05 9.99811963e-01 -3.41902080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084391418 meters 0.017281456421593372 Centerline is valid? [True, True] Translation: X:168.68, Y:-4.66, Z:-3.42 [[ 9.97686925e-01 6.56160860e-02 1.77575278e-02 1.68683403e+02] [-6.56013978e-02 9.97844913e-01 -1.40902674e-03 -4.66111341e+00] [-1.78117136e-02 2.40848908e-04 9.99841330e-01 -3.42116858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144391418 meters 0.021086205679145657 Centerline is valid? [True, True] Translation: X:168.74, Y:-4.68, Z:-3.42 [[ 9.98258962e-01 5.65651702e-02 1.67160705e-02 1.68742028e+02] [-5.65509098e-02 9.98398838e-01 -1.32493468e-03 -4.67714481e+00] [-1.67642505e-02 3.77318919e-04 9.99859399e-01 -3.42353226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20439141799997 meters 0.024259760403841202 Centerline is valid? [True, True] Translation: X:168.80, Y:-4.69, Z:-3.42 [[ 9.98523282e-01 5.16106390e-02 1.69586995e-02 1.68800829e+02] [-5.15952598e-02 9.98667174e-01 -1.34343110e-03 -4.68895488e+00] [-1.70054318e-02 4.66458723e-04 9.99855288e-01 -3.42444100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26439141799997 meters 0.02822440814061949 Centerline is valid? [True, True] Translation: X:168.86, Y:-4.70, Z:-3.42 [[ 9.98758489e-01 4.62108044e-02 1.86022327e-02 1.68858961e+02] [-4.61913820e-02 9.98931523e-01 -1.47263723e-03 -4.70163050e+00] [-1.86504084e-02 6.11546096e-04 9.99825879e-01 -3.42394869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32439141799998 meters 0.030382178871397665 Centerline is valid? [True, True] Translation: X:168.92, Y:-4.71, Z:-3.42 [[ 9.98859000e-01 4.36536169e-02 1.93664613e-02 1.68919705e+02] [-4.36320733e-02 9.99046490e-01 -1.53376466e-03 -4.71051525e+00] [-1.94149496e-02 6.87015771e-04 9.99811276e-01 -3.42491751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38439141799998 meters 0.029822923584763163 Centerline is valid? [True, True] Translation: X:168.98, Y:-4.72, Z:-3.43 [[ 9.98899650e-01 4.19799648e-02 2.09086683e-02 1.68980513e+02] [-4.19544678e-02 9.99118150e-01 -1.65680368e-03 -4.71556003e+00] [-2.09597825e-02 7.77768567e-04 9.99780017e-01 -3.42580748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44439141799998 meters 0.031406963839554256 Centerline is valid? [True, True] Translation: X:169.04, Y:-4.72, Z:-3.43 [[ 9.98937013e-01 4.13461296e-02 2.03799281e-02 1.69041561e+02] [-4.13217580e-02 9.99144585e-01 -1.61570733e-03 -4.72153744e+00] [-2.04292981e-02 7.71855394e-04 9.99791002e-01 -3.42872792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50439141799998 meters 0.029430136498097486 Centerline is valid? [True, True] Translation: X:169.10, Y:-4.72, Z:-3.43 [[ 9.98878143e-01 4.26462098e-02 2.05853269e-02 1.69104136e+02] [-4.26215056e-02 9.99089949e-01 -1.63753556e-03 -4.72221848e+00] [-2.06364279e-02 7.58320858e-04 9.99786759e-01 -3.42940378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56439141799999 meters 0.026689521114514524 Centerline is valid? [True, True] Translation: X:169.17, Y:-4.72, Z:-3.43 [[ 9.98743158e-01 4.56351031e-02 2.07253686e-02 1.69166026e+02] [-4.56105784e-02 9.98957926e-01 -1.65472674e-03 -4.71778994e+00] [-2.07792849e-02 7.07350955e-04 9.99783837e-01 -3.43071955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624391418 meters 0.025477984845897743 Centerline is valid? [True, True] Translation: X:169.23, Y:-4.72, Z:-3.43 [[ 9.98698299e-01 4.69753761e-02 1.98751561e-02 1.69226930e+02] [-4.69530705e-02 9.98895835e-01 -1.58770349e-03 -4.71765602e+00] [-1.99277936e-02 6.52437164e-04 9.99801209e-01 -3.43195281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684391418 meters 0.02479142202417337 Centerline is valid? [True, True] Translation: X:169.29, Y:-4.72, Z:-3.43 [[ 9.98703929e-01 4.71110284e-02 1.92616794e-02 1.69287734e+02] [-4.70900957e-02 9.98889460e-01 -1.53912507e-03 -4.71647242e+00] [-1.93127983e-02 6.30095928e-04 9.99813292e-01 -3.43294626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744391418 meters 0.02579767032682164 Centerline is valid? [True, True] Translation: X:169.35, Y:-4.72, Z:-3.43 [[ 9.98795588e-01 4.55007573e-02 1.83590605e-02 1.69348138e+02] [-4.54814690e-02 9.98964105e-01 -1.46700034e-03 -4.71952300e+00] [-1.84067920e-02 6.30236427e-04 9.99830382e-01 -3.43421028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804391418 meters 0.027410956538990755 Centerline is valid? [True, True] Translation: X:169.41, Y:-4.72, Z:-3.44 [[ 9.98992378e-01 4.17766960e-02 1.63992975e-02 1.69408951e+02] [-4.17608094e-02 9.99126778e-01 -1.31014298e-03 -4.72214900e+00] [-1.64397107e-02 6.23974920e-04 9.99864664e-01 -3.43644328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864391418 meters 0.030417609061069835 Centerline is valid? [True, True] Translation: X:169.47, Y:-4.73, Z:-3.44 [[ 9.99198989e-01 3.74391913e-02 1.41310601e-02 1.69469203e+02] [-3.74269467e-02 9.99298727e-01 -1.13005558e-03 -4.72611444e+00] [-1.41634587e-02 6.00267965e-04 9.99899513e-01 -3.43847862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924391418 meters 0.031555271923579285 Centerline is valid? [True, True] Translation: X:169.53, Y:-4.73, Z:-3.44 [[ 9.99242866e-01 3.63248252e-02 1.39356590e-02 1.69529351e+02] [-3.63128088e-02 9.99339851e-01 -1.11442943e-03 -4.72940504e+00] [-1.39669408e-02 6.07542739e-04 9.99902273e-01 -3.43918113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98439141799997 meters 0.03196279165062337 Centerline is valid? [True, True] Translation: X:169.59, Y:-4.73, Z:-3.44 [[ 9.99221387e-01 3.72266789e-02 1.30687861e-02 1.69588707e+02] [-3.72161843e-02 9.99306691e-01 -1.04539106e-03 -4.72907806e+00] [-1.30986419e-02 5.58206754e-04 9.99914053e-01 -3.43966601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04439141799998 meters 0.031106258036344776 Centerline is valid? [True, True] Translation: X:169.65, Y:-4.73, Z:-3.44 [[ 9.99132834e-01 3.96883411e-02 1.25863400e-02 1.69648654e+02] [-3.96788079e-02 9.99211979e-01 -1.00634185e-03 -4.72809868e+00] [-1.26163617e-02 5.06058219e-04 9.99920282e-01 -3.44058778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10439141799998 meters 0.028799774497682295 Centerline is valid? [True, True] Translation: X:169.71, Y:-4.72, Z:-3.44 [[ 9.98890082e-01 4.50812455e-02 1.36486067e-02 1.69708605e+02] [-4.50705456e-02 9.98983211e-01 -1.09068710e-03 -4.72335285e+00] [-1.36838985e-02 4.74326375e-04 9.99906259e-01 -3.43999812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16439141799998 meters 0.025486030342982358 Centerline is valid? [True, True] Translation: X:169.77, Y:-4.72, Z:-3.44 [[ 9.98512122e-01 5.28187412e-02 1.35544251e-02 1.69769951e+02] [-5.28089100e-02 9.98604049e-01 -1.08245707e-03 -4.71508508e+00] [-1.35926778e-02 3.65052094e-04 9.99907549e-01 -3.44141405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22439141799998 meters 0.022780376357746535 Centerline is valid? [True, True] Translation: X:169.83, Y:-4.71, Z:-3.44 [[ 9.98306768e-01 5.66736841e-02 1.31030855e-02 1.69829135e+02] [-5.66648236e-02 9.98392709e-01 -1.04678821e-03 -4.71272750e+00] [-1.31413504e-02 3.02531731e-04 9.99913603e-01 -3.44365198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28439141799998 meters 0.020768568921005162 Centerline is valid? [True, True] Translation: X:169.89, Y:-4.71, Z:-3.45 [[ 9.98074983e-01 6.08842487e-02 1.18083460e-02 1.69887057e+02] [-6.08773539e-02 9.98144809e-01 -9.42793364e-04 -4.70949567e+00] [-1.18438405e-02 2.22117614e-04 9.99929835e-01 -3.44669161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344391418 meters 0.020484642340912688 Centerline is valid? [True, True] Translation: X:169.95, Y:-4.71, Z:-3.45 [[ 9.98023099e-01 6.19069822e-02 1.08360267e-02 1.69946055e+02] [-6.19012472e-02 9.98081905e-01 -8.64174465e-04 -4.71013474e+00] [-1.08687406e-02 1.91702512e-04 9.99940915e-01 -3.44864781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404391418 meters 0.01887088526288852 Centerline is valid? [True, True] Translation: X:170.00, Y:-4.71, Z:-3.45 [[ 9.98048709e-01 6.16048420e-02 1.01792757e-02 1.70004660e+02] [-6.15997710e-02 9.98100601e-01 -8.11254162e-04 -4.70972078e+00] [-1.02099184e-02 1.82630116e-04 9.99947861e-01 -3.44793620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464391418 meters 0.019167951431537253 Centerline is valid? [True, True] Translation: X:170.06, Y:-4.71, Z:-3.45 [[ 9.98123380e-01 6.04730707e-02 9.62942505e-03 1.70063674e+02] [-6.04684862e-02 9.98169812e-01 -7.66795694e-04 -4.71215654e+00] [-9.65817189e-03 1.83079954e-04 9.99953342e-01 -3.44874081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524391418 meters 0.019589943136307564 Centerline is valid? [True, True] Translation: X:170.12, Y:-4.72, Z:-3.45 [[ 9.98197485e-01 5.91832114e-02 9.95636549e-03 1.70122208e+02] [-5.91782545e-02 9.98247117e-01 -7.91997353e-04 -4.71691871e+00] [-9.98578610e-03 2.01369435e-04 9.99950121e-01 -3.45022402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584391418 meters 0.02101840362404049 Centerline is valid? [True, True] Translation: X:170.18, Y:-4.72, Z:-3.45 [[ 9.98375917e-01 5.60043508e-02 1.04422586e-02 1.70180187e+02] [-5.59987317e-02 9.98430495e-01 -8.29954732e-04 -4.72273746e+00] [-1.04723505e-02 2.43853578e-04 9.99945134e-01 -3.45113806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644391418 meters 0.022476937402956795 Centerline is valid? [True, True] Translation: X:170.24, Y:-4.73, Z:-3.45 [[ 9.98551907e-01 5.27741939e-02 1.04390567e-02 1.70238413e+02] [-5.27684143e-02 9.98606433e-01 -8.28502454e-04 -4.72843690e+00] [-1.04682328e-02 2.76450235e-04 9.99945168e-01 -3.45260681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70439141799997 meters 0.02364037814831823 Centerline is valid? [True, True] Translation: X:170.30, Y:-4.73, Z:-3.45 [[ 9.98635139e-01 5.10942797e-02 1.08274691e-02 1.70296539e+02] [-5.10879730e-02 9.98693788e-01 -8.58432031e-04 -4.73431605e+00] [-1.08571871e-02 3.04106941e-04 9.99941013e-01 -3.45400028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76439141799997 meters 0.023782596229336067 Centerline is valid? [True, True] Translation: X:170.36, Y:-4.74, Z:-3.46 [[ 9.98622725e-01 5.13083136e-02 1.09594929e-02 1.70355088e+02] [-5.13018745e-02 9.98682815e-01 -8.68044444e-04 -4.73819582e+00] [-1.09895951e-02 3.04606379e-04 9.99939566e-01 -3.45555217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82439141799998 meters 0.01982433598884687 Centerline is valid? [True, True] Translation: X:170.41, Y:-4.73, Z:-3.46 [[ 9.98404032e-01 5.52063757e-02 1.19014628e-02 1.70414656e+02] [-5.51990703e-02 9.98474925e-01 -9.41688336e-04 -4.73429466e+00] [-1.19352994e-02 2.83235748e-04 9.99928732e-01 -3.45500349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88439141799998 meters 0.017780595524114477 Centerline is valid? [True, True] Translation: X:170.47, Y:-4.73, Z:-3.46 [[ 9.98104561e-01 6.00679742e-02 1.33837074e-02 1.70473729e+02] [-6.00591896e-02 9.98194257e-01 -1.05769199e-03 -4.73340699e+00] [-1.34230733e-02 2.51872585e-04 9.99909875e-01 -3.45562284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94439141799998 meters 0.01640707006524547 Centerline is valid? [True, True] Translation: X:170.53, Y:-4.73, Z:-3.46 [[ 9.97691379e-01 6.66076554e-02 1.32413536e-02 1.70531893e+02] [-6.65996446e-02 9.97779231e-01 -1.04550939e-03 -4.73297569e+00] [-1.32815866e-02 1.61226264e-04 9.99911783e-01 -3.45881941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00439141799998 meters 0.015613647330449265 Centerline is valid? [True, True] Translation: X:170.59, Y:-4.74, Z:-3.46 [[ 9.97513497e-01 6.93758122e-02 1.24024093e-02 1.70590876e+02] [-6.93690143e-02 9.97590589e-01 -9.77983908e-04 -4.73502116e+00] [-1.24403752e-02 1.15209240e-04 9.99922609e-01 -3.46139084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06439141799999 meters 0.015372377115876936 Centerline is valid? [True, True] Translation: X:170.65, Y:-4.74, Z:-3.46 [[ 9.97428285e-01 7.06821885e-02 1.18677984e-02 1.70649161e+02] [-7.06760667e-02 9.97498882e-01 -9.34964593e-04 -4.73804024e+00] [-1.19042010e-02 9.37908202e-05 9.99929138e-01 -3.46366169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124391418 meters 0.01525958374913648 Centerline is valid? [True, True] Translation: X:170.71, Y:-4.74, Z:-3.47 [[ 9.97463898e-01 7.02460810e-02 1.14568929e-02 1.70707355e+02] [-7.02403570e-02 9.97529688e-01 -9.01729209e-04 -4.74362171e+00] [-1.14919338e-02 9.47060831e-05 9.99933961e-01 -3.46579558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184391418 meters 0.01656317107260441 Centerline is valid? [True, True] Translation: X:170.77, Y:-4.75, Z:-3.47 [[ 9.97476979e-01 7.02123975e-02 1.04831017e-02 1.70765977e+02] [-7.02076106e-02 9.97532061e-01 -8.24388695e-04 -4.74981386e+00] [-1.05151123e-02 8.63152261e-05 9.99944711e-01 -3.46749653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244391418 meters 0.01509976150785322 Centerline is valid? [True, True] Translation: X:170.82, Y:-4.76, Z:-3.47 [[ 9.97407703e-01 7.09575634e-02 1.19540226e-02 1.70823226e+02] [-7.09514050e-02 9.97479331e-01 -9.39016371e-04 -4.75505025e+00] [-1.19905208e-02 8.84274617e-05 9.99928107e-01 -3.46808090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304391418 meters 0.014761617772338052 Centerline is valid? [True, True] Translation: X:170.88, Y:-4.76, Z:-3.47 [[ 9.97313450e-01 7.22103045e-02 1.23107551e-02 1.70881868e+02] [-7.22038862e-02 9.97389426e-01 -9.65598642e-04 -4.76059150e+00] [-1.23483431e-02 7.41201544e-05 9.99923754e-01 -3.46918504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364391418 meters 0.01428491927579904 Centerline is valid? [True, True] Translation: X:170.94, Y:-4.77, Z:-3.47 [[ 9.97221440e-01 7.32025101e-02 1.38127388e-02 1.70940296e+02] [-7.31945430e-02 9.97317095e-01 -1.08213188e-03 -4.76734180e+00] [-1.38548953e-02 6.81080104e-05 9.99904014e-01 -3.46865739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424391418 meters 0.014514880631541138 Centerline is valid? [True, True] Translation: X:171.00, Y:-4.78, Z:-3.47 [[ 9.97299782e-01 7.22007690e-02 1.34236598e-02 1.70997093e+02] [-7.21931619e-02 9.97390116e-01 -1.05103835e-03 -4.77638153e+00] [-1.34645114e-02 7.91038740e-05 9.99909346e-01 -3.47041589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48439141799997 meters 0.01479701613792927 Centerline is valid? [True, True] Translation: X:171.05, Y:-4.79, Z:-3.47 [[ 9.97473268e-01 6.99242944e-02 1.25567685e-02 1.71054834e+02] [-6.99174827e-02 9.97552296e-01 -9.81184197e-04 -4.78578546e+00] [-1.25946418e-02 1.00767365e-04 9.99920679e-01 -3.47288462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54439141799998 meters 0.015907668680008407 Centerline is valid? [True, True] Translation: X:171.11, Y:-4.80, Z:-3.47 [[ 9.97812899e-01 6.49906382e-02 1.20679247e-02 1.71113106e+02] [-6.49840009e-02 9.97885862e-01 -9.41722856e-04 -4.79961510e+00] [-1.21036147e-02 1.55441181e-04 9.99926736e-01 -3.47498901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60439141799998 meters 0.017056699305644386 Centerline is valid? [True, True] Translation: X:171.17, Y:-4.81, Z:-3.48 [[ 9.98027023e-01 6.15459856e-02 1.24158466e-02 1.71171598e+02] [-6.15387064e-02 9.98104228e-01 -9.67838911e-04 -4.80967649e+00] [-1.24518756e-02 2.01874249e-04 9.99922452e-01 -3.47600659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66439141799998 meters 0.01902072393865593 Centerline is valid? [True, True] Translation: X:171.23, Y:-4.82, Z:-3.48 [[ 9.98284831e-01 5.70497423e-02 1.31424035e-02 1.71228739e+02] [-5.70412096e-02 9.98371300e-01 -1.02348780e-03 -4.82140294e+00] [-1.31793882e-02 2.72073747e-04 9.99913111e-01 -3.47706394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72439141799998 meters 0.020827304267640564 Centerline is valid? [True, True] Translation: X:171.29, Y:-4.83, Z:-3.48 [[ 9.98430958e-01 5.39419527e-02 1.50295514e-02 1.71286931e+02] [-5.39304691e-02 9.98544009e-01 -1.16861519e-03 -4.83163832e+00] [-1.50707059e-02 3.56230825e-04 9.99886367e-01 -3.47706750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78439141799998 meters 0.02239994715613251 Centerline is valid? [True, True] Translation: X:171.34, Y:-4.84, Z:-3.48 [[ 9.98533956e-01 5.18295180e-02 1.56089334e-02 1.71344831e+02] [-5.18168919e-02 9.98655866e-01 -1.21251614e-03 -4.83962346e+00] [-1.56507970e-02 4.01932125e-04 9.99877438e-01 -3.47805491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844391418 meters 0.025108526276600568 Centerline is valid? [True, True] Translation: X:171.40, Y:-4.85, Z:-3.48 [[ 9.98719554e-01 4.81193100e-02 1.56136126e-02 1.71402263e+02] [-4.81062513e-02 9.98841490e-01 -1.21108892e-03 -4.84933658e+00] [-1.56538008e-02 4.58425813e-04 9.99877367e-01 -3.47965934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904391418 meters 0.028086544733335973 Centerline is valid? [True, True] Translation: X:171.46, Y:-4.86, Z:-3.48 [[ 9.98898948e-01 4.40796304e-02 1.60586038e-02 1.71461298e+02] [-4.40653002e-02 9.99027877e-01 -1.24528576e-03 -4.85953028e+00] [-1.60978846e-02 5.36287435e-04 9.99870277e-01 -3.48094992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964391418 meters 0.024660600548773032 Centerline is valid? [True, True] Translation: X:171.52, Y:-4.86, Z:-3.48 [[ 9.99153606e-01 3.77527828e-02 1.63339738e-02 1.71521898e+02] [-3.77371247e-02 9.99286899e-01 -1.26588975e-03 -4.86038048e+00] [-1.63701169e-02 6.48421099e-04 9.99865790e-01 -3.48137090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024391418 meters 0.031886368775804697 Centerline is valid? [True, True] Translation: X:171.58, Y:-4.87, Z:-3.48 [[ 9.99339777e-01 3.26770467e-02 1.58814850e-02 1.71581092e+02] [-3.26616043e-02 9.99465710e-01 -1.23082168e-03 -4.87447678e+00] [-1.59132193e-02 7.11294282e-04 9.99873124e-01 -3.48325223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084391418 meters 0.03173765233586099 Centerline is valid? [True, True] Translation: X:171.64, Y:-4.88, Z:-3.48 [[ 9.99407145e-01 3.06099053e-02 1.57604767e-02 1.71642482e+02] [-3.05944438e-02 9.99531134e-01 -1.22125576e-03 -4.87837858e+00] [-1.57904697e-02 7.38348710e-04 9.99875050e-01 -3.48478778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144391418 meters 0.02994662810418058 Centerline is valid? [True, True] Translation: X:171.70, Y:-4.88, Z:-3.49 [[ 9.99453177e-01 2.92494208e-02 1.54213627e-02 1.71703701e+02] [-2.92344470e-02 9.99571867e-01 -1.19556262e-03 -4.87888475e+00] [-1.54497298e-02 7.44073845e-04 9.99880369e-01 -3.48570188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20439141799997 meters 0.03177463047200107 Centerline is valid? [True, True] Translation: X:171.76, Y:-4.88, Z:-3.49 [[ 9.99455262e-01 2.90305070e-02 1.56974155e-02 1.71764093e+02] [-2.90149533e-02 9.99578236e-01 -1.21773023e-03 -4.88380234e+00] [-1.57261462e-02 7.61607106e-04 9.99876046e-01 -3.48708374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26439141799997 meters 0.03094140348460779 Centerline is valid? [True, True] Translation: X:171.83, Y:-4.88, Z:-3.49 [[ 9.99463259e-01 2.87026722e-02 1.57908470e-02 1.71825816e+02] [-2.86868884e-02 9.99587696e-01 -1.22520348e-03 -4.88334013e+00] [-1.58195029e-02 7.71555600e-04 9.99874566e-01 -3.48789076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32439141799998 meters 0.030721768526741907 Centerline is valid? [True, True] Translation: X:171.89, Y:-4.89, Z:-3.49 [[ 9.99437656e-01 2.91098605e-02 1.66429631e-02 1.71887183e+02] [-2.90923713e-02 9.99575892e-01 -1.29204683e-03 -4.88544784e+00] [-1.66735160e-02 8.07136990e-04 9.99860661e-01 -3.48873001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38439141799998 meters 0.034526982289656775 Centerline is valid? [True, True] Translation: X:171.95, Y:-4.89, Z:-3.49 [[ 9.99406671e-01 2.94654836e-02 1.78351014e-02 1.71947822e+02] [-2.94454515e-02 9.99565429e-01 -1.38479980e-03 -4.89099868e+00] [-1.78681546e-02 8.58815544e-04 9.99839983e-01 -3.48924008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44439141799998 meters 0.03017595428692971 Centerline is valid? [True, True] Translation: X:172.01, Y:-4.89, Z:-3.49 [[ 9.99413803e-01 2.88941669e-02 1.83623967e-02 1.72010012e+02] [-2.88727367e-02 9.99582071e-01 -1.43116552e-03 -4.88690121e+00] [-1.83960749e-02 9.00153931e-04 9.99830373e-01 -3.48942447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50439141799998 meters 0.03241834781163076 Centerline is valid? [True, True] Translation: X:172.07, Y:-4.89, Z:-3.49 [[ 9.99478859e-01 2.72097594e-02 1.73677789e-02 1.72071240e+02] [-2.71903349e-02 9.99629358e-01 -1.35361990e-03 -4.89129125e+00] [-1.73981733e-02 8.80678743e-04 9.99848252e-01 -3.49209387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56439141799999 meters 0.03398418497698323 Centerline is valid? [True, True] Translation: X:172.13, Y:-4.89, Z:-3.50 [[ 9.99564679e-01 2.51836721e-02 1.53699398e-02 1.72133148e+02] [-2.51681535e-02 9.99682509e-01 -1.20230036e-03 -4.89383925e+00] [-1.53953383e-02 8.14943970e-04 9.99881153e-01 -3.49500480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624391418 meters 0.03333980597658074 Centerline is valid? [True, True] Translation: X:172.19, Y:-4.89, Z:-3.50 [[ 9.99573315e-01 2.50348616e-02 1.50480392e-02 1.72194757e+02] [-2.50199483e-02 9.99686257e-01 -1.17852294e-03 -4.89412148e+00] [-1.50728222e-02 8.01518924e-04 9.99886077e-01 -3.49597405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684391418 meters 0.03503763612591613 Centerline is valid? [True, True] Translation: X:172.26, Y:-4.90, Z:-3.50 [[ 9.99517637e-01 2.66496124e-02 1.59465138e-02 1.72255296e+02] [-2.66330571e-02 9.99644496e-01 -1.24968416e-03 -4.89668451e+00] [-1.59741484e-02 8.24376948e-04 9.99872065e-01 -3.49638820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744391418 meters 0.03446690060876381 Centerline is valid? [True, True] Translation: X:172.32, Y:-4.90, Z:-3.50 [[ 9.99424290e-01 2.94071122e-02 1.69207280e-02 1.72316691e+02] [-2.93888599e-02 9.99567174e-01 -1.32639734e-03 -4.89616314e+00] [-1.69524098e-02 8.28352813e-04 9.99855954e-01 -3.49656566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804391418 meters 0.03326553437952228 Centerline is valid? [True, True] Translation: X:172.38, Y:-4.89, Z:-3.50 [[ 9.99325854e-01 3.26422154e-02 1.68024931e-02 1.72377900e+02] [-3.26246680e-02 9.99466806e-01 -1.31745135e-03 -4.89454586e+00] [-1.68365386e-02 7.68387433e-04 9.99857960e-01 -3.49764249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864391418 meters 0.03237264840145802 Centerline is valid? [True, True] Translation: X:172.44, Y:-4.89, Z:-3.50 [[ 9.99234136e-01 3.55208329e-02 1.64137877e-02 1.72438883e+02] [-3.55044694e-02 9.99368688e-01 -1.28735498e-03 -4.89233563e+00] [-1.64491534e-02 7.03606222e-04 9.99864456e-01 -3.49924343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924391418 meters 0.02934322222333958 Centerline is valid? [True, True] Translation: X:172.50, Y:-4.89, Z:-3.50 [[ 9.99246662e-01 3.56319858e-02 1.53775803e-02 1.72499194e+02] [-3.56176334e-02 9.99364763e-01 -1.20628630e-03 -4.88848046e+00] [-1.54107943e-02 6.57664543e-04 9.99881030e-01 -3.50033118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98439141799997 meters 0.026353241364541036 Centerline is valid? [True, True] Translation: X:172.56, Y:-4.89, Z:-3.50 [[ 9.99272330e-01 3.52085858e-02 1.46685209e-02 1.72558181e+02] [-3.51954852e-02 9.99379785e-01 -1.15038352e-03 -4.88637373e+00] [-1.46999267e-02 6.33280706e-04 9.99891750e-01 -3.50136751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04439141799998 meters 0.027122404409375037 Centerline is valid? [True, True] Translation: X:172.62, Y:-4.89, Z:-3.50 [[ 9.99278620e-01 3.56035580e-02 1.32146050e-02 1.72615874e+02] [-3.55929710e-02 9.99365833e-01 -1.03555569e-03 -4.88708028e+00] [-1.32430942e-02 5.64461605e-04 9.99912147e-01 -3.50271548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10439141799998 meters 0.02678413945776996 Centerline is valid? [True, True] Translation: X:172.67, Y:-4.89, Z:-3.50 [[ 9.99236085e-01 3.69363887e-02 1.27651530e-02 1.72674649e+02] [-3.69266364e-02 9.99317480e-01 -9.98916685e-04 -4.88855715e+00] [-1.27933369e-02 5.26779437e-04 9.99918023e-01 -3.50412088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16439141799998 meters 0.026065014577019537 Centerline is valid? [True, True] Translation: X:172.73, Y:-4.89, Z:-3.51 [[ 9.99123046e-01 4.00017724e-02 1.23692304e-02 1.72733730e+02] [-3.99928643e-02 9.99199498e-01 -9.66799900e-04 -4.88788247e+00] [-1.23980025e-02 4.71271109e-04 9.99923031e-01 -3.50508914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22439141799998 meters 0.024275127764431116 Centerline is valid? [True, True] Translation: X:172.79, Y:-4.89, Z:-3.51 [[ 9.98908248e-01 4.49882878e-02 1.25843384e-02 1.72793508e+02] [-4.49794741e-02 9.98987428e-01 -9.82668195e-04 -4.88502548e+00] [-1.26158044e-02 4.15558444e-04 9.99920331e-01 -3.50519155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28439141799998 meters 0.021956088561815478 Centerline is valid? [True, True] Translation: X:172.85, Y:-4.88, Z:-3.51 [[ 9.98720858e-01 4.90189885e-02 1.24010332e-02 1.72853262e+02] [-4.90107439e-02 9.98797782e-01 -9.68041465e-04 -4.88318916e+00] [-1.24335769e-02 3.59019339e-04 9.99922636e-01 -3.50571768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344391418 meters 0.018726976794341835 Centerline is valid? [True, True] Translation: X:172.91, Y:-4.88, Z:-3.51 [[ 9.98481278e-01 5.40296869e-02 1.07670538e-02 1.72912638e+02] [-5.40237657e-02 9.98539297e-01 -8.40235290e-04 -4.87913924e+00] [-1.07967240e-02 2.57282416e-04 9.99941681e-01 -3.50630897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404391418 meters 0.017804216684823404 Centerline is valid? [True, True] Translation: X:172.97, Y:-4.88, Z:-3.51 [[ 9.98345730e-01 5.66563383e-02 9.79096331e-03 1.72971583e+02] [-5.66515748e-02 9.98393718e-01 -7.63402214e-04 -4.88044759e+00] [-9.81848783e-03 2.07465850e-04 9.99951776e-01 -3.50774348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464391418 meters 0.017169670337265137 Centerline is valid? [True, True] Translation: X:173.03, Y:-4.88, Z:-3.51 [[ 9.98185520e-01 5.94884232e-02 9.31642721e-03 1.73029657e+02] [-5.94842380e-02 9.98228981e-01 -7.25930908e-04 -4.88231531e+00] [-9.34311212e-03 1.70433147e-04 9.99956338e-01 -3.50897807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524391418 meters 0.01721742285970436 Centerline is valid? [True, True] Translation: X:173.09, Y:-4.89, Z:-3.51 [[ 9.98052024e-01 6.17083236e-02 9.17821809e-03 1.73088621e+02] [-6.17043657e-02 9.98094215e-01 -7.14048311e-04 -4.88511404e+00] [-9.20478910e-03 1.46321236e-04 9.99957624e-01 -3.50984760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584391418 meters 0.01578172113105895 Centerline is valid? [True, True] Translation: X:173.15, Y:-4.89, Z:-3.51 [[ 9.98065720e-01 6.14990159e-02 9.09335132e-03 1.73146522e+02] [-6.14951242e-02 9.98107133e-01 -7.07231537e-04 -4.88927076e+00] [-9.11963286e-03 1.46666785e-04 9.99958405e-01 -3.50981736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644391418 meters 0.0163812843980928 Centerline is valid? [True, True] Translation: X:173.20, Y:-4.90, Z:-3.51 [[ 9.98207001e-01 5.92463890e-02 8.52336569e-03 1.73204848e+02] [-5.92428998e-02 9.98243378e-01 -6.61491844e-04 -4.89745063e+00] [-8.54758436e-03 1.55356890e-04 9.99963457e-01 -3.51123898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70439141799997 meters 0.017310712721965556 Centerline is valid? [True, True] Translation: X:173.26, Y:-4.91, Z:-3.51 [[ 9.98376051e-01 5.64373212e-02 7.75170857e-03 1.73263501e+02] [-5.64343543e-02 9.98406131e-01 -6.01114060e-04 -4.90591245e+00] [-7.77327863e-03 1.62675214e-04 9.99969774e-01 -3.51307499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76439141799997 meters 0.020251045437566402 Centerline is valid? [True, True] Translation: X:173.32, Y:-4.92, Z:-3.52 [[ 9.98694194e-01 5.04981475e-02 7.73590375e-03 1.73321481e+02] [-5.04950191e-02 9.98724133e-01 -5.99303627e-04 -4.91881382e+00] [-7.75629749e-03 2.07896445e-04 9.99969898e-01 -3.51556009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82439141799998 meters 0.021822100131042042 Centerline is valid? [True, True] Translation: X:173.38, Y:-4.93, Z:-3.52 [[ 9.98900578e-01 4.62474859e-02 7.66845376e-03 1.73380397e+02] [-4.62442961e-02 9.98929984e-01 -5.92858395e-04 -4.92835192e+00] [-7.68766661e-03 2.37584347e-04 9.99970421e-01 -3.51666424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88439141799998 meters 0.02477853241725877 Centerline is valid? [True, True] Translation: X:173.44, Y:-4.94, Z:-3.52 [[ 9.99171145e-01 4.00434765e-02 7.31726018e-03 1.73440011e+02] [-4.00404097e-02 9.99197901e-01 -5.65187291e-04 -4.94029912e+00] [-7.33402308e-03 2.71732738e-04 9.99973069e-01 -3.51878572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94439141799998 meters 0.0262292113745314 Centerline is valid? [True, True] Translation: X:173.50, Y:-4.95, Z:-3.52 [[ 9.99328308e-01 3.58513238e-02 7.59054158e-03 1.73498743e+02] [-3.58479002e-02 9.99357085e-01 -5.86659636e-04 -4.94869533e+00] [-7.60669403e-03 3.14160605e-04 9.99971019e-01 -3.51992417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00439141799998 meters 0.03242209379194708 Centerline is valid? [True, True] Translation: X:173.56, Y:-4.96, Z:-3.52 [[ 9.99520365e-01 2.97506940e-02 8.59863335e-03 1.73556413e+02] [-2.97460855e-02 9.99557267e-01 -6.63383679e-04 -4.96399850e+00] [-8.61456258e-03 4.07289814e-04 9.99962811e-01 -3.52155887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06439141799999 meters 0.03181071652810257 Centerline is valid? [True, True] Translation: X:173.62, Y:-4.97, Z:-3.52 [[ 9.99622516e-01 2.56430927e-02 9.86191395e-03 1.73616537e+02] [-2.56368336e-02 9.99671033e-01 -7.60592514e-04 -4.96828344e+00] [-9.87817365e-03 5.07477156e-04 9.99951081e-01 -3.52104280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124391418 meters 0.037630017863324046 Centerline is valid? [True, True] Translation: X:173.67, Y:-4.98, Z:-3.52 [[ 9.99749633e-01 1.98015971e-02 1.04196075e-02 1.73674672e+02] [-1.97943044e-02 9.99803751e-01 -8.02579058e-04 -4.98104433e+00] [-1.04334550e-02 5.96129237e-04 9.99945392e-01 -3.52326680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184391418 meters 0.046446586175726244 Centerline is valid? [True, True] Translation: X:173.73, Y:-5.00, Z:-3.53 [[ 9.99819708e-01 1.61662545e-02 9.96009579e-03 1.73733864e+02] [-1.61594018e-02 9.99869133e-01 -7.68115239e-04 -4.99692183e+00] [-9.97120989e-03 6.07027564e-04 9.99950102e-01 -3.52695384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244391418 meters 0.041725517264948664 Centerline is valid? [True, True] Translation: X:173.79, Y:-4.99, Z:-3.53 [[ 9.99887385e-01 1.19482971e-02 9.08045424e-03 1.73794608e+02] [-1.19424254e-02 9.99928441e-01 -7.00583793e-04 -4.99395773e+00] [-9.08817524e-03 5.92062250e-04 9.99958526e-01 -3.52800419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304391418 meters 0.04175807345987755 Centerline is valid? [True, True] Translation: X:173.86, Y:-5.00, Z:-3.53 [[ 9.99906908e-01 1.03312622e-02 8.91294745e-03 1.73855975e+02] [-1.03255445e-02 9.99946454e-01 -6.87292227e-04 -4.99671918e+00] [-8.91957080e-03 5.95197210e-04 9.99960043e-01 -3.52928411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364391418 meters 0.04268792360051649 Centerline is valid? [True, True] Translation: X:173.92, Y:-5.00, Z:-3.53 [[ 9.99870910e-01 1.19799986e-02 1.07071460e-02 1.73916441e+02] [-1.19718326e-02 9.99927994e-01 -8.26441189e-04 -5.00043291e+00] [-1.07162758e-02 6.98150344e-04 9.99942335e-01 -3.52933638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424391418 meters 0.0382645285687873 Centerline is valid? [True, True] Translation: X:173.98, Y:-4.99, Z:-3.53 [[ 9.99733912e-01 1.87045890e-02 1.34997272e-02 1.73978305e+02] [-1.86922128e-02 9.99824742e-01 -1.04237978e-03 -4.99333733e+00] [-1.35168585e-02 7.89762646e-04 9.99908331e-01 -3.52774348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48439141799997 meters 0.03524910601402309 Centerline is valid? [True, True] Translation: X:174.04, Y:-4.99, Z:-3.53 [[ 9.99580209e-01 2.47973642e-02 1.49832383e-02 1.74039292e+02] [-2.47827945e-02 9.99692189e-01 -1.15731667e-03 -4.98935191e+00] [-1.50073247e-02 7.85504325e-04 9.99887075e-01 -3.52799851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54439141799998 meters 0.03237682971398468 Centerline is valid? [True, True] Translation: X:174.10, Y:-4.99, Z:-3.53 [[ 9.99396909e-01 3.09730361e-02 1.56999964e-02 1.74099849e+02] [-3.09577969e-02 9.99519957e-01 -1.21281989e-03 -4.98651505e+00] [-1.57300245e-02 7.26051151e-04 9.99876012e-01 -3.52939120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60439141799998 meters 0.029865876013659493 Centerline is valid? [True, True] Translation: X:174.16, Y:-4.98, Z:-3.53 [[ 9.99195694e-01 3.64076052e-02 1.68062816e-02 1.74160327e+02] [-3.63909088e-02 9.99336788e-01 -1.29831657e-03 -4.98486648e+00] [-1.68424041e-02 6.85676470e-04 9.99857922e-01 -3.53041272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66439141799998 meters 0.02472262261941832 Centerline is valid? [True, True] Translation: X:174.22, Y:-4.98, Z:-3.53 [[ 9.98913709e-01 4.34670840e-02 1.67932915e-02 1.74221426e+02] [-4.34514193e-02 9.99054700e-01 -1.29671785e-03 -4.97780603e+00] [-1.68337813e-02 5.65616882e-04 9.99858142e-01 -3.53234791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72439141799998 meters 0.022513166350896556 Centerline is valid? [True, True] Translation: X:174.28, Y:-4.98, Z:-3.53 [[ 9.98687796e-01 4.86984251e-02 1.58476996e-02 1.74280295e+02] [-4.86851303e-02 9.98813426e-01 -1.22385692e-03 -4.97655689e+00] [-1.58884951e-02 4.50703651e-04 9.99873668e-01 -3.53497415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78439141799998 meters 0.01691614373562378 Centerline is valid? [True, True] Translation: X:174.34, Y:-4.97, Z:-3.54 [[ 9.98227311e-01 5.77004095e-02 1.45910026e-02 1.74341321e+02] [-5.76901121e-02 9.98333904e-01 -1.12600982e-03 -4.96849983e+00] [-1.46316639e-02 2.82257178e-04 9.99892912e-01 -3.53779391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844391418 meters 0.014470434465292524 Centerline is valid? [True, True] Translation: X:174.40, Y:-4.96, Z:-3.54 [[ 9.97645565e-01 6.69288991e-02 1.49615933e-02 1.74401564e+02] [-6.69191207e-02 9.97757736e-01 -1.15381607e-03 -4.96381267e+00] [-1.50052691e-02 1.49882815e-04 9.99887403e-01 -3.53871465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904391418 meters 0.013714761243008099 Centerline is valid? [True, True] Translation: X:174.46, Y:-4.96, Z:-3.54 [[ 9.97309093e-01 7.15423828e-02 1.60081504e-02 1.74460735e+02] [-7.15317908e-02 9.97437557e-01 -1.23400364e-03 -4.96361716e+00] [-1.60554140e-02 8.55913784e-05 9.99871100e-01 -3.53944567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964391418 meters 0.01334635562764055 Centerline is valid? [True, True] Translation: X:174.52, Y:-4.97, Z:-3.54 [[ 9.97059420e-01 7.45791343e-02 1.76200102e-02 1.74518423e+02] [-7.45668028e-02 9.97215098e-01 -1.35672275e-03 -4.96551892e+00] [-1.76721234e-02 3.88653720e-05 9.99843835e-01 -3.53963439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024391418 meters 0.01364418918755761 Centerline is valid? [True, True] Translation: X:174.58, Y:-4.97, Z:-3.54 [[ 9.97337767e-01 7.07059302e-02 1.78339362e-02 1.74576917e+02] [-7.06927110e-02 9.97497198e-01 -1.37135724e-03 -4.97429263e+00] [-1.78862645e-02 1.06977069e-04 9.99840022e-01 -3.54083060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084391418 meters 0.014705690241499371 Centerline is valid? [True, True] Translation: X:174.64, Y:-4.99, Z:-3.54 [[ 9.97725486e-01 6.49591103e-02 1.80046638e-02 1.74635256e+02] [-6.49447268e-02 9.97887904e-01 -1.38304352e-03 -4.98511972e+00] [-1.80564775e-02 2.10589800e-04 9.99836946e-01 -3.54266393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144391418 meters 0.0186365878258687 Centerline is valid? [True, True] Translation: X:174.69, Y:-5.00, Z:-3.55 [[ 9.98416197e-01 5.36940856e-02 1.67941446e-02 1.74693762e+02] [-5.36800020e-02 9.98557358e-01 -1.28859791e-03 -5.00263141e+00] [-1.68391067e-02 3.85047310e-04 9.99858138e-01 -3.54588674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20439141799997 meters 0.021144584991346548 Centerline is valid? [True, True] Translation: X:174.75, Y:-5.01, Z:-3.55 [[ 9.98798407e-01 4.62557051e-02 1.61910927e-02 1.74753334e+02] [-4.62416438e-02 9.98929511e-01 -1.24195942e-03 -5.01384339e+00] [-1.62312081e-02 4.91764344e-04 9.99868144e-01 -3.54769484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26439141799997 meters 0.025794590541961305 Centerline is valid? [True, True] Translation: X:174.81, Y:-5.03, Z:-3.55 [[ 9.99173563e-01 3.72843827e-02 1.61884411e-02 1.74813183e+02] [-3.72691562e-02 9.99304493e-01 -1.24135209e-03 -5.02851372e+00] [-1.62234650e-02 6.36996648e-04 9.99868188e-01 -3.54879558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32439141799998 meters 0.026901857464092096 Centerline is valid? [True, True] Translation: X:174.87, Y:-5.04, Z:-3.55 [[ 9.99288453e-01 3.39948245e-02 1.63382940e-02 1.74871932e+02] [-3.39788728e-02 9.99421766e-01 -1.25302391e-03 -5.03571254e+00] [-1.63714429e-02 6.96975510e-04 9.99865736e-01 -3.54928862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38439141799998 meters 0.028823618873508254 Centerline is valid? [True, True] Translation: X:174.93, Y:-5.04, Z:-3.55 [[ 9.99344950e-01 3.24520225e-02 1.60167895e-02 1.74930124e+02] [-3.24365103e-02 9.99473044e-01 -1.22739809e-03 -5.04316465e+00] [-1.60481809e-02 7.07065329e-04 9.99870970e-01 -3.55043817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44439141799998 meters 0.030289499125504646 Centerline is valid? [True, True] Translation: X:174.99, Y:-5.05, Z:-3.55 [[ 9.99358186e-01 3.23973894e-02 1.52848328e-02 1.74988659e+02] [-3.23832698e-02 9.99474839e-01 -1.17043129e-03 -5.04880382e+00] [-1.53147247e-02 6.74707232e-04 9.99882495e-01 -3.55264103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50439141799998 meters 0.027905326159319913 Centerline is valid? [True, True] Translation: X:175.05, Y:-5.05, Z:-3.55 [[ 9.99357978e-01 3.31257531e-02 1.36497709e-02 1.75047359e+02] [-3.31145680e-02 9.99451016e-01 -1.04470084e-03 -5.04873352e+00] [-1.36768839e-02 5.92023850e-04 9.99906292e-01 -3.55492654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56439141799999 meters 0.029395550041367305 Centerline is valid? [True, True] Translation: X:175.11, Y:-5.05, Z:-3.56 [[ 9.99336346e-01 3.40853194e-02 1.28475348e-02 1.75105390e+02] [-3.40755020e-02 9.99418779e-01 -9.82335447e-04 -5.05398075e+00] [-1.28735507e-02 5.43897319e-04 9.99916984e-01 -3.55719836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624391418 meters 0.028021606653223802 Centerline is valid? [True, True] Translation: X:175.16, Y:-5.06, Z:-3.56 [[ 9.99316103e-01 3.49749879e-02 1.20032038e-02 1.75164540e+02] [-3.49664931e-02 9.99388065e-01 -9.16916275e-04 -5.05577816e+00] [-1.20279277e-02 4.96579257e-04 9.99927539e-01 -3.55886648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684391418 meters 0.02774243422462226 Centerline is valid? [True, True] Translation: X:175.22, Y:-5.06, Z:-3.56 [[ 9.99244858e-01 3.73217139e-02 1.08075787e-02 1.75222842e+02] [-3.73149719e-02 9.99303213e-01 -8.24867119e-04 -5.05687390e+00] [-1.08308336e-02 4.20959730e-04 9.99941256e-01 -3.56071134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744391418 meters 0.024148312810212957 Centerline is valid? [True, True] Translation: X:175.28, Y:-5.05, Z:-3.56 [[ 9.99114066e-01 4.07621780e-02 1.04655692e-02 1.75282532e+02] [-4.07560544e-02 9.99168808e-01 -7.97819587e-04 -5.05399556e+00] [-1.04893912e-02 3.70577462e-04 9.99944916e-01 -3.56079061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804391418 meters 0.021215243729121147 Centerline is valid? [True, True] Translation: X:175.34, Y:-5.05, Z:-3.56 [[ 9.98727044e-01 4.90657609e-02 1.16980097e-02 1.75342833e+02] [-4.90586925e-02 9.98795500e-01 -8.90597179e-04 -5.04989961e+00] [-1.17276173e-02 3.15574427e-04 9.99931179e-01 -3.56058532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864391418 meters 0.01778323731695413 Centerline is valid? [True, True] Translation: X:175.40, Y:-5.04, Z:-3.56 [[ 9.98174582e-01 5.88102389e-02 1.37426464e-02 1.75402270e+02] [-5.88014114e-02 9.98269152e-01 -1.04588027e-03 -5.04421259e+00] [-1.37803684e-02 2.35884097e-04 9.99905018e-01 -3.55949498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92439141799997 meters 0.01598116728172558 Centerline is valid? [True, True] Translation: X:175.46, Y:-5.04, Z:-3.56 [[ 9.97829233e-01 6.42984734e-02 1.42312071e-02 1.75461863e+02] [-6.42895714e-02 9.97930698e-01 -1.08260658e-03 -5.04187065e+00] [-1.42713684e-02 1.65338293e-04 9.99898145e-01 -3.55997407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98439141799997 meters 0.015147511936219655 Centerline is valid? [True, True] Translation: X:175.52, Y:-5.04, Z:-3.56 [[ 9.97502438e-01 6.93802010e-02 1.32390817e-02 1.75519689e+02] [-6.93729500e-02 9.97590287e-01 -1.00670245e-03 -5.04102603e+00] [-1.32770246e-02 8.57539960e-05 9.99911853e-01 -3.56295657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04439141799998 meters 0.015065843115329791 Centerline is valid? [True, True] Translation: X:175.58, Y:-5.04, Z:-3.57 [[ 9.97475457e-01 7.00816423e-02 1.14575817e-02 1.75578209e+02] [-7.00762694e-02 9.97541257e-01 -8.70231619e-04 -5.04413588e+00] [-1.14903977e-02 6.51301008e-05 9.99933981e-01 -3.56535836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10439141799998 meters 0.015410202908517585 Centerline is valid? [True, True] Translation: X:175.64, Y:-5.05, Z:-3.57 [[ 9.97620429e-01 6.82743637e-02 9.59638424e-03 1.75635805e+02] [-6.82705087e-02 9.97666581e-01 -7.29099237e-04 -5.05050849e+00] [-9.62377063e-03 7.22142596e-05 9.99953688e-01 -3.56869763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16439141799998 meters 0.01579133272873851 Centerline is valid? [True, True] Translation: X:175.69, Y:-5.06, Z:-3.57 [[ 9.97844454e-01 6.49621317e-02 9.29337868e-03 1.75694092e+02] [-6.49583918e-02 9.97887725e-01 -7.04023125e-04 -5.05832510e+00] [-9.31948335e-03 9.88226372e-05 9.99956568e-01 -3.56962448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22439141799998 meters 0.016679546265396725 Centerline is valid? [True, True] Translation: X:175.75, Y:-5.06, Z:-3.57 [[ 9.97967157e-01 6.28911999e-02 1.03077582e-02 1.75751965e+02] [-6.28864971e-02 9.98020381e-01 -7.80047310e-04 -5.06493569e+00] [-1.03364108e-02 1.30242793e-04 9.99946569e-01 -3.57035788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28439141799998 meters 0.01682656691216148 Centerline is valid? [True, True] Translation: X:175.81, Y:-5.07, Z:-3.57 [[ 9.98091170e-01 6.05598611e-02 1.21045577e-02 1.75810975e+02] [-6.05532251e-02 9.98164551e-01 -9.14312954e-04 -5.07067673e+00] [-1.21377110e-02 1.79597680e-04 9.99926319e-01 -3.56949450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344391418 meters 0.01817749888318061 Centerline is valid? [True, True] Translation: X:175.87, Y:-5.08, Z:-3.57 [[ 9.98298563e-01 5.68420557e-02 1.29984368e-02 1.75868255e+02] [-5.68341015e-02 9.98383154e-01 -9.80808991e-04 -5.07907269e+00] [-1.30331715e-02 2.40385730e-04 9.99915036e-01 -3.57030711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404391418 meters 0.01910339821361858 Centerline is valid? [True, True] Translation: X:175.93, Y:-5.09, Z:-3.57 [[ 9.98508281e-01 5.29878674e-02 1.31719188e-02 1.75926555e+02] [-5.29793833e-02 9.98595113e-01 -9.92447817e-04 -5.08646288e+00] [-1.32060015e-02 2.93127227e-04 9.99912754e-01 -3.57148388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464391418 meters 0.02030618844207275 Centerline is valid? [True, True] Translation: X:175.99, Y:-5.09, Z:-3.57 [[ 9.98727289e-01 4.89183336e-02 1.22800397e-02 1.75985382e+02] [-4.89106648e-02 9.98802730e-01 -9.24218487e-04 -5.09488926e+00] [-1.23105484e-02 3.22417317e-04 9.99924170e-01 -3.57389012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524391418 meters 0.022330354359035867 Centerline is valid? [True, True] Translation: X:176.04, Y:-5.10, Z:-3.58 [[ 9.98903015e-01 4.54615980e-02 1.12253943e-02 1.76042812e+02] [-4.54549764e-02 9.98966031e-01 -8.44441624e-04 -5.10398039e+00] [-1.12521773e-02 3.33265249e-04 9.99936637e-01 -3.57685159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584391418 meters 0.02260050850224502 Centerline is valid? [True, True] Translation: X:176.10, Y:-5.11, Z:-3.58 [[ 9.98941533e-01 4.47874177e-02 1.04833479e-02 1.76101716e+02] [-4.47816132e-02 9.98996490e-01 -7.87888468e-04 -5.10902982e+00] [-1.05081153e-02 3.17593282e-04 9.99944738e-01 -3.57894201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644391418 meters 0.021185957450724758 Centerline is valid? [True, True] Translation: X:176.16, Y:-5.11, Z:-3.58 [[ 9.98757802e-01 4.87839935e-02 1.01476933e-02 1.76160853e+02] [-4.87787707e-02 9.98809317e-01 -7.61688406e-04 -5.11037337e+00] [-1.01727688e-02 2.65750234e-04 9.99948221e-01 -3.58098423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70439141799997 meters 0.01871381102394618 Centerline is valid? [True, True] Translation: X:176.22, Y:-5.11, Z:-3.58 [[ 9.98473663e-01 5.43100954e-02 1.00377914e-02 1.76219938e+02] [-5.43052679e-02 9.98524096e-01 -7.53068935e-04 -5.10912357e+00] [-1.00638759e-02 2.06814546e-04 9.99949337e-01 -3.58192406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76439141799997 meters 0.015925181140904 Centerline is valid? [True, True] Translation: X:176.28, Y:-5.10, Z:-3.58 [[ 9.97887268e-01 6.42213165e-02 9.82973056e-03 1.76280368e+02] [-6.42171791e-02 9.97935675e-01 -7.36281848e-04 -5.10383086e+00] [-9.85672380e-03 1.03488713e-04 9.99951416e-01 -3.58205869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82439141799998 meters 0.015116299192386677 Centerline is valid? [True, True] Translation: X:176.34, Y:-5.10, Z:-3.58 [[ 9.97500851e-01 6.99987608e-02 9.60338244e-03 1.76339169e+02] [-6.99950789e-02 9.97547077e-01 -7.19383149e-04 -5.10334430e+00] [-9.63018202e-03 4.53957922e-05 9.99953628e-01 -3.58371286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88439141799998 meters 0.014959847487088215 Centerline is valid? [True, True] Translation: X:176.40, Y:-5.11, Z:-3.59 [[ 9.97162088e-01 7.46304745e-02 9.90265183e-03 1.76397662e+02] [-7.46267746e-02 9.97211258e-01 -7.43137427e-04 -5.10509744e+00] [-9.93049659e-03 2.02550260e-06 9.99950691e-01 -3.58509002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94439141799998 meters 0.01494552017882078 Centerline is valid? [True, True] Translation: X:176.46, Y:-5.11, Z:-3.59 [[ 9.97114017e-01 7.52449458e-02 1.00913134e-02 1.76455016e+02] [-7.52411822e-02 9.97165081e-01 -7.52625204e-04 -5.11007754e+00] [-1.01193366e-02 -8.82921064e-06 9.99948798e-01 -3.58706080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00439141799998 meters 0.015015864663387866 Centerline is valid? [True, True] Translation: X:176.51, Y:-5.12, Z:-3.59 [[ 9.97248227e-01 7.34748068e-02 9.87049487e-03 1.76511478e+02] [-7.34711205e-02 9.97297073e-01 -7.36044291e-04 -5.11779780e+00] [-9.89789636e-03 8.82254538e-06 9.99951015e-01 -3.58955636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06439141799999 meters 0.015072848933955274 Centerline is valid? [True, True] Translation: X:176.57, Y:-5.13, Z:-3.59 [[ 9.97436651e-01 7.07764927e-02 1.05269067e-02 1.76568643e+02] [-7.07721865e-02 9.97492199e-01 -7.81489171e-04 -5.12734827e+00] [-1.05558184e-02 3.44737359e-05 9.99944285e-01 -3.58949651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124391418 meters 0.015186331776058111 Centerline is valid? [True, True] Translation: X:176.63, Y:-5.14, Z:-3.59 [[ 9.97632706e-01 6.76469522e-02 1.23642351e-02 1.76626382e+02] [-6.76407952e-02 9.97709318e-01 -9.15951994e-04 -5.13791508e+00] [-1.23978739e-02 7.74569729e-05 9.99923140e-01 -3.58955717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184391418 meters 0.015426176589441318 Centerline is valid? [True, True] Translation: X:176.69, Y:-5.15, Z:-3.59 [[ 9.97777233e-01 6.53084241e-02 1.32439550e-02 1.76685090e+02] [-6.53011812e-02 9.97865120e-01 -9.79055221e-04 -5.14707151e+00] [-1.32796213e-02 1.12033102e-04 9.99911816e-01 -3.59059542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244391418 meters 0.016170278562231494 Centerline is valid? [True, True] Translation: X:176.74, Y:-5.16, Z:-3.59 [[ 9.98022686e-01 6.13117858e-02 1.38413691e-02 1.76743299e+02] [-6.13035066e-02 9.98118648e-01 -1.02204027e-03 -5.15908128e+00] [-1.38779917e-02 1.71494915e-04 9.99903681e-01 -3.59186118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304391418 meters 0.01730719038055038 Centerline is valid? [True, True] Translation: X:176.80, Y:-5.17, Z:-3.59 [[ 9.98231502e-01 5.77744577e-02 1.39992981e-02 1.76801469e+02] [-5.77656568e-02 9.98329636e-01 -1.03254875e-03 -5.17053066e+00] [-1.40355691e-02 2.22044037e-04 9.99901472e-01 -3.59390791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364391418 meters 0.019627820308874378 Centerline is valid? [True, True] Translation: X:176.86, Y:-5.18, Z:-3.60 [[ 9.98557156e-01 5.20244553e-02 1.33065035e-02 1.76860426e+02] [-5.20160104e-02 9.98645770e-01 -9.80189675e-04 -5.18498190e+00] [-1.33394772e-02 2.86624192e-04 9.99910984e-01 -3.59547081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42439141799997 meters 0.021010077877731036 Centerline is valid? [True, True] Translation: X:176.92, Y:-5.20, Z:-3.60 [[ 9.98764683e-01 4.81725891e-02 1.21864908e-02 1.76918990e+02] [-4.81652224e-02 9.98838979e-01 -8.97446941e-04 -5.19626577e+00] [-1.22155743e-02 3.09373272e-04 9.99925339e-01 -3.59757298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48439141799997 meters 0.02047084144725135 Centerline is valid? [True, True] Translation: X:176.98, Y:-5.20, Z:-3.60 [[ 9.98706326e-01 4.94905298e-02 1.16774264e-02 1.76977255e+02] [-4.94838611e-02 9.98774554e-01 -8.59494244e-04 -5.20246920e+00] [-1.17056531e-02 2.80538195e-04 9.99931447e-01 -3.59895987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54439141799998 meters 0.019679771491657335 Centerline is valid? [True, True] Translation: X:177.04, Y:-5.21, Z:-3.60 [[ 9.98564914e-01 5.23316060e-02 1.13805008e-02 1.77035821e+02] [-5.23254665e-02 9.98629734e-01 -8.36761276e-04 -5.20632274e+00] [-1.14086956e-02 2.40070435e-04 9.99934890e-01 -3.60038293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60439141799998 meters 0.017406213207608243 Centerline is valid? [True, True] Translation: X:177.09, Y:-5.21, Z:-3.60 [[ 9.98244793e-01 5.82031552e-02 1.09419368e-02 1.77094706e+02] [-5.81978410e-02 9.98304746e-01 -8.03730851e-04 -5.20727462e+00] [-1.09701671e-02 1.65523039e-04 9.99939812e-01 -3.60156336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66439141799998 meters 0.0166020126695908 Centerline is valid? [True, True] Translation: X:177.15, Y:-5.21, Z:-3.60 [[ 9.98062647e-01 6.13025430e-02 1.06277986e-02 1.77153251e+02] [-6.12977137e-02 9.98119222e-01 -7.79853769e-04 -5.21027868e+00] [-1.06556171e-02 1.26883161e-04 9.99943219e-01 -3.60235267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72439141799998 meters 0.016079257033239886 Centerline is valid? [True, True] Translation: X:177.21, Y:-5.21, Z:-3.60 [[ 9.97877544e-01 6.42180808e-02 1.07909664e-02 1.77212070e+02] [-6.42132824e-02 9.97935884e-01 -7.90912211e-04 -5.21464016e+00] [-1.08194834e-02 9.63101626e-05 9.99941463e-01 -3.60301503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78439141799998 meters 0.01592128186910694 Centerline is valid? [True, True] Translation: X:177.27, Y:-5.22, Z:-3.60 [[ 9.97857069e-01 6.46201867e-02 1.02714238e-02 1.77270018e+02] [-6.46158642e-02 9.97909928e-01 -7.52478708e-04 -5.22131515e+00] [-1.02985811e-02 8.71692691e-05 9.99946964e-01 -3.60425809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844391418 meters 0.016226029152781277 Centerline is valid? [True, True] Translation: X:177.33, Y:-5.23, Z:-3.61 [[ 9.97983782e-01 6.26254396e-02 1.03162889e-02 1.77328531e+02] [-6.26209898e-02 9.98037095e-01 -7.54108518e-04 -5.22928019e+00] [-1.03432654e-02 1.06571851e-04 9.99946501e-01 -3.60586188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904391418 meters 0.018289871197539595 Centerline is valid? [True, True] Translation: X:177.39, Y:-5.24, Z:-3.61 [[ 9.98355224e-01 5.65755946e-02 9.27628549e-03 1.77385062e+02] [-5.65717370e-02 9.98398307e-01 -6.77932175e-04 -5.24104848e+00] [-9.29978214e-03 1.52041545e-04 9.99956745e-01 -3.60840553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964391418 meters 0.021728864311322257 Centerline is valid? [True, True] Translation: X:177.44, Y:-5.25, Z:-3.61 [[ 9.98764053e-01 4.90339574e-02 8.12639331e-03 1.77442874e+02] [-4.90307585e-02 9.98797093e-01 -5.92528818e-04 -5.25430226e+00] [-8.14567205e-03 1.93353256e-04 9.99966805e-01 -3.61024757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024391418 meters 0.024600039178634046 Centerline is valid? [True, True] Translation: X:177.50, Y:-5.26, Z:-3.61 [[ 9.99018588e-01 4.35088310e-02 8.29713495e-03 1.77501561e+02] [-4.35053099e-02 9.99053013e-01 -6.04476459e-04 -5.26455787e+00] [-8.31557774e-03 2.42913791e-04 9.99965395e-01 -3.61055113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084391418 meters 0.031128981741600708 Centerline is valid? [True, True] Translation: X:177.56, Y:-5.28, Z:-3.61 [[ 9.99378881e-01 3.40974500e-02 8.90035001e-03 1.77560047e+02] [-3.40930344e-02 9.99418454e-01 -6.47407070e-04 -5.27965043e+00] [-8.91724898e-03 3.43565014e-04 9.99960182e-01 -3.61098678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144391418 meters 0.03883624582239138 Centerline is valid? [True, True] Translation: X:177.62, Y:-5.30, Z:-3.61 [[ 9.99676072e-01 2.40623874e-02 8.29170410e-03 1.77618758e+02] [-2.40582119e-02 9.99710377e-01 -6.02968703e-04 -5.29516110e+00] [-8.30381150e-03 4.03289811e-04 9.99965441e-01 -3.61228116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20439141799997 meters 0.043142799029377225 Centerline is valid? [True, True] Translation: X:177.68, Y:-5.31, Z:-3.61 [[ 9.99791320e-01 1.88110821e-02 7.96611044e-03 1.77678920e+02] [-1.88070640e-02 9.99822964e-01 -5.79009431e-04 -5.30505193e+00] [-7.97559195e-03 4.29069454e-04 9.99968102e-01 -3.61440728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26439141799997 meters 0.04838393680941068 Centerline is valid? [True, True] Translation: X:177.74, Y:-5.31, Z:-3.62 [[ 9.99878728e-01 1.32555391e-02 8.17434526e-03 1.77739173e+02] [-1.32511240e-02 9.99912024e-01 -5.94044266e-04 -5.31483046e+00] [-8.18150049e-03 4.85652962e-04 9.99966413e-01 -3.61556550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32439141799998 meters 0.05256331711996023 Centerline is valid? [True, True] Translation: X:177.80, Y:-5.32, Z:-3.62 [[ 9.99916609e-01 1.00114342e-02 8.15756385e-03 1.77799233e+02] [-1.00069310e-02 9.99949754e-01 -5.92657333e-04 -5.32272615e+00] [-8.16308731e-03 5.10975732e-04 9.99966551e-01 -3.61699563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38439141799998 meters 0.053014813329905354 Centerline is valid? [True, True] Translation: X:177.86, Y:-5.33, Z:-3.62 [[ 9.99918414e-01 1.00093880e-02 7.93577854e-03 1.77861216e+02] [-1.00051478e-02 9.99949783e-01 -5.73827570e-04 -5.32702879e+00] [-7.94112369e-03 4.94382116e-04 9.99968347e-01 -3.61852828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44439141799998 meters 0.05195716171274662 Centerline is valid? [True, True] Translation: X:177.92, Y:-5.33, Z:-3.62 [[ 9.99886918e-01 1.30096652e-02 7.54314778e-03 1.77922502e+02] [-1.30058851e-02 9.99915269e-01 -5.49968862e-04 -5.32627109e+00] [-7.54966355e-03 4.51801357e-04 9.99971399e-01 -3.62132232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50439141799998 meters 0.047735954351580824 Centerline is valid? [True, True] Translation: X:177.98, Y:-5.32, Z:-3.62 [[ 9.99791010e-01 1.91119520e-02 7.25738397e-03 1.77983579e+02] [-1.91086105e-02 9.99817274e-01 -5.29486762e-04 -5.32065818e+00] [-7.26617738e-03 3.90697580e-04 9.99973525e-01 -3.62330206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56439141799999 meters 0.02941473389029724 Centerline is valid? [True, True] Translation: X:178.05, Y:-5.29, Z:-3.62 [[ 9.99423024e-01 3.27577932e-02 8.97474163e-03 1.78046691e+02] [-3.27532313e-02 9.99463254e-01 -6.54859998e-04 -5.29287999e+00] [-8.99137625e-03 3.60530371e-04 9.99959512e-01 -3.61998568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624391418 meters 0.02227079258604611 Centerline is valid? [True, True] Translation: X:178.11, Y:-5.28, Z:-3.62 [[ 9.98748393e-01 4.87154769e-02 1.13335376e-02 1.78107848e+02] [-4.87092288e-02 9.98812659e-01 -8.26836652e-04 -5.27745499e+00] [-1.13603606e-02 2.73753901e-04 9.99935432e-01 -3.61891254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684391418 meters 0.018292926449620384 Centerline is valid? [True, True] Translation: X:178.17, Y:-5.27, Z:-3.62 [[ 9.98159102e-01 5.92571574e-02 1.29227404e-02 1.78168633e+02] [-5.92499181e-02 9.98242735e-01 -9.42668339e-04 -5.26734970e+00] [-1.29558916e-02 1.75261670e-04 9.99916054e-01 -3.61854801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744391418 meters 0.01636201002008418 Centerline is valid? [True, True] Translation: X:178.23, Y:-5.26, Z:-3.62 [[ 9.97299346e-01 7.22415805e-02 1.32351411e-02 1.78228255e+02] [-7.22351271e-02 9.97387164e-01 -9.65616003e-04 -5.25632825e+00] [-1.32703175e-02 6.96610872e-06 9.99911945e-01 -3.62061450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804391418 meters 0.016910918408077714 Centerline is valid? [True, True] Translation: X:178.29, Y:-5.25, Z:-3.62 [[ 9.96709516e-01 7.98835897e-02 1.37387440e-02 1.78286480e+02] [-7.98773753e-02 9.96804195e-01 -1.00134368e-03 -5.25112672e+00] [-1.37748286e-02 -9.93660417e-05 9.99905118e-01 -3.62320763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864391418 meters 0.01701709245005429 Centerline is valid? [True, True] Translation: X:178.35, Y:-5.25, Z:-3.62 [[ 9.96558165e-01 8.16678142e-02 1.42194327e-02 1.78345844e+02] [-8.16613611e-02 9.96659596e-01 -1.03482331e-03 -5.25175565e+00] [-1.42564458e-02 -1.29916608e-04 9.99898363e-01 -3.62467589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92439141799997 meters 0.016490983784119506 Centerline is valid? [True, True] Translation: X:178.40, Y:-5.26, Z:-3.63 [[ 9.96624673e-01 8.05725660e-02 1.57264825e-02 1.78404405e+02] [-8.05645574e-02 9.96748737e-01 -1.14315406e-03 -5.25623220e+00] [-1.57674584e-02 -1.27701553e-04 9.99875678e-01 -3.62580874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98439141799997 meters 0.015601871538597326 Centerline is valid? [True, True] Translation: X:178.46, Y:-5.27, Z:-3.63 [[ 9.97035219e-01 7.48645732e-02 1.77782820e-02 1.78462920e+02] [-7.48534591e-02 9.97193709e-01 -1.29069686e-03 -5.26577515e+00] [-1.78250185e-02 -4.38956790e-05 9.99841121e-01 -3.62631528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04439141799998 meters 0.01585414398152304 Centerline is valid? [True, True] Translation: X:178.52, Y:-5.28, Z:-3.63 [[ 9.97665328e-01 6.54918049e-02 1.93575818e-02 1.78520735e+02] [-6.54768952e-02 9.97853098e-01 -1.40370218e-03 -5.27913721e+00] [-1.94079540e-02 1.32950646e-04 9.99811639e-01 -3.62697532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10439141799998 meters 0.017338473662249523 Centerline is valid? [True, True] Translation: X:178.58, Y:-5.29, Z:-3.63 [[ 9.98110238e-01 5.81221589e-02 1.99440906e-02 1.78577851e+02] [-5.81048931e-02 9.98309438e-01 -1.44459018e-03 -5.29090711e+00] [-1.99943365e-02 2.83011000e-04 9.99800053e-01 -3.62826204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16439141799998 meters 0.02367357392122825 Centerline is valid? [True, True] Translation: X:178.64, Y:-5.31, Z:-3.63 [[ 9.98746740e-01 4.57088886e-02 2.03874093e-02 1.78635486e+02] [-4.56883025e-02 9.98954656e-01 -1.47463405e-03 -5.31207137e+00] [-2.04335014e-02 5.41319831e-04 9.99791068e-01 -3.63103697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22439141799998 meters 0.026998426453240736 Centerline is valid? [True, True] Translation: X:178.69, Y:-5.33, Z:-3.63 [[ 9.99084217e-01 3.77118666e-02 2.02124469e-02 1.78694673e+02] [-3.76900128e-02 9.99288411e-01 -1.46119491e-03 -5.32505977e+00] [-2.02531684e-02 6.98049389e-04 9.99794640e-01 -3.63288130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28439141799998 meters 0.033254927251964696 Centerline is valid? [True, True] Translation: X:178.75, Y:-5.34, Z:-3.63 [[ 9.99375830e-01 2.83320221e-02 2.11008981e-02 1.78753918e+02] [-2.83061251e-02 9.99598138e-01 -1.52501608e-03 -5.34237732e+00] [-2.11356252e-02 9.26779550e-04 9.99776188e-01 -3.63405121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344391418 meters 0.032658135357124835 Centerline is valid? [True, True] Translation: X:178.81, Y:-5.35, Z:-3.64 [[ 9.99486055e-01 2.32045322e-02 2.21173338e-02 1.78814727e+02] [-2.31748249e-02 9.99730150e-01 -1.59857188e-03 -5.34803021e+00] [-2.21484596e-02 1.08518496e-03 9.99754104e-01 -3.63527561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404391418 meters 0.034861986109347064 Centerline is valid? [True, True] Translation: X:178.88, Y:-5.36, Z:-3.64 [[ 9.99547214e-01 2.10555009e-02 2.14949320e-02 1.78876383e+02] [-2.10269365e-02 9.99777702e-01 -1.55406585e-03 -5.35624971e+00] [-2.15228754e-02 1.10138962e-03 9.99767749e-01 -3.63762624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464391418 meters 0.03760380580497517 Centerline is valid? [True, True] Translation: X:178.94, Y:-5.36, Z:-3.64 [[ 9.99616431e-01 1.76935005e-02 2.13056700e-02 1.78936560e+02] [-1.76646403e-02 9.99842779e-01 -1.54203343e-03 -5.36437011e+00] [-2.13296042e-02 1.16508495e-03 9.99771819e-01 -3.64077637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524391418 meters 0.037023395320174984 Centerline is valid? [True, True] Translation: X:179.00, Y:-5.37, Z:-3.64 [[ 9.99672845e-01 1.44405767e-02 2.11109415e-02 1.78997521e+02] [-1.44114982e-02 9.99894980e-01 -1.52891372e-03 -5.36761837e+00] [-2.11308028e-02 1.22417323e-03 9.99775970e-01 -3.64296007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584391418 meters 0.04013189331818852 Centerline is valid? [True, True] Translation: X:179.06, Y:-5.37, Z:-3.65 [[ 9.99712188e-01 1.21972353e-02 2.06583873e-02 1.79056839e+02] [-1.21689047e-02 9.99924836e-01 -1.49654591e-03 -5.37464624e+00] [-2.06750883e-02 1.24472524e-03 9.99785473e-01 -3.64536229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644391418 meters 0.04193222526433869 Centerline is valid? [True, True] Translation: X:179.12, Y:-5.38, Z:-3.65 [[ 9.99701850e-01 1.35061848e-02 2.03419167e-02 1.79117910e+02] [-1.34789865e-02 9.99908069e-01 -1.47357789e-03 -5.37837903e+00] [-2.03599490e-02 1.19895012e-03 9.99791996e-01 -3.64734077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70439141799997 meters 0.04049496014118433 Centerline is valid? [True, True] Translation: X:179.18, Y:-5.38, Z:-3.65 [[ 9.99636733e-01 1.66883660e-02 2.11636495e-02 1.79179210e+02] [-1.66595214e-02 9.99860037e-01 -1.53852188e-03 -5.37847656e+00] [-2.11863628e-02 1.18538671e-03 9.99774841e-01 -3.64789204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76439141799997 meters 0.03370750730634273 Centerline is valid? [True, True] Translation: X:179.24, Y:-5.37, Z:-3.65 [[ 9.99422922e-01 2.48527969e-02 2.31551677e-02 1.79240316e+02] [-2.48204401e-02 9.99690507e-01 -1.68378842e-03 -5.36835146e+00] [-2.31898482e-02 1.10809529e-03 9.99730465e-01 -3.64724866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82439141799998 meters 0.025312076038731365 Centerline is valid? [True, True] Translation: X:179.30, Y:-5.36, Z:-3.65 [[ 9.99067210e-01 3.55637776e-02 2.44934078e-02 1.79302286e+02] [-3.55307769e-02 9.99366995e-01 -1.78135240e-03 -5.35505423e+00] [-2.45412550e-02 9.09420961e-04 9.99698404e-01 -3.64691996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88439141799998 meters 0.022524262947707686 Centerline is valid? [True, True] Translation: X:179.36, Y:-5.35, Z:-3.65 [[ 9.98774653e-01 4.29118551e-02 2.46528923e-02 1.79363291e+02] [-4.28806498e-02 9.99078593e-01 -1.79328316e-03 -5.35179229e+00] [-2.47071300e-02 7.33953720e-04 9.99694463e-01 -3.64790553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94439141799998 meters 0.018626421556910768 Centerline is valid? [True, True] Translation: X:179.42, Y:-5.34, Z:-3.65 [[ 9.98304648e-01 5.32878759e-02 2.34143574e-02 1.79424171e+02] [-5.32625664e-02 9.98579089e-01 -1.70369329e-03 -5.34484403e+00] [-2.34718738e-02 4.53696170e-04 9.99724395e-01 -3.65066512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00439141799998 meters 0.016038579423876126 Centerline is valid? [True, True] Translation: X:179.48, Y:-5.34, Z:-3.65 [[ 9.97950711e-01 6.00551679e-02 2.20851703e-02 1.79483378e+02] [-6.00343157e-02 9.98195021e-01 -1.60657660e-03 -5.34130009e+00] [-2.21417903e-02 2.77416171e-04 9.99754802e-01 -3.65281261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06439141799999 meters 0.014772814224011034 Centerline is valid? [True, True] Translation: X:179.54, Y:-5.34, Z:-3.66 [[ 9.97338591e-01 6.98049421e-02 2.10476771e-02 1.79542988e+02] [-6.97882078e-02 9.97560658e-01 -1.52944192e-03 -5.33629609e+00] [-2.11030972e-02 5.64917837e-05 9.99777303e-01 -3.65520010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124391418 meters 0.015020405890988853 Centerline is valid? [True, True] Translation: X:179.60, Y:-5.33, Z:-3.66 [[ 9.96777218e-01 7.75685413e-02 2.04523838e-02 1.79601743e+02] [-7.75544068e-02 9.96987016e-01 -1.48455514e-03 -5.33311384e+00] [-2.05059159e-02 -1.06401750e-04 9.99789726e-01 -3.65730004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184391418 meters 0.015792767350123957 Centerline is valid? [True, True] Translation: X:179.66, Y:-5.33, Z:-3.66 [[ 9.96566368e-01 8.01579921e-02 2.07405666e-02 1.79659873e+02] [-8.01440524e-02 9.96782158e-01 -1.50377031e-03 -5.33466041e+00] [-2.07943660e-02 -1.63626147e-04 9.99783760e-01 -3.65785059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244391418 meters 0.015201581307733605 Centerline is valid? [True, True] Translation: X:179.72, Y:-5.34, Z:-3.66 [[ 9.96683065e-01 7.85418708e-02 2.13082646e-02 1.79718052e+02] [-7.85268342e-02 9.96910807e-01 -1.54277891e-03 -5.34230038e+00] [-2.13636120e-02 -1.35608944e-04 9.99771763e-01 -3.65808797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304391418 meters 0.015013860694516839 Centerline is valid? [True, True] Translation: X:179.78, Y:-5.35, Z:-3.66 [[ 9.96977611e-01 7.46895873e-02 2.13800999e-02 1.79775893e+02] [-7.46735998e-02 9.97206830e-01 -1.54627139e-03 -5.35137881e+00] [-2.14358720e-02 -5.49310651e-05 9.99770224e-01 -3.65918179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364391418 meters 0.015207763861436553 Centerline is valid? [True, True] Translation: X:179.83, Y:-5.37, Z:-3.66 [[ 9.97667474e-01 6.52933699e-02 1.99094701e-02 1.79834214e+02] [-6.52776644e-02 9.97866102e-01 -1.43840753e-03 -5.36610480e+00] [-1.99609038e-02 1.35408697e-04 9.99800752e-01 -3.66143533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42439141799997 meters 0.01663759638849906 Centerline is valid? [True, True] Translation: X:179.89, Y:-5.38, Z:-3.66 [[ 9.98176342e-01 5.73143785e-02 1.89486930e-02 1.79891107e+02] [-5.72987423e-02 9.98356141e-01 -1.36752259e-03 -5.37994927e+00] [-1.89959228e-02 2.79292412e-04 9.99819522e-01 -3.66357760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48439141799997 meters 0.020670033860465602 Centerline is valid? [True, True] Translation: X:179.95, Y:-5.40, Z:-3.67 [[ 9.98766432e-01 4.63261492e-02 1.78746392e-02 1.79949147e+02] [-4.63105106e-02 9.98926262e-01 -1.28806307e-03 -5.39856772e+00] [-1.79151176e-02 4.58690487e-04 9.99839406e-01 -3.66557898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54439141799998 meters 0.0246930091991769 Centerline is valid? [True, True] Translation: X:180.01, Y:-5.41, Z:-3.67 [[ 9.99136365e-01 3.81106024e-02 1.65561594e-02 1.80008244e+02] [-3.80960626e-02 9.99273370e-01 -1.19282433e-03 -5.41418989e+00] [-1.65895884e-02 5.61069681e-04 9.99862226e-01 -3.66698458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60439141799998 meters 0.027254125843044413 Centerline is valid? [True, True] Translation: X:180.07, Y:-5.43, Z:-3.67 [[ 9.99331746e-01 3.31369736e-02 1.54273041e-02 1.80067944e+02] [-3.31237630e-02 9.99450640e-01 -1.11111328e-03 -5.42617100e+00] [-1.54556479e-02 5.99360410e-04 9.99880375e-01 -3.66873757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66439141799998 meters 0.027906496048877634 Centerline is valid? [True, True] Translation: X:180.13, Y:-5.43, Z:-3.67 [[ 9.99417584e-01 3.08426661e-02 1.46021414e-02 1.80126619e+02] [-3.08305813e-02 9.99524071e-01 -1.05203875e-03 -5.43291334e+00] [-1.46276395e-02 6.01233520e-04 9.99892830e-01 -3.67085657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72439141799998 meters 0.030285280562793435 Centerline is valid? [True, True] Translation: X:180.19, Y:-5.44, Z:-3.67 [[ 9.99529924e-01 2.77656353e-02 1.30000152e-02 1.80185998e+02] [-2.77558115e-02 9.99614295e-01 -9.35522352e-04 -5.44248364e+00] [-1.30209764e-02 5.74256615e-04 9.99915059e-01 -3.67426971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78439141799998 meters 0.031056457218479973 Centerline is valid? [True, True] Translation: X:180.25, Y:-5.45, Z:-3.68 [[ 9.99653273e-01 2.44311337e-02 9.82107790e-03 1.80246278e+02] [-2.44253668e-02 9.99701406e-01 -7.06731997e-04 -5.44902892e+00] [-9.83541165e-03 4.66603525e-04 9.99951522e-01 -3.67748202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844391418 meters 0.0318172177008138 Centerline is valid? [True, True] Translation: X:180.31, Y:-5.45, Z:-3.68 [[ 9.99699705e-01 2.27888712e-02 9.00924216e-03 1.80305805e+02] [-2.27839476e-02 9.99740202e-01 -6.48776224e-04 -5.45408003e+00] [-9.02168645e-03 4.43315298e-04 9.99959205e-01 -3.67851758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904391418 meters 0.033667842278288874 Centerline is valid? [True, True] Translation: X:180.36, Y:-5.46, Z:-3.68 [[ 9.99671499e-01 2.35103116e-02 1.02058936e-02 1.80364802e+02] [-2.35040361e-02 9.99723472e-01 -7.34420158e-04 -5.45940058e+00] [-1.02203379e-02 4.94299208e-04 9.99947649e-01 -3.67865067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964391418 meters 0.0313991031547585 Centerline is valid? [True, True] Translation: X:180.42, Y:-5.46, Z:-3.68 [[ 9.99547790e-01 2.84475937e-02 9.74422550e-03 1.80424989e+02] [-2.84421127e-02 9.99595196e-01 -7.00628135e-04 -5.45743837e+00] [-9.76021218e-03 4.23164944e-04 9.99952278e-01 -3.67986682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024391418 meters 0.02720935817299691 Centerline is valid? [True, True] Translation: X:180.49, Y:-5.45, Z:-3.68 [[ 9.99385514e-01 3.39855382e-02 8.57773260e-03 1.80485204e+02] [-3.39814956e-02 9.99422272e-01 -6.16641854e-04 -5.45364513e+00] [-8.59373391e-03 3.24778753e-04 9.99963020e-01 -3.68112871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084391418 meters 0.02220180414306508 Centerline is valid? [True, True] Translation: X:180.55, Y:-5.44, Z:-3.68 [[ 9.98949292e-01 4.49909927e-02 8.72487074e-03 1.80546789e+02] [-4.49872325e-02 9.98987365e-01 -6.26848031e-04 -5.44478985e+00] [-8.74423815e-03 2.33681608e-04 9.99961741e-01 -3.68141776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144391418 meters 0.017468837304928136 Centerline is valid? [True, True] Translation: X:180.61, Y:-5.43, Z:-3.68 [[ 9.98309939e-01 5.74042375e-02 9.05649631e-03 1.80606619e+02] [-5.74006944e-02 9.98351009e-01 -6.50882143e-04 -5.43457881e+00] [-9.07892562e-03 1.29932935e-04 9.99958777e-01 -3.68203377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20439141799997 meters 0.01486316523269565 Centerline is valid? [True, True] Translation: X:180.67, Y:-5.43, Z:-3.68 [[ 9.97631693e-01 6.81010087e-02 9.65700477e-03 1.80666355e+02] [-6.80974778e-02 9.97678431e-01 -6.94365608e-04 -5.42502150e+00] [-9.68187236e-03 3.51034693e-05 9.99953129e-01 -3.68141555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26439141799997 meters 0.014859720411498191 Centerline is valid? [True, True] Translation: X:180.73, Y:-5.42, Z:-3.68 [[ 9.97327233e-01 7.24066254e-02 9.78111995e-03 1.80725159e+02] [-7.24032174e-02 9.97375195e-01 -7.02541414e-04 -5.42414048e+00] [-9.80631507e-03 -7.52086986e-06 9.99951917e-01 -3.68210316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32439141799998 meters 0.014873742762550575 Centerline is valid? [True, True] Translation: X:180.78, Y:-5.43, Z:-3.68 [[ 9.97205512e-01 7.40988290e-02 9.51472004e-03 1.80783087e+02] [-7.40956622e-02 9.97250903e-01 -6.85388692e-04 -5.42551917e+00] [-9.53934965e-03 -2.15261010e-05 9.99954499e-01 -3.68382445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38439141799998 meters 0.014989381003208081 Centerline is valid? [True, True] Translation: X:180.84, Y:-5.43, Z:-3.69 [[ 9.97526622e-01 6.97136443e-02 8.98028343e-03 1.80839297e+02] [-6.97106801e-02 9.97567044e-01 -6.43063173e-04 -5.43219115e+00] [-9.00326507e-03 1.54509698e-05 9.99959470e-01 -3.68674442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44439141799998 meters 0.015652505843186417 Centerline is valid? [True, True] Translation: X:180.90, Y:-5.44, Z:-3.69 [[ 9.98064599e-01 6.14042485e-02 9.82719796e-03 1.80897380e+02] [-6.14003363e-02 9.98112974e-01 -6.99593423e-04 -5.44399034e+00] [-9.85161179e-03 9.48461696e-05 9.99951467e-01 -3.68761973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50439141799998 meters 0.01709174854938747 Centerline is valid? [True, True] Translation: X:180.96, Y:-5.45, Z:-3.69 [[ 9.98436396e-01 5.48959293e-02 1.05451584e-02 1.80955087e+02] [-5.48910693e-02 9.98492067e-01 -7.49962450e-04 -5.45324766e+00] [-1.05704269e-02 1.69954784e-04 9.99944117e-01 -3.68788421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56439141799999 meters 0.02035059167992164 Centerline is valid? [True, True] Translation: X:181.01, Y:-5.47, Z:-3.69 [[ 9.98874145e-01 4.58399338e-02 1.22123832e-02 1.81014003e+02] [-4.58327639e-02 9.98948751e-01 -8.66480045e-04 -5.46598706e+00] [-1.22392643e-02 3.05777238e-04 9.99925051e-01 -3.68794321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624391418 meters 0.023833231824677562 Centerline is valid? [True, True] Translation: X:181.07, Y:-5.48, Z:-3.69 [[ 9.99190745e-01 3.81366663e-02 1.27847701e-02 1.81073605e+02] [-3.81281872e-02 9.99272445e-01 -9.06390744e-04 -5.47778783e+00] [-1.28100352e-02 4.18197133e-04 9.99917861e-01 -3.68892384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684391418 meters 0.027517983507871765 Centerline is valid? [True, True] Translation: X:181.13, Y:-5.49, Z:-3.69 [[ 9.99364544e-01 3.35600870e-02 1.20095135e-02 1.81131313e+02] [-3.35522716e-02 9.99436601e-01 -8.51711350e-04 -5.48842919e+00] [-1.20313309e-02 4.48223666e-04 9.99927520e-01 -3.69178627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744391418 meters 0.02971277968430554 Centerline is valid? [True, True] Translation: X:181.19, Y:-5.50, Z:-3.69 [[ 9.99525853e-01 2.88575098e-02 1.07384348e-02 1.81190895e+02] [-2.88510035e-02 9.99583434e-01 -7.60339247e-04 -5.49626470e+00] [-1.07559031e-02 4.50164113e-04 9.99942052e-01 -3.69417172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804391418 meters 0.030848883747168425 Centerline is valid? [True, True] Translation: X:181.25, Y:-5.50, Z:-3.70 [[ 9.99565420e-01 2.77782427e-02 9.86612518e-03 1.81249842e+02] [-2.77726941e-02 9.99614020e-01 -6.98985849e-04 -5.50155998e+00] [-9.88173365e-03 4.24673207e-04 9.99951084e-01 -3.69683008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864391418 meters 0.028232614662697723 Centerline is valid? [True, True] Translation: X:181.31, Y:-5.50, Z:-3.70 [[ 9.99522373e-01 2.92434220e-02 9.99242822e-03 1.81308601e+02] [-2.92378111e-02 9.99572234e-01 -7.07173413e-04 -5.50080924e+00] [-1.00088340e-02 4.14678919e-04 9.99949824e-01 -3.69739639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92439141799997 meters 0.026703818720758752 Centerline is valid? [True, True] Translation: X:181.37, Y:-5.50, Z:-3.70 [[ 9.99368749e-01 3.42433078e-02 9.46044881e-03 1.81367672e+02] [-3.42385126e-02 9.99413467e-01 -6.68407196e-04 -5.50009781e+00] [-9.47778841e-03 3.44073567e-04 9.99955026e-01 -3.69962301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98439141799997 meters 0.02243853004236614 Centerline is valid? [True, True] Translation: X:181.43, Y:-5.49, Z:-3.70 [[ 9.99113824e-01 4.13304576e-02 7.95989650e-03 1.81427652e+02] [-4.13272890e-02 9.99145504e-01 -5.62210880e-04 -5.49447699e+00] [-7.97633124e-03 2.32751719e-04 9.99968161e-01 -3.70101251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04439141799998 meters 0.021206163299351176 Centerline is valid? [True, True] Translation: X:181.49, Y:-5.49, Z:-3.70 [[ 9.98878675e-01 4.67095958e-02 7.72055712e-03 1.81486316e+02] [-4.67067758e-02 9.98908494e-01 -5.45263138e-04 -5.49423082e+00] [-7.73759911e-03 1.84049390e-04 9.99970047e-01 -3.70302934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10439141799998 meters 0.017429444236738957 Centerline is valid? [True, True] Translation: X:181.55, Y:-5.49, Z:-3.70 [[ 9.98457585e-01 5.49948877e-02 7.61669246e-03 1.81547040e+02] [-5.49923878e-02 9.98486629e-01 -5.37411264e-04 -5.48760193e+00] [-7.63472045e-03 1.17722248e-04 9.99970848e-01 -3.70262554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16439141799998 meters 0.016799871696230977 Centerline is valid? [True, True] Translation: X:181.61, Y:-5.49, Z:-3.70 [[ 9.98314249e-01 5.75774616e-02 7.31405961e-03 1.81605959e+02] [-5.75752257e-02 9.98341037e-01 -5.16066251e-04 -5.48873049e+00] [-7.33163964e-03 9.40876595e-05 9.99973119e-01 -3.70404188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22439141799998 meters 0.015299845123055976 Centerline is valid? [True, True] Translation: X:181.66, Y:-5.48, Z:-3.70 [[ 9.97812099e-01 6.57705551e-02 6.72678290e-03 1.81664937e+02] [-6.57688522e-02 9.97834772e-01 -4.74288498e-04 -5.48291920e+00] [-6.74341210e-03 3.08380119e-05 9.99977262e-01 -3.70361784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28439141799998 meters 0.01565421724412035 Centerline is valid? [True, True] Translation: X:181.72, Y:-5.48, Z:-3.70 [[ 9.97219698e-01 7.42354482e-02 6.47866512e-03 1.81721836e+02] [-7.42340431e-02 9.97240742e-01 -4.57426353e-04 -5.47834303e+00] [-6.49474606e-03 -2.47829359e-05 9.99978909e-01 -3.70427835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344391418 meters 0.016160801458134717 Centerline is valid? [True, True] Translation: X:181.78, Y:-5.48, Z:-3.70 [[ 9.96880512e-01 7.86226144e-02 6.90870710e-03 1.81780277e+02] [-7.86211367e-02 9.96904449e-01 -4.85637072e-04 -5.47804652e+00] [-6.92550290e-03 -5.90482721e-05 9.99976017e-01 -3.70445611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404391418 meters 0.0171698303483697 Centerline is valid? [True, True] Translation: X:181.84, Y:-5.48, Z:-3.71 [[ 9.96613585e-01 8.19559066e-02 6.67772717e-03 1.81839330e+02] [-8.19545888e-02 9.96635953e-01 -4.71198492e-04 -5.47824737e+00] [-6.69388048e-03 -7.76675663e-05 9.99977593e-01 -3.70501132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464391418 meters 0.017452146209100426 Centerline is valid? [True, True] Translation: X:181.90, Y:-5.48, Z:-3.71 [[ 9.96542154e-01 8.27863962e-02 7.08155347e-03 1.81898255e+02] [-8.27849515e-02 9.96567311e-01 -4.97394828e-04 -5.48154297e+00] [-7.09842222e-03 -9.05711474e-05 9.99974802e-01 -3.70574803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524391418 meters 0.017537379684652802 Centerline is valid? [True, True] Translation: X:181.96, Y:-5.49, Z:-3.71 [[ 9.96444106e-01 8.39196700e-02 7.52545351e-03 1.81956664e+02] [-8.39180882e-02 9.96472517e-01 -5.26274616e-04 -5.48624333e+00] [-7.54307239e-03 -1.07118431e-04 9.99971545e-01 -3.70605389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584391418 meters 0.017557492917587358 Centerline is valid? [True, True] Translation: X:182.01, Y:-5.49, Z:-3.71 [[ 9.96472117e-01 8.35533796e-02 7.88374295e-03 1.82014319e+02] [-8.35516689e-02 9.96503296e-01 -5.46672984e-04 -5.49341667e+00] [-7.90185222e-03 -1.13955496e-04 9.99968773e-01 -3.70741403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64439141799997 meters 0.016281805218633275 Centerline is valid? [True, True] Translation: X:182.07, Y:-5.51, Z:-3.71 [[ 9.96747561e-01 8.01851972e-02 8.03950926e-03 1.82072345e+02] [-8.01832964e-02 9.96779979e-01 -5.58995170e-04 -5.50508354e+00] [-8.05844501e-03 -8.74572823e-05 9.99967526e-01 -3.70763344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70439141799997 meters 0.01526046264900398 Centerline is valid? [True, True] Translation: X:182.13, Y:-5.52, Z:-3.71 [[ 9.97130239e-01 7.52860530e-02 7.95591163e-03 1.82129342e+02] [-7.52840714e-02 9.97161977e-01 -5.48690591e-04 -5.51702620e+00] [-7.97464132e-03 -5.18374396e-05 9.99968201e-01 -3.70947813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76439141799997 meters 0.014832847450979781 Centerline is valid? [True, True] Translation: X:182.19, Y:-5.53, Z:-3.71 [[ 9.97416319e-01 7.13917691e-02 7.99385607e-03 1.82187551e+02] [-7.13896515e-02 9.97448352e-01 -5.50297259e-04 -5.52746334e+00] [-8.01274526e-03 -2.18031327e-05 9.99967897e-01 -3.70973665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82439141799998 meters 0.014812433345729474 Centerline is valid? [True, True] Translation: X:182.25, Y:-5.54, Z:-3.71 [[ 9.97722294e-01 6.69134483e-02 8.53311190e-03 1.82245938e+02] [-6.69108786e-02 9.97758784e-01 -5.86600342e-04 -5.53922696e+00] [-8.55323880e-03 1.43062250e-05 9.99963420e-01 -3.71012458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88439141799998 meters 0.014923143051200847 Centerline is valid? [True, True] Translation: X:182.30, Y:-5.55, Z:-3.71 [[ 9.97781044e-01 6.60682784e-02 8.24446282e-03 1.82303958e+02] [-6.60658559e-02 9.97815104e-01 -5.66125498e-04 -5.54667064e+00] [-8.26385246e-03 2.01917980e-05 9.99965854e-01 -3.71144209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94439141799998 meters 0.014768835708540854 Centerline is valid? [True, True] Translation: X:182.36, Y:-5.55, Z:-3.71 [[ 9.97725512e-01 6.69458041e-02 7.87794795e-03 1.82362287e+02] [-6.69436242e-02 9.97756613e-01 -5.40382114e-04 -5.55376249e+00] [-7.89645098e-03 1.17746345e-05 9.99968822e-01 -3.71341914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00439141799998 meters 0.015028207472760447 Centerline is valid? [True, True] Translation: X:182.42, Y:-5.56, Z:-3.71 [[ 9.97527419e-01 6.98696614e-02 7.56821312e-03 1.82420467e+02] [-6.98677379e-02 9.97556129e-01 -5.18582497e-04 -5.55960861e+00] [-7.58595057e-03 -1.14736708e-05 9.99971226e-01 -3.71493565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06439141799999 meters 0.015103882936159801 Centerline is valid? [True, True] Translation: X:182.48, Y:-5.57, Z:-3.72 [[ 9.97347840e-01 7.24120548e-02 7.33350834e-03 1.82479320e+02] [-7.24103210e-02 9.97374801e-01 -5.02018520e-04 -5.56513083e+00] [-7.35060861e-03 -3.03346066e-05 9.99972983e-01 -3.71532530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124391418 meters 0.015603074333480318 Centerline is valid? [True, True] Translation: X:182.54, Y:-5.57, Z:-3.72 [[ 9.97127225e-01 7.53310343e-02 7.90768959e-03 1.82536443e+02] [-7.53291144e-02 9.97158579e-01 -5.40780030e-04 -5.57053805e+00] [-7.92595804e-03 -5.64527631e-05 9.99968588e-01 -3.71654553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184391418 meters 0.015570598692780612 Centerline is valid? [True, True] Translation: X:182.59, Y:-5.58, Z:-3.72 [[ 9.96980967e-01 7.71907888e-02 8.39847968e-03 1.82594638e+02] [-7.71886789e-02 9.97016337e-01 -5.75558747e-04 -5.57839869e+00] [-8.41784928e-03 -7.44464349e-05 9.99964567e-01 -3.71743849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244391418 meters 0.015873713272668604 Centerline is valid? [True, True] Translation: X:182.65, Y:-5.59, Z:-3.72 [[ 9.96868819e-01 7.86208185e-02 8.44537948e-03 1.82653148e+02] [-7.86187771e-02 9.96904588e-01 -5.73943557e-04 -5.58527142e+00] [-8.46436146e-03 -9.18189707e-05 9.99964172e-01 -3.71907102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304391418 meters 0.016155452611248147 Centerline is valid? [True, True] Translation: X:182.71, Y:-5.59, Z:-3.72 [[ 9.96778558e-01 7.97348535e-02 8.65208210e-03 1.82711555e+02] [-7.97327593e-02 9.96816103e-01 -5.87254887e-04 -5.59304656e+00] [-8.67135944e-03 -1.04491300e-04 9.99962398e-01 -3.72032756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364391418 meters 0.016315601926169657 Centerline is valid? [True, True] Translation: X:182.77, Y:-5.60, Z:-3.72 [[ 9.96772027e-01 7.97656585e-02 9.10851318e-03 1.82768621e+02] [-7.97633421e-02 9.96813637e-01 -6.17879563e-04 -5.60084070e+00] [-9.12877572e-03 -1.10640387e-04 9.99958326e-01 -3.72158264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42439141799997 meters 0.015465946864657543 Centerline is valid? [True, True] Translation: X:182.83, Y:-5.61, Z:-3.72 [[ 9.96958499e-01 7.73601986e-02 9.44196859e-03 1.82827091e+02] [-7.73576171e-02 9.97003205e-01 -6.38856218e-04 -5.61359510e+00] [-9.46309500e-03 -9.34950549e-05 9.99955220e-01 -3.72249347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48439141799997 meters 0.014726219573823193 Centerline is valid? [True, True] Translation: X:182.89, Y:-5.63, Z:-3.72 [[ 9.97262033e-01 7.32139091e-02 1.04000785e-02 1.82885354e+02] [-7.32105625e-02 9.97316259e-01 -7.02647614e-04 -5.62737507e+00] [-1.04236110e-02 -6.06718106e-05 9.99945671e-01 -3.72383845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54439141799998 meters 0.014506994753216875 Centerline is valid? [True, True] Translation: X:182.94, Y:-5.64, Z:-3.72 [[ 9.97403307e-01 7.10592496e-02 1.17143185e-02 1.82943349e+02] [-7.10548684e-02 9.97472095e-01 -7.90299835e-04 -5.63784369e+00] [-1.17408640e-02 -4.41116920e-05 9.99931073e-01 -3.72449082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60439141799998 meters 0.013972907504126483 Centerline is valid? [True, True] Translation: X:183.00, Y:-5.65, Z:-3.72 [[ 9.97576343e-01 6.81610655e-02 1.39824491e-02 1.83001298e+02] [-6.81545593e-02 9.97674330e-01 -9.41846931e-04 -5.65034471e+00] [-1.40141278e-02 -1.34034364e-05 9.99901797e-01 -3.72490449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66439141799998 meters 0.014010823762458305 Centerline is valid? [True, True] Translation: X:183.06, Y:-5.66, Z:-3.73 [[ 9.97875014e-01 6.29386354e-02 1.68577647e-02 1.83059308e+02] [-6.29284617e-02 9.98017396e-01 -1.13380327e-03 -5.66389604e+00] [-1.68957024e-02 7.05607588e-05 9.99857255e-01 -3.72546543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72439141799998 meters 0.015141440814143458 Centerline is valid? [True, True] Translation: X:183.12, Y:-5.68, Z:-3.73 [[ 9.98277524e-01 5.57697681e-02 1.82131532e-02 1.83116705e+02] [-5.57567283e-02 9.98443634e-01 -1.22336410e-03 -5.67875602e+00] [-1.82530336e-02 2.05751050e-04 9.99833378e-01 -3.72769865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78439141799998 meters 0.0164724087274843 Centerline is valid? [True, True] Translation: X:183.17, Y:-5.69, Z:-3.73 [[ 9.98535793e-01 5.07963063e-02 1.86011969e-02 1.83174501e+02] [-5.07818791e-02 9.98708989e-01 -1.24743414e-03 -5.69018299e+00] [-1.86405476e-02 3.01003903e-04 9.99826205e-01 -3.73004506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844391418 meters 0.018880879818664535 Centerline is valid? [True, True] Translation: X:183.23, Y:-5.70, Z:-3.73 [[ 9.98877636e-01 4.34647506e-02 1.88224023e-02 1.83233143e+02] [-4.34487073e-02 9.99054864e-01 -1.26064835e-03 -5.70403076e+00] [-1.88594063e-02 4.41424394e-04 9.99822048e-01 -3.73265782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904391418 meters 0.02135690545055252 Centerline is valid? [True, True] Translation: X:183.29, Y:-5.72, Z:-3.73 [[ 9.99048500e-01 3.95629787e-02 1.83539016e-02 1.83292200e+02] [-3.95470804e-02 9.99216953e-01 -1.22849818e-03 -5.71514294e+00] [-1.83881327e-02 5.01486044e-04 9.99830798e-01 -3.73486436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964391418 meters 0.023155650574830235 Centerline is valid? [True, True] Translation: X:183.35, Y:-5.72, Z:-3.74 [[ 9.99200932e-01 3.53128065e-02 1.87217525e-02 1.83352480e+02] [-3.52955275e-02 9.99376134e-01 -1.25266545e-03 -5.72385708e+00] [-1.87543078e-02 5.90870355e-04 9.99823948e-01 -3.73631448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024391418 meters 0.02375766478447829 Centerline is valid? [True, True] Translation: X:183.41, Y:-5.73, Z:-3.74 [[ 9.99205863e-01 3.45951024e-02 1.97692319e-02 1.83413491e+02] [-3.45756872e-02 9.99401206e-01 -1.32315244e-03 -5.73016973e+00] [-1.98031688e-02 6.38566900e-04 9.99803694e-01 -3.73713547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084391418 meters 0.023743857018946855 Centerline is valid? [True, True] Translation: X:183.48, Y:-5.73, Z:-3.74 [[ 9.99164761e-01 3.53336133e-02 2.05259802e-02 1.83475238e+02] [-3.53128213e-02 9.99375362e-01 -1.37464469e-03 -5.73423701e+00] [-2.05617301e-02 6.48666260e-04 9.99788375e-01 -3.73818041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14439141799997 meters 0.02210108335191722 Centerline is valid? [True, True] Translation: X:183.54, Y:-5.74, Z:-3.74 [[ 9.99018801e-01 3.79963684e-02 2.27532803e-02 1.83537939e+02] [-3.79713508e-02 9.99277656e-01 -1.53070338e-03 -5.73509821e+00] [-2.27950057e-02 6.65228666e-04 9.99739939e-01 -3.73751342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20439141799997 meters 0.02205313632619526 Centerline is valid? [True, True] Translation: X:183.60, Y:-5.74, Z:-3.74 [[ 9.98933695e-01 3.96699656e-02 2.36170872e-02 1.83599994e+02] [-3.96433178e-02 9.99212621e-01 -1.59563763e-03 -5.73836382e+00] [-2.36617905e-02 6.57676505e-04 9.99719804e-01 -3.73821642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26439141799997 meters 0.02224763298101124 Centerline is valid? [True, True] Translation: X:183.66, Y:-5.74, Z:-3.74 [[ 9.98879439e-01 4.08003658e-02 2.39832665e-02 1.83661075e+02] [-4.07730517e-02 9.99167109e-01 -1.62698943e-03 -5.74131813e+00] [-2.40296728e-02 6.47295319e-04 9.99711036e-01 -3.73935162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32439141799998 meters 0.022611649579670868 Centerline is valid? [True, True] Translation: X:183.72, Y:-5.74, Z:-3.74 [[ 9.98872494e-01 4.13779704e-02 2.32724001e-02 1.83722258e+02] [-4.13522758e-02 9.99143372e-01 -1.58445533e-03 -5.74466663e+00] [-2.33180259e-02 6.20302142e-04 9.99727905e-01 -3.74165502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38439141799998 meters 0.02223630469966481 Centerline is valid? [True, True] Translation: X:183.78, Y:-5.75, Z:-3.74 [[ 9.98785154e-01 4.32420807e-02 2.36291814e-02 1.83783517e+02] [-4.32159739e-02 9.99064449e-01 -1.61462895e-03 -5.74591230e+00] [-2.36768950e-02 5.91509334e-04 9.99719488e-01 -3.74290966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44439141799998 meters 0.019722985710247512 Centerline is valid? [True, True] Translation: X:183.85, Y:-5.74, Z:-3.75 [[ 9.98712649e-01 4.51971376e-02 2.30274482e-02 1.83845391e+02] [-4.51727491e-02 9.98977943e-01 -1.57844986e-03 -5.74441839e+00] [-2.30752542e-02 5.36204701e-04 9.99733587e-01 -3.74502311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50439141799998 meters 0.0172263726725343 Centerline is valid? [True, True] Translation: X:183.91, Y:-5.74, Z:-3.75 [[ 9.98527498e-01 4.94864182e-02 2.22245294e-02 1.83905956e+02] [-4.94647461e-02 9.98774707e-01 -1.52415976e-03 -5.74052377e+00] [-2.22727230e-02 4.22584726e-04 9.99751843e-01 -3.74654731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56439141799999 meters 0.016674711694597992 Centerline is valid? [True, True] Translation: X:183.96, Y:-5.74, Z:-3.75 [[ 9.98365519e-01 5.25956657e-02 2.23603604e-02 1.83964809e+02] [-5.25745194e-02 9.98615827e-01 -1.53293306e-03 -5.74142453e+00] [-2.24100354e-02 3.54842309e-04 9.99748801e-01 -3.74708532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624391418 meters 0.015798263090288648 Centerline is valid? [True, True] Translation: X:184.02, Y:-5.74, Z:-3.75 [[ 9.98232763e-01 5.48992340e-02 2.27469643e-02 1.84024038e+02] [-5.48779789e-02 9.98491853e-01 -1.55806973e-03 -5.74303252e+00] [-2.27981954e-02 3.07008818e-04 9.99740040e-01 -3.74803031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684391418 meters 0.016151635570036807 Centerline is valid? [True, True] Translation: X:184.08, Y:-5.75, Z:-3.75 [[ 9.98326699e-01 5.31709819e-02 2.27298953e-02 1.84083557e+02] [-5.31493322e-02 9.98585363e-01 -1.55596472e-03 -5.74926816e+00] [-2.27804729e-02 3.45282373e-04 9.99740432e-01 -3.74926554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744391418 meters 0.01791331526890012 Centerline is valid? [True, True] Translation: X:184.14, Y:-5.76, Z:-3.75 [[ 9.98530595e-01 4.95298605e-02 2.19873509e-02 1.84141712e+02] [-4.95087399e-02 9.98772558e-01 -1.50422698e-03 -5.75781828e+00] [-2.20348668e-02 4.13450622e-04 9.99757117e-01 -3.75117959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804391418 meters 0.02199602725103294 Centerline is valid? [True, True] Translation: X:184.20, Y:-5.77, Z:-3.75 [[ 9.98910975e-01 4.16895466e-02 2.09486385e-02 1.84200444e+02] [-4.16686763e-02 9.99130457e-01 -1.43196301e-03 -5.77117451e+00] [-2.09901207e-02 5.57501530e-04 9.99779528e-01 -3.75281890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864391418 meters 0.027361796913638783 Centerline is valid? [True, True] Translation: X:184.26, Y:-5.79, Z:-3.75 [[ 9.99259108e-01 3.26782340e-02 2.03314575e-02 1.84259802e+02] [-3.26567196e-02 9.99465661e-01 -1.38938681e-03 -5.78563922e+00] [-2.03659964e-02 7.24398715e-04 9.99792329e-01 -3.75456702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92439141799997 meters 0.030582918865790416 Centerline is valid? [True, True] Translation: X:184.32, Y:-5.79, Z:-3.76 [[ 9.99402338e-01 2.80957717e-02 2.01393594e-02 1.84320143e+02] [-2.80737300e-02 9.99604908e-01 -1.37640244e-03 -5.79494180e+00] [-2.01700736e-02 8.10192877e-04 9.99796235e-01 -3.75594681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98439141799997 meters 0.027871411383658038 Centerline is valid? [True, True] Translation: X:184.38, Y:-5.80, Z:-3.76 [[ 9.99460408e-01 2.58518922e-02 2.02625658e-02 1.84381916e+02] [-2.58291014e-02 9.99665413e-01 -1.38571916e-03 -5.79503839e+00] [-2.02916096e-02 8.61607573e-04 9.99793733e-01 -3.75687040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04439141799998 meters 0.02720903250907535 Centerline is valid? [True, True] Translation: X:184.44, Y:-5.80, Z:-3.76 [[ 9.99415115e-01 2.76209093e-02 2.01621969e-02 1.84444050e+02] [-2.75985950e-02 9.99618128e-01 -1.38420452e-03 -5.79786454e+00] [-2.01927305e-02 8.26946608e-04 9.99795764e-01 -3.75896662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10439141799998 meters 0.02455516115401994 Centerline is valid? [True, True] Translation: X:184.51, Y:-5.80, Z:-3.76 [[ 9.99278162e-01 3.27485223e-02 1.92533028e-02 1.84505489e+02] [-3.27290169e-02 9.99463381e-01 -1.32740665e-03 -5.79569573e+00] [-1.92864418e-02 6.96306803e-04 9.99813757e-01 -3.75992839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16439141799998 meters 0.022405582044421984 Centerline is valid? [True, True] Translation: X:184.57, Y:-5.79, Z:-3.76 [[ 9.99081650e-01 3.86360096e-02 1.85233557e-02 1.84566072e+02] [-3.86189583e-02 9.99253193e-01 -1.27748648e-03 -5.79374575e+00] [-1.85588794e-02 5.60960592e-04 9.99827612e-01 -3.76116271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22439141799998 meters 0.019931030796625976 Centerline is valid? [True, True] Translation: X:184.63, Y:-5.79, Z:-3.76 [[ 9.98907020e-01 4.37457947e-02 1.64642005e-02 1.84626502e+02] [-4.37330161e-02 9.99042609e-01 -1.13555704e-03 -5.79162344e+00] [-1.64981136e-02 4.14286754e-04 9.99863811e-01 -3.76377919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28439141799998 meters 0.018450374597444506 Centerline is valid? [True, True] Translation: X:184.69, Y:-5.79, Z:-3.77 [[ 9.98716420e-01 4.83344413e-02 1.51424847e-02 1.84686183e+02] [-4.83241618e-02 9.98831159e-01 -1.04422815e-03 -5.79028084e+00] [-1.51752578e-02 3.11139921e-04 9.99884801e-01 -3.76626419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344391418 meters 0.017434750342046435 Centerline is valid? [True, True] Translation: X:184.75, Y:-5.79, Z:-3.77 [[ 9.98592764e-01 5.13757208e-02 1.31539578e-02 1.84745609e+02] [-5.13682313e-02 9.98679369e-01 -9.06823186e-04 -5.78950731e+00] [-1.31831750e-02 2.29851523e-04 9.99913072e-01 -3.76777880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404391418 meters 0.016007570540456824 Centerline is valid? [True, True] Translation: X:184.80, Y:-5.79, Z:-3.77 [[ 9.98356626e-01 5.60865077e-02 1.17622497e-02 1.84804543e+02] [-5.60808509e-02 9.98425902e-01 -8.10469689e-04 -5.78635733e+00] [-1.17891912e-02 1.49500811e-04 9.99930494e-01 -3.76908059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464391418 meters 0.015488926720557275 Centerline is valid? [True, True] Translation: X:184.86, Y:-5.79, Z:-3.77 [[ 9.98217547e-01 5.85000181e-02 1.18100681e-02 1.84863365e+02] [-5.84944954e-02 9.98287400e-01 -8.12810800e-04 -5.78670435e+00] [-1.18373916e-02 1.20538028e-04 9.99929928e-01 -3.76979287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524391418 meters 0.015264167248900645 Centerline is valid? [True, True] Translation: X:184.92, Y:-5.79, Z:-3.77 [[ 9.98101416e-01 6.03303358e-02 1.24021779e-02 1.84921964e+02] [-6.03243999e-02 9.98178461e-01 -8.52497675e-04 -5.78693740e+00] [-1.24310184e-02 1.02725196e-04 9.99922727e-01 -3.76988350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584391418 meters 0.014747547921545628 Centerline is valid? [True, True] Translation: X:184.98, Y:-5.79, Z:-3.77 [[ 9.98056573e-01 6.10231161e-02 1.26197168e-02 1.84980307e+02] [-6.10170385e-02 9.98136349e-01 -8.66420030e-04 -5.78973404e+00] [-1.26490697e-02 9.47184568e-05 9.99919993e-01 -3.76921941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64439141799997 meters 0.014932077564001518 Centerline is valid? [True, True] Translation: X:185.04, Y:-5.79, Z:-3.77 [[ 9.98091963e-01 6.05238036e-02 1.22189573e-02 1.85038434e+02] [-6.05180800e-02 9.98166750e-01 -8.37959231e-04 -5.79434746e+00] [-1.22472734e-02 9.68925354e-05 9.99924995e-01 -3.77053515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70439141799997 meters 0.015363563058401112 Centerline is valid? [True, True] Translation: X:185.10, Y:-5.80, Z:-3.77 [[ 9.98167385e-01 5.93795393e-02 1.16593769e-02 1.85095888e+02] [-5.93742582e-02 9.98235473e-01 -7.98875933e-04 -5.80059908e+00] [-1.16862405e-02 1.05145045e-04 9.99931708e-01 -3.77243549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76439141799997 meters 0.015255777543112086 Centerline is valid? [True, True] Translation: X:185.15, Y:-5.81, Z:-3.77 [[ 9.98207906e-01 5.87708160e-02 1.12679961e-02 1.85154915e+02] [-5.87658588e-02 9.98271496e-01 -7.70814576e-04 -5.80609749e+00] [-1.12938208e-02 1.07259734e-04 9.99936217e-01 -3.77297272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82439141799998 meters 0.015665834823657774 Centerline is valid? [True, True] Translation: X:185.21, Y:-5.81, Z:-3.78 [[ 9.98300991e-01 5.73246003e-02 1.04413271e-02 1.85211903e+02] [-5.73202703e-02 9.98355587e-01 -7.13730712e-04 -5.81401025e+00] [-1.04650716e-02 1.14018383e-04 9.99945233e-01 -3.77571790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88439141799998 meters 0.01586086883832776 Centerline is valid? [True, True] Translation: X:185.27, Y:-5.82, Z:-3.78 [[ 9.98433922e-01 5.51575715e-02 9.34592278e-03 1.85270262e+02] [-5.51540159e-02 9.98477655e-01 -6.37954420e-04 -5.82156796e+00] [-9.36688308e-03 1.21490160e-04 9.99956122e-01 -3.77717087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94439141799998 meters 0.016046477403520814 Centerline is valid? [True, True] Translation: X:185.33, Y:-5.83, Z:-3.78 [[ 9.98470378e-01 5.44613505e-02 9.53233654e-03 1.85328337e+02] [-5.44576276e-02 9.98515871e-01 -6.49869821e-04 -5.82733591e+00] [-9.55358211e-03 1.29767333e-04 9.99954355e-01 -3.77835928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00439141799998 meters 0.016073047310224155 Centerline is valid? [True, True] Translation: X:185.39, Y:-5.83, Z:-3.78 [[ 9.98496428e-01 5.39699153e-02 9.59852150e-03 1.85387161e+02] [-5.39661256e-02 9.98542553e-01 -6.53584158e-04 -5.83347926e+00] [-9.61980605e-03 1.34606431e-04 9.99953720e-01 -3.77939038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06439141799999 meters 0.016386910889827144 Centerline is valid? [True, True] Translation: X:185.44, Y:-5.84, Z:-3.78 [[ 9.98548694e-01 5.29048986e-02 1.00785892e-02 1.85444894e+02] [-5.29006709e-02 9.98599544e-01 -6.85794330e-04 -5.83986140e+00] [-1.01007565e-02 1.51634902e-04 9.99948975e-01 -3.77998921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124391418 meters 0.017086854754619477 Centerline is valid? [True, True] Translation: X:185.50, Y:-5.85, Z:-3.78 [[ 9.98711466e-01 4.93203899e-02 1.19543799e-02 1.85502981e+02] [-4.93142127e-02 9.98782985e-01 -8.11130176e-04 -5.84927112e+00] [-1.19798365e-02 2.20564172e-04 9.99928215e-01 -3.77981514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184391418 meters 0.01961291690282032 Centerline is valid? [True, True] Translation: X:185.56, Y:-5.86, Z:-3.78 [[ 9.98909402e-01 4.49960064e-02 1.24646010e-02 1.85559684e+02] [-4.49889654e-02 9.98987127e-01 -8.44842470e-04 -5.85964938e+00] [-1.24899905e-02 2.83151581e-04 9.99921957e-01 -3.78121352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244391418 meters 0.022023594622809017 Centerline is valid? [True, True] Translation: X:185.62, Y:-5.87, Z:-3.78 [[ 9.99235198e-01 3.68293086e-02 1.31385726e-02 1.85618876e+02] [-3.68208069e-02 9.99321489e-01 -8.88475096e-04 -5.87151724e+00] [-1.31623799e-02 4.04022744e-04 9.99913291e-01 -3.78250426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304391418 meters 0.02566104298307572 Centerline is valid? [True, True] Translation: X:185.68, Y:-5.88, Z:-3.78 [[ 9.99415326e-01 3.16912611e-02 1.28323844e-02 1.85677120e+02] [-3.16827355e-02 9.99497600e-01 -8.67178587e-04 -5.88284122e+00] [-1.28534194e-02 4.60106530e-04 9.99917286e-01 -3.78476565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364391418 meters 0.028361506720436403 Centerline is valid? [True, True] Translation: X:185.74, Y:-5.89, Z:-3.79 [[ 9.99599500e-01 2.54402818e-02 1.23948044e-02 1.85737298e+02] [-2.54318436e-02 9.99676207e-01 -8.37949602e-04 -5.89238123e+00] [-1.24121087e-02 5.22391277e-04 9.99922830e-01 -3.78716837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42439141799997 meters 0.028838813270231845 Centerline is valid? [True, True] Translation: X:185.80, Y:-5.90, Z:-3.79 [[ 9.99685441e-01 2.15680216e-02 1.28000020e-02 1.85798593e+02] [-2.15587053e-02 9.99767210e-01 -8.65384151e-04 -5.89738720e+00] [-1.28156869e-02 5.89160464e-04 9.99917702e-01 -3.78785136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48439141799997 meters 0.033253767586843924 Centerline is valid? [True, True] Translation: X:185.86, Y:-5.91, Z:-3.79 [[ 9.99695700e-01 2.05274339e-02 1.36795957e-02 1.85859518e+02] [-2.05167081e-02 9.99789083e-01 -9.23959296e-04 -5.90686040e+00] [-1.36956769e-02 6.43017864e-04 9.99906003e-01 -3.78931211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54439141799998 meters 0.03426617843128357 Centerline is valid? [True, True] Translation: X:185.92, Y:-5.91, Z:-3.79 [[ 9.99676644e-01 2.10813587e-02 1.42191116e-02 1.85921153e+02] [-2.10697702e-02 9.99777543e-01 -9.64325237e-04 -5.91003238e+00] [-1.42362778e-02 6.64420003e-04 9.99898438e-01 -3.79031651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60439141799998 meters 0.02994153966205502 Centerline is valid? [True, True] Translation: X:185.98, Y:-5.91, Z:-3.79 [[ 9.99658896e-01 2.17847988e-02 1.44053273e-02 1.85983894e+02] [-2.17729230e-02 9.99762461e-01 -9.80736773e-04 -5.90588389e+00] [-1.44232706e-02 6.66756159e-04 9.99895757e-01 -3.79084219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66439141799998 meters 0.03015435948799066 Centerline is valid? [True, True] Translation: X:186.05, Y:-5.91, Z:-3.79 [[ 9.99657365e-01 2.20631573e-02 1.40843531e-02 1.86045804e+02] [-2.20517777e-02 9.99756366e-01 -9.62772777e-04 -5.90716724e+00] [-1.41021635e-02 6.51857874e-04 9.99900347e-01 -3.79300517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72439141799998 meters 0.028738815380914235 Centerline is valid? [True, True] Translation: X:186.11, Y:-5.91, Z:-3.79 [[ 9.99635373e-01 2.27432234e-02 1.45556331e-02 1.86107878e+02] [-2.27310788e-02 9.99741116e-01 -9.99275576e-04 -5.90619026e+00] [-1.45745916e-02 6.68045972e-04 9.99893562e-01 -3.79320178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78439141799998 meters 0.028341355011417733 Centerline is valid? [True, True] Translation: X:186.17, Y:-5.91, Z:-3.79 [[ 9.99606193e-01 2.38260347e-02 1.48249630e-02 1.86169812e+02] [-2.38134705e-02 9.99715895e-01 -1.02348008e-03 -5.90633418e+00] [-1.48451367e-02 6.70043206e-04 9.99889580e-01 -3.79395554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844391418 meters 0.027728522460973067 Centerline is valid? [True, True] Translation: X:186.23, Y:-5.90, Z:-3.80 [[ 9.99479899e-01 2.84001300e-02 1.52762380e-02 1.86229502e+02] [-2.83873086e-02 9.99596442e-01 -1.05553515e-03 -5.90404949e+00] [-1.53000505e-02 6.21334881e-04 9.99882754e-01 -3.79547531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904391418 meters 0.024754908794467758 Centerline is valid? [True, True] Translation: X:186.29, Y:-5.90, Z:-3.80 [[ 9.99320350e-01 3.34247859e-02 1.55442064e-02 1.86290748e+02] [-3.34120941e-02 9.99441081e-01 -1.07554866e-03 -5.89975173e+00] [-1.55714685e-02 5.55453178e-04 9.99878603e-01 -3.79612669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964391418 meters 0.02035776598921287 Centerline is valid? [True, True] Translation: X:186.35, Y:-5.89, Z:-3.80 [[ 9.98953697e-01 4.30239703e-02 1.55064161e-02 1.86352215e+02] [-4.30124850e-02 9.99073958e-01 -1.07357869e-03 -5.88988725e+00] [-1.55382461e-02 4.05485909e-04 9.99879192e-01 -3.79685642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024391418 meters 0.017226775698631333 Centerline is valid? [True, True] Translation: X:186.41, Y:-5.88, Z:-3.80 [[ 9.98554628e-01 5.15357250e-02 1.52553219e-02 1.86413233e+02] [-5.15256021e-02 9.98671115e-01 -1.05612342e-03 -5.88248209e+00] [-1.52894774e-02 2.68557278e-04 9.99883073e-01 -3.79792582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084391418 meters 0.01622268135591044 Centerline is valid? [True, True] Translation: X:186.47, Y:-5.88, Z:-3.80 [[ 9.98380346e-01 5.48251918e-02 1.51948286e-02 1.86472622e+02] [-5.48155313e-02 9.98495944e-01 -1.05184084e-03 -5.88221642e+00] [-1.52296421e-02 2.17224623e-04 9.99883999e-01 -3.79876778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14439141799997 meters 0.015890991783566396 Centerline is valid? [True, True] Translation: X:186.53, Y:-5.88, Z:-3.80 [[ 9.98368251e-01 5.52505961e-02 1.44293502e-02 1.86531374e+02] [-5.52419388e-02 9.98472499e-01 -9.98170485e-04 -5.88410261e+00] [-1.44624588e-02 1.99436443e-04 9.99895393e-01 -3.80007625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20439141799997 meters 0.016510573917745377 Centerline is valid? [True, True] Translation: X:186.59, Y:-5.89, Z:-3.80 [[ 9.98502021e-01 5.29332411e-02 1.38487189e-02 1.86588975e+02] [-5.29250569e-02 9.98598028e-01 -9.57049953e-04 -5.89018637e+00] [-1.38799631e-02 2.22672077e-04 9.99903644e-01 -3.80217311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26439141799997 meters 0.018776465810955486 Centerline is valid? [True, True] Translation: X:186.65, Y:-5.90, Z:-3.80 [[ 9.98799629e-01 4.71636157e-02 1.32247534e-02 1.86647756e+02] [-4.71556673e-02 9.98887136e-01 -9.12375951e-04 -5.89991524e+00] [-1.32530670e-02 2.87658688e-04 9.99912133e-01 -3.80438072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32439141799998 meters 0.022059933481235725 Centerline is valid? [True, True] Translation: X:186.71, Y:-5.91, Z:-3.81 [[ 9.99067507e-01 4.11135433e-02 1.31830235e-02 1.86705121e+02] [-4.11051297e-02 9.99154414e-01 -9.08652326e-04 -5.91089024e+00] [-1.32092341e-02 3.65915122e-04 9.99912687e-01 -3.80534740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38439141799998 meters 0.023864428860378015 Centerline is valid? [True, True] Translation: X:186.76, Y:-5.92, Z:-3.81 [[ 9.99209045e-01 3.75716994e-02 1.30250237e-02 1.86764200e+02] [-3.75631956e-02 9.99293852e-01 -8.96992088e-04 -5.91817935e+00] [-1.30495276e-02 4.07021094e-04 9.99914768e-01 -3.80726299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44439141799998 meters 0.025217434649723765 Centerline is valid? [True, True] Translation: X:186.82, Y:-5.92, Z:-3.81 [[ 9.99358583e-01 3.35071633e-02 1.26369421e-02 1.86822859e+02] [-3.34988380e-02 9.99438378e-01 -8.69959409e-04 -5.92489604e+00] [-1.26589947e-02 4.46078527e-04 9.99919772e-01 -3.80851980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50439141799998 meters 0.02429754636437092 Centerline is valid? [True, True] Translation: X:186.88, Y:-5.93, Z:-3.81 [[ 9.99416890e-01 3.18985576e-02 1.21804045e-02 1.86882531e+02] [-3.18907138e-02 9.99491011e-01 -8.37697459e-04 -5.92828802e+00] [-1.22009261e-02 4.48767195e-04 9.99925465e-01 -3.80940436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56439141799999 meters 0.025699733448929292 Centerline is valid? [True, True] Translation: X:186.94, Y:-5.93, Z:-3.81 [[ 9.99447913e-01 3.12463771e-02 1.12930688e-02 1.86941152e+02] [-3.12395956e-02 9.99511623e-01 -7.76445901e-04 -5.93370240e+00] [-1.13118146e-02 4.23226334e-04 9.99935930e-01 -3.81110842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624391418 meters 0.024031400777588755 Centerline is valid? [True, True] Translation: X:187.00, Y:-5.93, Z:-3.81 [[ 9.99360623e-01 3.41899083e-02 1.04592595e-02 1.86999755e+02] [-3.41842559e-02 9.99415289e-01 -7.18772001e-04 -5.93348302e+00] [-1.04777186e-02 3.60770431e-04 9.99945042e-01 -3.81185182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684391418 meters 0.02267456190137614 Centerline is valid? [True, True] Translation: X:187.06, Y:-5.93, Z:-3.81 [[ 9.99199208e-01 3.84898330e-02 1.09305240e-02 1.87060050e+02] [-3.84839335e-02 9.99258938e-01 -7.49616871e-04 -5.93349615e+00] [-1.09512765e-02 3.28367023e-04 9.99939979e-01 -3.81240402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744391418 meters 0.01836999205624278 Centerline is valid? [True, True] Translation: X:187.12, Y:-5.93, Z:-3.81 [[ 9.98851017e-01 4.63110156e-02 1.23262487e-02 1.87120477e+02] [-4.63041118e-02 9.98927032e-01 -8.45045736e-04 -5.92780964e+00] [-1.23521579e-02 2.73318797e-04 9.99923672e-01 -3.81131217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804391418 meters 0.01700850593892124 Centerline is valid? [True, True] Translation: X:187.18, Y:-5.93, Z:-3.81 [[ 9.98621598e-01 5.12193298e-02 1.14666327e-02 1.87179934e+02] [-5.12136712e-02 9.98687409e-01 -7.86772580e-04 -5.92714875e+00] [-1.14918797e-02 1.98439732e-04 9.99933946e-01 -3.81354546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864391418 meters 0.016212177328587804 Centerline is valid? [True, True] Translation: X:187.24, Y:-5.93, Z:-3.82 [[ 9.98413730e-01 5.55248004e-02 9.32850021e-03 1.87238640e+02] [-5.55212529e-02 9.98457301e-01 -6.39020900e-04 -5.92612071e+00] [-9.34959066e-03 1.20077220e-04 9.99956284e-01 -3.81758159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92439141799997 meters 0.01606691848371335 Centerline is valid? [True, True] Translation: X:187.30, Y:-5.93, Z:-3.82 [[ 9.98390642e-01 5.60680848e-02 8.51449494e-03 1.87296234e+02] [-5.60651497e-02 9.98426942e-01 -5.83197209e-04 -5.92899533e+00] [-8.53379990e-03 1.04892202e-04 9.99963581e-01 -3.81932095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98439141799997 meters 0.016475909773934146 Centerline is valid? [True, True] Translation: X:187.35, Y:-5.93, Z:-3.82 [[ 9.98474723e-01 5.45810735e-02 8.31463129e-03 1.87354056e+02] [-5.45782332e-02 9.98509336e-01 -5.68299975e-04 -5.93368333e+00] [-8.33325539e-03 1.13635276e-04 9.99965271e-01 -3.82096711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04439141799998 meters 0.016952133108293483 Centerline is valid? [True, True] Translation: X:187.41, Y:-5.94, Z:-3.82 [[ 9.98578595e-01 5.21929906e-02 1.08019137e-02 1.87412866e+02] [-5.21880770e-02 9.98637002e-01 -7.36446610e-04 -5.93790086e+00] [-1.08256281e-02 1.71668717e-04 9.99941386e-01 -3.81914926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10439141799998 meters 0.017602108997060353 Centerline is valid? [True, True] Translation: X:187.47, Y:-5.94, Z:-3.82 [[ 9.98665101e-01 5.02993148e-02 1.17471517e-02 1.87471135e+02] [-5.02933853e-02 9.98734167e-01 -7.99815904e-04 -5.94284232e+00] [-1.17725120e-02 2.07944202e-04 9.99930680e-01 -3.81920941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16439141799998 meters 0.02016171986337629 Centerline is valid? [True, True] Translation: X:187.53, Y:-5.95, Z:-3.82 [[ 9.98901051e-01 4.51194436e-02 1.26856448e-02 1.87528729e+02] [-4.51121267e-02 9.98981557e-01 -8.62488103e-04 -5.95137573e+00] [-1.27116402e-02 2.89263856e-04 9.99919162e-01 -3.82058839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22439141799998 meters 0.023437193103911586 Centerline is valid? [True, True] Translation: X:187.59, Y:-5.96, Z:-3.82 [[ 9.99177721e-01 3.81759492e-02 1.36556868e-02 1.87587922e+02] [-3.81668382e-02 9.99270951e-01 -9.27274555e-04 -5.96132594e+00] [-1.36811307e-02 4.05317689e-04 9.99906327e-01 -3.82131314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28439141799998 meters 0.027531431769544194 Centerline is valid? [True, True] Translation: X:187.65, Y:-5.97, Z:-3.82 [[ 9.99359232e-01 3.31174085e-02 1.35780006e-02 1.87645601e+02] [-3.31079381e-02 9.99451357e-01 -9.21732645e-04 -5.97177831e+00] [-1.36010765e-02 4.71602426e-04 9.99907390e-01 -3.82312056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344391418 meters 0.032112723472238154 Centerline is valid? [True, True] Translation: X:187.71, Y:-5.98, Z:-3.83 [[ 9.99585312e-01 2.57343295e-02 1.29208206e-02 1.87705837e+02] [-2.57251554e-02 9.99668670e-01 -8.75755397e-04 -5.98231419e+00] [-1.29390765e-02 5.43002114e-04 9.99916139e-01 -3.82527405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404391418 meters 0.028756081487605695 Centerline is valid? [True, True] Translation: X:187.77, Y:-5.98, Z:-3.83 [[ 9.99684326e-01 2.18674926e-02 1.23717618e-02 1.87766772e+02] [-2.18587873e-02 9.99760717e-01 -8.38442190e-04 -5.98120316e+00] [-1.23871361e-02 5.67745806e-04 9.99923115e-01 -3.82571043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464391418 meters 0.03466052659560526 Centerline is valid? [True, True] Translation: X:187.83, Y:-5.99, Z:-3.83 [[ 9.99741682e-01 1.90588180e-02 1.23826401e-02 1.87826557e+02] [-1.90498845e-02 9.99818182e-01 -8.39014947e-04 -5.99131186e+00] [-1.23963794e-02 6.02910351e-04 9.99922980e-01 -3.82803544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524391418 meters 0.031219528917073275 Centerline is valid? [True, True] Translation: X:187.89, Y:-5.99, Z:-3.83 [[ 9.99740887e-01 1.85395767e-02 1.32077140e-02 1.87888259e+02] [-1.85293657e-02 9.99827916e-01 -8.95065148e-04 -5.98893694e+00] [-1.32220353e-02 6.50102660e-04 9.99912374e-01 -3.82805156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584391418 meters 0.03213324462377783 Centerline is valid? [True, True] Translation: X:187.95, Y:-5.99, Z:-3.83 [[ 9.99740394e-01 1.79876525e-02 1.39852995e-02 1.87949800e+02] [-1.79761412e-02 9.99837966e-01 -9.48381285e-04 -5.99127772e+00] [-1.40000925e-02 6.96733361e-04 9.99901751e-01 -3.82838736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64439141799997 meters 0.03229259214655819 Centerline is valid? [True, True] Translation: X:188.01, Y:-5.99, Z:-3.83 [[ 9.99763277e-01 1.67408710e-02 1.38972397e-02 1.88011554e+02] [-1.67293971e-02 9.99859611e-01 -9.41476439e-04 -5.99315622e+00] [-1.39110499e-02 7.08761128e-04 9.99902985e-01 -3.82995483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70439141799997 meters 0.03168460702641821 Centerline is valid? [True, True] Translation: X:188.07, Y:-6.00, Z:-3.83 [[ 9.99790575e-01 1.56143452e-02 1.32287119e-02 1.88073343e+02] [-1.56038079e-02 9.99877849e-01 -8.99392605e-04 -5.99518695e+00] [-1.32411394e-02 6.92785970e-04 9.99912092e-01 -3.83145460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76439141799997 meters 0.0342075081424369 Centerline is valid? [True, True] Translation: X:188.14, Y:-6.00, Z:-3.83 [[ 9.99793959e-01 1.59240911e-02 1.25881698e-02 1.88135402e+02] [-1.59145382e-02 9.99872987e-01 -8.58696140e-04 -6.00134159e+00] [-1.26002449e-02 6.58184304e-04 9.99920397e-01 -3.83368699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82439141799998 meters 0.033426305147492036 Centerline is valid? [True, True] Translation: X:188.20, Y:-6.00, Z:-3.84 [[ 9.99722275e-01 2.01057501e-02 1.22935467e-02 1.88195702e+02] [-2.00968787e-02 9.99797680e-01 -8.44750328e-04 -5.99975181e+00] [-1.23080438e-02 5.97453803e-04 9.99924075e-01 -3.83563448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88439141799998 meters 0.027005712601872022 Centerline is valid? [True, True] Translation: X:188.26, Y:-5.99, Z:-3.84 [[ 9.99455647e-01 3.03812831e-02 1.28603069e-02 1.88257736e+02] [-3.03724253e-02 9.99538261e-01 -8.83568235e-04 -5.98921475e+00] [-1.28812127e-02 4.92488551e-04 9.99916912e-01 -3.83540265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94439141799998 meters 0.020843606213982208 Centerline is valid? [True, True] Translation: X:188.32, Y:-5.98, Z:-3.84 [[ 9.98987648e-01 4.29112836e-02 1.35019141e-02 1.88318646e+02] [-4.29026547e-02 9.99078826e-01 -9.28220167e-04 -5.97795081e+00] [-1.35293076e-02 3.48012523e-04 9.99908414e-01 -3.83516454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00439141799998 meters 0.016486987674780934 Centerline is valid? [True, True] Translation: X:188.38, Y:-5.97, Z:-3.84 [[ 9.98502991e-01 5.30140610e-02 1.34642634e-02 1.88378993e+02] [-5.30064024e-02 9.98593744e-01 -9.25288065e-04 -5.96902183e+00] [-1.34943825e-02 2.10210736e-04 9.99908925e-01 -3.83636440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06439141799999 meters 0.015476063655429688 Centerline is valid? [True, True] Translation: X:188.44, Y:-5.97, Z:-3.84 [[ 9.98293044e-01 5.71280053e-02 1.21403898e-02 1.88438357e+02] [-5.71220837e-02 9.98366852e-01 -8.34239542e-04 -5.96779593e+00] [-1.21682212e-02 1.39331168e-04 9.99925955e-01 -3.83894266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124391418 meters 0.015072064448727392 Centerline is valid? [True, True] Translation: X:188.50, Y:-5.97, Z:-3.84 [[ 9.98196405e-01 5.88806295e-02 1.17050786e-02 1.88497280e+02] [-5.88752557e-02 9.98265024e-01 -8.03457806e-04 -5.96816519e+00] [-1.17320787e-02 1.12869197e-04 9.99931170e-01 -3.84074343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184391418 meters 0.015375338058799473 Centerline is valid? [True, True] Translation: X:188.56, Y:-5.97, Z:-3.84 [[ 9.98270393e-01 5.75383726e-02 1.20647366e-02 1.88555399e+02] [-5.75325755e-02 9.98343287e-01 -8.27305981e-04 -5.97245302e+00] [-1.20923507e-02 1.31759695e-04 9.99926876e-01 -3.84139110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244391418 meters 0.016216068130533546 Centerline is valid? [True, True] Translation: X:188.61, Y:-5.98, Z:-3.84 [[ 9.98525888e-01 5.27774910e-02 1.26723149e-02 1.88613516e+02] [-5.27707280e-02 9.98606277e-01 -8.67701621e-04 -5.97859949e+00] [-1.27004483e-02 1.97695249e-04 9.99919327e-01 -3.84166772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304391418 meters 0.017551122369385483 Centerline is valid? [True, True] Translation: X:188.67, Y:-5.99, Z:-3.84 [[ 9.98747179e-01 4.84726399e-02 1.24288099e-02 1.88671787e+02] [-4.84658183e-02 9.98824480e-01 -8.49642002e-04 -5.98600712e+00] [-1.24553840e-02 2.46205108e-04 9.99922398e-01 -3.84326597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364391418 meters 0.020077449546688584 Centerline is valid? [True, True] Translation: X:188.73, Y:-6.00, Z:-3.85 [[ 9.99000928e-01 4.30123694e-02 1.21277277e-02 1.88729355e+02] [-4.30054846e-02 9.99074493e-01 -8.28030893e-04 -5.99671954e+00] [-1.21521190e-02 3.05644823e-04 9.99926114e-01 -3.84525710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42439141799997 meters 0.02192289803182925 Centerline is valid? [True, True] Translation: X:188.79, Y:-6.01, Z:-3.85 [[ 9.99117978e-01 4.00212884e-02 1.27107627e-02 1.88787629e+02] [-4.00134950e-02 9.99198763e-01 -8.66949359e-04 -6.00515234e+00] [-1.27352748e-02 3.57582649e-04 9.99918839e-01 -3.84652430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48439141799997 meters 0.02197620575858936 Centerline is valid? [True, True] Translation: X:188.85, Y:-6.01, Z:-3.85 [[ 9.99267074e-01 3.62789687e-02 1.22127583e-02 1.88846509e+02] [-3.62715074e-02 9.99341626e-01 -8.31959506e-04 -6.01092977e+00] [-1.22349004e-02 3.88374587e-04 9.99925075e-01 -3.84751031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54439141799998 meters 0.024809654184895648 Centerline is valid? [True, True] Translation: X:188.90, Y:-6.02, Z:-3.85 [[ 9.99342586e-01 3.40128817e-02 1.25506493e-02 1.88903607e+02] [-3.40048295e-02 9.99421303e-01 -8.54481615e-04 -6.02108228e+00] [-1.25724497e-02 4.27137178e-04 9.99920872e-01 -3.84945432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60439141799998 meters 0.024496755494912936 Centerline is valid? [True, True] Translation: X:188.96, Y:-6.03, Z:-3.85 [[ 9.99334766e-01 3.38184341e-02 1.36506108e-02 1.88962114e+02] [-3.38089137e-02 9.99427885e-01 -9.27668542e-04 -6.02580844e+00] [-1.36741734e-02 4.65539103e-04 9.99906396e-01 -3.84991441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66439141799998 meters 0.02367949629613249 Centerline is valid? [True, True] Translation: X:189.02, Y:-6.03, Z:-3.85 [[ 9.99207482e-01 3.66882753e-02 1.54395314e-02 1.89020952e+02] [-3.66764603e-02 9.99326643e-01 -1.04779866e-03 -6.03040148e+00] [-1.54675771e-02 4.80700896e-04 9.99880254e-01 -3.84963990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72439141799998 meters 0.021905287881773254 Centerline is valid? [True, True] Translation: X:189.08, Y:-6.03, Z:-3.85 [[ 9.99085626e-01 3.99086502e-02 1.53365797e-02 1.89080025e+02] [-3.98973894e-02 9.99203241e-01 -1.03962986e-03 -6.03252299e+00] [-1.53658504e-02 4.26789754e-04 9.99881847e-01 -3.85114447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78439141799998 meters 0.020650599019411 Centerline is valid? [True, True] Translation: X:189.14, Y:-6.04, Z:-3.85 [[ 9.98987802e-01 4.27661575e-02 1.39437365e-02 1.89139199e+02] [-4.27571424e-02 9.99085049e-01 -9.44140575e-04 -6.03596653e+00] [-1.39713559e-02 3.46990590e-04 9.99902336e-01 -3.85466671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844391418 meters 0.018431216437898537 Centerline is valid? [True, True] Translation: X:189.20, Y:-6.04, Z:-3.86 [[ 9.98918928e-01 4.49996171e-02 1.16623443e-02 1.89198463e+02] [-4.49934682e-02 9.98986969e-01 -7.89214033e-04 -6.03802276e+00] [-1.16860443e-02 2.63631519e-04 9.99931681e-01 -3.85792987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904391418 meters 0.018411237331173377 Centerline is valid? [True, True] Translation: X:189.26, Y:-6.04, Z:-3.86 [[ 9.98879928e-01 4.60425268e-02 1.09075769e-02 1.89257220e+02] [-4.60372147e-02 9.98939453e-01 -7.37731558e-04 -6.04438554e+00] [-1.09299759e-02 2.34750786e-04 9.99940238e-01 -3.86015219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964391418 meters 0.017943083802720694 Centerline is valid? [True, True] Translation: X:189.32, Y:-6.05, Z:-3.86 [[ 9.98821590e-01 4.70968050e-02 1.17184248e-02 1.89316151e+02] [-4.70907587e-02 9.98890301e-01 -7.91508864e-04 -6.04791592e+00] [-1.17426984e-02 2.38746630e-04 9.99931024e-01 -3.85996733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024391418 meters 0.017435813974864996 Centerline is valid? [True, True] Translation: X:189.37, Y:-6.05, Z:-3.86 [[ 9.98693771e-01 4.94304432e-02 1.29376370e-02 1.89373987e+02] [-4.94232830e-02 9.98777541e-01 -8.72774300e-04 -6.05245770e+00] [-1.29649629e-02 2.32213763e-04 9.99915924e-01 -3.86022044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084391418 meters 0.017263085866345628 Centerline is valid? [True, True] Translation: X:189.43, Y:-6.06, Z:-3.86 [[ 9.98616232e-01 5.06519779e-02 1.41420468e-02 1.89431127e+02] [-5.06435660e-02 9.98716337e-01 -9.52532967e-04 -6.05757580e+00] [-1.41721409e-02 2.35011203e-04 9.99899543e-01 -3.86129289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14439141799997 meters 0.01663065710903328 Centerline is valid? [True, True] Translation: X:189.49, Y:-6.06, Z:-3.86 [[ 9.98634125e-01 5.00709334e-02 1.49260453e-02 1.89488767e+02] [-5.00615256e-02 9.98745632e-01 -1.00349578e-03 -6.06104484e+00] [-1.49575685e-02 2.54904535e-04 9.99888097e-01 -3.86101408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20439141799997 meters 0.01751202057277482 Centerline is valid? [True, True] Translation: X:189.55, Y:-6.07, Z:-3.86 [[ 9.98719348e-01 4.79727869e-02 1.60709822e-02 1.89545630e+02] [-4.79616438e-02 9.98848596e-01 -1.07829799e-03 -6.06952805e+00] [-1.61042070e-02 3.06126338e-04 9.99870272e-01 -3.86161877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26439141799997 meters 0.018606206546663086 Centerline is valid? [True, True] Translation: X:189.60, Y:-6.08, Z:-3.86 [[ 9.98804261e-01 4.58618255e-02 1.69334311e-02 1.89602686e+02] [-4.58491891e-02 9.98947729e-01 -1.13391132e-03 -6.07853654e+00] [-1.69676158e-02 3.56171377e-04 9.99855976e-01 -3.86246536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32439141799998 meters 0.01923351564857859 Centerline is valid? [True, True] Translation: X:189.66, Y:-6.09, Z:-3.86 [[ 9.98869517e-01 4.46570297e-02 1.62922319e-02 1.89660881e+02] [-4.46451985e-02 9.99002312e-01 -1.08935714e-03 -6.08541260e+00] [-1.63246248e-02 3.60755714e-04 9.99866679e-01 -3.86428496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38439141799998 meters 0.019950609675998657 Centerline is valid? [True, True] Translation: X:189.72, Y:-6.09, Z:-3.87 [[ 9.98961829e-01 4.29729374e-02 1.51192504e-02 1.89719116e+02] [-4.29625718e-02 9.99076172e-01 -1.00986818e-03 -6.09402591e+00] [-1.51486798e-02 3.59257883e-04 9.99885188e-01 -3.86710562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44439141799998 meters 0.02077505694178481 Centerline is valid? [True, True] Translation: X:189.78, Y:-6.10, Z:-3.87 [[ 9.99011129e-01 4.19878031e-02 1.46214907e-02 1.89777413e+02] [-4.19780194e-02 9.99118058e-01 -9.75531321e-04 -6.10199978e+00] [-1.46495558e-02 3.60785427e-04 9.99892624e-01 -3.86920900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50439141799998 meters 0.021951790209421902 Centerline is valid? [True, True] Translation: X:189.84, Y:-6.11, Z:-3.87 [[ 9.99090581e-01 4.01191305e-02 1.44383799e-02 1.89835817e+02] [-4.01094112e-02 9.99194830e-01 -9.62222297e-04 -6.11111191e+00] [-1.44653580e-02 3.82232320e-04 9.99895298e-01 -3.87057103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56439141799999 meters 0.023776211521627087 Centerline is valid? [True, True] Translation: X:189.89, Y:-6.12, Z:-3.87 [[ 9.99167673e-01 3.79769771e-02 1.48899749e-02 1.89893663e+02] [-3.79664217e-02 9.99278524e-01 -9.91029884e-04 -6.12113866e+00] [-1.49168685e-02 4.24885954e-04 9.99888647e-01 -3.87134173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624391418 meters 0.022175978234581898 Centerline is valid? [True, True] Translation: X:189.95, Y:-6.13, Z:-3.87 [[ 9.99241498e-01 3.57279309e-02 1.54901336e-02 1.89953293e+02] [-3.57162527e-02 9.99361440e-01 -1.02998494e-03 -6.12536698e+00] [-1.55170415e-02 4.75954168e-04 9.99879490e-01 -3.87123012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684391418 meters 0.023154923090467308 Centerline is valid? [True, True] Translation: X:190.01, Y:-6.13, Z:-3.87 [[ 9.99353664e-01 3.22335839e-02 1.59138206e-02 1.90012545e+02] [-3.22208260e-02 9.99480215e-01 -1.05749625e-03 -6.13330795e+00] [-1.59396358e-02 5.44056310e-04 9.99872808e-01 -3.87143229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744391418 meters 0.029222841437347595 Centerline is valid? [True, True] Translation: X:190.07, Y:-6.15, Z:-3.87 [[ 9.99440866e-01 2.93990803e-02 1.59263530e-02 1.90071482e+02] [-2.93859638e-02 9.99567580e-01 -1.05701933e-03 -6.14883970e+00] [-1.59505416e-02 5.88417077e-04 9.99872609e-01 -3.87376231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804391418 meters 0.026246321164957148 Centerline is valid? [True, True] Translation: X:190.13, Y:-6.15, Z:-3.88 [[ 9.99497722e-01 2.73585522e-02 1.59941567e-02 1.90131839e+02] [-2.73450295e-02 9.99625489e-01 -1.06360206e-03 -6.15048457e+00] [-1.60172653e-02 6.25707152e-04 9.99871520e-01 -3.87513472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86439141799997 meters 0.027263725571309155 Centerline is valid? [True, True] Translation: X:190.19, Y:-6.16, Z:-3.88 [[ 9.99550087e-01 2.62124580e-02 1.45784249e-02 1.90192718e+02] [-2.62011053e-02 9.99656222e-01 -9.69218218e-04 -6.15812109e+00] [-1.45988188e-02 5.86811309e-04 9.99893259e-01 -3.87797359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92439141799997 meters 0.026811777281405408 Centerline is valid? [True, True] Translation: X:190.25, Y:-6.16, Z:-3.88 [[ 9.99523708e-01 2.75256028e-02 1.39534437e-02 1.90253030e+02] [-2.75153194e-02 9.99620951e-01 -9.28456331e-04 -6.16063879e+00] [-1.39737110e-02 5.44080654e-04 9.99902215e-01 -3.87957587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98439141799997 meters 0.02686588191976856 Centerline is valid? [True, True] Translation: X:190.31, Y:-6.16, Z:-3.88 [[ 9.99465741e-01 2.93003592e-02 1.44817880e-02 1.90312617e+02] [-2.92894666e-02 9.99570507e-01 -9.63730852e-04 -6.16366128e+00] [-1.45038058e-02 5.39052125e-04 9.99894669e-01 -3.88053053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04439141799998 meters 0.02384463293530649 Centerline is valid? [True, True] Translation: X:190.37, Y:-6.16, Z:-3.88 [[ 9.99398090e-01 3.13168315e-02 1.49235787e-02 1.90372886e+02] [-3.13054913e-02 9.99509370e-01 -9.92945506e-04 -6.16151467e+00] [-1.49473527e-02 5.25157878e-04 9.99888144e-01 -3.88048573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10439141799998 meters 0.02392724067771019 Centerline is valid? [True, True] Translation: X:190.43, Y:-6.16, Z:-3.88 [[ 9.99382455e-01 3.18006614e-02 1.49474561e-02 1.90432002e+02] [-3.17893482e-02 9.99494097e-01 -9.93914227e-04 -6.16446168e+00] [-1.49715013e-02 5.18130554e-04 9.99887787e-01 -3.88132654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16439141799998 meters 0.024610267208403886 Centerline is valid? [True, True] Translation: X:190.49, Y:-6.17, Z:-3.88 [[ 9.99411230e-01 3.13566811e-02 1.39266817e-02 1.90491528e+02] [-3.13468246e-02 9.99508139e-01 -9.25526332e-04 -6.16812040e+00] [-1.39488531e-02 4.88424163e-04 9.99902591e-01 -3.88322190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22439141799998 meters 0.02424219535871212 Centerline is valid? [True, True] Translation: X:190.55, Y:-6.17, Z:-3.88 [[ 9.99408558e-01 3.16721531e-02 1.33943404e-02 1.90550969e+02] [-3.16630708e-02 9.99498203e-01 -8.89642726e-04 -6.17016857e+00] [-1.34157961e-02 4.65010605e-04 9.99909896e-01 -3.88415359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28439141799998 meters 0.02257581105792993 Centerline is valid? [True, True] Translation: X:190.61, Y:-6.17, Z:-3.88 [[ 9.99352128e-01 3.31636214e-02 1.39820718e-02 1.90610315e+02] [-3.31538768e-02 9.99449828e-01 -9.28220317e-04 -6.17058056e+00] [-1.40051624e-02 4.64059064e-04 9.99901815e-01 -3.88415229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344391418 meters 0.021817099456797353 Centerline is valid? [True, True] Translation: X:190.67, Y:-6.17, Z:-3.88 [[ 9.99267992e-01 3.52103994e-02 1.49568848e-02 1.90669904e+02] [-3.51994945e-02 9.99379814e-01 -9.91798625e-04 -6.17160642e+00] [-1.49825303e-02 4.64597837e-04 9.99887648e-01 -3.88463475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404391418 meters 0.019511167705839653 Centerline is valid? [True, True] Translation: X:190.73, Y:-6.17, Z:-3.88 [[ 9.99086302e-01 3.98439999e-02 1.54601418e-02 1.90729905e+02] [-3.98329132e-02 9.99205829e-01 -1.02450357e-03 -6.16870906e+00] [-1.54886841e-02 4.07744999e-04 9.99879960e-01 -3.88467911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464391418 meters 0.018157036947501273 Centerline is valid? [True, True] Translation: X:190.79, Y:-6.17, Z:-3.89 [[ 9.98833505e-01 4.58401695e-02 1.51759034e-02 1.90789329e+02] [-4.58301878e-02 9.98948739e-01 -1.00504009e-03 -6.16680723e+00] [-1.52060208e-02 3.08353216e-04 9.99884334e-01 -3.88641639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524391418 meters 0.016427846917801334 Centerline is valid? [True, True] Translation: X:190.85, Y:-6.16, Z:-3.89 [[ 9.98510894e-01 5.22665029e-02 1.56271023e-02 1.90848914e+02] [-5.22567143e-02 9.98633149e-01 -1.03434350e-03 -6.16294807e+00] [-1.56598038e-02 2.16182230e-04 9.99877354e-01 -3.88692493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584391418 meters 0.01558964148560342 Centerline is valid? [True, True] Translation: X:190.91, Y:-6.16, Z:-3.89 [[ 9.98336834e-01 5.54817845e-02 1.56632341e-02 1.90907979e+02] [-5.54723594e-02 9.98459686e-01 -1.03589445e-03 -6.16279782e+00] [-1.56965810e-02 1.65295036e-04 9.99876787e-01 -3.88794359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64439141799997 meters 0.015556058287832243 Centerline is valid? [True, True] Translation: X:190.97, Y:-6.17, Z:-3.89 [[ 9.98352436e-01 5.57741525e-02 1.34780490e-02 1.90965790e+02] [-5.57672104e-02 9.98443401e-01 -8.90652213e-04 -6.16583933e+00] [-1.35067444e-02 1.37551615e-04 9.99908770e-01 -3.89132510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70439141799997 meters 0.01575075852941009 Centerline is valid? [True, True] Translation: X:191.02, Y:-6.17, Z:-3.89 [[ 9.98396957e-01 5.51275941e-02 1.28243695e-02 1.91024372e+02] [-5.51212725e-02 9.98479308e-01 -8.46145406e-04 -6.16993264e+00] [-1.28515136e-02 1.37893430e-04 9.99917406e-01 -3.89311692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76439141799997 meters 0.01721092088450448 Centerline is valid? [True, True] Translation: X:191.08, Y:-6.18, Z:-3.90 [[ 9.98629390e-01 5.09146641e-02 1.21259361e-02 1.91081748e+02] [-5.09087106e-02 9.98702991e-01 -7.99341253e-04 -6.17800416e+00] [-1.21509069e-02 1.80929895e-04 9.99926159e-01 -3.89537357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82439141799998 meters 0.017547796757989023 Centerline is valid? [True, True] Translation: X:191.14, Y:-6.18, Z:-3.90 [[ 9.98791964e-01 4.76578632e-02 1.19725293e-02 1.91140089e+02] [-4.76518408e-02 9.98863695e-01 -7.87942080e-04 -6.18331684e+00] [-1.19964765e-02 2.16477158e-04 9.99928016e-01 -3.89540431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88439141799998 meters 0.019131386115871205 Centerline is valid? [True, True] Translation: X:191.20, Y:-6.19, Z:-3.90 [[ 9.99006259e-01 4.30581471e-02 1.15104781e-02 1.91198779e+02] [-4.30522856e-02 9.99072534e-01 -7.56643757e-04 -6.19053998e+00] [-1.15323822e-02 2.60339458e-04 9.99933466e-01 -3.89670759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94439141799998 meters 0.022713112242443257 Centerline is valid? [True, True] Translation: X:191.26, Y:-6.20, Z:-3.90 [[ 9.99142741e-01 3.99690954e-02 1.07821441e-02 1.91256269e+02] [-3.99637781e-02 9.99200878e-01 -7.08241804e-04 -6.20037282e+00] [-1.08018357e-02 2.76739442e-04 9.99941620e-01 -3.89958558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00439141799998 meters 0.020946197604584816 Centerline is valid? [True, True] Translation: X:191.32, Y:-6.20, Z:-3.90 [[ 9.99192869e-01 3.87499442e-02 1.05854331e-02 1.91315226e+02] [-3.87447638e-02 9.99248899e-01 -6.94104689e-04 -6.20090469e+00] [-1.06043789e-02 2.83414351e-04 9.99943732e-01 -3.89930353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06439141799999 meters 0.021173638430323174 Centerline is valid? [True, True] Translation: X:191.37, Y:-6.20, Z:-3.90 [[ 9.99202183e-01 3.84673203e-02 1.07360920e-02 1.91373468e+02] [-3.84619824e-02 9.99259817e-01 -7.03300594e-04 -6.20366468e+00] [-1.07551995e-02 2.89808105e-04 9.99942119e-01 -3.90005275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124391418 meters 0.020628618209046212 Centerline is valid? [True, True] Translation: X:191.43, Y:-6.21, Z:-3.90 [[ 9.99107731e-01 4.06694839e-02 1.13901121e-02 1.91431562e+02] [-4.06636334e-02 9.99172615e-01 -7.44859259e-04 -6.20502323e+00] [-1.14109812e-02 2.81031299e-04 9.99934853e-01 -3.90033571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184391418 meters 0.019067561277342115 Centerline is valid? [True, True] Translation: X:191.49, Y:-6.20, Z:-3.90 [[ 9.98961902e-01 4.40726107e-02 1.15205786e-02 1.91490366e+02] [-4.40668669e-02 9.99028301e-01 -7.52060321e-04 -6.20481290e+00] [-1.15425294e-02 2.43603802e-04 9.99933353e-01 -3.90100563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244391418 meters 0.016322352915907872 Centerline is valid? [True, True] Translation: X:191.55, Y:-6.20, Z:-3.90 [[ 9.98597976e-01 5.19288992e-02 1.02699366e-02 1.91549759e+02] [-5.19247564e-02 9.98650775e-01 -6.69801752e-04 -6.20028984e+00] [-1.02908622e-02 1.35598718e-04 9.99947038e-01 -3.90269292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304391418 meters 0.014910264838979686 Centerline is valid? [True, True] Translation: X:191.61, Y:-6.20, Z:-3.90 [[ 9.98080644e-01 6.12072423e-02 9.41811014e-03 1.91609498e+02] [-6.12041791e-02 9.98125078e-01 -6.13392617e-04 -6.19622126e+00] [-9.43799599e-03 3.57875990e-05 9.99955460e-01 -3.90380498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36439141799997 meters 0.01489884080069184 Centerline is valid? [True, True] Translation: X:191.67, Y:-6.20, Z:-3.91 [[ 9.97746453e-01 6.65212158e-02 8.77177455e-03 1.91667990e+02] [-6.65187615e-02 9.97785011e-01 -5.71569860e-04 -6.19593531e+00] [-8.79036669e-03 -1.32057790e-05 9.99961364e-01 -3.90515685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42439141799997 meters 0.015594557108715596 Centerline is valid? [True, True] Translation: X:191.73, Y:-6.20, Z:-3.91 [[ 9.97405093e-01 7.17228045e-02 6.23862787e-03 1.91727007e+02] [-7.17216686e-02 9.97424602e-01 -4.05894773e-04 -6.19638216e+00] [-6.25167283e-03 -4.26032862e-05 9.99980457e-01 -3.90734361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48439141799997 meters 0.01588767753404132 Centerline is valid? [True, True] Translation: X:191.79, Y:-6.20, Z:-3.91 [[ 9.97306832e-01 7.31182019e-02 5.72809577e-03 1.91785177e+02] [-7.31172676e-02 9.97323281e-01 -3.72620061e-04 -6.19869733e+00] [-5.74000857e-03 -4.72061785e-05 9.99983525e-01 -3.90896765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54439141799998 meters 0.015692750602611258 Centerline is valid? [True, True] Translation: X:191.84, Y:-6.20, Z:-3.91 [[ 9.97392604e-01 7.18459732e-02 6.79333540e-03 1.91844049e+02] [-7.18446390e-02 9.97415738e-01 -4.40538412e-04 -6.20489350e+00] [-6.80743055e-03 -4.86749758e-05 9.99976828e-01 -3.90895019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60439141799998 meters 0.015271279862344436 Centerline is valid? [True, True] Translation: X:191.90, Y:-6.21, Z:-3.91 [[ 9.97588433e-01 6.89566976e-02 7.89255780e-03 1.91902583e+02] [-6.89548130e-02 9.97619653e-01 -5.10973011e-04 -6.21195121e+00] [-7.90900579e-03 -3.44890816e-05 9.99968723e-01 -3.90788419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66439141799998 meters 0.015025531231172713 Centerline is valid? [True, True] Translation: X:191.96, Y:-6.22, Z:-3.91 [[ 9.97993916e-01 6.26713839e-02 8.96886207e-03 1.91960761e+02] [-6.26687051e-02 9.98034217e-01 -5.79680721e-04 -6.22278399e+00] [-8.98756063e-03 1.64508599e-05 9.99959611e-01 -3.90794000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72439141799998 meters 0.01603016253567064 Centerline is valid? [True, True] Translation: X:192.02, Y:-6.24, Z:-3.91 [[ 9.98550907e-01 5.31613301e-02 8.36411049e-03 1.92018829e+02] [-5.31586712e-02 9.98585932e-01 -5.40046690e-04 -6.23795984e+00] [-8.38099267e-03 9.46391134e-05 9.99964874e-01 -3.90995456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78439141799998 meters 0.021439654041628373 Centerline is valid? [True, True] Translation: X:192.08, Y:-6.26, Z:-3.91 [[ 9.99121552e-01 4.12389914e-02 7.44785618e-03 1.92076721e+02] [-4.12365591e-02 9.99149296e-01 -4.79910548e-04 -6.25914799e+00] [-7.46131128e-03 1.72365010e-04 9.99972149e-01 -3.91381640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844391418 meters 0.022626241985756683 Centerline is valid? [True, True] Translation: X:192.14, Y:-6.27, Z:-3.91 [[ 9.99409459e-01 3.36028248e-02 7.18219415e-03 1.92136503e+02] [-3.36003694e-02 9.99435241e-01 -4.62297488e-04 -6.26926396e+00] [-7.19367244e-03 2.20700105e-04 9.99974101e-01 -3.91358664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904391418 meters 0.028232023244500727 Centerline is valid? [True, True] Translation: X:192.20, Y:-6.29, Z:-3.92 [[ 9.99670334e-01 2.48821448e-02 6.33267352e-03 1.92195373e+02] [-2.48800639e-02 9.99690360e-01 -4.07169485e-04 -6.28617086e+00] [-6.34084393e-03 2.49477933e-04 9.99979866e-01 -3.91578160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964391418 meters 0.029764741612178888 Centerline is valid? [True, True] Translation: X:192.26, Y:-6.29, Z:-3.92 [[ 9.99780763e-01 2.01574976e-02 5.66575135e-03 1.92255403e+02] [-2.01557560e-02 9.99796786e-01 -3.64326403e-04 -6.29476492e+00] [-5.67194390e-03 2.50049027e-04 9.99983883e-01 -3.91630663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024391418 meters 0.031456681597268055 Centerline is valid? [True, True] Translation: X:192.31, Y:-6.30, Z:-3.92 [[ 9.99812101e-01 1.87265694e-02 5.00781464e-03 1.92314370e+02] [-1.87251878e-02 9.99824616e-01 -3.22628977e-04 -6.30218781e+00] [-5.01297808e-03 2.28796086e-04 9.99987409e-01 -3.91749907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084391418 meters 0.032763194488272564 Centerline is valid? [True, True] Translation: X:192.37, Y:-6.31, Z:-3.92 [[ 9.99822200e-01 1.83210261e-02 4.46197445e-03 1.92372749e+02] [-1.83199253e-02 9.99832135e-01 -2.87475112e-04 -6.30800374e+00] [-4.46649228e-03 2.05680961e-04 9.99990004e-01 -3.91824731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14439141799997 meters 0.03336567317786266 Centerline is valid? [True, True] Translation: X:192.43, Y:-6.31, Z:-3.92 [[ 9.99831326e-01 1.79363346e-02 3.95070502e-03 1.92431950e+02] [-1.79354693e-02 9.99839114e-01 -2.54341907e-04 -6.31243358e+00] [-3.95463137e-03 1.83441257e-04 9.99992164e-01 -3.91963083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20439141799997 meters 0.030815851810737163 Centerline is valid? [True, True] Translation: X:192.49, Y:-6.31, Z:-3.92 [[ 9.99828742e-01 1.80946638e-02 3.88187295e-03 1.92490987e+02] [-1.80938274e-02 9.99836262e-01 -2.50471055e-04 -6.31210061e+00] [-3.88576953e-03 1.80190220e-04 9.99992434e-01 -3.91902318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26439141799997 meters 0.029950941164848248 Centerline is valid? [True, True] Translation: X:192.55, Y:-6.31, Z:-3.92 [[ 9.99799946e-01 1.97115346e-02 3.39472713e-03 1.92550058e+02] [-1.97109044e-02 9.99805697e-01 -2.18990053e-04 -6.31181372e+00] [-3.39838416e-03 1.52033101e-04 9.99994214e-01 -3.91944942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32439141799998 meters 0.02790614138124568 Centerline is valid? [True, True] Translation: X:192.61, Y:-6.31, Z:-3.92 [[ 9.99757678e-01 2.12616048e-02 5.70344248e-03 1.92608882e+02] [-2.12598602e-02 9.99773917e-01 -3.66340761e-04 -6.31207571e+00] [-5.70994202e-03 2.44997598e-04 9.99983668e-01 -3.91847373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38439141799998 meters 0.02646344045810318 Centerline is valid? [True, True] Translation: X:192.67, Y:-6.31, Z:-3.92 [[ 9.99685761e-01 2.43154567e-02 6.09407086e-03 1.92669071e+02] [-2.43135308e-02 9.99704306e-01 -3.89932107e-04 -6.31104859e+00] [-6.10175026e-03 2.41641196e-04 9.99981355e-01 -3.91995870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44439141799998 meters 0.02425608912623444 Centerline is valid? [True, True] Translation: X:192.73, Y:-6.31, Z:-3.92 [[ 9.99590652e-01 2.80282445e-02 5.73981340e-03 1.92729630e+02] [-2.80265976e-02 9.99607110e-01 -3.67176121e-04 -6.30834841e+00] [-5.74784959e-03 2.06158378e-04 9.99983460e-01 -3.92111020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50439141799998 meters 0.023217705722233205 Centerline is valid? [True, True] Translation: X:192.79, Y:-6.31, Z:-3.92 [[ 9.99504367e-01 3.10468380e-02 5.20704752e-03 1.92788178e+02] [-3.10455191e-02 9.99517916e-01 -3.33958351e-04 -6.30884981e+00] [-5.21490564e-03 1.72137337e-04 9.99986387e-01 -3.92255435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56439141799999 meters 0.02034161637918702 Centerline is valid? [True, True] Translation: X:192.85, Y:-6.30, Z:-3.92 [[ 9.99256455e-01 3.81503197e-02 5.57589560e-03 1.92848779e+02] [-3.81489261e-02 9.99272001e-01 -3.56126774e-04 -6.30478606e+00] [-5.58542271e-03 1.43147549e-04 9.99984391e-01 -3.92324827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624391418 meters 0.020266635969374915 Centerline is valid? [True, True] Translation: X:192.91, Y:-6.31, Z:-3.93 [[ 9.99145026e-01 4.09609721e-02 5.60489904e-03 1.92906330e+02] [-4.09596021e-02 9.99160739e-01 -3.59045215e-04 -6.30719680e+00] [-5.61490190e-03 1.29163807e-04 9.99984228e-01 -3.92566976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684391418 meters 0.01602251786712157 Centerline is valid? [True, True] Translation: X:192.97, Y:-6.30, Z:-3.93 [[ 9.98661756e-01 5.14453776e-02 5.29814311e-03 1.92966408e+02] [-5.14443078e-02 9.98675808e-01 -3.38084357e-04 -6.29928514e+00] [-5.30852022e-03 6.50726126e-05 9.99985908e-01 -3.92567951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744391418 meters 0.014932981709656663 Centerline is valid? [True, True] Translation: X:193.02, Y:-6.30, Z:-3.93 [[ 9.98185711e-01 5.99250839e-02 5.85404133e-03 1.93024819e+02] [-5.99239204e-02 9.98202877e-01 -3.74096266e-04 -6.29600489e+00] [-5.86593864e-03 2.26204410e-05 9.99982795e-01 -3.92712672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804391418 meters 0.014545575396608465 Centerline is valid? [True, True] Translation: X:193.08, Y:-6.30, Z:-3.93 [[ 9.97962607e-01 6.34953155e-02 6.24344123e-03 1.93084013e+02] [-6.34940683e-02 9.97982137e-01 -3.97980450e-04 -6.29667424e+00] [-6.25611271e-03 7.48123061e-07 9.99980430e-01 -3.92654478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86439141799997 meters 0.014811367901724768 Centerline is valid? [True, True] Translation: X:193.14, Y:-6.30, Z:-3.93 [[ 9.97817149e-01 6.55626580e-02 7.90405306e-03 1.93141976e+02] [-6.55607308e-02 9.97848454e-01 -5.02962481e-04 -6.30018516e+00] [-7.92002269e-03 -1.63309055e-05 9.99968636e-01 -3.92752877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92439141799997 meters 0.014556905943925507 Centerline is valid? [True, True] Translation: X:193.20, Y:-6.31, Z:-3.93 [[ 9.97835193e-01 6.52239916e-02 8.41184035e-03 1.93200860e+02] [-6.52218072e-02 9.97870648e-01 -5.34035157e-04 -6.30608315e+00] [-8.42876049e-03 -1.57563563e-05 9.99964477e-01 -3.92716669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98439141799997 meters 0.014454366992824258 Centerline is valid? [True, True] Translation: X:193.26, Y:-6.31, Z:-3.93 [[ 9.97928259e-01 6.37271114e-02 8.83427861e-03 1.93259666e+02] [-6.37246504e-02 9.97967362e-01 -5.60070868e-04 -6.31481994e+00] [-8.85201342e-03 -4.05076995e-06 9.99960820e-01 -3.92874754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04439141799998 meters 0.014381607421544512 Centerline is valid? [True, True] Translation: X:193.32, Y:-6.33, Z:-3.93 [[ 9.98098859e-01 6.10007616e-02 8.80765723e-03 1.93316186e+02] [-6.09982095e-02 9.98137719e-01 -5.58355809e-04 -6.32510642e+00] [-8.82531503e-03 2.00429755e-05 9.99961056e-01 -3.93095463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10439141799998 meters 0.01439965551874573 Centerline is valid? [True, True] Translation: X:193.37, Y:-6.33, Z:-3.93 [[ 9.98246943e-01 5.84684591e-02 9.19130288e-03 1.93374940e+02] [-5.84655916e-02 9.98289255e-01 -5.80596206e-04 -6.33414936e+00] [-9.20952547e-03 4.22034275e-05 9.99957591e-01 -3.93193362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16439141799998 meters 0.014856663461806956 Centerline is valid? [True, True] Translation: X:193.43, Y:-6.35, Z:-3.93 [[ 9.98501106e-01 5.38456163e-02 9.80774393e-03 1.93432091e+02] [-5.38421351e-02 9.98549268e-01 -6.18830407e-04 -6.34586437e+00] [-9.82683683e-03 8.98329726e-05 9.99951711e-01 -3.93327554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22439141799998 meters 0.016059268283967906 Centerline is valid? [True, True] Translation: X:193.49, Y:-6.36, Z:-3.93 [[ 9.98731678e-01 4.91340669e-02 1.09944678e-02 1.93489803e+02] [-4.91294219e-02 9.98792181e-01 -6.92332005e-04 -6.35810695e+00] [-1.10152055e-02 1.51302059e-04 9.99939319e-01 -3.93441094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28439141799998 meters 0.01737276831050953 Centerline is valid? [True, True] Translation: X:193.55, Y:-6.37, Z:-3.94 [[ 9.98881650e-01 4.58839366e-02 1.14067755e-02 1.93547358e+02] [-4.58787388e-02 9.98946759e-01 -7.17070884e-04 -6.36882321e+00] [-1.14276634e-02 1.92940476e-04 9.99934684e-01 -3.93582334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344391418 meters 0.016593828121581434 Centerline is valid? [True, True] Translation: X:193.61, Y:-6.37, Z:-3.94 [[ 9.98905576e-01 4.52518128e-02 1.18289471e-02 1.93606399e+02] [-4.52461950e-02 9.98975591e-01 -7.42242340e-04 -6.37390952e+00] [-1.18504172e-02 2.06215165e-04 9.99929760e-01 -3.93617215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404391418 meters 0.016249867551230257 Centerline is valid? [True, True] Translation: X:193.66, Y:-6.38, Z:-3.94 [[ 9.98848460e-01 4.62025928e-02 1.29257095e-02 1.93664739e+02] [-4.61959799e-02 9.98932068e-01 -8.09866222e-04 -6.37958603e+00] [-1.29493236e-02 2.11817812e-04 9.99916132e-01 -3.93760465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464391418 meters 0.01594080586426823 Centerline is valid? [True, True] Translation: X:193.72, Y:-6.38, Z:-3.94 [[ 9.98753671e-01 4.80919755e-02 1.33516787e-02 1.93721954e+02] [-4.80851022e-02 9.98842893e-01 -8.35515932e-04 -6.38345211e+00] [-1.33764109e-02 1.92457771e-04 9.99910513e-01 -3.93877995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524391418 meters 0.014941678770236354 Centerline is valid? [True, True] Translation: X:193.78, Y:-6.39, Z:-3.94 [[ 9.98575425e-01 5.16998589e-02 1.32001771e-02 1.93780928e+02] [-5.16934757e-02 9.98662658e-01 -8.24539521e-04 -6.38676830e+00] [-1.32251526e-02 1.41001866e-04 9.99912534e-01 -3.94083901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584391418 meters 0.01481015772661504 Centerline is valid? [True, True] Translation: X:193.84, Y:-6.39, Z:-3.94 [[ 9.98489965e-01 5.32560467e-02 1.34752476e-02 1.93839613e+02] [-5.32495515e-02 9.98580882e-01 -8.40603454e-04 -6.39095982e+00] [-1.35008918e-02 1.21783226e-04 9.99908851e-01 -3.94303444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64439141799997 meters 0.014620777025001972 Centerline is valid? [True, True] Translation: X:193.90, Y:-6.40, Z:-3.94 [[ 9.98476919e-01 5.32196229e-02 1.45435080e-02 1.93898574e+02] [-5.32120720e-02 9.98582823e-01 -9.05940804e-04 -6.39573824e+00] [-1.45711111e-02 1.30670790e-04 9.99893827e-01 -3.94369991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70439141799997 meters 0.01534749768000867 Centerline is valid? [True, True] Translation: X:193.96, Y:-6.40, Z:-3.94 [[ 9.98585161e-01 5.06247165e-02 1.62731345e-02 1.93956368e+02] [-5.06149411e-02 9.98717729e-01 -1.01227125e-03 -6.40309717e+00] [-1.63035139e-02 1.87175307e-04 9.99867071e-01 -3.94402747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76439141799997 meters 0.016980387853193328 Centerline is valid? [True, True] Translation: X:194.01, Y:-6.41, Z:-3.94 [[ 9.98832957e-01 4.49971468e-02 1.75493992e-02 1.94014739e+02] [-4.49849431e-02 9.98987071e-01 -1.08973093e-03 -6.41378873e+00] [-1.75806577e-02 2.99000441e-04 9.99845404e-01 -3.94484495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82439141799998 meters 0.01919721055725021 Centerline is valid? [True, True] Translation: X:194.07, Y:-6.42, Z:-3.95 [[ 9.99038709e-01 3.95834410e-02 1.88363759e-02 1.94074266e+02] [-3.95684519e-02 9.99216180e-01 -1.16793350e-03 -6.42313575e+00] [-1.88678424e-02 4.21484540e-04 9.99821898e-01 -3.94535662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88439141799998 meters 0.024627936220823436 Centerline is valid? [True, True] Translation: X:194.13, Y:-6.44, Z:-3.95 [[ 9.99342790e-01 2.99960009e-02 2.03525869e-02 1.94134579e+02] [-2.99765123e-02 9.99549807e-01 -1.26202366e-03 -6.43775368e+00] [-2.03812800e-02 6.51094675e-04 9.99792068e-01 -3.94594407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94439141799998 meters 0.033977954194084115 Centerline is valid? [True, True] Translation: X:194.19, Y:-6.46, Z:-3.95 [[ 9.99582005e-01 1.89711976e-02 2.18153359e-02 1.94193485e+02] [-1.89461697e-02 9.99819589e-01 -1.35339348e-03 -6.45652202e+00] [-2.18370756e-02 9.39510714e-04 9.99761101e-01 -3.94657510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00439141799998 meters 0.031184599274385515 Centerline is valid? [True, True] Translation: X:194.25, Y:-6.46, Z:-3.95 [[ 9.99690364e-01 1.23241899e-02 2.16169119e-02 1.94253711e+02] [-1.22980266e-02 9.99923475e-01 -1.34284168e-03 -6.45697256e+00] [-2.16318071e-02 1.07658053e-03 9.99765425e-01 -3.94870207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06439141799999 meters 0.035535955536796754 Centerline is valid? [True, True] Translation: X:194.31, Y:-6.47, Z:-3.95 [[ 9.99756617e-01 5.71936487e-03 2.13071624e-02 1.94314323e+02] [-5.69244881e-03 9.99982922e-01 -1.32367819e-03 -6.46501350e+00] [-2.13143691e-02 1.20206609e-03 9.99772100e-01 -3.95016374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124391418 meters 0.03754265249822173 Centerline is valid? [True, True] Translation: X:194.38, Y:-6.47, Z:-3.95 [[ 9.99752297e-01 4.69247228e-03 2.17560605e-02 1.94376070e+02] [-4.66415830e-03 9.99988209e-01 -1.35199044e-03 -6.46964658e+00] [-2.17621481e-02 1.25018184e-03 9.99762395e-01 -3.95151900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184391418 meters 0.037621197885482675 Centerline is valid? [True, True] Translation: X:194.44, Y:-6.47, Z:-3.95 [[ 9.99755350e-01 6.59486512e-03 2.11127299e-02 1.94438006e+02] [-6.56850542e-03 9.99977559e-01 -1.31762619e-03 -6.46801004e+00] [-2.11209456e-02 1.17862475e-03 9.99776233e-01 -3.95275165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244391418 meters 0.034280983307879716 Centerline is valid? [True, True] Translation: X:194.50, Y:-6.46, Z:-3.95 [[ 9.99712067e-01 1.21358599e-02 2.07003443e-02 1.94499572e+02] [-1.21116796e-02 9.99925815e-01 -1.29308322e-03 -6.46134251e+00] [-2.07145013e-02 1.04199496e-03 9.99784889e-01 -3.95383986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304391418 meters 0.031959045003146884 Centerline is valid? [True, True] Translation: X:194.56, Y:-6.46, Z:-3.96 [[ 9.99634353e-01 1.69716447e-02 2.10505104e-02 1.94560889e+02] [-1.69477067e-02 9.99855512e-01 -1.31506219e-03 -6.45785910e+00] [-2.10697876e-02 9.57823469e-04 9.99777549e-01 -3.95503669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36439141799997 meters 0.025330910474540384 Centerline is valid? [True, True] Translation: X:194.62, Y:-6.45, Z:-3.96 [[ 9.99457665e-01 2.50990679e-02 2.13169748e-02 1.94622341e+02] [-2.50763561e-02 9.99684651e-01 -1.33211382e-03 -6.44553960e+00] [-2.13436873e-02 7.96839321e-04 9.99771880e-01 -3.95577001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42439141799997 meters 0.021738653688438067 Centerline is valid? [True, True] Translation: X:194.68, Y:-6.44, Z:-3.96 [[ 9.99171226e-01 3.49235203e-02 2.09095418e-02 1.94682286e+02] [-3.49038162e-02 9.99389822e-01 -1.30667068e-03 -6.43651239e+00] [-2.09424168e-02 5.75764944e-04 9.99780518e-01 -3.95732230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48439141799997 meters 0.018056058326479316 Centerline is valid? [True, True] Translation: X:194.74, Y:-6.43, Z:-3.96 [[ 9.98908445e-01 4.19189305e-02 2.06087556e-02 1.94743908e+02] [-4.19012842e-02 9.99120926e-01 -1.28751261e-03 -6.42937030e+00] [-2.06446101e-02 4.22573894e-04 9.99786788e-01 -3.95979900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54439141799998 meters 0.01715483005436481 Centerline is valid? [True, True] Translation: X:194.80, Y:-6.43, Z:-3.96 [[ 9.98836715e-01 4.34168996e-02 2.09807180e-02 1.94803356e+02] [-4.33989324e-02 9.99056962e-01 -1.31114691e-03 -6.42943938e+00] [-2.10178583e-02 3.99080911e-04 9.99779021e-01 -3.96106600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60439141799998 meters 0.01629165022441053 Centerline is valid? [True, True] Translation: X:194.86, Y:-6.43, Z:-3.96 [[ 9.98740686e-01 4.56979592e-02 2.07059885e-02 1.94862186e+02] [-4.56809670e-02 9.98955243e-01 -1.29313150e-03 -6.42828775e+00] [-2.07434492e-02 3.45633467e-04 9.99784772e-01 -3.96222477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66439141799998 meters 0.015170204771933982 Centerline is valid? [True, True] Translation: X:194.92, Y:-6.42, Z:-3.96 [[ 9.98561499e-01 4.99145622e-02 1.95823538e-02 1.94920824e+02] [-4.99002045e-02 9.98753462e-01 -1.22144838e-03 -6.42486225e+00] [-1.96189117e-02 2.42527864e-04 9.99807501e-01 -3.96429785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72439141799998 meters 0.014603016795238902 Centerline is valid? [True, True] Translation: X:194.98, Y:-6.43, Z:-3.97 [[ 9.98401197e-01 5.28962136e-02 1.99258939e-02 1.94980075e+02] [-5.28819735e-02 9.98599998e-01 -1.24125379e-03 -6.42508384e+00] [-1.99636552e-02 1.85548681e-04 9.99800689e-01 -3.96613719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78439141799998 meters 0.01465473724987196 Centerline is valid? [True, True] Translation: X:195.04, Y:-6.43, Z:-3.97 [[ 9.98420369e-01 5.23378690e-02 2.04331449e-02 1.95038376e+02] [-5.23228115e-02 9.98629414e-01 -1.27120358e-03 -6.42856760e+00] [-2.04716716e-02 2.00075954e-04 9.99790413e-01 -3.96725478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844391418 meters 0.016370176455684456 Centerline is valid? [True, True] Translation: X:195.10, Y:-6.44, Z:-3.97 [[ 9.98713774e-01 4.65353541e-02 2.01310220e-02 1.95096927e+02] [-4.65195920e-02 9.98916595e-01 -1.25080983e-03 -6.43698690e+00] [-2.01674188e-02 3.12714071e-04 9.99796568e-01 -3.96971490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904391418 meters 0.019844169509255605 Centerline is valid? [True, True] Translation: X:195.16, Y:-6.45, Z:-3.97 [[ 9.99165824e-01 3.61469392e-02 1.90014375e-02 1.95156303e+02] [-3.61310474e-02 9.99346365e-01 -1.17909815e-03 -6.45038046e+00] [-1.90316383e-02 4.91572731e-04 9.99818761e-01 -3.97217057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964391418 meters 0.02380369604656991 Centerline is valid? [True, True] Translation: X:195.22, Y:-6.46, Z:-3.97 [[ 9.99426818e-01 2.82489781e-02 1.86555993e-02 1.95216499e+02] [-2.82322927e-02 9.99600720e-01 -1.15720471e-03 -6.46191595e+00] [-1.86808403e-02 6.29851078e-04 9.99825299e-01 -3.97371900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024391418 meters 0.029470757756039235 Centerline is valid? [True, True] Translation: X:195.28, Y:-6.48, Z:-3.98 [[ 9.99703660e-01 1.64369435e-02 1.79560560e-02 1.95276617e+02] [-1.64195798e-02 9.99864569e-01 -1.11402144e-03 -6.47578964e+00] [-1.79719353e-02 8.18860415e-04 9.99838156e-01 -3.97509688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084391418 meters 0.036960422854262126 Centerline is valid? [True, True] Translation: X:195.34, Y:-6.49, Z:-3.98 [[ 9.99838098e-01 7.67364001e-03 1.62755215e-02 1.95335677e+02] [-7.65821851e-03 9.99970166e-01 -1.00964124e-03 -6.49160709e+00] [-1.62827836e-02 8.84836279e-04 9.99867035e-01 -3.97783785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14439141799997 meters 0.03634126471174189 Centerline is valid? [True, True] Translation: X:195.40, Y:-6.49, Z:-3.98 [[ 9.99878263e-01 4.35556081e-03 1.49829617e-02 1.95396452e+02] [-4.34209676e-03 9.99990140e-01 -9.31037290e-04 -6.49446566e+00] [-1.49868691e-02 8.65866478e-04 9.99887316e-01 -3.97995845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20439141799997 meters 0.03609309785944148 Centerline is valid? [True, True] Translation: X:195.46, Y:-6.50, Z:-3.98 [[ 9.99887851e-01 3.71151637e-03 1.45089942e-02 1.95458611e+02] [-3.69884244e-03 9.99992754e-01 -9.00259607e-04 -6.49577029e+00] [-1.45122304e-02 8.46492160e-04 9.99894334e-01 -3.98073463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26439141799997 meters 0.036093122935451125 Centerline is valid? [True, True] Translation: X:195.52, Y:-6.50, Z:-3.98 [[ 9.99875182e-01 5.53547166e-03 1.47979061e-02 1.95520067e+02] [-5.52240138e-03 9.99984325e-01 -9.23968744e-04 -6.49700185e+00] [-1.48027887e-02 8.42133440e-04 9.99890078e-01 -3.98154491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32439141799998 meters 0.03243198064991669 Centerline is valid? [True, True] Translation: X:195.58, Y:-6.49, Z:-3.98 [[ 9.99839137e-01 1.06236892e-02 1.44511898e-02 1.95581533e+02] [-1.06117441e-02 9.99943286e-01 -9.03017231e-04 -6.49214072e+00] [-1.44599636e-02 7.49519641e-04 9.99895168e-01 -3.98236757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38439141799998 meters 0.03052537614135676 Centerline is valid? [True, True] Translation: X:195.64, Y:-6.49, Z:-3.98 [[ 9.99778931e-01 1.63921632e-02 1.31675841e-02 1.95641743e+02] [-1.63827396e-02 9.99865455e-01 -8.23215654e-04 -6.48811504e+00] [-1.31793068e-02 6.07312564e-04 9.99912965e-01 -3.98418596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44439141799998 meters 0.029641572415056373 Centerline is valid? [True, True] Translation: X:195.70, Y:-6.49, Z:-3.99 [[ 9.99704233e-01 2.09205319e-02 1.24007525e-02 1.95701433e+02] [-2.09125208e-02 9.99781009e-01 -7.75346933e-04 -6.48748534e+00] [-1.24142575e-02 5.15786616e-04 9.99922807e-01 -3.98626318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50439141799998 meters 0.024866356238796742 Centerline is valid? [True, True] Translation: X:195.76, Y:-6.48, Z:-3.99 [[ 9.99482015e-01 2.97921787e-02 1.21708063e-02 1.95763046e+02] [-2.97851224e-02 9.99556035e-01 -7.60663447e-04 -6.47889110e+00] [-1.21880647e-02 3.97760480e-04 9.99925644e-01 -3.98656781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56439141799999 meters 0.02024813275280754 Centerline is valid? [True, True] Translation: X:195.82, Y:-6.47, Z:-3.99 [[ 9.99269097e-01 3.63445891e-02 1.18466635e-02 1.95823578e+02] [-3.63383613e-02 9.99339269e-01 -7.40596894e-04 -6.47151397e+00] [-1.18657527e-02 3.09567251e-04 9.99929552e-01 -3.98683071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624391418 meters 0.017342166226614227 Centerline is valid? [True, True] Translation: X:195.88, Y:-6.46, Z:-3.99 [[ 9.98927830e-01 4.48028433e-02 1.16573989e-02 1.95884289e+02] [-4.47973974e-02 9.98995827e-01 -7.27989232e-04 -6.46443059e+00] [-1.16783089e-02 2.04987572e-04 9.99931785e-01 -3.98738257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684391418 meters 0.01625126009390138 Centerline is valid? [True, True] Translation: X:195.94, Y:-6.46, Z:-3.99 [[ 9.98713388e-01 4.89902427e-02 1.30967259e-02 1.95942424e+02] [-4.89837253e-02 9.98799242e-01 -8.18141427e-04 -6.46320486e+00] [-1.31210808e-02 1.75562373e-04 9.99913900e-01 -3.98708074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744391418 meters 0.015500160595106425 Centerline is valid? [True, True] Translation: X:196.00, Y:-6.47, Z:-3.99 [[ 9.98678262e-01 4.94345672e-02 1.40695733e-02 1.96001691e+02] [-4.94271127e-02 9.98777348e-01 -8.77277177e-04 -6.46550413e+00] [-1.40957389e-02 1.80699262e-04 9.99900634e-01 -3.98683834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804391418 meters 0.01623456094454031 Centerline is valid? [True, True] Translation: X:196.06, Y:-6.47, Z:-3.99 [[ 9.98818008e-01 4.65069540e-02 1.41311929e-02 1.96060625e+02] [-4.64991578e-02 9.98917942e-01 -8.79944564e-04 -6.47194945e+00] [-1.41568257e-02 2.21815908e-04 9.99899763e-01 -3.98871327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86439141799997 meters 0.01767917195005155 Centerline is valid? [True, True] Translation: X:196.12, Y:-6.48, Z:-3.99 [[ 9.99004587e-01 4.23585910e-02 1.39851879e-02 1.96118812e+02] [-4.23505645e-02 9.99102434e-01 -8.69720921e-04 -6.48012128e+00] [-1.40094754e-02 2.76574588e-04 9.99901824e-01 -3.99094865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92439141799997 meters 0.021040548872534925 Centerline is valid? [True, True] Translation: X:196.18, Y:-6.49, Z:-3.99 [[ 9.99298537e-01 3.44856796e-02 1.46003929e-02 1.96178486e+02] [-3.44761166e-02 9.99405111e-01 -9.06247980e-04 -6.49417101e+00] [-1.46229599e-02 4.02247430e-04 9.99892998e-01 -3.99227751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98439141799997 meters 0.024477313519919698 Centerline is valid? [True, True] Translation: X:196.24, Y:-6.51, Z:-3.99 [[ 9.99472964e-01 2.81891499e-02 1.60986296e-02 1.96237753e+02] [-2.81767058e-02 9.99602458e-01 -9.99330887e-04 -6.50569257e+00] [-1.61204000e-02 5.45197854e-04 9.99869909e-01 -3.99206264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04439141799998 meters 0.026212914980979385 Centerline is valid? [True, True] Translation: X:196.30, Y:-6.51, Z:-3.99 [[ 9.99514555e-01 2.61245802e-02 1.69752667e-02 1.96297557e+02] [-2.61104536e-02 9.99658509e-01 -1.05332204e-03 -6.51294144e+00] [-1.69969874e-02 6.09578792e-04 9.99855355e-01 -3.99271079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10439141799998 meters 0.025511687981664574 Centerline is valid? [True, True] Translation: X:196.36, Y:-6.52, Z:-3.99 [[ 9.99507895e-01 2.61031090e-02 1.73952739e-02 1.96358792e+02] [-2.60882736e-02 9.99659060e-01 -1.07925963e-03 -6.51675114e+00] [-1.74175152e-02 6.24915857e-04 9.99848108e-01 -3.99351562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16439141799998 meters 0.025342855434620483 Centerline is valid? [True, True] Translation: X:196.42, Y:-6.52, Z:-3.99 [[ 9.99476726e-01 2.74929491e-02 1.70414698e-02 1.96420134e+02] [-2.74789016e-02 9.99621824e-01 -1.05796965e-03 -6.52019272e+00] [-1.70641118e-02 5.89135168e-04 9.99854224e-01 -3.99484797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22439141799998 meters 0.024405509954906406 Centerline is valid? [True, True] Translation: X:196.48, Y:-6.52, Z:-4.00 [[ 9.99393413e-01 3.03216973e-02 1.71289542e-02 1.96480614e+02] [-3.03079063e-02 9.99540043e-01 -1.06420801e-03 -6.52190907e+00] [-1.71533443e-02 5.44419737e-04 9.99852722e-01 -3.99597671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28439141799998 meters 0.023673556915068523 Centerline is valid? [True, True] Translation: X:196.54, Y:-6.52, Z:-4.00 [[ 9.99390260e-01 3.09339452e-02 1.61925630e-02 1.96540440e+02] [-3.09216985e-02 9.99521303e-01 -1.00620059e-03 -6.52318521e+00] [-1.62159375e-02 5.04885522e-04 9.99868386e-01 -3.99890833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344391418 meters 0.02388182137000611 Centerline is valid? [True, True] Translation: X:196.60, Y:-6.53, Z:-4.00 [[ 9.99434049e-01 2.96449123e-02 1.58984352e-02 1.96599866e+02] [-2.96329532e-02 9.99560360e-01 -9.87317052e-04 -6.52650761e+00] [-1.59207145e-02 5.15640692e-04 9.99873124e-01 -4.00102967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404391418 meters 0.02474221568083548 Centerline is valid? [True, True] Translation: X:196.66, Y:-6.53, Z:-4.00 [[ 9.99457885e-01 2.88707229e-02 1.58246010e-02 1.96659258e+02] [-2.88587877e-02 9.99583016e-01 -9.82104400e-04 -6.53108214e+00] [-1.58463564e-02 5.24893186e-04 9.99874301e-01 -4.00270929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464391418 meters 0.02493493135080498 Centerline is valid? [True, True] Translation: X:196.72, Y:-6.53, Z:-4.00 [[ 9.99546308e-01 2.59048120e-02 1.53661293e-02 1.96719806e+02] [-2.58932204e-02 9.99664260e-01 -9.52868760e-04 -6.53328086e+00] [-1.53856541e-02 5.54557880e-04 9.99881480e-01 -4.00377717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524391418 meters 0.02880758905099724 Centerline is valid? [True, True] Translation: X:196.78, Y:-6.54, Z:-4.00 [[ 9.99624666e-01 2.18818348e-02 1.64836740e-02 1.96779280e+02] [-2.18679494e-02 9.99760345e-01 -1.02216881e-03 -6.54088496e+00] [-1.65020905e-02 6.61321003e-04 9.99863613e-01 -4.00477627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58439141799997 meters 0.028453094177771778 Centerline is valid? [True, True] Translation: X:196.84, Y:-6.54, Z:-4.01 [[ 9.99665245e-01 1.95715303e-02 1.69219469e-02 1.96841200e+02] [-1.95565711e-02 9.99808202e-01 -1.04905545e-03 -6.54280997e+00] [-1.69392330e-02 7.17769020e-04 9.99856263e-01 -4.00561298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64439141799997 meters 0.030836388209341058 Centerline is valid? [True, True] Translation: X:196.90, Y:-6.55, Z:-4.01 [[ 9.99695967e-01 1.72200496e-02 1.76477659e-02 1.96903591e+02] [-1.72033872e-02 9.99851411e-01 -1.09555327e-03 -6.54702325e+00] [-1.76640091e-02 7.91618832e-04 9.99843666e-01 -4.00640618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70439141799997 meters 0.028570863380311114 Centerline is valid? [True, True] Translation: X:196.97, Y:-6.55, Z:-4.01 [[ 9.99704477e-01 1.69307326e-02 1.74444735e-02 1.96965996e+02] [-1.69143954e-02 9.99856354e-01 -1.08365165e-03 -6.54589704e+00] [-1.74603147e-02 7.88268683e-04 9.99847246e-01 -4.00711106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76439141799997 meters 0.030554001421997233 Centerline is valid? [True, True] Translation: X:197.03, Y:-6.55, Z:-4.01 [[ 9.99687197e-01 1.82479700e-02 1.71031906e-02 1.97027593e+02] [-1.82323746e-02 9.99833207e-01 -1.06733726e-03 -6.54906397e+00] [-1.71198146e-02 7.55171618e-04 9.99853160e-01 -4.00863208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82439141799998 meters 0.028001790835280455 Centerline is valid? [True, True] Translation: X:197.09, Y:-6.55, Z:-4.01 [[ 9.99663623e-01 2.01628918e-02 1.63125064e-02 1.97089770e+02] [-2.01488881e-02 9.99796468e-01 -1.02237653e-03 -6.54608845e+00] [-1.63298003e-02 6.93353761e-04 9.99866420e-01 -4.01084864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88439141799998 meters 0.029125600334406553 Centerline is valid? [True, True] Translation: X:197.15, Y:-6.55, Z:-4.01 [[ 9.99640814e-01 2.20004200e-02 1.53043842e-02 1.97150847e+02] [-2.19882454e-02 9.99757765e-01 -9.63332224e-04 -6.54934214e+00] [-1.53218707e-02 6.26469653e-04 9.99882417e-01 -4.01334187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94439141799998 meters 0.02629892890479979 Centerline is valid? [True, True] Translation: X:197.21, Y:-6.55, Z:-4.01 [[ 9.99564585e-01 2.55876462e-02 1.46939866e-02 1.97211890e+02] [-2.55767349e-02 9.99672429e-01 -9.30040954e-04 -6.54515523e+00] [-1.47129708e-02 5.53811800e-04 9.99891605e-01 -4.01480222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00439141799998 meters 0.023420021702180036 Centerline is valid? [True, True] Translation: X:197.27, Y:-6.54, Z:-4.01 [[ 9.99421413e-01 3.03814633e-02 1.52907462e-02 1.97272112e+02] [-3.03702047e-02 9.99538250e-01 -9.68023629e-04 -6.53977111e+00] [-1.53130957e-02 5.03080451e-04 9.99882621e-01 -4.01466441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06439141799999 meters 0.021388076109923146 Centerline is valid? [True, True] Translation: X:197.33, Y:-6.54, Z:-4.01 [[ 9.99295721e-01 3.36972450e-02 1.65093205e-02 1.97331629e+02] [-3.36845829e-02 9.99431968e-01 -1.04452073e-03 -6.53753224e+00] [-1.65351401e-02 4.87675524e-04 9.99863166e-01 -4.01449404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124391418 meters 0.02011271659907893 Centerline is valid? [True, True] Translation: X:197.39, Y:-6.54, Z:-4.01 [[ 9.99107058e-01 3.79872823e-02 1.84946992e-02 1.97390647e+02] [-3.79721495e-02 9.99278114e-01 -1.16883783e-03 -6.53601668e+00] [-1.85257491e-02 4.65510638e-04 9.99828275e-01 -4.01415215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184391418 meters 0.018801712127754954 Centerline is valid? [True, True] Translation: X:197.45, Y:-6.54, Z:-4.01 [[ 9.98968479e-01 4.11593817e-02 1.91802771e-02 1.97449239e+02] [-4.11437129e-02 9.99152505e-01 -1.21098409e-03 -6.53517154e+00] [-1.92138653e-02 4.20587121e-04 9.99815308e-01 -4.01465787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244391418 meters 0.01665039302336215 Centerline is valid? [True, True] Translation: X:197.51, Y:-6.53, Z:-4.02 [[ 9.98683194e-01 4.73415283e-02 1.97650826e-02 1.97508361e+02] [-4.73261315e-02 9.98878713e-01 -1.24627899e-03 -6.53117664e+00] [-1.98019210e-02 3.09232984e-04 9.99803875e-01 -4.01520486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304391418 meters 0.015043449611335469 Centerline is valid? [True, True] Translation: X:197.57, Y:-6.53, Z:-4.02 [[ 9.98351559e-01 5.35817434e-02 2.05708988e-02 1.97568015e+02] [-5.35664241e-02 9.98563448e-01 -1.29539637e-03 -6.52809631e+00] [-2.06107572e-02 1.91351503e-04 9.99787557e-01 -4.01559471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36439141799997 meters 0.014581542636554153 Centerline is valid? [True, True] Translation: X:197.63, Y:-6.53, Z:-4.02 [[ 9.98160079e-01 5.71011987e-02 2.03938663e-02 1.97626177e+02] [-5.70869014e-02 9.98368389e-01 -1.28301812e-03 -6.52878078e+00] [-2.04338533e-02 1.16434832e-04 9.99791200e-01 -4.01600398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42439141799997 meters 0.01414641746838644 Centerline is valid? [True, True] Translation: X:197.69, Y:-6.53, Z:-4.02 [[ 9.98020575e-01 5.96411522e-02 1.99465363e-02 1.97685285e+02] [-5.96280217e-02 9.98219880e-01 -1.25291453e-03 -6.53060771e+00] [-1.99857543e-02 6.10619835e-05 9.99800263e-01 -4.01661649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48439141799997 meters 0.014292100442607165 Centerline is valid? [True, True] Translation: X:197.74, Y:-6.54, Z:-4.02 [[ 9.98045389e-01 5.93982644e-02 1.94228876e-02 1.97742622e+02] [-5.93857957e-02 9.98234362e-01 -1.21861621e-03 -6.53507819e+00] [-1.94609775e-02 6.27906593e-05 9.99810615e-01 -4.01822304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54439141799998 meters 0.014476570008909057 Centerline is valid? [True, True] Translation: X:197.80, Y:-6.54, Z:-4.02 [[ 9.98167859e-01 5.74913583e-02 1.88591793e-02 1.97800072e+02] [-5.74793061e-02 9.98346000e-01 -1.18094407e-03 -6.54253351e+00] [-1.88958803e-02 9.47678749e-05 9.99821452e-01 -4.01902940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60439141799998 meters 0.014628386540882056 Centerline is valid? [True, True] Translation: X:197.86, Y:-6.55, Z:-4.02 [[ 9.98286225e-01 5.54159036e-02 1.88066519e-02 1.97858990e+02] [-5.54035867e-02 9.98463349e-01 -1.17571589e-03 -6.54923634e+00] [-1.88429060e-02 1.31745015e-04 9.99822448e-01 -4.01955448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66439141799998 meters 0.01560883474896005 Centerline is valid? [True, True] Translation: X:197.92, Y:-6.56, Z:-4.02 [[ 9.98591742e-01 5.01542845e-02 1.72939733e-02 1.97916741e+02] [-5.01431007e-02 9.98741460e-01 -1.07997406e-03 -6.55974634e+00] [-1.73263735e-02 2.11279730e-04 9.99849865e-01 -4.02133045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72439141799998 meters 0.017146139168152778 Centerline is valid? [True, True] Translation: X:197.97, Y:-6.57, Z:-4.02 [[ 9.98850430e-01 4.50023842e-02 1.65106980e-02 1.97974597e+02] [-4.49915143e-02 9.98986839e-01 -1.02940298e-03 -6.57210258e+00] [-1.65402956e-02 2.85378302e-04 9.99863159e-01 -4.02350888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78439141799998 meters 0.01837445277465342 Centerline is valid? [True, True] Translation: X:198.03, Y:-6.58, Z:-4.02 [[ 9.99018345e-01 4.12009143e-02 1.62736140e-02 1.98032377e+02] [-4.11898693e-02 9.99150823e-01 -1.01344053e-03 -6.58135528e+00] [-1.63015495e-02 3.42137643e-04 9.99867062e-01 -4.02492083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844391418 meters 0.02102556768610572 Centerline is valid? [True, True] Translation: X:198.09, Y:-6.60, Z:-4.03 [[ 9.99215034e-01 3.60183438e-02 1.64922924e-02 1.98089961e+02] [-3.60063263e-02 9.99351036e-01 -1.02512234e-03 -6.59509112e+00] [-1.65185127e-02 4.30490789e-04 9.99863467e-01 -4.02748291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904391418 meters 0.024584920169437374 Centerline is valid? [True, True] Translation: X:198.15, Y:-6.61, Z:-4.03 [[ 9.99441393e-01 2.96471420e-02 1.54255857e-02 1.98148633e+02] [-2.96358798e-02 9.99560302e-01 -9.58222890e-04 -6.61129929e+00] [-1.54472116e-02 5.00536817e-04 9.99880559e-01 -4.03130084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964391418 meters 0.02712648550278412 Centerline is valid? [True, True] Translation: X:198.21, Y:-6.62, Z:-4.03 [[ 9.99579896e-01 2.46725009e-02 1.52085149e-02 1.98207890e+02] [-2.46609828e-02 9.99695426e-01 -9.44450483e-04 -6.62358683e+00] [-1.52271847e-02 5.68996792e-04 9.99883898e-01 -4.03412631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024391418 meters 0.032182886852357824 Centerline is valid? [True, True] Translation: X:198.27, Y:-6.64, Z:-4.04 [[ 9.99735987e-01 1.80794859e-02 1.41805523e-02 1.98266866e+02] [-1.80688140e-02 9.99836358e-01 -8.80339821e-04 -6.64124444e+00] [-1.41941479e-02 6.23881637e-04 9.99899063e-01 -4.03790466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08439141799997 meters 0.031203745896831753 Centerline is valid? [True, True] Translation: X:198.33, Y:-6.65, Z:-4.04 [[ 9.99816395e-01 1.42153427e-02 1.28491278e-02 1.98327784e+02] [-1.42062702e-02 9.99898768e-01 -7.97086834e-04 -6.64843169e+00] [-1.28591579e-02 6.14402304e-04 9.99917129e-01 -4.04067710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14439141799997 meters 0.04045612788724913 Centerline is valid? [True, True] Translation: X:198.39, Y:-6.67, Z:-4.05 [[ 9.99909198e-01 9.14133841e-03 9.90109478e-03 1.98385466e+02] [-9.13569544e-03 9.99958080e-01 -6.15013482e-04 -6.67144000e+00] [-9.90630176e-03 5.24504251e-04 9.99950794e-01 -4.04767952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20439141799997 meters 0.036339039602679195 Centerline is valid? [True, True] Translation: X:198.45, Y:-6.68, Z:-4.05 [[ 9.99936513e-01 7.27505180e-03 8.60482325e-03 1.98447298e+02] [-7.27073142e-03 9.99973426e-01 -5.33264876e-04 -6.67527799e+00] [-8.60847412e-03 4.70667662e-04 9.99962836e-01 -4.04930743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26439141799997 meters 0.036013226549269854 Centerline is valid? [True, True] Translation: X:198.51, Y:-6.68, Z:-4.05 [[ 9.99912648e-01 9.27795419e-03 9.41357653e-03 1.98508284e+02] [-9.27285930e-03 9.99956835e-01 -5.84730607e-04 -6.68161965e+00] [-9.41859530e-03 4.97388759e-04 9.99955520e-01 -4.05035191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32439141799998 meters 0.032806945405906195 Centerline is valid? [True, True] Translation: X:198.57, Y:-6.68, Z:-4.05 [[ 9.99854244e-01 1.32731497e-02 1.07384364e-02 1.98568643e+02] [-1.32667396e-02 9.99911770e-01 -6.67946015e-04 -6.68326582e+00] [-1.07463547e-02 5.25384618e-04 9.99942118e-01 -4.05067027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38439141799998 meters 0.03112812306123354 Centerline is valid? [True, True] Translation: X:198.63, Y:-6.69, Z:-4.05 [[ 9.99733610e-01 1.96521353e-02 1.21038550e-02 1.98627782e+02] [-1.96444561e-02 9.99806745e-01 -7.53017789e-04 -6.68679301e+00] [-1.21163143e-02 5.15043543e-04 9.99926462e-01 -4.05166546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44439141799998 meters 0.024412482652381346 Centerline is valid? [True, True] Translation: X:198.69, Y:-6.68, Z:-4.05 [[ 9.99522471e-01 2.80166351e-02 1.30344664e-02 1.98688756e+02] [-2.80084450e-02 9.99607358e-01 -8.10499353e-04 -6.68259166e+00] [-1.30520560e-02 4.45037182e-04 9.99914719e-01 -4.05170258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50439141799998 meters 0.019158710183060153 Centerline is valid? [True, True] Translation: X:198.75, Y:-6.68, Z:-4.05 [[ 9.99087757e-01 4.10218455e-02 1.18685212e-02 1.98749817e+02] [-4.10159700e-02 9.99158218e-01 -7.38140311e-04 -6.67904068e+00] [-1.18888104e-02 2.50668039e-04 9.99929294e-01 -4.05394812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56439141799999 meters 0.015825397353580246 Centerline is valid? [True, True] Translation: X:198.81, Y:-6.68, Z:-4.06 [[ 9.98597206e-01 5.19112450e-02 1.04328093e-02 1.98809751e+02] [-5.19072953e-02 9.98651697e-01 -6.49191474e-04 -6.67691158e+00] [-1.04524431e-02 1.06741879e-04 9.99945366e-01 -4.05658363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624391418 meters 0.01501250079860836 Centerline is valid? [True, True] Translation: X:198.87, Y:-6.68, Z:-4.06 [[ 9.98315335e-01 5.71466478e-02 1.00375251e-02 1.98868425e+02] [-5.71432558e-02 9.98365794e-01 -6.24641797e-04 -6.67848152e+00] [-1.00568179e-02 5.00126216e-05 9.99949428e-01 -4.05797106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684391418 meters 0.014619723335340796 Centerline is valid? [True, True] Translation: X:198.93, Y:-6.68, Z:-4.06 [[ 9.98026780e-01 6.20869870e-02 9.36767477e-03 1.98927136e+02] [-6.20842560e-02 9.98070742e-01 -5.82336712e-04 -6.68215746e+00] [-9.38575764e-03 -3.97485310e-07 9.99955953e-01 -4.05874660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744391418 meters 0.014525251089321957 Centerline is valid? [True, True] Translation: X:198.98, Y:-6.69, Z:-4.06 [[ 9.97983087e-01 6.25956696e-02 1.05612299e-02 1.98984237e+02] [-6.25922361e-02 9.98038968e-01 -6.55649317e-04 -6.68939726e+00] [-1.05815598e-02 -6.72406568e-06 9.99944014e-01 -4.05875856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804391418 meters 0.01467386257537978 Centerline is valid? [True, True] Translation: X:199.04, Y:-6.70, Z:-4.06 [[ 9.98094462e-01 6.06546842e-02 1.13337393e-02 1.99042384e+02] [-6.06506215e-02 9.98158810e-01 -7.02149906e-04 -6.69683106e+00] [-1.13554604e-02 1.34136016e-05 9.99935525e-01 -4.05890134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86439141799997 meters 0.015057656023624431 Centerline is valid? [True, True] Translation: X:199.10, Y:-6.71, Z:-4.06 [[ 9.98420429e-01 5.49380397e-02 1.17668695e-02 1.99099166e+02] [-5.49332733e-02 9.98489762e-01 -7.28137863e-04 -6.70848454e+00] [-1.17891012e-02 8.05950615e-05 9.99930503e-01 -4.05836430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92439141799997 meters 0.017212836407448265 Centerline is valid? [True, True] Translation: X:199.16, Y:-6.72, Z:-4.06 [[ 9.98825619e-01 4.66055663e-02 1.32402289e-02 1.99155887e+02] [-4.65988201e-02 9.98913350e-01 -8.17731739e-04 -6.72342874e+00] [-1.32639523e-02 1.99792365e-04 9.99912010e-01 -4.05819768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98439141799997 meters 0.01927926169884119 Centerline is valid? [True, True] Translation: X:199.21, Y:-6.74, Z:-4.06 [[ 9.99093241e-01 4.01394117e-02 1.41959282e-02 1.99214992e+02] [-4.01310304e-02 9.99194043e-01 -8.74886061e-04 -6.73521880e+00] [-1.42196043e-02 3.04395525e-04 9.99898850e-01 -4.05859880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04439141799998 meters 0.02359941922005686 Centerline is valid? [True, True] Translation: X:199.27, Y:-6.75, Z:-4.06 [[ 9.99442531e-01 3.02818482e-02 1.40583251e-02 1.99273987e+02] [-3.02726633e-02 9.99541303e-01 -8.65729882e-04 -6.75170830e+00] [-1.40780925e-02 4.39664322e-04 9.99900802e-01 -4.06041762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10439141799998 meters 0.025682698034447313 Centerline is valid? [True, True] Translation: X:199.33, Y:-6.76, Z:-4.06 [[ 9.99606979e-01 2.47197826e-02 1.32219593e-02 1.99334656e+02] [-2.47111788e-02 9.99694301e-01 -8.13717936e-04 -6.76113809e+00] [-1.32380323e-02 4.86667927e-04 9.99912255e-01 -4.06229911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16439141799998 meters 0.028715631735229823 Centerline is valid? [True, True] Translation: X:199.40, Y:-6.77, Z:-4.06 [[ 9.99746018e-01 1.89570365e-02 1.21873154e-02 1.99395511e+02] [-1.89492985e-02 9.99820165e-01 -7.50089112e-04 -6.77202860e+00] [-1.21993432e-02 5.18957524e-04 9.99925451e-01 -4.06372437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22439141799998 meters 0.030917492737029827 Centerline is valid? [True, True] Translation: X:199.46, Y:-6.78, Z:-4.06 [[ 9.99801702e-01 1.54735525e-02 1.25349950e-02 1.99456626e+02] [-1.54650869e-02 9.99880110e-01 -7.72013635e-04 -6.77981927e+00] [-1.25454380e-02 5.78005759e-04 9.99921136e-01 -4.06398671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28439141799998 meters 0.031191017909902984 Centerline is valid? [True, True] Translation: X:199.52, Y:-6.78, Z:-4.06 [[ 9.99820581e-01 1.45474750e-02 1.21316515e-02 1.99518811e+02] [-1.45394965e-02 9.99894018e-01 -7.45604461e-04 -6.78383913e+00] [-1.21412124e-02 5.69082581e-04 9.99926131e-01 -4.06489677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344391418 meters 0.035302077807809196 Centerline is valid? [True, True] Translation: X:199.58, Y:-6.79, Z:-4.07 [[ 9.99827100e-01 1.42965890e-02 1.18902337e-02 1.99579645e+02] [-1.42888662e-02 9.99897639e-01 -7.34204008e-04 -6.79240895e+00] [-1.18995132e-02 5.64179105e-04 9.99929039e-01 -4.06735752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404391418 meters 0.03146673126299441 Centerline is valid? [True, True] Translation: X:199.64, Y:-6.79, Z:-4.07 [[ 9.99820118e-01 1.50583525e-02 1.15316051e-02 1.99642474e+02] [-1.50511093e-02 9.99886470e-01 -7.14647824e-04 -6.79038986e+00] [-1.15410573e-02 5.40955823e-04 9.99933253e-01 -4.06828628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464391418 meters 0.03031949458890629 Centerline is valid? [True, True] Translation: X:199.71, Y:-6.79, Z:-4.07 [[ 9.99791920e-01 1.73798118e-02 1.06798073e-02 1.99705237e+02] [-1.73737039e-02 9.99848845e-01 -6.64428628e-04 -6.78909317e+00] [-1.06897407e-02 4.78742563e-04 9.99942748e-01 -4.06960390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524391418 meters 0.028645132927802748 Centerline is valid? [True, True] Translation: X:199.77, Y:-6.79, Z:-4.07 [[ 9.99681996e-01 2.24085119e-02 1.15656923e-02 1.99765478e+02] [-2.24016123e-02 9.99748789e-01 -7.25779802e-04 -6.78552654e+00] [-1.15790505e-02 4.66458847e-04 9.99932852e-01 -4.06912857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58439141799997 meters 0.026341951209337414 Centerline is valid? [True, True] Translation: X:199.83, Y:-6.78, Z:-4.07 [[ 9.99527346e-01 2.80158907e-02 1.26568022e-02 1.99826245e+02] [-2.80080766e-02 9.99607381e-01 -7.94250025e-04 -6.78246692e+00] [-1.26740845e-02 4.39381934e-04 9.99919584e-01 -4.06864936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64439141799997 meters 0.022390448921631424 Centerline is valid? [True, True] Translation: X:199.89, Y:-6.77, Z:-4.07 [[ 9.99245029e-01 3.65234700e-02 1.32441660e-02 1.99885995e+02] [-3.65156578e-02 9.99332735e-01 -8.31282709e-04 -6.77425960e+00] [-1.32656899e-02 3.47035683e-04 9.99911947e-01 -4.06853535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70439141799997 meters 0.020598250768095263 Centerline is valid? [True, True] Translation: X:199.95, Y:-6.77, Z:-4.07 [[ 9.99074922e-01 4.09208975e-02 1.32204407e-02 1.99945743e+02] [-4.09135009e-02 9.99162348e-01 -8.29575268e-04 -6.77116288e+00] [-1.32433136e-02 2.87913333e-04 9.99912262e-01 -4.06994353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76439141799997 meters 0.01803036057357385 Centerline is valid? [True, True] Translation: X:200.00, Y:-6.77, Z:-4.07 [[ 9.98946230e-01 4.41844552e-02 1.24162858e-02 2.00004815e+02] [-4.41781839e-02 9.99023364e-01 -7.79042832e-04 -6.76507770e+00] [-1.24385812e-02 2.29692943e-04 9.99922611e-01 -4.07100153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82439141799998 meters 0.01819695998521351 Centerline is valid? [True, True] Translation: X:200.06, Y:-6.77, Z:-4.07 [[ 9.99022245e-01 4.29520644e-02 1.04725509e-02 2.00063687e+02] [-4.29475412e-02 9.99077113e-01 -6.56522123e-04 -6.76571782e+00] [-1.04910849e-02 2.06109895e-04 9.99944946e-01 -4.07278270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88439141799998 meters 0.01866984074246881 Centerline is valid? [True, True] Translation: X:200.12, Y:-6.77, Z:-4.07 [[ 9.99135768e-01 4.04271917e-02 9.66221086e-03 2.00122114e+02] [-4.04232296e-02 9.99182464e-01 -6.05081749e-04 -6.76993363e+00] [-9.67877341e-03 2.13981050e-04 9.99953137e-01 -4.07372787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94439141799998 meters 0.020858143587805876 Centerline is valid? [True, True] Translation: X:200.18, Y:-6.78, Z:-4.08 [[ 9.99346034e-01 3.51569647e-02 8.45530092e-03 2.00181145e+02] [-3.51537474e-02 9.99381776e-01 -5.28866379e-04 -6.77610724e+00] [-8.46866699e-03 2.31285006e-04 9.99964113e-01 -4.07558424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00439141799998 meters 0.023382710830711324 Centerline is valid? [True, True] Translation: X:200.24, Y:-6.78, Z:-4.08 [[ 9.99464608e-01 3.17582856e-02 7.86820602e-03 2.00239241e+02] [-3.17553989e-02 9.99495549e-01 -4.91571560e-04 -6.78356738e+00] [-7.87984837e-03 2.41450356e-04 9.99968924e-01 -4.07847245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06439141799999 meters 0.024428696384678508 Centerline is valid? [True, True] Translation: X:200.30, Y:-6.79, Z:-4.08 [[ 9.99579387e-01 2.78479365e-02 8.09578228e-03 2.00298247e+02] [-2.78447564e-02 9.99612132e-01 -5.05281841e-04 -6.78865447e+00] [-8.10671324e-03 2.79644227e-04 9.99967101e-01 -4.07864283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124391418 meters 0.024423105180664175 Centerline is valid? [True, True] Translation: X:200.36, Y:-6.79, Z:-4.08 [[ 9.99652290e-01 2.50445240e-02 8.25051439e-03 2.00358031e+02] [-2.50411320e-02 9.99686289e-01 -5.14188172e-04 -6.79073794e+00] [-8.26080371e-03 3.07407163e-04 9.99965832e-01 -4.07770503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184391418 meters 0.025684359412288024 Centerline is valid? [True, True] Translation: X:200.42, Y:-6.79, Z:-4.08 [[ 9.99691606e-01 2.32923075e-02 8.61168057e-03 2.00417277e+02] [-2.32885505e-02 9.99728641e-01 -5.36297550e-04 -6.79496087e+00] [-8.62183533e-03 3.35578600e-04 9.99962775e-01 -4.07830546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244391418 meters 0.026501225166654332 Centerline is valid? [True, True] Translation: X:200.48, Y:-6.80, Z:-4.08 [[ 9.99715906e-01 2.22308650e-02 8.59631436e-03 2.00477122e+02] [-2.22270853e-02 9.99752805e-01 -5.34989033e-04 -6.79950630e+00] [-8.60608266e-03 3.43766034e-04 9.99962908e-01 -4.07977186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304391418 meters 0.028740019561114716 Centerline is valid? [True, True] Translation: X:200.54, Y:-6.81, Z:-4.08 [[ 9.99761366e-01 1.98840300e-02 9.04633197e-03 2.00535798e+02] [-1.98797521e-02 9.99802220e-01 -5.62574746e-04 -6.80614372e+00] [-9.05572904e-03 3.82601660e-04 9.99958923e-01 -4.08175675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36439141799997 meters 0.029765049018889274 Centerline is valid? [True, True] Translation: X:200.60, Y:-6.81, Z:-4.08 [[ 9.99778192e-01 1.92313835e-02 8.58604814e-03 2.00595423e+02] [-1.92275086e-02 9.99814992e-01 -5.33637371e-04 -6.80974297e+00] [-8.59472224e-03 3.68430692e-04 9.99962997e-01 -4.08364244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42439141799997 meters 0.02815552537213983 Centerline is valid? [True, True] Translation: X:200.65, Y:-6.81, Z:-4.09 [[ 9.99784395e-01 1.92845709e-02 7.69856840e-03 2.00654859e+02] [-1.92814587e-02 9.99813981e-01 -4.78276765e-04 -6.81022074e+00] [-7.70635968e-03 3.29734017e-04 9.99970251e-01 -4.08529711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48439141799997 meters 0.02953501657750228 Centerline is valid? [True, True] Translation: X:200.71, Y:-6.81, Z:-4.09 [[ 9.99806727e-01 1.81545501e-02 7.54456890e-03 2.00714484e+02] [-1.81515313e-02 9.99835138e-01 -4.68412709e-04 -6.81441597e+00] [-7.55182891e-03 3.31376699e-04 9.99971430e-01 -4.08715278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54439141799998 meters 0.028170154038230807 Centerline is valid? [True, True] Translation: X:200.77, Y:-6.81, Z:-4.09 [[ 9.99807243e-01 1.80794141e-02 7.65578096e-03 2.00774094e+02] [-1.80763058e-02 9.99836497e-01 -4.75015795e-04 -6.81480583e+00] [-7.66311723e-03 3.36535995e-04 9.99970581e-01 -4.08767972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60439141799998 meters 0.03141619435850622 Centerline is valid? [True, True] Translation: X:200.83, Y:-6.82, Z:-4.09 [[ 9.99800353e-01 1.83640086e-02 7.87511130e-03 2.00833322e+02] [-1.83607332e-02 9.99831308e-01 -4.88012012e-04 -6.81989849e+00] [-7.88274470e-03 3.43321764e-04 9.99968872e-01 -4.08982649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66439141799998 meters 0.031506550395085826 Centerline is valid? [True, True] Translation: X:200.89, Y:-6.82, Z:-4.09 [[ 9.99799515e-01 1.86702577e-02 7.23539301e-03 2.00892638e+02] [-1.86675000e-02 9.99825646e-01 -4.48497671e-04 -6.82113639e+00] [-7.24250506e-03 3.13341055e-04 9.99973724e-01 -4.09188377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72439141799998 meters 0.02809317724962472 Centerline is valid? [True, True] Translation: X:200.95, Y:-6.82, Z:-4.09 [[ 9.99813429e-01 1.82636424e-02 6.28867247e-03 2.00952538e+02] [-1.82615517e-02 9.99833168e-01 -3.89715779e-04 -6.81776550e+00] [-6.29474095e-03 2.74802152e-04 9.99980150e-01 -4.09234328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78439141799998 meters 0.030054578017304153 Centerline is valid? [True, True] Translation: X:201.01, Y:-6.82, Z:-4.09 [[ 9.99842287e-01 1.66709087e-02 6.12221395e-03 2.01010970e+02] [-1.66688977e-02 9.99860992e-01 -3.79353654e-04 -6.82041514e+00] [-6.12768708e-03 2.77243267e-04 9.99981187e-01 -4.09357794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844391418 meters 0.0316021028193466 Centerline is valid? [True, True] Translation: X:201.07, Y:-6.82, Z:-4.09 [[ 9.99844705e-01 1.59463163e-02 7.50201937e-03 2.01069995e+02] [-1.59432807e-02 9.99872790e-01 -4.64267656e-04 -6.82293850e+00] [-7.50846840e-03 3.44588757e-04 9.99971752e-01 -4.09294489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904391418 meters 0.031842219370656843 Centerline is valid? [True, True] Translation: X:201.13, Y:-6.82, Z:-4.09 [[ 9.99814864e-01 1.70484427e-02 8.92121279e-03 2.01129714e+02] [-1.70442026e-02 9.99854585e-01 -5.51102138e-04 -6.82427234e+00] [-8.92931095e-03 3.98945151e-04 9.99960053e-01 -4.09280841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964391418 meters 0.029302619184488853 Centerline is valid? [True, True] Translation: X:201.19, Y:-6.82, Z:-4.09 [[ 9.99723238e-01 2.10959709e-02 1.04118935e-02 2.01190651e+02] [-2.10904241e-02 9.99777366e-01 -6.42261100e-04 -6.81984352e+00] [-1.04231246e-02 4.22492097e-04 9.99945589e-01 -4.09236664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024391418 meters 0.026144476507468435 Centerline is valid? [True, True] Translation: X:201.25, Y:-6.82, Z:-4.09 [[ 9.99651499e-01 2.43416977e-02 1.02157541e-02 2.01250723e+02] [-2.43365230e-02 9.99703624e-01 -6.30571914e-04 -6.81589212e+00] [-1.02280755e-02 3.81736226e-04 9.99947619e-01 -4.09295876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08439141799997 meters 0.02255290311549431 Centerline is valid? [True, True] Translation: X:201.31, Y:-6.81, Z:-4.09 [[ 9.99560350e-01 2.81024270e-02 9.45310458e-03 2.01310535e+02] [-2.80981668e-02 9.99604998e-01 -5.83202021e-04 -6.81030422e+00] [-9.46575998e-03 3.17330707e-04 9.99955148e-01 -4.09412068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14439141799997 meters 0.022352345502781548 Centerline is valid? [True, True] Translation: X:201.37, Y:-6.81, Z:-4.10 [[ 9.99536185e-01 2.90467345e-02 9.14886328e-03 2.01369884e+02] [-2.90427786e-02 9.99578010e-01 -5.64978909e-04 -6.81093843e+00] [-9.16141334e-03 2.99008453e-04 9.99957989e-01 -4.09573998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20439141799997 meters 0.022414799083108155 Centerline is valid? [True, True] Translation: X:201.43, Y:-6.81, Z:-4.10 [[ 9.99482548e-01 3.12420937e-02 7.65291504e-03 2.01427696e+02] [-3.12393959e-02 9.99511820e-01 -4.71831636e-04 -6.81211849e+00] [-7.66392004e-03 2.32515044e-04 9.99970605e-01 -4.09928399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26439141799997 meters 0.020087843236030852 Centerline is valid? [True, True] Translation: X:201.49, Y:-6.81, Z:-4.10 [[ 9.99299344e-01 3.68073278e-02 6.78535388e-03 2.01487429e+02] [-3.68053440e-02 9.99322367e-01 -4.17045080e-04 -6.80882199e+00] [-6.79610621e-03 1.67015591e-04 9.99976892e-01 -4.10176800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32439141799998 meters 0.01732057050582638 Centerline is valid? [True, True] Translation: X:201.55, Y:-6.81, Z:-4.10 [[ 9.99071939e-01 4.25012128e-02 6.99342537e-03 2.01546529e+02] [-4.24992430e-02 9.99096406e-01 -4.30101177e-04 -6.80513610e+00] [-7.00538597e-03 1.32486732e-04 9.99975453e-01 -4.10160516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38439141799998 meters 0.015317279475033859 Centerline is valid? [True, True] Translation: X:201.61, Y:-6.80, Z:-4.10 [[ 9.98661609e-01 5.10521721e-02 8.28657235e-03 2.01606892e+02] [-5.10497151e-02 9.98695984e-01 -5.07884937e-04 -6.80051481e+00] [-8.30169515e-03 8.41780299e-05 9.99965537e-01 -4.10081941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44439141799998 meters 0.014727956812350725 Centerline is valid? [True, True] Translation: X:201.67, Y:-6.80, Z:-4.10 [[ 9.98419794e-01 5.55080955e-02 8.76162585e-03 2.01666334e+02] [-5.55055179e-02 9.98458236e-01 -5.37263811e-04 -6.80039324e+00] [-8.77793998e-03 5.00962428e-05 9.99961472e-01 -4.10244098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50439141799998 meters 0.014391868363717517 Centerline is valid? [True, True] Translation: X:201.73, Y:-6.80, Z:-4.10 [[ 9.98279778e-01 5.79376192e-02 8.98432528e-03 2.01725332e+02] [-5.79350103e-02 9.98320205e-01 -5.50582166e-04 -6.80279117e+00] [-9.00113288e-03 2.91280640e-05 9.99959489e-01 -4.10450590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56439141799999 meters 0.01468816632077897 Centerline is valid? [True, True] Translation: X:201.78, Y:-6.81, Z:-4.11 [[ 9.98398905e-01 5.57252139e-02 9.71222684e-03 2.01782289e+02] [-5.57220634e-02 9.98446142e-01 -5.94901257e-04 -6.80987057e+00] [-9.73028641e-03 5.27634439e-05 9.99952658e-01 -4.10629971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624391418 meters 0.014674543200209162 Centerline is valid? [True, True] Translation: X:201.84, Y:-6.82, Z:-4.11 [[ 9.98547048e-01 5.29410496e-02 1.00517536e-02 2.01841018e+02] [-5.29375546e-02 9.98597636e-01 -6.13634823e-04 -6.81653443e+00] [-1.00701439e-02 8.06279854e-05 9.99949292e-01 -4.10646314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684391418 meters 0.01591571774133951 Centerline is valid? [True, True] Translation: X:201.90, Y:-6.83, Z:-4.11 [[ 9.98802091e-01 4.78513982e-02 1.02286817e-02 2.01898284e+02] [-4.78475189e-02 9.98854457e-01 -6.23771943e-04 -6.82667456e+00] [-1.02468127e-02 1.33607679e-04 9.99947491e-01 -4.10810843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744391418 meters 0.017260663970034694 Centerline is valid? [True, True] Translation: X:201.96, Y:-6.84, Z:-4.11 [[ 9.99021869e-01 4.29673131e-02 1.04458702e-02 2.01956407e+02] [-4.29630138e-02 9.99076461e-01 -6.35742071e-04 -6.83697021e+00] [-1.04635391e-02 1.86334168e-04 9.99945238e-01 -4.10935787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804391418 meters 0.017509406809901307 Centerline is valid? [True, True] Translation: X:202.01, Y:-6.84, Z:-4.11 [[ 9.99102127e-01 4.08292897e-02 1.13096904e-02 2.02014746e+02] [-4.08241243e-02 9.99166112e-01 -6.87301971e-04 -6.84389723e+00] [-1.13283214e-02 2.24976653e-04 9.99935807e-01 -4.10984807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86439141799997 meters 0.017569856169090608 Centerline is valid? [True, True] Translation: X:202.07, Y:-6.85, Z:-4.11 [[ 9.99137330e-01 3.95140984e-02 1.27761860e-02 2.02073581e+02] [-3.95074151e-02 9.99218977e-01 -7.75170634e-04 -6.85135410e+00] [-1.27968377e-02 2.69747833e-04 9.99918081e-01 -4.10981072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92439141799997 meters 0.01758619237022546 Centerline is valid? [True, True] Translation: X:202.13, Y:-6.86, Z:-4.11 [[ 9.99108279e-01 3.98516126e-02 1.39461803e-02 2.02132510e+02] [-3.98437005e-02 9.99205567e-01 -8.44833451e-04 -6.85731685e+00] [-1.39687689e-02 2.88412667e-04 9.99902390e-01 -4.11087015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98439141799997 meters 0.01726923345712298 Centerline is valid? [True, True] Translation: X:202.19, Y:-6.86, Z:-4.11 [[ 9.99049116e-01 4.13053864e-02 1.39545543e-02 2.02191587e+02] [-4.12976245e-02 9.99146533e-01 -8.44051058e-04 -6.86304590e+00] [-1.39775084e-02 2.66958520e-04 9.99902274e-01 -4.11279383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04439141799998 meters 0.017610792859835793 Centerline is valid? [True, True] Translation: X:202.25, Y:-6.87, Z:-4.11 [[ 9.99029135e-01 4.15904042e-02 1.45267506e-02 2.02249961e+02] [-4.15820346e-02 9.99134708e-01 -8.77843854e-04 -6.86970861e+00] [-1.45506906e-02 2.72939740e-04 9.99894096e-01 -4.11444581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10439141799998 meters 0.017502984038075337 Centerline is valid? [True, True] Translation: X:202.31, Y:-6.88, Z:-4.12 [[ 9.99067234e-01 4.06489052e-02 1.45715184e-02 2.02308657e+02] [-4.06404008e-02 9.99173451e-01 -8.79394629e-04 -6.87526480e+00] [-1.45952208e-02 2.86382010e-04 9.99893443e-01 -4.11519460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16439141799998 meters 0.018249095349950412 Centerline is valid? [True, True] Translation: X:202.37, Y:-6.88, Z:-4.12 [[ 9.99134455e-01 3.90505293e-02 1.43316992e-02 2.02367111e+02] [-3.90421547e-02 9.99237191e-01 -8.63769173e-04 -6.88214903e+00] [-1.43544975e-02 3.03481123e-04 9.99896923e-01 -4.11680100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22439141799998 meters 0.019014479886460448 Centerline is valid? [True, True] Translation: X:202.42, Y:-6.89, Z:-4.12 [[ 9.99204814e-01 3.75037479e-02 1.35354683e-02 2.02424471e+02] [-3.74961481e-02 9.99296440e-01 -8.14903642e-04 -6.88966143e+00] [-1.35565072e-02 3.06727718e-04 9.99908059e-01 -4.11886146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28439141799998 meters 0.019791819750574723 Centerline is valid? [True, True] Translation: X:202.48, Y:-6.90, Z:-4.12 [[ 9.99314602e-01 3.46493087e-02 1.30288845e-02 2.02483579e+02] [-3.46420463e-02 9.99399478e-01 -7.82740549e-04 -6.89630106e+00] [-1.30481818e-02 3.30856840e-04 9.99914814e-01 -4.12073574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344391418 meters 0.02106246977262443 Centerline is valid? [True, True] Translation: X:202.54, Y:-6.90, Z:-4.12 [[ 9.99388973e-01 3.26719143e-02 1.24188409e-02 2.02541797e+02] [-3.26651675e-02 9.99466073e-01 -7.45780421e-04 -6.90326080e+00] [-1.24365762e-02 3.39661212e-04 9.99922605e-01 -4.12215351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404391418 meters 0.022101913231035112 Centerline is valid? [True, True] Translation: X:202.60, Y:-6.91, Z:-4.12 [[ 9.99511391e-01 2.81514997e-02 1.35820648e-02 2.02600517e+02] [-2.81430252e-02 9.99603575e-01 -8.14715017e-04 -6.91049348e+00] [-1.35996159e-02 4.32076549e-04 9.99907428e-01 -4.12141567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464391418 meters 0.023561157504795163 Centerline is valid? [True, True] Translation: X:202.66, Y:-6.92, Z:-4.12 [[ 9.99604699e-01 2.43984817e-02 1.39699768e-02 2.02660025e+02] [-2.43891664e-02 9.99702190e-01 -8.36819039e-04 -6.91803308e+00] [-1.39862335e-02 4.95772157e-04 9.99902065e-01 -4.12149911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524391418 meters 0.027465557611745302 Centerline is valid? [True, True] Translation: X:202.72, Y:-6.93, Z:-4.12 [[ 9.99746869e-01 1.80959708e-02 1.33691005e-02 2.02720212e+02] [-1.80868842e-02 9.99836099e-01 -8.00274008e-04 -6.92977681e+00] [-1.33813911e-02 5.58266061e-04 9.99910309e-01 -4.12247103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58439141799997 meters 0.03188168887801342 Centerline is valid? [True, True] Translation: X:202.78, Y:-6.94, Z:-4.12 [[ 9.99849470e-01 1.22049206e-02 1.23319443e-02 2.02779438e+02] [-1.21967358e-02 9.99925344e-01 -7.38698149e-04 -6.94212604e+00] [-1.23400394e-02 5.88177486e-04 9.99923686e-01 -4.12449217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64439141799997 meters 0.0369793331641807 Centerline is valid? [True, True] Translation: X:202.84, Y:-6.96, Z:-4.13 [[ 9.99928379e-01 4.28302549e-03 1.11754947e-02 2.02839855e+02] [-4.27581683e-03 9.99990635e-01 -6.68854892e-04 -6.95596250e+00] [-1.11782548e-02 6.21022620e-04 9.99937329e-01 -4.12645491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70439141799997 meters 0.03843298557182045 Centerline is valid? [True, True] Translation: X:202.90, Y:-6.96, Z:-4.13 [[ 9.99941776e-01 2.46009612e-04 1.07881706e-02 2.02900988e+02] [-2.39055310e-04 9.99999763e-01 -6.45907683e-04 -6.96279595e+00] [-1.07883269e-02 6.43291106e-04 9.99941597e-01 -4.12741152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76439141799997 meters 0.03931144977784637 Centerline is valid? [True, True] Translation: X:202.96, Y:-6.97, Z:-4.13 [[ 9.99953034e-01 -1.87685939e-03 9.50822787e-03 2.02961980e+02] [ 1.88235964e-03 9.99998066e-01 -5.69556281e-04 -6.96812159e+00] [-9.50714051e-03 5.87427436e-04 9.99954634e-01 -4.12897100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82439141799998 meters 0.038448651518759806 Centerline is valid? [True, True] Translation: X:203.02, Y:-6.97, Z:-4.13 [[ 9.99968026e-01 -1.19028942e-04 7.99581030e-03 2.03024557e+02] [ 1.22858020e-04 9.99999878e-01 -4.78396053e-04 -6.97018567e+00] [-7.99575238e-03 4.79363106e-04 9.99967919e-01 -4.13099425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88439141799998 meters 0.0375400331970458 Centerline is valid? [True, True] Translation: X:203.09, Y:-6.97, Z:-4.13 [[ 9.99963538e-01 3.64618790e-03 7.72191838e-03 2.03085485e+02] [-3.64271565e-03 9.99993258e-01 -4.63679075e-04 -6.97052657e+00] [-7.72355698e-03 4.35533416e-04 9.99970078e-01 -4.13248708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94439141799998 meters 0.03449383860846696 Centerline is valid? [True, True] Translation: X:203.15, Y:-6.97, Z:-4.13 [[ 9.99935732e-01 7.80994786e-03 8.21802762e-03 2.03146434e+02] [-7.80615284e-03 9.99969410e-01 -4.93767287e-04 -6.96793307e+00] [-8.22163253e-03 4.29584374e-04 9.99966110e-01 -4.13243212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00439141799998 meters 0.027889357291959276 Centerline is valid? [True, True] Translation: X:203.21, Y:-6.96, Z:-4.13 [[ 9.99839774e-01 1.51287419e-02 9.56800137e-03 2.03207482e+02] [-1.51239273e-02 9.99885461e-01 -5.75355262e-04 -6.95828678e+00] [-9.57560986e-03 4.30557318e-04 9.99954060e-01 -4.13111481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06439141799999 meters 0.025747891886388638 Centerline is valid? [True, True] Translation: X:203.27, Y:-6.95, Z:-4.13 [[ 9.99656106e-01 2.38951114e-02 1.08024423e-02 2.03267583e+02] [-2.38894831e-02 9.99714394e-01 -6.49781799e-04 -6.95413859e+00] [-1.08148836e-02 3.91493582e-04 9.99941441e-01 -4.13202676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124391418 meters 0.021511768160073736 Centerline is valid? [True, True] Translation: X:203.33, Y:-6.95, Z:-4.13 [[ 9.99479301e-01 3.02126318e-02 1.13279750e-02 2.03328402e+02] [-3.02068506e-02 9.99543437e-01 -6.81135397e-04 -6.94840737e+00] [-1.13433819e-02 3.38598283e-04 9.99935604e-01 -4.13243509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184391418 meters 0.01866299517570782 Centerline is valid? [True, True] Translation: X:203.39, Y:-6.94, Z:-4.13 [[ 9.99202920e-01 3.82228303e-02 1.15126137e-02 2.03387793e+02] [-3.82173910e-02 9.99269209e-01 -6.92173237e-04 -6.94239581e+00] [-1.15306572e-02 2.51639459e-04 9.99933488e-01 -4.13386962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244391418 meters 0.016518686974142622 Centerline is valid? [True, True] Translation: X:203.45, Y:-6.94, Z:-4.14 [[ 9.99019553e-01 4.27426194e-02 1.15326345e-02 2.03446726e+02] [-4.27374632e-02 9.99086097e-01 -6.93286763e-04 -6.93844662e+00] [-1.15517277e-02 1.99731487e-04 9.99933257e-01 -4.13527282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304391418 meters 0.015280859485925662 Centerline is valid? [True, True] Translation: X:203.51, Y:-6.94, Z:-4.14 [[ 9.98801760e-01 4.75347278e-02 1.16401966e-02 2.03505608e+02] [-4.75298115e-02 9.98869575e-01 -6.98782732e-04 -6.93520455e+00] [-1.16602547e-02 1.44689072e-04 9.99932006e-01 -4.13766222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36439141799997 meters 0.014859302217504153 Centerline is valid? [True, True] Translation: X:203.56, Y:-6.94, Z:-4.14 [[ 9.98681070e-01 4.98263353e-02 1.23877587e-02 2.03564770e+02] [-4.98209572e-02 9.98757889e-01 -7.42556170e-04 -6.93522828e+00] [-1.24093706e-02 1.24406794e-04 9.99922993e-01 -4.13935658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42439141799997 meters 0.015020207267705424 Centerline is valid? [True, True] Translation: X:203.62, Y:-6.94, Z:-4.14 [[ 9.98634312e-01 5.01916506e-02 1.45020459e-02 2.03622592e+02] [-5.01843376e-02 9.98739595e-01 -8.67968159e-04 -6.93688051e+00] [-1.45273322e-02 1.39007220e-04 9.99894463e-01 -4.14060242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48439141799997 meters 0.015259784990575903 Centerline is valid? [True, True] Translation: X:203.68, Y:-6.94, Z:-4.14 [[ 9.98691607e-01 4.84606862e-02 1.63289721e-02 2.03681146e+02] [-4.84512146e-02 9.98825074e-01 -9.75390282e-04 -6.94127531e+00] [-1.63570548e-02 1.82955560e-04 9.99866198e-01 -4.14122570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54439141799998 meters 0.01634186548921588 Centerline is valid? [True, True] Translation: X:203.74, Y:-6.95, Z:-4.14 [[ 9.98874144e-01 4.39667050e-02 1.78149631e-02 2.03739877e+02] [-4.39547440e-02 9.99032958e-01 -1.06259183e-03 -6.94829622e+00] [-1.78444540e-02 2.78343362e-04 9.99840736e-01 -4.14202352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60439141799998 meters 0.018825812627728252 Centerline is valid? [True, True] Translation: X:203.80, Y:-6.96, Z:-4.14 [[ 9.99139936e-01 3.76522339e-02 1.73694618e-02 2.03798006e+02] [-3.76399345e-02 9.99290831e-01 -1.03459691e-03 -6.95846484e+00] [-1.73960988e-02 3.79921690e-04 9.99848604e-01 -4.14416631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66439141799998 meters 0.02074351200137105 Centerline is valid? [True, True] Translation: X:203.86, Y:-6.97, Z:-4.15 [[ 9.99255164e-01 3.40168011e-02 1.82201890e-02 2.03857438e+02] [-3.40026848e-02 9.99421154e-01 -1.08408275e-03 -6.96740825e+00] [-1.82465193e-02 4.63739938e-04 9.99833411e-01 -4.14598969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72439141799998 meters 0.02331866046531411 Centerline is valid? [True, True] Translation: X:203.92, Y:-6.98, Z:-4.15 [[ 9.99337859e-01 3.11818935e-02 1.87492102e-02 2.03916738e+02] [-3.11664617e-02 9.99513586e-01 -1.11477137e-03 -6.97712157e+00] [-1.87748510e-02 5.29686690e-04 9.99823597e-01 -4.14807172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78439141799998 meters 0.020803834003564288 Centerline is valid? [True, True] Translation: X:203.98, Y:-6.98, Z:-4.15 [[ 9.99330061e-01 3.10823486e-02 1.93213933e-02 2.03976780e+02] [-3.10659492e-02 9.99516677e-01 -1.14841089e-03 -6.97806011e+00] [-1.93477502e-02 5.47404104e-04 9.99812665e-01 -4.14878128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844391418 meters 0.020018027005888173 Centerline is valid? [True, True] Translation: X:204.04, Y:-6.98, Z:-4.15 [[ 9.99225147e-01 3.34733268e-02 2.07036529e-02 2.04037566e+02] [-3.34550186e-02 9.99439467e-01 -1.23012453e-03 -6.98142969e+00] [-2.07332242e-02 5.36530276e-04 9.99784900e-01 -4.15030182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904391418 meters 0.019573085505582264 Centerline is valid? [True, True] Translation: X:204.10, Y:-6.99, Z:-4.15 [[ 9.99068367e-01 3.76353709e-02 2.11181701e-02 2.04097142e+02] [-3.76172423e-02 9.99291433e-01 -1.25516730e-03 -6.98531649e+00] [-2.11504452e-02 4.59590623e-04 9.99776199e-01 -4.15213291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964391418 meters 0.017813954681399884 Centerline is valid? [True, True] Translation: X:204.16, Y:-6.99, Z:-4.15 [[ 9.98921608e-01 4.09078192e-02 2.19583978e-02 2.04157206e+02] [-4.08890198e-02 9.99162843e-01 -1.30462315e-03 -6.98599414e+00] [-2.19933845e-02 4.05358892e-04 9.99758034e-01 -4.15369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024391418 meters 0.01745878863840779 Centerline is valid? [True, True] Translation: X:204.22, Y:-6.99, Z:-4.16 [[ 9.98897559e-01 4.14469247e-02 2.20413028e-02 2.04217059e+02] [-4.14281337e-02 9.99140629e-01 -1.30867036e-03 -6.98954582e+00] [-2.20766016e-02 3.94097591e-04 9.99756204e-01 -4.15519543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08439141799997 meters 0.01827461971414908 Centerline is valid? [True, True] Translation: X:204.28, Y:-7.00, Z:-4.16 [[ 9.98977754e-01 4.01694014e-02 2.07332057e-02 2.04276740e+02] [-4.01525159e-02 9.99192805e-01 -1.23023528e-03 -6.99595601e+00] [-2.07658878e-02 3.96487302e-04 9.99784287e-01 -4.15857239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14439141799997 meters 0.019042510229393014 Centerline is valid? [True, True] Translation: X:204.34, Y:-7.00, Z:-4.16 [[ 9.99082341e-01 3.82648189e-02 1.92426344e-02 2.04335745e+02] [-3.82499274e-02 9.99267552e-01 -1.14146640e-03 -7.00172014e+00] [-1.92722182e-02 4.04389553e-04 9.99814192e-01 -4.16135440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20439141799997 meters 0.020586657718916605 Centerline is valid? [True, True] Translation: X:204.40, Y:-7.01, Z:-4.16 [[ 9.99267478e-01 3.39156702e-02 1.77266642e-02 2.04395074e+02] [-3.39023601e-02 9.99424597e-01 -1.05091519e-03 -7.00747448e+00] [-1.77521067e-02 4.49169623e-04 9.99842318e-01 -4.16374063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26439141799997 meters 0.023155174190509185 Centerline is valid? [True, True] Translation: X:204.45, Y:-7.01, Z:-4.16 [[ 9.99362956e-01 3.11397867e-02 1.74354667e-02 2.04454571e+02] [-3.11265009e-02 9.99514919e-01 -1.03291523e-03 -7.01479254e+00] [-1.74591738e-02 4.89552149e-04 9.99847457e-01 -4.16474509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32439141799998 meters 0.023154939431442482 Centerline is valid? [True, True] Translation: X:204.51, Y:-7.02, Z:-4.16 [[ 9.99463387e-01 2.69576844e-02 1.86070076e-02 2.04514970e+02] [-2.69418368e-02 9.99636396e-01 -1.10189525e-03 -7.01730821e+00] [-1.86299466e-02 5.99996992e-04 9.99826267e-01 -4.16386896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38439141799998 meters 0.024841440195890407 Centerline is valid? [True, True] Translation: X:204.58, Y:-7.02, Z:-4.16 [[ 9.99528827e-01 2.42053968e-02 1.88738784e-02 2.04575930e+02] [-2.41886024e-02 9.99706788e-01 -1.11763274e-03 -7.02198274e+00] [-1.88953971e-02 6.60573398e-04 9.99821248e-01 -4.16403797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44439141799998 meters 0.0272492582451712 Centerline is valid? [True, True] Translation: X:204.64, Y:-7.03, Z:-4.17 [[ 9.99641006e-01 1.95660594e-02 1.83037660e-02 2.04636660e+02] [-1.95494740e-02 9.99808302e-01 -1.08462895e-03 -7.02708492e+00] [-1.83214791e-02 7.26410573e-04 9.99831884e-01 -4.16524523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50439141799998 meters 0.029446509233332117 Centerline is valid? [True, True] Translation: X:204.70, Y:-7.03, Z:-4.17 [[ 9.99752414e-01 1.51212133e-02 1.63235699e-02 2.04697602e+02] [-1.51074267e-02 9.99885408e-01 -9.67570816e-04 -7.03168451e+00] [-1.63363302e-02 7.20724124e-04 9.99866293e-01 -4.16758832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56439141799999 meters 0.03090285626494369 Centerline is valid? [True, True] Translation: X:204.76, Y:-7.04, Z:-4.17 [[ 9.99798820e-01 1.34625237e-02 1.48687630e-02 2.04759209e+02] [-1.34509184e-02 9.99909145e-01 -8.80246544e-04 -7.03505886e+00] [-1.48792625e-02 6.80070937e-04 9.99889066e-01 -4.16933870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624391418 meters 0.03213422793473094 Centerline is valid? [True, True] Translation: X:204.82, Y:-7.03, Z:-4.17 [[ 9.99816878e-01 1.40048315e-02 1.30412930e-02 2.04821037e+02] [-1.39959177e-02 9.99901752e-01 -7.74523344e-04 -7.03462119e+00] [-1.30508588e-02 5.91856648e-04 9.99914659e-01 -4.17144143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684391418 meters 0.027890319333734065 Centerline is valid? [True, True] Translation: X:204.88, Y:-7.03, Z:-4.17 [[ 9.99795440e-01 1.67319527e-02 1.13630871e-02 2.04884122e+02] [-1.67253315e-02 9.99859892e-01 -6.77478687e-04 -7.02779393e+00] [-1.13728306e-02 4.87288703e-04 9.99935209e-01 -4.17275869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744391418 meters 0.027965958957934453 Centerline is valid? [True, True] Translation: X:204.94, Y:-7.02, Z:-4.18 [[ 9.99723498e-01 2.15530388e-02 9.40184927e-03 2.04944703e+02] [-2.15486749e-02 9.99767641e-01 -5.65220073e-04 -7.02415115e+00] [-9.41184687e-03 3.62466395e-04 9.99955642e-01 -4.17516603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80439141799997 meters 0.0245172785449481 Centerline is valid? [True, True] Translation: X:205.01, Y:-7.02, Z:-4.18 [[ 9.99656469e-01 2.44889422e-02 9.34005400e-03 2.05005196e+02] [-2.44847575e-02 9.99700045e-01 -5.62147666e-04 -7.01739665e+00] [-9.35101881e-03 3.33265593e-04 9.99956223e-01 -4.17535516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86439141799997 meters 0.02409536212742865 Centerline is valid? [True, True] Translation: X:205.06, Y:-7.01, Z:-4.18 [[ 9.99599567e-01 2.68886170e-02 8.81521309e-03 2.05063829e+02] [-2.68849778e-02 9.99638393e-01 -5.31099406e-04 -7.01259286e+00] [-8.82630597e-03 2.93889928e-04 9.99961004e-01 -4.17655487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92439141799997 meters 0.023954985178059017 Centerline is valid? [True, True] Translation: X:205.12, Y:-7.01, Z:-4.18 [[ 9.99587748e-01 2.73957404e-02 8.59112478e-03 2.05122438e+02] [-2.73923081e-02 9.99624627e-01 -5.16942948e-04 -7.01161801e+00] [-8.60206193e-03 2.81399100e-04 9.99962962e-01 -4.17728525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98439141799997 meters 0.024500478503075247 Centerline is valid? [True, True] Translation: X:205.18, Y:-7.01, Z:-4.18 [[ 9.99583126e-01 2.75794913e-02 8.54079699e-03 2.05180848e+02] [-2.75761097e-02 9.99619575e-01 -5.13467682e-04 -7.00962518e+00] [-8.55170903e-03 2.77731676e-04 9.99963395e-01 -4.17770798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04439141799998 meters 0.025478789935315722 Centerline is valid? [True, True] Translation: X:205.24, Y:-7.01, Z:-4.18 [[ 9.99594901e-01 2.69835556e-02 9.05107757e-03 2.05239129e+02] [-2.69797426e-02 9.99635833e-01 -5.43128186e-04 -7.00858262e+00] [-9.06243699e-03 2.98712422e-04 9.99958891e-01 -4.17918959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10439141799998 meters 0.025766647918110473 Centerline is valid? [True, True] Translation: X:205.30, Y:-7.01, Z:-4.18 [[ 9.99590137e-01 2.71772168e-02 8.99765338e-03 2.05298236e+02] [-2.71734662e-02 9.99630588e-01 -5.38850833e-04 -7.00896960e+00] [-9.00897400e-03 2.94132548e-04 9.99959375e-01 -4.18075485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16439141799998 meters 0.022593383369884437 Centerline is valid? [True, True] Translation: X:205.36, Y:-7.00, Z:-4.18 [[ 9.99578642e-01 2.77590817e-02 8.48366156e-03 2.05357316e+02] [-2.77557724e-02 9.99614605e-01 -5.07594075e-04 -7.00168920e+00] [-8.49448235e-03 2.71909616e-04 9.99963884e-01 -4.18059020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22439141799998 meters 0.02224199339489738 Centerline is valid? [True, True] Translation: X:205.42, Y:-7.00, Z:-4.18 [[ 9.99555249e-01 2.87529720e-02 7.91015254e-03 2.05416099e+02] [-2.87501303e-02 9.99586518e-01 -4.72752287e-04 -7.00013673e+00] [-7.92047486e-03 2.45124114e-04 9.99968603e-01 -4.18153126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28439141799998 meters 0.021054814548740596 Centerline is valid? [True, True] Translation: X:205.48, Y:-7.00, Z:-4.18 [[ 9.99494243e-01 3.07086322e-02 8.26066834e-03 2.05475021e+02] [-3.07056058e-02 9.99528350e-01 -4.92974099e-04 -6.99666799e+00] [-8.27191076e-03 2.39075949e-04 9.99965759e-01 -4.18171682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344391418 meters 0.020470014223038225 Centerline is valid? [True, True] Translation: X:205.53, Y:-6.99, Z:-4.18 [[ 9.99444653e-01 3.21472570e-02 8.77146381e-03 2.05534466e+02] [-3.21439092e-02 9.99483115e-01 -5.22410293e-04 -6.99463600e+00] [-8.78372402e-03 2.40171038e-04 9.99961394e-01 -4.18271442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404391418 meters 0.021339882655847336 Centerline is valid? [True, True] Translation: X:205.59, Y:-7.00, Z:-4.18 [[ 9.99466374e-01 3.15697969e-02 8.38536868e-03 2.05592264e+02] [-3.15667169e-02 9.99501522e-01 -4.99430406e-04 -6.99617066e+00] [-8.39695568e-03 2.34465338e-04 9.99964717e-01 -4.18389330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464391418 meters 0.022993636152150138 Centerline is valid? [True, True] Translation: X:205.65, Y:-7.00, Z:-4.18 [[ 9.99531357e-01 2.92639868e-02 8.98248833e-03 2.05650656e+02] [-2.92603709e-02 9.99571681e-01 -5.33731827e-04 -6.99923584e+00] [-8.99426009e-03 2.70650757e-04 9.99959514e-01 -4.18441588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524391418 meters 0.025333940238005087 Centerline is valid? [True, True] Translation: X:205.71, Y:-7.01, Z:-4.19 [[ 9.99642931e-01 2.51309076e-02 9.08003527e-03 2.05709896e+02] [-2.51270529e-02 9.99684121e-01 -5.38372490e-04 -7.00670919e+00] [-9.09069686e-03 3.10025728e-04 9.99958631e-01 -4.18597516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58439141799997 meters 0.02725100152452938 Centerline is valid? [True, True] Translation: X:205.77, Y:-7.01, Z:-4.19 [[ 9.99685242e-01 2.36438785e-02 8.38954968e-03 2.05767099e+02] [-2.36405320e-02 9.99720400e-01 -4.97848959e-04 -7.01251128e+00] [-8.39897504e-03 2.99358840e-04 9.99964683e-01 -4.18862159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64439141799997 meters 0.02428351236512554 Centerline is valid? [True, True] Translation: X:205.83, Y:-7.01, Z:-4.19 [[ 9.99660025e-01 2.49297389e-02 7.63820751e-03 2.05826067e+02] [-2.49270082e-02 9.99689171e-01 -4.52518301e-04 -7.01039291e+00] [-7.64711450e-03 2.61966795e-04 9.99970726e-01 -4.18855298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70439141799997 meters 0.023219622689424454 Centerline is valid? [True, True] Translation: X:205.88, Y:-7.01, Z:-4.19 [[ 9.99570404e-01 2.79698852e-02 8.75740454e-03 2.05884724e+02] [-2.79664203e-02 9.99608729e-01 -5.17885621e-04 -7.01116777e+00] [-8.76846322e-03 2.72749884e-04 9.99961519e-01 -4.18932805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76439141799997 meters 0.01874233482584812 Centerline is valid? [True, True] Translation: X:205.94, Y:-7.01, Z:-4.19 [[ 9.99294621e-01 3.61895210e-02 1.00288782e-02 2.05944860e+02] [-3.61854066e-02 9.99344919e-01 -5.91461749e-04 -7.00615571e+00] [-1.00437132e-02 2.28145508e-04 9.99949535e-01 -4.18888985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82439141799998 meters 0.015076548777562744 Centerline is valid? [True, True] Translation: X:206.01, Y:-7.00, Z:-4.19 [[ 9.98856191e-01 4.66402261e-02 1.05356378e-02 2.06005362e+02] [-4.66362656e-02 9.98911744e-01 -6.21407895e-04 -6.99871536e+00] [-1.05531549e-02 1.29354321e-04 9.99944306e-01 -4.18893639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88439141799998 meters 0.013892261651700332 Centerline is valid? [True, True] Translation: X:206.06, Y:-7.00, Z:-4.19 [[ 9.98560675e-01 5.26351746e-02 1.03012752e-02 2.06064663e+02] [-5.26317091e-02 9.98613806e-01 -6.07405088e-04 -6.99628694e+00] [-1.03189665e-02 6.43571141e-05 9.99946756e-01 -4.18990502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94439141799998 meters 0.013685018881720962 Centerline is valid? [True, True] Translation: X:206.12, Y:-7.00, Z:-4.19 [[ 9.98421258e-01 5.52598690e-02 1.00667486e-02 2.06122991e+02] [-5.52567006e-02 9.98472005e-01 -5.92816959e-04 -6.99775604e+00] [-1.00841257e-02 3.56257398e-05 9.99949153e-01 -4.19135766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00439141799998 meters 0.013648404255947804 Centerline is valid? [True, True] Translation: X:206.18, Y:-7.00, Z:-4.19 [[ 9.98121574e-01 6.04144386e-02 1.01695015e-02 2.06181846e+02] [-6.04114809e-02 9.98173379e-01 -5.98057872e-04 -6.99798206e+00] [-1.01870570e-02 -1.74201813e-05 9.99948110e-01 -4.19365458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06439141799999 meters 0.013821689028305105 Centerline is valid? [True, True] Translation: X:206.24, Y:-7.00, Z:-4.20 [[ 9.97991628e-01 6.26201836e-02 9.56152021e-03 2.06239146e+02] [-6.26176744e-02 9.98037430e-01 -5.61863265e-04 -6.99999248e+00] [-9.57793904e-03 -3.79853247e-05 9.99954130e-01 -4.19556693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124391418 meters 0.013539061771542718 Centerline is valid? [True, True] Translation: X:206.30, Y:-7.00, Z:-4.20 [[ 9.98029912e-01 6.20441164e-02 9.31786307e-03 2.06296895e+02] [-6.20416920e-02 9.98073407e-01 -5.49301395e-04 -7.00456165e+00] [-9.33399226e-03 -2.98767673e-05 9.99956437e-01 -4.19504754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184391418 meters 0.01331193051690634 Centerline is valid? [True, True] Translation: X:206.35, Y:-7.01, Z:-4.20 [[ 9.98210107e-01 5.89678299e-02 9.96881543e-03 2.06354202e+02] [-5.89649618e-02 9.98259883e-01 -5.81636014e-04 -7.01304337e+00] [-9.98576634e-03 -7.21587308e-06 9.99950141e-01 -4.19735427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244391418 meters 0.01326093617532143 Centerline is valid? [True, True] Translation: X:206.41, Y:-7.02, Z:-4.20 [[ 9.98394174e-01 5.57366275e-02 1.01243553e-02 2.06412048e+02] [-5.57335114e-02 9.98445506e-01 -5.89881502e-04 -7.02144710e+00] [-1.01414950e-02 2.46683840e-05 9.99948573e-01 -4.19847784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30439141799997 meters 0.014230237611441588 Centerline is valid? [True, True] Translation: X:206.47, Y:-7.03, Z:-4.20 [[ 9.98790552e-01 4.79266321e-02 1.09759186e-02 2.06470037e+02] [-4.79225186e-02 9.98850853e-01 -6.37628396e-04 -7.03395222e+00] [-1.09938650e-02 1.10863555e-04 9.99939559e-01 -4.19908300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36439141799997 meters 0.016044337937043046 Centerline is valid? [True, True] Translation: X:206.53, Y:-7.05, Z:-4.20 [[ 9.99064446e-01 4.18314539e-02 1.09709545e-02 2.06527996e+02] [-4.18269862e-02 9.99124666e-01 -6.36461236e-04 -7.04525226e+00] [-1.09879753e-02 1.76983831e-04 9.99939615e-01 -4.20081701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42439141799997 meters 0.019923677356629716 Centerline is valid? [True, True] Translation: X:206.59, Y:-7.06, Z:-4.20 [[ 9.99441392e-01 3.19053353e-02 9.94754680e-03 2.06587759e+02] [-3.19011852e-02 9.99490862e-01 -5.75633382e-04 -7.06201913e+00] [-9.96084790e-03 2.57973296e-04 9.99950356e-01 -4.20365523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48439141799997 meters 0.023771375522474714 Centerline is valid? [True, True] Translation: X:206.65, Y:-7.08, Z:-4.20 [[ 9.99706566e-01 2.17014219e-02 1.07624133e-02 2.06647126e+02] [-2.16959727e-02 9.99764421e-01 -6.22827852e-04 -7.07606726e+00] [-1.07733941e-02 3.89144069e-04 9.99941890e-01 -4.20348502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54439141799998 meters 0.028545754136966972 Centerline is valid? [True, True] Translation: X:206.71, Y:-7.09, Z:-4.20 [[ 9.99805305e-01 1.59847470e-02 1.15689189e-02 2.06705578e+02] [-1.59780652e-02 9.99872118e-01 -6.69767397e-04 -7.08877999e+00] [-1.15781455e-02 4.84788057e-04 9.99932854e-01 -4.20414889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60439141799998 meters 0.03044366619550811 Centerline is valid? [True, True] Translation: X:206.77, Y:-7.10, Z:-4.20 [[ 9.99894152e-01 9.66871479e-03 1.08719978e-02 2.06765947e+02] [-9.66245005e-03 9.99953120e-01 -6.28607826e-04 -7.09808954e+00] [-1.08775660e-02 5.23491153e-04 9.99940700e-01 -4.20472822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66439141799998 meters 0.03269800870314399 Centerline is valid? [True, True] Translation: X:206.83, Y:-7.11, Z:-4.21 [[ 9.99929465e-01 6.91145103e-03 9.65899479e-03 2.06826242e+02] [-6.90638332e-03 9.99975995e-01 -5.57919692e-04 -7.10665042e+00] [-9.66261896e-03 4.91171619e-04 9.99953195e-01 -4.20735704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72439141799998 meters 0.03475282603543006 Centerline is valid? [True, True] Translation: X:206.89, Y:-7.11, Z:-4.21 [[ 9.99948842e-01 5.76864159e-03 8.30879280e-03 2.06886403e+02] [-5.76484787e-03 9.99983268e-01 -4.80468422e-04 -7.11488905e+00] [-8.31142543e-03 4.32544916e-04 9.99965366e-01 -4.21009268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78439141799998 meters 0.03135938760097293 Centerline is valid? [True, True] Translation: X:206.95, Y:-7.11, Z:-4.21 [[ 9.99941764e-01 7.42342852e-03 7.83337050e-03 2.06948923e+02] [-7.42012960e-03 9.99972369e-01 -4.50116502e-04 -7.11398503e+00] [-7.83649546e-03 3.91965664e-04 9.99969217e-01 -4.21055189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844391418 meters 0.028857594397867413 Centerline is valid? [True, True] Translation: X:207.01, Y:-7.11, Z:-4.21 [[ 9.99873733e-01 1.42482979e-02 7.03595309e-03 2.07008650e+02] [-1.42457662e-02 9.99898440e-01 -4.09804678e-04 -7.11188158e+00] [-7.04107754e-03 3.09520390e-04 9.99975163e-01 -4.21158566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904391418 meters 0.023857365019060404 Centerline is valid? [True, True] Translation: X:207.07, Y:-7.10, Z:-4.21 [[ 9.99658060e-01 2.50220017e-02 7.59359084e-03 2.07068852e+02] [-2.50193630e-02 9.99686869e-01 -4.42298303e-04 -7.10486360e+00] [-7.60228024e-03 2.52160257e-04 9.99971070e-01 -4.21154995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964391418 meters 0.01916145488657439 Centerline is valid? [True, True] Translation: X:207.13, Y:-7.10, Z:-4.21 [[ 9.99289679e-01 3.67295802e-02 8.43064905e-03 2.07129440e+02] [-3.67267497e-02 9.99325225e-01 -4.90370963e-04 -7.09568211e+00] [-8.44297138e-03 1.80392305e-04 9.99964341e-01 -4.21182516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024391418 meters 0.016545642452941427 Centerline is valid? [True, True] Translation: X:207.19, Y:-7.09, Z:-4.21 [[ 9.98995841e-01 4.40427746e-02 8.21851361e-03 2.07189865e+02] [-4.40403307e-02 9.99029640e-01 -4.78197793e-04 -7.09103689e+00] [-8.23159985e-03 1.15771549e-04 9.99966113e-01 -4.21340075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08439141799997 meters 0.014381658819639542 Centerline is valid? [True, True] Translation: X:207.25, Y:-7.08, Z:-4.21 [[ 9.98552698e-01 5.31801085e-02 8.02407368e-03 2.07248980e+02] [-5.31780688e-02 9.98584936e-01 -4.67485542e-04 -7.08430909e+00] [-8.03758004e-03 4.01042073e-05 9.99967697e-01 -4.21410797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14439141799997 meters 0.014323744885534319 Centerline is valid? [True, True] Translation: X:207.31, Y:-7.08, Z:-4.22 [[ 9.98281282e-01 5.80913756e-02 7.73780465e-03 2.07306483e+02] [-5.80896289e-02 9.98311270e-01 -4.50485687e-04 -7.08288791e+00] [-7.75090692e-03 2.25227936e-07 9.99969961e-01 -4.21629990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20439141799997 meters 0.01532186261108745 Centerline is valid? [True, True] Translation: X:207.37, Y:-7.08, Z:-4.22 [[ 9.97828138e-01 6.54482868e-02 7.45176336e-03 2.07365112e+02] [-6.54468768e-02 9.97855961e-01 -4.33176432e-04 -7.07966961e+00] [-7.46413714e-03 -5.54590060e-05 9.99972141e-01 -4.21713132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26439141799997 meters 0.016023711017501906 Centerline is valid? [True, True] Translation: X:207.42, Y:-7.08, Z:-4.22 [[ 9.97504847e-01 7.01154900e-02 8.24001440e-03 2.07423656e+02] [-7.01139147e-02 9.97538876e-01 -4.80244770e-04 -7.08045961e+00] [-8.25340730e-03 -9.86931814e-05 9.99965935e-01 -4.21674996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32439141799998 meters 0.017624170170713174 Centerline is valid? [True, True] Translation: X:207.48, Y:-7.08, Z:-4.22 [[ 9.97092824e-01 7.56801106e-02 8.85554331e-03 2.07482526e+02] [-7.56785359e-02 9.97132136e-01 -5.13261422e-04 -7.08218626e+00] [-8.86899050e-03 -1.58405272e-04 9.99960657e-01 -4.21755708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38439141799998 meters 0.018222785822605836 Centerline is valid? [True, True] Translation: X:207.54, Y:-7.09, Z:-4.22 [[ 9.97102137e-01 7.56062469e-02 8.42755985e-03 2.07540253e+02] [-7.56048540e-02 9.97137740e-01 -4.84197147e-04 -7.08743175e+00] [-8.44004631e-03 -1.54370423e-04 9.99964370e-01 -4.22019017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44439141799998 meters 0.017134305455099922 Centerline is valid? [True, True] Translation: X:207.60, Y:-7.10, Z:-4.22 [[ 9.97371961e-01 7.19911398e-02 8.15149464e-03 2.07598719e+02] [-7.19897045e-02 9.97405265e-01 -4.69743956e-04 -7.09680746e+00] [-8.16416107e-03 -1.18314239e-04 9.99966666e-01 -4.22234879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50439141799998 meters 0.014957170240822137 Centerline is valid? [True, True] Translation: X:207.66, Y:-7.11, Z:-4.22 [[ 9.97950686e-01 6.33827702e-02 8.77799883e-03 2.07656393e+02] [-6.33808171e-02 9.97989289e-01 -5.00787688e-04 -7.11324228e+00] [-8.79209013e-03 -5.65953221e-05 9.99961347e-01 -4.22309668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56439141799999 meters 0.014134973093732722 Centerline is valid? [True, True] Translation: X:207.71, Y:-7.13, Z:-4.22 [[ 9.98311775e-01 5.72815456e-02 9.61379147e-03 2.07714659e+02] [-5.72789283e-02 9.98358064e-01 -5.47592205e-04 -7.12590250e+00] [-9.62937317e-03 -3.99992606e-06 9.99953637e-01 -4.22372104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624391418 meters 0.014643178252760895 Centerline is valid? [True, True] Translation: X:207.77, Y:-7.14, Z:-4.23 [[ 9.98775693e-01 4.83171791e-02 1.06097190e-02 2.07772008e+02] [-4.83134940e-02 9.98832039e-01 -6.03515231e-04 -7.14334366e+00] [-1.06264875e-02 9.01837451e-05 9.99943533e-01 -4.22516574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684391418 meters 0.016109789513952755 Centerline is valid? [True, True] Translation: X:207.83, Y:-7.16, Z:-4.23 [[ 9.99060197e-01 4.17659921e-02 1.15898503e-02 2.07829743e+02] [-4.17611712e-02 9.99127405e-01 -6.57766198e-04 -7.15966498e+00] [-1.16072093e-02 1.73142307e-04 9.99932619e-01 -4.22675820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744391418 meters 0.017059688608967692 Centerline is valid? [True, True] Translation: X:207.89, Y:-7.17, Z:-4.23 [[ 9.99180123e-01 3.87819165e-02 1.16208370e-02 2.07888053e+02] [-3.87768789e-02 9.99247677e-01 -6.58587188e-04 -7.16939089e+00] [-1.16376356e-02 2.07427440e-04 9.99932259e-01 -4.22843122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80439141799997 meters 0.018007485658951574 Centerline is valid? [True, True] Translation: X:207.95, Y:-7.18, Z:-4.23 [[ 9.99259678e-01 3.67954873e-02 1.12333389e-02 2.07945692e+02] [-3.67906623e-02 9.99322792e-01 -6.35943761e-04 -7.18108859e+00] [-1.12491314e-02 2.22190981e-04 9.99936702e-01 -4.23031022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86439141799997 meters 0.018111072891760206 Centerline is valid? [True, True] Translation: X:208.00, Y:-7.19, Z:-4.23 [[ 9.99269388e-01 3.66194670e-02 1.09409802e-02 2.08004242e+02] [-3.66148927e-02 9.99329259e-01 -6.18171060e-04 -7.18636599e+00] [-1.09562787e-02 2.17116600e-04 9.99939955e-01 -4.23188445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92439141799997 meters 0.01730639698418759 Centerline is valid? [True, True] Translation: X:208.06, Y:-7.19, Z:-4.23 [[ 9.99189042e-01 3.89950954e-02 1.00320004e-02 2.08063154e+02] [-3.89913780e-02 9.99239387e-01 -5.65943681e-04 -7.19400506e+00] [-1.00464389e-02 1.74323207e-04 9.99949518e-01 -4.23409665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98439141799997 meters 0.016454263063100806 Centerline is valid? [True, True] Translation: X:208.12, Y:-7.20, Z:-4.24 [[ 9.99071059e-01 4.20170096e-02 9.57023227e-03 2.08121711e+02] [-4.20137679e-02 9.99116886e-01 -5.39608414e-04 -7.19795705e+00] [-9.58445340e-03 1.37025632e-04 9.99954059e-01 -4.23505515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04439141799998 meters 0.015534965981358015 Centerline is valid? [True, True] Translation: X:208.18, Y:-7.20, Z:-4.24 [[ 9.98826623e-01 4.74623213e-02 9.62837210e-03 2.08179297e+02] [-4.74592978e-02 9.98873025e-01 -5.42387090e-04 -7.20309022e+00] [-9.64326411e-03 8.47948867e-05 9.99953499e-01 -4.23673012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10439141799998 meters 0.01494705068677935 Centerline is valid? [True, True] Translation: X:208.24, Y:-7.21, Z:-4.24 [[ 9.98557063e-01 5.28798242e-02 9.35503329e-03 2.08238050e+02] [-5.28772195e-02 9.98600883e-01 -5.25716845e-04 -7.20723797e+00] [-9.36974431e-03 3.02901195e-05 9.99956103e-01 -4.23708855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16439141799998 meters 0.015102427858960281 Centerline is valid? [True, True] Translation: X:208.30, Y:-7.21, Z:-4.24 [[ 9.98415691e-01 5.54156246e-02 9.75788883e-03 2.08295991e+02] [-5.54129181e-02 9.98463374e-01 -5.47718118e-04 -7.21192610e+00] [-9.77324674e-03 6.13726865e-06 9.99952241e-01 -4.23870399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22439141799998 meters 0.014989221994475874 Centerline is valid? [True, True] Translation: X:208.35, Y:-7.22, Z:-4.24 [[ 9.98405768e-01 5.56593328e-02 9.37878965e-03 2.08354489e+02] [-5.56568526e-02 9.98449818e-01 -5.25452357e-04 -7.22201782e+00] [-9.39349715e-03 2.62075091e-06 9.99955880e-01 -4.23839246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28439141799998 meters 0.015193938103285268 Centerline is valid? [True, True] Translation: X:208.41, Y:-7.24, Z:-4.24 [[ 9.98572077e-01 5.25496032e-02 9.60965405e-03 2.08410839e+02] [-5.25468571e-02 9.98618315e-01 -5.38204341e-04 -7.23561991e+00] [-9.62465896e-03 3.24787092e-05 9.99953681e-01 -4.24076908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344391418 meters 0.015025743974639644 Centerline is valid? [True, True] Translation: X:208.47, Y:-7.24, Z:-4.24 [[ 9.98685472e-01 5.02079507e-02 1.03193862e-02 2.08468695e+02] [-5.02046772e-02 9.98738784e-01 -5.76178910e-04 -7.24441140e+00] [-1.03352999e-02 5.73400559e-05 9.99946588e-01 -4.23956441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404391418 meters 0.015601953508931279 Centerline is valid? [True, True] Translation: X:208.53, Y:-7.26, Z:-4.24 [[ 9.98819292e-01 4.72392612e-02 1.13346544e-02 2.08526204e+02] [-4.72351420e-02 9.98883598e-01 -6.30997012e-04 -7.25707133e+00] [-1.13518082e-02 9.48579804e-05 9.99935562e-01 -4.24065964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464391418 meters 0.016001354429462634 Centerline is valid? [True, True] Translation: X:208.58, Y:-7.27, Z:-4.24 [[ 9.98906473e-01 4.51574759e-02 1.21103587e-02 2.08584408e+02] [-4.51526395e-02 9.98979873e-01 -6.72618552e-04 -7.26668282e+00] [-1.21283783e-02 1.25068364e-04 9.99926441e-01 -4.24163676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524391418 meters 0.016500671257205234 Centerline is valid? [True, True] Translation: X:208.64, Y:-7.28, Z:-4.24 [[ 9.98991081e-01 4.29545792e-02 1.31043710e-02 2.08643064e+02] [-4.29487424e-02 9.99077013e-01 -7.26634626e-04 -7.27790636e+00] [-1.31234881e-02 1.63085256e-04 9.99913870e-01 -4.24294750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58439141799997 meters 0.016522240654993713 Centerline is valid? [True, True] Translation: X:208.70, Y:-7.29, Z:-4.24 [[ 9.99028813e-01 4.18300842e-02 1.38446389e-02 2.08701890e+02] [-4.18234776e-02 9.99124722e-01 -7.66509623e-04 -7.28531856e+00] [-1.38645842e-02 1.86734252e-04 9.99903865e-01 -4.24388861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64439141799997 meters 0.016738435830600137 Centerline is valid? [True, True] Translation: X:208.76, Y:-7.29, Z:-4.25 [[ 9.99063610e-01 4.09661409e-02 1.39168147e-02 2.08759767e+02] [-4.09593953e-02 9.99160516e-01 -7.69507278e-04 -7.29424012e+00] [-1.39366555e-02 1.98762406e-04 9.99902860e-01 -4.24557115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70439141799997 meters 0.016694555545039517 Centerline is valid? [True, True] Translation: X:208.82, Y:-7.30, Z:-4.25 [[ 9.99067092e-01 4.11318578e-02 1.31573727e-02 2.08818353e+02] [-4.11258611e-02 9.99153710e-01 -7.26123001e-04 -7.30037282e+00] [-1.31761046e-02 1.84337311e-04 9.99913174e-01 -4.24797439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76439141799997 meters 0.01657932273631717 Centerline is valid? [True, True] Translation: X:208.88, Y:-7.31, Z:-4.25 [[ 9.99078855e-01 4.11821897e-02 1.20610748e-02 2.08876454e+02] [-4.11771645e-02 9.99151640e-01 -6.64787226e-04 -7.30720273e+00] [-1.20782201e-02 1.67533997e-04 9.99927042e-01 -4.25124745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82439141799998 meters 0.01745618535679436 Centerline is valid? [True, True] Translation: X:208.93, Y:-7.32, Z:-4.25 [[ 9.99107444e-01 4.01449882e-02 1.31413675e-02 2.08934614e+02] [-4.01389483e-02 9.99193846e-01 -7.23151073e-04 -7.31539231e+00] [-1.31598044e-02 1.95024951e-04 9.99913387e-01 -4.25305625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88439141799998 meters 0.018448830048064 Centerline is valid? [True, True] Translation: X:208.99, Y:-7.32, Z:-4.25 [[ 9.99149537e-01 3.90282088e-02 1.33041919e-02 2.08992132e+02] [-3.90219318e-02 9.99238087e-01 -7.31166340e-04 -7.32165203e+00] [-1.33225914e-02 2.11389242e-04 9.99911228e-01 -4.25493388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94439141799998 meters 0.01954986527194547 Centerline is valid? [True, True] Translation: X:209.05, Y:-7.33, Z:-4.26 [[ 9.99227608e-01 3.68999811e-02 1.35121774e-02 2.09050714e+02] [-3.68933396e-02 9.99318935e-01 -7.40544599e-04 -7.32883296e+00] [-1.35303008e-02 2.41463259e-04 9.99908432e-01 -4.25688339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00439141799998 meters 0.018455669395428243 Centerline is valid? [True, True] Translation: X:209.11, Y:-7.33, Z:-4.26 [[ 9.99292632e-01 3.45871131e-02 1.47637354e-02 2.09110017e+02] [-3.45789486e-02 9.99401643e-01 -8.07999574e-04 -7.33184232e+00] [-1.47828478e-02 2.96913572e-04 9.99890684e-01 -4.25635220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06439141799999 meters 0.02082570279334267 Centerline is valid? [True, True] Translation: X:209.17, Y:-7.34, Z:-4.26 [[ 9.99440936e-01 2.88814361e-02 1.68427452e-02 2.09170296e+02] [-2.88700173e-02 9.99582750e-01 -9.20764452e-04 -7.34251355e+00] [-1.68623105e-02 4.33999342e-04 9.99857727e-01 -4.25637651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124391418 meters 0.02316332828453177 Centerline is valid? [True, True] Translation: X:209.23, Y:-7.35, Z:-4.26 [[ 9.99548992e-01 2.45508795e-02 1.72935267e-02 2.09231970e+02] [-2.45381981e-02 9.99698446e-01 -9.45150501e-04 -7.35114911e+00] [-1.73115161e-02 5.20372247e-04 9.99850009e-01 -4.25777776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184391418 meters 0.025170093755194 Centerline is valid? [True, True] Translation: X:209.29, Y:-7.36, Z:-4.26 [[ 9.99670795e-01 1.99701378e-02 1.61088370e-02 2.09292285e+02] [-1.99585173e-02 9.99800420e-01 -8.81835809e-04 -7.35946888e+00] [-1.61232324e-02 5.60037003e-04 9.99869855e-01 -4.26108861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244391418 meters 0.0247744285530354 Centerline is valid? [True, True] Translation: X:209.35, Y:-7.36, Z:-4.26 [[ 9.99691266e-01 1.92908447e-02 1.56600386e-02 2.09354276e+02] [-1.92797950e-02 9.99813761e-01 -8.56278645e-04 -7.36204046e+00] [-1.56736404e-02 5.54091949e-04 9.99877007e-01 -4.26260127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30439141799997 meters 0.024255061758643184 Centerline is valid? [True, True] Translation: X:209.42, Y:-7.36, Z:-4.26 [[ 9.99673505e-01 1.99209617e-02 1.60011882e-02 2.09416498e+02] [-1.99094311e-02 9.99801401e-01 -8.79602208e-04 -7.36390359e+00] [-1.60155329e-02 5.60740470e-04 9.99871586e-01 -4.26330883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36439141799997 meters 0.023041527599310146 Centerline is valid? [True, True] Translation: X:209.48, Y:-7.36, Z:-4.26 [[ 9.99616280e-01 2.17352672e-02 1.71718315e-02 2.09478656e+02] [-2.17221630e-02 9.99763595e-01 -9.49295817e-04 -7.36252346e+00] [-1.71884052e-02 5.75922230e-04 9.99852103e-01 -4.26323945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42439141799997 meters 0.023776784269099533 Centerline is valid? [True, True] Translation: X:209.54, Y:-7.36, Z:-4.27 [[ 9.99594386e-01 2.28651743e-02 1.69778389e-02 2.09539460e+02] [-2.28524429e-02 9.99738404e-01 -9.43536418e-04 -7.36483925e+00] [-1.69949717e-02 5.55168613e-04 9.99855421e-01 -4.26637709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48439141799997 meters 0.026106140021368976 Centerline is valid? [True, True] Translation: X:209.60, Y:-7.37, Z:-4.27 [[ 9.99613841e-01 2.18004896e-02 1.72309913e-02 2.09600356e+02] [-2.17871367e-02 9.99762169e-01 -9.62295944e-04 -7.36903324e+00] [-1.72478718e-02 5.86510381e-04 9.99851072e-01 -4.26842288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54439141799998 meters 0.025297138428343243 Centerline is valid? [True, True] Translation: X:209.66, Y:-7.37, Z:-4.27 [[ 9.99672796e-01 1.92112468e-02 1.68887287e-02 2.09662354e+02] [-1.91979796e-02 9.99815253e-01 -9.47356637e-04 -7.36716471e+00] [-1.69038085e-02 6.22817188e-04 9.99856926e-01 -4.26922562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60439141799998 meters 0.026425720801596532 Centerline is valid? [True, True] Translation: X:209.72, Y:-7.37, Z:-4.27 [[ 9.99689739e-01 1.84096540e-02 1.67782652e-02 2.09724197e+02] [-1.83963737e-02 9.99830325e-01 -9.45530010e-04 -7.36884870e+00] [-1.67928253e-02 6.36577411e-04 9.99858788e-01 -4.27021564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66439141799998 meters 0.027920572946165872 Centerline is valid? [True, True] Translation: X:209.79, Y:-7.37, Z:-4.27 [[ 9.99687841e-01 1.86479254e-02 1.66275582e-02 2.09786179e+02] [-1.86348375e-02 9.99825913e-01 -9.41724323e-04 -7.37300201e+00] [-1.66422247e-02 6.31578510e-04 9.99861309e-01 -4.27174691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72439141799998 meters 0.02613741555319414 Centerline is valid? [True, True] Translation: X:209.85, Y:-7.37, Z:-4.27 [[ 9.99638837e-01 2.12105984e-02 1.65016979e-02 2.09849061e+02] [-2.11979638e-02 9.99774856e-01 -9.40209439e-04 -7.36876086e+00] [-1.65179250e-02 5.90067476e-04 9.99863396e-01 -4.27298871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78439141799998 meters 0.02542762881193676 Centerline is valid? [True, True] Translation: X:209.91, Y:-7.37, Z:-4.27 [[ 9.99596811e-01 2.27447934e-02 1.69967573e-02 2.09911773e+02] [-2.27315602e-02 9.99741133e-01 -9.71390926e-04 -7.36969230e+00] [-1.70144514e-02 5.84636462e-04 9.99855073e-01 -4.27427151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844391418 meters 0.021925802572214614 Centerline is valid? [True, True] Translation: X:209.97, Y:-7.36, Z:-4.28 [[ 9.99378334e-01 3.02449133e-02 1.81160165e-02 2.09973347e+02] [-3.02310705e-02 9.99542398e-01 -1.03755021e-03 -7.36193834e+00] [-1.81391072e-02 4.89238625e-04 9.99835353e-01 -4.27558470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904391418 meters 0.020037471430156766 Centerline is valid? [True, True] Translation: X:210.03, Y:-7.36, Z:-4.28 [[ 9.99142262e-01 3.71542832e-02 1.82838327e-02 2.10034144e+02] [-3.71413316e-02 9.99309474e-01 -1.04754351e-03 -7.35837338e+00] [-1.83101280e-02 3.67559096e-04 9.99832288e-01 -4.27727564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964391418 meters 0.01729535757781909 Centerline is valid? [True, True] Translation: X:210.09, Y:-7.35, Z:-4.28 [[ 9.98702013e-01 4.69426067e-02 1.97656413e-02 2.10094717e+02] [-4.69293766e-02 9.98897567e-01 -1.13291352e-03 -7.35084943e+00] [-1.97970329e-02 2.03853792e-04 9.99803999e-01 -4.27847126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024391418 meters 0.0165047704274534 Centerline is valid? [True, True] Translation: X:210.15, Y:-7.35, Z:-4.28 [[ 9.98394110e-01 5.25253809e-02 2.12199121e-02 2.10153795e+02] [-5.25114028e-02 9.98619584e-01 -1.21577933e-03 -7.34800515e+00] [-2.12544791e-02 9.95395677e-05 9.99774093e-01 -4.27920984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08439141799997 meters 0.0163257097598491 Centerline is valid? [True, True] Translation: X:210.21, Y:-7.35, Z:-4.28 [[ 9.98360448e-01 5.29987868e-02 2.16227709e-02 2.10212404e+02] [-5.29844225e-02 9.98594573e-01 -1.23707580e-03 -7.35066621e+00] [-2.16579452e-02 8.93775221e-05 9.99765435e-01 -4.28058971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14439141799997 meters 0.016328100411768128 Centerline is valid? [True, True] Translation: X:210.27, Y:-7.36, Z:-4.28 [[ 9.98505149e-01 5.02730456e-02 2.14496908e-02 2.10270894e+02] [-5.02583181e-02 9.98735500e-01 -1.22546846e-03 -7.35654438e+00] [-2.14841757e-02 1.45611182e-04 9.99769178e-01 -4.28353439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20439141799997 meters 0.017038057064255496 Centerline is valid? [True, True] Translation: X:210.33, Y:-7.36, Z:-4.29 [[ 9.98672677e-01 4.65783081e-02 2.19851063e-02 2.10329042e+02] [-4.65619810e-02 9.98914615e-01 -1.25423246e-03 -7.36453476e+00] [-2.20196640e-02 2.28897583e-04 9.99757512e-01 -4.28563075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26439141799997 meters 0.017994066753879386 Centerline is valid? [True, True] Translation: X:210.39, Y:-7.37, Z:-4.29 [[ 9.98904582e-01 4.15343548e-02 2.15530149e-02 2.10388579e+02] [-4.15175166e-02 9.99137021e-01 -1.22831712e-03 -7.37382755e+00] [-2.15854324e-02 3.32143943e-04 9.99766952e-01 -4.28827786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32439141799998 meters 0.018169459069007417 Centerline is valid? [True, True] Translation: X:210.45, Y:-7.38, Z:-4.29 [[ 9.98942702e-01 4.02936802e-02 2.21336455e-02 2.10449098e+02] [-4.02756368e-02 9.99187812e-01 -1.26055740e-03 -7.38061407e+00] [-2.21664613e-02 3.67777948e-04 9.99754226e-01 -4.28992925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38439141799998 meters 0.017870205361205743 Centerline is valid? [True, True] Translation: X:210.51, Y:-7.38, Z:-4.29 [[ 9.98891869e-01 4.12979140e-02 2.25724478e-02 2.10509401e+02] [-4.12794042e-02 9.99146815e-01 -1.28554811e-03 -7.38493146e+00] [-2.26062798e-02 3.52346356e-04 9.99744383e-01 -4.29184553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44439141799998 meters 0.017149814292123387 Centerline is valid? [True, True] Translation: X:210.57, Y:-7.39, Z:-4.29 [[ 9.98751120e-01 4.46123771e-02 2.24930339e-02 2.10569876e+02] [-4.45948366e-02 9.99004334e-01 -1.28106507e-03 -7.38996103e+00] [-2.25277897e-02 2.76392001e-04 9.99746179e-01 -4.29372582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50439141799998 meters 0.016677355471403425 Centerline is valid? [True, True] Translation: X:210.63, Y:-7.39, Z:-4.30 [[ 9.98650565e-01 4.67821736e-02 2.25494469e-02 2.10629206e+02] [-4.67650904e-02 9.98905089e-01 -1.28461378e-03 -7.39324077e+00] [-2.25848543e-02 2.28353351e-04 9.99744904e-01 -4.29548163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56439141799999 meters 0.016275460389473344 Centerline is valid? [True, True] Translation: X:210.69, Y:-7.40, Z:-4.30 [[ 9.98522429e-01 4.95325329e-02 2.23492214e-02 2.10688788e+02] [-4.95164594e-02 9.98772497e-01 -1.27235990e-03 -7.39628345e+00] [-2.23848109e-02 1.63825586e-04 9.99749415e-01 -4.29713580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624391418 meters 0.01576812134559975 Centerline is valid? [True, True] Translation: X:210.75, Y:-7.40, Z:-4.30 [[ 9.98389732e-01 5.22747389e-02 2.20293878e-02 2.10748335e+02] [-5.22597996e-02 9.98632736e-01 -1.25369480e-03 -7.39900857e+00] [-2.20648043e-02 1.00424624e-04 9.99756538e-01 -4.30029161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684391418 meters 0.015586309316479814 Centerline is valid? [True, True] Translation: X:210.81, Y:-7.40, Z:-4.30 [[ 9.98272570e-01 5.44997361e-02 2.19466430e-02 2.10806631e+02] [-5.44854673e-02 9.98513784e-01 -1.24803881e-03 -7.40238929e+00] [-2.19820433e-02 5.01098120e-05 9.99758364e-01 -4.30208654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744391418 meters 0.015403242261583202 Centerline is valid? [True, True] Translation: X:210.87, Y:-7.41, Z:-4.30 [[ 9.98185643e-01 5.60011769e-02 2.21199015e-02 2.10865615e+02] [-5.59870906e-02 9.98430703e-01 -1.25608289e-03 -7.40673960e+00] [-2.21555309e-02 1.53749806e-05 9.99754536e-01 -4.30391433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80439141799997 meters 0.015293641532719168 Centerline is valid? [True, True] Translation: X:210.92, Y:-7.41, Z:-4.31 [[ 9.98183545e-01 5.63938564e-02 2.11977320e-02 2.10924559e+02] [-5.63810439e-02 9.98408600e-01 -1.20205910e-03 -7.41179343e+00] [-2.12317867e-02 4.72534998e-06 9.99774580e-01 -4.30621986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86439141799997 meters 0.01524483745501845 Centerline is valid? [True, True] Translation: X:210.98, Y:-7.42, Z:-4.31 [[ 9.98211708e-01 5.63243768e-02 2.00237342e-02 2.10981723e+02] [-5.63129615e-02 9.98412522e-01 -1.13393571e-03 -7.41875344e+00] [-2.00558152e-02 4.31213177e-06 9.99798862e-01 -4.30845674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92439141799997 meters 0.015233726188226345 Centerline is valid? [True, True] Translation: X:211.04, Y:-7.43, Z:-4.31 [[ 9.98211862e-01 5.61522547e-02 2.04939859e-02 2.11040284e+02] [-5.61403043e-02 9.98422217e-01 -1.15843945e-03 -7.42533372e+00] [-2.05266999e-02 5.82938966e-06 9.99789305e-01 -4.30824569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98439141799997 meters 0.015129063316217915 Centerline is valid? [True, True] Translation: X:211.10, Y:-7.43, Z:-4.31 [[ 9.98207310e-01 5.62230151e-02 2.05216750e-02 2.11098936e+02] [-5.62110815e-02 9.98418235e-01 -1.15833686e-03 -7.43078409e+00] [-2.05543398e-02 2.71477740e-06 9.99788737e-01 -4.30882119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04439141799998 meters 0.015072219287324324 Centerline is valid? [True, True] Translation: X:211.16, Y:-7.44, Z:-4.31 [[ 9.98292643e-01 5.48416129e-02 2.01046292e-02 2.11157168e+02] [-5.48299047e-02 9.98495066e-01 -1.13353877e-03 -7.43963476e+00] [-2.01365381e-02 2.92685094e-05 9.99797239e-01 -4.30993794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10439141799998 meters 0.015515979010947908 Centerline is valid? [True, True] Translation: X:211.22, Y:-7.45, Z:-4.31 [[ 9.98520662e-01 5.03417586e-02 2.05474032e-02 2.11215884e+02] [-5.03286038e-02 9.98732042e-01 -1.15716071e-03 -7.45174712e+00] [-2.05796035e-02 1.21326760e-04 9.99788210e-01 -4.31054315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16439141799998 meters 0.016543013774228482 Centerline is valid? [True, True] Translation: X:211.28, Y:-7.46, Z:-4.31 [[ 9.98719576e-01 4.60401527e-02 2.09645694e-02 2.11275079e+02] [-4.60255292e-02 9.98939567e-01 -1.17976203e-03 -7.46268086e+00] [-2.09966543e-02 2.13346029e-04 9.99779523e-01 -4.31155315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22439141799998 meters 0.018783105261802074 Centerline is valid? [True, True] Translation: X:211.34, Y:-7.48, Z:-4.31 [[ 9.99018879e-01 3.93006924e-02 2.04141086e-02 2.11335664e+02] [-3.92854367e-02 9.99227370e-01 -1.14795683e-03 -7.47672128e+00] [-2.04434516e-02 3.44853371e-04 9.99790951e-01 -4.31301510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28439141799998 meters 0.019531633126724884 Centerline is valid? [True, True] Translation: X:211.40, Y:-7.49, Z:-4.32 [[ 9.99154776e-01 3.61168491e-02 1.96292589e-02 2.11397718e+02] [-3.61021190e-02 9.99347496e-01 -1.10437789e-03 -7.48542120e+00] [-1.96563374e-02 3.94786603e-04 9.99806718e-01 -4.31510371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344391418 meters 0.021024127358556164 Centerline is valid? [True, True] Translation: X:211.46, Y:-7.49, Z:-4.32 [[ 9.99268186e-01 3.33473651e-02 1.87362021e-02 2.11458947e+02] [-3.33333569e-02 9.99443728e-01 -1.05954236e-03 -7.49487534e+00] [-1.87611127e-02 4.34226464e-04 9.99823901e-01 -4.31692793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404391418 meters 0.019369851354224418 Centerline is valid? [True, True] Translation: X:211.52, Y:-7.50, Z:-4.32 [[ 9.99272688e-01 3.33703195e-02 1.84530793e-02 2.11521280e+02] [-3.33566407e-02 9.99442962e-01 -1.04865499e-03 -7.49851003e+00] [-1.84777942e-02 4.32359556e-04 9.99829178e-01 -4.31785770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464391418 meters 0.021520132104753526 Centerline is valid? [True, True] Translation: X:211.58, Y:-7.51, Z:-4.32 [[ 9.99247337e-01 3.40990442e-02 1.84936181e-02 2.11581959e+02] [-3.40853245e-02 9.99418368e-01 -1.05665077e-03 -7.50754659e+00] [-1.85188924e-02 4.25494489e-04 9.99828420e-01 -4.31895017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52439141799996 meters 0.02021507181015298 Centerline is valid? [True, True] Translation: X:211.64, Y:-7.51, Z:-4.32 [[ 9.99216980e-01 3.50949321e-02 1.82694537e-02 2.11644011e+02] [-3.50816130e-02 9.99383900e-01 -1.04911377e-03 -7.51039813e+00] [-1.82950165e-02 4.07370387e-04 9.99832549e-01 -4.32016495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58439141799997 meters 0.020838356310949914 Centerline is valid? [True, True] Translation: X:211.71, Y:-7.52, Z:-4.32 [[ 9.99237110e-01 3.44519544e-02 1.83918437e-02 2.11706395e+02] [-3.44382429e-02 9.99406264e-01 -1.06181293e-03 -7.51581219e+00] [-1.84175053e-02 4.27620108e-04 9.99830292e-01 -4.32177055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64439141799997 meters 0.020844170326658484 Centerline is valid? [True, True] Translation: X:211.77, Y:-7.52, Z:-4.32 [[ 9.99248989e-01 3.42311467e-02 1.81572663e-02 2.11768246e+02] [-3.42176486e-02 9.99413849e-01 -1.05364267e-03 -7.51974834e+00] [-1.81826908e-02 4.31552418e-04 9.99834588e-01 -4.32332618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70439141799997 meters 0.02318278155052667 Centerline is valid? [True, True] Translation: X:211.83, Y:-7.53, Z:-4.33 [[ 9.99396477e-01 2.99340502e-02 1.76248308e-02 2.11830402e+02] [-2.99205616e-02 9.99551751e-01 -1.02857031e-03 -7.52702295e+00] [-1.76477198e-02 5.00604710e-04 9.99844142e-01 -4.32529295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76439141799997 meters 0.025798894898135083 Centerline is valid? [True, True] Translation: X:211.89, Y:-7.53, Z:-4.33 [[ 9.99528571e-01 2.46766888e-02 1.82673703e-02 2.11891596e+02] [-2.46612895e-02 9.99695294e-01 -1.06781561e-03 -7.53414402e+00] [-1.82881543e-02 6.16815307e-04 9.99832567e-01 -4.32589999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82439141799998 meters 0.027784249030507174 Centerline is valid? [True, True] Translation: X:211.95, Y:-7.54, Z:-4.33 [[ 9.99574091e-01 2.30835070e-02 1.78546486e-02 2.11953546e+02] [-2.30685405e-02 9.99733341e-01 -1.04376859e-03 -7.54040090e+00] [-1.78739813e-02 6.31443356e-04 9.99840048e-01 -4.32808653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88439141799998 meters 0.025252748196946492 Centerline is valid? [True, True] Translation: X:212.02, Y:-7.54, Z:-4.33 [[ 9.99554759e-01 2.41266119e-02 1.75553666e-02 2.12016232e+02] [-2.41122143e-02 9.99708726e-01 -1.03136006e-03 -7.53776441e+00] [-1.75751364e-02 6.07602098e-04 9.99845361e-01 -4.32970276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94439141799998 meters 0.021603371622220893 Centerline is valid? [True, True] Translation: X:212.08, Y:-7.53, Z:-4.33 [[ 9.99425287e-01 2.89289052e-02 1.76696094e-02 2.12078560e+02] [-2.89149637e-02 9.99581330e-01 -1.04402987e-03 -7.53136732e+00] [-1.76924143e-02 5.32513738e-04 9.99843335e-01 -4.33034935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00439141799998 meters 0.021373157124018216 Centerline is valid? [True, True] Translation: X:212.14, Y:-7.53, Z:-4.33 [[ 9.99280723e-01 3.35074356e-02 1.77563684e-02 2.12140064e+02] [-3.34940591e-02 9.99438365e-01 -1.05027250e-03 -7.53157809e+00] [-1.77815877e-02 4.54784211e-04 9.99841792e-01 -4.33133923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06439141799999 meters 0.017569720165632276 Centerline is valid? [True, True] Translation: X:212.20, Y:-7.52, Z:-4.33 [[ 9.99000430e-01 4.09314583e-02 1.79654045e-02 2.12202363e+02] [-4.09189432e-02 9.99161903e-01 -1.06381419e-03 -7.52395316e+00] [-1.79938912e-02 3.27625464e-04 9.99838043e-01 -4.33250767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124391418 meters 0.015781421597976106 Centerline is valid? [True, True] Translation: X:212.26, Y:-7.52, Z:-4.34 [[ 9.98677293e-01 4.85869756e-02 1.68217245e-02 2.12262885e+02] [-4.85770664e-02 9.98818939e-01 -9.97414963e-04 -7.51717200e+00] [-1.68503184e-02 1.78945648e-04 9.99858007e-01 -4.33511647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184391418 meters 0.014871980347075871 Centerline is valid? [True, True] Translation: X:212.32, Y:-7.51, Z:-4.34 [[ 9.98442709e-01 5.33133205e-02 1.64269816e-02 2.12322398e+02] [-5.33045143e-02 9.98577829e-01 -9.73769686e-04 -7.51412272e+00] [-1.64555345e-02 9.66209669e-05 9.99864594e-01 -4.33626956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244391418 meters 0.014627392626492614 Centerline is valid? [True, True] Translation: X:212.38, Y:-7.51, Z:-4.34 [[ 9.98263651e-01 5.65433354e-02 1.65085920e-02 2.12381453e+02] [-5.65348912e-02 9.98400145e-01 -9.78117902e-04 -7.51231692e+00] [-1.65374867e-02 4.31080971e-05 9.99863245e-01 -4.33721053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30439141799997 meters 0.014749404028952579 Centerline is valid? [True, True] Translation: X:212.44, Y:-7.51, Z:-4.34 [[ 9.98234965e-01 5.72748252e-02 1.57018583e-02 2.12440613e+02] [-5.72672951e-02 9.98358449e-01 -9.29146052e-04 -7.51285982e+00] [-1.57292996e-02 2.83031212e-05 9.99876287e-01 -4.33935858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36439141799997 meters 0.015090881418550707 Centerline is valid? [True, True] Translation: X:212.50, Y:-7.52, Z:-4.34 [[ 9.98484237e-01 5.27654382e-02 1.56536855e-02 2.12499087e+02] [-5.27574203e-02 9.98606929e-01 -9.24996639e-04 -7.51729376e+00] [-1.56806867e-02 9.77464955e-05 9.99877046e-01 -4.33942457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42439141799997 meters 0.016214455003986248 Centerline is valid? [True, True] Translation: X:212.56, Y:-7.52, Z:-4.34 [[ 9.98751184e-01 4.74115177e-02 1.57550401e-02 2.12557659e+02] [-4.74027513e-02 9.98875425e-01 -9.29603362e-04 -7.52461276e+00] [-1.57813963e-02 1.81610211e-04 9.99875450e-01 -4.34012567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48439141799997 meters 0.019937929694279932 Centerline is valid? [True, True] Translation: X:212.62, Y:-7.54, Z:-4.34 [[ 9.99168617e-01 3.73726170e-02 1.62899475e-02 2.12617795e+02] [-3.73619378e-02 9.99301338e-01 -9.59518358e-04 -7.53655132e+00] [-1.63144260e-02 3.50096627e-04 9.99866850e-01 -4.34049044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54439141799998 meters 0.023779986581860812 Centerline is valid? [True, True] Translation: X:212.68, Y:-7.55, Z:-4.34 [[ 9.99410573e-01 3.03335464e-02 1.60742938e-02 2.12677043e+02] [-3.03222443e-02 9.99539727e-01 -9.46427463e-04 -7.54695040e+00] [-1.60956038e-02 4.58460948e-04 9.99870352e-01 -4.34162884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60439141799998 meters 0.030601358932652287 Centerline is valid? [True, True] Translation: X:212.74, Y:-7.56, Z:-4.34 [[ 9.99671108e-01 2.01535362e-02 1.58590681e-02 2.12735904e+02] [-2.01412258e-02 9.99796707e-01 -9.35594940e-04 -7.56106621e+00] [-1.58746996e-02 6.15866161e-04 9.99873799e-01 -4.34313674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66439141799998 meters 0.03634326154240652 Centerline is valid? [True, True] Translation: X:212.80, Y:-7.57, Z:-4.34 [[ 9.99799659e-01 1.20433555e-02 1.59874556e-02 2.12795695e+02] [-1.20298153e-02 9.99927195e-01 -9.42832434e-04 -7.57303712e+00] [-1.59976465e-02 7.50317408e-04 9.99871748e-01 -4.34401446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72439141799998 meters 0.04009332469713521 Centerline is valid? [True, True] Translation: X:212.86, Y:-7.58, Z:-4.35 [[ 9.99826239e-01 8.56646748e-03 1.65561790e-02 2.12855486e+02] [-8.55147125e-03 9.99962959e-01 -9.76362275e-04 -7.58159015e+00] [-1.65639297e-02 8.34612933e-04 9.99862460e-01 -4.34534596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78439141799998 meters 0.04233906878166084 Centerline is valid? [True, True] Translation: X:212.92, Y:-7.59, Z:-4.35 [[ 9.99853345e-01 6.64304669e-03 1.57847754e-02 2.12917035e+02] [-6.62918832e-03 9.99977594e-01 -9.30119564e-04 -7.58643593e+00] [-1.57906006e-02 8.25342908e-04 9.99874980e-01 -4.34693245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844391418 meters 0.04309854788640963 Centerline is valid? [True, True] Translation: X:212.98, Y:-7.59, Z:-4.35 [[ 9.99867371e-01 7.70212243e-03 1.43498230e-02 2.12978757e+02] [-7.69073764e-03 9.99970066e-01 -8.48389907e-04 -7.58819025e+00] [-1.43559279e-02 7.37916661e-04 9.99896676e-01 -4.34973171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904391418 meters 0.04311697655396456 Centerline is valid? [True, True] Translation: X:213.04, Y:-7.59, Z:-4.35 [[ 9.99857187e-01 9.07842696e-03 1.42543983e-02 2.13041409e+02] [-9.06726847e-03 9.99958533e-01 -8.47244380e-04 -7.58891213e+00] [-1.42614989e-02 7.17874927e-04 9.99898042e-01 -4.35117994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964391418 meters 0.042223613024152375 Centerline is valid? [True, True] Translation: X:213.10, Y:-7.59, Z:-4.35 [[ 9.99827132e-01 1.17878665e-02 1.43788883e-02 2.13103545e+02] [-1.17767704e-02 9.99930285e-01 -8.56129098e-04 -7.58564027e+00] [-1.43879779e-02 6.86644235e-04 9.99896252e-01 -4.35159939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02439141799996 meters 0.03985685320752751 Centerline is valid? [True, True] Translation: X:213.17, Y:-7.58, Z:-4.35 [[ 9.99788332e-01 1.53330339e-02 1.37181890e-02 2.13165219e+02] [-1.53232549e-02 9.99882258e-01 -8.17681353e-04 -7.57986033e+00] [-1.37291113e-02 6.07300970e-04 9.99905567e-01 -4.35324548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08439141799997 meters 0.039026216946663625 Centerline is valid? [True, True] Translation: X:213.23, Y:-7.58, Z:-4.35 [[ 9.99746498e-01 1.76110453e-02 1.40282290e-02 2.13226638e+02] [-1.76010409e-02 9.99844740e-01 -8.36311649e-04 -7.57859065e+00] [-1.40407793e-02 5.89188210e-04 9.99901250e-01 -4.35368461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14439141799997 meters 0.03784414921301047 Centerline is valid? [True, True] Translation: X:213.29, Y:-7.58, Z:-4.35 [[ 9.99686131e-01 2.01380696e-02 1.49029408e-02 2.13288274e+02] [-2.01270508e-02 9.99797035e-01 -8.89004123e-04 -7.57530664e+00] [-1.49178188e-02 5.88772846e-04 9.99888550e-01 -4.35322012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20439141799997 meters 0.038188060747907475 Centerline is valid? [True, True] Translation: X:213.35, Y:-7.58, Z:-4.35 [[ 9.99668119e-01 2.11786757e-02 1.46668187e-02 2.13349821e+02] [-2.11681234e-02 9.99775548e-01 -8.74354877e-04 -7.57593845e+00] [-1.46820443e-02 5.63595668e-04 9.99892054e-01 -4.35486595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26439141799997 meters 0.026304346158547504 Centerline is valid? [True, True] Translation: X:213.41, Y:-7.56, Z:-4.35 [[ 9.99661964e-01 2.14126523e-02 1.47464195e-02 2.13413501e+02] [-2.14019710e-02 9.99770563e-01 -8.81781904e-04 -7.55916593e+00] [-1.47619174e-02 5.65881388e-04 9.99890877e-01 -4.35408372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32439141799998 meters 0.04129723013703262 Centerline is valid? [True, True] Translation: X:213.47, Y:-7.58, Z:-4.36 [[ 9.99693817e-01 2.02162443e-02 1.42680241e-02 2.13473000e+02] [-2.02060545e-02 9.99795469e-01 -8.57986666e-04 -7.57974143e+00] [-1.42824511e-02 5.69423493e-04 9.99897838e-01 -4.35893074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38439141799998 meters 0.02792768298256078 Centerline is valid? [True, True] Translation: X:213.54, Y:-7.56, Z:-4.36 [[ 9.99700035e-01 2.02006323e-02 1.38482927e-02 2.13536903e+02] [-2.01910185e-02 9.99795793e-01 -8.33697812e-04 -7.56247890e+00] [-1.38623060e-02 5.53836598e-04 9.99903760e-01 -4.35755846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44439141799998 meters 0.025447505090343617 Centerline is valid? [True, True] Translation: X:213.60, Y:-7.56, Z:-4.36 [[ 9.99657790e-01 2.25325569e-02 1.32885659e-02 2.13598754e+02] [-2.25238411e-02 9.99745982e-01 -8.05199402e-04 -7.55733695e+00] [-1.33033336e-02 5.05614307e-04 9.99911379e-01 -4.35837783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50439141799998 meters 0.024467461523020997 Centerline is valid? [True, True] Translation: X:213.66, Y:-7.56, Z:-4.36 [[ 9.99548840e-01 2.65230005e-02 1.40942237e-02 2.13658803e+02] [-2.65135793e-02 9.99648088e-01 -8.54914505e-04 -7.55567582e+00] [-1.41119387e-02 4.80840485e-04 9.99900306e-01 -4.35872143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56439141799999 meters 0.022170783460953632 Centerline is valid? [True, True] Translation: X:213.72, Y:-7.55, Z:-4.36 [[ 9.99393612e-01 3.16946718e-02 1.44172106e-02 2.13719068e+02] [-3.16853479e-02 9.99497511e-01 -8.74737982e-04 -7.55177985e+00] [-1.44376907e-02 4.17393216e-04 9.99895684e-01 -4.35868780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624391418 meters 0.02152038564620291 Centerline is valid? [True, True] Translation: X:213.78, Y:-7.55, Z:-4.36 [[ 9.99228863e-01 3.62239568e-02 1.51493883e-02 2.13778249e+02] [-3.62141910e-02 9.99343629e-01 -9.18553046e-04 -7.55143782e+00] [-1.51727183e-02 3.69221874e-04 9.99884820e-01 -4.35922897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684391418 meters 0.019034553191111258 Centerline is valid? [True, True] Translation: X:213.84, Y:-7.55, Z:-4.36 [[ 9.99116362e-01 3.91888493e-02 1.51897740e-02 2.13838347e+02] [-3.91793828e-02 9.99231769e-01 -9.20406859e-04 -7.54832864e+00] [-1.52141745e-02 3.24467580e-04 9.99884205e-01 -4.36098132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744391418 meters 0.01952311027233356 Centerline is valid? [True, True] Translation: X:213.90, Y:-7.55, Z:-4.36 [[ 9.99205099e-01 3.77965239e-02 1.26724928e-02 2.13896753e+02] [-3.77898241e-02 9.99285415e-01 -7.67816823e-04 -7.55124022e+00] [-1.26924580e-02 2.88315212e-04 9.99919406e-01 -4.36477581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80439141799997 meters 0.020982476525102437 Centerline is valid? [True, True] Translation: X:213.96, Y:-7.56, Z:-4.37 [[ 9.99328710e-01 3.49620418e-02 1.09446559e-02 2.13955332e+02] [-3.49568818e-02 9.99388602e-01 -6.62470996e-04 -7.55650760e+00] [-1.09611257e-02 2.79435242e-04 9.99939886e-01 -4.36768354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86439141799997 meters 0.022161167824159743 Centerline is valid? [True, True] Translation: X:214.01, Y:-7.56, Z:-4.37 [[ 9.99480017e-01 3.05918922e-02 1.01897968e-02 2.14014492e+02] [-3.05872014e-02 9.99531912e-01 -6.15900662e-04 -7.56162782e+00] [-1.02038687e-02 3.03903036e-04 9.99947893e-01 -4.36926561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92439141799997 meters 0.02313210913206908 Centerline is valid? [True, True] Translation: X:214.07, Y:-7.57, Z:-4.37 [[ 9.99524962e-01 2.89126847e-02 1.06727069e-02 2.14073435e+02] [-2.89074487e-02 9.99581885e-01 -6.44575214e-04 -7.56580272e+00] [-1.06868809e-02 3.35748289e-04 9.99942837e-01 -4.37003864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98439141799997 meters 0.023765061778195797 Centerline is valid? [True, True] Translation: X:214.13, Y:-7.57, Z:-4.37 [[ 9.99505126e-01 2.92905019e-02 1.14703930e-02 2.14130996e+02] [-2.92844887e-02 9.99570878e-01 -6.91877917e-04 -7.56786030e+00] [-1.14857362e-02 3.55630931e-04 9.99933974e-01 -4.37060364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04439141799998 meters 0.022282538035235635 Centerline is valid? [True, True] Translation: X:214.19, Y:-7.57, Z:-4.37 [[ 9.99364567e-01 3.35621076e-02 1.20019267e-02 2.14190430e+02] [-3.35558532e-02 9.99436583e-01 -7.22164315e-04 -7.56644611e+00] [-1.20194020e-02 3.18970537e-04 9.99927714e-01 -4.37127471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10439141799998 meters 0.020238309984329156 Centerline is valid? [True, True] Translation: X:214.25, Y:-7.57, Z:-4.37 [[ 9.99175509e-01 3.85023872e-02 1.28790093e-02 2.14250181e+02] [-3.84956024e-02 9.99258470e-01 -7.74385637e-04 -7.56513628e+00] [-1.28992748e-02 2.77961942e-04 9.99916762e-01 -4.37144385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16439141799998 meters 0.016772644687413293 Centerline is valid? [True, True] Translation: X:214.31, Y:-7.56, Z:-4.37 [[ 9.98780136e-01 4.73424687e-02 1.40332188e-02 2.14310226e+02] [-4.73352937e-02 9.98878701e-01 -8.43184290e-04 -7.55947279e+00] [-1.40574017e-02 1.77889188e-04 9.99901174e-01 -4.37129425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22439141799998 meters 0.01568874941509269 Centerline is valid? [True, True] Translation: X:214.37, Y:-7.56, Z:-4.37 [[ 9.98473624e-01 5.36139825e-02 1.32650909e-02 2.14369909e+02] [-5.36081282e-02 9.98561733e-01 -7.96765462e-04 -7.55566453e+00] [-1.32887299e-02 8.44326068e-05 9.99911697e-01 -4.37282625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28439141799998 meters 0.014762841181305424 Centerline is valid? [True, True] Translation: X:214.43, Y:-7.55, Z:-4.37 [[ 9.97999536e-01 6.17644905e-02 1.34934753e-02 2.14427836e+02] [-6.17591853e-02 9.98090751e-01 -8.09899916e-04 -7.55249259e+00] [-1.35177360e-02 -2.50663033e-05 9.99908631e-01 -4.37438245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344391418 meters 0.01511306716661081 Centerline is valid? [True, True] Translation: X:214.49, Y:-7.55, Z:-4.38 [[ 9.97676432e-01 6.67674642e-02 1.35588347e-02 2.14487114e+02] [-6.67625903e-02 9.97768559e-01 -8.12287587e-04 -7.55230853e+00] [-1.35828133e-02 -9.48227408e-05 9.99907745e-01 -4.37562430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404391418 meters 0.01523651552659415 Centerline is valid? [True, True] Translation: X:214.55, Y:-7.56, Z:-4.38 [[ 9.97634705e-01 6.73929473e-02 1.35346392e-02 2.14545722e+02] [-6.73881632e-02 9.97726506e-01 -8.09742793e-04 -7.55560910e+00] [-1.35584392e-02 -1.04246963e-04 9.99908075e-01 -4.37739265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464391418 meters 0.01454711755732565 Centerline is valid? [True, True] Translation: X:214.60, Y:-7.56, Z:-4.38 [[ 9.97898223e-01 6.34599608e-02 1.31137055e-02 2.14603857e+02] [-6.34551431e-02 9.97984384e-01 -7.83559927e-04 -7.56377808e+00] [-1.31369980e-02 -5.02189984e-05 9.99913705e-01 -4.37885102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52439141799996 meters 0.01468404359470359 Centerline is valid? [True, True] Translation: X:214.66, Y:-7.58, Z:-4.38 [[ 9.98496711e-01 5.30397740e-02 1.38239019e-02 2.14661471e+02] [-5.30334379e-02 9.98592396e-01 -8.24785916e-04 -7.57795571e+00] [-1.38481898e-02 9.04169806e-05 9.99904105e-01 -4.37979269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58439141799997 meters 0.016781740955240647 Centerline is valid? [True, True] Translation: X:214.72, Y:-7.59, Z:-4.38 [[ 9.98947526e-01 4.33590208e-02 1.49611604e-02 2.14719984e+02] [-4.33505356e-02 9.99059526e-01 -8.91142045e-04 -7.59149106e+00] [-1.49857288e-02 2.41629827e-04 9.99887678e-01 -4.38097137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64439141799997 meters 0.022683091779519975 Centerline is valid? [True, True] Translation: X:214.78, Y:-7.61, Z:-4.38 [[ 9.99441739e-01 2.85685407e-02 1.73218988e-02 2.14778421e+02] [-2.85549704e-02 9.99591693e-01 -1.03029346e-03 -7.61197166e+00] [-1.73442601e-02 5.35091980e-04 9.99849434e-01 -4.38114245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70439141799997 meters 0.030285700143925284 Centerline is valid? [True, True] Translation: X:214.84, Y:-7.63, Z:-4.38 [[ 9.99704518e-01 1.61016553e-02 1.82102814e-02 2.14837216e+02] [-1.60845941e-02 9.99870048e-01 -1.08298665e-03 -7.63222616e+00] [-1.82253528e-02 7.89761662e-04 9.99833593e-01 -4.38245779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76439141799997 meters 0.030763555171393734 Centerline is valid? [True, True] Translation: X:214.90, Y:-7.64, Z:-4.38 [[ 9.99788005e-01 9.90609415e-03 1.80503121e-02 2.14897673e+02] [-9.88829400e-03 9.99950532e-01 -1.07512689e-03 -7.63885789e+00] [-1.80600695e-02 8.96412175e-04 9.99836502e-01 -4.38363270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82439141799998 meters 0.033969086520175266 Centerline is valid? [True, True] Translation: X:214.96, Y:-7.65, Z:-4.39 [[ 9.99825912e-01 4.89215682e-03 1.80058963e-02 2.14958063e+02] [-4.87363262e-03 9.99987549e-01 -1.07252281e-03 -7.64897523e+00] [-1.80109191e-02 9.84581976e-04 9.99837305e-01 -4.38510256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88439141799998 meters 0.03327319702005507 Centerline is valid? [True, True] Translation: X:215.02, Y:-7.65, Z:-4.39 [[ 9.99804162e-01 6.19628211e-03 1.87947799e-02 2.15020443e+02] [-6.17633001e-03 9.99980300e-01 -1.11943843e-03 -7.65338333e+00] [-1.88013460e-02 1.00313644e-03 9.99822736e-01 -4.38594062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94439141799998 meters 0.031811827792614426 Centerline is valid? [True, True] Translation: X:215.08, Y:-7.65, Z:-4.39 [[ 9.99776333e-01 8.91871917e-03 1.91765385e-02 2.15081642e+02] [-8.89833278e-03 9.99959750e-01 -1.14815705e-03 -7.65438641e+00] [-1.91860068e-02 9.77261023e-04 9.99815454e-01 -4.38741269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00439141799998 meters 0.02899049246206202 Centerline is valid? [True, True] Translation: X:215.14, Y:-7.65, Z:-4.39 [[ 9.99720634e-01 1.56697549e-02 1.76949697e-02 2.15142621e+02] [-1.56534384e-02 9.99876915e-01 -1.06023083e-03 -7.65196427e+00] [-1.77094053e-02 7.82947516e-04 9.99842870e-01 -4.38971803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06439141799999 meters 0.027630599309033377 Centerline is valid? [True, True] Translation: X:215.20, Y:-7.65, Z:-4.39 [[ 9.99645360e-01 2.06388362e-02 1.68283440e-02 2.15202375e+02] [-2.06247808e-02 9.99786778e-01 -1.00836522e-03 -7.65226851e+00] [-1.68455673e-02 6.60926706e-04 9.99857885e-01 -4.39143663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124391418 meters 0.02385060458138268 Centerline is valid? [True, True] Translation: X:215.26, Y:-7.65, Z:-4.39 [[ 9.99430469e-01 2.90416389e-02 1.71848754e-02 2.15263526e+02] [-2.90282220e-02 9.99578062e-01 -1.02971607e-03 -7.64791419e+00] [-1.72075291e-02 5.30283240e-04 9.99851799e-01 -4.39182666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184391418 meters 0.019826068277886827 Centerline is valid? [True, True] Translation: X:215.32, Y:-7.64, Z:-4.39 [[ 9.99139287e-01 3.74259022e-02 1.78881932e-02 2.15324823e+02] [-3.74127063e-02 9.99299325e-01 -1.07188893e-03 -7.64248949e+00] [-1.79157758e-02 4.01720627e-04 9.99839419e-01 -4.39226856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244391418 meters 0.018121817723889065 Centerline is valid? [True, True] Translation: X:215.38, Y:-7.64, Z:-4.39 [[ 9.98929032e-01 4.24359171e-02 1.84386189e-02 2.15383499e+02] [-4.24227395e-02 9.99099139e-01 -1.10540282e-03 -7.64206228e+00] [-1.84689171e-02 3.22002238e-04 9.99829383e-01 -4.39298111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30439141799997 meters 0.015269755753831753 Centerline is valid? [True, True] Translation: X:215.44, Y:-7.64, Z:-4.40 [[ 9.98630972e-01 4.91271616e-02 1.79639569e-02 2.15443097e+02] [-4.91157535e-02 9.98792514e-01 -1.07596039e-03 -7.63857154e+00] [-1.79951245e-02 1.92174097e-04 9.99838056e-01 -4.39513299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36439141799997 meters 0.0145633361321392 Centerline is valid? [True, True] Translation: X:215.50, Y:-7.64, Z:-4.40 [[ 9.98382384e-01 5.43948940e-02 1.65472181e-02 2.15501762e+02] [-5.43859518e-02 9.98519498e-01 -9.90261066e-04 -7.63871770e+00] [-1.65765851e-02 8.87229966e-05 9.99862595e-01 -4.39703043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42439141799997 meters 0.014665943397341888 Centerline is valid? [True, True] Translation: X:215.56, Y:-7.64, Z:-4.40 [[ 9.98273657e-01 5.64139269e-02 1.63455069e-02 2.15559894e+02] [-5.64054927e-02 9.98407465e-01 -9.76919701e-04 -7.64223935e+00] [-1.63745880e-02 5.32568294e-05 9.99865926e-01 -4.39865028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48439141799997 meters 0.014676994706433513 Centerline is valid? [True, True] Translation: X:215.62, Y:-7.65, Z:-4.40 [[ 9.98213370e-01 5.75360433e-02 1.61143494e-02 2.15617392e+02] [-5.75280170e-02 9.98343429e-01 -9.61569675e-04 -7.64687950e+00] [-1.61429798e-02 3.28251400e-05 9.99869693e-01 -4.39950123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54439141799998 meters 0.014326604092665151 Centerline is valid? [True, True] Translation: X:215.68, Y:-7.65, Z:-4.40 [[ 9.98156853e-01 5.83282590e-02 1.67544459e-02 2.15676121e+02] [-5.83197330e-02 9.98297458e-01 -9.97438997e-04 -7.65265694e+00] [-1.67840996e-02 1.84857600e-05 9.99859137e-01 -4.39990485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60439141799998 meters 0.014442789608836507 Centerline is valid? [True, True] Translation: X:215.73, Y:-7.66, Z:-4.40 [[ 9.98189840e-01 5.76009269e-02 1.72967465e-02 2.15733754e+02] [-5.75917537e-02 9.98339688e-01 -1.02840123e-03 -7.66136594e+00] [-1.73272654e-02 3.03896904e-05 9.99849871e-01 -4.40086046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66439141799998 meters 0.014632823993606475 Centerline is valid? [True, True] Translation: X:215.79, Y:-7.67, Z:-4.40 [[ 9.98337827e-01 5.50154946e-02 1.71720089e-02 2.15791319e+02] [-5.50061067e-02 9.98485498e-01 -1.01889618e-03 -7.67316391e+00] [-1.72020569e-02 7.26372493e-05 9.99852031e-01 -4.40284678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72439141799998 meters 0.014764795033345839 Centerline is valid? [True, True] Translation: X:215.85, Y:-7.68, Z:-4.40 [[ 9.98503231e-01 5.19900725e-02 1.69802649e-02 2.15849422e+02] [-5.19804841e-02 9.98647594e-01 -1.00584028e-03 -7.68301848e+00] [-1.70095944e-02 1.21692377e-04 9.99855319e-01 -4.40430869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78439141799998 meters 0.015083184387469788 Centerline is valid? [True, True] Translation: X:215.91, Y:-7.70, Z:-4.41 [[ 9.98690989e-01 4.84376108e-02 1.64349153e-02 2.15907979e+02] [-4.84281688e-02 9.98826195e-01 -9.72240704e-04 -7.69550978e+00] [-1.64627169e-02 1.75055180e-04 9.99864465e-01 -4.40624742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844391418 meters 0.015921997986519273 Centerline is valid? [True, True] Translation: X:215.97, Y:-7.71, Z:-4.41 [[ 9.98780314e-01 4.69365817e-02 1.53245308e-02 2.15965204e+02] [-4.69282122e-02 9.98897854e-01 -9.05488813e-04 -7.70763275e+00] [-1.53501415e-02 1.85231568e-04 9.99882162e-01 -4.40920855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904391418 meters 0.015283792566742662 Centerline is valid? [True, True] Translation: X:216.02, Y:-7.71, Z:-4.41 [[ 9.98749439e-01 4.74655576e-02 1.57028027e-02 2.16023394e+02] [-4.74568632e-02 9.98872859e-01 -9.26058975e-04 -7.71324628e+00] [-1.57290594e-02 1.79695122e-04 9.99876275e-01 -4.40986298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964391418 meters 0.015204443185240842 Centerline is valid? [True, True] Translation: X:216.08, Y:-7.72, Z:-4.41 [[ 9.98691800e-01 4.86575103e-02 1.57205214e-02 2.16080630e+02] [-4.86489629e-02 9.98815509e-01 -9.25901219e-04 -7.72078225e+00] [-1.57469526e-02 1.59902893e-04 9.99875996e-01 -4.41125909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02439141799996 meters 0.014802641690100475 Centerline is valid? [True, True] Translation: X:216.14, Y:-7.73, Z:-4.41 [[ 9.98639886e-01 4.96606421e-02 1.58807448e-02 2.16139252e+02] [-4.96520736e-02 9.98766139e-01 -9.33620211e-04 -7.72672635e+00] [-1.59075143e-02 1.43838471e-04 9.99873457e-01 -4.41243714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08439141799997 meters 0.014547983231481536 Centerline is valid? [True, True] Translation: X:216.20, Y:-7.73, Z:-4.41 [[ 9.98528365e-01 5.18407475e-02 1.59261080e-02 2.16198079e+02] [-5.18324275e-02 9.98655359e-01 -9.35015261e-04 -7.73403423e+00] [-1.59531650e-02 1.08150418e-04 9.99872734e-01 -4.41375457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14439141799997 meters 0.01430349878354911 Centerline is valid? [True, True] Translation: X:216.26, Y:-7.74, Z:-4.41 [[ 9.98406483e-01 5.40085558e-02 1.63575610e-02 2.16255819e+02] [-5.40000902e-02 9.98540470e-01 -9.59100578e-04 -7.74036274e+00] [-1.63854863e-02 7.42624631e-05 9.99865746e-01 -4.41464066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20439141799997 meters 0.014242733748054731 Centerline is valid? [True, True] Translation: X:216.31, Y:-7.75, Z:-4.42 [[ 9.98364830e-01 5.48810661e-02 1.59916996e-02 2.16314249e+02] [-5.48731117e-02 9.98492897e-01 -9.36099097e-04 -7.74631636e+00] [-1.60189726e-02 5.70540982e-05 9.99871686e-01 -4.41657663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26439141799997 meters 0.014343436619603479 Centerline is valid? [True, True] Translation: X:216.37, Y:-7.75, Z:-4.42 [[ 9.98410456e-01 5.43712617e-02 1.48434343e-02 2.16372746e+02] [-5.43643681e-02 9.98520787e-01 -8.67828149e-04 -7.75490791e+00] [-1.48686626e-02 5.94947737e-05 9.99889454e-01 -4.41877362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32439141799998 meters 0.014944746797169856 Centerline is valid? [True, True] Translation: X:216.43, Y:-7.77, Z:-4.42 [[ 9.98552051e-01 5.18367373e-02 1.43789396e-02 2.16429929e+02] [-5.18300214e-02 9.98655568e-01 -8.39571180e-04 -7.76607824e+00] [-1.44031287e-02 9.30947750e-05 9.99896265e-01 -4.42149575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38439141799998 meters 0.015371460643526376 Centerline is valid? [True, True] Translation: X:216.49, Y:-7.78, Z:-4.42 [[ 9.98714938e-01 4.84563438e-02 1.48477701e-02 2.16488491e+02] [-4.84488361e-02 9.98825291e-01 -8.65135123e-04 -7.77571331e+00] [-1.48722495e-02 1.44666192e-04 9.99889392e-01 -4.42061024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44439141799998 meters 0.015870538589153372 Centerline is valid? [True, True] Translation: X:216.55, Y:-7.78, Z:-4.42 [[ 9.98792050e-01 4.66198443e-02 1.55251704e-02 2.16547449e+02] [-4.66114401e-02 9.98912688e-01 -9.02931183e-04 -7.78296714e+00] [-1.55503842e-02 1.78189937e-04 9.99879070e-01 -4.42092320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50439141799998 meters 0.01655827649829391 Centerline is valid? [True, True] Translation: X:216.61, Y:-7.79, Z:-4.42 [[ 9.98858607e-01 4.47583415e-02 1.66785381e-02 2.16605653e+02] [-4.47483948e-02 9.98997819e-01 -9.69281690e-04 -7.79118068e+00] [-1.67052067e-02 2.21837549e-04 9.99860434e-01 -4.42141208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56439141799999 meters 0.017224670140202045 Centerline is valid? [True, True] Translation: X:216.67, Y:-7.80, Z:-4.42 [[ 9.98929313e-01 4.30243839e-02 1.70038252e-02 2.16666146e+02] [-4.30138175e-02 9.99073990e-01 -9.86819863e-04 -7.79829474e+00] [-1.70305368e-02 2.54363856e-04 9.99854938e-01 -4.42219819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624391418 meters 0.018462069964187304 Centerline is valid? [True, True] Translation: X:216.73, Y:-7.81, Z:-4.42 [[ 9.99041852e-01 4.03596603e-02 1.69255661e-02 2.16725681e+02] [-4.03488073e-02 9.99185172e-01 -9.82355590e-04 -7.80805741e+00] [-1.69514222e-02 2.98487943e-04 9.99856270e-01 -4.42393715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684391418 meters 0.018534805525460444 Centerline is valid? [True, True] Translation: X:216.79, Y:-7.81, Z:-4.43 [[ 9.99099767e-01 3.90902651e-02 1.64804790e-02 2.16786295e+02] [-3.90798100e-02 9.99235635e-01 -9.56092719e-04 -7.81447215e+00] [-1.65052558e-02 3.11178026e-04 9.99863731e-01 -4.42530796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744391418 meters 0.018669036552742414 Centerline is valid? [True, True] Translation: X:216.85, Y:-7.82, Z:-4.43 [[ 9.99079801e-01 4.00259300e-02 1.54102808e-02 2.16846054e+02] [-4.00169000e-02 9.99198603e-01 -8.94006618e-04 -7.81988687e+00] [-1.54337145e-02 2.76512288e-04 9.99880855e-01 -4.42806073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80439141799997 meters 0.016777681212493376 Centerline is valid? [True, True] Translation: X:216.91, Y:-7.82, Z:-4.43 [[ 9.98897556e-01 4.44600724e-02 1.50656713e-02 2.16906263e+02] [-4.44519458e-02 9.99011141e-01 -8.74014563e-04 -7.82141204e+00] [-1.50896322e-02 2.03352606e-04 9.99886124e-01 -4.42897964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86439141799997 meters 0.015317768374255103 Centerline is valid? [True, True] Translation: X:216.97, Y:-7.82, Z:-4.43 [[ 9.98621035e-01 5.01346848e-02 1.55737325e-02 2.16966046e+02] [-5.01266872e-02 9.98742459e-01 -9.03706512e-04 -7.82149404e+00] [-1.55994549e-02 1.21800716e-04 9.99878314e-01 -4.42974113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92439141799997 meters 0.014771749019577953 Centerline is valid? [True, True] Translation: X:217.03, Y:-7.82, Z:-4.43 [[ 9.98481411e-01 5.30232941e-02 1.49466646e-02 2.17026093e+02] [-5.30162604e-02 9.98593273e-01 -8.66700407e-04 -7.82315913e+00] [-1.49715940e-02 7.29679839e-05 9.99887917e-01 -4.43175566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98439141799997 meters 0.014663831381770489 Centerline is valid? [True, True] Translation: X:217.09, Y:-7.83, Z:-4.43 [[ 9.98436786e-01 5.39332866e-02 1.46691914e-02 2.17085249e+02] [-5.39266171e-02 9.98544539e-01 -8.50115579e-04 -7.82728101e+00] [-1.46936905e-02 5.77268002e-05 9.99892040e-01 -4.43331510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04439141799998 meters 0.014826356836434457 Centerline is valid? [True, True] Translation: X:217.14, Y:-7.83, Z:-4.43 [[ 9.98542187e-01 5.18102647e-02 1.51392828e-02 2.17143817e+02] [-5.18029312e-02 9.98656942e-01 -8.76417843e-04 -7.83317111e+00] [-1.51643573e-02 9.08809642e-05 9.99885010e-01 -4.43357915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10439141799998 meters 0.01600122636975878 Centerline is valid? [True, True] Translation: X:217.20, Y:-7.84, Z:-4.43 [[ 9.98810019e-01 4.59595962e-02 1.63175016e-02 2.17203457e+02] [-4.59503250e-02 9.98943281e-01 -9.42837161e-04 -7.84231488e+00] [-1.63435910e-02 1.91920699e-04 9.99866416e-01 -4.43284598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16439141799998 meters 0.020105038962821706 Centerline is valid? [True, True] Translation: X:217.26, Y:-7.86, Z:-4.43 [[ 9.99169476e-01 3.69460377e-02 1.71857149e-02 2.17262601e+02] [-3.69344432e-02 9.99317199e-01 -9.91675806e-04 -7.85628684e+00] [-1.72106190e-02 3.56107385e-04 9.99851823e-01 -4.43390987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22439141799998 meters 0.023654195032145466 Centerline is valid? [True, True] Translation: X:217.32, Y:-7.87, Z:-4.44 [[ 9.99414027e-01 2.96876087e-02 1.70366893e-02 2.17322765e+02] [-2.96751238e-02 9.99559111e-01 -9.85216999e-04 -7.86599696e+00] [-1.70584267e-02 4.79073825e-04 9.99854380e-01 -4.43585309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28439141799998 meters 0.02784655669950499 Centerline is valid? [True, True] Translation: X:217.38, Y:-7.88, Z:-4.44 [[ 9.99682432e-01 1.92265120e-02 1.62903809e-02 2.17382350e+02] [-1.92137038e-02 9.99814956e-01 -9.42400832e-04 -7.87626758e+00] [-1.63054856e-02 6.29103002e-04 9.99866859e-01 -4.43803555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344391418 meters 0.03256344449815027 Centerline is valid? [True, True] Translation: X:217.44, Y:-7.89, Z:-4.44 [[ 9.99774407e-01 1.45139766e-02 1.55073809e-02 2.17441494e+02] [-1.45017989e-02 9.99894441e-01 -8.97452713e-04 -7.88584078e+00] [-1.55187696e-02 6.72365335e-04 9.99879351e-01 -4.44004181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404391418 meters 0.029135533190129757 Centerline is valid? [True, True] Translation: X:217.50, Y:-7.88, Z:-4.44 [[ 9.99808439e-01 1.15694424e-02 1.57871420e-02 2.17503689e+02] [-1.15564762e-02 9.99932806e-01 -9.12296934e-04 -7.88295281e+00] [-1.57966359e-02 7.29678442e-04 9.99874959e-01 -4.44003096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464391418 meters 0.0309480792962509 Centerline is valid? [True, True] Translation: X:217.57, Y:-7.89, Z:-4.44 [[ 9.99824542e-01 9.51834301e-03 1.61333772e-02 2.17565512e+02] [-9.50444498e-03 9.99954392e-01 -9.37902850e-04 -7.88602442e+00] [-1.61415687e-02 7.84399491e-04 9.99869409e-01 -4.44051522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52439141799996 meters 0.03494529066255385 Centerline is valid? [True, True] Translation: X:217.63, Y:-7.89, Z:-4.44 [[ 9.99843632e-01 6.53863797e-03 1.64303987e-02 2.17625547e+02] [-6.52379532e-03 9.99978262e-01 -9.56801477e-04 -7.88930153e+00] [-1.64362977e-02 8.49463306e-04 9.99864554e-01 -4.44143259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58439141799997 meters 0.033265545190329864 Centerline is valid? [True, True] Translation: X:217.69, Y:-7.88, Z:-4.44 [[ 9.99872596e-01 2.68869521e-03 1.57340983e-02 2.17687196e+02] [-2.67460573e-03 9.99996003e-01 -9.16448262e-04 -7.88472600e+00] [-1.57364994e-02 8.74248994e-04 9.99875791e-01 -4.44314957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64439141799997 meters 0.03937425660383043 Centerline is valid? [True, True] Translation: X:217.75, Y:-7.89, Z:-4.45 [[ 9.99893019e-01 -6.11119962e-04 1.46143057e-02 2.17746474e+02] [ 6.23638005e-04 9.99999443e-01 -8.52019001e-04 -7.89185171e+00] [-1.46137769e-02 8.61041888e-04 9.99892842e-01 -4.44636968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70439141799997 meters 0.03692938946655318 Centerline is valid? [True, True] Translation: X:217.81, Y:-7.88, Z:-4.45 [[ 9.99899588e-01 -6.33600149e-03 1.26755558e-02 2.17807635e+02] [ 6.34587612e-03 9.99979592e-01 -7.38959891e-04 -7.88475222e+00] [-1.26706150e-02 8.19323197e-04 9.99919389e-01 -4.44747306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76439141799997 meters 0.040747682558386324 Centerline is valid? [True, True] Translation: X:217.87, Y:-7.89, Z:-4.45 [[ 9.99853488e-01 -1.25021026e-02 1.16919057e-02 2.17868882e+02] [ 1.25109211e-02 9.99921503e-01 -6.81400385e-04 -7.88537337e+00] [-1.16824690e-02 8.27577061e-04 9.99931415e-01 -4.44895586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82439141799998 meters 0.042056603384560874 Centerline is valid? [True, True] Translation: X:217.93, Y:-7.88, Z:-4.45 [[ 9.99805246e-01 -1.51092184e-02 1.26957286e-02 2.17929722e+02] [ 1.51198324e-02 9.99885415e-01 -7.40457348e-04 -7.88484455e+00] [-1.26830862e-02 9.32270430e-04 9.99919132e-01 -4.44939847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88439141799998 meters 0.04519515726987294 Centerline is valid? [True, True] Translation: X:217.99, Y:-7.88, Z:-4.45 [[ 9.99783436e-01 -1.54103187e-02 1.39858169e-02 2.17991031e+02] [ 1.54232211e-02 9.99880723e-01 -8.15137660e-04 -7.88257608e+00] [-1.39715872e-02 1.03066748e-03 9.99901861e-01 -4.44893056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94439141799998 meters 0.04498604582088477 Centerline is valid? [True, True] Translation: X:218.05, Y:-7.88, Z:-4.45 [[ 9.99811747e-01 -1.28756815e-02 1.45151082e-02 2.18051828e+02] [ 1.28893625e-02 9.99916568e-01 -8.49373353e-04 -7.87996445e+00] [-1.45029609e-02 1.03630395e-03 9.99894290e-01 -4.45020553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00439141799998 meters 0.040775137233692416 Centerline is valid? [True, True] Translation: X:218.11, Y:-7.87, Z:-4.45 [[ 9.99882909e-01 -5.63389834e-03 1.42277193e-02 2.18112958e+02] [ 5.64631326e-03 9.99983713e-01 -8.32568487e-04 -7.86821933e+00] [-1.42227969e-02 9.12805161e-04 9.99898434e-01 -4.45127359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06439141799999 meters 0.03852624117464987 Centerline is valid? [True, True] Translation: X:218.17, Y:-7.86, Z:-4.45 [[ 9.99905773e-01 -3.41388500e-04 1.37232626e-02 2.18174444e+02] [ 3.52441678e-04 9.99999615e-01 -8.03023289e-04 -7.86226296e+00] [-1.37229832e-02 8.07784273e-04 9.99905509e-01 -4.45270061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124391418 meters 0.033783643561945034 Centerline is valid? [True, True] Translation: X:218.24, Y:-7.85, Z:-4.45 [[ 9.99883736e-01 6.62710512e-03 1.37330465e-02 2.18235480e+02] [-6.61669182e-03 9.99977787e-01 -8.03563318e-04 -7.85119553e+00] [-1.37380668e-02 7.12602556e-04 9.99905374e-01 -4.45390934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184391418 meters 0.030534094435563326 Centerline is valid? [True, True] Translation: X:218.30, Y:-7.84, Z:-4.46 [[ 9.99821585e-01 1.39940297e-02 1.26872268e-02 2.18295455e+02] [-1.39857320e-02 9.99901919e-01 -7.42510675e-04 -7.84213962e+00] [-1.26963731e-02 5.64938046e-04 9.99919238e-01 -4.45611585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244391418 meters 0.02832054205921649 Centerline is valid? [True, True] Translation: X:218.36, Y:-7.84, Z:-4.46 [[ 9.99746497e-01 1.92411335e-02 1.16927701e-02 2.18356244e+02] [-1.92344483e-02 9.99814767e-01 -6.83935922e-04 -7.83668495e+00] [-1.17037639e-02 4.58858561e-04 9.99931403e-01 -4.45840739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30439141799997 meters 0.024595053047566054 Centerline is valid? [True, True] Translation: X:218.42, Y:-7.83, Z:-4.46 [[ 9.99549101e-01 2.73219463e-02 1.24541457e-02 2.18416833e+02] [-2.73149868e-02 9.99626611e-01 -7.28598877e-04 -7.82633168e+00] [-1.24694022e-02 3.88085527e-04 9.99922179e-01 -4.45874940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36439141799997 meters 0.02103117926951294 Centerline is valid? [True, True] Translation: X:218.48, Y:-7.82, Z:-4.46 [[ 9.99433556e-01 3.11490900e-02 1.27397497e-02 2.18476859e+02] [-3.11421186e-02 9.99514689e-01 -7.45282224e-04 -7.81961569e+00] [-1.27567818e-02 3.48117268e-04 9.99918568e-01 -4.45854667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42439141799997 meters 0.01923347520023763 Centerline is valid? [True, True] Translation: X:218.54, Y:-7.81, Z:-4.46 [[ 9.99370641e-01 3.28162965e-02 1.34689367e-02 2.18535893e+02] [-3.28086591e-02 9.99461341e-01 -7.87660791e-04 -7.81453526e+00] [-1.34875297e-02 3.45267315e-04 9.99908980e-01 -4.45886118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48439141799997 meters 0.020064378190161884 Centerline is valid? [True, True] Translation: X:218.60, Y:-7.82, Z:-4.46 [[ 9.99417213e-01 3.13424528e-02 1.35234909e-02 2.18595475e+02] [-3.13346378e-02 9.99508638e-01 -7.89438997e-04 -7.81583126e+00] [-1.35415889e-02 3.65225234e-04 9.99908242e-01 -4.46091946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54439141799998 meters 0.025172181843401285 Centerline is valid? [True, True] Translation: X:218.65, Y:-7.83, Z:-4.46 [[ 9.99463185e-01 2.99573815e-02 1.32625848e-02 2.18653073e+02] [-2.99497547e-02 9.99551106e-01 -7.73349720e-04 -7.82549636e+00] [-1.32797988e-02 3.75723414e-04 9.99911749e-01 -4.46431250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60439141799998 meters 0.02034376297188368 Centerline is valid? [True, True] Translation: X:218.71, Y:-7.82, Z:-4.46 [[ 9.99477233e-01 2.97899381e-02 1.25626627e-02 2.18712314e+02] [-2.97830724e-02 9.99556117e-01 -7.33291768e-04 -7.81849792e+00] [-1.25789310e-02 3.58753736e-04 9.99920818e-01 -4.46368600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66439141799998 meters 0.02033128664963854 Centerline is valid? [True, True] Translation: X:218.77, Y:-7.82, Z:-4.47 [[ 9.99364845e-01 3.32289980e-02 1.28740485e-02 2.18770804e+02] [-3.32220924e-02 9.99447713e-01 -7.49945427e-04 -7.81819151e+00] [-1.28918582e-02 3.21766267e-04 9.99916845e-01 -4.46532139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72439141799998 meters 0.01750763097279633 Centerline is valid? [True, True] Translation: X:218.83, Y:-7.81, Z:-4.47 [[ 9.99221352e-01 3.71985880e-02 1.31512456e-02 2.18830435e+02] [-3.71917270e-02 9.99307855e-01 -7.65970724e-04 -7.81446634e+00] [-1.31706361e-02 2.76256765e-04 9.99913225e-01 -4.46548400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78439141799998 meters 0.015544941923118947 Centerline is valid? [True, True] Translation: X:218.89, Y:-7.81, Z:-4.47 [[ 9.98887015e-01 4.50348489e-02 1.40211910e-02 2.18889209e+02] [-4.50278365e-02 9.98985400e-01 -8.15579479e-04 -7.80941265e+00] [-1.40436946e-02 1.83327856e-04 9.99901366e-01 -4.46578752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844391418 meters 0.014478584144983445 Centerline is valid? [True, True] Translation: X:218.95, Y:-7.81, Z:-4.47 [[ 9.98655437e-01 5.00102630e-02 1.36489010e-02 2.18948696e+02] [-5.00040896e-02 9.98748698e-01 -7.93408723e-04 -7.80735848e+00] [-1.36715006e-02 1.09841069e-04 9.99906535e-01 -4.46766199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904391418 meters 0.013955512360543583 Centerline is valid? [True, True] Translation: X:219.01, Y:-7.81, Z:-4.47 [[ 9.98505879e-01 5.30980382e-02 1.29076724e-02 2.19007272e+02] [-5.30927821e-02 9.98589302e-01 -7.49780971e-04 -7.80725201e+00] [-1.29292755e-02 6.33564706e-05 9.99916411e-01 -4.46982542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964391418 meters 0.014055363343653367 Centerline is valid? [True, True] Translation: X:219.07, Y:-7.81, Z:-4.47 [[ 9.98565128e-01 5.20810892e-02 1.24597165e-02 2.19065907e+02] [-5.20761243e-02 9.98642857e-01 -7.22806417e-04 -7.81109215e+00] [-1.24804514e-02 7.29155370e-05 9.99922113e-01 -4.47156969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02439141799996 meters 0.014638842115493728 Centerline is valid? [True, True] Translation: X:219.12, Y:-7.82, Z:-4.47 [[ 9.98769618e-01 4.79441318e-02 1.26731961e-02 2.19124392e+02] [-4.79386757e-02 9.98850011e-01 -7.34127847e-04 -7.81708769e+00] [-1.26938192e-02 1.25688350e-04 9.99919422e-01 -4.47193266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08439141799997 meters 0.01632770298963518 Centerline is valid? [True, True] Translation: X:219.18, Y:-7.83, Z:-4.47 [[ 9.99069409e-01 4.10382148e-02 1.32733127e-02 2.19182895e+02] [-4.10316357e-02 9.99157553e-01 -7.67727947e-04 -7.82615497e+00] [-1.32936368e-02 2.22387776e-04 9.99911611e-01 -4.47269293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14439141799997 meters 0.01906788955954403 Centerline is valid? [True, True] Translation: X:219.24, Y:-7.84, Z:-4.48 [[ 9.99381922e-01 3.28965114e-02 1.23933115e-02 2.19241912e+02] [-3.28901650e-02 9.99458716e-01 -7.15607109e-04 -7.83686767e+00] [-1.24101442e-02 3.07546747e-04 9.99922944e-01 -4.47533592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20439141799997 meters 0.021654960914948205 Centerline is valid? [True, True] Translation: X:219.30, Y:-7.84, Z:-4.48 [[ 9.99557380e-01 2.71651826e-02 1.21283751e-02 2.19300738e+02] [-2.71586868e-02 9.99630890e-01 -7.00001493e-04 -7.84472711e+00] [-1.21429141e-02 3.70300918e-04 9.99926204e-01 -4.47677803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26439141799997 meters 0.025267131353729454 Centerline is valid? [True, True] Translation: X:219.36, Y:-7.85, Z:-4.48 [[ 9.99621583e-01 2.44907067e-02 1.25258181e-02 2.19359251e+02] [-2.44835786e-02 9.99699971e-01 -7.22129255e-04 -7.85404384e+00] [-1.25397454e-02 4.15179139e-04 9.99921288e-01 -4.47866325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32439141799998 meters 0.02855435495617497 Centerline is valid? [True, True] Translation: X:219.42, Y:-7.86, Z:-4.48 [[ 9.99774681e-01 1.55904418e-02 1.44057229e-02 2.19418941e+02] [-1.55801094e-02 9.99878279e-01 -8.29197474e-04 -7.86282729e+00] [-1.44168970e-02 6.04567901e-04 9.99895888e-01 -4.47831303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38439141799998 meters 0.035650418039100906 Centerline is valid? [True, True] Translation: X:219.48, Y:-7.88, Z:-4.48 [[ 9.99833356e-01 8.37405895e-03 1.62214607e-02 2.19477951e+02] [-8.36001676e-03 9.99964619e-01 -9.33273199e-04 -7.87542414e+00] [-1.62287020e-02 7.97505991e-04 9.99867988e-01 -4.47800815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44439141799998 meters 0.03505057711933345 Centerline is valid? [True, True] Translation: X:219.54, Y:-7.88, Z:-4.48 [[ 9.99847345e-01 5.18583064e-03 1.66851576e-02 2.19539050e+02] [-5.17052739e-03 9.99986172e-01 -9.60185185e-04 -7.87706875e+00] [-1.66899062e-02 8.73767544e-04 9.99860332e-01 -4.47828504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50439141799998 meters 0.03216480621369987 Centerline is valid? [True, True] Translation: X:219.60, Y:-7.88, Z:-4.48 [[ 9.99852485e-01 4.21073902e-03 1.66516676e-02 2.19601140e+02] [-4.19537440e-03 9.99990741e-01 -9.57532720e-04 -7.87532436e+00] [-1.66555454e-02 8.87531489e-04 9.99860893e-01 -4.47956841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56439141799999 meters 0.03260663289434694 Centerline is valid? [True, True] Translation: X:219.66, Y:-7.88, Z:-4.48 [[ 9.99840252e-01 5.65013657e-03 1.69571714e-02 2.19663059e+02] [-5.63432349e-03 9.99983647e-01 -9.80160472e-04 -7.87755687e+00] [-1.69624321e-02 8.84461704e-04 9.99855736e-01 -4.48103744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624391418 meters 0.030757847461679845 Centerline is valid? [True, True] Translation: X:219.72, Y:-7.87, Z:-4.48 [[ 9.99838353e-01 8.79973950e-03 1.56790552e-02 2.19724730e+02] [-8.78652468e-03 9.99960982e-01 -9.11520933e-04 -7.87497379e+00] [-1.56864646e-02 7.73609183e-04 9.99876661e-01 -4.48310883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684391418 meters 0.029216871017333775 Centerline is valid? [True, True] Translation: X:219.78, Y:-7.87, Z:-4.49 [[ 9.99800132e-01 1.45141815e-02 1.37489759e-02 2.19784445e+02] [-1.45045471e-02 9.99894483e-01 -8.00194389e-04 -7.87181182e+00] [-1.37591393e-02 6.00611787e-04 9.99905158e-01 -4.48581981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74439141799996 meters 0.024616478275296883 Centerline is valid? [True, True] Translation: X:219.85, Y:-7.87, Z:-4.49 [[ 9.99707252e-01 1.99036049e-02 1.37570612e-02 2.19845907e+02] [-1.98944762e-02 9.99801765e-01 -8.00111462e-04 -7.86537842e+00] [-1.37702591e-02 5.26187705e-04 9.99905047e-01 -4.48678575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80439141799997 meters 0.01939281861138431 Centerline is valid? [True, True] Translation: X:219.91, Y:-7.85, Z:-4.49 [[ 9.99394720e-01 3.10849494e-02 1.56179025e-02 2.19907105e+02] [-3.10745394e-02 9.99516657e-01 -9.08837039e-04 -7.85476064e+00] [-1.56386048e-02 4.22967813e-04 9.99877620e-01 -4.48539164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86439141799997 meters 0.01712537800521003 Centerline is valid? [True, True] Translation: X:219.97, Y:-7.85, Z:-4.49 [[ 9.99108854e-01 3.88098578e-02 1.65919786e-02 2.19966412e+02] [-3.87991714e-02 9.99246562e-01 -9.65605216e-04 -7.85030958e+00] [-1.66169526e-02 3.20989697e-04 9.99861877e-01 -4.48521536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92439141799997 meters 0.014565358019122425 Centerline is valid? [True, True] Translation: X:220.03, Y:-7.84, Z:-4.49 [[ 9.98713403e-01 4.77443720e-02 1.70883784e-02 2.20025822e+02] [-4.77343536e-02 9.98859572e-01 -9.93907110e-04 -7.84429365e+00] [-1.71163438e-02 1.76925654e-04 9.99853489e-01 -4.48663227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98439141799997 meters 0.0141006674473155 Centerline is valid? [True, True] Translation: X:220.08, Y:-7.84, Z:-4.49 [[ 9.98531590e-01 5.17611385e-02 1.59827712e-02 2.20084136e+02] [-5.17529080e-02 9.98659489e-01 -9.28412417e-04 -7.84448919e+00] [-1.60094018e-02 9.98942414e-05 9.99871836e-01 -4.48889806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04439141799998 meters 0.013719463764554563 Centerline is valid? [True, True] Translation: X:220.14, Y:-7.84, Z:-4.49 [[ 9.98367204e-01 5.51874137e-02 1.47402657e-02 2.20143200e+02] [-5.51808019e-02 9.98476013e-01 -8.55199315e-04 -7.84429455e+00] [-1.47649979e-02 4.04232701e-05 9.99890991e-01 -4.49027700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10439141799998 meters 0.013951424383917145 Centerline is valid? [True, True] Translation: X:220.20, Y:-7.84, Z:-4.49 [[ 9.98091759e-01 6.03205890e-02 1.32010555e-02 2.20201336e+02] [-6.03157451e-02 9.98179055e-01 -7.65118226e-04 -7.84345843e+00] [-1.32231695e-02 -3.25733056e-05 9.99912570e-01 -4.49242200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16439141799998 meters 0.014231563653726314 Centerline is valid? [True, True] Translation: X:220.26, Y:-7.84, Z:-4.49 [[ 9.97894354e-01 6.34933050e-02 1.32460440e-02 2.20260492e+02] [-6.34887275e-02 9.97982262e-01 -7.66222587e-04 -7.84456313e+00] [-1.32679669e-02 -7.63652822e-05 9.99911974e-01 -4.49277945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22439141799998 meters 0.014617703380369652 Centerline is valid? [True, True] Translation: X:220.32, Y:-7.85, Z:-4.49 [[ 9.97647566e-01 6.69964149e-02 1.45194454e-02 2.20319167e+02] [-6.69913052e-02 9.97753207e-01 -8.38550207e-04 -7.84756606e+00] [-1.45430030e-02 -1.36099023e-04 9.99894236e-01 -4.49277008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28439141799998 meters 0.0146849835556581 Centerline is valid? [True, True] Translation: X:220.38, Y:-7.85, Z:-4.49 [[ 9.97670494e-01 6.65059978e-02 1.51834594e-02 2.20378169e+02] [-6.65003734e-02 9.97786016e-01 -8.75572851e-04 -7.85298206e+00] [-1.52080743e-02 -1.36172519e-04 9.99884341e-01 -4.49374699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344391418 meters 0.013993661655059993 Centerline is valid? [True, True] Translation: X:220.44, Y:-7.86, Z:-4.49 [[ 9.97939215e-01 6.22340281e-02 1.56284593e-02 2.20436556e+02] [-6.22275660e-02 9.98061581e-01 -8.99903315e-04 -7.86247906e+00] [-1.56541694e-02 -7.44721742e-05 9.99877463e-01 -4.49465282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404391418 meters 0.013718106668784901 Centerline is valid? [True, True] Translation: X:220.49, Y:-7.88, Z:-4.50 [[ 9.98386902e-01 5.47325271e-02 1.50978002e-02 2.20494669e+02] [-5.47256560e-02 9.98501051e-01 -8.68183724e-04 -7.87682350e+00] [-1.51226872e-02 4.05462410e-05 9.99885645e-01 -4.49659007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464391418 meters 0.014536946285479892 Centerline is valid? [True, True] Translation: X:220.55, Y:-7.89, Z:-4.50 [[ 9.98709697e-01 4.88136548e-02 1.40059906e-02 2.20552828e+02] [-4.88071734e-02 9.98807896e-01 -8.04403599e-04 -7.88909261e+00] [-1.40285599e-02 1.19772861e-04 9.99901588e-01 -4.49951567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52439141799996 meters 0.01618727847484396 Centerline is valid? [True, True] Translation: X:220.61, Y:-7.90, Z:-4.50 [[ 9.99069758e-01 4.12437157e-02 1.25926384e-02 2.20611569e+02] [-4.12378896e-02 9.99149096e-01 -7.22072667e-04 -7.90447016e+00] [-1.26117042e-02 2.02107133e-04 9.99920449e-01 -4.50281150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58439141799997 meters 0.017491809752002697 Centerline is valid? [True, True] Translation: X:220.67, Y:-7.92, Z:-4.50 [[ 9.99200426e-01 3.78937034e-02 1.27505507e-02 2.20669476e+02] [-3.78874605e-02 9.99281745e-01 -7.30905073e-04 -7.91709802e+00] [-1.27690892e-02 2.47234676e-04 9.99918441e-01 -4.50458015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64439141799997 meters 0.016671258316230987 Centerline is valid? [True, True] Translation: X:220.73, Y:-7.92, Z:-4.51 [[ 9.99123829e-01 3.98935452e-02 1.26522553e-02 2.20727949e+02] [-3.98875709e-02 9.99203912e-01 -7.24284576e-04 -7.92298045e+00] [-1.26710773e-02 2.18982248e-04 9.99919695e-01 -4.50547107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70439141799997 meters 0.015868704033266595 Centerline is valid? [True, True] Translation: X:220.79, Y:-7.93, Z:-4.51 [[ 9.98992896e-01 4.30492826e-02 1.26472851e-02 2.20786873e+02] [-4.30435787e-02 9.99072934e-01 -7.22988046e-04 -7.92563914e+00] [-1.26666843e-02 1.77875512e-04 9.99919759e-01 -4.50654357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76439141799997 meters 0.014512894292534209 Centerline is valid? [True, True] Translation: X:220.85, Y:-7.93, Z:-4.51 [[ 9.98672502e-01 4.99879365e-02 1.24273476e-02 2.20846174e+02] [-4.99829807e-02 9.98749818e-01 -7.09246848e-04 -7.92825371e+00] [-1.24472650e-02 8.71494474e-05 9.99922526e-01 -4.50827196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82439141799998 meters 0.01413606759414315 Centerline is valid? [True, True] Translation: X:220.90, Y:-7.93, Z:-4.51 [[ 9.98189361e-01 5.89446388e-02 1.19803392e-02 2.20904781e+02] [-5.89406839e-02 9.98261253e-01 -6.83235288e-04 -7.92823977e+00] [-1.19997815e-02 -2.41311891e-05 9.99928000e-01 -4.50954765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88439141799998 meters 0.015021148983288147 Centerline is valid? [True, True] Translation: X:220.96, Y:-7.93, Z:-4.51 [[ 9.97817548e-01 6.50547959e-02 1.13143800e-02 2.20963255e+02] [-6.50516707e-02 9.97881689e-01 -6.44414223e-04 -7.92905021e+00] [-1.13323348e-02 -9.30115014e-05 9.99935783e-01 -4.51119864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94439141799998 meters 0.01649085212898856 Centerline is valid? [True, True] Translation: X:221.02, Y:-7.93, Z:-4.51 [[ 9.97270885e-01 7.29862121e-02 1.11263286e-02 2.21022981e+02] [-7.29836969e-02 9.97332933e-01 -6.32458906e-04 -7.93170913e+00] [-1.11428147e-02 -1.81307740e-04 9.99937900e-01 -4.51231343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00439141799998 meters 0.01806016650295777 Centerline is valid? [True, True] Translation: X:221.08, Y:-7.94, Z:-4.51 [[ 9.97057261e-01 7.57997419e-02 1.14549982e-02 2.21080964e+02] [-7.57972611e-02 9.97123037e-01 -6.51186553e-04 -7.93515930e+00] [-1.14714024e-02 -2.18987211e-04 9.99934177e-01 -4.51373829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06439141799999 meters 0.018071168592311528 Centerline is valid? [True, True] Translation: X:221.14, Y:-7.94, Z:-4.51 [[ 9.97034188e-01 7.58508330e-02 1.30183942e-02 2.21139155e+02] [-7.58476559e-02 9.97119144e-01 -7.38315694e-04 -7.94381935e+00] [-1.30368920e-02 -2.51288696e-04 9.99914985e-01 -4.51370547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124391418 meters 0.015604694906976066 Centerline is valid? [True, True] Translation: X:221.20, Y:-7.96, Z:-4.51 [[ 9.97463400e-01 6.96436536e-02 1.47148863e-02 2.21197275e+02] [-6.96389387e-02 9.97571914e-01 -8.33190116e-04 -7.95974591e+00] [-1.47371837e-02 -1.93652420e-04 9.99891383e-01 -4.51327340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184391418 meters 0.015017748691184732 Centerline is valid? [True, True] Translation: X:221.26, Y:-7.97, Z:-4.51 [[ 9.97686239e-01 6.63662543e-02 1.47542721e-02 2.21255363e+02] [-6.63611733e-02 9.97795319e-01 -8.34225600e-04 -7.96782600e+00] [-1.47771081e-02 -1.46815407e-04 9.99890802e-01 -4.51485924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24439141799996 meters 0.013977880913643478 Centerline is valid? [True, True] Translation: X:221.31, Y:-7.99, Z:-4.52 [[ 9.98509251e-01 5.25407980e-02 1.47898884e-02 2.21312657e+02] [-5.25341922e-02 9.98618777e-01 -8.35066412e-04 -7.98870574e+00] [-1.48133354e-02 5.68466957e-05 9.99890275e-01 -4.51685191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30439141799997 meters 0.01645300015534891 Centerline is valid? [True, True] Translation: X:221.37, Y:-8.01, Z:-4.52 [[ 9.99030397e-01 4.13515067e-02 1.51101918e-02 2.21369874e+02] [-4.13433507e-02 9.99144635e-01 -8.51879326e-04 -8.00682195e+00] [-1.51324936e-02 2.26347382e-04 9.99885472e-01 -4.51876989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36439141799997 meters 0.02230213550010452 Centerline is valid? [True, True] Translation: X:221.43, Y:-8.03, Z:-4.52 [[ 9.99569432e-01 2.47726249e-02 1.57247629e-02 2.21429100e+02] [-2.47617676e-02 9.99692989e-01 -8.84808131e-04 -8.02882367e+00] [-1.57418542e-02 4.95054237e-04 9.99875967e-01 -4.51932913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42439141799997 meters 0.027659391879516392 Centerline is valid? [True, True] Translation: X:221.49, Y:-8.05, Z:-4.52 [[ 9.99800659e-01 1.20896725e-02 1.58897052e-02 2.21489191e+02] [-1.20769874e-02 9.99926671e-01 -8.94038101e-04 -8.04575804e+00] [-1.58993487e-02 7.01960113e-04 9.99873351e-01 -4.52102969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48439141799997 meters 0.033307974733397736 Centerline is valid? [True, True] Translation: X:221.55, Y:-8.06, Z:-4.52 [[ 9.99862525e-01 6.47941737e-03 1.52626273e-02 2.21548242e+02] [-6.46705637e-03 9.99978719e-01 -8.59102888e-04 -8.05959087e+00] [-1.52678690e-02 7.60280512e-04 9.99883150e-01 -4.52363041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54439141799998 meters 0.03272030036891797 Centerline is valid? [True, True] Translation: X:221.61, Y:-8.06, Z:-4.52 [[ 9.99876949e-01 2.35275125e-03 1.55097516e-02 2.21609068e+02] [-2.33949731e-03 9.99996883e-01 -8.72643883e-04 -8.06345247e+00] [-1.55117564e-02 8.36251480e-04 9.99879336e-01 -4.52452851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60439141799998 meters 0.034258456836776766 Centerline is valid? [True, True] Translation: X:221.67, Y:-8.07, Z:-4.53 [[ 9.99877310e-01 -7.52647078e-04 1.56460682e-02 2.21669742e+02] [ 7.66519185e-04 9.99999318e-01 -8.80641391e-04 -8.06886677e+00] [-1.56453947e-02 8.92526356e-04 9.99877205e-01 -4.52522209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66439141799998 meters 0.03481163582122133 Centerline is valid? [True, True] Translation: X:221.73, Y:-8.07, Z:-4.53 [[ 9.99882055e-01 -1.22495882e-03 1.53093249e-02 2.21731874e+02] [ 1.23827845e-03 9.99998863e-01 -8.60584761e-04 -8.07141018e+00] [-1.53082533e-02 8.79440466e-04 9.99882435e-01 -4.52635280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72439141799998 meters 0.0357001444249798 Centerline is valid? [True, True] Translation: X:221.79, Y:-8.07, Z:-4.53 [[ 9.99895486e-01 -6.20567361e-04 1.44440800e-02 2.21793823e+02] [ 6.32435194e-04 9.99999466e-01 -8.17086715e-04 -8.07461728e+00] [-1.44435652e-02 8.26136262e-04 9.99895345e-01 -4.52929706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78439141799998 meters 0.03663355675602232 Centerline is valid? [True, True] Translation: X:221.86, Y:-8.08, Z:-4.53 [[ 9.99911198e-01 2.51232091e-05 1.33264803e-02 2.21855090e+02] [-1.50728058e-05 9.99999715e-01 -7.54267779e-04 -8.07655078e+00] [-1.33264954e-02 7.53999931e-04 9.99910914e-01 -4.53097750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844391418 meters 0.03622920448078241 Centerline is valid? [True, True] Translation: X:221.92, Y:-8.08, Z:-4.53 [[ 9.99927045e-01 1.01429637e-03 1.20364293e-02 2.21917434e+02] [-1.00614136e-03 9.99999260e-01 -6.83563237e-04 -8.07504082e+00] [-1.20371138e-02 6.71403018e-04 9.99927326e-01 -4.53352829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904391418 meters 0.0325494452806426 Centerline is valid? [True, True] Translation: X:221.98, Y:-8.07, Z:-4.53 [[ 9.99917602e-01 3.32939834e-03 1.23977525e-02 2.21979846e+02] [-3.32091142e-03 9.99994237e-01 -7.05077133e-04 -8.06738399e+00] [-1.24000286e-02 6.63847198e-04 9.99922896e-01 -4.53303739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964391418 meters 0.03220859991963366 Centerline is valid? [True, True] Translation: X:222.04, Y:-8.06, Z:-4.53 [[ 9.99891025e-01 5.70709956e-03 1.36149589e-02 2.22041371e+02] [-5.69706119e-03 9.99983471e-01 -7.75975307e-04 -8.06493618e+00] [-1.36191624e-02 6.98325491e-04 9.99907011e-01 -4.53257109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02439141799996 meters 0.030625386601210825 Centerline is valid? [True, True] Translation: X:222.10, Y:-8.06, Z:-4.53 [[ 9.99835085e-01 1.00120772e-02 1.51512517e-02 2.22102197e+02] [-1.00001241e-02 9.99949624e-01 -8.64477046e-04 -8.05873969e+00] [-1.51591437e-02 7.12820083e-04 9.99884839e-01 -4.53256802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08439141799997 meters 0.028113293052908106 Centerline is valid? [True, True] Translation: X:222.16, Y:-8.05, Z:-4.53 [[ 9.99796923e-01 1.33818411e-02 1.50678365e-02 2.22164350e+02] [-1.33704062e-02 9.99910243e-01 -8.59380124e-04 -8.05385532e+00] [-1.50779842e-02 6.57742508e-04 9.99886104e-01 -4.53334308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14439141799997 meters 0.02725031881375123 Centerline is valid? [True, True] Translation: X:222.22, Y:-8.05, Z:-4.54 [[ 9.99734247e-01 1.79951141e-02 1.44087325e-02 2.22224081e+02] [-1.79851167e-02 9.99837916e-01 -8.23125380e-04 -8.04807073e+00] [-1.44212093e-02 5.63763896e-04 9.99895850e-01 -4.53508025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20439141799997 meters 0.025119439309268996 Centerline is valid? [True, True] Translation: X:222.29, Y:-8.04, Z:-4.54 [[ 9.99676312e-01 2.10199861e-02 1.43328889e-02 2.22285801e+02] [-2.10104137e-02 9.99778922e-01 -8.18130198e-04 -8.04368320e+00] [-1.43469173e-02 5.16725452e-04 9.99896944e-01 -4.53610557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26439141799997 meters 0.02307615069092234 Centerline is valid? [True, True] Translation: X:222.35, Y:-8.04, Z:-4.54 [[ 9.99600229e-01 2.45965577e-02 1.39424651e-02 2.22347354e+02] [-2.45878396e-02 9.99697356e-01 -7.96385277e-04 -8.03721531e+00] [-1.39578338e-02 4.53251810e-04 9.99902482e-01 -4.53698313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32439141799998 meters 0.02162737021158193 Centerline is valid? [True, True] Translation: X:222.41, Y:-8.03, Z:-4.54 [[ 9.99512109e-01 2.82458162e-02 1.33310924e-02 2.22407745e+02] [-2.82381556e-02 9.99600933e-01 -7.62560571e-04 -8.03047333e+00] [-1.33473116e-02 3.85743061e-04 9.99910846e-01 -4.53827238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38439141799998 meters 0.019731266264509828 Centerline is valid? [True, True] Translation: X:222.47, Y:-8.03, Z:-4.54 [[ 9.99420401e-01 3.12404852e-02 1.35238134e-02 2.22467485e+02] [-3.12328829e-02 9.99511836e-01 -7.73030954e-04 -8.02669353e+00] [-1.35413614e-02 3.50195228e-04 9.99908250e-01 -4.53901865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44439141799998 meters 0.018157519427068527 Centerline is valid? [True, True] Translation: X:222.53, Y:-8.02, Z:-4.54 [[ 9.99268940e-01 3.55990187e-02 1.39390046e-02 2.22526710e+02] [-3.55913707e-02 9.99366109e-01 -7.96433817e-04 -8.02149530e+00] [-1.39585211e-02 2.99743295e-04 9.99902530e-01 -4.53984989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50439141799998 meters 0.01759831042637504 Centerline is valid? [True, True] Translation: X:222.59, Y:-8.02, Z:-4.54 [[ 9.99147283e-01 3.88987502e-02 1.38417299e-02 2.22585291e+02] [-3.88915409e-02 9.99243126e-01 -7.89733973e-04 -8.01890525e+00] [-1.38619731e-02 2.50734349e-04 9.99903887e-01 -4.54096685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56439141799999 meters 0.016658902030339266 Centerline is valid? [True, True] Translation: X:222.64, Y:-8.02, Z:-4.54 [[ 9.99019238e-01 4.17999636e-02 1.46056480e-02 2.22643947e+02] [-4.17922652e-02 9.99125975e-01 -8.32038764e-04 -8.01791982e+00] [-1.46276615e-02 2.20819617e-04 9.99892986e-01 -4.54138484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624391418 meters 0.01633638276723643 Centerline is valid? [True, True] Translation: X:222.70, Y:-8.02, Z:-4.54 [[ 9.98972411e-01 4.26778445e-02 1.52552602e-02 2.22703152e+02] [-4.26695680e-02 9.99088862e-01 -8.67757152e-04 -8.02028754e+00] [-1.52783946e-02 2.15930090e-04 9.99883255e-01 -4.54205946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684391418 meters 0.016370175541589305 Centerline is valid? [True, True] Translation: X:222.76, Y:-8.02, Z:-4.54 [[ 9.98997579e-01 4.18465891e-02 1.58965704e-02 2.22762003e+02] [-4.18375180e-02 9.99124020e-01 -9.02906914e-04 -8.02386062e+00] [-1.59204289e-02 2.36928769e-04 9.99873234e-01 -4.54299071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74439141799996 meters 0.017261057764984072 Centerline is valid? [True, True] Translation: X:222.82, Y:-8.03, Z:-4.55 [[ 9.99101276e-01 3.95933813e-02 1.51328604e-02 2.22819764e+02] [-3.95849174e-02 9.99215841e-01 -8.58548167e-04 -8.03027270e+00] [-1.51549867e-02 2.58743540e-04 9.99885123e-01 -4.54535271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80439141799997 meters 0.020692744283368723 Centerline is valid? [True, True] Translation: X:222.88, Y:-8.04, Z:-4.55 [[ 9.99337037e-01 3.35827405e-02 1.40601110e-02 2.22877807e+02] [-3.35748647e-02 9.99435888e-01 -7.95892780e-04 -8.04287328e+00] [-1.40789078e-02 3.23298808e-04 9.99900835e-01 -4.54856034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86439141799997 meters 0.020756922486236187 Centerline is valid? [True, True] Translation: X:222.94, Y:-8.05, Z:-4.55 [[ 9.99482235e-01 2.92076466e-02 1.34972088e-02 2.22937224e+02] [-2.92000019e-02 9.99573298e-01 -7.63156356e-04 -8.04828513e+00] [-1.35137395e-02 3.68642699e-04 9.99908617e-01 -4.54966501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92439141799997 meters 0.02436285844505892 Centerline is valid? [True, True] Translation: X:223.00, Y:-8.06, Z:-4.55 [[ 9.99657195e-01 2.24455010e-02 1.34793269e-02 2.22997105e+02] [-2.24372735e-02 9.99747963e-01 -7.61317404e-04 -8.06060431e+00] [-1.34930178e-02 4.58617076e-04 9.99908860e-01 -4.55129497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98439141799997 meters 0.028343825177707373 Centerline is valid? [True, True] Translation: X:223.06, Y:-8.07, Z:-4.55 [[ 9.99756521e-01 1.66956425e-02 1.44275472e-02 2.23056127e+02] [-1.66856187e-02 9.99860453e-01 -8.14873239e-04 -8.07243039e+00] [-1.44391387e-02 5.73942282e-04 9.99895585e-01 -4.55167792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04439141799998 meters 0.02678701259633249 Centerline is valid? [True, True] Translation: X:223.12, Y:-8.08, Z:-4.55 [[ 9.99796600e-01 1.40096381e-02 1.45082314e-02 2.23118273e+02] [-1.39992267e-02 9.99901671e-01 -8.18928434e-04 -8.07571449e+00] [-1.45182777e-02 6.15657843e-04 9.99894415e-01 -4.55240206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10439141799998 meters 0.028597438068792187 Centerline is valid? [True, True] Translation: X:223.18, Y:-8.08, Z:-4.55 [[ 9.99799494e-01 1.37535042e-02 1.45538244e-02 2.23179222e+02] [-1.37429983e-02 9.99905223e-01 -8.21635572e-04 -8.08243928e+00] [-1.45637454e-02 6.21457645e-04 9.99893750e-01 -4.55383850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16439141799998 meters 0.027601065110236626 Centerline is valid? [True, True] Translation: X:223.24, Y:-8.09, Z:-4.55 [[ 9.99807496e-01 1.29841151e-02 1.47099818e-02 2.23241460e+02] [-1.29732434e-02 9.99915496e-01 -8.34256546e-04 -8.08543293e+00] [-1.47195708e-02 6.43259775e-04 9.99891454e-01 -4.55496161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22439141799998 meters 0.028478115088140896 Centerline is valid? [True, True] Translation: X:223.30, Y:-8.09, Z:-4.56 [[ 9.99832889e-01 1.23913917e-02 1.34405126e-02 2.23303155e+02] [-1.23822162e-02 9.99923044e-01 -7.65676444e-04 -8.09017598e+00] [-1.34489661e-02 5.99125158e-04 9.99909379e-01 -4.55699735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28439141799998 meters 0.029705084153978517 Centerline is valid? [True, True] Translation: X:223.36, Y:-8.10, Z:-4.56 [[ 9.99850264e-01 1.25721115e-02 1.18907912e-02 2.23364062e+02] [-1.25649076e-02 9.99920827e-01 -6.80352299e-04 -8.09566020e+00] [-1.18984032e-02 5.30843734e-04 9.99929071e-01 -4.56017399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344391418 meters 0.029271999680447944 Centerline is valid? [True, True] Translation: X:223.43, Y:-8.10, Z:-4.56 [[ 9.99830684e-01 1.39750011e-02 1.19708815e-02 2.23426663e+02] [-1.39677639e-02 9.99902209e-01 -6.87963539e-04 -8.09779972e+00] [-1.19793252e-02 5.20640609e-04 9.99928110e-01 -4.56082336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404391418 meters 0.02721841814047401 Centerline is valid? [True, True] Translation: X:223.49, Y:-8.10, Z:-4.56 [[ 9.99752599e-01 1.81870494e-02 1.28051423e-02 2.23488637e+02] [-1.81790434e-02 9.99834473e-01 -7.41350130e-04 -8.09550332e+00] [-1.28165057e-02 5.08381482e-04 9.99917736e-01 -4.56023702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464391418 meters 0.0226667570040624 Centerline is valid? [True, True] Translation: X:223.55, Y:-8.09, Z:-4.56 [[ 9.99523738e-01 2.76838664e-02 1.36345632e-02 2.23549625e+02] [-2.76756447e-02 9.99616643e-01 -7.91353887e-04 -8.08829079e+00] [-1.36512440e-02 4.13631668e-04 9.99906732e-01 -4.56052086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52439141799996 meters 0.018638374890564986 Centerline is valid? [True, True] Translation: X:223.61, Y:-8.08, Z:-4.56 [[ 9.99300079e-01 3.46151096e-02 1.41826029e-02 2.23609945e+02] [-3.46069054e-02 9.99400662e-01 -8.23550759e-04 -8.08225851e+00] [-1.42026101e-02 3.32158340e-04 9.99899083e-01 -4.56066146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58439141799997 meters 0.015740001457165233 Centerline is valid? [True, True] Translation: X:223.67, Y:-8.08, Z:-4.56 [[ 9.98945665e-01 4.36033811e-02 1.43632573e-02 2.23670098e+02] [-4.35959049e-02 9.99048899e-01 -8.33352500e-04 -8.07560146e+00] [-1.43859333e-02 2.06294670e-04 9.99896496e-01 -4.56141542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64439141799997 meters 0.0149385146022921 Centerline is valid? [True, True] Translation: X:223.73, Y:-8.07, Z:-4.57 [[ 9.98764463e-01 4.79965846e-02 1.28792945e-02 2.23728326e+02] [-4.79909385e-02 9.98847492e-01 -7.47266672e-04 -8.07458450e+00] [-1.29003172e-02 1.28253967e-04 9.99916779e-01 -4.56516892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70439141799997 meters 0.01494815483135071 Centerline is valid? [True, True] Translation: X:223.79, Y:-8.08, Z:-4.57 [[ 9.98782548e-01 4.80228240e-02 1.12796321e-02 2.23786864e+02] [-4.80185073e-02 9.98846232e-01 -6.53371775e-04 -8.07630092e+00] [-1.12979948e-02 1.10945229e-04 9.99936169e-01 -4.56762092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76439141799997 meters 0.0154544546756842 Centerline is valid? [True, True] Translation: X:223.85, Y:-8.08, Z:-4.57 [[ 9.98898748e-01 4.54913205e-02 1.14817854e-02 2.23845830e+02] [-4.54866916e-02 9.98964724e-01 -6.64107811e-04 -8.07925451e+00] [-1.15001097e-02 1.41108031e-04 9.99933862e-01 -4.56849608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82439141799998 meters 0.016620522163613052 Centerline is valid? [True, True] Translation: X:223.90, Y:-8.08, Z:-4.57 [[ 9.99064047e-01 4.11167316e-02 1.34329253e-02 2.23904137e+02] [-4.11100189e-02 9.99154325e-01 -7.75580571e-04 -8.08461002e+00] [-1.34534547e-02 2.22626852e-04 9.99909473e-01 -4.56774771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88439141799998 meters 0.018211592416396218 Centerline is valid? [True, True] Translation: X:223.96, Y:-8.09, Z:-4.57 [[ 9.99210363e-01 3.69576881e-02 1.45870044e-02 2.23962836e+02] [-3.69493485e-02 9.99316786e-01 -8.40900517e-04 -8.09068462e+00] [-1.46081161e-02 3.01256200e-04 9.99893250e-01 -4.56822715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94439141799998 meters 0.020494295877986554 Centerline is valid? [True, True] Translation: X:224.02, Y:-8.10, Z:-4.57 [[ 9.99425186e-01 3.03587200e-02 1.50879028e-02 2.24021984e+02] [-3.03490683e-02 9.99538984e-01 -8.68306592e-04 -8.09788850e+00] [-1.51073077e-02 4.09903687e-04 9.99885794e-01 -4.56929706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00439141799998 meters 0.022238574714942835 Centerline is valid? [True, True] Translation: X:224.08, Y:-8.10, Z:-4.57 [[ 9.99577902e-01 2.46997169e-02 1.52951776e-02 2.24081644e+02] [-2.46891460e-02 9.99694790e-01 -8.79590423e-04 -8.10431854e+00] [-1.53122349e-02 5.01594277e-04 9.99882635e-01 -4.57122592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06439141799999 meters 0.025581726634393696 Centerline is valid? [True, True] Translation: X:224.14, Y:-8.11, Z:-4.57 [[ 9.99620881e-01 2.29310078e-02 1.52401905e-02 2.24140812e+02] [-2.29203176e-02 9.99736911e-01 -8.75769423e-04 -8.11326937e+00] [-1.52562632e-02 5.26127397e-04 9.99883478e-01 -4.57330575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124391418 meters 0.02357631444663334 Centerline is valid? [True, True] Translation: X:224.20, Y:-8.11, Z:-4.57 [[ 9.99624012e-01 2.28264617e-02 1.51916532e-02 2.24201522e+02] [-2.28158337e-02 9.99739304e-01 -8.72564459e-04 -8.11311080e+00] [-1.52076104e-02 5.25626152e-04 9.99884219e-01 -4.57454336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184391418 meters 0.023184534894402937 Centerline is valid? [True, True] Translation: X:224.26, Y:-8.12, Z:-4.58 [[ 9.99566933e-01 2.50772338e-02 1.53973928e-02 2.24262302e+02] [-2.50665826e-02 9.99685393e-01 -8.84381545e-04 -8.11518785e+00] [-1.54147265e-02 4.98038529e-04 9.99881062e-01 -4.57566842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24439141799996 meters 0.020360434994467498 Centerline is valid? [True, True] Translation: X:224.32, Y:-8.11, Z:-4.58 [[ 9.99460373e-01 2.90982601e-02 1.52398960e-02 2.24322645e+02] [-2.90882911e-02 9.99576463e-01 -8.75444767e-04 -8.11249678e+00] [-1.52589153e-02 4.31669822e-04 9.99883483e-01 -4.57707740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30439141799997 meters 0.02094210872449862 Centerline is valid? [True, True] Translation: X:224.38, Y:-8.11, Z:-4.58 [[ 9.99405819e-01 3.12727699e-02 1.44921595e-02 2.24381631e+02] [-3.12639859e-02 9.99510816e-01 -8.32332693e-04 -8.11464635e+00] [-1.45110995e-02 3.78755466e-04 9.99894637e-01 -4.57976799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36439141799997 meters 0.020232763953514893 Centerline is valid? [True, True] Translation: X:224.44, Y:-8.11, Z:-4.58 [[ 9.99466210e-01 2.99870568e-02 1.29642120e-02 2.24441293e+02] [-2.99799251e-02 9.99550224e-01 -7.44141271e-04 -8.11471639e+00] [-1.29806956e-02 3.55077952e-04 9.99915684e-01 -4.58204435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42439141799997 meters 0.021787072626218883 Centerline is valid? [True, True] Translation: X:224.50, Y:-8.12, Z:-4.58 [[ 9.99561230e-01 2.69848556e-02 1.22133484e-02 2.24501070e+02] [-2.69783078e-02 9.99635774e-01 -7.00588138e-04 -8.11920169e+00] [-1.22278053e-02 3.70785268e-04 9.99925169e-01 -4.58369646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48439141799997 meters 0.02230831046525444 Centerline is valid? [True, True] Translation: X:224.56, Y:-8.12, Z:-4.58 [[ 9.99585131e-01 2.57399736e-02 1.29236099e-02 2.24560136e+02] [-2.57325414e-02 9.99668589e-01 -7.41067558e-04 -8.12208412e+00] [-1.29384019e-02 4.08202785e-04 9.99916212e-01 -4.58387763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54439141799998 meters 0.022221779845153045 Centerline is valid? [True, True] Translation: X:224.62, Y:-8.12, Z:-4.58 [[ 9.99565954e-01 2.59566094e-02 1.39340637e-02 2.24619742e+02] [-2.59480118e-02 9.99662976e-01 -7.97487491e-04 -8.12390448e+00] [-1.39500677e-02 4.35580095e-04 9.99902598e-01 -4.58353618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60439141799998 meters 0.02181182489347848 Centerline is valid? [True, True] Translation: X:224.68, Y:-8.12, Z:-4.58 [[ 9.99454366e-01 2.88482907e-02 1.60855897e-02 2.24679093e+02] [-2.88372194e-02 9.99583698e-01 -9.19844709e-04 -8.12323867e+00] [-1.61054291e-02 4.55479132e-04 9.99870195e-01 -4.58318732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66439141799998 meters 0.020234085363708125 Centerline is valid? [True, True] Translation: X:224.74, Y:-8.12, Z:-4.58 [[ 9.99382450e-01 3.05590450e-02 1.73454178e-02 2.24738896e+02] [-3.05464418e-02 9.99532857e-01 -9.91139135e-04 -8.12298099e+00] [-1.73676033e-02 4.60686263e-04 9.99849066e-01 -4.58338231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72439141799998 meters 0.01864738465926769 Centerline is valid? [True, True] Translation: X:224.80, Y:-8.12, Z:-4.58 [[ 9.99262768e-01 3.39954940e-02 1.78389052e-02 2.24798545e+02] [-3.39827239e-02 9.99421901e-01 -1.01858995e-03 -8.12249880e+00] [-1.78632200e-02 4.11624427e-04 9.99840355e-01 -4.58398622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78439141799998 meters 0.018544357230736754 Centerline is valid? [True, True] Translation: X:224.86, Y:-8.12, Z:-4.59 [[ 9.99176100e-01 3.62257643e-02 1.82979816e-02 2.24855967e+02] [-3.62127138e-02 9.99343559e-01 -1.04416672e-03 -8.12470719e+00] [-1.83237958e-02 3.80686864e-04 9.99832033e-01 -4.58538025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844391418 meters 0.01773451257500234 Centerline is valid? [True, True] Translation: X:224.91, Y:-8.13, Z:-4.59 [[ 9.99127072e-01 3.77467611e-02 1.78962809e-02 2.24914679e+02] [-3.77345535e-02 9.99287278e-01 -1.01944223e-03 -8.12609236e+00] [-1.79220065e-02 3.43244160e-04 9.99839329e-01 -4.58762576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904391418 meters 0.016962573213112463 Centerline is valid? [True, True] Translation: X:224.97, Y:-8.13, Z:-4.59 [[ 9.99140442e-01 3.83052135e-02 1.58457518e-02 2.24973151e+02] [-3.82957305e-02 9.99266043e-01 -9.01570287e-04 -8.12879292e+00] [-1.58686565e-02 2.93970696e-04 9.99874042e-01 -4.59122727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964391418 meters 0.017558734282478495 Centerline is valid? [True, True] Translation: X:225.03, Y:-8.13, Z:-4.59 [[ 9.99165967e-01 3.79530356e-02 1.50644292e-02 2.25031088e+02] [-3.79444407e-02 9.99279484e-01 -8.56055194e-04 -8.13398982e+00] [-1.50860650e-02 2.83729873e-04 9.99886159e-01 -4.59391361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02439141799996 meters 0.017739691869615264 Centerline is valid? [True, True] Translation: X:225.09, Y:-8.14, Z:-4.60 [[ 9.99172122e-01 3.77671018e-02 1.51233643e-02 2.25089782e+02] [-3.77584435e-02 9.99286528e-01 -8.57742959e-04 -8.13780752e+00] [-1.51449687e-02 2.85998155e-04 9.99885267e-01 -4.59539373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08439141799997 meters 0.01789784685449516 Centerline is valid? [True, True] Translation: X:225.15, Y:-8.14, Z:-4.60 [[ 9.99204437e-01 3.67823470e-02 1.54127373e-02 2.25148228e+02] [-3.67732565e-02 9.99323254e-01 -8.72892905e-04 -8.14305475e+00] [-1.54344138e-02 3.05421923e-04 9.99880836e-01 -4.59581920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14439141799997 meters 0.018344198450886303 Centerline is valid? [True, True] Translation: X:225.21, Y:-8.15, Z:-4.60 [[ 9.99222315e-01 3.58211532e-02 1.64805734e-02 2.25206955e+02] [-3.58106522e-02 9.99358158e-01 -9.31942523e-04 -8.14824955e+00] [-1.65033787e-02 3.41037685e-04 9.99863752e-01 -4.59598278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20439141799997 meters 0.019209808955192875 Centerline is valid? [True, True] Translation: X:225.26, Y:-8.16, Z:-4.60 [[ 9.99283312e-01 3.36345285e-02 1.73660616e-02 2.25264975e+02] [-3.36225623e-02 9.99434121e-01 -9.80648195e-04 -8.15571330e+00] [-1.73892181e-02 3.96053890e-04 9.99848718e-01 -4.59669444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26439141799997 meters 0.01958997286134776 Centerline is valid? [True, True] Translation: X:225.32, Y:-8.16, Z:-4.60 [[ 9.99331678e-01 3.15627811e-02 1.84387910e-02 2.25324506e+02] [-3.15489824e-02 9.99501667e-01 -1.03883410e-03 -8.16109167e+00] [-1.84623909e-02 4.56414735e-04 9.99829451e-01 -4.59741749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32439141799998 meters 0.02310111228141251 Centerline is valid? [True, True] Translation: X:225.38, Y:-8.17, Z:-4.60 [[ 9.99453697e-01 2.74835745e-02 1.83564990e-02 2.25383779e+02] [-2.74692255e-02 9.99622115e-01 -1.03341803e-03 -8.17173554e+00] [-1.83779644e-02 5.28614665e-04 9.99830971e-01 -4.59970198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38439141799998 meters 0.024131609787000016 Centerline is valid? [True, True] Translation: X:225.44, Y:-8.18, Z:-4.60 [[ 9.99554841e-01 2.44532842e-02 1.70925710e-02 2.25444115e+02] [-2.44404072e-02 9.99700826e-01 -9.61884272e-04 -8.17878077e+00] [-1.71109785e-02 5.43706686e-04 9.99853449e-01 -4.60188538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44439141799998 meters 0.028790422569083412 Centerline is valid? [True, True] Translation: X:225.50, Y:-8.19, Z:-4.60 [[ 9.99667788e-01 1.99082899e-02 1.63698868e-02 2.25504025e+02] [-1.98958715e-02 9.99801633e-01 -9.21136194e-04 -8.19101705e+00] [-1.63849778e-02 5.95137017e-04 9.99865580e-01 -4.60424858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50439141799998 meters 0.02544188325843147 Centerline is valid? [True, True] Translation: X:225.57, Y:-8.19, Z:-4.60 [[ 9.99712624e-01 1.80253488e-02 1.58036561e-02 2.25566203e+02] [-1.80135552e-02 9.99837348e-01 -8.88297429e-04 -8.19078969e+00] [-1.58170975e-02 6.03362123e-04 9.99874720e-01 -4.60497449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56439141799999 meters 0.025950216925340996 Centerline is valid? [True, True] Translation: X:225.63, Y:-8.19, Z:-4.61 [[ 9.99689071e-01 1.94654653e-02 1.55838795e-02 2.25627035e+02] [-1.94541020e-02 9.99810363e-01 -8.80448951e-04 -8.19480262e+00] [-1.55980626e-02 5.77004812e-04 9.99878176e-01 -4.60618838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624391418 meters 0.023291706131056085 Centerline is valid? [True, True] Translation: X:225.69, Y:-8.19, Z:-4.61 [[ 9.99635615e-01 2.19414665e-02 1.57229074e-02 2.25689068e+02] [-2.19301248e-02 9.99759107e-01 -8.93422110e-04 -8.19386083e+00] [-1.57387229e-02 5.48291238e-04 9.99875988e-01 -4.60627022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684391418 meters 0.02252865611193874 Centerline is valid? [True, True] Translation: X:225.75, Y:-8.19, Z:-4.61 [[ 9.99544574e-01 2.59188854e-02 1.54549405e-02 2.25749255e+02] [-2.59083920e-02 9.99663935e-01 -8.78834274e-04 -8.19419277e+00] [-1.54725250e-02 4.78021375e-04 9.99880179e-01 -4.60761404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74439141799996 meters 0.02049621501448462 Centerline is valid? [True, True] Translation: X:225.81, Y:-8.19, Z:-4.61 [[ 9.99496079e-01 2.79648541e-02 1.50184660e-02 2.25809246e+02] [-2.79551358e-02 9.99608812e-01 -8.56678020e-04 -8.19338069e+00] [-1.50365478e-02 4.36403067e-04 9.99886849e-01 -4.60864620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80439141799997 meters 0.020256758136509664 Centerline is valid? [True, True] Translation: X:225.87, Y:-8.20, Z:-4.61 [[ 9.99438713e-01 2.98539944e-02 1.51986476e-02 2.25868206e+02] [-2.98442679e-02 9.99554185e-01 -8.66416783e-04 -8.19524053e+00] [-1.52177378e-02 4.12337963e-04 9.99884119e-01 -4.60977884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86439141799997 meters 0.019751153854715587 Centerline is valid? [True, True] Translation: X:225.93, Y:-8.20, Z:-4.61 [[ 9.99358891e-01 3.23018721e-02 1.54400853e-02 2.25927045e+02] [-3.22921395e-02 9.99478086e-01 -8.79310792e-04 -8.19608565e+00] [-1.54604303e-02 3.80153669e-04 9.99880408e-01 -4.61052570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92439141799997 meters 0.01783723205696361 Centerline is valid? [True, True] Translation: X:225.99, Y:-8.19, Z:-4.61 [[ 9.99165808e-01 3.77701526e-02 1.55274828e-02 2.25986063e+02] [-3.77609889e-02 9.99286409e-01 -8.83025323e-04 -8.19334530e+00] [-1.55497545e-02 2.95955605e-04 9.99879051e-01 -4.61171375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98439141799997 meters 0.0164758377021654 Centerline is valid? [True, True] Translation: X:226.05, Y:-8.19, Z:-4.61 [[ 9.98979881e-01 4.25478167e-02 1.51288318e-02 2.26045026e+02] [-4.25396827e-02 9.99094409e-01 -8.59199295e-04 -8.19292215e+00] [-1.51516883e-02 2.14747107e-04 9.99885184e-01 -4.61358749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04439141799998 meters 0.01474647202106836 Centerline is valid? [True, True] Translation: X:226.10, Y:-8.19, Z:-4.61 [[ 9.98670113e-01 4.94578612e-02 1.45576244e-02 2.26104388e+02] [-4.94510793e-02 9.98776206e-01 -8.25686201e-04 -8.19002430e+00] [-1.45806455e-02 1.04697894e-04 9.99893691e-01 -4.61408690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10439141799998 meters 0.014336303887188272 Centerline is valid? [True, True] Translation: X:226.16, Y:-8.19, Z:-4.61 [[ 9.98372894e-01 5.49152067e-02 1.53585078e-02 2.26163451e+02] [-5.49083237e-02 9.98491021e-01 -8.69797010e-04 -8.18987195e+00] [-1.53830972e-02 2.50718420e-05 9.99881673e-01 -4.61476606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16439141799998 meters 0.014311873092609468 Centerline is valid? [True, True] Translation: X:226.22, Y:-8.19, Z:-4.62 [[ 9.98260265e-01 5.68204833e-02 1.57440472e-02 2.26221194e+02] [-5.68135039e-02 9.98384411e-01 -8.90573795e-04 -8.19309484e+00] [-1.57692142e-02 -5.45005686e-06 9.99875658e-01 -4.61541104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22439141799998 meters 0.01434014183879001 Centerline is valid? [True, True] Translation: X:226.28, Y:-8.20, Z:-4.62 [[ 9.98304241e-01 5.60042593e-02 1.58797264e-02 2.26279013e+02] [-5.59970868e-02 9.98430530e-01 -8.96301639e-04 -8.19921734e+00] [-1.59050003e-02 5.56331146e-06 9.99873507e-01 -4.61640995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28439141799998 meters 0.014503153444156458 Centerline is valid? [True, True] Translation: X:226.34, Y:-8.21, Z:-4.62 [[ 9.98596837e-01 5.09114618e-02 1.45732693e-02 2.26336796e+02] [-5.09049033e-02 9.98703168e-01 -8.20870415e-04 -8.20946106e+00] [-1.45961620e-02 7.78677350e-05 9.99893467e-01 -4.61878439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344391418 meters 0.015215542558432306 Centerline is valid? [True, True] Translation: X:226.39, Y:-8.22, Z:-4.62 [[ 9.98843355e-01 4.60267625e-02 1.39100774e-02 2.26393984e+02] [-4.60203327e-02 9.98940197e-01 -7.82147288e-04 -8.21963841e+00] [-1.39313351e-02 1.41096233e-04 9.99902944e-01 -4.62101196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404391418 meters 0.016525389318105186 Centerline is valid? [True, True] Translation: X:226.45, Y:-8.23, Z:-4.62 [[ 9.99103694e-01 4.00999359e-02 1.35574023e-02 2.26452362e+02] [-4.00933024e-02 9.99195651e-01 -7.60838539e-04 -8.23075994e+00] [-1.35770070e-02 2.16595565e-04 9.99907805e-01 -4.62196665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46439141799996 meters 0.017336416401802356 Centerline is valid? [True, True] Translation: X:226.51, Y:-8.24, Z:-4.62 [[ 9.99178825e-01 3.82544433e-02 1.33519057e-02 2.26510715e+02] [-3.82478589e-02 9.99268003e-01 -7.48240083e-04 -8.23830416e+00] [-1.33707556e-02 2.36943841e-04 9.99910579e-01 -4.62346402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52439141799996 meters 0.017121824156510666 Centerline is valid? [True, True] Translation: X:226.57, Y:-8.24, Z:-4.62 [[ 9.99146820e-01 3.90821134e-02 1.33498880e-02 2.26568059e+02] [-3.90756178e-02 9.99235977e-01 -7.47157456e-04 -8.24357550e+00] [-1.33688889e-02 2.24864876e-04 9.99910607e-01 -4.62448462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58439141799997 meters 0.017040699994919795 Centerline is valid? [True, True] Translation: X:226.63, Y:-8.25, Z:-4.63 [[ 9.99094783e-01 4.00791138e-02 1.42575733e-02 2.26625248e+02] [-4.00718287e-02 9.99196484e-01 -7.96393404e-04 -8.24772697e+00] [-1.42780358e-02 2.24345462e-04 9.99898038e-01 -4.62519880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64439141799997 meters 0.016195560994430678 Centerline is valid? [True, True] Translation: X:226.68, Y:-8.25, Z:-4.63 [[ 9.99028687e-01 4.16463628e-02 1.43966654e-02 2.26683673e+02] [-4.16391204e-02 9.99132393e-01 -8.02578365e-04 -8.25100826e+00] [-1.44175992e-02 2.02334326e-04 9.99896041e-01 -4.62571130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70439141799997 meters 0.016926920181451602 Centerline is valid? [True, True] Translation: X:226.74, Y:-8.26, Z:-4.63 [[ 9.99077315e-01 4.06425730e-02 1.38816489e-02 2.26740642e+02] [-4.06357559e-02 9.99173728e-01 -7.72909418e-04 -8.25890436e+00] [-1.39015919e-02 2.08104969e-04 9.99903347e-01 -4.62834431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76439141799997 meters 0.016875160616692524 Centerline is valid? [True, True] Translation: X:226.80, Y:-8.26, Z:-4.63 [[ 9.99160739e-01 3.88852695e-02 1.28745093e-02 2.26799401e+02] [-3.88792767e-02 9.99243659e-01 -7.15532238e-04 -8.26477974e+00] [-1.28925954e-02 2.14380110e-04 9.99916864e-01 -4.63001935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82439141799998 meters 0.018166686644074642 Centerline is valid? [True, True] Translation: X:226.86, Y:-8.27, Z:-4.63 [[ 9.99305996e-01 3.55126509e-02 1.12417534e-02 2.26857244e+02] [-3.55078723e-02 9.99369202e-01 -6.24450462e-04 -8.27273210e+00] [-1.12568380e-02 2.24846348e-04 9.99936615e-01 -4.63319210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88439141799998 meters 0.018401211274166655 Centerline is valid? [True, True] Translation: X:226.92, Y:-8.28, Z:-4.63 [[ 9.99341299e-01 3.46835672e-02 1.06778951e-02 2.26916237e+02] [-3.46792251e-02 9.99398320e-01 -5.91583207e-04 -8.27678834e+00] [-1.06919887e-02 2.20892401e-04 9.99942815e-01 -4.63467887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94439141799998 meters 0.01835042647258601 Centerline is valid? [True, True] Translation: X:226.98, Y:-8.28, Z:-4.64 [[ 9.99381681e-01 3.36783806e-02 1.01006441e-02 2.26975284e+02] [-3.36744512e-02 9.99432699e-01 -5.58890881e-04 -8.28097881e+00] [-1.01137365e-02 2.18411662e-04 9.99948831e-01 -4.63543509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00439141799998 meters 0.018303878647967505 Centerline is valid? [True, True] Translation: X:227.03, Y:-8.28, Z:-4.64 [[ 9.99347751e-01 3.46241753e-02 1.02586544e-02 2.27033588e+02] [-3.46201808e-02 9.99400381e-01 -5.66755371e-04 -8.28346699e+00] [-1.02721266e-02 2.11229233e-04 9.99947218e-01 -4.63531141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06439141799999 meters 0.017665281704700393 Centerline is valid? [True, True] Translation: X:227.09, Y:-8.28, Z:-4.64 [[ 9.99287186e-01 3.61762500e-02 1.07888463e-02 2.27091996e+02] [-3.61719328e-02 9.99345404e-01 -5.95086656e-04 -8.28467024e+00] [-1.08033119e-02 2.04409048e-04 9.99941622e-01 -4.63500559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124391418 meters 0.016522945081162903 Centerline is valid? [True, True] Translation: X:227.15, Y:-8.28, Z:-4.63 [[ 9.99151619e-01 3.92446346e-02 1.24860275e-02 2.27151413e+02] [-3.92391094e-02 9.99229613e-01 -6.87275263e-04 -8.28470886e+00] [-1.25033803e-02 1.96751594e-04 9.99921810e-01 -4.63427190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184391418 meters 0.016311979481836596 Centerline is valid? [True, True] Translation: X:227.21, Y:-8.29, Z:-4.63 [[ 9.99152830e-01 3.89258134e-02 1.33567783e-02 2.27209941e+02] [-3.89194723e-02 9.99242080e-01 -7.34448561e-04 -8.28823927e+00] [-1.33752440e-02 2.13987595e-04 9.99910525e-01 -4.63492977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24439141799996 meters 0.017537191063797367 Centerline is valid? [True, True] Translation: X:227.27, Y:-8.29, Z:-4.64 [[ 9.99248048e-01 3.64482758e-02 1.32235121e-02 2.27267706e+02] [-3.64418562e-02 9.99335511e-01 -7.26182066e-04 -8.29373896e+00] [-1.32411933e-02 2.43746685e-04 9.99912302e-01 -4.63728169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30439141799997 meters 0.018946650839166426 Centerline is valid? [True, True] Translation: X:227.33, Y:-8.30, Z:-4.64 [[ 9.99371921e-01 3.33120517e-02 1.20859777e-02 2.27326067e+02] [-3.33064768e-02 9.99444966e-01 -6.62312795e-04 -8.30109115e+00] [-1.21013325e-02 2.59355475e-04 9.99926743e-01 -4.64040428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36439141799997 meters 0.018556948494662526 Centerline is valid? [True, True] Translation: X:227.38, Y:-8.30, Z:-4.64 [[ 9.99387228e-01 3.28987886e-02 1.19514617e-02 2.27384638e+02] [-3.28933136e-02 9.99458654e-01 -6.54434430e-04 -8.30355453e+00] [-1.19665220e-02 2.60910232e-04 9.99928365e-01 -4.64185338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42439141799997 meters 0.017706974664202173 Centerline is valid? [True, True] Translation: X:227.44, Y:-8.30, Z:-4.64 [[ 9.99280354e-01 3.55349713e-02 1.32679829e-02 2.27443203e+02] [-3.55284727e-02 9.99368401e-01 -7.25253289e-04 -8.30355617e+00] [-1.32853747e-02 2.53340194e-04 9.99911713e-01 -4.64190310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48439141799997 meters 0.01744890079008222 Centerline is valid? [True, True] Translation: X:227.50, Y:-8.31, Z:-4.64 [[ 9.99190550e-01 3.77700566e-02 1.38444043e-02 2.27500834e+02] [-3.77632103e-02 9.99286430e-01 -7.55693722e-04 -8.30564051e+00] [-1.38630679e-02 2.32272875e-04 9.99903876e-01 -4.64324842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54439141799998 meters 0.016529658346504543 Centerline is valid? [True, True] Translation: X:227.56, Y:-8.31, Z:-4.64 [[ 9.99118186e-01 3.96788930e-02 1.37271961e-02 2.27559536e+02] [-3.96723624e-02 9.99212462e-01 -7.47825884e-04 -8.30597279e+00] [-1.37460583e-02 2.02576141e-04 9.99905498e-01 -4.64476506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60439141799998 meters 0.01712102798680902 Centerline is valid? [True, True] Translation: X:227.62, Y:-8.31, Z:-4.65 [[ 9.99179966e-01 3.81234823e-02 1.36380292e-02 2.27618014e+02] [-3.81169065e-02 9.99273011e-01 -7.41870300e-04 -8.31079233e+00] [-1.36563971e-02 2.21422460e-04 9.99906723e-01 -4.64691277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66439141799998 meters 0.01789865953993192 Centerline is valid? [True, True] Translation: X:227.68, Y:-8.32, Z:-4.65 [[ 9.99257318e-01 3.58472474e-02 1.41346369e-02 2.27676119e+02] [-3.58399712e-02 9.99357247e-01 -7.67827907e-04 -8.31631435e+00] [-1.41530763e-02 2.60672676e-04 9.99899806e-01 -4.64791267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72439141799998 meters 0.018776988601512987 Centerline is valid? [True, True] Translation: X:227.73, Y:-8.32, Z:-4.65 [[ 9.99348414e-01 3.25981074e-02 1.54955323e-02 2.27734617e+02] [-3.25890002e-02 9.99468485e-01 -8.39939861e-04 -8.32320089e+00] [-1.55146766e-02 3.34408664e-04 9.99879584e-01 -4.64868979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78439141799998 meters 0.018369361710354692 Centerline is valid? [True, True] Translation: X:227.79, Y:-8.33, Z:-4.65 [[ 9.99357832e-01 3.25473357e-02 1.49864507e-02 2.27794004e+02] [-3.25388321e-02 9.99470143e-01 -8.10967886e-04 -8.32720210e+00] [-1.50049049e-02 3.22805506e-04 9.99887368e-01 -4.65027581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844391418 meters 0.018593470295594494 Centerline is valid? [True, True] Translation: X:227.85, Y:-8.33, Z:-4.65 [[ 9.99312832e-01 3.40927085e-02 1.45447899e-02 2.27852532e+02] [-3.40848689e-02 9.99418632e-01 -7.86614787e-04 -8.33062483e+00] [-1.45631518e-02 2.90316994e-04 9.99893910e-01 -4.65236012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904391418 meters 0.017023079414938032 Centerline is valid? [True, True] Translation: X:227.91, Y:-8.33, Z:-4.65 [[ 9.99188324e-01 3.73590532e-02 1.50663120e-02 2.27911040e+02] [-3.73510251e-02 9.99301875e-01 -8.13983099e-04 -8.33121298e+00] [-1.50862034e-02 2.50580213e-04 9.99886165e-01 -4.65246321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96439141799996 meters 0.01616524419290496 Centerline is valid? [True, True] Translation: X:227.97, Y:-8.33, Z:-4.65 [[ 9.99038459e-01 4.04579132e-02 1.68912363e-02 2.27970014e+02] [-4.04482916e-02 9.99181218e-01 -9.11006994e-04 -8.33296876e+00] [-1.69142635e-02 2.26909375e-04 9.99856918e-01 -4.65188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02439141799996 meters 0.015227156658919343 Centerline is valid? [True, True] Translation: X:228.03, Y:-8.33, Z:-4.65 [[ 9.98908673e-01 4.40085961e-02 1.56430845e-02 2.28028417e+02] [-4.40007970e-02 9.99031141e-01 -8.42562767e-04 -8.33364025e+00] [-1.56650085e-02 1.53335072e-04 9.99877284e-01 -4.65408037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08439141799997 meters 0.014990067954756284 Centerline is valid? [True, True] Translation: X:228.09, Y:-8.34, Z:-4.66 [[ 9.98839762e-01 4.59338174e-02 1.44642569e-02 2.28087190e+02] [-4.59273662e-02 9.98944479e-01 -7.78038286e-04 -8.33652713e+00] [-1.44847278e-02 1.12830355e-04 9.99895084e-01 -4.65669420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14439141799997 meters 0.014534577789012383 Centerline is valid? [True, True] Translation: X:228.15, Y:-8.34, Z:-4.66 [[ 9.98726654e-01 4.83455520e-02 1.44144899e-02 2.28146296e+02] [-4.83394132e-02 9.98830667e-01 -7.74192172e-04 -8.34057513e+00] [-1.44350633e-02 7.64183755e-05 9.99895806e-01 -4.65749511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20439141799997 meters 0.014483480509424551 Centerline is valid? [True, True] Translation: X:228.21, Y:-8.34, Z:-4.66 [[ 9.98682762e-01 4.91836520e-02 1.46188191e-02 2.28205392e+02] [-4.91774456e-02 9.98789750e-01 -7.83939374e-04 -8.34489270e+00] [-1.46396837e-02 6.39905570e-05 9.99892832e-01 -4.65853915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26439141799997 meters 0.014549154047389037 Centerline is valid? [True, True] Translation: X:228.26, Y:-8.35, Z:-4.66 [[ 9.98698605e-01 4.90853960e-02 1.38463158e-02 2.28263461e+02] [-4.90798329e-02 9.98794584e-01 -7.41502648e-04 -8.35128285e+00] [-1.38660222e-02 6.09627928e-05 9.99903860e-01 -4.66055470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32439141799998 meters 0.014595146134522575 Centerline is valid? [True, True] Translation: X:228.32, Y:-8.36, Z:-4.66 [[ 9.98756131e-01 4.79777207e-02 1.35767613e-02 2.28321505e+02] [-4.79722846e-02 9.98848403e-01 -7.25972186e-04 -8.35991243e+00] [-1.35959568e-02 7.37609147e-05 9.99907568e-01 -4.66277179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38439141799998 meters 0.015132286219397679 Centerline is valid? [True, True] Translation: X:228.38, Y:-8.37, Z:-4.66 [[ 9.98853475e-01 4.58493284e-02 1.37686140e-02 2.28379285e+02] [-4.58435494e-02 9.98948361e-01 -7.35211070e-04 -8.36881532e+00] [-1.37878434e-02 1.03165995e-04 9.99904938e-01 -4.66446213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44439141799998 meters 0.015306688845676444 Centerline is valid? [True, True] Translation: X:228.44, Y:-8.38, Z:-4.67 [[ 9.98938851e-01 4.39514426e-02 1.37638318e-02 2.28437759e+02] [-4.39455084e-02 9.99033660e-01 -7.33433124e-04 -8.37572005e+00] [-1.37827667e-02 1.27796256e-04 9.99905005e-01 -4.66508846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50439141799998 meters 0.016706683505150994 Centerline is valid? [True, True] Translation: X:228.49, Y:-8.39, Z:-4.67 [[ 9.99132686e-01 3.92088602e-02 1.40193312e-02 2.28494510e+02] [-3.92022494e-02 9.99231018e-01 -7.46155413e-04 -8.38693218e+00] [-1.40378065e-02 1.95918943e-04 9.99901446e-01 -4.66633343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56439141799999 meters 0.017129527672179207 Centerline is valid? [True, True] Translation: X:228.55, Y:-8.39, Z:-4.67 [[ 9.99269926e-01 3.52070816e-02 1.48349981e-02 2.28552790e+02] [-3.51992688e-02 9.99380003e-01 -7.87498902e-04 -8.39407593e+00] [-1.48535260e-02 2.64742884e-04 9.99889645e-01 -4.66621697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624391418 meters 0.018943384892394593 Centerline is valid? [True, True] Translation: X:228.61, Y:-8.41, Z:-4.67 [[ 9.99442464e-01 2.93350573e-02 1.59441344e-02 2.28611495e+02] [-2.93253098e-02 9.99569564e-01 -8.44861692e-04 -8.40537788e+00] [-1.59620555e-02 3.76823973e-04 9.99872527e-01 -4.66702151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684391418 meters 0.021398099799112492 Centerline is valid? [True, True] Translation: X:228.67, Y:-8.42, Z:-4.67 [[ 9.99600852e-01 2.35727278e-02 1.55712440e-02 2.28671451e+02] [-2.35627511e-02 9.99722020e-01 -8.23890372e-04 -8.41596180e+00] [-1.55863369e-02 4.56660170e-04 9.99878421e-01 -4.66843748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74439141799996 meters 0.024425724160175525 Centerline is valid? [True, True] Translation: X:228.73, Y:-8.43, Z:-4.67 [[ 9.99741340e-01 1.73721183e-02 1.46786430e-02 2.28731526e+02] [-1.73625868e-02 9.99848957e-01 -7.76543367e-04 -8.42658899e+00] [-1.46899161e-02 5.21483293e-04 9.99891961e-01 -4.67060874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80439141799997 meters 0.0258666746344473 Centerline is valid? [True, True] Translation: X:228.79, Y:-8.43, Z:-4.67 [[ 9.99778297e-01 1.53579455e-02 1.44045444e-02 2.28792900e+02] [-1.53485650e-02 9.99881914e-01 -7.61551531e-04 -8.43295349e+00] [-1.44145393e-02 5.40293607e-04 9.99895959e-01 -4.67246807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86439141799997 meters 0.028681884572654102 Centerline is valid? [True, True] Translation: X:228.85, Y:-8.44, Z:-4.67 [[ 9.99842266e-01 1.12036154e-02 1.37812003e-02 2.28852148e+02] [-1.11945955e-02 9.99937071e-01 -7.31478981e-04 -8.44198220e+00] [-1.37885282e-02 5.77088639e-04 9.99904767e-01 -4.67448393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92439141799997 meters 0.0319321419892018 Centerline is valid? [True, True] Translation: X:228.91, Y:-8.45, Z:-4.68 [[ 9.99892491e-01 6.53248255e-03 1.31275363e-02 2.28912382e+02] [-6.52389817e-03 9.99978476e-01 -6.96639153e-04 -8.45155793e+00] [-1.31318045e-02 6.10921548e-04 9.99913588e-01 -4.67617366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98439141799997 meters 0.030477319831582396 Centerline is valid? [True, True] Translation: X:228.97, Y:-8.45, Z:-4.68 [[ 9.99902507e-01 5.55834219e-03 1.28094357e-02 2.28974221e+02] [-5.55011025e-03 9.99984368e-01 -6.78105342e-04 -8.45265333e+00] [-1.28130046e-02 6.06945452e-04 9.99917726e-01 -4.67729011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04439141799998 meters 0.02863773213604448 Centerline is valid? [True, True] Translation: X:229.04, Y:-8.45, Z:-4.68 [[ 9.99875239e-01 9.50001072e-03 1.26196459e-02 2.29035566e+02] [-9.49227068e-03 9.99954721e-01 -6.73089639e-04 -8.45171716e+00] [-1.26254688e-02 5.53216570e-04 9.99920143e-01 -4.67875796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10439141799998 meters 0.024528293700445798 Centerline is valid? [True, True] Translation: X:229.10, Y:-8.45, Z:-4.68 [[ 9.99748288e-01 1.78589113e-02 1.35801190e-02 2.29096788e+02] [-1.78507058e-02 9.99840400e-01 -7.25214177e-04 -8.44545239e+00] [-1.35909032e-02 4.82616923e-04 9.99907523e-01 -4.67847953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16439141799998 meters 0.023565527865936433 Centerline is valid? [True, True] Translation: X:229.16, Y:-8.44, Z:-4.68 [[ 9.99593885e-01 2.46659867e-02 1.42707337e-02 2.29156849e+02] [-2.46576178e-02 9.99695664e-01 -7.62118793e-04 -8.44442532e+00] [-1.42851891e-02 4.09926986e-04 9.99897877e-01 -4.67941933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22439141799998 meters 0.017352013186619476 Centerline is valid? [True, True] Translation: X:229.22, Y:-8.43, Z:-4.68 [[ 9.99279680e-01 3.48360735e-02 1.50521977e-02 2.29218473e+02] [-3.48279172e-02 9.99393001e-01 -8.03739699e-04 -8.43193572e+00] [-1.50710602e-02 2.78924054e-04 9.99886386e-01 -4.67888066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28439141799998 meters 0.01601043398929919 Centerline is valid? [True, True] Translation: X:229.28, Y:-8.43, Z:-4.68 [[ 9.99025318e-01 4.15006214e-02 1.50370461e-02 2.29276989e+02] [-4.14932247e-02 9.99138462e-01 -8.03684732e-04 -8.42984821e+00] [-1.50574445e-02 1.78965861e-04 9.99886614e-01 -4.68038834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344391418 meters 0.014389501605804543 Centerline is valid? [True, True] Translation: X:229.34, Y:-8.42, Z:-4.68 [[ 9.98617968e-01 5.04162077e-02 1.48445006e-02 2.29336043e+02] [-5.04099950e-02 9.98728293e-01 -7.92633394e-04 -8.42269067e+00] [-1.48655843e-02 4.32267486e-05 9.99889500e-01 -4.68129555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404391418 meters 0.014351183865212235 Centerline is valid? [True, True] Translation: X:229.39, Y:-8.42, Z:-4.68 [[ 9.98291231e-01 5.66392298e-02 1.43741645e-02 2.29394984e+02] [-5.66340658e-02 9.98394709e-01 -7.66385852e-04 -8.42071605e+00] [-1.43944973e-02 -4.89911006e-05 9.99896393e-01 -4.68346664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46439141799996 meters 0.014681296834243998 Centerline is valid? [True, True] Translation: X:229.45, Y:-8.42, Z:-4.69 [[ 9.98184562e-01 5.84504860e-02 1.45300055e-02 2.29453712e+02] [-5.84454186e-02 9.98290306e-01 -7.73502331e-04 -8.42262154e+00] [-1.45503753e-02 -7.71141705e-05 9.99894135e-01 -4.68514385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52439141799996 meters 0.014387641026961558 Centerline is valid? [True, True] Translation: X:229.51, Y:-8.43, Z:-4.69 [[ 9.98299753e-01 5.62683562e-02 1.52142991e-02 2.29512490e+02] [-5.62625664e-02 9.98415680e-01 -8.08645831e-04 -8.42978916e+00] [-1.52356960e-02 -4.87245808e-05 9.99883929e-01 -4.68669550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58439141799997 meters 0.014336133653633341 Centerline is valid? [True, True] Translation: X:229.57, Y:-8.44, Z:-4.69 [[ 9.98696993e-01 4.84625662e-02 1.59904669e-02 2.29570135e+02] [-4.84551882e-02 9.98824997e-01 -8.48740442e-04 -8.44192311e+00] [-1.60128102e-02 7.28134463e-05 9.99871784e-01 -4.68693487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64439141799997 meters 0.01667073130259852 Centerline is valid? [True, True] Translation: X:229.63, Y:-8.46, Z:-4.69 [[ 9.99133940e-01 3.75890804e-02 1.78446407e-02 2.29629272e+02] [-3.75782051e-02 9.99293243e-01 -9.44484548e-04 -8.45836474e+00] [-1.78675312e-02 2.73096999e-04 9.99840326e-01 -4.68673959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70439141799997 meters 0.0183753402082722 Centerline is valid? [True, True] Translation: X:229.69, Y:-8.47, Z:-4.69 [[ 9.99368072e-01 3.04193567e-02 1.83880249e-02 2.29688653e+02] [-3.04066109e-02 9.99537139e-01 -9.72406234e-04 -8.46986235e+00] [-1.84090937e-02 4.12674226e-04 9.99830453e-01 -4.68765655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76439141799997 meters 0.02199020955500414 Centerline is valid? [True, True] Translation: X:229.75, Y:-8.48, Z:-4.69 [[ 9.99622721e-01 2.10375188e-02 1.76589720e-02 2.29748452e+02] [-2.10243034e-02 9.99778529e-01 -9.33703483e-04 -8.48473183e+00] [-1.76747038e-02 5.62083631e-04 9.99843632e-01 -4.68996969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82439141799998 meters 0.02969833736327539 Centerline is valid? [True, True] Translation: X:229.81, Y:-8.50, Z:-4.69 [[ 9.99709653e-01 1.68953907e-02 1.71801003e-02 2.29807810e+02] [-1.68822678e-02 9.99857072e-01 -9.08595103e-04 -8.50243661e+00] [-1.71929959e-02 6.18292240e-04 9.99851998e-01 -4.69281546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88439141799998 meters 0.032004069711043984 Centerline is valid? [True, True] Translation: X:229.87, Y:-8.51, Z:-4.70 [[ 9.99745931e-01 1.52642704e-02 1.65853971e-02 2.29868701e+02] [-1.52518123e-02 9.99883299e-01 -8.77384037e-04 -8.51182863e+00] [-1.65968542e-02 6.24203758e-04 9.99862068e-01 -4.69523558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94439141799998 meters 0.023972014797862054 Centerline is valid? [True, True] Translation: X:229.93, Y:-8.50, Z:-4.70 [[ 9.99710731e-01 1.79482571e-02 1.60098206e-02 2.29931823e+02] [-1.79369266e-02 9.99838758e-01 -8.51043422e-04 -8.50394791e+00] [-1.60225139e-02 5.63630265e-04 9.99871472e-01 -4.69626346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00439141799998 meters 0.021762433366777734 Centerline is valid? [True, True] Translation: X:229.99, Y:-8.50, Z:-4.70 [[ 9.99615161e-01 2.29413131e-02 1.55957348e-02 2.29993279e+02] [-2.29311391e-02 9.99736702e-01 -8.30895925e-04 -8.50251053e+00] [-1.56106903e-02 4.72948200e-04 9.99878034e-01 -4.69774356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06439141799999 meters 0.020410625970294582 Centerline is valid? [True, True] Translation: X:230.05, Y:-8.50, Z:-4.70 [[ 9.99506421e-01 2.74560914e-02 1.52668814e-02 2.30053793e+02] [-2.74468569e-02 9.99622933e-01 -8.14104617e-04 -8.50251627e+00] [-1.52834769e-02 3.94674884e-04 9.99883123e-01 -4.69942718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124391418 meters 0.01798123774182239 Centerline is valid? [True, True] Translation: X:230.11, Y:-8.50, Z:-4.70 [[ 9.99294964e-01 3.48154321e-02 1.40520978e-02 2.30114480e+02] [-3.48083323e-02 9.99393725e-01 -7.49585257e-04 -8.49863705e+00] [-1.40696755e-02 2.59926684e-04 9.99900983e-01 -4.70155167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184391418 meters 0.016570377340060168 Centerline is valid? [True, True] Translation: X:230.17, Y:-8.50, Z:-4.70 [[ 9.99138344e-01 3.94478232e-02 1.29011413e-02 2.30174393e+02] [-3.94422161e-02 9.99221616e-01 -6.88864990e-04 -8.49712501e+00] [-1.29182734e-02 1.79421824e-04 9.99916540e-01 -4.70380858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24439141799996 meters 0.015090963894990561 Centerline is valid? [True, True] Translation: X:230.23, Y:-8.49, Z:-4.71 [[ 9.98909276e-01 4.50882621e-02 1.21369669e-02 2.30233926e+02] [-4.50837191e-02 9.98983002e-01 -6.47790431e-04 -8.49442499e+00] [-1.21538313e-02 9.99042665e-05 9.99926134e-01 -4.70517706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30439141799997 meters 0.014331365810599303 Centerline is valid? [True, True] Translation: X:230.29, Y:-8.49, Z:-4.70 [[ 9.98756620e-01 4.83634709e-02 1.20908923e-02 2.30292746e+02] [-4.83592081e-02 9.98829801e-01 -6.44847882e-04 -8.49274741e+00] [-1.21079306e-02 5.93401132e-05 9.99926695e-01 -4.70425128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36439141799997 meters 0.014421606822286322 Centerline is valid? [True, True] Translation: X:230.35, Y:-8.49, Z:-4.70 [[ 9.98733740e-01 4.87938083e-02 1.22507357e-02 2.30351160e+02] [-4.87894768e-02 9.98808871e-01 -6.52367440e-04 -8.49372332e+00] [-1.22679750e-02 5.38343868e-05 9.99924744e-01 -4.70498619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42439141799997 meters 0.014549907189980643 Centerline is valid? [True, True] Translation: X:230.41, Y:-8.50, Z:-4.71 [[ 9.98808100e-01 4.72827582e-02 1.21127888e-02 2.30408381e+02] [-4.72784226e-02 9.98881542e-01 -6.44198866e-04 -8.49751328e+00] [-1.21297006e-02 7.07574982e-05 9.99926430e-01 -4.70650456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48439141799997 meters 0.015464721869495204 Centerline is valid? [True, True] Translation: X:230.47, Y:-8.50, Z:-4.71 [[ 9.99040299e-01 4.18351811e-02 1.29730195e-02 2.30466952e+02] [-4.18297694e-02 9.99124515e-01 -6.88332482e-04 -8.50480462e+00] [-1.29904583e-02 1.45013474e-04 9.99915610e-01 -4.70644173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54439141799998 meters 0.017643074561934785 Centerline is valid? [True, True] Translation: X:230.53, Y:-8.51, Z:-4.71 [[ 9.99361960e-01 3.28741997e-02 1.39628031e-02 2.30525707e+02] [-3.28670752e-02 9.99459458e-01 -7.39476191e-04 -8.51470528e+00] [-1.39795653e-02 2.80087876e-04 9.99902242e-01 -4.70631410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60439141799998 meters 0.02169193438282397 Centerline is valid? [True, True] Translation: X:230.59, Y:-8.53, Z:-4.71 [[ 9.99648758e-01 2.23819799e-02 1.41918093e-02 2.30585519e+02] [-2.23735797e-02 9.99749399e-01 -7.50412474e-04 -8.52710070e+00] [-1.42050485e-02 4.32627320e-04 9.99899010e-01 -4.70737847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66439141799998 meters 0.02571288372218892 Centerline is valid? [True, True] Translation: X:230.65, Y:-8.54, Z:-4.71 [[ 9.99776438e-01 1.55905883e-02 1.42830911e-02 2.30645273e+02] [-1.55813986e-02 9.99878318e-01 -7.54458481e-04 -8.53745494e+00] [-1.42931155e-02 5.31739278e-04 9.99897707e-01 -4.70915427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72439141799998 meters 0.029772545015021103 Centerline is valid? [True, True] Translation: X:230.71, Y:-8.55, Z:-4.71 [[ 9.99869483e-01 8.77364500e-03 1.35661061e-02 2.30705269e+02] [-8.76470837e-03 9.99961331e-01 -7.18061886e-04 -8.54725043e+00] [-1.35718815e-02 5.99065204e-04 9.99907718e-01 -4.71113662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78439141799998 meters 0.03202864425779979 Centerline is valid? [True, True] Translation: X:230.77, Y:-8.55, Z:-4.71 [[ 9.99922697e-01 -7.34044301e-04 1.24121677e-02 2.30766155e+02] [ 7.42253391e-04 9.99999509e-01 -6.56780689e-04 -8.55381120e+00] [-1.24116795e-02 6.65942891e-04 9.99922750e-01 -4.71362555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844391418 meters 0.03641335318196499 Centerline is valid? [True, True] Translation: X:230.83, Y:-8.56, Z:-4.72 [[ 9.99910664e-01 -6.26981010e-03 1.18048033e-02 2.30825883e+02] [ 6.27762757e-03 9.99980100e-01 -6.25289492e-04 -8.56162198e+00] [-1.18006479e-02 6.99339790e-04 9.99930125e-01 -4.71724948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904391418 meters 0.038975479914890566 Centerline is valid? [True, True] Translation: X:230.89, Y:-8.57, Z:-4.72 [[ 9.99839382e-01 -1.24088322e-02 1.29317620e-02 2.30886008e+02] [ 1.24187258e-02 9.99922650e-01 -6.85043699e-04 -8.56739865e+00] [-1.29222611e-02 8.45529675e-04 9.99916147e-01 -4.71563284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96439141799996 meters 0.039807045931181874 Centerline is valid? [True, True] Translation: X:230.95, Y:-8.57, Z:-4.72 [[ 9.99830634e-01 -1.33258586e-02 1.26935281e-02 2.30947935e+02] [ 1.33354572e-02 9.99910853e-01 -6.71839790e-04 -8.56960145e+00] [-1.26834437e-02 8.41000004e-04 9.99919208e-01 -4.71710967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02439141799996 meters 0.04067334753475139 Centerline is valid? [True, True] Translation: X:231.01, Y:-8.57, Z:-4.72 [[ 9.99862954e-01 -1.04727989e-02 1.28216439e-02 2.31008113e+02] [ 1.04823807e-02 9.99944827e-01 -6.80341540e-04 -8.56921469e+00] [-1.28138114e-02 8.14649654e-04 9.99917568e-01 -4.71905120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08439141799997 meters 0.036031229387487276 Centerline is valid? [True, True] Translation: X:231.07, Y:-8.56, Z:-4.72 [[ 9.99913692e-01 -4.11988469e-03 1.24753912e-02 2.31069648e+02] [ 4.12846132e-03 9.99991259e-01 -6.61808244e-04 -8.56001304e+00] [-1.24725556e-02 7.13255294e-04 9.99921960e-01 -4.71955548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14439141799997 meters 0.03446290043673318 Centerline is valid? [True, True] Translation: X:231.13, Y:-8.55, Z:-4.72 [[ 9.99930816e-01 3.13674914e-03 1.13368265e-02 2.31129749e+02] [-3.13012530e-03 9.99994920e-01 -6.01972381e-04 -8.55382008e+00] [-1.13386571e-02 5.66445047e-04 9.99935555e-01 -4.72130288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20439141799997 meters 0.03304418246347289 Centerline is valid? [True, True] Translation: X:231.19, Y:-8.55, Z:-4.72 [[ 9.99910094e-01 7.66241057e-03 1.10041883e-02 2.31189637e+02] [-7.65644776e-03 9.99970519e-01 -5.83892704e-04 -8.54988601e+00] [-1.10083380e-02 4.99587215e-04 9.99939282e-01 -4.72291661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26439141799997 meters 0.024904730475718954 Centerline is valid? [True, True] Translation: X:231.25, Y:-8.53, Z:-4.72 [[ 9.99823654e-01 1.48320894e-02 1.15182059e-02 2.31251178e+02] [-1.48260320e-02 9.99889902e-01 -6.11110989e-04 -8.53296604e+00] [-1.15260018e-02 4.40233933e-04 9.99933477e-01 -4.72155823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32439141799998 meters 0.021838505172550225 Centerline is valid? [True, True] Translation: X:231.31, Y:-8.52, Z:-4.72 [[ 9.99666959e-01 2.27177104e-02 1.22424536e-02 2.31312152e+02] [-2.27114558e-02 9.99741851e-01 -6.49701390e-04 -8.52338835e+00] [-1.22540530e-02 3.71441068e-04 9.99924847e-01 -4.72162923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38439141799998 meters 0.01861892733286371 Centerline is valid? [True, True] Translation: X:231.37, Y:-8.51, Z:-4.72 [[ 9.99444400e-01 3.04686816e-02 1.35111081e-02 2.31372521e+02] [-3.04617701e-02 9.99535675e-01 -7.17090941e-04 -8.51353630e+00] [-1.35266833e-02 3.05120257e-04 9.99908464e-01 -4.72209698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44439141799998 meters 0.016964697554754993 Centerline is valid? [True, True] Translation: X:231.43, Y:-8.51, Z:-4.72 [[ 9.99294296e-01 3.50114585e-02 1.36054232e-02 2.31432278e+02] [-3.50048709e-02 9.99386881e-01 -7.22100410e-04 -8.50841060e+00] [-1.36223633e-02 2.45334737e-04 9.99907181e-01 -4.72307867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50439141799998 meters 0.01554938852929106 Centerline is valid? [True, True] Translation: X:231.49, Y:-8.50, Z:-4.72 [[ 9.99075859e-01 4.06433427e-02 1.39837821e-02 2.31491921e+02] [-4.06369473e-02 9.99173703e-01 -7.41295919e-04 -8.50180501e+00] [-1.40023560e-02 1.72352642e-04 9.99901947e-01 -4.72379502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56439141799999 meters 0.014563612329266078 Centerline is valid? [True, True] Translation: X:231.55, Y:-8.50, Z:-4.72 [[ 9.98938062e-01 4.39174184e-02 1.39287143e-02 2.31551098e+02] [-4.39114014e-02 9.99035157e-01 -7.37665437e-04 -8.49811620e+00] [-1.39476717e-02 1.25252716e-04 9.99902719e-01 -4.72487944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624391418 meters 0.014604655515787266 Centerline is valid? [True, True] Translation: X:231.61, Y:-8.50, Z:-4.73 [[ 9.98918089e-01 4.44873445e-02 1.35472637e-02 2.31609533e+02] [-4.44817196e-02 9.99009942e-01 -7.16384705e-04 -8.49828217e+00] [-1.35657211e-02 1.13004057e-04 9.99907975e-01 -4.72696328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684391418 meters 0.015030490281779104 Centerline is valid? [True, True] Translation: X:231.67, Y:-8.50, Z:-4.73 [[ 9.99020277e-01 4.22461119e-02 1.31814841e-02 2.31668028e+02] [-4.22406052e-02 9.99107225e-01 -6.96021352e-04 -8.50145443e+00] [-1.31991202e-02 1.38545578e-04 9.99912878e-01 -4.72924059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74439141799996 meters 0.016428015764396574 Centerline is valid? [True, True] Translation: X:231.73, Y:-8.51, Z:-4.73 [[ 9.99251737e-01 3.63729768e-02 1.31519218e-02 2.31726057e+02] [-3.63669982e-02 9.99338261e-01 -6.93531520e-04 -8.50811220e+00] [-1.31684444e-02 2.14716660e-04 9.99913269e-01 -4.73122577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80439141799997 meters 0.019040186625264414 Centerline is valid? [True, True] Translation: X:231.79, Y:-8.52, Z:-4.73 [[ 9.99491843e-01 2.88833095e-02 1.34836812e-02 2.31785596e+02] [-2.88763690e-02 9.99582739e-01 -7.09185947e-04 -8.51597020e+00] [-1.34985386e-02 3.19465817e-04 9.99908840e-01 -4.73253084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86439141799997 meters 0.021730487858737806 Centerline is valid? [True, True] Translation: X:231.84, Y:-8.52, Z:-4.73 [[ 9.99649890e-01 2.22819752e-02 1.42692390e-02 2.31844933e+02] [-2.22735392e-02 9.99751633e-01 -7.49873897e-04 -8.52352895e+00] [-1.42824037e-02 4.31784904e-04 9.99897908e-01 -4.73287793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92439141799997 meters 0.0240876272418647 Centerline is valid? [True, True] Translation: X:231.91, Y:-8.53, Z:-4.73 [[ 9.99719404e-01 1.82080458e-02 1.51519087e-02 2.31905051e+02] [-1.81980793e-02 9.99834085e-01 -7.95396724e-04 -8.53016391e+00] [-1.51638774e-02 5.19437904e-04 9.99884887e-01 -4.73376773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98439141799997 meters 0.026207432423543814 Centerline is valid? [True, True] Translation: X:231.97, Y:-8.54, Z:-4.73 [[ 9.99810184e-01 1.19548248e-02 1.53843258e-02 2.31965381e+02] [-1.19438126e-02 9.99928344e-01 -8.07491992e-04 -8.53638472e+00] [-1.53928768e-02 6.23591214e-04 9.99881328e-01 -4.73478130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04439141799998 meters 0.028896160080687933 Centerline is valid? [True, True] Translation: X:232.03, Y:-8.54, Z:-4.74 [[ 9.99850970e-01 7.42435927e-03 1.55857843e-02 2.32026225e+02] [-7.41250222e-03 9.99972192e-01 -8.18391413e-04 -8.54362379e+00] [-1.55914269e-02 7.02739787e-04 9.99878199e-01 -4.73629133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10439141799998 meters 0.03176107353066031 Centerline is valid? [True, True] Translation: X:232.09, Y:-8.55, Z:-4.74 [[ 9.99878608e-01 3.81808057e-04 1.55763976e-02 2.32086009e+02] [-3.69104949e-04 9.99999597e-01 -8.18402346e-04 -8.54981899e+00] [-1.55767038e-02 8.12553673e-04 9.99878346e-01 -4.73728355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16439141799998 meters 0.03317815831510692 Centerline is valid? [True, True] Translation: X:232.15, Y:-8.55, Z:-4.74 [[ 9.99892173e-01 -3.36015247e-03 1.42952001e-02 2.32146817e+02] [ 3.37122633e-03 9.99994036e-01 -7.50628502e-04 -8.55279382e+00] [-1.42925926e-02 7.98739919e-04 9.99897537e-01 -4.73900395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22439141799998 meters 0.03720116032034757 Centerline is valid? [True, True] Translation: X:232.21, Y:-8.56, Z:-4.74 [[ 9.99895394e-01 -3.33079984e-03 1.40750662e-02 2.32207892e+02] [ 3.34151405e-03 9.99994145e-01 -7.37770218e-04 -8.55925294e+00] [-1.40725264e-02 7.84725074e-04 9.99900669e-01 -4.74077126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28439141799998 meters 0.036283206281698815 Centerline is valid? [True, True] Translation: X:232.27, Y:-8.56, Z:-4.74 [[ 9.99906303e-01 -5.90575723e-04 1.36761235e-02 2.32269611e+02] [ 6.00502789e-04 9.99999559e-01 -7.21773288e-04 -8.55785239e+00] [-1.36756912e-02 7.29918210e-04 9.99906217e-01 -4.74209598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344391418 meters 0.030954905733693163 Centerline is valid? [True, True] Translation: X:232.33, Y:-8.55, Z:-4.74 [[ 9.99908025e-01 4.45576434e-03 1.28096557e-02 2.32330813e+02] [-4.44745663e-03 9.99989881e-01 -6.76964284e-04 -8.54876415e+00] [-1.28125425e-02 6.19931632e-04 9.99917724e-01 -4.74325554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404391418 meters 0.026410661422831078 Centerline is valid? [True, True] Translation: X:232.39, Y:-8.54, Z:-4.74 [[ 9.99840386e-01 1.32639908e-02 1.19695263e-02 2.32391659e+02] [-1.32573608e-02 9.99911917e-01 -6.33088311e-04 -8.53884919e+00] [-1.19768692e-02 4.74302933e-04 9.99928162e-01 -4.74454410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46439141799996 meters 0.022627670453981917 Centerline is valid? [True, True] Translation: X:232.45, Y:-8.53, Z:-4.74 [[ 9.99717673e-01 2.01848623e-02 1.25358072e-02 2.32453276e+02] [-2.01781355e-02 9.99796181e-01 -6.62869285e-04 -8.53176976e+00] [-1.25466321e-02 4.09732922e-04 9.99921204e-01 -4.74426504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52439141799996 meters 0.018447933687597704 Centerline is valid? [True, True] Translation: X:232.51, Y:-8.52, Z:-4.74 [[ 9.99445849e-01 3.05094041e-02 1.33105948e-02 2.32513987e+02] [-3.05027283e-02 9.99534435e-01 -7.04312881e-04 -8.52176907e+00] [-1.33258860e-02 2.97913129e-04 9.99911162e-01 -4.74410079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58439141799997 meters 0.015391154553216284 Centerline is valid? [True, True] Translation: X:232.57, Y:-8.51, Z:-4.74 [[ 9.99109536e-01 3.99534308e-02 1.35594290e-02 2.32574025e+02] [-3.99473695e-02 9.99201528e-01 -7.17676745e-04 -8.51273768e+00] [-1.35772758e-02 1.75374158e-04 9.99907809e-01 -4.74464872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64439141799997 meters 0.014909160634024771 Centerline is valid? [True, True] Translation: X:232.63, Y:-8.51, Z:-4.75 [[ 9.98989177e-01 4.28156810e-02 1.36909016e-02 2.32632805e+02] [-4.28097744e-02 9.99082979e-01 -7.24338674e-04 -8.51250689e+00] [-1.37093598e-02 1.37502087e-04 9.99906013e-01 -4.74590992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70439141799997 meters 0.014232593432087322 Centerline is valid? [True, True] Translation: X:232.69, Y:-8.51, Z:-4.75 [[ 9.98588330e-01 5.11733058e-02 1.42351974e-02 2.32691788e+02] [-5.11677863e-02 9.98689788e-01 -7.51914919e-04 -8.50552153e+00] [-1.42550243e-02 2.24699228e-05 9.99898392e-01 -4.74703298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76439141799997 meters 0.01429468825225053 Centerline is valid? [True, True] Translation: X:232.75, Y:-8.50, Z:-4.75 [[ 9.98289100e-01 5.65836938e-02 1.47362993e-02 2.32750651e+02] [-5.65783859e-02 9.98397858e-01 -7.77174960e-04 -8.50325086e+00] [-1.47566651e-02 -5.79107372e-05 9.99891113e-01 -4.74818019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82439141799998 meters 0.014261094396384287 Centerline is valid? [True, True] Translation: X:232.81, Y:-8.51, Z:-4.75 [[ 9.98242988e-01 5.74505938e-02 1.45039728e-02 2.32809451e+02] [-5.74455604e-02 9.98348348e-01 -7.63754432e-04 -8.50540743e+00] [-1.45238955e-02 -7.07763406e-05 9.99894520e-01 -4.75011391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88439141799998 meters 0.014088351765926927 Centerline is valid? [True, True] Translation: X:232.87, Y:-8.51, Z:-4.75 [[ 9.98389439e-01 5.48645784e-02 1.44362518e-02 2.32867992e+02] [-5.48593383e-02 9.98493804e-01 -7.59027884e-04 -8.51136725e+00] [-1.44561517e-02 -3.41577982e-05 9.99895504e-01 -4.75281216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94439141799998 meters 0.013969290642552243 Centerline is valid? [True, True] Translation: X:232.93, Y:-8.52, Z:-4.75 [[ 9.98699873e-01 4.85588862e-02 1.55112314e-02 2.32925104e+02] [-4.85520940e-02 9.98820320e-01 -8.14383721e-04 -8.52193603e+00] [-1.55324786e-02 6.02221549e-05 9.99879362e-01 -4.75390198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00439141799998 meters 0.01519635814584933 Centerline is valid? [True, True] Translation: X:232.98, Y:-8.54, Z:-4.76 [[ 9.99072216e-01 4.02509703e-02 1.53155858e-02 2.32983285e+02] [-4.02434037e-02 9.99189584e-01 -8.02041940e-04 -8.53536970e+00] [-1.53354568e-02 1.84946515e-04 9.99882388e-01 -4.75621026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06439141799999 meters 0.017179586325680892 Centerline is valid? [True, True] Translation: X:233.04, Y:-8.55, Z:-4.76 [[ 9.99281217e-01 3.47426605e-02 1.51656767e-02 2.33040364e+02] [-3.47346238e-02 9.99396256e-01 -7.93085516e-04 -8.54609332e+00] [-1.51840744e-02 2.65741383e-04 9.99884680e-01 -4.75822284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124391418 meters 0.019089696666263086 Centerline is valid? [True, True] Translation: X:233.10, Y:-8.56, Z:-4.76 [[ 9.99498914e-01 2.79432920e-02 1.48691824e-02 2.33099735e+02] [-2.79348406e-02 9.99609445e-01 -7.75815857e-04 -8.55794780e+00] [-1.48850541e-02 3.60058865e-04 9.99889147e-01 -4.75945437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184391418 meters 0.0203071533995064 Centerline is valid? [True, True] Translation: X:233.16, Y:-8.57, Z:-4.76 [[ 9.99567020e-01 2.54206607e-02 1.48176548e-02 2.33158398e+02] [-2.54119979e-02 9.99676764e-01 -7.72647268e-04 -8.56735389e+00] [-1.48325064e-02 3.95766515e-04 9.99889914e-01 -4.76058850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24439141799996 meters 0.019901611206147512 Centerline is valid? [True, True] Translation: X:233.22, Y:-8.57, Z:-4.76 [[ 9.99528102e-01 2.68793907e-02 1.48685008e-02 2.33218218e+02] [-2.68708448e-02 9.99638614e-01 -7.74280420e-04 -8.57245570e+00] [-1.48839397e-02 3.74385861e-04 9.99889158e-01 -4.76201760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30439141799997 meters 0.017048665425859796 Centerline is valid? [True, True] Translation: X:233.28, Y:-8.57, Z:-4.76 [[ 9.99366054e-01 3.27913348e-02 1.38642609e-02 2.33278315e+02] [-3.27844816e-02 9.99462184e-01 -7.21362212e-04 -8.57318810e+00] [-1.38804589e-02 2.66372301e-04 9.99903626e-01 -4.76389287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36439141799997 meters 0.014997804626176052 Centerline is valid? [True, True] Translation: X:233.34, Y:-8.57, Z:-4.77 [[ 9.99007837e-01 4.23715309e-02 1.37111503e-02 2.33336761e+02] [-4.23657299e-02 9.99101915e-01 -7.13391575e-04 -8.57225185e+00] [-1.37290640e-02 1.31800884e-04 9.99905743e-01 -4.76581586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42439141799997 meters 0.014104203975716694 Centerline is valid? [True, True] Translation: X:233.40, Y:-8.57, Z:-4.77 [[ 9.98482623e-01 5.33128201e-02 1.37911142e-02 2.33396043e+02] [-5.33080038e-02 9.98577860e-01 -7.16859301e-04 -8.56907227e+00] [-1.38097191e-02 -1.94052165e-05 9.99904641e-01 -4.76556424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48439141799997 meters 0.015090835462695816 Centerline is valid? [True, True] Translation: X:233.45, Y:-8.57, Z:-4.77 [[ 9.98040503e-01 6.12463102e-02 1.28079484e-02 2.33454571e+02] [-6.12428208e-02 9.98122675e-01 -6.64839267e-04 -8.57036705e+00] [-1.28246227e-02 -1.20858372e-04 9.99917754e-01 -4.76728481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54439141799998 meters 0.01592394517332143 Centerline is valid? [True, True] Translation: X:233.51, Y:-8.57, Z:-4.77 [[ 9.97898663e-01 6.37744383e-02 1.14490159e-02 2.33513012e+02] [-6.37718251e-02 9.97964329e-01 -5.93545045e-04 -8.57486422e+00] [-1.14635624e-02 -1.37826830e-04 9.99934282e-01 -4.77032300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60439141799998 meters 0.016008161860923856 Centerline is valid? [True, True] Translation: X:233.57, Y:-8.58, Z:-4.77 [[ 9.97967460e-01 6.28787995e-02 1.03539753e-02 2.33569087e+02] [-6.28766068e-02 9.98021164e-01 -5.37484825e-04 -8.58291875e+00] [-1.03672829e-02 -1.14630468e-04 9.99946252e-01 -4.77292597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66439141799998 meters 0.014726649654124098 Centerline is valid? [True, True] Translation: X:233.63, Y:-8.60, Z:-4.77 [[ 9.98307455e-01 5.70552781e-02 1.12659314e-02 2.33627637e+02] [-5.70523506e-02 9.98371019e-01 -5.81330019e-04 -8.59715941e+00] [-1.12807473e-02 -6.24017748e-05 9.99936368e-01 -4.77278727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72439141799998 meters 0.014417428883966962 Centerline is valid? [True, True] Translation: X:233.69, Y:-8.61, Z:-4.77 [[ 9.98633442e-01 5.08952691e-02 1.18709931e-02 2.33685432e+02] [-5.08916137e-02 9.98703996e-01 -6.10002432e-04 -8.60854172e+00] [-1.18866544e-02 5.03483563e-06 9.99929351e-01 -4.77378491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78439141799998 meters 0.015567278101159309 Centerline is valid? [True, True] Translation: X:233.74, Y:-8.63, Z:-4.77 [[ 9.99130353e-01 3.94540768e-02 1.34874996e-02 2.33743108e+02] [-3.94483328e-02 9.99221372e-01 -6.91757499e-04 -8.62699556e+00] [-1.35042905e-02 1.59096542e-04 9.99908800e-01 -4.77378348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844391418 meters 0.01871387934953074 Centerline is valid? [True, True] Translation: X:233.80, Y:-8.65, Z:-4.77 [[ 9.99463927e-01 2.92030501e-02 1.48000436e-02 2.33800843e+02] [-2.91950312e-02 9.99573447e-01 -7.57627154e-04 -8.64534866e+00] [-1.48158556e-02 3.25133275e-04 9.99890186e-01 -4.77427153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904391418 meters 0.02072803578067653 Centerline is valid? [True, True] Translation: X:233.86, Y:-8.66, Z:-4.78 [[ 9.99602220e-01 2.35699192e-02 1.54874146e-02 2.33860924e+02] [-2.35604841e-02 9.99722100e-01 -7.91407772e-04 -8.65674176e+00] [-1.55017640e-02 4.26201981e-04 9.99879750e-01 -4.77536423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96439141799996 meters 0.024446555541873805 Centerline is valid? [True, True] Translation: X:233.92, Y:-8.67, Z:-4.78 [[ 9.99744991e-01 1.65152478e-02 1.54012618e-02 2.33921437e+02] [-1.65050826e-02 9.99863472e-01 -7.86902825e-04 -8.67108817e+00] [-1.54121550e-02 5.32503059e-04 9.99881084e-01 -4.77781390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02439141799996 meters 0.027463299031977053 Centerline is valid? [True, True] Translation: X:233.98, Y:-8.68, Z:-4.78 [[ 9.99802292e-01 1.28002761e-02 1.52161126e-02 2.33981364e+02] [-1.27899227e-02 9.99917903e-01 -7.77543177e-04 -8.68213270e+00] [-1.52248161e-02 5.82776546e-04 9.99883926e-01 -4.78020685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08439141799997 meters 0.026750560214690404 Centerline is valid? [True, True] Translation: X:234.04, Y:-8.69, Z:-4.78 [[ 9.99830866e-01 1.11466795e-02 1.46284244e-02 2.34043036e+02] [-1.11369301e-02 9.99937703e-01 -7.47766150e-04 -8.68574160e+00] [-1.46358482e-02 5.84723938e-04 9.99892719e-01 -4.78173696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14439141799997 meters 0.027245754842066965 Centerline is valid? [True, True] Translation: X:234.11, Y:-8.69, Z:-4.78 [[ 9.99856641e-01 1.06300315e-02 1.31795039e-02 2.34105042e+02] [-1.06220643e-02 9.99943357e-01 -6.74374163e-04 -8.69110789e+00] [-1.31859260e-02 5.34283948e-04 9.99912919e-01 -4.78467656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20439141799997 meters 0.027223660284351636 Centerline is valid? [True, True] Translation: X:234.17, Y:-8.69, Z:-4.79 [[ 9.99877811e-01 9.77263525e-03 1.22007504e-02 2.34166900e+02] [-9.76570726e-03 9.99952118e-01 -6.27281761e-04 -8.69364969e+00] [-1.22062964e-02 5.08056157e-04 9.99925371e-01 -4.78612847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26439141799997 meters 0.030080890091987035 Centerline is valid? [True, True] Translation: X:234.23, Y:-8.70, Z:-4.79 [[ 9.99891679e-01 8.86836054e-03 1.17465856e-02 2.34227764e+02] [-8.86182554e-03 9.99960548e-01 -6.08266203e-04 -8.69981573e+00] [-1.17515165e-02 5.04104123e-04 9.99930821e-01 -4.78801798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32439141799998 meters 0.03239730900768713 Centerline is valid? [True, True] Translation: X:234.29, Y:-8.70, Z:-4.79 [[ 9.99913080e-01 6.80894329e-03 1.12902569e-02 2.34289134e+02] [-6.80276777e-03 9.99976690e-01 -5.85291911e-04 -8.70439373e+00] [-1.12939789e-02 5.08436043e-04 9.99936092e-01 -4.78921528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38439141799998 meters 0.0330818353086602 Centerline is valid? [True, True] Translation: X:234.35, Y:-8.71, Z:-4.79 [[ 9.99916788e-01 3.12124259e-03 1.25169931e-02 2.34350287e+02] [-3.11329480e-03 9.99994940e-01 -6.54395717e-04 -8.70564921e+00] [-1.25189723e-02 6.15372174e-04 9.99921445e-01 -4.78815775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44439141799998 meters 0.03480607424185429 Centerline is valid? [True, True] Translation: X:234.41, Y:-8.71, Z:-4.79 [[ 9.99910829e-01 1.80647095e-03 1.32314058e-02 2.34412191e+02] [-1.79749574e-03 9.99998146e-01 -6.90187222e-04 -8.70918128e+00] [-1.32326281e-02 6.66342282e-04 9.99912223e-01 -4.78846885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50439141799998 meters 0.03333094781866516 Centerline is valid? [True, True] Translation: X:234.47, Y:-8.71, Z:-4.79 [[ 9.99913411e-01 1.16241544e-03 1.31080035e-02 2.34474802e+02] [-1.15350656e-03 9.99999099e-01 -6.87191931e-04 -8.70795766e+00] [-1.31087905e-02 6.72012260e-04 9.99913850e-01 -4.78928677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56439141799999 meters 0.032235156686763154 Centerline is valid? [True, True] Translation: X:234.54, Y:-8.71, Z:-4.79 [[ 9.99906750e-01 1.01861919e-03 1.36181112e-02 2.34536695e+02] [-1.00893353e-03 9.99999233e-01 -7.18084946e-04 -8.70658229e+00] [-1.36188322e-02 7.04278216e-04 9.99907011e-01 -4.79005147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624391418 meters 0.03169396640399054 Centerline is valid? [True, True] Translation: X:234.60, Y:-8.70, Z:-4.79 [[ 9.99909243e-01 1.92000525e-03 1.33348631e-02 2.34599259e+02] [-1.91073452e-03 9.99997924e-01 -7.07930498e-04 -8.70312858e+00] [-1.33361947e-02 6.82386865e-04 9.99910836e-01 -4.79092028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68439141799996 meters 0.03079934704703618 Centerline is valid? [True, True] Translation: X:234.66, Y:-8.70, Z:-4.79 [[ 9.99903735e-01 3.17261938e-03 1.35075875e-02 2.34662013e+02] [-3.16320562e-03 9.99994739e-01 -7.18231686e-04 -8.70004981e+00] [-1.35097951e-02 6.75435269e-04 9.99908510e-01 -4.79172844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74439141799996 meters 0.029993125885943012 Centerline is valid? [True, True] Translation: X:234.72, Y:-8.70, Z:-4.79 [[ 9.99901548e-01 4.03079540e-03 1.34405085e-02 2.34724156e+02] [-4.02155727e-03 9.99991658e-01 -7.14291337e-04 -8.69907603e+00] [-1.34432755e-02 6.60169239e-04 9.99909417e-01 -4.79303904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80439141799997 meters 0.03186396997908003 Centerline is valid? [True, True] Translation: X:234.79, Y:-8.70, Z:-4.80 [[ 9.99915237e-01 3.94143477e-03 1.24090316e-02 2.34785658e+02] [-3.93351171e-03 9.99992044e-01 -6.62833283e-04 -8.70007143e+00] [-1.24115454e-02 6.13966028e-04 9.99922785e-01 -4.79645402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86439141799997 meters 0.031684609367113904 Centerline is valid? [True, True] Translation: X:234.85, Y:-8.70, Z:-4.80 [[ 9.99920112e-01 3.44134572e-03 1.21625428e-02 2.34848249e+02] [-3.43366163e-03 9.99993892e-01 -6.52608520e-04 -8.70056071e+00] [-1.21647144e-02 6.10794328e-04 9.99925821e-01 -4.79793765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92439141799997 meters 0.03326754961201033 Centerline is valid? [True, True] Translation: X:234.91, Y:-8.70, Z:-4.80 [[ 9.99914056e-01 1.69763553e-03 1.29999578e-02 2.34910540e+02] [-1.68863609e-03 9.99998327e-01 -7.03212099e-04 -8.70081559e+00] [-1.30011299e-02 6.81199464e-04 9.99915250e-01 -4.79799162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98439141799997 meters 0.03374540117355731 Centerline is valid? [True, True] Translation: X:234.97, Y:-8.70, Z:-4.80 [[ 9.99914992e-01 6.25704414e-04 1.30237079e-02 2.34972613e+02] [-6.16587467e-04 9.99999562e-01 -7.04030442e-04 -8.69975199e+00] [-1.30241427e-02 6.95940339e-04 9.99914940e-01 -4.79884385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04439141799998 meters 0.033502245197349484 Centerline is valid? [True, True] Translation: X:235.03, Y:-8.70, Z:-4.80 [[ 9.99903125e-01 4.85453827e-04 1.39105709e-02 2.35034823e+02] [-4.74978791e-04 9.99999601e-01 -7.56320884e-04 -8.69806646e+00] [-1.39109325e-02 7.49640389e-04 9.99902957e-01 -4.79938579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10439141799998 meters 0.03409847554698552 Centerline is valid? [True, True] Translation: X:235.10, Y:-8.70, Z:-4.80 [[ 9.99893980e-01 1.88219494e-03 1.44390778e-02 2.35096482e+02] [-1.87097110e-03 9.99997937e-01 -7.90792829e-04 -8.69665856e+00] [-1.44405364e-02 7.63693891e-04 9.99895438e-01 -4.79953331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16439141799998 meters 0.03423906306560404 Centerline is valid? [True, True] Translation: X:235.16, Y:-8.70, Z:-4.80 [[ 9.99899566e-01 2.65419752e-03 1.39216555e-02 2.35158325e+02] [-2.64382902e-03 9.99996214e-01 -7.63126503e-04 -8.69653681e+00] [-1.39236283e-02 7.26243382e-04 9.99902798e-01 -4.80125397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22439141799998 meters 0.033986012191380706 Centerline is valid? [True, True] Translation: X:235.22, Y:-8.70, Z:-4.80 [[ 9.99921958e-01 2.61604743e-03 1.22161582e-02 2.35220713e+02] [-2.60807197e-03 9.99996375e-01 -6.68747077e-04 -8.69532375e+00] [-1.22178634e-02 6.36834267e-04 9.99925156e-01 -4.80405726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28439141799998 meters 0.03412848355350042 Centerline is valid? [True, True] Translation: X:235.28, Y:-8.70, Z:-4.81 [[ 9.99938771e-01 1.85185375e-03 1.09098615e-02 2.35282763e+02] [-1.84542100e-03 9.99998117e-01 -5.99664149e-04 -8.69707219e+00] [-1.09109514e-02 5.79494145e-04 9.99940306e-01 -4.80671666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344391418 meters 0.03753527385913592 Centerline is valid? [True, True] Translation: X:235.34, Y:-8.70, Z:-4.81 [[ 9.99953939e-01 1.07994098e-03 9.53692615e-03 2.35343964e+02] [-1.07496919e-03 9.99999284e-01 -5.26430786e-04 -8.70208668e+00] [-9.53748783e-03 5.16154636e-04 9.99954384e-01 -4.80990491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404391418 meters 0.032361643346530966 Centerline is valid? [True, True] Translation: X:235.41, Y:-8.69, Z:-4.81 [[ 9.99942943e-01 4.46891274e-03 9.70257502e-03 2.35406563e+02] [-4.46388015e-03 9.99989891e-01 -5.40280476e-04 -8.69483200e+00] [-9.70489141e-03 4.96938517e-04 9.99952783e-01 -4.81037164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46439141799996 meters 0.028982940714673305 Centerline is valid? [True, True] Translation: X:235.47, Y:-8.69, Z:-4.81 [[ 9.99873974e-01 1.18830093e-02 1.05275545e-02 2.35467799e+02] [-1.18774801e-02 9.99929288e-01 -5.87579459e-04 -8.68780332e+00] [-1.05337923e-02 4.62464590e-04 9.99944411e-01 -4.81080742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52439141799996 meters 0.023552306923791518 Centerline is valid? [True, True] Translation: X:235.53, Y:-8.68, Z:-4.81 [[ 9.99695090e-01 2.19871979e-02 1.12378644e-02 2.35529441e+02] [-2.19815366e-02 9.99758180e-01 -6.27060499e-04 -8.67725323e+00] [-1.12489342e-02 3.79843775e-04 9.99936657e-01 -4.80996438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58439141799997 meters 0.01969339263408359 Centerline is valid? [True, True] Translation: X:235.59, Y:-8.67, Z:-4.81 [[ 9.99416547e-01 3.17758535e-02 1.25244151e-02 2.35589549e+02] [-3.17695818e-02 9.99494975e-01 -6.99451747e-04 -8.66916975e+00] [-1.25403156e-02 3.01148222e-04 9.99921322e-01 -4.81037556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64439141799997 meters 0.017478091504410743 Centerline is valid? [True, True] Translation: X:235.65, Y:-8.66, Z:-4.81 [[ 9.99252946e-01 3.66780234e-02 1.21767070e-02 2.35649140e+02] [-3.66724585e-02 9.99327108e-01 -6.80056642e-04 -8.66492958e+00] [-1.21934566e-02 2.32998820e-04 9.99925630e-01 -4.81112671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70439141799997 meters 0.016117248231988218 Centerline is valid? [True, True] Translation: X:235.71, Y:-8.66, Z:-4.81 [[ 9.99055240e-01 4.17552180e-02 1.20469242e-02 2.35707306e+02] [-4.17501447e-02 9.99127856e-01 -6.72418922e-04 -8.66178314e+00] [-1.20644945e-02 1.68822820e-04 9.99927207e-01 -4.81349342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76439141799997 meters 0.015265647518014538 Centerline is valid? [True, True] Translation: X:235.77, Y:-8.66, Z:-4.81 [[ 9.98991990e-01 4.33286310e-02 1.17317463e-02 2.35766515e+02] [-4.33239430e-02 9.99060863e-01 -6.53567447e-04 -8.66137208e+00] [-1.17490468e-02 1.44643135e-04 9.99930967e-01 -4.81437947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82439141799998 meters 0.015600863972751055 Centerline is valid? [True, True] Translation: X:235.82, Y:-8.66, Z:-4.82 [[ 9.99003587e-01 4.26763453e-02 1.30599681e-02 2.35823694e+02] [-4.26704858e-02 9.99088935e-01 -7.27104821e-04 -8.66353191e+00] [-1.30790998e-02 1.69105138e-04 9.99914451e-01 -4.81519875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88439141799998 meters 0.016692584021316178 Centerline is valid? [True, True] Translation: X:235.88, Y:-8.67, Z:-4.82 [[ 9.99118859e-01 3.93058795e-02 1.47157641e-02 2.35881144e+02] [-3.92981306e-02 9.99227197e-01 -8.15480789e-04 -8.67021773e+00] [-1.47364449e-02 2.36460214e-04 9.99891385e-01 -4.81567278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94439141799998 meters 0.01846472176674587 Centerline is valid? [True, True] Translation: X:235.94, Y:-8.68, Z:-4.82 [[ 9.99303244e-01 3.43528668e-02 1.45913290e-02 2.35939921e+02] [-3.43447430e-02 9.99409719e-01 -8.07047157e-04 -8.67866936e+00] [-1.46104404e-02 3.05349400e-04 9.99893215e-01 -4.81747120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00439141799998 meters 0.02038383398067791 Centerline is valid? [True, True] Translation: X:236.00, Y:-8.69, Z:-4.82 [[ 9.99446798e-01 3.02030838e-02 1.39238038e-02 2.35998589e+02] [-3.01952988e-02 9.99543722e-01 -7.69052930e-04 -8.68728973e+00] [-1.39406785e-02 3.48194071e-04 9.99902763e-01 -4.82033509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06439141799999 meters 0.02499231031283448 Centerline is valid? [True, True] Translation: X:236.06, Y:-8.70, Z:-4.82 [[ 9.99723110e-01 2.01024799e-02 1.22308792e-02 2.36058251e+02] [-2.00957321e-02 9.99797833e-01 -6.74359071e-04 -8.70435657e+00] [-1.22419628e-02 4.28383875e-04 9.99924973e-01 -4.82451320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124391418 meters 0.025518630891515643 Centerline is valid? [True, True] Translation: X:236.12, Y:-8.71, Z:-4.82 [[ 9.99809212e-01 1.46527461e-02 1.29165543e-02 2.36118510e+02] [-1.46447680e-02 9.99892506e-01 -7.12034705e-04 -8.71102144e+00] [-1.29255991e-02 5.22738917e-04 9.99916324e-01 -4.82481789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18439141799996 meters 0.03034728352620838 Centerline is valid? [True, True] Translation: X:236.18, Y:-8.73, Z:-4.82 [[ 9.99862138e-01 8.14171513e-03 1.44712314e-02 2.36177133e+02] [-8.13102317e-03 9.99966625e-01 -7.97526306e-04 -8.72534492e+00] [-1.44772417e-02 6.79750440e-04 9.99894968e-01 -4.82479619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24439141799996 meters 0.0311606138276962 Centerline is valid? [True, True] Translation: X:236.24, Y:-8.73, Z:-4.82 [[ 9.99862687e-01 5.37809387e-03 1.56742731e-02 2.36238551e+02] [-5.36521944e-03 9.99985234e-01 -8.63308904e-04 -8.73278328e+00] [-1.56786846e-02 7.79094446e-04 9.99876778e-01 -4.82483956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30439141799997 meters 0.032438114492649904 Centerline is valid? [True, True] Translation: X:236.30, Y:-8.74, Z:-4.83 [[ 9.99852454e-01 2.67600246e-03 1.69679157e-02 2.36299588e+02] [-2.66042886e-03 9.99996019e-01 -9.40332929e-04 -8.74147682e+00] [-1.69703645e-02 8.95052253e-04 9.99855592e-01 -4.82506003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36439141799997 meters 0.03566098664466303 Centerline is valid? [True, True] Translation: X:236.36, Y:-8.75, Z:-4.83 [[ 9.99864564e-01 1.39104660e-03 1.63987384e-02 2.36360350e+02] [-1.37633253e-03 9.99998640e-01 -9.08520383e-04 -8.75266356e+00] [-1.63999799e-02 8.85827220e-04 9.99865119e-01 -4.82679511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42439141799997 meters 0.03285470598256098 Centerline is valid? [True, True] Translation: X:236.42, Y:-8.75, Z:-4.83 [[ 9.99868432e-01 1.65089796e-03 1.61367152e-02 2.36423380e+02] [-1.63662199e-03 9.99998258e-01 -8.97854172e-04 -8.75377288e+00] [-1.61381694e-02 8.71326340e-04 9.99869392e-01 -4.82809049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48439141799997 meters 0.03510570555168714 Centerline is valid? [True, True] Translation: X:236.48, Y:-8.76, Z:-4.83 [[ 9.99896500e-01 2.69116293e-03 1.41332064e-02 2.36484237e+02] [-2.68025522e-03 9.99996096e-01 -7.90663806e-04 -8.76341305e+00] [-1.41352790e-02 7.52701372e-04 9.99899809e-01 -4.83194998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54439141799998 meters 0.030552768210148715 Centerline is valid? [True, True] Translation: X:236.55, Y:-8.76, Z:-4.83 [[ 9.99884595e-01 7.21800068e-03 1.33677492e-02 2.36545340e+02] [-7.20857934e-03 9.99973734e-01 -7.52831796e-04 -8.76268564e+00] [-1.33728321e-02 6.56382435e-04 9.99910364e-01 -4.83344933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60439141799998 meters 0.0263915147401514 Centerline is valid? [True, True] Translation: X:236.61, Y:-8.76, Z:-4.83 [[ 9.99749222e-01 1.67037851e-02 1.49156333e-02 2.36606018e+02] [-1.66931016e-02 9.99860307e-01 -8.40483132e-04 -8.75977204e+00] [-1.49275890e-02 5.91284175e-04 9.99888403e-01 -4.83246575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66439141799998 meters 0.022202031465351726 Centerline is valid? [True, True] Translation: X:236.67, Y:-8.76, Z:-4.83 [[ 9.99540465e-01 2.52084657e-02 1.68342786e-02 2.36666645e+02] [-2.51960617e-02 9.99682079e-01 -9.48548843e-04 -8.75596828e+00] [-1.68528381e-02 5.23955427e-04 9.99857844e-01 -4.83161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72439141799998 meters 0.01735735506724806 Centerline is valid? [True, True] Translation: X:236.73, Y:-8.75, Z:-4.83 [[ 9.99072080e-01 3.88188097e-02 1.86568653e-02 2.36726497e+02] [-3.88059418e-02 9.99246213e-01 -1.05138532e-03 -8.75041657e+00] [-1.86836155e-02 3.26412493e-04 9.99825393e-01 -4.83144875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78439141799998 meters 0.014531450163418924 Centerline is valid? [True, True] Translation: X:236.79, Y:-8.74, Z:-4.83 [[ 9.98500562e-01 5.16955246e-02 1.80055833e-02 2.36786138e+02] [-5.16856380e-02 9.98662889e-01 -1.01431655e-03 -8.74454198e+00] [-1.80339435e-02 8.21655836e-05 9.99837372e-01 -4.83353685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844391418 meters 0.014860898308091456 Centerline is valid? [True, True] Translation: X:236.84, Y:-8.74, Z:-4.84 [[ 9.97966226e-01 6.15521961e-02 1.65752425e-02 2.36843838e+02] [-6.15451826e-02 9.98103862e-01 -9.33379139e-04 -8.74203012e+00] [-1.66012651e-02 -8.86454692e-05 9.99862186e-01 -4.83602447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904391418 meters 0.0158143363472075 Centerline is valid? [True, True] Translation: X:236.90, Y:-8.74, Z:-4.84 [[ 9.97687546e-01 6.59444110e-02 1.64589029e-02 2.36901971e+02] [-6.59381188e-02 9.97823285e-01 -9.25265444e-04 -8.74349029e+00] [-1.64840926e-02 -1.62143283e-04 9.99864115e-01 -4.83795457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96439141799996 meters 0.01680831820878699 Centerline is valid? [True, True] Translation: X:236.96, Y:-8.75, Z:-4.84 [[ 9.97538167e-01 6.81663300e-02 1.64607922e-02 2.36959190e+02] [-6.81603613e-02 9.97673950e-01 -9.24005279e-04 -8.74824854e+00] [-1.64854896e-02 -2.00243012e-04 9.99864085e-01 -4.83947353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02439141799996 meters 0.015107151331821597 Centerline is valid? [True, True] Translation: X:237.02, Y:-8.76, Z:-4.84 [[ 9.97802683e-01 6.39652729e-02 1.72699339e-02 2.37017515e+02] [-6.39581197e-02 9.97952115e-01 -9.66766909e-04 -8.76185629e+00] [-1.72964066e-02 -1.39909887e-04 9.99850396e-01 -4.83980277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08439141799997 meters 0.0145592999441814 Centerline is valid? [True, True] Translation: X:237.08, Y:-8.77, Z:-4.84 [[ 9.98150486e-01 5.82845696e-02 1.72775965e-02 2.37075330e+02] [-5.82765827e-02 9.98300009e-01 -9.65810533e-04 -8.77387199e+00] [-1.73045166e-02 -4.28550313e-05 9.99850265e-01 -4.84146605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14439141799997 meters 0.01514910253154955 Centerline is valid? [True, True] Translation: X:237.13, Y:-8.79, Z:-4.84 [[ 9.98649803e-01 4.88950271e-02 1.75456026e-02 2.37132467e+02] [-4.88853647e-02 9.98803916e-01 -9.79431348e-04 -8.79149627e+00] [-1.75725059e-02 1.20385742e-04 9.99845584e-01 -4.84308096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20439141799997 meters 0.0162866696969176 Centerline is valid? [True, True] Translation: X:237.19, Y:-8.80, Z:-4.84 [[ 9.98886293e-01 4.37479854e-02 1.76716589e-02 2.37190436e+02] [-4.37374098e-02 9.99042576e-01 -9.84677874e-04 -8.80363134e+00] [-1.76978173e-02 2.10668643e-04 9.99843359e-01 -4.84422868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26439141799997 meters 0.01872030121001103 Centerline is valid? [True, True] Translation: X:237.25, Y:-8.82, Z:-4.85 [[ 9.99108186e-01 3.79218420e-02 1.85678700e-02 2.37247840e+02] [-3.79091907e-02 9.99280654e-01 -1.03298354e-03 -8.82024705e+00] [-1.85936859e-02 3.28169391e-04 9.99827069e-01 -4.84587370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32439141799998 meters 0.020946453172851754 Centerline is valid? [True, True] Translation: X:237.31, Y:-8.83, Z:-4.85 [[ 9.99271593e-01 3.34105433e-02 1.84396281e-02 2.37306229e+02] [-3.33973018e-02 9.99441628e-01 -1.02566091e-03 -8.83498884e+00] [-1.84635998e-02 4.09079984e-04 9.99829450e-01 -4.84750534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38439141799998 meters 0.022479041658002977 Centerline is valid? [True, True] Translation: X:237.37, Y:-8.85, Z:-4.85 [[ 9.99343392e-01 3.11080107e-02 1.85762148e-02 2.37366036e+02] [-3.10941961e-02 9.99515926e-01 -1.03211077e-03 -8.84511385e+00] [-1.85993295e-02 4.53820608e-04 9.99826915e-01 -4.84910636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44439141799998 meters 0.02108809254455587 Centerline is valid? [True, True] Translation: X:237.43, Y:-8.85, Z:-4.85 [[ 9.99436766e-01 2.82471532e-02 1.81176520e-02 2.37426449e+02] [-2.82335425e-02 9.99600847e-01 -1.00663261e-03 -8.85210202e+00] [-1.81388548e-02 4.94540146e-04 9.99835355e-01 -4.85071190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50439141799998 meters 0.022607290116016476 Centerline is valid? [True, True] Translation: X:237.49, Y:-8.86, Z:-4.85 [[ 9.99513217e-01 2.56960333e-02 1.76930126e-02 2.37487511e+02] [-2.56826559e-02 9.99669663e-01 -9.82925580e-04 -8.86418602e+00] [-1.77124252e-02 5.28043554e-04 9.99842983e-01 -4.85334080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56439141799999 meters 0.025057425369800983 Centerline is valid? [True, True] Translation: X:237.55, Y:-8.88, Z:-4.86 [[ 9.99602987e-01 2.25662204e-02 1.68710932e-02 2.37548049e+02] [-2.25536070e-02 9.99745195e-01 -9.37553918e-04 -8.87677394e+00] [-1.68879514e-02 5.56677692e-04 9.99857233e-01 -4.85531469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624391418 meters 0.025279636870007633 Centerline is valid? [True, True] Translation: X:237.61, Y:-8.88, Z:-4.86 [[ 9.99645119e-01 2.08547666e-02 1.65745370e-02 2.37610152e+02] [-2.08423308e-02 9.99782349e-01 -9.22697781e-04 -8.88382652e+00] [-1.65901722e-02 5.76918350e-04 9.99862207e-01 -4.85658710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68439141799996 meters 0.026277868106158203 Centerline is valid? [True, True] Translation: X:237.67, Y:-8.89, Z:-4.86 [[ 9.99679493e-01 1.96602937e-02 1.59494143e-02 2.37671394e+02] [-1.96485573e-02 9.99806550e-01 -8.92233876e-04 -8.89350745e+00] [-1.59638705e-02 5.78564927e-04 9.99872402e-01 -4.85845117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74439141799996 meters 0.02662235327971381 Centerline is valid? [True, True] Translation: X:237.73, Y:-8.90, Z:-4.86 [[ 9.99661059e-01 2.01758172e-02 1.64530528e-02 2.37733231e+02] [-2.01633261e-02 9.99796272e-01 -9.24745094e-04 -8.89967138e+00] [-1.64683583e-02 5.92683391e-04 9.99864212e-01 -4.85884604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80439141799997 meters 0.023862530367966706 Centerline is valid? [True, True] Translation: X:237.80, Y:-8.90, Z:-4.86 [[ 9.99627795e-01 2.21282165e-02 1.59566267e-02 2.37795758e+02] [-2.21166502e-02 9.99754991e-01 -9.00980516e-04 -8.90221889e+00] [-1.59726542e-02 5.47738036e-04 9.99872279e-01 -4.86027849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86439141799997 meters 0.023270035619503863 Centerline is valid? [True, True] Translation: X:237.86, Y:-8.91, Z:-4.86 [[ 9.99556210e-01 2.52424288e-02 1.58177726e-02 2.37856458e+02] [-2.52313785e-02 9.99681235e-01 -8.97806067e-04 -8.90811081e+00] [-1.58353933e-02 4.98303422e-04 9.99874488e-01 -4.86154637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92439141799997 meters 0.022718092017869188 Centerline is valid? [True, True] Translation: X:237.92, Y:-8.91, Z:-4.86 [[ 9.99481411e-01 2.77061892e-02 1.64096225e-02 2.37917684e+02] [-2.76945381e-02 9.99615994e-01 -9.36875215e-04 -8.91208722e+00] [-1.64292784e-02 4.81932445e-04 9.99864914e-01 -4.86236757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98439141799997 meters 0.020528869121661252 Centerline is valid? [True, True] Translation: X:237.98, Y:-8.91, Z:-4.86 [[ 9.99321467e-01 3.28561082e-02 1.66457764e-02 2.37978973e+02] [-3.28448219e-02 9.99460011e-01 -9.51030805e-04 -8.91375941e+00] [-1.66680350e-02 4.03657939e-04 9.99860997e-01 -4.86364853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04439141799998 meters 0.017673006857380526 Centerline is valid? [True, True] Translation: X:238.04, Y:-8.91, Z:-4.87 [[ 9.99082632e-01 4.00302491e-02 1.52142402e-02 2.38038506e+02] [-4.00216371e-02 9.99198434e-01 -8.70218274e-04 -8.91222083e+00] [-1.52368800e-02 2.60521165e-04 9.99883878e-01 -4.86567967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10439141799998 meters 0.0164741658869632 Centerline is valid? [True, True] Translation: X:238.10, Y:-8.91, Z:-4.87 [[ 9.98822316e-01 4.60056972e-02 1.54096184e-02 2.38097521e+02] [-4.59975817e-02 9.98941163e-01 -8.80849007e-04 -8.91230104e+00] [-1.54338262e-02 1.71006463e-04 9.99880877e-01 -4.86639309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16439141799998 meters 0.015308144474931153 Centerline is valid? [True, True] Translation: X:238.16, Y:-8.91, Z:-4.87 [[ 9.98355367e-01 5.48731787e-02 1.65980538e-02 2.38156833e+02] [-5.48650048e-02 9.98493331e-01 -9.47761892e-04 -8.90910088e+00] [-1.66250527e-02 3.55508707e-05 9.99861794e-01 -4.86593990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22439141799998 meters 0.015233022139659953 Centerline is valid? [True, True] Translation: X:238.22, Y:-8.91, Z:-4.87 [[ 9.98070408e-01 5.97899897e-02 1.67516537e-02 2.38215691e+02] [-5.97823790e-02 9.98210977e-01 -9.55163458e-04 -8.91081165e+00] [-1.67787939e-02 -4.81333308e-05 9.99859225e-01 -4.86637905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28439141799998 meters 0.015291801602518118 Centerline is valid? [True, True] Translation: X:238.27, Y:-8.92, Z:-4.87 [[ 9.98091083e-01 5.95829608e-02 1.62499652e-02 2.38273600e+02] [-5.95757900e-02 9.98223356e-01 -9.25439719e-04 -8.91635056e+00] [-1.62762352e-02 -4.44313821e-05 9.99867532e-01 -4.86839091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344391418 meters 0.014980632568400721 Centerline is valid? [True, True] Translation: X:238.33, Y:-8.92, Z:-4.87 [[ 9.98296309e-01 5.62305716e-02 1.55756962e-02 2.38331029e+02] [-5.62236036e-02 9.98417810e-01 -8.85236098e-04 -8.92463820e+00] [-1.56008298e-02 8.00615925e-06 9.99878300e-01 -4.87017537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404391418 meters 0.015787161128576265 Centerline is valid? [True, True] Translation: X:238.39, Y:-8.94, Z:-4.87 [[ 9.98781110e-01 4.71180794e-02 1.47030922e-02 2.38388769e+02] [-4.71109104e-02 9.98889317e-01 -8.33753646e-04 -8.93894622e+00] [-1.47260466e-02 1.40061333e-04 9.99891556e-01 -4.87213870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46439141799996 meters 0.017638075496855195 Centerline is valid? [True, True] Translation: X:238.45, Y:-8.95, Z:-4.87 [[ 9.99089727e-01 3.98547725e-02 1.52090283e-02 2.38448005e+02] [-3.98462830e-02 9.99205451e-01 -8.60929046e-04 -8.95096664e+00] [-1.52312561e-02 2.54122120e-04 9.99883965e-01 -4.87310572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52439141799996 meters 0.021511909763465096 Centerline is valid? [True, True] Translation: X:238.51, Y:-8.97, Z:-4.87 [[ 9.99433021e-01 3.03690455e-02 1.45381265e-02 2.38506844e+02] [-3.03602950e-02 9.99538682e-01 -8.22279980e-04 -8.96598627e+00] [-1.45563916e-02 3.80431956e-04 9.99893978e-01 -4.87469149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58439141799997 meters 0.02412607739094725 Centerline is valid? [True, True] Translation: X:238.57, Y:-8.98, Z:-4.88 [[ 9.99576438e-01 2.51155900e-02 1.47021190e-02 2.38566964e+02] [-2.51060808e-02 9.99684447e-01 -8.31028728e-04 -8.97705470e+00] [-1.47183515e-02 4.61564148e-04 9.99891573e-01 -4.87621760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64439141799997 meters 0.02446776839762318 Centerline is valid? [True, True] Translation: X:238.63, Y:-8.98, Z:-4.88 [[ 9.99589928e-01 2.43504196e-02 1.50675993e-02 2.38627827e+02] [-2.43403419e-02 9.99703367e-01 -8.51883854e-04 -8.98253674e+00] [-1.50838735e-02 4.84784002e-04 9.99886114e-01 -4.87765641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70439141799997 meters 0.024931228532994204 Centerline is valid? [True, True] Translation: X:238.69, Y:-8.99, Z:-4.88 [[ 9.99568345e-01 2.51537322e-02 1.51793628e-02 2.38689155e+02] [-2.51436051e-02 9.99683482e-01 -8.57671386e-04 -8.98775019e+00] [-1.51961319e-02 4.75637266e-04 9.99884419e-01 -4.87928351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76439141799997 meters 0.02229235388313934 Centerline is valid? [True, True] Translation: X:238.75, Y:-8.99, Z:-4.88 [[ 9.99546059e-01 2.59435075e-02 1.53169970e-02 2.38751927e+02] [-2.59332318e-02 9.99663299e-01 -8.69143554e-04 -8.98763761e+00] [-1.53343884e-02 4.71529782e-04 9.99882310e-01 -4.87986554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82439141799998 meters 0.023234034380127406 Centerline is valid? [True, True] Translation: X:238.81, Y:-8.99, Z:-4.88 [[ 9.99517530e-01 2.71037145e-02 1.51689280e-02 2.38813124e+02] [-2.70937021e-02 9.99632524e-01 -8.65209204e-04 -8.99379434e+00] [-1.51868041e-02 4.53809349e-04 9.99884571e-01 -4.88238346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88439141799998 meters 0.021982147221818998 Centerline is valid? [True, True] Translation: X:238.87, Y:-8.99, Z:-4.88 [[ 9.99508493e-01 2.78250880e-02 1.44408387e-02 2.38874393e+02] [-2.78160180e-02 9.99612716e-01 -8.28594131e-04 -8.99494868e+00] [-1.44583017e-02 4.26500243e-04 9.99895382e-01 -4.88435177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94439141799998 meters 0.021144733687071166 Centerline is valid? [True, True] Translation: X:238.94, Y:-9.00, Z:-4.89 [[ 9.99514445e-01 2.82363753e-02 1.31750152e-02 2.38935536e+02] [-2.82288555e-02 9.99601200e-01 -7.56416658e-04 -8.99648278e+00] [-1.31911195e-02 3.84133776e-04 9.99912920e-01 -4.88662726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00439141799998 meters 0.023242802233604132 Centerline is valid? [True, True] Translation: X:239.00, Y:-9.00, Z:-4.89 [[ 9.99549438e-01 2.80284131e-02 1.07391451e-02 2.38995721e+02] [-2.80233996e-02 9.99607077e-01 -6.17064540e-04 -9.00157068e+00] [-1.07522208e-02 3.15839160e-04 9.99942143e-01 -4.89070354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06439141799999 meters 0.02279264946166075 Centerline is valid? [True, True] Translation: X:239.06, Y:-9.00, Z:-4.89 [[ 9.99637966e-01 2.46869262e-02 1.07000893e-02 2.39056137e+02] [-2.46817534e-02 9.99695170e-01 -6.15239821e-04 -9.00156500e+00] [-1.07120160e-02 3.50920118e-04 9.99942563e-01 -4.89034403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124391418 meters 0.02594232532870604 Centerline is valid? [True, True] Translation: X:239.12, Y:-9.01, Z:-4.89 [[ 9.99678231e-01 2.22446055e-02 1.21906384e-02 2.39115783e+02] [-2.22377201e-02 9.99752466e-01 -7.00092041e-04 -9.00929055e+00] [-1.22031940e-02 4.28774770e-04 9.99925446e-01 -4.89095298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18439141799996 meters 0.026082939619715254 Centerline is valid? [True, True] Translation: X:239.18, Y:-9.01, Z:-4.89 [[ 9.99682800e-01 2.06950938e-02 1.43531196e-02 2.39177511e+02] [-2.06853572e-02 9.99785693e-01 -8.26503742e-04 -9.01080649e+00] [-1.43671482e-02 5.29342169e-04 9.99896647e-01 -4.88889130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24439141799996 meters 0.02453245566738712 Centerline is valid? [True, True] Translation: X:239.24, Y:-9.01, Z:-4.89 [[ 9.99642172e-01 2.23495526e-02 1.46978316e-02 2.39240140e+02] [-2.23395334e-02 9.99750084e-01 -8.45527054e-04 -9.00839854e+00] [-1.47130556e-02 5.16881800e-04 9.99891624e-01 -4.88919611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30439141799997 meters 0.02417450319112771 Centerline is valid? [True, True] Translation: X:239.30, Y:-9.01, Z:-4.89 [[ 9.99612546e-01 2.35269754e-02 1.48741357e-02 2.39302232e+02] [-2.35167800e-02 9.99723072e-01 -8.60005495e-04 -9.01064511e+00] [-1.48902500e-02 5.09880505e-04 9.99889004e-01 -4.89061149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36439141799997 meters 0.022888595568663985 Centerline is valid? [True, True] Translation: X:239.36, Y:-9.01, Z:-4.89 [[ 9.99568609e-01 2.51675237e-02 1.51390944e-02 2.39364060e+02] [-2.51570832e-02 9.99683123e-01 -8.79709765e-04 -9.01214369e+00] [-1.51564373e-02 4.98474808e-04 9.99885010e-01 -4.89248418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42439141799997 meters 0.021756733382709528 Centerline is valid? [True, True] Translation: X:239.43, Y:-9.01, Z:-4.89 [[ 9.99486775e-01 2.82793687e-02 1.50487027e-02 2.39425723e+02] [-2.82693190e-02 9.99599955e-01 -8.80162598e-04 -9.01088605e+00] [-1.50675730e-02 4.54294301e-04 9.99886374e-01 -4.89347940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48439141799997 meters 0.021254600731664373 Centerline is valid? [True, True] Translation: X:239.49, Y:-9.01, Z:-4.90 [[ 9.99387469e-01 3.19684673e-02 1.42374031e-02 2.39485712e+02] [-3.19598345e-02 9.99488806e-01 -8.33519968e-04 -9.01150928e+00] [-1.42567714e-02 3.77984366e-04 9.99898296e-01 -4.89522503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54439141799998 meters 0.01806925834075772 Centerline is valid? [True, True] Translation: X:239.55, Y:-9.01, Z:-4.90 [[ 9.99133429e-01 3.91474058e-02 1.41376298e-02 2.39545842e+02] [-3.91396080e-02 9.99233409e-01 -8.27935690e-04 -9.00747040e+00] [-1.41592036e-02 2.73876935e-04 9.99899716e-01 -4.89663788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60439141799998 meters 0.016621876004076216 Centerline is valid? [True, True] Translation: X:239.60, Y:-9.01, Z:-4.90 [[ 9.98910889e-01 4.43755693e-02 1.44168008e-02 2.39604716e+02] [-4.43680116e-02 9.99014899e-01 -8.43804286e-04 -9.00500664e+00] [-1.44400431e-02 2.03240506e-04 9.99895716e-01 -4.89804593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66439141799998 meters 0.016530945467315716 Centerline is valid? [True, True] Translation: X:239.66, Y:-9.01, Z:-4.90 [[ 9.98897605e-01 4.47992321e-02 1.40215273e-02 2.39663852e+02] [-4.47921344e-02 9.98995992e-01 -8.19993984e-04 -9.00716992e+00] [-1.40441847e-02 1.91035891e-04 9.99901357e-01 -4.89991720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72439141799998 meters 0.018225772336557394 Centerline is valid? [True, True] Translation: X:239.72, Y:-9.02, Z:-4.90 [[ 9.99105978e-01 3.99324262e-02 1.38796827e-02 2.39722201e+02] [-3.99250166e-02 9.99202350e-01 -8.10630736e-04 -9.01511561e+00] [-1.39009820e-02 2.55759451e-04 9.99903344e-01 -4.90212921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78439141799998 meters 0.023169298042623604 Centerline is valid? [True, True] Translation: X:239.78, Y:-9.03, Z:-4.90 [[ 9.99428340e-01 3.04442743e-02 1.47016686e-02 2.39780950e+02] [-3.04349577e-02 9.99536382e-01 -8.57078218e-04 -9.02834954e+00] [-1.47209458e-02 4.09143599e-04 9.99891557e-01 -4.90352361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844391418 meters 0.027701959711019398 Centerline is valid? [True, True] Translation: X:239.84, Y:-9.04, Z:-4.90 [[ 9.99692339e-01 2.00786167e-02 1.45628619e-02 2.39840474e+02] [-2.00683806e-02 9.99798250e-01 -8.48699490e-04 -9.03977695e+00] [-1.45769645e-02 5.56185323e-04 9.99893596e-01 -4.90481788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904391418 meters 0.031694509105528595 Centerline is valid? [True, True] Translation: X:239.90, Y:-9.05, Z:-4.91 [[ 9.99814629e-01 1.36817994e-02 1.35468184e-02 2.39900430e+02] [-1.36723604e-02 9.99906218e-01 -7.89142411e-04 -9.05013435e+00] [-1.35563448e-02 6.03779143e-04 9.99907926e-01 -4.90719332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96439141799996 meters 0.037753217821819465 Centerline is valid? [True, True] Translation: X:239.96, Y:-9.06, Z:-4.91 [[ 9.99894909e-01 5.98811853e-03 1.32028060e-02 2.39959977e+02] [-5.97848340e-03 9.99981833e-01 -7.69126743e-04 -9.06220636e+00] [-1.32071717e-02 6.90113158e-04 9.99912543e-01 -4.90983779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02439141799996 meters 0.04086803673029071 Centerline is valid? [True, True] Translation: X:240.02, Y:-9.07, Z:-4.91 [[ 9.99902602e-01 2.35952571e-03 1.37557230e-02 2.40021253e+02] [-2.34872507e-03 9.99996921e-01 -8.01276868e-04 -9.06841889e+00] [-1.37575712e-02 7.68890413e-04 9.99905065e-01 -4.91037847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08439141799997 meters 0.04389316957352115 Centerline is valid? [True, True] Translation: X:240.08, Y:-9.07, Z:-4.91 [[ 9.99884483e-01 5.08274821e-04 1.51908889e-02 2.40082601e+02] [-4.94896213e-04 9.99999486e-01 -8.84445718e-04 -9.07214961e+00] [-1.51913307e-02 8.76825635e-04 9.99884221e-01 -4.91038207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14439141799997 meters 0.03539560963515153 Centerline is valid? [True, True] Translation: X:240.15, Y:-9.06, Z:-4.91 [[ 9.99864214e-01 1.75660345e-03 1.63849652e-02 2.40145491e+02] [-1.74112432e-03 9.99998024e-01 -9.58932359e-04 -9.05929507e+00] [-1.63866173e-02 9.30273889e-04 9.99865298e-01 -4.90982277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20439141799997 meters 0.03270892983981123 Centerline is valid? [True, True] Translation: X:240.21, Y:-9.05, Z:-4.91 [[ 9.99869800e-01 5.30172007e-03 1.52405636e-02 2.40207624e+02] [-5.28872188e-03 9.99985616e-01 -8.93045671e-04 -9.05318049e+00] [-1.52450791e-02 8.12326294e-04 9.99883457e-01 -4.91220185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26439141799997 meters 0.03303256300132685 Centerline is valid? [True, True] Translation: X:240.27, Y:-9.06, Z:-4.91 [[ 9.99865561e-01 7.35088598e-03 1.46568875e-02 2.40269368e+02] [-7.33908225e-03 9.99972700e-01 -8.58961957e-04 -9.05535383e+00] [-1.46628015e-02 7.51278375e-04 9.99892213e-01 -4.91400695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32439141799998 meters 0.029630128902815963 Centerline is valid? [True, True] Translation: X:240.33, Y:-9.05, Z:-4.92 [[ 9.99834022e-01 1.23527827e-02 1.33916532e-02 2.40330638e+02] [-1.23433072e-02 9.99923506e-01 -7.89999105e-04 -9.04824413e+00] [-1.34003876e-02 6.24570693e-04 9.99910016e-01 -4.91641663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38439141799998 meters 0.02591394905077476 Centerline is valid? [True, True] Translation: X:240.39, Y:-9.04, Z:-4.92 [[ 9.99746971e-01 1.85304646e-02 1.27521122e-02 2.40392322e+02] [-1.85223710e-02 9.99828163e-01 -7.52509938e-04 -9.03874900e+00] [-1.27638653e-02 5.16120178e-04 9.99918405e-01 -4.91737112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44439141799998 meters 0.02562185847417624 Centerline is valid? [True, True] Translation: X:240.45, Y:-9.04, Z:-4.92 [[ 9.99650496e-01 2.32498188e-02 1.25830326e-02 2.40453084e+02] [-2.32423105e-02 9.99729585e-01 -7.42626953e-04 -9.03673255e+00] [-1.25968959e-02 4.49908652e-04 9.99920555e-01 -4.91901603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50439141799998 meters 0.022124606258690605 Centerline is valid? [True, True] Translation: X:240.51, Y:-9.03, Z:-4.92 [[ 9.99422857e-01 3.11083621e-02 1.36463294e-02 2.40513902e+02] [-3.11002496e-02 9.99515945e-01 -8.06339343e-04 -9.02774749e+00] [-1.36648077e-02 3.81469720e-04 9.99906559e-01 -4.91869627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56439141799999 meters 0.01746270788326391 Centerline is valid? [True, True] Translation: X:240.57, Y:-9.02, Z:-4.92 [[ 9.99122677e-01 3.91837880e-02 1.47819795e-02 2.40574306e+02] [-3.91751508e-02 9.99231977e-01 -8.73529924e-04 -9.01562491e+00] [-1.48048548e-02 2.93677281e-04 9.99890359e-01 -4.91807302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624391418 meters 0.015807604786533012 Centerline is valid? [True, True] Translation: X:240.63, Y:-9.01, Z:-4.92 [[ 9.98918074e-01 4.40555353e-02 1.48926310e-02 2.40633946e+02] [-4.40473121e-02 9.99029059e-01 -8.79885458e-04 -9.01053951e+00] [-1.49169349e-02 2.22953123e-04 9.99888711e-01 -4.91882401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68439141799996 meters 0.01497286807607518 Centerline is valid? [True, True] Translation: X:240.69, Y:-9.01, Z:-4.92 [[ 9.98673865e-01 4.92824204e-02 1.48914045e-02 2.40692107e+02] [-4.92748074e-02 9.98784873e-01 -8.77933674e-04 -9.00528688e+00] [-1.49165763e-02 1.42998326e-04 9.99888731e-01 -4.92008464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74439141799996 meters 0.014694152037015615 Centerline is valid? [True, True] Translation: X:240.75, Y:-9.00, Z:-4.92 [[ 9.98590919e-01 5.09514689e-02 1.48365662e-02 2.40751063e+02] [-5.09441204e-02 9.98701124e-01 -8.73059900e-04 -9.00448560e+00] [-1.48617790e-02 1.15993872e-04 9.99889551e-01 -4.92117564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80439141799997 meters 0.014711132821654165 Centerline is valid? [True, True] Translation: X:240.81, Y:-9.01, Z:-4.92 [[ 9.98594837e-01 5.06297240e-02 1.56519191e-02 2.40808024e+02] [-5.06215230e-02 9.98717485e-01 -9.19958038e-04 -9.00571554e+00] [-1.56784225e-02 1.26341364e-04 9.99877078e-01 -4.92207754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86439141799997 meters 0.014990601409872528 Centerline is valid? [True, True] Translation: X:240.87, Y:-9.01, Z:-4.92 [[ 9.98755670e-01 4.74170537e-02 1.54510452e-02 2.40866599e+02] [-4.74087149e-02 9.98875164e-01 -9.05731415e-04 -9.00916920e+00] [-1.54766124e-02 1.72090190e-04 9.99880215e-01 -4.92310446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92439141799997 meters 0.015811402624733326 Centerline is valid? [True, True] Translation: X:240.93, Y:-9.01, Z:-4.92 [[ 9.98890563e-01 4.45383956e-02 1.52962092e-02 2.40925414e+02] [-4.45299047e-02 9.99007651e-01 -8.95407212e-04 -9.01467202e+00] [-1.53209101e-02 2.13275075e-04 9.99882605e-01 -4.92498260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98439141799997 meters 0.0172373500122573 Centerline is valid? [True, True] Translation: X:240.98, Y:-9.02, Z:-4.93 [[ 9.99094103e-01 4.01177459e-02 1.41964510e-02 2.40984228e+02] [-4.01100007e-02 9.99194925e-01 -8.29995337e-04 -9.02107204e+00] [-1.42183193e-02 2.59823789e-04 9.99898881e-01 -4.92689769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04439141799998 meters 0.01880934252848844 Centerline is valid? [True, True] Translation: X:241.04, Y:-9.03, Z:-4.93 [[ 9.99317342e-01 3.44179681e-02 1.34258733e-02 2.41043812e+02] [-3.44105437e-02 9.99407475e-01 -7.83673491e-04 -9.02736226e+00] [-1.34448906e-02 3.21146909e-04 9.99909562e-01 -4.92862446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10439141799998 meters 0.022709844427128836 Centerline is valid? [True, True] Translation: X:241.10, Y:-9.04, Z:-4.93 [[ 9.99529916e-01 2.80818792e-02 1.23026185e-02 2.41102348e+02] [-2.80751710e-02 9.99605557e-01 -7.17666680e-04 -9.03812207e+00] [-1.23179193e-02 3.71931198e-04 9.99924062e-01 -4.93138466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16439141799998 meters 0.023275956888719973 Centerline is valid? [True, True] Translation: X:241.16, Y:-9.04, Z:-4.93 [[ 9.99631112e-01 2.45620561e-02 1.15907264e-02 2.41161447e+02] [-2.45558680e-02 9.99698231e-01 -6.75921620e-04 -9.04260495e+00] [-1.16038307e-02 3.91051933e-04 9.99932597e-01 -4.93271399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22439141799998 meters 0.027064799452529424 Centerline is valid? [True, True] Translation: X:241.22, Y:-9.05, Z:-4.93 [[ 9.99732644e-01 2.01468059e-02 1.13466314e-02 2.41220059e+02] [-2.01406019e-02 9.99796939e-01 -6.60779719e-04 -9.05065873e+00] [-1.13576400e-02 4.32075069e-04 9.99935407e-01 -4.93465597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28439141799998 meters 0.029487627489867444 Centerline is valid? [True, True] Translation: X:241.28, Y:-9.06, Z:-4.94 [[ 9.99783899e-01 1.71721386e-02 1.17163136e-02 2.41279889e+02] [-1.71653298e-02 9.99852433e-01 -6.81464745e-04 -9.05678617e+00] [-1.17262869e-02 4.80203093e-04 9.99931129e-01 -4.93529436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344391418 meters 0.027315916726302576 Centerline is valid? [True, True] Translation: X:241.34, Y:-9.06, Z:-4.93 [[ 9.99809271e-01 1.55997401e-02 1.17503193e-02 2.41340637e+02] [-1.55927833e-02 9.99878192e-01 -6.83437888e-04 -9.05631009e+00] [-1.17595495e-02 5.00087353e-04 9.99930729e-01 -4.93450031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40439141799996 meters 0.028330593383455442 Centerline is valid? [True, True] Translation: X:241.40, Y:-9.06, Z:-4.94 [[ 9.99830293e-01 1.42950392e-02 1.16205055e-02 2.41402215e+02] [-1.42881516e-02 9.99897691e-01 -6.75525658e-04 -9.05915734e+00] [-1.16289732e-02 5.09375474e-04 9.99932251e-01 -4.93511563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46439141799996 meters 0.02759626100380812 Centerline is valid? [True, True] Translation: X:241.46, Y:-9.06, Z:-4.94 [[ 9.99832854e-01 1.52177992e-02 1.01332320e-02 2.41463929e+02] [-1.52126061e-02 9.99884108e-01 -5.89370218e-04 -9.05975264e+00] [-1.01410266e-02 4.35118840e-04 9.99948484e-01 -4.93750914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52439141799996 meters 0.027460404731309746 Centerline is valid? [True, True] Translation: X:241.52, Y:-9.06, Z:-4.94 [[ 9.99819749e-01 1.66076765e-02 9.20079708e-03 2.41524767e+02] [-1.66034469e-02 9.99862010e-01 -5.35898461e-04 -9.06128718e+00] [-9.20842749e-03 3.83036920e-04 9.99957528e-01 -4.93988204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58439141799997 meters 0.02528550687279695 Centerline is valid? [True, True] Translation: X:241.59, Y:-9.06, Z:-4.94 [[ 9.99775494e-01 1.99151380e-02 7.23518968e-03 2.41585120e+02] [-1.99126049e-02 9.99801635e-01 -4.21983954e-04 -9.05728141e+00] [-7.24215834e-03 2.77817743e-04 9.99973737e-01 -4.94154130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64439141799997 meters 0.024132565067873986 Centerline is valid? [True, True] Translation: X:241.64, Y:-9.06, Z:-4.94 [[ 9.99701291e-01 2.33793162e-02 7.12290574e-03 2.41644589e+02] [-2.33769493e-02 9.99726635e-01 -4.15372705e-04 -9.05610374e+00] [-7.13066972e-03 2.48736823e-04 9.99974546e-01 -4.94213563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70439141799997 meters 0.021757834945068142 Centerline is valid? [True, True] Translation: X:241.70, Y:-9.05, Z:-4.94 [[ 9.99510673e-01 3.01884705e-02 8.18961721e-03 2.41703663e+02] [-3.01855756e-02 9.99544198e-01 -4.76889700e-04 -9.05163955e+00] [-8.20028094e-03 2.29448036e-04 9.99966351e-01 -4.94175944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76439141799997 meters 0.0181098824567741 Centerline is valid? [True, True] Translation: X:241.76, Y:-9.04, Z:-4.94 [[ 9.99191629e-01 3.91899452e-02 8.95750507e-03 2.41763989e+02] [-3.91868533e-02 9.99231765e-01 -5.20495593e-04 -9.04463673e+00] [-8.97102180e-03 1.69058403e-04 9.99959745e-01 -4.94123037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82439141799998 meters 0.016196638748793013 Centerline is valid? [True, True] Translation: X:241.82, Y:-9.04, Z:-4.94 [[ 9.98906119e-01 4.57758059e-02 9.54677087e-03 2.41822845e+02] [-4.57725905e-02 9.98951731e-01 -5.55150262e-04 -9.04087767e+00] [-9.56217574e-03 1.17562561e-04 9.99954274e-01 -4.94143318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88439141799998 meters 0.014566229165905682 Centerline is valid? [True, True] Translation: X:241.88, Y:-9.03, Z:-4.94 [[ 9.98418658e-01 5.52743084e-02 1.02437098e-02 2.41881957e+02] [-5.52711151e-02 9.98471206e-01 -5.94785617e-04 -9.03469859e+00] [-1.02609256e-02 2.76637963e-05 9.99947355e-01 -4.94114902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94439141799998 meters 0.014719383728638256 Centerline is valid? [True, True] Translation: X:241.94, Y:-9.03, Z:-4.94 [[ 9.97991712e-01 6.27305798e-02 8.79870838e-03 2.41940595e+02] [-6.27285148e-02 9.98030497e-01 -5.10739809e-04 -9.03121833e+00] [-8.81341830e-03 -4.22158127e-05 9.99961160e-01 -4.94122567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00439141799998 meters 0.015271268956594955 Centerline is valid? [True, True] Translation: X:242.00, Y:-9.03, Z:-4.94 [[ 9.97790487e-01 6.59728074e-02 7.85707890e-03 2.41998512e+02] [-6.59712660e-02 9.97821419e-01 -4.55473040e-04 -9.03166508e+00] [-7.87001046e-03 -6.38747756e-05 9.99969029e-01 -4.94338815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06439141799999 meters 0.015936851833659598 Centerline is valid? [True, True] Translation: X:242.06, Y:-9.03, Z:-4.95 [[ 9.97650731e-01 6.81146817e-02 7.30817066e-03 2.42056938e+02] [-6.81133927e-02 9.97677495e-01 -4.25417317e-04 -9.03429588e+00] [-7.32017457e-03 -7.33664010e-05 9.99973204e-01 -4.94586198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124391418 meters 0.015786807463594038 Centerline is valid? [True, True] Translation: X:242.12, Y:-9.04, Z:-4.95 [[ 9.97670876e-01 6.78004038e-02 7.47853631e-03 2.42115594e+02] [-6.77990815e-02 9.97698902e-01 -4.30482109e-04 -9.03846080e+00] [-7.49051433e-03 -7.75584302e-05 9.99971943e-01 -4.94693012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18439141799996 meters 0.016137777410594866 Centerline is valid? [True, True] Translation: X:242.17, Y:-9.04, Z:-4.95 [[ 9.97773072e-01 6.61721919e-02 8.37477533e-03 2.42173297e+02] [-6.61704769e-02 9.97808216e-01 -4.82011070e-04 -9.04170770e+00] [-8.38831536e-03 -7.32252110e-05 9.99964815e-01 -4.94886180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24439141799996 meters 0.014531774340872541 Centerline is valid? [True, True] Translation: X:242.23, Y:-9.05, Z:-4.95 [[ 9.98011266e-01 6.23648797e-02 9.17249402e-03 2.42232003e+02] [-6.23626830e-02 9.98053415e-01 -5.25589849e-04 -9.05133414e+00] [-9.18741733e-03 -4.74767461e-05 9.99957794e-01 -4.94660980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30439141799997 meters 0.014230093469681553 Centerline is valid? [True, True] Translation: X:242.29, Y:-9.06, Z:-4.95 [[ 9.98222380e-01 5.87693071e-02 9.91201537e-03 2.42290384e+02] [-5.87665736e-02 9.98271590e-01 -5.67060040e-04 -9.05963663e+00] [-9.92820907e-03 -1.64431574e-05 9.99950714e-01 -4.94693466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36439141799997 meters 0.014396526022440804 Centerline is valid? [True, True] Translation: X:242.35, Y:-9.07, Z:-4.95 [[ 9.98494509e-01 5.38824953e-02 1.02660693e-02 2.42347077e+02] [-5.38793077e-02 9.98547283e-01 -5.87014275e-04 -9.07112062e+00] [-1.02827854e-02 3.30018227e-05 9.99947130e-01 -4.94904934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42439141799997 meters 0.015673326724287465 Centerline is valid? [True, True] Translation: X:242.40, Y:-9.08, Z:-4.95 [[ 9.98660425e-01 5.07063181e-02 1.03065402e-02 2.42404875e+02] [-5.07029581e-02 9.98713605e-01 -5.87200996e-04 -9.08210027e+00] [-1.03230567e-02 6.38423223e-05 9.99946714e-01 -4.95207882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48439141799997 meters 0.01464316474092431 Centerline is valid? [True, True] Translation: X:242.46, Y:-9.09, Z:-4.95 [[ 9.98732103e-01 4.92034477e-02 1.06398968e-02 2.42463068e+02] [-4.91997909e-02 9.98788774e-01 -6.05324164e-04 -9.08957784e+00] [-1.06567935e-02 8.10759782e-05 9.99943211e-01 -4.95228002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54439141799998 meters 0.014824713776279967 Centerline is valid? [True, True] Translation: X:242.52, Y:-9.10, Z:-4.95 [[ 9.98699799e-01 4.96992211e-02 1.13445682e-02 2.42520131e+02] [-4.96951056e-02 9.98764227e-01 -6.44554519e-04 -9.09813022e+00] [-1.13625828e-02 7.99469525e-05 9.99935441e-01 -4.95397446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60439141799998 meters 0.014290032766652376 Centerline is valid? [True, True] Translation: X:242.58, Y:-9.10, Z:-4.95 [[ 9.98475223e-01 5.38277140e-02 1.22395115e-02 2.42579194e+02] [-5.38232526e-02 9.98550237e-01 -6.93849234e-04 -9.10239543e+00] [-1.22591154e-02 3.40209499e-05 9.99924854e-01 -4.95434990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66439141799998 meters 0.014188301430445695 Centerline is valid? [True, True] Translation: X:242.64, Y:-9.11, Z:-4.95 [[ 9.98240156e-01 5.79583911e-02 1.25465215e-02 2.42638336e+02] [-5.79540423e-02 9.98318999e-01 -7.10223902e-04 -9.10540632e+00] [-1.25665942e-02 -1.81476163e-05 9.99921037e-01 -4.95495180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72439141799998 meters 0.01495147988401661 Centerline is valid? [True, True] Translation: X:242.70, Y:-9.11, Z:-4.96 [[ 9.97830784e-01 6.45817656e-02 1.27640558e-02 2.42696488e+02] [-6.45778169e-02 9.97912413e-01 -7.21702905e-04 -9.10943798e+00] [-1.27840186e-02 -1.04137484e-04 9.99918276e-01 -4.95633756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78439141799998 meters 0.015965028864602285 Centerline is valid? [True, True] Translation: X:242.75, Y:-9.11, Z:-4.96 [[ 9.97473555e-01 7.01122624e-02 1.14358323e-02 2.42754706e+02] [-7.01094690e-02 9.97539095e-01 -6.45464063e-04 -9.11475870e+00] [-1.14529448e-02 -1.57926801e-04 9.99934400e-01 -4.95902025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844391418 meters 0.016735162319599834 Centerline is valid? [True, True] Translation: X:242.81, Y:-9.12, Z:-4.96 [[ 9.97317551e-01 7.24175646e-02 1.06489240e-02 2.42812741e+02] [-7.24152799e-02 9.97374386e-01 -6.00475675e-04 -9.12149232e+00] [-1.06644490e-02 -1.72279883e-04 9.99943118e-01 -4.96057803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90439141799996 meters 0.016148537872654436 Centerline is valid? [True, True] Translation: X:242.87, Y:-9.13, Z:-4.96 [[ 9.97381742e-01 7.15014100e-02 1.08263178e-02 2.42871476e+02] [-7.14990090e-02 9.97440485e-01 -6.09158222e-04 -9.13020602e+00] [-1.08421633e-02 -1.66507704e-04 9.99941208e-01 -4.96086189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96439141799996 meters 0.015194636064463439 Centerline is valid? [True, True] Translation: X:242.93, Y:-9.14, Z:-4.96 [[ 9.97738632e-01 6.61407843e-02 1.19590592e-02 2.42928833e+02] [-6.61374769e-02 9.97810294e-01 -6.72270899e-04 -9.14385907e+00] [-1.19773369e-02 -1.20191358e-04 9.99928262e-01 -4.96177223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02439141799996 meters 0.013810983014824472 Centerline is valid? [True, True] Translation: X:242.99, Y:-9.16, Z:-4.96 [[ 9.98283338e-01 5.70397308e-02 1.32983883e-02 2.42987010e+02] [-5.70348687e-02 9.98371909e-01 -7.44887302e-04 -9.16093674e+00] [-1.33192254e-02 -1.48632470e-05 9.99911295e-01 -4.96153136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08439141799997 meters 0.014033901754910037 Centerline is valid? [True, True] Translation: X:243.04, Y:-9.17, Z:-4.96 [[ 9.98709936e-01 4.88755496e-02 1.37711674e-02 2.43044632e+02] [-4.88695738e-02 9.98804872e-01 -7.70316020e-04 -9.17449831e+00] [-1.37923587e-02 9.63311820e-05 9.99904876e-01 -4.96310895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14439141799997 meters 0.017703504240791184 Centerline is valid? [True, True] Translation: X:243.10, Y:-9.20, Z:-4.97 [[ 9.99280817e-01 3.52845599e-02 1.38869734e-02 2.43101877e+02] [-3.52771926e-02 9.99377265e-01 -7.75195541e-04 -9.19533373e+00] [-1.39056780e-02 2.84744597e-04 9.99903271e-01 -4.96525634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20439141799997 meters 0.020965500231414663 Centerline is valid? [True, True] Translation: X:243.16, Y:-9.21, Z:-4.97 [[ 9.99568898e-01 2.56869757e-02 1.42196162e-02 2.43161580e+02] [-2.56783026e-02 9.99669944e-01 -7.92213686e-04 -9.20843291e+00] [-1.42352725e-02 4.26736553e-04 9.99898582e-01 -4.96569494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26439141799997 meters 0.028124066060245916 Centerline is valid? [True, True] Translation: X:243.22, Y:-9.23, Z:-4.97 [[ 9.99811053e-01 1.27891755e-02 1.46388202e-02 2.43220453e+02] [-1.27786164e-02 9.99918018e-01 -8.14621421e-04 -9.22671273e+00] [-1.46480384e-02 6.27403633e-04 9.99892515e-01 -4.96712130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32439141799998 meters 0.030485210439045552 Centerline is valid? [True, True] Translation: X:243.28, Y:-9.23, Z:-4.97 [[ 9.99899323e-01 4.98584508e-03 1.32848044e-02 2.43280254e+02] [-4.97644046e-03 9.99987343e-01 -7.40886311e-04 -9.23483941e+00] [-1.32883302e-02 6.74700682e-04 9.99911479e-01 -4.96923142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38439141799998 meters 0.030689181335598597 Centerline is valid? [True, True] Translation: X:243.34, Y:-9.24, Z:-4.97 [[ 9.99924214e-01 3.67438324e-03 1.17501233e-02 2.43341916e+02] [-3.66696388e-03 9.99993064e-01 -6.52910670e-04 -9.23874814e+00] [-1.17524409e-02 6.09773911e-04 9.99930752e-01 -4.97151343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44439141799998 meters 0.03173182142101461 Centerline is valid? [True, True] Translation: X:243.40, Y:-9.24, Z:-4.97 [[ 9.99932362e-01 5.26496251e-03 1.03706758e-02 2.43402699e+02] [-5.25922353e-03 9.99986002e-01 -5.80580224e-04 -9.24087179e+00] [-1.03735874e-02 5.25999253e-04 9.99946055e-01 -4.97365562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50439141799998 meters 0.02859713996087246 Centerline is valid? [True, True] Translation: X:243.46, Y:-9.24, Z:-4.97 [[ 9.99913602e-01 8.39348545e-03 1.01162347e-02 2.43464091e+02] [-8.38817620e-03 9.99964658e-01 -5.67141114e-04 -9.23713227e+00] [-1.01206374e-02 4.82235355e-04 9.99948669e-01 -4.97372374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56439141799999 meters 0.026908781236159855 Centerline is valid? [True, True] Translation: X:243.52, Y:-9.23, Z:-4.97 [[ 9.99828336e-01 1.43033021e-02 1.17777257e-02 2.43524425e+02] [-1.42965023e-02 9.99897581e-01 -6.61339519e-04 -9.23241843e+00] [-1.17859788e-02 4.92845708e-04 9.99930421e-01 -4.97245618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624391418 meters 0.023198951464347056 Centerline is valid? [True, True] Translation: X:243.59, Y:-9.22, Z:-4.97 [[ 9.99692635e-01 2.13533612e-02 1.25963716e-02 2.43585804e+02] [-2.13461452e-02 9.99771895e-01 -7.07043979e-04 -9.22405986e+00] [-1.26085961e-02 4.37942682e-04 9.99920413e-01 -4.97122319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68439141799996 meters 0.022073108304017236 Centerline is valid? [True, True] Translation: X:243.65, Y:-9.22, Z:-4.97 [[ 9.99582587e-01 2.60386387e-02 1.25155960e-02 2.43645363e+02] [-2.60318833e-02 9.99660866e-01 -7.02394058e-04 -9.22157142e+00] [-1.25296409e-02 3.76296335e-04 9.99921430e-01 -4.97224986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74439141799996 meters 0.018628582584470286 Centerline is valid? [True, True] Translation: X:243.71, Y:-9.21, Z:-4.97 [[ 9.99393242e-01 3.29163818e-02 1.13868508e-02 2.43705844e+02] [-3.29112200e-02 9.99458074e-01 -6.40449126e-04 -9.21273893e+00] [-1.14017612e-02 2.65305376e-04 9.99934963e-01 -4.97347319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80439141799997 meters 0.015982314413521978 Centerline is valid? [True, True] Translation: X:243.77, Y:-9.21, Z:-4.97 [[ 9.99185539e-01 3.89875471e-02 1.04033940e-02 2.43765163e+02] [-3.89835625e-02 9.99239680e-01 -5.85596142e-04 -9.20558173e+00] [-1.04183150e-02 1.79557836e-04 9.99945712e-01 -4.97436459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86439141799997 meters 0.014810686350458194 Centerline is valid? [True, True] Translation: X:243.82, Y:-9.20, Z:-4.98 [[ 9.98944014e-01 4.48325941e-02 1.00446596e-02 2.43824298e+02] [-4.48291828e-02 9.98994507e-01 -5.64622965e-04 -9.19980596e+00] [-1.00598732e-02 1.13732851e-04 9.99949392e-01 -4.97546138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92439141799997 meters 0.014141672361015378 Centerline is valid? [True, True] Translation: X:243.88, Y:-9.20, Z:-4.98 [[ 9.98776736e-01 4.84019478e-02 1.01134698e-02 2.43883023e+02] [-4.83986813e-02 9.98827936e-01 -5.67631434e-04 -9.19777287e+00] [-1.01290906e-02 7.74584713e-05 9.99948696e-01 -4.97632970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98439141799997 meters 0.013691280705113027 Centerline is valid? [True, True] Translation: X:243.94, Y:-9.20, Z:-4.98 [[ 9.98658442e-01 5.05058521e-02 1.14226139e-02 2.43941570e+02] [-5.05018359e-02 9.98723763e-01 -6.39949274e-04 -9.19616222e+00] [-1.14403571e-02 6.22277715e-05 9.99934555e-01 -4.97681684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04439141799998 meters 0.0137342812108706 Centerline is valid? [True, True] Translation: X:244.00, Y:-9.20, Z:-4.98 [[ 9.98674826e-01 5.00178121e-02 1.21165349e-02 2.43998704e+02] [-5.00132646e-02 9.98748323e-01 -6.78225061e-04 -9.19952175e+00] [-1.21352922e-02 7.13388294e-05 9.99926362e-01 -4.97827142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10439141799998 meters 0.014258931950295876 Centerline is valid? [True, True] Translation: X:244.06, Y:-9.20, Z:-4.98 [[ 9.98833327e-01 4.60905091e-02 1.44100491e-02 2.44057806e+02] [-4.60837107e-02 9.98937258e-01 -8.03654206e-04 -9.20462598e+00] [-1.44317758e-02 1.38648070e-04 9.99895847e-01 -4.97832118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16439141799998 meters 0.016672189880962408 Centerline is valid? [True, True] Translation: X:244.11, Y:-9.21, Z:-4.98 [[ 9.99127371e-01 3.87640696e-02 1.55513424e-02 2.44114756e+02] [-3.87552826e-02 9.99248356e-01 -8.66113778e-04 -9.21496591e+00] [-1.55732274e-02 2.62661313e-04 9.99878695e-01 -4.98014975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22439141799998 meters 0.018049391799918404 Centerline is valid? [True, True] Translation: X:244.17, Y:-9.22, Z:-4.98 [[ 9.99352644e-01 3.24989502e-02 1.54308665e-02 2.44174021e+02] [-3.24895861e-02 9.99471706e-01 -8.57205463e-04 -9.22211278e+00] [-1.54505727e-02 3.55308080e-04 9.99880570e-01 -4.98211164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28439141799998 meters 0.018610281423468825 Centerline is valid? [True, True] Translation: X:244.23, Y:-9.23, Z:-4.98 [[ 9.99414538e-01 3.05544883e-02 1.53949404e-02 2.44233018e+02] [-3.05449452e-02 9.99533029e-01 -8.54690276e-04 -9.22676566e+00] [-1.54138660e-02 3.83952276e-04 9.99881126e-01 -4.98413482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344391418 meters 0.01877735378825442 Centerline is valid? [True, True] Translation: X:244.29, Y:-9.23, Z:-4.99 [[ 9.99340973e-01 3.26129031e-02 1.59379228e-02 2.44291500e+02] [-3.26029532e-02 9.99467992e-01 -8.83791562e-04 -9.22957275e+00] [-1.59582667e-02 3.63585770e-04 9.99872593e-01 -4.98607707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40439141799996 meters 0.01729878643498961 Centerline is valid? [True, True] Translation: X:244.35, Y:-9.23, Z:-4.99 [[ 9.99187653e-01 3.68948123e-02 1.62113278e-02 2.44351649e+02] [-3.68850988e-02 9.99319110e-01 -8.97875668e-04 -9.22913284e+00] [-1.62334166e-02 2.99189853e-04 9.99868185e-01 -4.98784804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46439141799996 meters 0.014329748840800766 Centerline is valid? [True, True] Translation: X:244.41, Y:-9.22, Z:-4.99 [[ 9.98752923e-01 4.68740585e-02 1.71878067e-02 2.44412251e+02] [-4.68646323e-02 9.98900797e-01 -9.51013132e-04 -9.22327651e+00] [-1.72134917e-02 1.44326904e-04 9.99851826e-01 -4.98878797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52439141799996 meters 0.013739292352685412 Centerline is valid? [True, True] Translation: X:244.47, Y:-9.22, Z:-4.99 [[ 9.98115197e-01 5.87679024e-02 1.76744617e-02 2.44470527e+02] [-5.87598008e-02 9.98271671e-01 -9.77793941e-04 -9.21678225e+00] [-1.77013774e-02 -6.25968605e-05 9.99843316e-01 -4.98954082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58439141799997 meters 0.01544472394053946 Centerline is valid? [True, True] Translation: X:244.53, Y:-9.21, Z:-4.99 [[ 9.97534644e-01 6.80646066e-02 1.70834323e-02 2.44528946e+02] [-6.80584284e-02 9.97680891e-01 -9.43445655e-04 -9.21377949e+00] [-1.71080293e-02 -2.21551831e-04 9.99853622e-01 -4.99200281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64439141799997 meters 0.01589314647438891 Centerline is valid? [True, True] Translation: X:244.59, Y:-9.22, Z:-4.99 [[ 9.97361757e-01 7.07812115e-02 1.61104380e-02 2.44587516e+02] [-7.07760970e-02 9.97491832e-01 -8.88119441e-04 -9.21664115e+00] [-1.61328925e-02 -2.54457554e-04 9.99869824e-01 -4.99450916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70439141799997 meters 0.01625812381455391 Centerline is valid? [True, True] Translation: X:244.64, Y:-9.22, Z:-5.00 [[ 9.97490631e-01 6.92906962e-02 1.45341448e-02 2.44644640e+02] [-6.92863887e-02 9.97596489e-01 -8.00304129e-04 -9.22318858e+00] [-1.45546655e-02 -2.08722535e-04 9.99894053e-01 -4.99860945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76439141799997 meters 0.014514545616143579 Centerline is valid? [True, True] Translation: X:244.70, Y:-9.24, Z:-5.00 [[ 9.97916281e-01 6.28870264e-02 1.44332466e-02 2.44702528e+02] [-6.28821313e-02 9.98020645e-01 -7.93178040e-04 -9.23565553e+00] [-1.44545587e-02 -1.16068029e-04 9.99895521e-01 -5.00008694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82439141799998 meters 0.013663639646813913 Centerline is valid? [True, True] Translation: X:244.76, Y:-9.25, Z:-5.00 [[ 9.98498298e-01 5.22808025e-02 1.63666307e-02 2.44760132e+02] [-5.22731076e-02 9.98632423e-01 -8.97896392e-04 -9.25137739e+00] [-1.63911908e-02 4.10133727e-05 9.99865655e-01 -5.00029563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88439141799998 meters 0.014843171859802669 Centerline is valid? [True, True] Translation: X:244.82, Y:-9.26, Z:-5.00 [[ 9.98877461e-01 4.36480289e-02 1.84028989e-02 2.44818722e+02] [-4.36368657e-02 9.99046950e-01 -1.00791423e-03 -9.26432804e+00] [-1.84293535e-02 2.03737975e-04 9.99830144e-01 -5.00009839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94439141799998 meters 0.0191897598973011 Centerline is valid? [True, True] Translation: X:244.88, Y:-9.28, Z:-5.00 [[ 9.99366336e-01 2.90814078e-02 2.05231344e-02 2.44878056e+02] [-2.90644903e-02 9.99576909e-01 -1.12217212e-03 -9.28267007e+00] [-2.05470856e-02 5.24966603e-04 9.99788749e-01 -4.99989917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00439141799998 meters 0.023363757005728236 Centerline is valid? [True, True] Translation: X:244.94, Y:-9.30, Z:-5.00 [[ 9.99619560e-01 1.84733660e-02 2.04809851e-02 2.44937594e+02] [-1.84543029e-02 9.99829078e-01 -1.11940045e-03 -9.29565488e+00] [-2.04981636e-02 7.41012284e-04 9.99789616e-01 -5.00141720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06439141799999 meters 0.031500488550000615 Centerline is valid? [True, True] Translation: X:245.00, Y:-9.31, Z:-5.00 [[ 9.99791146e-01 3.41813810e-03 2.01489707e-02 2.44996849e+02] [-3.39663501e-03 9.99993625e-01 -1.10133138e-03 -9.31488460e+00] [-2.01526068e-02 1.03266266e-03 9.99796382e-01 -5.00402421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124391418 meters 0.03691699215674725 Centerline is valid? [True, True] Translation: X:245.06, Y:-9.33, Z:-5.01 [[ 9.99777399e-01 -6.21809705e-03 2.01615433e-02 2.45056896e+02] [ 6.24158169e-03 9.99979914e-01 -1.10210607e-03 -9.32685876e+00] [-2.01542854e-02 1.22770066e-03 9.99796128e-01 -5.00546999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18439141799996 meters 0.03725227103575934 Centerline is valid? [True, True] Translation: X:245.12, Y:-9.33, Z:-5.01 [[ 9.99806885e-01 -7.27451848e-03 1.82558038e-02 2.45119120e+02] [ 7.29394456e-03 9.99972901e-01 -9.97745151e-04 -9.32773101e+00] [-1.82480509e-02 1.13070929e-03 9.99832851e-01 -5.00863356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24439141799996 meters 0.036165960133984335 Centerline is valid? [True, True] Translation: X:245.18, Y:-9.33, Z:-5.01 [[ 9.99836191e-01 -4.89471212e-03 1.74250575e-02 2.45180328e+02] [ 4.91207622e-03 9.99987481e-01 -9.53841391e-04 -9.32658388e+00] [-1.74201705e-02 1.03927835e-03 9.99847717e-01 -5.01104299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30439141799997 meters 0.0330154430198106 Centerline is valid? [True, True] Translation: X:245.24, Y:-9.32, Z:-5.01 [[ 9.99870185e-01 1.69092505e-03 1.60235543e-02 2.45241417e+02] [-1.67707249e-03 9.99998208e-01 -8.77910046e-04 -9.31974699e+00] [-1.60250101e-02 8.50923418e-04 9.99871229e-01 -5.01347611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36439141799997 meters 0.031320750759056326 Centerline is valid? [True, True] Translation: X:245.30, Y:-9.32, Z:-5.02 [[ 9.99863602e-01 6.45956959e-03 1.52003685e-02 2.45302633e+02] [-6.44765514e-03 9.99978867e-01 -8.32702525e-04 -9.31567587e+00] [-1.52054262e-02 7.34582212e-04 9.99884121e-01 -5.01519583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42439141799997 meters 0.027310482221419248 Centerline is valid? [True, True] Translation: X:245.36, Y:-9.31, Z:-5.02 [[ 9.99800619e-01 1.31972957e-02 1.49851076e-02 2.45363812e+02] [-1.31864659e-02 9.99912717e-01 -8.21287720e-04 -9.30523464e+00] [-1.49946384e-02 6.23523361e-04 9.99887380e-01 -5.01581061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48439141799997 meters 0.024497364304513516 Centerline is valid? [True, True] Translation: X:245.43, Y:-9.30, Z:-5.02 [[ 9.99679550e-01 1.96249325e-02 1.59893417e-02 2.45425073e+02] [-1.96134227e-02 9.99807254e-01 -8.76352578e-04 -9.29766677e+00] [-1.60034582e-02 5.62466033e-04 9.99871778e-01 -5.01575313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54439141799998 meters 0.02074324146175741 Centerline is valid? [True, True] Translation: X:245.49, Y:-9.29, Z:-5.02 [[ 9.99534442e-01 2.54022955e-02 1.69003902e-02 2.45486271e+02] [-2.53902540e-02 9.99677186e-01 -9.26720335e-04 -9.28792407e+00] [-1.69184753e-02 4.97183694e-04 9.99856749e-01 -5.01531988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60439141799998 meters 0.019850522799958116 Centerline is valid? [True, True] Translation: X:245.55, Y:-9.29, Z:-5.02 [[ 9.99420683e-01 2.97181159e-02 1.65871315e-02 2.45546153e+02] [-2.97071142e-02 9.99558233e-01 -9.09320463e-04 -9.28519777e+00] [-1.66068271e-02 4.16037869e-04 9.99862011e-01 -5.01663611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66439141799998 meters 0.016524614940232645 Centerline is valid? [True, True] Translation: X:245.61, Y:-9.28, Z:-5.02 [[ 9.99219534e-01 3.62347072e-02 1.57279466e-02 2.45606618e+02] [-3.62256036e-02 9.99343264e-01 -8.63417952e-04 -9.27713509e+00] [-1.57489032e-02 2.92989725e-04 9.99875935e-01 -5.01839407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72439141799998 meters 0.015358592545399867 Centerline is valid? [True, True] Translation: X:245.67, Y:-9.27, Z:-5.02 [[ 9.99033014e-01 4.13620481e-02 1.49069789e-02 2.45666150e+02] [-4.13544415e-02 9.99144204e-01 -8.18292451e-04 -9.27389045e+00] [-1.49280678e-02 2.01031388e-04 9.99888550e-01 -5.02012225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78439141799998 meters 0.014102555872563587 Centerline is valid? [True, True] Translation: X:245.73, Y:-9.27, Z:-5.02 [[ 9.98643713e-01 4.97352123e-02 1.53994477e-02 2.45725488e+02] [-4.97281036e-02 9.98762436e-01 -8.44428253e-04 -9.26563133e+00] [-1.54223878e-02 7.74976333e-05 9.99881065e-01 -5.02049711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844391418 meters 0.013879486121768708 Centerline is valid? [True, True] Translation: X:245.78, Y:-9.26, Z:-5.02 [[ 9.98316356e-01 5.56245298e-02 1.64427597e-02 2.45783583e+02] [-5.56172463e-02 9.98451757e-01 -9.00262442e-04 -9.26151734e+00] [-1.64673790e-02 -1.57542982e-05 9.99864403e-01 -5.02133557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90439141799996 meters 0.013786783939156284 Centerline is valid? [True, True] Translation: X:245.84, Y:-9.26, Z:-5.02 [[ 9.98294765e-01 5.58473724e-02 1.69892140e-02 2.45841513e+02] [-5.58396579e-02 9.98439317e-01 -9.28485996e-04 -9.26397954e+00] [-1.70145527e-02 -2.17691882e-05 9.99855242e-01 -5.02258645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96439141799996 meters 0.013880636349755174 Centerline is valid? [True, True] Translation: X:245.90, Y:-9.27, Z:-5.02 [[ 9.98463514e-01 5.27533530e-02 1.69615782e-02 2.45898850e+02] [-5.27452506e-02 9.98607572e-01 -9.25002067e-04 -9.26923334e+00] [-1.69867574e-02 2.89381224e-05 9.99855714e-01 -5.02358558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02439141799996 meters 0.014778794331444536 Centerline is valid? [True, True] Translation: X:245.96, Y:-9.28, Z:-5.03 [[ 9.98852824e-01 4.49077228e-02 1.66232746e-02 2.45955629e+02] [-4.48988874e-02 9.98991127e-01 -9.04522739e-04 -9.27958887e+00] [-1.66471239e-02 1.57118558e-04 9.99861415e-01 -5.02539022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08439141799997 meters 0.01636485913984868 Centerline is valid? [True, True] Translation: X:246.01, Y:-9.29, Z:-5.03 [[ 9.99119832e-01 3.85743904e-02 1.64795926e-02 2.46013807e+02] [-3.85648813e-02 9.99255698e-01 -8.94535651e-04 -9.28911285e+00] [-1.65018330e-02 2.58214775e-04 9.99863802e-01 -5.02712920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14439141799997 meters 0.02054050984773914 Centerline is valid? [True, True] Translation: X:246.07, Y:-9.30, Z:-5.03 [[ 9.99438191e-01 2.96151250e-02 1.56922529e-02 2.46073418e+02] [-2.96054232e-02 9.99561302e-01 -8.50242263e-04 -9.30391867e+00] [-1.57105488e-02 3.85188800e-04 9.99876508e-01 -5.03069973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20439141799997 meters 0.022844974559407503 Centerline is valid? [True, True] Translation: X:246.13, Y:-9.31, Z:-5.03 [[ 9.99626749e-01 2.26879043e-02 1.52191296e-02 2.46133310e+02] [-2.26779765e-02 9.99742482e-01 -8.24607356e-04 -9.31417529e+00] [-1.52339190e-02 4.79160508e-04 9.99883842e-01 -5.03227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26439141799997 meters 0.024448680567709154 Centerline is valid? [True, True] Translation: X:246.19, Y:-9.32, Z:-5.03 [[ 9.99678293e-01 2.01008319e-02 1.54682466e-02 2.46193783e+02] [-2.00902670e-02 9.99797819e-01 -8.38105087e-04 -9.32103191e+00] [-1.54819658e-02 5.27074259e-04 9.99880008e-01 -5.03369569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32439141799998 meters 0.024750875881182854 Centerline is valid? [True, True] Translation: X:246.26, Y:-9.32, Z:-5.03 [[ 9.99676574e-01 2.01130293e-02 1.55632000e-02 2.46255378e+02] [-2.01023389e-02 9.99797572e-01 -8.43054788e-04 -9.32428271e+00] [-1.55770060e-02 5.29925401e-04 9.99878531e-01 -5.03497824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38439141799998 meters 0.02504950161499158 Centerline is valid? [True, True] Translation: X:246.32, Y:-9.33, Z:-5.04 [[ 9.99659082e-01 2.10509065e-02 1.54460111e-02 2.46317190e+02] [-2.10404804e-02 9.99778274e-01 -8.37212693e-04 -9.32666751e+00] [-1.54602104e-02 5.11935778e-04 9.99880353e-01 -5.03662017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44439141799998 meters 0.0254758049294644 Centerline is valid? [True, True] Translation: X:246.38, Y:-9.33, Z:-5.04 [[ 9.99669031e-01 2.10317463e-02 1.48153437e-02 2.46378212e+02] [-2.10221386e-02 9.99778687e-01 -8.03949874e-04 -9.32872462e+00] [-1.48289733e-02 4.92233583e-04 9.99889924e-01 -5.03869657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50439141799998 meters 0.02441299265684407 Centerline is valid? [True, True] Translation: X:246.44, Y:-9.33, Z:-5.04 [[ 9.99694067e-01 2.04540233e-02 1.39070209e-02 2.46439788e+02] [-2.04454953e-02 9.99790684e-01 -7.55133665e-04 -9.32919508e+00] [-1.39195554e-02 4.70566715e-04 9.99903008e-01 -5.04082040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56439141799999 meters 0.02410399444007778 Centerline is valid? [True, True] Translation: X:246.50, Y:-9.33, Z:-5.04 [[ 9.99710802e-01 2.01683263e-02 1.30977732e-02 2.46500434e+02] [-2.01607274e-02 9.99796498e-01 -7.11958388e-04 -9.33014858e+00] [-1.31094668e-02 4.47691856e-04 9.99913967e-01 -5.04299290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624391418 meters 0.023317430701092202 Centerline is valid? [True, True] Translation: X:246.56, Y:-9.33, Z:-5.04 [[ 9.99645457e-01 2.34247894e-02 1.26585560e-02 2.46560504e+02] [-2.34179524e-02 9.99725525e-01 -6.88083767e-04 -9.32904707e+00] [-1.26711997e-02 3.91402350e-04 9.99919641e-01 -5.04433846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68439141799996 meters 0.01912254334853507 Centerline is valid? [True, True] Translation: X:246.62, Y:-9.32, Z:-5.04 [[ 9.99410644e-01 3.12755268e-02 1.41493915e-02 2.46620735e+02] [-3.12677668e-02 9.99510748e-01 -7.69377999e-04 -9.32148542e+00] [-1.41665315e-02 3.26504689e-04 9.99899596e-01 -5.04335647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74439141799996 meters 0.016047922082241973 Centerline is valid? [True, True] Translation: X:246.68, Y:-9.31, Z:-5.04 [[ 9.99032059e-01 4.11337036e-02 1.55872735e-02 2.46680322e+02] [-4.11254963e-02 9.99153630e-01 -8.46848776e-04 -9.31449391e+00] [-1.56089149e-02 2.04994720e-04 9.99878152e-01 -5.04344418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80439141799997 meters 0.014632643586295142 Centerline is valid? [True, True] Translation: X:246.74, Y:-9.31, Z:-5.04 [[ 9.98785142e-01 4.66008384e-02 1.60188027e-02 2.46739667e+02] [-4.65928807e-02 9.98913583e-01 -8.69822820e-04 -9.31143826e+00] [-1.60419341e-02 1.22403946e-04 9.99871312e-01 -5.04404468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86439141799997 meters 0.014303182007478817 Centerline is valid? [True, True] Translation: X:246.80, Y:-9.31, Z:-5.05 [[ 9.98610235e-01 5.01984211e-02 1.60535581e-02 2.46798903e+02] [-5.01909143e-02 9.98739263e-01 -8.70420735e-04 -9.31121506e+00] [-1.60770125e-02 6.34682964e-05 9.99870754e-01 -5.04531263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92439141799997 meters 0.014189719861577648 Centerline is valid? [True, True] Translation: X:246.86, Y:-9.31, Z:-5.05 [[ 9.98511012e-01 5.22928359e-02 1.55312011e-02 2.46856151e+02] [-5.22860769e-02 9.98631793e-01 -8.41204771e-04 -9.31217092e+00] [-1.55539402e-02 2.78866522e-05 9.99879030e-01 -5.04745436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98439141799997 meters 0.01429847648466034 Centerline is valid? [True, True] Translation: X:246.91, Y:-9.32, Z:-5.05 [[ 9.98546450e-01 5.19220122e-02 1.44600236e-02 2.46914392e+02] [-5.19161451e-02 9.98651142e-01 -7.81076938e-04 -9.31635037e+00] [-1.44810742e-02 2.92329182e-05 9.99895143e-01 -5.04952339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04439141799998 meters 0.01454121178534651 Centerline is valid? [True, True] Translation: X:246.97, Y:-9.32, Z:-5.05 [[ 9.98708634e-01 4.86398693e-02 1.46706407e-02 2.46973020e+02] [-4.86334940e-02 9.98816378e-01 -7.91223354e-04 -9.32331240e+00] [-1.46917613e-02 7.67170757e-05 9.99892067e-01 -5.05120203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10439141799998 meters 0.015053545105121555 Centerline is valid? [True, True] Translation: X:247.03, Y:-9.33, Z:-5.05 [[ 9.98869138e-01 4.51501485e-02 1.48966339e-02 2.47031843e+02] [-4.51432055e-02 9.98980204e-01 -8.02178237e-04 -9.33075442e+00] [-1.49176608e-02 1.28789281e-04 9.99888717e-01 -5.05315127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16439141799998 meters 0.016326235930091696 Centerline is valid? [True, True] Translation: X:247.09, Y:-9.34, Z:-5.05 [[ 9.99150650e-01 3.78819119e-02 1.62153967e-02 2.47089575e+02] [-3.78727495e-02 9.99282190e-01 -8.71863877e-04 -9.34111869e+00] [-1.62367850e-02 2.57001701e-04 9.99868142e-01 -5.05348903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22439141799998 meters 0.01904847840679363 Centerline is valid? [True, True] Translation: X:247.15, Y:-9.35, Z:-5.05 [[ 9.99354378e-01 3.16358806e-02 1.70293231e-02 2.47147746e+02] [-3.16249030e-02 9.99499390e-01 -9.13611213e-04 -9.35237534e+00] [-1.70497009e-02 3.74470676e-04 9.99854573e-01 -5.05437389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28439141799998 meters 0.023765178926953616 Centerline is valid? [True, True] Translation: X:247.21, Y:-9.37, Z:-5.06 [[ 9.99641722e-01 2.04597088e-02 1.72576915e-02 2.47206990e+02] [-2.04467915e-02 9.99790515e-01 -9.24626724e-04 -9.36728288e+00] [-1.72729939e-02 5.71431030e-04 9.99850647e-01 -5.05567224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344391418 meters 0.027141346728999594 Centerline is valid? [True, True] Translation: X:247.27, Y:-9.38, Z:-5.06 [[ 9.99780769e-01 1.23325288e-02 1.69210540e-02 2.47267470e+02] [-1.23189495e-02 9.99923708e-01 -9.06512773e-04 -9.37867966e+00] [-1.69309426e-02 6.97864429e-04 9.99856418e-01 -5.05770082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40439141799996 meters 0.030686534155958633 Centerline is valid? [True, True] Translation: X:247.33, Y:-9.39, Z:-5.06 [[ 9.99860778e-01 2.69187539e-03 1.64674809e-02 2.47327916e+02] [-2.67771055e-03 9.99996026e-01 -8.82159234e-04 -9.39099782e+00] [-1.64697902e-02 8.37941271e-04 9.99864013e-01 -5.05976199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46439141799996 meters 0.03445835999059093 Centerline is valid? [True, True] Translation: X:247.39, Y:-9.40, Z:-5.06 [[ 9.99874193e-01 -1.68209705e-03 1.57724172e-02 2.47387438e+02] [ 1.69563860e-03 9.99998205e-01 -8.45224874e-04 -9.40120519e+00] [-1.57709671e-02 8.71862858e-04 9.99875250e-01 -5.06159118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52439141799996 meters 0.03369939292085117 Centerline is valid? [True, True] Translation: X:247.45, Y:-9.40, Z:-5.06 [[ 9.99898824e-01 -2.25730099e-04 1.42228858e-02 2.47449459e+02] [ 2.36606918e-04 9.99999681e-01 -7.63062619e-04 -9.40278203e+00] [-1.42227090e-02 7.66350649e-04 9.99898558e-01 -5.06412225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58439141799997 meters 0.03268924730305016 Centerline is valid? [True, True] Translation: X:247.51, Y:-9.40, Z:-5.07 [[ 9.99908173e-01 3.41996200e-03 1.31129604e-02 2.47508731e+02] [-3.41100704e-03 9.99993934e-01 -7.05213778e-04 -9.40337921e+00] [-1.31152926e-02 6.60420620e-04 9.99913773e-01 -5.06629623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64439141799997 meters 0.028089595907047165 Centerline is valid? [True, True] Translation: X:247.57, Y:-9.40, Z:-5.07 [[ 9.99845559e-01 1.21885758e-02 1.26608012e-02 2.47569707e+02] [-1.21809342e-02 9.99925578e-01 -6.80507126e-04 -9.39647603e+00] [-1.26681534e-02 5.26181642e-04 9.99919617e-01 -5.06743228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70439141799997 meters 0.02491875744199248 Centerline is valid? [True, True] Translation: X:247.63, Y:-9.39, Z:-5.07 [[ 9.99710667e-01 2.02088845e-02 1.30453950e-02 2.47629092e+02] [-2.02014519e-02 9.99795684e-01 -7.01282182e-04 -9.39223991e+00] [-1.30569018e-02 4.37543358e-04 9.99914659e-01 -5.06817683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76439141799997 meters 0.018112846278926252 Centerline is valid? [True, True] Translation: X:247.69, Y:-9.38, Z:-5.07 [[ 9.99322184e-01 3.46170582e-02 1.25232437e-02 2.47689607e+02] [-3.46113402e-02 9.99400621e-01 -6.73105311e-04 -9.37869693e+00] [-1.25390384e-02 2.39202823e-04 9.99921355e-01 -5.06935292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82439141799998 meters 0.013929660667907028 Centerline is valid? [True, True] Translation: X:247.75, Y:-9.37, Z:-5.07 [[ 9.98636386e-01 5.06751266e-02 1.25459508e-02 2.47750597e+02] [-5.06706557e-02 9.98715190e-01 -6.74173121e-04 -9.36512426e+00] [-1.25639954e-02 3.75422573e-05 9.99921069e-01 -5.06956834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88439141799998 meters 0.013995176813179659 Centerline is valid? [True, True] Translation: X:247.81, Y:-9.36, Z:-5.07 [[ 9.98366861e-01 5.57285680e-02 1.25672977e-02 2.47807309e+02] [-5.57244817e-02 9.98445955e-01 -6.75357016e-04 -9.36340152e+00] [-1.25854042e-02 -2.60520842e-05 9.99920800e-01 -5.07125816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94439141799998 meters 0.015133152778558253 Centerline is valid? [True, True] Translation: X:247.87, Y:-9.36, Z:-5.07 [[ 9.97825636e-01 6.48318041e-02 1.18675319e-02 2.47866190e+02] [-6.48288272e-02 9.97896196e-01 -6.35775224e-04 -9.35905186e+00] [-1.18837834e-02 -1.34965358e-04 9.99929376e-01 -5.07221941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00439141799998 meters 0.018185770541469373 Centerline is valid? [True, True] Translation: X:247.93, Y:-9.35, Z:-5.07 [[ 9.97149724e-01 7.47609568e-02 1.01600614e-02 2.47925352e+02] [-7.47592982e-02 9.97201460e-01 -5.43471147e-04 -9.35303798e+00] [-1.01722585e-02 -2.17636956e-04 9.99948238e-01 -5.07455958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06439141799999 meters 0.019331704231302555 Centerline is valid? [True, True] Translation: X:247.98, Y:-9.35, Z:-5.08 [[ 9.96906436e-01 7.79378043e-02 1.01614946e-02 2.47983995e+02] [-7.79362927e-02 9.96958192e-01 -5.45257671e-04 -9.35412694e+00] [-1.01730815e-02 -2.48378337e-04 9.99948222e-01 -5.07584606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124391418 meters 0.01907817894594025 Centerline is valid? [True, True] Translation: X:248.04, Y:-9.36, Z:-5.08 [[ 9.97081199e-01 7.54580369e-02 1.16261418e-02 2.48041863e+02] [-7.54559573e-02 9.97148944e-01 -6.18048070e-04 -9.35870788e+00] [-1.16396318e-02 -2.61017552e-04 9.99932223e-01 -5.07600858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18439141799996 meters 0.017375498492354705 Centerline is valid? [True, True] Translation: X:248.10, Y:-9.37, Z:-5.08 [[ 9.97456351e-01 7.02939548e-02 1.18147537e-02 2.48100111e+02] [-7.02914614e-02 9.97526299e-01 -6.26681507e-04 -9.36694468e+00] [-1.18295794e-02 -2.05388854e-04 9.99930007e-01 -5.07705423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24439141799996 meters 0.014400508941838556 Centerline is valid? [True, True] Translation: X:248.16, Y:-9.38, Z:-5.08 [[ 9.98282844e-01 5.73292239e-02 1.20300828e-02 2.48158980e+02] [-5.73257125e-02 9.98355326e-01 -6.36790189e-04 -9.38257276e+00] [-1.20468039e-02 -5.39363448e-05 9.99927433e-01 -5.07855170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30439141799997 meters 0.014495516001327008 Centerline is valid? [True, True] Translation: X:248.22, Y:-9.40, Z:-5.08 [[ 9.98851274e-01 4.63526364e-02 1.21476213e-02 2.48215739e+02] [-4.63482440e-02 9.98925136e-01 -6.43009709e-04 -9.39752234e+00] [-1.21643694e-02 7.92501516e-05 9.99926008e-01 -5.08053969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36439141799997 meters 0.020174649284654206 Centerline is valid? [True, True] Translation: X:248.28, Y:-9.42, Z:-5.08 [[ 9.99529359e-01 2.83226066e-02 1.17851630e-02 2.48275166e+02] [-2.83172406e-02 9.99598793e-01 -6.21975893e-04 -9.42035251e+00] [-1.17980506e-02 2.87959871e-04 9.99930359e-01 -5.08240216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42439141799997 meters 0.027644203877754344 Centerline is valid? [True, True] Translation: X:248.33, Y:-9.44, Z:-5.08 [[ 9.99850579e-01 1.32010946e-02 1.11602549e-02 2.48334295e+02] [-1.31953409e-02 9.99912764e-01 -5.89026723e-04 -9.43947299e+00] [-1.11670571e-02 4.41675342e-04 9.99937549e-01 -5.08423461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48439141799997 meters 0.03139825601642167 Centerline is valid? [True, True] Translation: X:248.39, Y:-9.45, Z:-5.09 [[ 9.99925914e-01 5.06059024e-03 1.10705686e-02 2.48394156e+02] [-5.05443482e-03 9.99987056e-01 -5.83924873e-04 -9.45165244e+00] [-1.10733803e-02 5.27926145e-04 9.99938549e-01 -5.08560724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54439141799998 meters 0.03219779428596912 Centerline is valid? [True, True] Translation: X:248.46, Y:-9.46, Z:-5.09 [[ 9.99932457e-01 3.09513127e-03 1.12027215e-02 2.48455685e+02] [-3.08873208e-03 9.99995057e-01 -5.88474769e-04 -9.45728906e+00] [-1.12044875e-02 5.53832817e-04 9.99937074e-01 -5.08665928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60439141799998 meters 0.033582900882231516 Centerline is valid? [True, True] Translation: X:248.52, Y:-9.46, Z:-5.09 [[ 9.99941368e-01 3.54652426e-03 1.02314317e-02 2.48517915e+02] [-3.54119138e-03 9.99993585e-01 -5.39294068e-04 -9.46300459e+00] [-1.02332787e-02 5.03030990e-04 9.99947512e-01 -5.08933225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66439141799998 meters 0.033483779423755626 Centerline is valid? [True, True] Translation: X:248.58, Y:-9.47, Z:-5.09 [[ 9.99949527e-01 5.14730556e-03 8.62840128e-03 2.48580283e+02] [-5.14355595e-03 9.99986668e-01 -4.56701048e-04 -9.46538307e+00] [-8.63063703e-03 4.12297332e-04 9.99962670e-01 -5.09249289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72439141799998 meters 0.031688002193406936 Centerline is valid? [True, True] Translation: X:248.64, Y:-9.47, Z:-5.09 [[ 9.99944827e-01 6.43309936e-03 8.30406069e-03 2.48642743e+02] [-6.42965416e-03 9.99979232e-01 -4.41511470e-04 -9.46516008e+00] [-8.30672852e-03 3.88094873e-04 9.99965423e-01 -5.09407773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78439141799998 meters 0.029684637631690346 Centerline is valid? [True, True] Translation: X:248.70, Y:-9.46, Z:-5.10 [[ 9.99926773e-01 9.62643853e-03 7.33354448e-03 2.48704700e+02] [-9.62380619e-03 9.99953612e-01 -3.94149998e-04 -9.46297807e+00] [-7.33699856e-03 3.23544525e-04 9.99973032e-01 -5.09555952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844391418 meters 0.0248658716571575 Centerline is valid? [True, True] Translation: X:248.77, Y:-9.45, Z:-5.10 [[ 9.99860433e-01 1.53995033e-02 6.47837804e-03 2.48766063e+02] [-1.53975649e-02 9.99881390e-01 -3.48981996e-04 -9.45491875e+00] [-6.48298379e-03 2.49182043e-04 9.99978954e-01 -5.09596791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90439141799996 meters 0.02230592595071465 Centerline is valid? [True, True] Translation: X:248.83, Y:-9.45, Z:-5.10 [[ 9.99762793e-01 2.07909422e-02 6.48798729e-03 2.48826067e+02] [-2.07891049e-02 9.99783822e-01 -3.50503201e-04 -9.45078373e+00] [-6.49387202e-03 2.15540611e-04 9.99978891e-01 -5.09655213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96439141799996 meters 0.019218338218692645 Centerline is valid? [True, True] Translation: X:248.89, Y:-9.44, Z:-5.10 [[ 9.99555965e-01 2.86738884e-02 8.10433040e-03 2.48886390e+02] [-2.86712869e-02 9.99588799e-01 -4.37015438e-04 -9.44346926e+00] [-8.11352882e-03 2.04459806e-04 9.99967064e-01 -5.09528029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02439141799996 meters 0.0176821070561961 Centerline is valid? [True, True] Translation: X:248.95, Y:-9.44, Z:-5.09 [[ 9.99398300e-01 3.37234897e-02 8.10954560e-03 2.48945284e+02] [-3.37210464e-02 9.99431188e-01 -4.37877972e-04 -9.43874095e+00] [-8.11969956e-03 1.64152137e-04 9.99967021e-01 -5.09459003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08439141799997 meters 0.017299321844979475 Centerline is valid? [True, True] Translation: X:249.00, Y:-9.44, Z:-5.09 [[ 9.99383356e-01 3.42750550e-02 7.62424440e-03 2.49003746e+02] [-3.42729152e-02 9.99412426e-01 -4.11166442e-04 -9.43902397e+00] [-7.63385735e-03 1.49607816e-04 9.99970850e-01 -5.09496187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14439141799997 meters 0.01801929498026089 Centerline is valid? [True, True] Translation: X:249.06, Y:-9.44, Z:-5.10 [[ 9.99443234e-01 3.27014349e-02 6.62104353e-03 2.49062898e+02] [-3.26997889e-02 9.99465155e-01 -3.56738719e-04 -9.44100586e+00] [-6.62916817e-03 1.40033374e-04 9.99978017e-01 -5.09593637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20439141799997 meters 0.018496808303140166 Centerline is valid? [True, True] Translation: X:249.12, Y:-9.44, Z:-5.10 [[ 9.99490105e-01 3.13179884e-02 6.22197179e-03 2.49121396e+02] [-3.13165105e-02 9.99509462e-01 -3.34840719e-04 -9.44416209e+00] [-6.22940621e-03 1.39819540e-04 9.99980587e-01 -5.09640138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26439141799997 meters 0.020264117960497572 Centerline is valid? [True, True] Translation: X:249.18, Y:-9.45, Z:-5.10 [[ 9.99601276e-01 2.75919397e-02 5.99785523e-03 2.49179514e+02] [-2.75905002e-02 9.99619258e-01 -3.22617503e-04 -9.44963199e+00] [-6.00447323e-03 1.57005041e-04 9.99981961e-01 -5.09621165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32439141799998 meters 0.02067029998474194 Centerline is valid? [True, True] Translation: X:249.24, Y:-9.45, Z:-5.09 [[ 9.99692978e-01 2.41679023e-02 5.46457480e-03 2.49239197e+02] [-2.41666630e-02 9.99707901e-01 -2.92715548e-04 -9.45318986e+00] [-5.47005293e-03 1.60565140e-04 9.99985026e-01 -5.09461329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38439141799998 meters 0.021999135303103646 Centerline is valid? [True, True] Translation: X:249.30, Y:-9.46, Z:-5.10 [[ 9.99737732e-01 2.23687789e-02 4.90971799e-03 2.49297782e+02] [-2.23677544e-02 9.99749776e-01 -2.63496113e-04 -9.45862480e+00] [-4.91438354e-03 1.53607641e-04 9.99987913e-01 -5.09577280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44439141799998 meters 0.022969698886165284 Centerline is valid? [True, True] Translation: X:249.36, Y:-9.46, Z:-5.10 [[ 9.99736529e-01 2.23994846e-02 5.01361504e-03 2.49355598e+02] [-2.23984174e-02 9.99749088e-01 -2.68920568e-04 -9.46297186e+00] [-5.01838074e-03 1.56552673e-04 9.99987396e-01 -5.09618168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50439141799998 meters 0.020146848287984236 Centerline is valid? [True, True] Translation: X:249.41, Y:-9.46, Z:-5.09 [[ 9.99648751e-01 2.59848151e-02 5.21183032e-03 2.49414506e+02] [-2.59837150e-02 9.99662327e-01 -2.78684356e-04 -9.46101707e+00] [-5.21731199e-03 1.43163755e-04 9.99986379e-01 -5.09459439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56439141799999 meters 0.018139517960320737 Centerline is valid? [True, True] Translation: X:249.47, Y:-9.46, Z:-5.10 [[ 9.99458014e-01 3.26235091e-02 4.40285772e-03 2.49474746e+02] [-3.26227932e-02 9.99467708e-01 -2.34339975e-04 -9.45963352e+00] [-4.40815910e-03 9.05794493e-05 9.99990280e-01 -5.09631452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62439141799996 meters 0.01773545764244847 Centerline is valid? [True, True] Translation: X:249.53, Y:-9.46, Z:-5.10 [[ 9.99296023e-01 3.72965667e-02 4.05268067e-03 2.49532474e+02] [-3.72959935e-02 9.99304239e-01 -2.16948167e-04 -9.46198514e+00] [-4.05795239e-03 6.56466887e-05 9.99991764e-01 -5.09984035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68439141799996 meters 0.015113624529075345 Centerline is valid? [True, True] Translation: X:249.59, Y:-9.46, Z:-5.10 [[ 9.98979802e-01 4.49226246e-02 4.61660730e-03 2.49592016e+02] [-4.49219684e-02 9.98990469e-01 -2.45786148e-04 -9.45947917e+00] [-4.62298805e-03 3.81483097e-05 9.99989313e-01 -5.09947715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74439141799996 meters 0.014665803522705051 Centerline is valid? [True, True] Translation: X:249.65, Y:-9.46, Z:-5.10 [[ 9.98905928e-01 4.65360419e-02 4.61991562e-03 2.49650647e+02] [-4.65354016e-02 9.98916611e-01 -2.46036669e-04 -9.46160457e+00] [-4.62636002e-03 3.07778587e-05 9.99989298e-01 -5.10018858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80439141799997 meters 0.014621582518154375 Centerline is valid? [True, True] Translation: X:249.71, Y:-9.46, Z:-5.10 [[ 9.98796180e-01 4.88079402e-02 4.89655570e-03 2.49709797e+02] [-4.88072508e-02 9.98808182e-01 -2.60246607e-04 -9.46454653e+00] [-4.90342200e-03 2.09458940e-05 9.99987978e-01 -5.10241175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86439141799997 meters 0.014533016262373367 Centerline is valid? [True, True] Translation: X:249.77, Y:-9.47, Z:-5.10 [[ 9.98860196e-01 4.74724824e-02 4.96716476e-03 2.49768502e+02] [-4.74717587e-02 9.98872546e-01 -2.63566339e-04 -9.47143312e+00] [-4.97407665e-03 2.74658784e-05 9.99987629e-01 -5.10446041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92439141799997 meters 0.014864011870783062 Centerline is valid? [True, True] Translation: X:249.83, Y:-9.48, Z:-5.11 [[ 9.99000657e-01 4.43977540e-02 5.15040333e-03 2.49827390e+02] [-4.43969375e-02 9.99013933e-01 -2.72816871e-04 -9.47876097e+00] [-5.15743714e-03 4.38820991e-05 9.99986699e-01 -5.10600026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98439141799997 meters 0.01571414886162768 Centerline is valid? [True, True] Translation: X:249.89, Y:-9.49, Z:-5.11 [[ 9.99181197e-01 3.98939923e-02 6.73838354e-03 2.49885477e+02] [-3.98924994e-02 9.99203914e-01 -3.55860338e-04 -9.48722595e+00] [-6.74721590e-03 8.67579974e-05 9.99977234e-01 -5.10673822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04439141799998 meters 0.01797226063678464 Centerline is valid? [True, True] Translation: X:249.94, Y:-9.50, Z:-5.11 [[ 9.99418278e-01 3.27639861e-02 9.46714864e-03 2.49942589e+02] [-3.27607310e-02 9.99463099e-01 -4.98739379e-04 -9.49995835e+00] [-9.47840641e-03 1.88298541e-04 9.99955061e-01 -5.10689523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10439141799998 meters 0.019978302242434163 Centerline is valid? [True, True] Translation: X:250.00, Y:-9.51, Z:-5.11 [[ 9.99612182e-01 2.60257199e-02 9.90697592e-03 2.50001995e+02] [-2.60218414e-02 9.99661239e-01 -5.20207135e-04 -9.51017546e+00] [-9.91715859e-03 2.62207633e-04 9.99950789e-01 -5.10848744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16439141799998 meters 0.023194589208435576 Centerline is valid? [True, True] Translation: X:250.06, Y:-9.52, Z:-5.11 [[ 9.99750864e-01 1.96651818e-02 1.05589162e-02 2.50061341e+02] [-1.96604289e-02 9.99806562e-01 -5.53760191e-04 -9.52037109e+00] [-1.05677635e-02 3.46029408e-04 9.99944100e-01 -5.10977753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22439141799998 meters 0.024720421000212673 Centerline is valid? [True, True] Translation: X:250.12, Y:-9.53, Z:-5.11 [[ 9.99806929e-01 1.61868204e-02 1.11396575e-02 2.50120974e+02] [-1.61813173e-02 9.99868903e-01 -5.83969954e-04 -9.52740631e+00] [-1.11476497e-02 4.03602874e-04 9.99937782e-01 -5.11069443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28439141799998 meters 0.024997756186912638 Centerline is valid? [True, True] Translation: X:250.18, Y:-9.53, Z:-5.11 [[ 9.99851372e-01 1.29838819e-02 1.13424768e-02 2.50181706e+02] [-1.29779776e-02 9.99915606e-01 -5.93992689e-04 -9.53106410e+00] [-1.13492319e-02 4.46701995e-04 9.99935496e-01 -5.11126525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344391418 meters 0.025830983692042335 Centerline is valid? [True, True] Translation: X:250.24, Y:-9.54, Z:-5.11 [[ 9.99858774e-01 1.31216191e-02 1.05002888e-02 2.50242884e+02] [-1.31165905e-02 9.99913824e-01 -5.47623143e-04 -9.53515664e+00] [-1.05065696e-02 4.09817816e-04 9.99944720e-01 -5.11354093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40439141799996 meters 0.026088704513694043 Centerline is valid? [True, True] Translation: X:250.30, Y:-9.54, Z:-5.12 [[ 9.99843301e-01 1.46557730e-02 9.92878921e-03 2.50303418e+02] [-1.46513034e-02 9.99892527e-01 -5.22753362e-04 -9.53756323e+00] [-9.93538349e-03 3.77201744e-04 9.99950572e-01 -5.11622644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46439141799996 meters 0.02413371323712843 Centerline is valid? [True, True] Translation: X:250.36, Y:-9.54, Z:-5.12 [[ 9.99789214e-01 1.79821135e-02 9.90817418e-03 2.50364466e+02] [-1.79778237e-02 9.99838250e-01 -5.21864709e-04 -9.53686085e+00] [-9.91595576e-03 3.43627299e-04 9.99950777e-01 -5.11718095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52439141799996 meters 0.022600416778394354 Centerline is valid? [True, True] Translation: X:250.42, Y:-9.54, Z:-5.12 [[ 9.99731158e-01 2.07958296e-02 1.02540575e-02 2.50424846e+02] [-2.07913764e-02 9.99783690e-01 -5.40714012e-04 -9.53520969e+00] [-1.02630840e-02 3.27372676e-04 9.99947280e-01 -5.11747850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58439141799997 meters 0.021208703249049696 Centerline is valid? [True, True] Translation: X:250.48, Y:-9.53, Z:-5.12 [[ 9.99637736e-01 2.48352347e-02 1.03734313e-02 2.50484742e+02] [-2.48308946e-02 9.99691516e-01 -5.46994786e-04 -9.53355736e+00] [-1.03838160e-02 2.89215049e-04 9.99946045e-01 -5.11793664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64439141799997 meters 0.020239142142780324 Centerline is valid? [True, True] Translation: X:250.54, Y:-9.53, Z:-5.12 [[ 9.99596034e-01 2.65763398e-02 1.00730749e-02 2.50543548e+02] [-2.65723352e-02 9.99646752e-01 -5.31201868e-04 -9.53364401e+00] [-1.00836340e-02 2.63322157e-04 9.99949124e-01 -5.11919415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70439141799997 meters 0.020715106123214113 Centerline is valid? [True, True] Translation: X:250.60, Y:-9.53, Z:-5.12 [[ 9.99597713e-01 2.71291966e-02 8.27162775e-03 2.50601926e+02] [-2.71265183e-02 9.99631913e-01 -4.35834420e-04 -9.53498724e+00] [-8.28040691e-03 2.11278627e-04 9.99965695e-01 -5.12143294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76439141799997 meters 0.019996912040620745 Centerline is valid? [True, True] Translation: X:250.66, Y:-9.54, Z:-5.12 [[ 9.99592189e-01 2.72782736e-02 8.44699537e-03 2.50660981e+02] [-2.72754919e-02 9.99627856e-01 -4.44365742e-04 -9.53676108e+00] [-8.45597340e-03 2.13788571e-04 9.99964225e-01 -5.12214103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82439141799998 meters 0.01980051670844996 Centerline is valid? [True, True] Translation: X:250.72, Y:-9.54, Z:-5.12 [[ 9.99552689e-01 2.85044009e-02 9.05104153e-03 2.50719978e+02] [-2.85012651e-02 9.99593643e-01 -4.75287301e-04 -9.53740762e+00] [-9.06091136e-03 2.17108566e-04 9.99958926e-01 -5.12236588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88439141799998 meters 0.018464718937043274 Centerline is valid? [True, True] Translation: X:250.78, Y:-9.54, Z:-5.12 [[ 9.99491122e-01 3.05014831e-02 9.33578061e-03 2.50778544e+02] [-3.04982411e-02 9.99534701e-01 -4.89467085e-04 -9.53617211e+00] [-9.34636615e-03 2.04493117e-04 9.99956301e-01 -5.12273651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94439141799998 meters 0.01843921463748426 Centerline is valid? [True, True] Translation: X:250.84, Y:-9.54, Z:-5.12 [[ 9.99468119e-01 3.11400403e-02 9.68382514e-03 2.50837481e+02] [-3.11365904e-02 9.99515010e-01 -5.06854571e-04 -9.53742565e+00] [-9.69491205e-03 2.05063688e-04 9.99952982e-01 -5.12353559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00439141799998 meters 0.018479763507876813 Centerline is valid? [True, True] Translation: X:250.90, Y:-9.54, Z:-5.12 [[ 9.99456268e-01 3.11452360e-02 1.08232199e-02 2.50896666e+02] [-3.11409383e-02 9.99514843e-01 -5.65417010e-04 -9.53997080e+00] [-1.08355790e-02 2.28064352e-04 9.99941267e-01 -5.12381103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06439141799999 meters 0.020387533726835137 Centerline is valid? [True, True] Translation: X:250.95, Y:-9.54, Z:-5.13 [[ 9.99508748e-01 2.97019340e-02 1.00028571e-02 2.50953885e+02] [-2.96981981e-02 9.99558775e-01 -5.21851042e-04 -9.54388185e+00] [-1.00139436e-02 2.24527850e-04 9.99949834e-01 -5.12590202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12439141799996 meters 0.01943447786175522 Centerline is valid? [True, True] Translation: X:251.01, Y:-9.55, Z:-5.13 [[ 9.99549001e-01 2.81688621e-02 1.04071698e-02 2.51012283e+02] [-2.81647435e-02 9.99603148e-01 -5.42125531e-04 -9.54595340e+00] [-1.04183107e-02 2.48765765e-04 9.99945697e-01 -5.12625365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18439141799996 meters 0.019703427075515333 Centerline is valid? [True, True] Translation: X:251.07, Y:-9.55, Z:-5.13 [[ 9.99579937e-01 2.74943268e-02 9.16580354e-03 2.51071279e+02] [-2.74911088e-02 9.99621934e-01 -4.76921351e-04 -9.54824501e+00] [-9.17545089e-03 2.24742912e-04 9.99957879e-01 -5.12868397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24439141799996 meters 0.02011509819976762 Centerline is valid? [True, True] Translation: X:251.13, Y:-9.55, Z:-5.13 [[ 9.99590785e-01 2.75377258e-02 7.74182428e-03 2.51130370e+02] [-2.75354343e-02 9.99620747e-01 -4.02448868e-04 -9.55011258e+00] [-7.74997070e-03 1.89109686e-04 9.99969951e-01 -5.13237780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30439141799997 meters 0.018964539779985044 Centerline is valid? [True, True] Translation: X:251.19, Y:-9.55, Z:-5.13 [[ 9.99558908e-01 2.87543379e-02 7.42815493e-03 2.51189137e+02] [-2.87522655e-02 9.99586494e-01 -3.85658486e-04 -9.54848913e+00] [-7.43617270e-03 1.71912092e-04 9.99972337e-01 -5.13313572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36439141799997 meters 0.017986832467843657 Centerline is valid? [True, True] Translation: X:251.25, Y:-9.55, Z:-5.13 [[ 9.99408099e-01 3.35479529e-02 7.61485622e-03 2.51247573e+02] [-3.35459192e-02 9.99437099e-01 -3.94669182e-04 -9.54624425e+00] [-7.62381015e-03 1.38988226e-04 9.99970929e-01 -5.13426832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42439141799997 meters 0.015552641307432185 Centerline is valid? [True, True] Translation: X:251.31, Y:-9.54, Z:-5.13 [[ 9.99124462e-01 4.09026893e-02 8.79084723e-03 2.51306735e+02] [-4.09002720e-02 9.99163130e-01 -4.54663104e-04 -9.54058672e+00] [-8.80208738e-03 9.47169870e-05 9.99961256e-01 -5.13351007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48439141799997 meters 0.014716168832674473 Centerline is valid? [True, True] Translation: X:251.37, Y:-9.54, Z:-5.13 [[ 9.98921201e-01 4.54658316e-02 9.44943051e-03 2.51365432e+02] [-4.54632508e-02 9.98965893e-01 -4.87854506e-04 -9.53887595e+00] [-9.46183949e-03 5.77263801e-05 9.99955234e-01 -5.13397241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54439141799998 meters 0.014592780084318024 Centerline is valid? [True, True] Translation: X:251.42, Y:-9.54, Z:-5.14 [[ 9.98645295e-01 5.12129509e-02 9.20913090e-03 2.51423710e+02] [-5.12107485e-02 9.98687756e-01 -4.74953810e-04 -9.53659702e+00] [-9.22137006e-03 2.70390120e-06 9.99957482e-01 -5.13593517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60439141799998 meters 0.01474590211327439 Centerline is valid? [True, True] Translation: X:251.48, Y:-9.54, Z:-5.14 [[ 9.98519932e-01 5.38267089e-02 7.78657273e-03 2.51482941e+02] [-5.38252193e-02 9.98550292e-01 -4.00894458e-04 -9.53762146e+00] [-7.79686330e-03 -1.88128778e-05 9.99969604e-01 -5.13786479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66439141799998 meters 0.015131494181153919 Centerline is valid? [True, True] Translation: X:251.54, Y:-9.54, Z:-5.14 [[ 9.98453321e-01 5.51592718e-02 6.95841746e-03 2.51540669e+02] [-5.51581108e-02 9.98477568e-01 -3.58791944e-04 -9.53977438e+00] [-6.96761444e-03 -2.55761530e-05 9.99975726e-01 -5.14034006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72439141799998 meters 0.015124619806810322 Centerline is valid? [True, True] Translation: X:251.60, Y:-9.54, Z:-5.14 [[ 9.98418549e-01 5.56994426e-02 7.61398100e-03 2.51599794e+02] [-5.56980859e-02 9.98447580e-01 -3.90279286e-04 -9.54379431e+00] [-7.62389925e-03 -3.44220894e-05 9.99970937e-01 -5.14036570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78439141799998 meters 0.015383937003515633 Centerline is valid? [True, True] Translation: X:251.66, Y:-9.55, Z:-5.14 [[ 9.98429875e-01 5.54836497e-02 7.70379923e-03 2.51657162e+02] [-5.54822555e-02 9.98459595e-01 -3.94745589e-04 -9.54816468e+00] [-7.71383419e-03 -3.32983674e-05 9.99970247e-01 -5.14179058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844391418 meters 0.015177206201195352 Centerline is valid? [True, True] Translation: X:251.72, Y:-9.55, Z:-5.14 [[ 9.98445409e-01 5.51303579e-02 8.21026526e-03 2.51715291e+02] [-5.51287523e-02 9.98479165e-01 -4.21914036e-04 -9.55472151e+00] [-8.22103907e-03 -3.13635480e-05 9.99966206e-01 -5.14197404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90439141799996 meters 0.015193750648255304 Centerline is valid? [True, True] Translation: X:251.77, Y:-9.56, Z:-5.14 [[ 9.98481508e-01 5.43997339e-02 8.68032933e-03 2.51772744e+02] [-5.43979592e-02 9.98519238e-01 -4.40587060e-04 -9.56159398e+00] [-8.69144365e-03 -3.22741688e-05 9.99962228e-01 -5.14290049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96439141799996 meters 0.015254991290362337 Centerline is valid? [True, True] Translation: X:251.83, Y:-9.57, Z:-5.14 [[ 9.98554674e-01 5.29580674e-02 9.16549052e-03 2.51830925e+02] [-5.29560398e-02 9.98596737e-01 -4.63931263e-04 -9.56883074e+00] [-9.17719782e-03 -2.21073497e-05 9.99957888e-01 -5.14351211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02439141799996 meters 0.015348759830017553 Centerline is valid? [True, True] Translation: X:251.89, Y:-9.58, Z:-5.14 [[ 9.98716808e-01 4.98505806e-02 8.92512434e-03 2.51887256e+02] [-4.98485339e-02 9.98756687e-01 -4.51762419e-04 -9.57935584e+00] [-8.93654824e-03 6.27835712e-06 9.99960068e-01 -5.14409364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08439141799997 meters 0.015546188846301394 Centerline is valid? [True, True] Translation: X:251.95, Y:-9.59, Z:-5.15 [[ 9.98880341e-01 4.64033999e-02 9.20810722e-03 2.51945857e+02] [-4.64010934e-02 9.98922781e-01 -4.64080911e-04 -9.59092786e+00] [-9.21972301e-03 3.62950548e-05 9.99957497e-01 -5.14551323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14439141799997 meters 0.01574103625827456 Centerline is valid? [True, True] Translation: X:252.00, Y:-9.60, Z:-5.15 [[ 9.98935963e-01 4.51965251e-02 9.17689771e-03 2.52002715e+02] [-4.51941879e-02 9.98978114e-01 -4.62009607e-04 -9.60130951e+00] [-9.18840120e-03 4.67755719e-05 9.99957785e-01 -5.14782977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20439141799997 meters 0.015691223342221488 Centerline is valid? [True, True] Translation: X:252.06, Y:-9.61, Z:-5.15 [[ 9.98931192e-01 4.54949944e-02 8.16577509e-03 2.52061696e+02] [-4.54931604e-02 9.98964566e-01 -4.10306827e-04 -9.60800998e+00] [-8.17598687e-03 3.83813724e-05 9.99966575e-01 -5.15027456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26439141799997 meters 0.01584388501006952 Centerline is valid? [True, True] Translation: X:252.12, Y:-9.61, Z:-5.15 [[ 9.98876319e-01 4.69204754e-02 6.67590543e-03 2.52119825e+02] [-4.69192830e-02 9.98898628e-01 -3.35217208e-04 -9.61457431e+00] [-6.68428133e-03 2.16118353e-05 9.99977660e-01 -5.15284318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32439141799998 meters 0.0157085318282192 Centerline is valid? [True, True] Translation: X:252.18, Y:-9.62, Z:-5.15 [[ 9.98765665e-01 4.90752356e-02 7.66606342e-03 2.52177095e+02] [-4.90737270e-02 9.98795085e-01 -3.84877532e-04 -9.62100692e+00] [-7.67571442e-03 8.20016052e-06 9.99970541e-01 -5.15336198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38439141799998 meters 0.01524485786101883 Centerline is valid? [True, True] Translation: X:252.24, Y:-9.63, Z:-5.15 [[ 9.98682864e-01 5.05766702e-02 8.63353820e-03 2.52235433e+02] [-5.05748309e-02 9.98720181e-01 -4.31375309e-04 -9.62609631e+00] [-8.64430636e-03 -5.83260527e-06 9.99962637e-01 -5.15160083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44439141799998 meters 0.015323580032041728 Centerline is valid? [True, True] Translation: X:252.29, Y:-9.64, Z:-5.15 [[ 9.98708711e-01 5.01966989e-02 7.82315304e-03 2.52292983e+02] [-5.01951788e-02 9.98739351e-01 -3.90651362e-04 -9.63760688e+00] [-7.83290020e-03 -2.53764801e-06 9.99969322e-01 -5.15480472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50439141799998 meters 0.015413946688232066 Centerline is valid? [True, True] Translation: X:252.35, Y:-9.65, Z:-5.16 [[ 9.98878407e-01 4.67580302e-02 7.45755094e-03 2.52351772e+02] [-4.67565595e-02 9.98906245e-01 -3.71534400e-04 -9.64780053e+00] [-7.46676642e-03 2.24282652e-05 9.99972123e-01 -5.15675540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56439141799999 meters 0.016496140561680916 Centerline is valid? [True, True] Translation: X:252.41, Y:-9.66, Z:-5.16 [[ 9.99237067e-01 3.83235577e-02 7.52261208e-03 2.52409998e+02] [-3.83218266e-02 9.99265379e-01 -3.74178278e-04 -9.66414793e+00] [-7.53142566e-03 8.56125688e-05 9.99971635e-01 -5.15828714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62439141799996 meters 0.020451038785102096 Centerline is valid? [True, True] Translation: X:252.47, Y:-9.68, Z:-5.16 [[ 9.99549805e-01 2.88563772e-02 8.21568586e-03 2.52467526e+02] [-2.88539991e-02 9.99583553e-01 -4.07866826e-04 -9.68322327e+00] [-8.22403402e-03 1.70627814e-04 9.99966168e-01 -5.16009674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68439141799996 meters 0.0213868542964448 Centerline is valid? [True, True] Translation: X:252.53, Y:-9.69, Z:-5.16 [[ 9.99688366e-01 2.34831114e-02 8.46845413e-03 2.52526305e+02] [-2.34803996e-02 9.99724209e-01 -4.19521996e-04 -9.69192037e+00] [-8.47597029e-03 2.20548572e-04 9.99964054e-01 -5.15975260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74439141799996 meters 0.0230934572413463 Centerline is valid? [True, True] Translation: X:252.59, Y:-9.70, Z:-5.16 [[ 9.99811596e-01 1.73131275e-02 8.77657376e-03 2.52585902e+02] [-1.73099873e-02 9.99850077e-01 -4.33635060e-04 -9.70168704e+00] [-8.78276552e-03 2.81630981e-04 9.99961391e-01 -5.16004153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80439141799997 meters 0.02420076217551386 Centerline is valid? [True, True] Translation: X:252.65, Y:-9.71, Z:-5.16 [[ 9.99879411e-01 1.23905692e-02 9.36142578e-03 2.52645466e+02] [-1.23867804e-02 9.99923174e-01 -4.62593949e-04 -9.70947041e+00] [-9.36643838e-03 3.46580240e-04 9.99956074e-01 -5.16069556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86439141799997 meters 0.026084511708870467 Centerline is valid? [True, True] Translation: X:252.71, Y:-9.72, Z:-5.16 [[ 9.99914700e-01 9.27517653e-03 9.19582581e-03 2.52706797e+02] [-9.27140797e-03 9.99956917e-01 -4.52357697e-04 -9.71663184e+00] [-9.19962533e-03 3.67060859e-04 9.99957615e-01 -5.16237275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92439141799997 meters 0.031019943432655947 Centerline is valid? [True, True] Translation: X:252.77, Y:-9.73, Z:-5.16 [[ 9.99953620e-01 3.42105505e-03 9.00305499e-03 2.52766363e+02] [-3.41717987e-03 9.99994062e-01 -4.45776605e-04 -9.72741977e+00] [-9.00452656e-03 4.14990872e-04 9.99959372e-01 -5.16481908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98439141799997 meters 0.03604561765701294 Centerline is valid? [True, True] Translation: X:252.83, Y:-9.74, Z:-5.17 [[ 9.99960820e-01 -2.37449861e-03 8.52760722e-03 2.52825670e+02] [ 2.37818706e-03 9.99997083e-01 -4.22416185e-04 -9.73908453e+00] [-8.52657932e-03 4.42679880e-04 9.99963550e-01 -5.16797890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04439141799998 meters 0.03678525404099108 Centerline is valid? [True, True] Translation: X:252.89, Y:-9.74, Z:-5.17 [[ 9.99938764e-01 -6.88037693e-03 8.66764003e-03 2.52886488e+02] [ 6.88434934e-03 9.99976211e-01 -4.28550778e-04 -9.74255346e+00] [-8.66448524e-03 4.88195597e-04 9.99962343e-01 -5.16897828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10439141799998 meters 0.034157518594511715 Centerline is valid? [True, True] Translation: X:252.95, Y:-9.74, Z:-5.17 [[ 9.99936999e-01 -6.78237802e-03 8.94416436e-03 2.52948886e+02] [ 6.78660293e-03 9.99976873e-01 -4.42098981e-04 -9.74053491e+00] [-8.94095903e-03 5.02771621e-04 9.99959902e-01 -5.16964968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16439141799998 meters 0.032005146945172674 Centerline is valid? [True, True] Translation: X:253.01, Y:-9.74, Z:-5.17 [[ 9.99953549e-01 -1.19807573e-03 9.56370349e-03 2.53010117e+02] [ 1.20266850e-03 9.99999164e-01 -4.74492952e-04 -9.73623927e+00] [-9.56312702e-03 4.85972877e-04 9.99954154e-01 -5.17026319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22439141799998 meters 0.02828481747308322 Centerline is valid? [True, True] Translation: X:253.07, Y:-9.73, Z:-5.17 [[ 9.99888957e-01 9.88636677e-03 1.11504771e-02 2.53070752e+02] [-9.88080973e-03 9.99951031e-01 -5.53348903e-04 -9.72800817e+00] [-1.11554017e-02 4.43111715e-04 9.99937678e-01 -5.17004006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28439141799998 meters 0.022681337548405307 Centerline is valid? [True, True] Translation: X:253.13, Y:-9.72, Z:-5.17 [[ 9.99736341e-01 1.94032369e-02 1.22785288e-02 2.53132020e+02] [-1.93972160e-02 9.99811671e-01 -6.09275096e-04 -9.71802070e+00] [-1.22880383e-02 3.70945180e-04 9.99924430e-01 -5.16950376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344391418 meters 0.018150394140553402 Centerline is valid? [True, True] Translation: X:253.19, Y:-9.71, Z:-5.17 [[ 9.99474208e-01 2.96829793e-02 1.30471339e-02 2.53193468e+02] [-2.96770562e-02 9.99559330e-01 -6.47389529e-04 -9.70890011e+00] [-1.30606008e-02 2.59848612e-04 9.99914673e-01 -5.16947239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40439141799996 meters 0.014908711885516221 Centerline is valid? [True, True] Translation: X:253.25, Y:-9.70, Z:-5.17 [[ 9.98874429e-01 4.56080463e-02 1.30300456e-02 2.53253510e+02] [-4.56034873e-02 9.98959410e-01 -6.46942275e-04 -9.69559199e+00] [-1.30459925e-02 5.19985736e-05 9.99914896e-01 -5.17107474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46439141799996 meters 0.015058324460680396 Centerline is valid? [True, True] Translation: X:253.31, Y:-9.69, Z:-5.17 [[ 9.98444759e-01 5.43296695e-02 1.25040421e-02 2.53312222e+02] [-5.43261546e-02 9.98523051e-01 -6.20839422e-04 -9.68874154e+00] [-1.25193043e-02 -5.94226573e-05 9.99921629e-01 -5.17203863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52439141799996 meters 0.01696147448678807 Centerline is valid? [True, True] Translation: X:253.37, Y:-9.68, Z:-5.17 [[ 9.97896571e-01 6.36048339e-02 1.25242892e-02 2.53370770e+02] [-6.36020482e-02 9.97975147e-01 -6.21004857e-04 -9.68360869e+00] [-1.25384283e-02 -1.76871830e-04 9.99921375e-01 -5.17206427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58439141799997 meters 0.017081597199220026 Centerline is valid? [True, True] Translation: X:253.43, Y:-9.69, Z:-5.17 [[ 9.97892141e-01 6.36608956e-02 1.25922404e-02 2.53427788e+02] [-6.36581092e-02 9.97971572e-01 -6.22374318e-04 -9.68580970e+00] [-1.26063189e-02 -1.80535776e-04 9.99920521e-01 -5.17337101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64439141799997 meters 0.0160946884023755 Centerline is valid? [True, True] Translation: X:253.49, Y:-9.69, Z:-5.17 [[ 9.98172474e-01 5.92304720e-02 1.19776112e-02 2.53486289e+02] [-5.92276562e-02 9.98244327e-01 -5.89980029e-04 -9.69325045e+00] [-1.19915272e-02 -1.20504012e-04 9.99928092e-01 -5.17498609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70439141799997 meters 0.014755212805541101 Centerline is valid? [True, True] Translation: X:253.54, Y:-9.71, Z:-5.18 [[ 9.98739417e-01 4.83779483e-02 1.33847287e-02 2.53544801e+02] [-4.83734680e-02 9.98829102e-01 -6.58468814e-04 -9.70879683e+00] [-1.34009120e-02 1.01730124e-05 9.99910204e-01 -5.17629170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76439141799997 meters 0.01577894995194641 Centerline is valid? [True, True] Translation: X:253.60, Y:-9.72, Z:-5.18 [[ 9.99177025e-01 3.78992407e-02 1.44540502e-02 2.53603137e+02] [-3.78929566e-02 9.99281553e-01 -7.08482088e-04 -9.72287038e+00] [-1.44705167e-02 1.60192329e-04 9.99895284e-01 -5.17591368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82439141799998 meters 0.02272091824864191 Centerline is valid? [True, True] Translation: X:253.66, Y:-9.75, Z:-5.18 [[ 9.99685081e-01 2.04277115e-02 1.45755787e-02 2.53661404e+02] [-2.04194886e-02 9.99791246e-01 -7.12769118e-04 -9.74631126e+00] [-1.45870962e-02 4.14918792e-04 9.99893517e-01 -5.17631251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88439141799998 meters 0.029715263653747832 Centerline is valid? [True, True] Translation: X:253.72, Y:-9.77, Z:-5.18 [[ 9.99889462e-01 4.58692163e-03 1.41429713e-02 2.53720576e+02] [-4.57759691e-03 9.99989284e-01 -6.91619637e-04 -9.76720682e+00] [-1.41459921e-02 6.26802366e-04 9.99899744e-01 -5.17767967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94439141799998 meters 0.036876028513030144 Centerline is valid? [True, True] Translation: X:253.78, Y:-9.79, Z:-5.18 [[ 9.99874241e-01 -6.03392601e-03 1.46661040e-02 2.53779490e+02] [ 6.04509145e-03 9.99981471e-01 -7.17096319e-04 -9.78555341e+00] [-1.46615054e-02 8.05664077e-04 9.99892190e-01 -5.17823346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00439141799998 meters 0.03461189329629315 Centerline is valid? [True, True] Translation: X:253.84, Y:-9.79, Z:-5.18 [[ 9.99843389e-01 -9.92299051e-03 1.46537106e-02 2.53840686e+02] [ 9.93456041e-03 9.99950394e-01 -7.16970860e-04 -9.78712871e+00] [-1.46458692e-02 8.62436748e-04 9.99892372e-01 -5.17842840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06439141799999 meters 0.039554687537180985 Centerline is valid? [True, True] Translation: X:253.90, Y:-9.80, Z:-5.18 [[ 9.99863663e-01 -1.03645316e-02 1.28542896e-02 2.53901623e+02] [ 1.03734694e-02 9.99945996e-01 -6.28829905e-04 -9.79769422e+00] [-1.28470779e-02 7.62087751e-04 9.99917182e-01 -5.18138959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12439141799996 meters 0.03513448650246509 Centerline is valid? [True, True] Translation: X:253.96, Y:-9.79, Z:-5.18 [[ 9.99904232e-01 -7.68272070e-03 1.15109925e-02 2.53963599e+02] [ 7.68971755e-03 9.99970275e-01 -5.63704077e-04 -9.79419123e+00] [-1.15063195e-02 6.52166373e-04 9.99933587e-01 -5.18281832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18439141799996 meters 0.03459442292847293 Centerline is valid? [True, True] Translation: X:254.03, Y:-9.79, Z:-5.19 [[ 9.99938976e-01 -4.97815521e-03 9.86218578e-03 2.54025406e+02] [ 4.98316426e-03 9.99987467e-01 -4.83396514e-04 -9.79467314e+00] [-9.85965576e-03 5.32511906e-04 9.99951251e-01 -5.18513992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24439141799996 meters 0.034153903539149405 Centerline is valid? [True, True] Translation: X:254.09, Y:-9.80, Z:-5.19 [[ 9.99959568e-01 -3.99155390e-03 8.05789428e-03 2.54088136e+02] [ 3.99486387e-03 9.99991943e-01 -3.94720102e-04 -9.79542750e+00] [-8.05625381e-03 4.26894333e-04 9.99967457e-01 -5.18723091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30439141799997 meters 0.032641576502793423 Centerline is valid? [True, True] Translation: X:254.15, Y:-9.79, Z:-5.19 [[ 9.99977137e-01 -2.39007659e-03 6.32559776e-03 2.54150864e+02] [ 2.39208551e-03 9.99997091e-01 -3.10039055e-04 -9.79428410e+00] [-6.32483834e-03 3.25163337e-04 9.99979945e-01 -5.18837539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36439141799997 meters 0.031533111178834096 Centerline is valid? [True, True] Translation: X:254.21, Y:-9.79, Z:-5.19 [[ 9.99979279e-01 5.71890191e-04 6.41213046e-03 2.54212123e+02] [-5.69876733e-04 9.99999788e-01 -3.15830327e-04 -9.79252408e+00] [-6.41230972e-03 3.12169658e-04 9.99979392e-01 -5.18798676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42439141799997 meters 0.028626342052366426 Centerline is valid? [True, True] Translation: X:254.27, Y:-9.79, Z:-5.19 [[ 9.99958114e-01 4.69076095e-03 7.85919115e-03 2.54272810e+02] [-4.68785503e-03 9.99988937e-01 -3.88129397e-04 -9.78754161e+00] [-7.86092483e-03 3.51270391e-04 9.99969041e-01 -5.18615813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48439141799997 meters 0.02669172384596429 Centerline is valid? [True, True] Translation: X:254.33, Y:-9.79, Z:-5.19 [[ 9.99924636e-01 9.18258289e-03 8.14879693e-03 2.54333681e+02] [-9.17960980e-03 9.99957786e-01 -4.02177228e-04 -9.78550444e+00] [-8.15214596e-03 3.27344142e-04 9.99966717e-01 -5.18641783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54439141799998 meters 0.0230931182575527 Centerline is valid? [True, True] Translation: X:254.40, Y:-9.78, Z:-5.19 [[ 9.99809268e-01 1.75589852e-02 8.55039034e-03 2.54395096e+02] [-1.75560147e-02 9.99845792e-01 -4.22344605e-04 -9.77848428e+00] [-8.55648774e-03 2.72153272e-04 9.99963356e-01 -5.18687578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60439141799998 meters 0.0196122547963572 Centerline is valid? [True, True] Translation: X:254.45, Y:-9.77, Z:-5.19 [[ 9.99576607e-01 2.77771460e-02 8.66241911e-03 2.54454804e+02] [-2.77744764e-02 9.99614123e-01 -4.28352362e-04 -9.77169668e+00] [-8.67097489e-03 1.87576845e-04 9.99962389e-01 -5.18824102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66439141799998 meters 0.017585730836079 Centerline is valid? [True, True] Translation: X:254.51, Y:-9.77, Z:-5.19 [[ 9.99364401e-01 3.45432324e-02 8.80671508e-03 2.54514139e+02] [-3.45407319e-02 9.99403196e-01 -4.35908266e-04 -9.76760878e+00] [-8.81651687e-03 1.31440819e-04 9.99961125e-01 -5.18927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72439141799998 meters 0.015857532180335435 Centerline is valid? [True, True] Translation: X:254.57, Y:-9.76, Z:-5.19 [[ 9.98871038e-01 4.66697340e-02 8.86482198e-03 2.54573746e+02] [-4.66676865e-02 9.98910374e-01 -4.37802322e-04 -9.75930740e+00] [-8.87559476e-03 2.36073270e-05 9.99960611e-01 -5.19011639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78439141799998 meters 0.01592574403581657 Centerline is valid? [True, True] Translation: X:254.63, Y:-9.76, Z:-5.19 [[ 9.98656178e-01 5.09850474e-02 9.29320775e-03 2.54632726e+02] [-5.09829878e-02 9.98699417e-01 -4.58547944e-04 -9.75824756e+00] [-9.30450025e-03 -1.58637601e-05 9.99956712e-01 -5.19141481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844391418 meters 0.0159479792009285 Centerline is valid? [True, True] Translation: X:254.69, Y:-9.76, Z:-5.19 [[ 9.98537743e-01 5.32727720e-02 9.18627890e-03 2.54690424e+02] [-5.32708568e-02 9.98579997e-01 -4.53209809e-04 -9.76031997e+00] [-9.19737810e-03 -3.68138478e-05 9.99957703e-01 -5.19415926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90439141799996 meters 0.015356041093434889 Centerline is valid? [True, True] Translation: X:254.75, Y:-9.77, Z:-5.19 [[ 9.98686960e-01 5.01089006e-02 1.06514368e-02 2.54748526e+02] [-5.01061728e-02 9.98743760e-01 -5.22974908e-04 -9.76826810e+00] [-1.06642617e-02 -1.14145090e-05 9.99943135e-01 -5.19453421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96439141799996 meters 0.015501445416855969 Centerline is valid? [True, True] Translation: X:254.81, Y:-9.78, Z:-5.20 [[ 9.98941083e-01 4.47602393e-02 1.06411690e-02 2.54805511e+02] [-4.47572202e-02 9.98997757e-01 -5.21808055e-04 -9.77702711e+00] [-1.06538602e-02 4.49863583e-05 9.99943245e-01 -5.19615212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024391418 meters 0.016658878172830557 Centerline is valid? [True, True] Translation: X:254.86, Y:-9.79, Z:-5.20 [[ 9.99340492e-01 3.45287364e-02 1.12403977e-02 2.54863395e+02] [-3.45247355e-02 9.99403692e-01 -5.49842807e-04 -9.79114402e+00] [-1.12526804e-02 1.61408423e-04 9.99936674e-01 -5.19658317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084391418 meters 0.020400036248419864 Centerline is valid? [True, True] Translation: X:254.92, Y:-9.81, Z:-5.20 [[ 9.99652531e-01 2.37400753e-02 1.14553893e-02 2.54921993e+02] [-2.37352293e-02 9.99718124e-01 -5.58819508e-04 -9.80846288e+00] [-1.14654267e-02 2.86729043e-04 9.99934229e-01 -5.19876145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144391418 meters 0.02320093037879572 Centerline is valid? [True, True] Translation: X:254.98, Y:-9.82, Z:-5.20 [[ 9.99807901e-01 1.53999405e-02 1.21244462e-02 2.54982072e+02] [-1.53939044e-02 9.99881332e-01 -5.91018366e-04 -9.82087710e+00] [-1.21321091e-02 4.04262267e-04 9.99926322e-01 -5.19949756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204391418 meters 0.025311599984978828 Centerline is valid? [True, True] Translation: X:255.04, Y:-9.83, Z:-5.20 [[ 9.99847859e-01 1.26215902e-02 1.20397017e-02 2.55042493e+02] [-1.26154514e-02 9.99920251e-01 -5.85688209e-04 -9.82923620e+00] [-1.20461339e-02 4.33712829e-04 9.99927349e-01 -5.20094803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26439141799995 meters 0.025876102222341005 Centerline is valid? [True, True] Translation: X:255.10, Y:-9.83, Z:-5.20 [[ 9.99828874e-01 1.41823077e-02 1.18779260e-02 2.55103135e+02] [-1.41764352e-02 9.99899342e-01 -5.78458430e-04 -9.83486455e+00] [-1.18849342e-02 4.09972792e-04 9.99929288e-01 -5.20241749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32439141799995 meters 0.024736022141549463 Centerline is valid? [True, True] Translation: X:255.17, Y:-9.84, Z:-5.20 [[ 9.99775870e-01 1.70583366e-02 1.25388929e-02 2.55165144e+02] [-1.70519757e-02 9.99854416e-01 -6.14038680e-04 -9.83617272e+00] [-1.25475420e-02 4.00088157e-04 9.99921196e-01 -5.20290311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38439141799995 meters 0.020894727442043605 Centerline is valid? [True, True] Translation: X:255.23, Y:-9.83, Z:-5.20 [[ 9.99684605e-01 2.14103970e-02 1.31257756e-02 2.55227303e+02] [-2.14037310e-02 9.99770704e-01 -6.48138691e-04 -9.83176739e+00] [-1.31366428e-02 3.66993701e-04 9.99913643e-01 -5.20346873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44439141799995 meters 0.019190565390046488 Centerline is valid? [True, True] Translation: X:255.29, Y:-9.83, Z:-5.21 [[ 9.99592031e-01 2.59497173e-02 1.19324746e-02 2.55287809e+02] [-2.59445175e-02 9.99663210e-01 -5.90380404e-04 -9.83099378e+00] [-1.19437761e-02 2.80557250e-04 9.99928631e-01 -5.20602801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50439141799995 meters 0.01937310451453831 Centerline is valid? [True, True] Translation: X:255.35, Y:-9.83, Z:-5.21 [[ 9.99557412e-01 2.74515966e-02 1.14625078e-02 2.55346195e+02] [-2.74468907e-02 9.99623102e-01 -5.67680920e-04 -9.83339801e+00] [-1.14737713e-02 2.52819473e-04 9.99934142e-01 -5.20789439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56439141799996 meters 0.01811607043332216 Centerline is valid? [True, True] Translation: X:255.41, Y:-9.83, Z:-5.21 [[ 9.99439784e-01 3.15659904e-02 1.11223369e-02 2.55406270e+02] [-3.15618238e-02 9.99501650e-01 -5.49990453e-04 -9.83126384e+00] [-1.11341551e-02 1.98641103e-04 9.99937994e-01 -5.20910261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62439141799996 meters 0.016679190846134343 Centerline is valid? [True, True] Translation: X:255.46, Y:-9.83, Z:-5.21 [[ 9.99307697e-01 3.53931532e-02 1.14651976e-02 2.55464974e+02] [-3.53889788e-02 9.99373453e-01 -5.66830865e-04 -9.82881810e+00] [-1.14780761e-02 1.60696811e-04 9.99934112e-01 -5.20924518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68439141799996 meters 0.016327922130394322 Centerline is valid? [True, True] Translation: X:255.52, Y:-9.83, Z:-5.21 [[ 9.99237703e-01 3.67709051e-02 1.31115659e-02 2.55524424e+02] [-3.67655829e-02 9.99323708e-01 -6.46797799e-04 -9.82761541e+00] [-1.31264820e-02 1.64250382e-04 9.99913831e-01 -5.20918729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74439141799996 meters 0.016570697727644246 Centerline is valid? [True, True] Translation: X:255.58, Y:-9.83, Z:-5.21 [[ 9.99266369e-01 3.57816968e-02 1.36526404e-02 2.55583286e+02] [-3.57758439e-02 9.99359613e-01 -6.72763511e-04 -9.82985591e+00] [-1.36679701e-02 1.83835217e-04 9.99906572e-01 -5.21037745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80439141799997 meters 0.017282453134153428 Centerline is valid? [True, True] Translation: X:255.64, Y:-9.83, Z:-5.21 [[ 9.99416076e-01 3.10556723e-02 1.42496409e-02 2.55642374e+02] [-3.10488342e-02 9.99517623e-01 -7.00912099e-04 -9.83273725e+00] [-1.42645345e-02 2.58068081e-04 9.99898223e-01 -5.21105941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86439141799997 meters 0.02043142278127849 Centerline is valid? [True, True] Translation: X:255.70, Y:-9.84, Z:-5.21 [[ 9.99630069e-01 2.32588143e-02 1.40979735e-02 2.55701574e+02] [-2.32513617e-02 9.99729411e-01 -6.92332905e-04 -9.84046560e+00] [-1.41102616e-02 3.64279709e-04 9.99900379e-01 -5.21319241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92439141799997 meters 0.024486510073175344 Centerline is valid? [True, True] Translation: X:255.76, Y:-9.85, Z:-5.22 [[ 9.99804845e-01 1.40702259e-02 1.38672267e-02 2.55761438e+02] [-1.40621382e-02 9.99900892e-01 -6.80566149e-04 -9.84881337e+00] [-1.38754280e-02 4.85430475e-04 9.99903614e-01 -5.21539714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.984391418 meters 0.02849447973379166 Centerline is valid? [True, True] Translation: X:255.82, Y:-9.86, Z:-5.22 [[ 9.99896548e-01 5.50533008e-03 1.32885246e-02 2.55822117e+02] [-5.49714734e-03 9.99984678e-01 -6.52223281e-04 -9.85611228e+00] [-1.32919117e-02 5.79106830e-04 9.99911491e-01 -5.21765129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044391418 meters 0.0317903079884371 Centerline is valid? [True, True] Translation: X:255.88, Y:-9.86, Z:-5.22 [[ 9.99887885e-01 5.64017431e-04 1.49632916e-02 2.55882947e+02] [-5.53090208e-04 9.99999577e-01 -7.34396916e-04 -9.86229529e+00] [-1.49636995e-02 7.26038529e-04 9.99887774e-01 -5.21846008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104391418 meters 0.0348183175176924 Centerline is valid? [True, True] Translation: X:255.94, Y:-9.87, Z:-5.22 [[ 9.99874111e-01 -5.09157177e-03 1.50279208e-02 2.55943449e+02] [ 5.10323613e-03 9.99986706e-01 -7.37933377e-04 -9.86582973e+00] [-1.50239638e-02 8.14531508e-04 9.99886802e-01 -5.22050597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164391418 meters 0.03754428077258125 Centerline is valid? [True, True] Translation: X:256.00, Y:-9.87, Z:-5.22 [[ 9.99866939e-01 -7.56683680e-03 1.44515541e-02 2.56003690e+02] [ 7.57788198e-03 9.99971036e-01 -7.09683426e-04 -9.86943471e+00] [-1.44457655e-02 8.19101167e-04 9.99895319e-01 -5.22241005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224391418 meters 0.03846043260179387 Centerline is valid? [True, True] Translation: X:256.07, Y:-9.87, Z:-5.22 [[ 9.99865089e-01 -8.34654470e-03 1.41470377e-02 2.56065772e+02] [ 8.35720555e-03 9.99964837e-01 -6.94623624e-04 -9.87183770e+00] [-1.41407425e-02 8.12759613e-04 9.99899684e-01 -5.22386264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284391418 meters 0.03907378519411053 Centerline is valid? [True, True] Translation: X:256.13, Y:-9.87, Z:-5.23 [[ 9.99870885e-01 -9.92819110e-03 1.26350528e-02 2.56128282e+02] [ 9.93683096e-03 9.99950436e-01 -6.21204211e-04 -9.87251845e+00] [-1.26282591e-02 7.46676387e-04 9.99919982e-01 -5.22570376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344391418 meters 0.04094563387842211 Centerline is valid? [True, True] Translation: X:256.19, Y:-9.88, Z:-5.23 [[ 9.99890630e-01 -9.35373730e-03 1.14557788e-02 2.56189326e+02] [ 9.36081274e-03 9.99956027e-01 -5.64166005e-04 -9.87558038e+00] [-1.14499980e-02 6.71339702e-04 9.99934221e-01 -5.22754687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404391418 meters 0.034913542460571094 Centerline is valid? [True, True] Translation: X:256.25, Y:-9.87, Z:-5.23 [[ 9.99919484e-01 -5.13812890e-03 1.16027909e-02 2.56250220e+02] [ 5.14511830e-03 9.99986600e-01 -5.72619423e-04 -9.86631323e+00] [-1.15996933e-02 6.32271050e-04 9.99932521e-01 -5.22672069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464391418 meters 0.03195659472102434 Centerline is valid? [True, True] Translation: X:256.31, Y:-9.86, Z:-5.23 [[ 9.99916755e-01 3.05944471e-03 1.25348819e-02 2.56310337e+02] [-3.05192748e-03 9.99995151e-01 -6.18789180e-04 -9.86014473e+00] [-1.25367143e-02 5.80482118e-04 9.99921244e-01 -5.22661749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524391418 meters 0.027386469569109253 Centerline is valid? [True, True] Translation: X:256.37, Y:-9.85, Z:-5.23 [[ 9.99864303e-01 1.05333569e-02 1.26658425e-02 2.56371148e+02] [-1.05262860e-02 9.99944402e-01 -6.24802827e-04 -9.85340758e+00] [-1.26717196e-02 4.91393762e-04 9.99919590e-01 -5.22627489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584391418 meters 0.021311094024421287 Centerline is valid? [True, True] Translation: X:256.43, Y:-9.84, Z:-5.23 [[ 9.99687809e-01 2.17202692e-02 1.23496708e-02 2.56432317e+02] [-2.17143990e-02 9.99764029e-01 -6.09241934e-04 -9.84233143e+00] [-1.23599895e-02 3.40886055e-04 9.99923554e-01 -5.22698974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644391418 meters 0.017395496306159133 Centerline is valid? [True, True] Translation: X:256.49, Y:-9.84, Z:-5.23 [[ 9.99440316e-01 3.14146564e-02 1.14967174e-02 2.56492360e+02] [-3.14102060e-02 9.99506417e-01 -5.67502791e-04 -9.83504453e+00] [-1.15088707e-02 2.06070907e-04 9.99933750e-01 -5.22881538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704391418 meters 0.015187879650644043 Centerline is valid? [True, True] Translation: X:256.55, Y:-9.83, Z:-5.23 [[ 9.99269375e-01 3.67197888e-02 1.06006521e-02 2.56551522e+02] [-3.67163027e-02 9.99325592e-01 -5.23346933e-04 -9.83001854e+00] [-1.06127201e-02 1.33747812e-04 9.99943675e-01 -5.22996040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76439141799995 meters 0.015224129424233925 Centerline is valid? [True, True] Translation: X:256.61, Y:-9.83, Z:-5.23 [[ 9.99243317e-01 3.75096443e-02 1.02869171e-02 2.56609679e+02] [-3.75064079e-02 9.99296258e-01 -5.07416390e-04 -9.83151058e+00] [-1.02987108e-02 1.21207126e-04 9.99946960e-01 -5.23216523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82439141799995 meters 0.015584128684034684 Centerline is valid? [True, True] Translation: X:256.67, Y:-9.83, Z:-5.23 [[ 9.99339388e-01 3.45204084e-02 1.13635007e-02 2.56667899e+02] [-3.45162852e-02 9.99403979e-01 -5.58828212e-04 -9.83498328e+00] [-1.13760188e-02 1.66233212e-04 9.99935277e-01 -5.23199740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88439141799995 meters 0.0181261753165928 Centerline is valid? [True, True] Translation: X:256.73, Y:-9.84, Z:-5.23 [[ 9.99432602e-01 3.10961883e-02 1.29421899e-02 2.56725265e+02] [-3.10905736e-02 9.99516370e-01 -6.34849998e-04 -9.84267653e+00] [-1.29556721e-02 2.32109678e-04 9.99916045e-01 -5.23316716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94439141799995 meters 0.019218297236362734 Centerline is valid? [True, True] Translation: X:256.78, Y:-9.85, Z:-5.23 [[ 9.99639575e-01 2.31152418e-02 1.36530148e-02 2.56784772e+02] [-2.31082749e-02 9.99732745e-01 -6.67843275e-04 -9.84848522e+00] [-1.36648033e-02 3.52104949e-04 9.99906570e-01 -5.23347503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00439141799995 meters 0.023531326602499892 Centerline is valid? [True, True] Translation: X:256.84, Y:-9.86, Z:-5.24 [[ 9.99772306e-01 1.64606675e-02 1.35787446e-02 2.56843904e+02] [-1.64531723e-02 9.99864417e-01 -6.63518154e-04 -9.85974496e+00] [-1.35878255e-02 4.39953651e-04 9.99907584e-01 -5.23616233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06439141799996 meters 0.03168798957823649 Centerline is valid? [True, True] Translation: X:256.90, Y:-9.88, Z:-5.24 [[ 9.99879372e-01 6.13684935e-03 1.42681565e-02 2.56902766e+02] [-6.12753787e-03 9.99980984e-01 -6.96231348e-04 -9.87627339e+00] [-1.42721578e-02 6.08718694e-04 9.99897962e-01 -5.23898742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12439141799996 meters 0.03208245613818149 Centerline is valid? [True, True] Translation: X:256.96, Y:-9.88, Z:-5.24 [[ 9.99888188e-01 -2.63052462e-03 1.47204730e-02 2.56963870e+02] [ 2.64140823e-03 9.99996252e-01 -7.19958647e-04 -9.88132905e+00] [-1.47185240e-02 7.58760925e-04 9.99891389e-01 -5.23972488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18439141799996 meters 0.036981892308140814 Centerline is valid? [True, True] Translation: X:257.02, Y:-9.89, Z:-5.24 [[ 9.99867135e-01 -6.63347341e-03 1.48898981e-02 2.57023248e+02] [ 6.64505452e-03 9.99977656e-01 -7.28442243e-04 -9.89171731e+00] [-1.48847333e-02 8.27289644e-04 9.99888874e-01 -5.24209802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24439141799996 meters 0.037012735403458244 Centerline is valid? [True, True] Translation: X:257.09, Y:-9.89, Z:-5.24 [[ 9.99874743e-01 -5.57743391e-03 1.48118247e-02 2.57085250e+02] [ 5.58879526e-03 9.99984119e-01 -7.25764337e-04 -9.89419630e+00] [-1.48075416e-02 8.08453686e-04 9.99890036e-01 -5.24410242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30439141799997 meters 0.030859454182188332 Centerline is valid? [True, True] Translation: X:257.15, Y:-9.89, Z:-5.25 [[ 9.99890062e-01 1.07816318e-03 1.47885397e-02 2.57146075e+02] [-1.06753987e-03 9.99999166e-01 -7.26223005e-04 -9.88696003e+00] [-1.47893103e-02 7.10355810e-04 9.99890380e-01 -5.24529584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36439141799997 meters 0.02806560761854644 Centerline is valid? [True, True] Translation: X:257.21, Y:-9.89, Z:-5.25 [[ 9.99881537e-01 4.18564630e-03 1.48118915e-02 2.57207602e+02] [-4.17533290e-03 9.99991019e-01 -7.27147866e-04 -9.88527314e+00] [-1.48148021e-02 6.65217148e-04 9.99890034e-01 -5.24587592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42439141799997 meters 0.02382906967045731 Centerline is valid? [True, True] Translation: X:257.27, Y:-9.88, Z:-5.25 [[ 9.99800784e-01 1.35064644e-02 1.46958495e-02 2.57268926e+02] [-1.34973048e-02 9.99908646e-01 -7.22287851e-04 -9.87976478e+00] [-1.47042626e-02 5.23789600e-04 9.99891749e-01 -5.24742818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.484391418 meters 0.019772876654929838 Centerline is valid? [True, True] Translation: X:257.33, Y:-9.87, Z:-5.25 [[ 9.99675723e-01 2.15220464e-02 1.36107060e-02 2.57329663e+02] [-2.15149312e-02 9.99768303e-01 -6.68989672e-04 -9.87351773e+00] [-1.36219504e-02 3.75939331e-04 9.99907146e-01 -5.24941207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544391418 meters 0.01804724734303872 Centerline is valid? [True, True] Translation: X:257.39, Y:-9.87, Z:-5.25 [[ 9.99534425e-01 2.77633005e-02 1.26543060e-02 2.57389448e+02] [-2.77576563e-02 9.99614489e-01 -6.21478750e-04 -9.87096499e+00] [-1.26666820e-02 2.69935528e-04 9.99919738e-01 -5.25215094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604391418 meters 0.01720522441444147 Centerline is valid? [True, True] Translation: X:257.45, Y:-9.87, Z:-5.25 [[ 9.99432286e-01 3.12088719e-02 1.26929987e-02 2.57447127e+02] [-3.12034447e-02 9.99512858e-01 -6.25444240e-04 -9.87095276e+00] [-1.27063348e-02 2.29023885e-04 9.99919245e-01 -5.25364476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664391418 meters 0.01583503805788896 Centerline is valid? [True, True] Translation: X:257.51, Y:-9.87, Z:-5.25 [[ 9.99309979e-01 3.43590556e-02 1.41074947e-02 2.57506285e+02] [-3.43526886e-02 9.99409532e-01 -6.93470520e-04 -9.86873846e+00] [-1.41229917e-02 2.08361639e-04 9.99900244e-01 -5.25358543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724391418 meters 0.01577321652683281 Centerline is valid? [True, True] Translation: X:257.56, Y:-9.87, Z:-5.25 [[ 9.99315583e-01 3.40585486e-02 1.44354315e-02 2.57564853e+02] [-3.40518682e-02 9.99419816e-01 -7.08388253e-04 -9.87095693e+00] [-1.44511829e-02 2.16350011e-04 9.99895553e-01 -5.25429501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784391418 meters 0.017016533908101057 Centerline is valid? [True, True] Translation: X:257.62, Y:-9.88, Z:-5.25 [[ 9.99420640e-01 3.05465947e-02 1.50096614e-02 2.57623099e+02] [-3.05389953e-02 9.99533306e-01 -7.35295348e-04 -9.87655443e+00] [-1.50251173e-02 2.76489367e-04 9.99887078e-01 -5.25452429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844391418 meters 0.018707205180460065 Centerline is valid? [True, True] Translation: X:257.68, Y:-9.88, Z:-5.26 [[ 9.99539287e-01 2.67713457e-02 1.43006470e-02 2.57681125e+02] [-2.67640821e-02 9.99641533e-01 -6.99094857e-04 -9.88302889e+00] [-1.43142364e-02 3.16029085e-04 9.99897496e-01 -5.25614188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904391418 meters 0.019381784558434496 Centerline is valid? [True, True] Translation: X:257.74, Y:-9.89, Z:-5.26 [[ 9.99605349e-01 2.45231454e-02 1.37025766e-02 2.57740846e+02] [-2.45162663e-02 9.99699207e-01 -6.69806229e-04 -9.88718874e+00] [-1.37148807e-02 3.33605872e-04 9.99905891e-01 -5.25756019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964391418 meters 0.02031412483341303 Centerline is valid? [True, True] Translation: X:257.80, Y:-9.89, Z:-5.26 [[ 9.99638108e-01 2.36157808e-02 1.28820619e-02 2.57799387e+02] [-2.36096297e-02 9.99721056e-01 -6.29378954e-04 -9.89150170e+00] [-1.28933318e-02 3.25010476e-04 9.99916825e-01 -5.25914391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024391418 meters 0.02046912992182903 Centerline is valid? [True, True] Translation: X:257.86, Y:-9.89, Z:-5.26 [[ 9.99647613e-01 2.41743058e-02 1.09659664e-02 2.57858986e+02] [-2.41698894e-02 9.99707722e-01 -5.35106616e-04 -9.89375359e+00] [-1.09756972e-02 2.69871856e-04 9.99939729e-01 -5.26108820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084391418 meters 0.018576782213884285 Centerline is valid? [True, True] Translation: X:257.92, Y:-9.89, Z:-5.26 [[ 9.99620342e-01 2.57705377e-02 9.74942839e-03 2.57918462e+02] [-2.57671232e-02 9.99667859e-01 -4.75697963e-04 -9.89177771e+00] [-9.75844920e-03 2.24302638e-04 9.99952360e-01 -5.26146335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144391418 meters 0.018400943847647063 Centerline is valid? [True, True] Translation: X:257.98, Y:-9.89, Z:-5.26 [[ 9.99599246e-01 2.66647655e-02 9.50465611e-03 2.57977774e+02] [-2.66615593e-02 9.99644410e-01 -4.63902441e-04 -9.89317241e+00] [-9.51364620e-03 2.10307578e-04 9.99954722e-01 -5.26178757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204391418 meters 0.01974137240504554 Centerline is valid? [True, True] Translation: X:258.04, Y:-9.90, Z:-5.26 [[ 9.99616060e-01 2.61356266e-02 9.20113962e-03 2.58035729e+02] [-2.61326117e-02 9.99658385e-01 -4.47757286e-04 -9.89731984e+00] [-9.20969879e-03 2.07135566e-04 9.99957568e-01 -5.26382366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26439141799995 meters 0.02031306490450775 Centerline is valid? [True, True] Translation: X:258.09, Y:-9.90, Z:-5.26 [[ 9.99689964e-01 2.34745148e-02 8.30198162e-03 2.58094996e+02] [-2.34719798e-02 9.99724414e-01 -4.02659776e-04 -9.90017740e+00] [-8.30914595e-03 2.07670991e-04 9.99965457e-01 -5.26382179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32439141799995 meters 0.021932529557751438 Centerline is valid? [True, True] Translation: X:258.15, Y:-9.91, Z:-5.27 [[ 9.99767262e-01 2.00884043e-02 7.86621592e-03 2.58154305e+02] [-2.00860259e-02 9.99798183e-01 -3.81251118e-04 -9.90564619e+00] [-7.87228710e-03 2.23161370e-04 9.99968988e-01 -5.26516862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38439141799995 meters 0.02456499989574745 Centerline is valid? [True, True] Translation: X:258.21, Y:-9.91, Z:-5.27 [[ 9.99884225e-01 1.35932502e-02 6.83811122e-03 2.58213890e+02] [-1.35913043e-02 9.99907579e-01 -3.30953216e-04 -9.91314362e+00] [-6.84197797e-03 2.37976050e-04 9.99976565e-01 -5.26665581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44439141799995 meters 0.028563756673598173 Centerline is valid? [True, True] Translation: X:258.27, Y:-9.92, Z:-5.27 [[ 9.99963202e-01 5.45410429e-03 6.62170663e-03 2.58273838e+02] [-5.45210378e-03 9.99985086e-01 -3.20128815e-04 -9.92261838e+00] [-6.62335389e-03 2.84014804e-04 9.99978025e-01 -5.26801559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50439141799995 meters 0.032565499649470725 Centerline is valid? [True, True] Translation: X:258.33, Y:-9.93, Z:-5.27 [[ 9.99977753e-01 2.71911733e-04 6.66480300e-03 2.58333710e+02] [-2.69770158e-04 9.99999912e-01 -3.22223015e-04 -9.93164530e+00] [-6.66489003e-03 3.20417882e-04 9.99977738e-01 -5.26943504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56439141799996 meters 0.03634330814196673 Centerline is valid? [True, True] Translation: X:258.39, Y:-9.94, Z:-5.27 [[ 9.99948644e-01 -5.90318269e-03 8.23787326e-03 2.58394197e+02] [ 5.90666315e-03 9.99982476e-01 -3.98229228e-04 -9.94036887e+00] [-8.23537809e-03 4.46867119e-04 9.99965989e-01 -5.26915710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62439141799996 meters 0.03551764681239202 Centerline is valid? [True, True] Translation: X:258.45, Y:-9.94, Z:-5.27 [[ 9.99916117e-01 -8.67099346e-03 9.62149990e-03 2.58454861e+02] [ 8.67586780e-03 9.99962256e-01 -4.64985656e-04 -9.94333319e+00] [-9.61710485e-03 5.48421513e-04 9.99953604e-01 -5.26884611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68439141799996 meters 0.03599850484118753 Centerline is valid? [True, True] Translation: X:258.52, Y:-9.95, Z:-5.27 [[ 9.99907570e-01 -9.05257156e-03 1.01440357e-02 2.58517310e+02] [ 9.05800521e-03 9.99958855e-01 -4.89832919e-04 -9.94756090e+00] [-1.01391841e-02 5.81672372e-04 9.99948428e-01 -5.26996990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74439141799996 meters 0.03550812060691713 Centerline is valid? [True, True] Translation: X:258.58, Y:-9.95, Z:-5.27 [[ 9.99920446e-01 -6.87710422e-03 1.05738999e-02 2.58578879e+02] [ 6.88289895e-03 9.99976182e-01 -5.11729512e-04 -9.95049574e+00] [-1.05701288e-02 5.84467887e-04 9.99943964e-01 -5.27206467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80439141799997 meters 0.03494111481847883 Centerline is valid? [True, True] Translation: X:258.64, Y:-9.95, Z:-5.27 [[ 9.99948726e-01 -4.10930843e-03 9.25518716e-03 2.58640581e+02] [ 4.11363113e-03 9.99991439e-01 -4.48067983e-04 -9.95226274e+00] [-9.25326667e-03 4.86117434e-04 9.99957069e-01 -5.27498682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86439141799997 meters 0.031351185699137224 Centerline is valid? [True, True] Translation: X:258.70, Y:-9.95, Z:-5.28 [[ 9.99961779e-01 3.35032248e-03 8.07564421e-03 2.58701125e+02] [-3.34726221e-03 9.99994321e-01 -3.92436311e-04 -9.94861959e+00] [-8.07691313e-03 3.65390013e-04 9.99967314e-01 -5.27745734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92439141799997 meters 0.025222070623053258 Centerline is valid? [True, True] Translation: X:258.76, Y:-9.94, Z:-5.28 [[ 9.99839100e-01 1.54056544e-02 9.18906596e-03 2.58762069e+02] [-1.54022002e-02 9.99881279e-01 -4.46559822e-04 -9.94022856e+00] [-9.19485457e-03 3.04956137e-04 9.99957680e-01 -5.27781227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.984391418 meters 0.020639858900812585 Centerline is valid? [True, True] Translation: X:258.82, Y:-9.93, Z:-5.28 [[ 9.99623573e-01 2.52479852e-02 1.07355314e-02 2.58822565e+02] [-2.52438373e-02 9.99681187e-01 -5.21729132e-04 -9.93364226e+00] [-1.07452814e-02 2.50526731e-04 9.99942236e-01 -5.27796876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044391418 meters 0.015178029256137118 Centerline is valid? [True, True] Translation: X:258.88, Y:-9.92, Z:-5.28 [[ 9.99092145e-01 4.03294859e-02 1.37265469e-02 2.58883832e+02] [-4.03241284e-02 9.99186429e-01 -6.66959302e-04 -9.92130812e+00] [-1.37422775e-02 1.12842761e-04 9.99905564e-01 -5.27665960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104391418 meters 0.014228037026027774 Centerline is valid? [True, True] Translation: X:258.94, Y:-9.91, Z:-5.28 [[ 9.98502676e-01 5.26795086e-02 1.47402628e-02 2.58942911e+02] [-5.26746697e-02 9.98611469e-01 -7.16599688e-04 -9.91325813e+00] [-1.47575456e-02 -6.09117665e-05 9.99891100e-01 -5.27625857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164391418 meters 0.01607089142223858 Centerline is valid? [True, True] Translation: X:259.00, Y:-9.91, Z:-5.28 [[ 9.98025090e-01 6.09885303e-02 1.50439247e-02 2.59000432e+02] [-6.09844492e-02 9.98138449e-01 -7.30302477e-04 -9.91007092e+00] [-1.50604598e-02 -1.88585269e-04 9.99886567e-01 -5.27915900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224391418 meters 0.01649742209367329 Centerline is valid? [True, True] Translation: X:259.06, Y:-9.91, Z:-5.28 [[ 9.97873145e-01 6.32048258e-02 1.59479180e-02 2.59058781e+02] [-6.32005587e-02 9.98000548e-01 -7.71920713e-04 -9.91338490e+00] [-1.59648201e-02 -2.37638380e-04 9.99872526e-01 -5.28043944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284391418 meters 0.016632012964404835 Centerline is valid? [True, True] Translation: X:259.12, Y:-9.92, Z:-5.28 [[ 9.97861685e-01 6.32857754e-02 1.63391863e-02 2.59116481e+02] [-6.32813265e-02 9.97995416e-01 -7.89675083e-04 -9.91696323e+00] [-1.63564082e-02 -2.45978874e-04 9.99866195e-01 -5.28190369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344391418 meters 0.01580680403287625 Centerline is valid? [True, True] Translation: X:259.17, Y:-9.93, Z:-5.28 [[ 9.98063306e-01 5.96830354e-02 1.75377354e-02 2.59174914e+02] [-5.96773956e-02 9.98217358e-01 -8.45217835e-04 -9.92671934e+00] [-1.75569170e-02 -2.03025465e-04 9.99845845e-01 -5.28417044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404391418 meters 0.014549727839407247 Centerline is valid? [True, True] Translation: X:259.23, Y:-9.94, Z:-5.29 [[ 9.98548362e-01 5.07718441e-02 1.79829827e-02 2.59231966e+02] [-5.07644928e-02 9.98710277e-01 -8.65339503e-04 -9.94149508e+00] [-1.80037245e-02 -4.88136521e-05 9.99837919e-01 -5.28681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464391418 meters 0.014800398102252393 Centerline is valid? [True, True] Translation: X:259.29, Y:-9.96, Z:-5.29 [[ 9.99013985e-01 4.02526188e-02 1.87292347e-02 2.59289755e+02] [-4.02428451e-02 9.99189525e-01 -8.98592099e-04 -9.95902078e+00] [-1.87502258e-02 1.43988382e-04 9.99824189e-01 -5.28848533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524391418 meters 0.017393793061734854 Centerline is valid? [True, True] Translation: X:259.35, Y:-9.98, Z:-5.29 [[ 9.99318452e-01 3.10529363e-02 1.99586381e-02 2.59347364e+02] [-3.10400369e-02 9.99517685e-01 -9.55843110e-04 -9.97594503e+00] [-1.99786935e-02 3.35674793e-04 9.99800350e-01 -5.28941313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584391418 meters 0.018739533321288922 Centerline is valid? [True, True] Translation: X:259.41, Y:-9.99, Z:-5.29 [[ 9.99452859e-01 2.62471295e-02 2.01263860e-02 2.59407088e+02] [-2.62330521e-02 9.99655390e-01 -9.63195806e-04 -9.98596594e+00] [-2.01447314e-02 4.34692270e-04 9.99796980e-01 -5.29116813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644391418 meters 0.021023852405380274 Centerline is valid? [True, True] Translation: X:259.47, Y:-10.00, Z:-5.29 [[ 9.99558601e-01 2.16650538e-02 2.03280399e-02 2.59468960e+02] [-2.16497546e-02 9.99765144e-01 -9.72411645e-04 -9.99992166e+00] [-2.03443330e-02 5.31885349e-04 9.99792891e-01 -5.29409104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70439141799994 meters 0.021852117197632928 Centerline is valid? [True, True] Translation: X:259.53, Y:-10.01, Z:-5.30 [[ 9.99577147e-01 2.05932243e-02 2.05291513e-02 2.59530590e+02] [-2.05773611e-02 9.99787780e-01 -9.83680062e-04 -1.00097342e+01] [-2.05450518e-02 5.60828351e-04 9.99788771e-01 -5.29583604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76439141799995 meters 0.021502479839726817 Centerline is valid? [True, True] Translation: X:259.59, Y:-10.01, Z:-5.30 [[ 9.99539057e-01 2.23190020e-02 2.05799692e-02 2.59593063e+02] [-2.23033085e-02 9.99750758e-01 -9.91797801e-04 -1.00143861e+01] [-2.05969758e-02 5.32339236e-04 9.99787718e-01 -5.29769951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82439141799995 meters 0.02121786886368932 Centerline is valid? [True, True] Translation: X:259.65, Y:-10.02, Z:-5.30 [[ 9.99484817e-01 2.48249941e-02 2.03425714e-02 2.59654432e+02] [-2.48100674e-02 9.99691697e-01 -9.85851967e-04 -1.00196216e+01] [-2.03607735e-02 4.80643504e-04 9.99792582e-01 -5.29990685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88439141799995 meters 0.021300212050611157 Centerline is valid? [True, True] Translation: X:259.72, Y:-10.03, Z:-5.30 [[ 9.99479695e-01 2.47862590e-02 2.06392823e-02 2.59716242e+02] [-2.47707775e-02 9.99692652e-01 -1.00545378e-03 -1.00250304e+01] [-2.06578603e-02 4.93679567e-04 9.99786482e-01 -5.30146366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94439141799995 meters 0.022456273523055337 Centerline is valid? [True, True] Translation: X:259.78, Y:-10.03, Z:-5.30 [[ 9.99572207e-01 2.14899718e-02 1.98389559e-02 2.59777893e+02] [-2.14749151e-02 9.99768915e-01 -9.71702312e-04 -1.00330740e+01] [-1.98552532e-02 5.45246732e-04 9.99802716e-01 -5.30404459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00439141799995 meters 0.024909275761777237 Centerline is valid? [True, True] Translation: X:259.84, Y:-10.04, Z:-5.31 [[ 9.99668216e-01 1.77510254e-02 1.86643902e-02 2.59839266e+02] [-1.77370244e-02 9.99842268e-01 -9.15429363e-04 -1.00418071e+01] [-1.86776960e-02 5.84074893e-04 9.99825386e-01 -5.30652801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06439141799996 meters 0.03039150246910539 Centerline is valid? [True, True] Translation: X:259.90, Y:-10.06, Z:-5.31 [[ 9.99784890e-01 7.93927875e-03 1.91609364e-02 2.59899359e+02] [-7.92266953e-03 9.99968171e-01 -9.42583016e-04 -1.00563884e+01] [-1.91678099e-02 7.90574491e-04 9.99815968e-01 -5.30685552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12439141799996 meters 0.034275117501884514 Centerline is valid? [True, True] Translation: X:259.96, Y:-10.07, Z:-5.31 [[ 9.99799579e-01 2.36646549e-03 1.98796921e-02 2.59960306e+02] [-2.34748634e-03 9.99996766e-01 -9.77981899e-04 -1.00662003e+01] [-1.98819422e-02 9.31118585e-04 9.99801901e-01 -5.30725605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18439141799996 meters 0.0353665571432837 Centerline is valid? [True, True] Translation: X:260.02, Y:-10.07, Z:-5.31 [[ 9.99774981e-01 -4.45476297e-03 2.07398687e-02 2.60020285e+02] [ 4.47689934e-03 9.99989457e-01 -1.02102583e-03 -1.00736369e+01] [-2.07351016e-02 1.11364638e-03 9.99784384e-01 -5.30767816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24439141799996 meters 0.03960620454777799 Centerline is valid? [True, True] Translation: X:260.08, Y:-10.08, Z:-5.31 [[ 9.99738517e-01 -7.78535403e-03 2.15008156e-02 2.60079946e+02] [ 7.80991433e-03 9.99968942e-01 -1.05856187e-03 -1.00833054e+01] [-2.14919065e-02 1.22620460e-03 9.99768270e-01 -5.30823541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30439141799997 meters 0.0374541781908347 Centerline is valid? [True, True] Translation: X:260.14, Y:-10.08, Z:-5.31 [[ 9.99770346e-01 -6.43084189e-03 2.04425770e-02 2.60142355e+02] [ 6.45276115e-03 9.99978674e-01 -1.00645357e-03 -1.00825889e+01] [-2.04356687e-02 1.13813350e-03 9.99790522e-01 -5.30995191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36439141799997 meters 0.036330996113615545 Centerline is valid? [True, True] Translation: X:260.20, Y:-10.08, Z:-5.31 [[ 9.99798190e-01 -3.06254230e-03 1.98544614e-02 2.60203580e+02] [ 3.08258708e-03 9.99994770e-01 -9.79059780e-04 -1.00820350e+01] [-1.98513592e-02 1.04006530e-03 9.99802401e-01 -5.31131264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42439141799997 meters 0.029090545918025828 Centerline is valid? [True, True] Translation: X:260.26, Y:-10.07, Z:-5.31 [[ 9.99826480e-01 5.73810378e-03 1.77224266e-02 2.60264945e+02] [-5.72350708e-03 9.99983238e-01 -8.74240682e-04 -1.00717098e+01] [-1.77271460e-02 7.72654550e-04 9.99842563e-01 -5.31284202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.484391418 meters 0.023732833830400195 Centerline is valid? [True, True] Translation: X:260.33, Y:-10.06, Z:-5.31 [[ 9.99710246e-01 1.73515190e-02 1.66837855e-02 2.60325720e+02] [-1.73401915e-02 9.99849309e-01 -8.23380097e-04 -1.00620620e+01] [-1.66955583e-02 5.33841484e-04 9.99860477e-01 -5.31329759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544391418 meters 0.019117829470254227 Centerline is valid? [True, True] Translation: X:260.39, Y:-10.05, Z:-5.31 [[ 9.99468146e-01 2.79128013e-02 1.68611976e-02 2.60387224e+02] [-2.79027341e-02 9.99610297e-01 -8.32069991e-04 -1.00518868e+01] [-1.68778521e-02 3.61153939e-04 9.99857494e-01 -5.31347130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604391418 meters 0.017683386919981545 Centerline is valid? [True, True] Translation: X:260.45, Y:-10.05, Z:-5.31 [[ 9.99348762e-01 3.22156164e-02 1.62544284e-02 2.60447521e+02] [-3.22068262e-02 9.99480904e-01 -8.02336204e-04 -1.00501710e+01] [-1.62718385e-02 2.78310141e-04 9.99867566e-01 -5.31462195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664391418 meters 0.01745356457246879 Centerline is valid? [True, True] Translation: X:260.51, Y:-10.05, Z:-5.32 [[ 9.99313503e-01 3.36929489e-02 1.54048194e-02 2.60506470e+02] [-3.36852245e-02 9.99432202e-01 -7.60703584e-04 -1.00510283e+01] [-1.54217029e-02 2.41266565e-04 9.99881049e-01 -5.31610875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724391418 meters 0.01789585612796942 Centerline is valid? [True, True] Translation: X:260.57, Y:-10.05, Z:-5.32 [[ 9.99404157e-01 3.13339203e-02 1.44746612e-02 2.60565591e+02] [-3.13268663e-02 9.99508938e-01 -7.13871518e-04 -1.00547096e+01] [-1.44899217e-02 2.60000387e-04 9.99894982e-01 -5.31791880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784391418 meters 0.021180517749099362 Centerline is valid? [True, True] Translation: X:260.62, Y:-10.06, Z:-5.32 [[ 9.99597785e-01 2.45688250e-02 1.41647868e-02 2.60624264e+02] [-2.45613987e-02 9.99698080e-01 -6.98025332e-04 -1.00649680e+01] [-1.41776598e-02 3.49837598e-04 9.99899431e-01 -5.31960310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844391418 meters 0.02496195673617231 Centerline is valid? [True, True] Translation: X:260.68, Y:-10.08, Z:-5.32 [[ 9.99750935e-01 1.74529556e-02 1.39090791e-02 2.60684170e+02] [-1.74451199e-02 9.99847588e-01 -6.84489995e-04 -1.00759299e+01] [-1.39189055e-02 4.41673961e-04 9.99903030e-01 -5.32086773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904391418 meters 0.02595085323173884 Centerline is valid? [True, True] Translation: X:260.75, Y:-10.08, Z:-5.32 [[ 9.99811015e-01 1.37144293e-02 1.37785548e-02 2.60745680e+02] [-1.37064039e-02 9.99905834e-01 -6.76716738e-04 -1.00809997e+01] [-1.37865381e-02 4.87734412e-04 9.99904842e-01 -5.32247263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964391418 meters 0.02859454813639068 Centerline is valid? [True, True] Translation: X:260.81, Y:-10.09, Z:-5.32 [[ 9.99868946e-01 9.71502442e-03 1.29502371e-02 2.60806157e+02] [-9.70753756e-03 9.99952675e-01 -6.40861128e-04 -1.00883422e+01] [-1.29558502e-02 5.15062228e-04 9.99915937e-01 -5.32485109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024391418 meters 0.030307179771185917 Centerline is valid? [True, True] Translation: X:260.87, Y:-10.09, Z:-5.33 [[ 9.99878930e-01 8.43010340e-03 1.30789472e-02 2.60868142e+02] [-8.42237823e-03 9.99964323e-01 -6.45625647e-04 -1.00939345e+01] [-1.30839233e-02 5.35391640e-04 9.99914258e-01 -5.32606302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084391418 meters 0.0288763322066467 Centerline is valid? [True, True] Translation: X:260.93, Y:-10.09, Z:-5.33 [[ 9.99870666e-01 8.34847757e-03 1.37460762e-02 2.60931036e+02] [-8.33988626e-03 9.99964990e-01 -6.82206428e-04 -1.00944164e+01] [-1.37512904e-02 5.67477483e-04 9.99905286e-01 -5.32585108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144391418 meters 0.031058288497676577 Centerline is valid? [True, True] Translation: X:260.99, Y:-10.10, Z:-5.33 [[ 9.99887645e-01 7.58549866e-03 1.29289445e-02 2.60991710e+02] [-7.57776849e-03 9.99971079e-01 -6.46780428e-04 -1.00980051e+01] [-1.29334767e-02 5.48735211e-04 9.99916209e-01 -5.32734827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20439141799994 meters 0.03132886015208951 Centerline is valid? [True, True] Translation: X:261.05, Y:-10.10, Z:-5.33 [[ 9.99890473e-01 7.31069192e-03 1.28683682e-02 2.61053422e+02] [-7.30300170e-03 9.99973125e-01 -6.44496318e-04 -1.01012816e+01] [-1.28727340e-02 5.50448014e-04 9.99916991e-01 -5.32926526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26439141799995 meters 0.03380496242799933 Centerline is valid? [True, True] Translation: X:261.11, Y:-10.11, Z:-5.33 [[ 9.99904245e-01 6.20118283e-03 1.23712175e-02 2.61114533e+02] [-6.19394958e-03 9.99980623e-01 -6.22913105e-04 -1.01072397e+01] [-1.23748406e-02 5.46226760e-04 9.99923280e-01 -5.33173326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32439141799995 meters 0.0324261522947922 Centerline is valid? [True, True] Translation: X:261.18, Y:-10.11, Z:-5.33 [[ 9.99933571e-01 3.37216933e-03 1.10218784e-02 2.61175585e+02] [-3.36620886e-03 9.99994178e-01 -5.59291652e-04 -1.01059520e+01] [-1.10237003e-02 5.22152554e-04 9.99939101e-01 -5.33283887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38439141799995 meters 0.03270312291546926 Centerline is valid? [True, True] Translation: X:261.24, Y:-10.11, Z:-5.33 [[ 9.99953912e-01 -3.45812518e-05 9.60071123e-03 2.61237108e+02] [ 3.92594233e-05 9.99999881e-01 -4.87085396e-04 -1.01071723e+01] [-9.60069324e-03 4.87439866e-04 9.99953793e-01 -5.33453048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44439141799995 meters 0.03465093626462092 Centerline is valid? [True, True] Translation: X:261.30, Y:-10.11, Z:-5.33 [[ 9.99940555e-01 -2.35129638e-03 1.06469428e-02 2.61298926e+02] [ 2.35716306e-03 9.99997077e-01 -5.38505435e-04 -1.01098689e+01] [-1.06456455e-02 5.63570004e-04 9.99943175e-01 -5.33406588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50439141799995 meters 0.03431377780158151 Centerline is valid? [True, True] Translation: X:261.36, Y:-10.11, Z:-5.33 [[ 9.99924038e-01 -1.66591046e-03 1.22123873e-02 2.61361074e+02] [ 1.67364527e-03 9.99998405e-01 -6.23164628e-04 -1.01097948e+01] [-1.22113297e-02 6.43556496e-04 9.99925232e-01 -5.33374561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56439141799996 meters 0.0324020357489664 Centerline is valid? [True, True] Translation: X:261.42, Y:-10.11, Z:-5.33 [[ 9.99888583e-01 2.48906538e-03 1.47182332e-02 2.61422361e+02] [-2.47825214e-03 9.99996646e-01 -7.52876431e-04 -1.01058543e+01] [-1.47200578e-02 7.16317054e-04 9.99891397e-01 -5.33212510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62439141799996 meters 0.02702270319205261 Centerline is valid? [True, True] Translation: X:261.48, Y:-10.10, Z:-5.33 [[ 9.99801405e-01 9.98616012e-03 1.72461054e-02 2.61483879e+02] [-9.97241524e-03 9.99949885e-01 -8.82802031e-04 -1.00956558e+01] [-1.72540569e-02 7.10641387e-04 9.99850885e-01 -5.33147810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68439141799996 meters 0.02383932747676593 Centerline is valid? [True, True] Translation: X:261.55, Y:-10.09, Z:-5.33 [[ 9.99686867e-01 1.72028458e-02 1.81722352e-02 2.61545222e+02] [-1.71887758e-02 9.99851829e-01 -9.30176117e-04 -1.00879969e+01] [-1.81855443e-02 6.17526372e-04 9.99834439e-01 -5.33130654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74439141799996 meters 0.02218426344768268 Centerline is valid? [True, True] Translation: X:261.61, Y:-10.09, Z:-5.33 [[ 9.99625232e-01 2.06057916e-02 1.80221081e-02 2.61607361e+02] [-2.05925010e-02 9.99787526e-01 -9.22742503e-04 -1.00853215e+01] [-1.80372927e-02 5.51276411e-04 9.99837163e-01 -5.33282602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80439141799997 meters 0.02139177459204854 Centerline is valid? [True, True] Translation: X:261.67, Y:-10.08, Z:-5.33 [[ 9.99572384e-01 2.32245300e-02 1.77670962e-02 2.61669692e+02] [-2.32120179e-02 9.99730151e-01 -9.10150594e-04 -1.00847983e+01] [-1.77834396e-02 4.97351244e-04 9.99841738e-01 -5.33453075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86439141799997 meters 0.019658335724290044 Centerline is valid? [True, True] Translation: X:261.73, Y:-10.08, Z:-5.34 [[ 9.99504450e-01 2.64405704e-02 1.70807169e-02 2.61730494e+02] [-2.64293803e-02 9.99650295e-01 -8.80571454e-04 -1.00814498e+01] [-1.70980265e-02 4.28702325e-04 9.99853726e-01 -5.33654851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92439141799997 meters 0.018588221590078457 Centerline is valid? [True, True] Translation: X:261.79, Y:-10.08, Z:-5.34 [[ 9.99417164e-01 3.00811236e-02 1.61387257e-02 2.61790087e+02] [-3.00716053e-02 9.99547401e-01 -8.32185878e-04 -1.00781140e+01] [-1.61564545e-02 3.46383460e-04 9.99869416e-01 -5.33903985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.984391418 meters 0.017458161778103696 Centerline is valid? [True, True] Translation: X:261.85, Y:-10.08, Z:-5.34 [[ 9.99317859e-01 3.30886363e-02 1.63999847e-02 2.61848790e+02] [-3.30792204e-02 9.99452376e-01 -8.45149480e-04 -1.00760436e+01] [-1.64189685e-02 3.02074261e-04 9.99865154e-01 -5.34012891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044391418 meters 0.016312639380187705 Centerline is valid? [True, True] Translation: X:261.91, Y:-10.07, Z:-5.34 [[ 9.99177935e-01 3.64906182e-02 1.76603979e-02 2.61907648e+02] [-3.64802578e-02 9.99333961e-01 -9.08553137e-04 -1.00735529e+01] [-1.76817890e-02 2.63550380e-04 9.99843630e-01 -5.34020906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104391418 meters 0.016719929162848826 Centerline is valid? [True, True] Translation: X:261.97, Y:-10.08, Z:-5.34 [[ 9.99187643e-01 3.60496000e-02 1.80133243e-02 2.61965418e+02] [-3.60387756e-02 9.99349964e-01 -9.25271971e-04 -1.00757387e+01] [-1.80349707e-02 2.75342167e-04 9.99837319e-01 -5.34241341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164391418 meters 0.017385773809783848 Centerline is valid? [True, True] Translation: X:262.02, Y:-10.08, Z:-5.35 [[ 9.99292575e-01 3.39841446e-02 1.61067688e-02 2.62023943e+02] [-3.39752505e-02 9.99422334e-01 -8.25584869e-04 -1.00787636e+01] [-1.61255213e-02 2.77769323e-04 9.99869937e-01 -5.34640613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224391418 meters 0.017996535198926245 Centerline is valid? [True, True] Translation: X:262.08, Y:-10.08, Z:-5.35 [[ 9.99363433e-01 3.26036630e-02 1.44820527e-02 2.62081955e+02] [-3.25963407e-02 9.99468323e-01 -7.41429304e-04 -1.00835670e+01] [-1.44985262e-02 2.68895412e-04 9.99894855e-01 -5.35027712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284391418 meters 0.018048203802692852 Centerline is valid? [True, True] Translation: X:262.14, Y:-10.09, Z:-5.35 [[ 9.99422250e-01 3.12539632e-02 1.33549843e-02 2.62140375e+02] [-3.12476330e-02 9.99511441e-01 -6.82454290e-04 -1.00868135e+01] [-1.33697890e-02 2.64748353e-04 9.99910585e-01 -5.35272507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344391418 meters 0.018689899939063802 Centerline is valid? [True, True] Translation: X:262.20, Y:-10.09, Z:-5.35 [[ 9.99477007e-01 2.98532766e-02 1.24295514e-02 2.62198536e+02] [-2.98476935e-02 9.99554257e-01 -6.34483444e-04 -1.00910430e+01] [-1.24429525e-02 2.63158172e-04 9.99922549e-01 -5.35480505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404391418 meters 0.019270422153408486 Centerline is valid? [True, True] Translation: X:262.26, Y:-10.10, Z:-5.36 [[ 9.99524603e-01 2.88267949e-02 1.09354254e-02 2.62257223e+02] [-2.88224246e-02 9.99584392e-01 -5.57065120e-04 -1.00957935e+01] [-1.09469390e-02 2.41614818e-04 9.99940051e-01 -5.35778238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464391418 meters 0.019943827640299592 Centerline is valid? [True, True] Translation: X:262.32, Y:-10.10, Z:-5.36 [[ 9.99584557e-01 2.68111170e-02 1.05772436e-02 2.62315273e+02] [-2.68069217e-02 9.99640485e-01 -5.38243357e-04 -1.01022809e+01] [-1.05878718e-02 2.54476407e-04 9.99943915e-01 -5.36068597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524391418 meters 0.01973166503548969 Centerline is valid? [True, True] Translation: X:262.37, Y:-10.11, Z:-5.36 [[ 9.99641911e-01 2.50946872e-02 9.29009750e-03 2.62373375e+02] [-2.50913826e-02 9.99685050e-01 -4.72113686e-04 -1.01072245e+01] [-9.29901913e-03 2.38843236e-04 9.99956735e-01 -5.36199857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584391418 meters 0.020615204419764974 Centerline is valid? [True, True] Translation: X:262.43, Y:-10.11, Z:-5.36 [[ 9.99691012e-01 2.36343016e-02 7.70073313e-03 2.62431579e+02] [-2.36319932e-02 9.99720649e-01 -3.90641500e-04 -1.01129880e+01] [-7.70781446e-03 2.08537124e-04 9.99970273e-01 -5.36450786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644391418 meters 0.02194896061012601 Centerline is valid? [True, True] Translation: X:262.49, Y:-10.12, Z:-5.37 [[ 9.99746602e-01 2.17924043e-02 5.64110036e-03 2.62488708e+02] [-2.17911348e-02 9.99762504e-01 -2.86423419e-04 -1.01212334e+01] [-5.64600248e-03 1.63424862e-04 9.99984048e-01 -5.36794834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70439141799994 meters 0.022620552493607185 Centerline is valid? [True, True] Translation: X:262.55, Y:-10.13, Z:-5.37 [[ 9.99793391e-01 1.99436341e-02 3.92761292e-03 2.62546882e+02] [-1.99430048e-02 9.99801099e-01 -1.99322204e-04 -1.01282353e+01] [-3.93080693e-03 1.20952619e-04 9.99992267e-01 -5.37093934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76439141799995 meters 0.022945653757023225 Centerline is valid? [True, True] Translation: X:262.61, Y:-10.13, Z:-5.37 [[ 9.99804091e-01 1.95174782e-02 3.29357769e-03 2.62605637e+02] [-1.95170334e-02 9.99809511e-01 -1.67142457e-04 -1.01331259e+01] [-3.29621250e-03 1.02828847e-04 9.99994562e-01 -5.37265977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82439141799995 meters 0.022216767677765665 Centerline is valid? [True, True] Translation: X:262.66, Y:-10.14, Z:-5.37 [[ 9.99765286e-01 2.12645403e-02 4.14631848e-03 2.62664467e+02] [-2.12638535e-02 9.99773877e-01 -2.09663905e-04 -1.01351985e+01] [-4.14983930e-03 1.21447985e-04 9.99991382e-01 -5.37230692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88439141799995 meters 0.022226544477299284 Centerline is valid? [True, True] Translation: X:262.72, Y:-10.14, Z:-5.37 [[ 9.99718850e-01 2.32400483e-02 4.70334397e-03 2.62722314e+02] [-2.32391879e-02 9.99729905e-01 -2.37525972e-04 -1.01379859e+01] [-4.70759374e-03 1.28157297e-04 9.99988911e-01 -5.37283122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94439141799995 meters 0.019856599596912175 Centerline is valid? [True, True] Translation: X:262.78, Y:-10.14, Z:-5.37 [[ 9.99657787e-01 2.55089117e-02 5.79698725e-03 2.62781074e+02] [-2.55076501e-02 9.99674584e-01 -2.91472065e-04 -1.01391108e+01] [-5.80253596e-03 1.43504797e-04 9.99983155e-01 -5.37170237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00439141799995 meters 0.021832292435807074 Centerline is valid? [True, True] Translation: X:262.84, Y:-10.15, Z:-5.37 [[ 9.99674688e-01 2.48164384e-02 5.88756542e-03 2.62838951e+02] [-2.48151265e-02 9.99692014e-01 -2.95797905e-04 -1.01462105e+01] [-5.89309278e-03 1.49600998e-04 9.99982624e-01 -5.37466544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06439141799996 meters 0.020326217992311286 Centerline is valid? [True, True] Translation: X:262.90, Y:-10.15, Z:-5.37 [[ 9.99726698e-01 2.25367107e-02 6.21493434e-03 2.62897529e+02] [-2.25352106e-02 9.99746001e-01 -3.11289356e-04 -1.01482727e+01] [-6.22037120e-03 1.71149425e-04 9.99980639e-01 -5.37363980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12439141799996 meters 0.021086701548687897 Centerline is valid? [True, True] Translation: X:262.96, Y:-10.15, Z:-5.38 [[ 9.99750581e-01 2.15009150e-02 6.04045140e-03 2.62955761e+02] [-2.14994818e-02 9.99768814e-01 -3.02095123e-04 -1.01525571e+01] [-6.04555025e-03 1.72153199e-04 9.99981711e-01 -5.37509435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18439141799996 meters 0.02398559888841085 Centerline is valid? [True, True] Translation: X:263.01, Y:-10.16, Z:-5.38 [[ 9.99803299e-01 1.87816872e-02 6.37271780e-03 2.63013714e+02] [-1.87800426e-02 9.99823589e-01 -3.17811336e-04 -1.01602098e+01] [-6.37756262e-03 1.98068911e-04 9.99979644e-01 -5.37726183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24439141799996 meters 0.02392743195077152 Centerline is valid? [True, True] Translation: X:263.07, Y:-10.16, Z:-5.38 [[ 9.99837073e-01 1.68937673e-02 6.35833540e-03 2.63073360e+02] [-1.68920962e-02 9.99857268e-01 -3.16438845e-04 -1.01633938e+01] [-6.36277371e-03 2.08981675e-04 9.99979736e-01 -5.37763519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30439141799997 meters 0.02552549764719682 Centerline is valid? [True, True] Translation: X:263.13, Y:-10.17, Z:-5.38 [[ 9.99850106e-01 1.50687920e-02 8.52621027e-03 2.63132200e+02] [-1.50657253e-02 9.99886416e-01 -4.23791541e-04 -1.01683393e+01] [-8.53162786e-03 2.95274476e-04 9.99963561e-01 -5.37775046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36439141799997 meters 0.02265009963375729 Centerline is valid? [True, True] Translation: X:263.19, Y:-10.17, Z:-5.38 [[ 9.99811902e-01 1.61097223e-02 1.07998781e-02 2.63192433e+02] [-1.61048710e-02 9.99870164e-01 -5.36029083e-04 -1.01652726e+01] [-1.08071112e-02 3.61997614e-04 9.99941536e-01 -5.37590864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42439141799997 meters 0.02101000787947563 Centerline is valid? [True, True] Translation: X:263.25, Y:-10.16, Z:-5.38 [[ 9.99702683e-01 2.13686284e-02 1.17442107e-02 2.63252172e+02] [-2.13632626e-02 9.99771610e-01 -5.82161755e-04 -1.01629349e+01] [-1.17539685e-02 3.31094011e-04 9.99930865e-01 -5.37664928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.484391418 meters 0.019568690118151415 Centerline is valid? [True, True] Translation: X:263.31, Y:-10.16, Z:-5.38 [[ 9.99593391e-01 2.53360844e-02 1.30818514e-02 2.63312320e+02] [-2.53297702e-02 9.99678940e-01 -6.48156121e-04 -1.01623456e+01] [-1.30940731e-02 3.16532285e-04 9.99914219e-01 -5.37748815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544391418 meters 0.017298729738337765 Centerline is valid? [True, True] Translation: X:263.37, Y:-10.16, Z:-5.38 [[ 9.99422561e-01 3.08200591e-02 1.43062522e-02 2.63372203e+02] [-3.08130718e-02 9.99524913e-01 -7.08625009e-04 -1.01603350e+01] [-1.43212954e-02 2.67396244e-04 9.99897409e-01 -5.37788236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604391418 meters 0.01661248075321725 Centerline is valid? [True, True] Translation: X:263.43, Y:-10.16, Z:-5.38 [[ 9.99348243e-01 3.29667166e-02 1.47066568e-02 2.63430874e+02] [-3.29595706e-02 9.99456421e-01 -7.28079025e-04 -1.01623313e+01] [-1.47226649e-02 2.42879401e-04 9.99891586e-01 -5.37967083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664391418 meters 0.015625501012975145 Centerline is valid? [True, True] Translation: X:263.49, Y:-10.16, Z:-5.38 [[ 9.99297408e-01 3.49432665e-02 1.35520684e-02 2.63489816e+02] [-3.49373928e-02 9.99389278e-01 -6.69998004e-04 -1.01632955e+01] [-1.35672037e-02 1.96053334e-04 9.99907942e-01 -5.38186539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724391418 meters 0.015592854321387517 Centerline is valid? [True, True] Translation: X:263.55, Y:-10.17, Z:-5.38 [[ 9.99271141e-01 3.57267880e-02 1.34455992e-02 2.63548438e+02] [-3.57210915e-02 9.99361578e-01 -6.63665521e-04 -1.01650564e+01] [-1.34607259e-02 1.82890322e-04 9.99909384e-01 -5.38357460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784391418 meters 0.01576310165139284 Centerline is valid? [True, True] Translation: X:263.61, Y:-10.17, Z:-5.39 [[ 9.99265525e-01 3.61261090e-02 1.27794765e-02 2.63606608e+02] [-3.61210060e-02 9.99347225e-01 -6.29974192e-04 -1.01675803e+01] [-1.27938928e-02 1.67903946e-04 9.99918141e-01 -5.38533661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844391418 meters 0.01700598499421656 Centerline is valid? [True, True] Translation: X:263.66, Y:-10.17, Z:-5.39 [[ 9.99340470e-01 3.40719867e-02 1.25588242e-02 2.63664484e+02] [-3.40669118e-02 9.99419363e-01 -6.17856407e-04 -1.01726271e+01] [-1.25725837e-02 1.89608557e-04 9.99920944e-01 -5.38686939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904391418 meters 0.01739443083784163 Centerline is valid? [True, True] Translation: X:263.72, Y:-10.18, Z:-5.39 [[ 9.99424964e-01 3.11849179e-02 1.33132488e-02 2.63723423e+02] [-3.11789794e-02 9.99513604e-01 -6.53433243e-04 -1.01771095e+01] [-1.33271506e-02 2.37963985e-04 9.99911161e-01 -5.38720887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964391418 meters 0.01972226585913498 Centerline is valid? [True, True] Translation: X:263.78, Y:-10.19, Z:-5.39 [[ 9.99561281e-01 2.65976139e-02 1.30311974e-02 2.63781353e+02] [-2.65915477e-02 9.99646178e-01 -6.38594599e-04 -1.01852154e+01] [-1.30435717e-02 2.91794730e-04 9.99914886e-01 -5.38843366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024391418 meters 0.019995292882997028 Centerline is valid? [True, True] Translation: X:263.84, Y:-10.19, Z:-5.39 [[ 9.99660585e-01 2.27225359e-02 1.27436736e-02 2.63841184e+02] [-2.27164354e-02 9.99741754e-01 -6.23276288e-04 -1.01879088e+01] [-1.27545450e-02 3.33573901e-04 9.99918602e-01 -5.38848171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084391418 meters 0.022547582152535654 Centerline is valid? [True, True] Translation: X:263.90, Y:-10.20, Z:-5.39 [[ 9.99687980e-01 2.12819485e-02 1.30775363e-02 2.63899705e+02] [-2.12754063e-02 9.99773449e-01 -6.39196390e-04 -1.01952884e+01] [-1.30881769e-02 3.60767049e-04 9.99914281e-01 -5.39003391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144391418 meters 0.0204985664232428 Centerline is valid? [True, True] Translation: X:263.96, Y:-10.19, Z:-5.39 [[ 9.99686946e-01 2.09690471e-02 1.36494978e-02 2.63959259e+02] [-2.09619046e-02 9.99780053e-01 -6.66152236e-04 -1.01936314e+01] [-1.36604642e-02 3.79824224e-04 9.99906619e-01 -5.38966080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20439141799994 meters 0.02020998409386356 Centerline is valid? [True, True] Translation: X:264.02, Y:-10.20, Z:-5.39 [[ 9.99648251e-01 2.22190939e-02 1.44805549e-02 2.64019321e+02] [-2.22111936e-02 9.99753052e-01 -7.06196359e-04 -1.01952386e+01] [-1.44926700e-02 3.84317547e-04 9.99894902e-01 -5.39066979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26439141799995 meters 0.020557337779372627 Centerline is valid? [True, True] Translation: X:264.08, Y:-10.20, Z:-5.39 [[ 9.99649421e-01 2.26426334e-02 1.37239062e-02 2.64078791e+02] [-2.26355956e-02 9.99743559e-01 -6.67945944e-04 -1.01989307e+01] [-1.37355109e-02 3.57062985e-04 9.99905600e-01 -5.39290856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32439141799995 meters 0.020783727543113882 Centerline is valid? [True, True] Translation: X:264.14, Y:-10.20, Z:-5.40 [[ 9.99692811e-01 2.19327608e-02 1.15428649e-02 2.64138415e+02] [-2.19277267e-02 9.99759400e-01 -5.62511609e-04 -1.02012636e+01] [-1.15524251e-02 3.09230025e-04 9.99933221e-01 -5.39621180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38439141799995 meters 0.022379335942432257 Centerline is valid? [True, True] Translation: X:264.20, Y:-10.21, Z:-5.40 [[ 9.99754006e-01 1.97628913e-02 1.00675420e-02 2.64196311e+02] [-1.97589509e-02 9.99804652e-01 -4.90722004e-04 -1.02053096e+01] [-1.00752734e-02 2.91677221e-04 9.99949201e-01 -5.39844477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44439141799995 meters 0.021613031612070344 Centerline is valid? [True, True] Translation: X:264.26, Y:-10.21, Z:-5.40 [[ 9.99789961e-01 1.83335748e-02 9.16048883e-03 2.64255678e+02] [-1.83302616e-02 9.99831887e-01 -4.45516231e-04 -1.02062986e+01] [-9.16711675e-03 2.77508499e-04 9.99957943e-01 -5.39918639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50439141799995 meters 0.022020923718042543 Centerline is valid? [True, True] Translation: X:264.31, Y:-10.21, Z:-5.40 [[ 9.99807459e-01 1.74492290e-02 8.97609072e-03 2.64314905e+02] [-1.74460154e-02 9.99847712e-01 -4.36199534e-04 -1.02083563e+01] [-8.98233511e-03 2.79518531e-04 9.99959619e-01 -5.39980505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56439141799996 meters 0.022021884597971778 Centerline is valid? [True, True] Translation: X:264.37, Y:-10.21, Z:-5.40 [[ 9.99785994e-01 1.80506473e-02 1.01064265e-02 2.64373564e+02] [-1.80466051e-02 9.99837026e-01 -4.91028725e-04 -1.02093125e+01] [-1.01136428e-02 3.08536955e-04 9.99948808e-01 -5.39884968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62439141799996 meters 0.021889488650070874 Centerline is valid? [True, True] Translation: X:264.43, Y:-10.21, Z:-5.40 [[ 9.99762158e-01 1.88461836e-02 1.09749051e-02 2.64433160e+02] [-1.88414802e-02 9.99822342e-01 -5.31806049e-04 -1.02102109e+01] [-1.09829778e-02 3.24896105e-04 9.99939632e-01 -5.39831491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68439141799996 meters 0.021528286430226324 Centerline is valid? [True, True] Translation: X:264.49, Y:-10.21, Z:-5.40 [[ 9.99774070e-01 1.86697871e-02 1.01611465e-02 2.64492589e+02] [-1.86657497e-02 9.99825659e-01 -4.92034982e-04 -1.02111905e+01] [-1.01685612e-02 3.02258399e-04 9.99948253e-01 -5.39921952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74439141799996 meters 0.022730953896027497 Centerline is valid? [True, True] Translation: X:264.55, Y:-10.21, Z:-5.40 [[ 9.99820682e-01 1.68156126e-02 8.70859244e-03 2.64552355e+02] [-1.68125789e-02 9.99858570e-01 -4.21461287e-04 -1.02143513e+01] [-8.71444791e-03 2.74971814e-04 9.99961991e-01 -5.40064297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80439141799997 meters 0.023022170084301363 Centerline is valid? [True, True] Translation: X:264.61, Y:-10.22, Z:-5.40 [[ 9.99848565e-01 1.58927958e-02 7.08979421e-03 2.64611492e+02] [-1.58907609e-02 9.99873675e-01 -3.43258696e-04 -1.02161870e+01] [-7.09435393e-03 2.30544490e-04 9.99974808e-01 -5.40132146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86439141799997 meters 0.02369594427204017 Centerline is valid? [True, True] Translation: X:264.67, Y:-10.22, Z:-5.40 [[ 9.99838255e-01 1.70638327e-02 5.68242590e-03 2.64670105e+02] [-1.70625450e-02 9.99854386e-01 -2.75005572e-04 -1.02173548e+01] [-5.68629111e-03 1.78004443e-04 9.99983817e-01 -5.40409102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92439141799997 meters 0.021772063011565153 Centerline is valid? [True, True] Translation: X:264.73, Y:-10.21, Z:-5.40 [[ 9.99805041e-01 1.91809100e-02 4.68746626e-03 2.64728766e+02] [-1.91800558e-02 9.99816020e-01 -2.27124975e-04 -1.02147818e+01] [-4.69096032e-03 1.37174831e-04 9.99988988e-01 -5.40410934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.984391418 meters 0.021295644185867758 Centerline is valid? [True, True] Translation: X:264.79, Y:-10.22, Z:-5.40 [[ 9.99783129e-01 2.03267220e-02 4.52982766e-03 2.64787187e+02] [-2.03259374e-02 9.99793383e-01 -2.19174599e-04 -1.02153739e+01] [-4.53334682e-03 1.27054073e-04 9.99989716e-01 -5.40477595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044391418 meters 0.020770950902117127 Centerline is valid? [True, True] Translation: X:264.85, Y:-10.21, Z:-5.41 [[ 9.99697080e-01 2.40844709e-02 5.06822312e-03 2.64845559e+02] [-2.40835402e-02 9.99709920e-01 -2.44598911e-04 -1.02137600e+01] [-5.07264396e-03 1.22464062e-04 9.99987127e-01 -5.40542537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104391418 meters 0.01926115050959641 Centerline is valid? [True, True] Translation: X:264.90, Y:-10.21, Z:-5.40 [[ 9.99654854e-01 2.55629990e-02 6.05861524e-03 2.64904450e+02] [-2.55617008e-02 9.99673204e-01 -2.91628575e-04 -1.02113762e+01] [-6.06409021e-03 1.36659411e-04 9.99981604e-01 -5.40335908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164391418 meters 0.019671867112030415 Centerline is valid? [True, True] Translation: X:264.96, Y:-10.21, Z:-5.40 [[ 9.99673180e-01 2.47299200e-02 6.47803233e-03 2.64962827e+02] [-2.47284225e-02 9.99694157e-01 -3.11171708e-04 -1.02142246e+01] [-6.48374632e-03 1.50878490e-04 9.99978969e-01 -5.40452845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224391418 meters 0.021385741756167514 Centerline is valid? [True, True] Translation: X:265.02, Y:-10.22, Z:-5.41 [[ 9.99771740e-01 2.07650389e-02 5.02806628e-03 2.65021596e+02] [-2.07640884e-02 9.99784374e-01 -2.41175951e-04 -1.02197104e+01] [-5.03199013e-03 1.36717688e-04 9.99987330e-01 -5.40810020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284391418 meters 0.02582410525984448 Centerline is valid? [True, True] Translation: X:265.08, Y:-10.23, Z:-5.41 [[ 9.99901173e-01 1.33840247e-02 4.30259339e-03 2.65080316e+02] [-1.33832638e-02 9.99910419e-01 -2.05583186e-04 -1.02296314e+01] [-4.30495949e-03 1.47980127e-04 9.99990723e-01 -5.41072835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344391418 meters 0.028659438763561255 Centerline is valid? [True, True] Translation: X:265.14, Y:-10.24, Z:-5.41 [[ 9.99971862e-01 5.77217137e-03 4.79134803e-03 2.65140292e+02] [-5.77114166e-03 9.99983321e-01 -2.28708425e-04 -1.02370947e+01] [-4.79258826e-03 2.01050441e-04 9.99988495e-01 -5.41091287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404391418 meters 0.03215253659340041 Centerline is valid? [True, True] Translation: X:265.20, Y:-10.24, Z:-5.41 [[ 9.99981006e-01 4.36885330e-04 6.14786829e-03 2.65200581e+02] [-4.35090751e-04 9.99999862e-01 -2.93237021e-04 -1.02448454e+01] [-6.14799556e-03 2.90556571e-04 9.99981059e-01 -5.41047006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464391418 meters 0.03453801583536398 Centerline is valid? [True, True] Translation: X:265.26, Y:-10.25, Z:-5.41 [[ 9.99974975e-01 -1.32033348e-03 6.95024166e-03 2.65261488e+02] [ 1.32264567e-03 9.99999071e-01 -3.28091073e-04 -1.02508046e+01] [-6.94980202e-03 3.37275569e-04 9.99975793e-01 -5.41133013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524391418 meters 0.03184655504012226 Centerline is valid? [True, True] Translation: X:265.32, Y:-10.25, Z:-5.41 [[ 9.99975746e-01 -1.85542890e-03 6.71297115e-03 2.65323555e+02] [ 1.85762388e-03 9.99998223e-01 -3.20755434e-04 -1.02504943e+01] [-6.71236408e-03 3.33217830e-04 9.99977416e-01 -5.41133938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584391418 meters 0.031692642648159006 Centerline is valid? [True, True] Translation: X:265.39, Y:-10.25, Z:-5.41 [[ 9.99973725e-01 -1.28610581e-03 7.13408466e-03 2.65385478e+02] [ 1.28857528e-03 9.99999111e-01 -3.41565607e-04 -1.02536358e+01] [-7.13363903e-03 3.50749437e-04 9.99974494e-01 -5.41157318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644391418 meters 0.030569542472217274 Centerline is valid? [True, True] Translation: X:265.45, Y:-10.26, Z:-5.41 [[ 9.99977278e-01 7.51843118e-04 6.69918212e-03 2.65447248e+02] [-7.49708225e-04 9.99999667e-01 -3.21185138e-04 -1.02560352e+01] [-6.69942138e-03 3.16155408e-04 9.99977509e-01 -5.41322765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70439141799994 meters 0.029352404507878974 Centerline is valid? [True, True] Translation: X:265.51, Y:-10.26, Z:-5.42 [[ 9.99970512e-01 5.41825370e-03 5.44220143e-03 2.65507322e+02] [-5.41690642e-03 9.99985294e-01 -2.62271281e-04 -1.02584335e+01] [-5.44354245e-03 2.32783651e-04 9.99985157e-01 -5.41660865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76439141799995 meters 0.02542827629431095 Centerline is valid? [True, True] Translation: X:265.57, Y:-10.26, Z:-5.42 [[ 9.99931244e-01 1.07249723e-02 4.74156555e-03 2.65568399e+02] [-1.07240106e-02 9.99942470e-01 -2.28188330e-04 -1.02551247e+01] [-4.74374008e-03 1.77324042e-04 9.99988733e-01 -5.41769393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82439141799995 meters 0.019813731410626447 Centerline is valid? [True, True] Translation: X:265.63, Y:-10.25, Z:-5.42 [[ 9.99746119e-01 2.21259730e-02 4.25890696e-03 2.65629694e+02] [-2.21252988e-02 9.99755185e-01 -2.05372238e-04 -1.02466638e+01] [-4.26240837e-03 1.11090509e-04 9.99990910e-01 -5.41825998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88439141799995 meters 0.015174008786786116 Centerline is valid? [True, True] Translation: X:265.69, Y:-10.24, Z:-5.42 [[ 9.99291068e-01 3.73344786e-02 4.84751015e-03 2.65690858e+02] [-3.73337839e-02 9.99302824e-01 -2.33758578e-04 -1.02369776e+01] [-4.85285783e-03 5.26169625e-05 9.99988223e-01 -5.41913893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94439141799995 meters 0.014088219319434925 Centerline is valid? [True, True] Translation: X:265.75, Y:-10.23, Z:-5.42 [[ 9.98809549e-01 4.85177795e-02 5.05080301e-03 2.65749777e+02] [-4.85171624e-02 9.98822319e-01 -2.44708280e-04 -1.02298251e+01] [-5.05672748e-03 -6.33663211e-07 9.99987215e-01 -5.41978476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00439141799995 meters 0.016254649116198422 Centerline is valid? [True, True] Translation: X:265.81, Y:-10.22, Z:-5.42 [[ 9.98090230e-01 6.14283880e-02 6.51506128e-03 2.65809238e+02] [-6.14276248e-02 9.98111490e-01 -3.17381076e-04 -1.02212770e+01] [-6.52225373e-03 -8.34297883e-05 9.99978726e-01 -5.41971947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06439141799996 meters 0.018168057278145296 Centerline is valid? [True, True] Translation: X:265.87, Y:-10.22, Z:-5.42 [[ 9.97756538e-01 6.64913175e-02 7.79717355e-03 2.65867115e+02] [-6.64904218e-02 9.97786993e-01 -3.74335138e-04 -1.02211982e+01] [-7.80480839e-03 -1.44942027e-04 9.99969532e-01 -5.42078692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12439141799996 meters 0.017348019797844713 Centerline is valid? [True, True] Translation: X:265.93, Y:-10.23, Z:-5.42 [[ 9.97885894e-01 6.44708774e-02 8.20055286e-03 2.65925758e+02] [-6.44698277e-02 9.97919580e-01 -3.92566661e-04 -1.02277230e+01] [-8.20880138e-03 -1.36951497e-04 9.99966298e-01 -5.42253992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18439141799996 meters 0.014449977434410177 Centerline is valid? [True, True] Translation: X:265.98, Y:-10.24, Z:-5.43 [[ 9.98529634e-01 5.36788021e-02 7.56018459e-03 2.65984173e+02] [-5.36775875e-02 9.98558253e-01 -3.63632266e-04 -1.02432234e+01] [-7.56880406e-03 -4.27148764e-05 9.99971355e-01 -5.42578994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24439141799996 meters 0.013680459769202572 Centerline is valid? [True, True] Translation: X:266.04, Y:-10.26, Z:-5.43 [[ 9.99054921e-01 4.29455734e-02 6.70393628e-03 2.66041555e+02] [-4.29443954e-02 9.99077413e-01 -3.19640830e-04 -1.02590671e+01] [-6.71147848e-03 3.14422541e-05 9.99977477e-01 -5.42767061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30439141799997 meters 0.019850701491656037 Centerline is valid? [True, True] Translation: X:266.10, Y:-10.29, Z:-5.43 [[ 9.99745573e-01 2.13160143e-02 7.37676470e-03 2.66100423e+02] [-2.13140178e-02 9.99772770e-01 -3.49159004e-04 -1.02882556e+01] [-7.38253116e-03 1.91841674e-04 9.99972730e-01 -5.42901362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36439141799997 meters 0.024059264011994486 Centerline is valid? [True, True] Translation: X:266.16, Y:-10.30, Z:-5.43 [[ 9.99864160e-01 1.35042353e-02 9.44968991e-03 2.66160009e+02] [-1.35006098e-02 9.99908763e-01 -4.47353733e-04 -1.03023427e+01] [-9.45486891e-03 3.19716389e-04 9.99955251e-01 -5.42936409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42439141799997 meters 0.02631444030053224 Centerline is valid? [True, True] Translation: X:266.22, Y:-10.31, Z:-5.43 [[ 9.99884181e-01 8.13530990e-03 1.28623680e-02 2.66220365e+02] [-8.12816208e-03 9.99966781e-01 -6.07894758e-04 -1.03140258e+01] [-1.28668862e-02 5.03276941e-04 9.99917092e-01 -5.42846324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.484391418 meters 0.025976594765562258 Centerline is valid? [True, True] Translation: X:266.28, Y:-10.32, Z:-5.43 [[ 9.99860872e-01 9.56519240e-03 1.36654414e-02 2.66282212e+02] [-9.55726529e-03 9.99954120e-01 -6.45273746e-04 -1.03207827e+01] [-1.36709866e-02 5.14579721e-04 9.99906415e-01 -5.42962567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544391418 meters 0.024335682788286832 Centerline is valid? [True, True] Translation: X:266.34, Y:-10.32, Z:-5.43 [[ 9.99826175e-01 1.24280641e-02 1.38982785e-02 2.66344366e+02] [-1.24200859e-02 9.99922650e-01 -6.60213646e-04 -1.03238803e+01] [-1.39054087e-02 4.87481072e-04 9.99903196e-01 -5.43101819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604391418 meters 0.021006258736174784 Centerline is valid? [True, True] Translation: X:266.41, Y:-10.32, Z:-5.43 [[ 9.99766902e-01 1.67704917e-02 1.35974917e-02 2.66405682e+02] [-1.67631835e-02 9.99859276e-01 -6.51267033e-04 -1.03249770e+01] [-1.36065003e-02 4.23177975e-04 9.99907338e-01 -5.43250004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664391418 meters 0.019707895085322516 Centerline is valid? [True, True] Translation: X:266.47, Y:-10.33, Z:-5.44 [[ 9.99700378e-01 2.13764757e-02 1.19248182e-02 2.66466502e+02] [-2.13711750e-02 9.99771447e-01 -5.71777610e-04 -1.03284305e+01] [-1.19343154e-02 3.16758915e-04 9.99928733e-01 -5.43605918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724391418 meters 0.01891451230982702 Centerline is valid? [True, True] Translation: X:266.53, Y:-10.33, Z:-5.44 [[ 9.99650137e-01 2.39088310e-02 1.13124503e-02 2.66526011e+02] [-2.39042151e-02 9.99714106e-01 -5.43088485e-04 -1.03314254e+01] [-1.13222008e-02 2.72483232e-04 9.99935865e-01 -5.43851261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784391418 meters 0.01783188329702658 Centerline is valid? [True, True] Translation: X:266.58, Y:-10.33, Z:-5.44 [[ 9.99546690e-01 2.80272706e-02 1.09948370e-02 2.66584680e+02] [-2.80231656e-02 9.99607135e-01 -5.27275570e-04 -1.03333893e+01] [-1.10052957e-02 2.18926412e-04 9.99939416e-01 -5.44044041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844391418 meters 0.016412610568331213 Centerline is valid? [True, True] Translation: X:266.64, Y:-10.33, Z:-5.44 [[ 9.99380114e-01 3.37431794e-02 1.00392007e-02 2.66643069e+02] [-3.37400419e-02 9.99430527e-01 -4.81775151e-04 -1.03321246e+01] [-1.00497403e-02 1.42753454e-04 9.99949490e-01 -5.44207285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904391418 meters 0.0157819436011668 Centerline is valid? [True, True] Translation: X:266.70, Y:-10.33, Z:-5.44 [[ 9.99315929e-01 3.56544409e-02 9.82011224e-03 2.66701990e+02] [-3.56515382e-02 9.99364171e-01 -4.70534541e-04 -1.03336670e+01] [-9.83064498e-03 1.20110554e-04 9.99951671e-01 -5.44329873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964391418 meters 0.014759297576034421 Centerline is valid? [True, True] Translation: X:266.76, Y:-10.33, Z:-5.44 [[ 9.99183031e-01 3.90148512e-02 1.05409235e-02 2.66760974e+02] [-3.90117032e-02 9.99238627e-01 -5.04171334e-04 -1.03347623e+01] [-1.05525681e-02 9.25400602e-05 9.99944316e-01 -5.44313008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024391418 meters 0.014736419573273702 Centerline is valid? [True, True] Translation: X:266.82, Y:-10.34, Z:-5.44 [[ 9.99139402e-01 3.94686994e-02 1.27545229e-02 2.66819247e+02] [-3.94641447e-02 9.99220802e-01 -6.08693950e-04 -1.03396326e+01] [-1.27686090e-02 1.04823771e-04 9.99918472e-01 -5.44242989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084391418 meters 0.01451156692551611 Centerline is valid? [True, True] Translation: X:266.88, Y:-10.34, Z:-5.44 [[ 9.99053123e-01 4.10019567e-02 1.45497971e-02 2.66876651e+02] [-4.09962103e-02 9.99159062e-01 -6.93110329e-04 -1.03433805e+01] [-1.45659805e-02 9.59674967e-05 9.99893906e-01 -5.44215355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144391418 meters 0.014237499854885937 Centerline is valid? [True, True] Translation: X:266.94, Y:-10.35, Z:-5.44 [[ 9.98984367e-01 4.23115400e-02 1.54909285e-02 2.66935104e+02] [-4.23052103e-02 9.99104463e-01 -7.36220243e-04 -1.03467631e+01] [-1.55082064e-02 8.01255256e-05 9.99879737e-01 -5.44277536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20439141799994 meters 0.014090680285791746 Centerline is valid? [True, True] Translation: X:266.99, Y:-10.35, Z:-5.44 [[ 9.98993697e-01 4.22052424e-02 1.51760136e-02 2.66992494e+02] [-4.21991708e-02 9.99108959e-01 -7.20225215e-04 -1.03532136e+01] [-1.51928884e-02 7.90852587e-05 9.99884578e-01 -5.44468082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26439141799995 meters 0.014402062075234139 Centerline is valid? [True, True] Translation: X:267.05, Y:-10.36, Z:-5.45 [[ 9.99094216e-01 3.99154274e-02 1.47481232e-02 2.67051209e+02] [-3.99094647e-02 9.99203056e-01 -6.98508286e-04 -1.03597830e+01] [-1.47642510e-02 1.09285885e-04 9.99890997e-01 -5.44607673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32439141799995 meters 0.015851375009448228 Centerline is valid? [True, True] Translation: X:267.11, Y:-10.37, Z:-5.45 [[ 9.99324844e-01 3.45029660e-02 1.26254049e-02 2.67108160e+02] [-3.44981705e-02 9.99404582e-01 -5.97482970e-04 -1.03715793e+01] [-1.26385025e-02 1.61526204e-04 9.99920118e-01 -5.44918888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38439141799995 meters 0.017805212507209622 Centerline is valid? [True, True] Translation: X:267.17, Y:-10.38, Z:-5.45 [[ 9.99528278e-01 2.85836186e-02 1.12337795e-02 2.67167037e+02] [-2.85794652e-02 9.99591383e-01 -5.30118523e-04 -1.03825018e+01] [-1.12443419e-02 2.08813044e-04 9.99936759e-01 -5.45060143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44439141799995 meters 0.019872198037415828 Centerline is valid? [True, True] Translation: X:267.23, Y:-10.39, Z:-5.45 [[ 9.99650574e-01 2.43474096e-02 1.02924368e-02 2.67226650e+02] [-2.43437058e-02 9.99703530e-01 -4.84997813e-04 -1.03919528e+01] [-1.03011938e-02 2.34272289e-04 9.99946914e-01 -5.45202708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50439141799995 meters 0.020497964369753267 Centerline is valid? [True, True] Translation: X:267.29, Y:-10.40, Z:-5.45 [[ 9.99698848e-01 2.27164091e-02 9.28316251e-03 2.67286446e+02] [-2.27133285e-02 9.99741924e-01 -4.37160221e-04 -1.03982358e+01] [-9.29069746e-03 2.26177050e-04 9.99956815e-01 -5.45339693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56439141799996 meters 0.0219802886739813 Centerline is valid? [True, True] Translation: X:267.34, Y:-10.41, Z:-5.45 [[ 9.99734252e-01 2.08501436e-02 9.83346619e-03 2.67344255e+02] [-2.08466053e-02 9.99782579e-01 -4.62199977e-04 -1.04059511e+01] [-9.84096513e-03 2.57082760e-04 9.99951543e-01 -5.45401046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62439141799996 meters 0.0203704997658835 Centerline is valid? [True, True] Translation: X:267.40, Y:-10.41, Z:-5.45 [[ 9.99721937e-01 2.12217058e-02 1.02804475e-02 2.67404316e+02] [-2.12178530e-02 9.99774759e-01 -4.83701886e-04 -1.04072518e+01] [-1.02883969e-02 2.65438362e-04 9.99947038e-01 -5.45311085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68439141799996 meters 0.01901822143909519 Centerline is valid? [True, True] Translation: X:267.46, Y:-10.41, Z:-5.45 [[ 9.99654643e-01 2.44118932e-02 9.72899062e-03 2.67464364e+02] [-2.44085991e-02 9.99701961e-01 -4.57198424e-04 -1.04096576e+01] [-9.73725208e-03 2.19569496e-04 9.99952568e-01 -5.45476437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74439141799996 meters 0.01771985720738484 Centerline is valid? [True, True] Translation: X:267.52, Y:-10.41, Z:-5.46 [[ 9.99587819e-01 2.67653798e-02 1.03829872e-02 2.67524021e+02] [-2.67617551e-02 9.99641721e-01 -4.87904600e-04 -1.04112073e+01] [-1.03923262e-02 2.09836533e-04 9.99945976e-01 -5.45550904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80439141799997 meters 0.016205209900910084 Centerline is valid? [True, True] Translation: X:267.58, Y:-10.41, Z:-5.46 [[ 9.99509358e-01 2.94301087e-02 1.07196697e-02 2.67582794e+02] [-2.94263988e-02 9.99566823e-01 -5.03685645e-04 -1.04128205e+01] [-1.07298497e-02 1.87997240e-04 9.99942416e-01 -5.45600998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86439141799997 meters 0.01655298212159241 Centerline is valid? [True, True] Translation: X:267.64, Y:-10.42, Z:-5.46 [[ 9.99502006e-01 2.99614468e-02 9.90210669e-03 2.67640654e+02] [-2.99583113e-02 9.99551041e-01 -4.64863230e-04 -1.04181496e+01] [-9.91158903e-03 1.67981336e-04 9.99950865e-01 -5.45912038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92439141799997 meters 0.016670626651582 Centerline is valid? [True, True] Translation: X:267.70, Y:-10.42, Z:-5.46 [[ 9.99553916e-01 2.85943601e-02 8.62157784e-03 2.67699513e+02] [-2.85919406e-02 9.99591085e-01 -4.03782277e-04 -1.04241786e+01] [-8.62959824e-03 1.57094515e-04 9.99962752e-01 -5.46247604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.984391418 meters 0.017289922928512176 Centerline is valid? [True, True] Translation: X:267.76, Y:-10.43, Z:-5.46 [[ 9.99590861e-01 2.72274724e-02 8.76209984e-03 2.67757192e+02] [-2.72249254e-02 9.99629249e-01 -4.09846920e-04 -1.04309954e+01] [-8.77001038e-03 1.71131721e-04 9.99961528e-01 -5.46426244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044391418 meters 0.017588736804898565 Centerline is valid? [True, True] Translation: X:267.82, Y:-10.44, Z:-5.46 [[ 9.99586090e-01 2.69986399e-02 9.93591590e-03 2.67815840e+02] [-2.69953682e-02 9.99635451e-01 -4.63268963e-04 -1.04359059e+01] [-9.94480141e-03 1.94853502e-04 9.99950530e-01 -5.46458119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104391418 meters 0.01728744210073521 Centerline is valid? [True, True] Translation: X:267.87, Y:-10.44, Z:-5.46 [[ 9.99565868e-01 2.68764769e-02 1.20719286e-02 2.67874119e+02] [-2.68716538e-02 9.99638734e-01 -5.61586531e-04 -1.04411940e+01] [-1.20826609e-02 2.36950043e-04 9.99926974e-01 -5.46385670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164391418 meters 0.017829688906148236 Centerline is valid? [True, True] Translation: X:267.93, Y:-10.45, Z:-5.46 [[ 9.99563610e-01 2.55928967e-02 1.47510481e-02 2.67933447e+02] [-2.55855813e-02 9.99672401e-01 -6.84454025e-04 -1.04490006e+01] [-1.47637329e-02 3.06741194e-04 9.99890963e-01 -5.46370878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224391418 meters 0.01864120160896928 Centerline is valid? [True, True] Translation: X:267.99, Y:-10.46, Z:-5.47 [[ 9.99580303e-01 2.45016363e-02 1.54560167e-02 2.67993711e+02] [-2.44934947e-02 9.99699733e-01 -7.15869154e-04 -1.04570424e+01] [-1.54689157e-02 3.36996844e-04 9.99880292e-01 -5.46553841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284391418 meters 0.018915852233916442 Centerline is valid? [True, True] Translation: X:268.05, Y:-10.46, Z:-5.47 [[ 9.99603865e-01 2.41819108e-02 1.43995584e-02 2.68054630e+02] [-2.41747906e-02 9.99707524e-01 -6.68358874e-04 -1.04628370e+01] [-1.44115091e-02 3.19987804e-04 9.99896098e-01 -5.46785874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344391418 meters 0.01913251051256213 Centerline is valid? [True, True] Translation: X:268.11, Y:-10.47, Z:-5.47 [[ 9.99580453e-01 2.51763343e-02 1.43202678e-02 2.68114900e+02] [-2.51693846e-02 9.99682979e-01 -6.65350517e-04 -1.04689187e+01] [-1.43324791e-02 3.04639042e-04 9.99897238e-01 -5.47038263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404391418 meters 0.01845603625740923 Centerline is valid? [True, True] Translation: X:268.18, Y:-10.47, Z:-5.47 [[ 9.99526839e-01 2.69119190e-02 1.48944954e-02 2.68175533e+02] [-2.69045872e-02 9.99637766e-01 -6.92437617e-04 -1.04721187e+01] [-1.49077349e-02 2.91379733e-04 9.99888831e-01 -5.47127663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464391418 meters 0.018003355881597745 Centerline is valid? [True, True] Translation: X:268.24, Y:-10.48, Z:-5.47 [[ 9.99495411e-01 2.79851335e-02 1.50251985e-02 2.68236011e+02] [-2.79777938e-02 9.99608301e-01 -6.98513938e-04 -1.04763301e+01] [-1.50388611e-02 2.77789571e-04 9.99886871e-01 -5.47307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524391418 meters 0.017511941940871828 Centerline is valid? [True, True] Translation: X:268.30, Y:-10.48, Z:-5.47 [[ 9.99485658e-01 2.80578391e-02 1.55298548e-02 2.68296235e+02] [-2.80500068e-02 9.99606260e-01 -7.21975157e-04 -1.04809998e+01] [-1.55439971e-02 2.85991283e-04 9.99879144e-01 -5.47426671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584391418 meters 0.01927905865739456 Centerline is valid? [True, True] Translation: X:268.36, Y:-10.49, Z:-5.48 [[ 9.99514309e-01 2.67773710e-02 1.59410961e-02 2.68355997e+02] [-2.67689569e-02 9.99641373e-01 -7.41006572e-04 -1.04892900e+01] [-1.59552214e-02 3.13920158e-04 9.99872658e-01 -5.47590473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644391418 meters 0.020025923133255213 Centerline is valid? [True, True] Translation: X:268.42, Y:-10.50, Z:-5.48 [[ 9.99617435e-01 2.22099296e-02 1.64834034e-02 2.68416841e+02] [-2.22003084e-02 9.99753249e-01 -7.66460640e-04 -1.04968073e+01] [-1.64963591e-02 4.00230779e-04 9.99863846e-01 -5.47645853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70439141799994 meters 0.02147607297023247 Centerline is valid? [True, True] Translation: X:268.48, Y:-10.51, Z:-5.48 [[ 9.99737421e-01 1.51134994e-02 1.72241205e-02 2.68477860e+02] [-1.51019297e-02 9.99885638e-01 -8.01593866e-04 -1.05062965e+01] [-1.72342656e-02 5.41265928e-04 9.99851333e-01 -5.47730867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76439141799995 meters 0.03149242995710906 Centerline is valid? [True, True] Translation: X:268.54, Y:-10.53, Z:-5.48 [[ 9.99807418e-01 7.70150806e-03 1.80502967e-02 2.68536601e+02] [-7.68758219e-03 9.99970097e-01 -8.40764889e-04 -1.05280444e+01] [-1.80562321e-02 7.01839833e-04 9.99836727e-01 -5.47955438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82439141799995 meters 0.028059081758102056 Centerline is valid? [True, True] Translation: X:268.60, Y:-10.53, Z:-5.48 [[ 9.99826919e-01 5.65364327e-03 1.77247823e-02 2.68599219e+02] [-5.63987411e-03 9.99983754e-01 -8.26721816e-04 -1.05276179e+01] [-1.77291683e-02 7.26613185e-04 9.99842562e-01 -5.48085078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88439141799995 meters 0.028155120256903095 Centerline is valid? [True, True] Translation: X:268.66, Y:-10.53, Z:-5.48 [[ 9.99852667e-01 6.73580102e-04 1.71520141e-02 2.68660390e+02] [-6.59930690e-04 9.99999461e-01 -8.01438190e-04 -1.05327810e+01] [-1.71525447e-02 7.90000971e-04 9.99852572e-01 -5.48322380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94439141799995 meters 0.031071261729169117 Centerline is valid? [True, True] Translation: X:268.72, Y:-10.54, Z:-5.49 [[ 9.99851655e-01 -1.65312620e-03 1.71445121e-02 2.68720809e+02] [ 1.66711120e-03 9.99998289e-01 -8.01453080e-04 -1.05406896e+01] [-1.71431579e-02 8.29915997e-04 9.99852701e-01 -5.48527404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00439141799995 meters 0.03262812781480074 Centerline is valid? [True, True] Translation: X:268.78, Y:-10.54, Z:-5.49 [[ 9.99830463e-01 -4.60788385e-03 1.78272937e-02 2.68781415e+02] [ 4.62352708e-03 9.99988962e-01 -8.36371332e-04 -1.05449638e+01] [-1.78232430e-02 9.18654511e-04 9.99840731e-01 -5.48581345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06439141799996 meters 0.03371616131715664 Centerline is valid? [True, True] Translation: X:268.84, Y:-10.55, Z:-5.49 [[ 9.99814673e-01 -8.24772444e-03 1.73952537e-02 2.68842762e+02] [ 8.26317260e-03 9.99965526e-01 -8.16378126e-04 -1.05469135e+01] [-1.73879207e-02 9.59966813e-04 9.99848358e-01 -5.48717420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12439141799996 meters 0.03665678510455195 Centerline is valid? [True, True] Translation: X:268.90, Y:-10.55, Z:-5.49 [[ 9.99808385e-01 -9.91080159e-03 1.68810158e-02 2.68903173e+02] [ 9.92559113e-03 9.99950426e-01 -7.92544843e-04 -1.05524840e+01] [-1.68723242e-02 9.59947040e-04 9.99857191e-01 -5.48950438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18439141799996 meters 0.03871575190527374 Centerline is valid? [True, True] Translation: X:268.96, Y:-10.56, Z:-5.49 [[ 9.99788996e-01 -1.26342066e-02 1.61969161e-02 2.68964651e+02] [ 1.26482201e-02 9.99919717e-01 -7.63043337e-04 -1.05553996e+01] [-1.61859753e-02 9.67744492e-04 9.99868530e-01 -5.49270320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24439141799996 meters 0.04011816779047916 Centerline is valid? [True, True] Translation: X:269.03, Y:-10.56, Z:-5.49 [[ 9.99788491e-01 -1.34951136e-02 1.55194905e-02 2.69026298e+02] [ 1.35080901e-02 9.99908494e-01 -7.31613485e-04 -1.05573222e+01] [-1.55081972e-02 9.41097419e-04 9.99879298e-01 -5.49471866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30439141799997 meters 0.041777416327447 Centerline is valid? [True, True] Translation: X:269.09, Y:-10.56, Z:-5.50 [[ 9.99789512e-01 -1.37381865e-02 1.52379421e-02 2.69088403e+02] [ 1.37507364e-02 9.99905196e-01 -7.19126167e-04 -1.05589386e+01] [-1.52266180e-02 9.28507725e-04 9.99883637e-01 -5.49700422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36439141799997 meters 0.03618659198370526 Centerline is valid? [True, True] Translation: X:269.15, Y:-10.55, Z:-5.50 [[ 9.99796298e-01 -1.08432634e-02 1.70231061e-02 2.69150705e+02] [ 1.08585351e-02 9.99940720e-01 -8.04936983e-04 -1.05496543e+01] [-1.70133688e-02 9.89619011e-04 9.99854772e-01 -5.49617331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42439141799997 meters 0.03684158109468462 Centerline is valid? [True, True] Translation: X:269.21, Y:-10.55, Z:-5.50 [[ 9.99808036e-01 -2.74286474e-03 1.94001921e-02 2.69210492e+02] [ 2.76120804e-03 9.99995766e-01 -9.18798442e-04 -1.05461366e+01] [-1.93975898e-02 9.72190032e-04 9.99811376e-01 -5.49545118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.484391418 meters 0.0280063894465036 Centerline is valid? [True, True] Translation: X:269.27, Y:-10.53, Z:-5.50 [[ 9.99726310e-01 1.11866993e-02 2.05465794e-02 2.69271612e+02] [-1.11690691e-02 9.99937151e-01 -9.72619118e-04 -1.05289603e+01] [-2.05561685e-02 7.42866757e-04 9.99788424e-01 -5.49597881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544391418 meters 0.02089772875775403 Centerline is valid? [True, True] Translation: X:269.33, Y:-10.52, Z:-5.50 [[ 9.99557313e-01 2.12094787e-02 2.08646883e-02 2.69333044e+02] [-2.11934787e-02 9.99774905e-01 -9.87696050e-04 -1.05159161e+01] [-2.08809403e-02 5.45063483e-04 9.99781821e-01 -5.49697383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604391418 meters 0.015482171381948755 Centerline is valid? [True, True] Translation: X:269.39, Y:-10.50, Z:-5.50 [[ 9.99241985e-01 3.30184307e-02 2.06213283e-02 2.69394230e+02] [-3.30053133e-02 9.99454699e-01 -9.76219104e-04 -1.05018685e+01] [-2.06423167e-02 2.94865712e-04 9.99786881e-01 -5.49843359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664391418 meters 0.014517388444211111 Centerline is valid? [True, True] Translation: X:269.45, Y:-10.50, Z:-5.50 [[ 9.99058395e-01 3.90519377e-02 1.89015681e-02 2.69454457e+02] [-3.90420000e-02 9.99237170e-01 -8.94622388e-04 -1.04982648e+01] [-1.89220862e-02 1.55824983e-04 9.99820949e-01 -5.50213702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724391418 meters 0.014049438950521681 Centerline is valid? [True, True] Translation: X:269.51, Y:-10.50, Z:-5.50 [[ 9.99033744e-01 3.99537607e-02 1.83105453e-02 2.69513682e+02] [-3.99445424e-02 9.99201520e-01 -8.69046397e-04 -1.04979852e+01] [-1.83306464e-02 1.36800320e-04 9.99831970e-01 -5.50432684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784391418 meters 0.01418201989096121 Centerline is valid? [True, True] Translation: X:269.57, Y:-10.50, Z:-5.51 [[ 9.99082194e-01 3.88671939e-02 1.80030933e-02 2.69572225e+02] [-3.88581312e-02 9.99244373e-01 -8.53069940e-04 -1.04979925e+01] [-1.80226461e-02 1.52720425e-04 9.99837567e-01 -5.50609664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844391418 meters 0.014660529436599921 Centerline is valid? [True, True] Translation: X:269.63, Y:-10.50, Z:-5.51 [[ 9.99126024e-01 3.67713193e-02 1.98760804e-02 2.69630464e+02] [-3.67598936e-02 9.99323685e-01 -9.40023210e-04 -1.05022106e+01] [-1.98972038e-02 2.08559050e-04 9.99802009e-01 -5.50705623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904391418 meters 0.016293393695677713 Centerline is valid? [True, True] Translation: X:269.69, Y:-10.51, Z:-5.51 [[ 9.99234626e-01 3.34312385e-02 2.03104446e-02 2.69689491e+02] [-3.34186522e-02 9.99440981e-01 -9.58886492e-04 -1.05091427e+01] [-2.03311474e-02 2.79404903e-04 9.99793262e-01 -5.50922685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964391418 meters 0.016426608586431204 Centerline is valid? [True, True] Translation: X:269.75, Y:-10.51, Z:-5.51 [[ 9.99318648e-01 3.11232081e-02 1.98390169e-02 2.69750055e+02] [-3.11107525e-02 9.99515505e-01 -9.36233307e-04 -1.05127990e+01] [-1.98585436e-02 3.18388656e-04 9.99802749e-01 -5.51072280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024391418 meters 0.01716320959278729 Centerline is valid? [True, True] Translation: X:269.81, Y:-10.52, Z:-5.51 [[ 9.99385985e-01 2.83657426e-02 2.05678707e-02 2.69811445e+02] [-2.83517711e-02 9.99597536e-01 -9.70630181e-04 -1.05187813e+01] [-2.05871255e-02 3.86898639e-04 9.99787988e-01 -5.51265610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084391418 meters 0.017023858658857246 Centerline is valid? [True, True] Translation: X:269.87, Y:-10.52, Z:-5.51 [[ 9.99397848e-01 2.81062812e-02 2.03464823e-02 2.69873323e+02] [-2.80925397e-02 9.99604865e-01 -9.60938570e-04 -1.05221277e+01] [-2.03654511e-02 3.88775577e-04 9.99792527e-01 -5.51451655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144391418 meters 0.016151059569741066 Centerline is valid? [True, True] Translation: X:269.94, Y:-10.52, Z:-5.52 [[ 9.99326727e-01 3.05253174e-02 2.03543151e-02 2.69935780e+02] [-3.05119480e-02 9.99533934e-01 -9.67137937e-04 -1.05233599e+01] [-2.03743508e-02 3.45436986e-04 9.99792362e-01 -5.51587496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20439141799994 meters 0.015248728065143184 Centerline is valid? [True, True] Translation: X:270.00, Y:-10.52, Z:-5.52 [[ 9.99174715e-01 3.48754279e-02 2.08229243e-02 2.69996859e+02] [-3.48622533e-02 9.99391631e-01 -9.95480856e-04 -1.05231468e+01] [-2.08449741e-02 2.68725238e-04 9.99782684e-01 -5.51693244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26439141799995 meters 0.013576033514929265 Centerline is valid? [True, True] Translation: X:270.06, Y:-10.52, Z:-5.52 [[ 9.98803682e-01 4.41910057e-02 2.09370347e-02 2.70057319e+02] [-4.41797231e-02 9.99023098e-01 -1.00135097e-03 -1.05200871e+01] [-2.09608320e-02 7.51606363e-05 9.99780295e-01 -5.51815423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32439141799995 meters 0.013332121316235141 Centerline is valid? [True, True] Translation: X:270.12, Y:-10.52, Z:-5.52 [[ 9.98495876e-01 5.11414668e-02 1.97619980e-02 2.70116318e+02] [-5.11327823e-02 9.98691417e-01 -9.44825213e-04 -1.05192709e+01] [-1.97844575e-02 -6.70818612e-05 9.99804266e-01 -5.52033637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38439141799995 meters 0.013620576125985027 Centerline is valid? [True, True] Translation: X:270.17, Y:-10.52, Z:-5.52 [[ 9.98481670e-01 5.22682891e-02 1.73891199e-02 2.70174700e+02] [-5.22617570e-02 9.98633076e-01 -8.30168678e-04 -1.05234535e+01] [-1.74087418e-02 -7.98777498e-05 9.99848453e-01 -5.52418479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44439141799995 meters 0.013382058688972026 Centerline is valid? [True, True] Translation: X:270.23, Y:-10.53, Z:-5.53 [[ 9.98637585e-01 4.95188685e-02 1.64577007e-02 2.70233355e+02] [-4.95126647e-02 9.98773188e-01 -7.84454570e-04 -1.05297389e+01] [-1.64763555e-02 -3.14787993e-05 9.99864255e-01 -5.52670981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50439141799995 meters 0.013733528206399401 Centerline is valid? [True, True] Translation: X:270.29, Y:-10.54, Z:-5.53 [[ 9.98975447e-01 4.24008650e-02 1.58184644e-02 2.70290579e+02] [-4.23942587e-02 9.99100676e-01 -7.52876154e-04 -1.05411880e+01] [-1.58361611e-02 8.14927184e-05 9.99874597e-01 -5.52770678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56439141799996 meters 0.015585504264247275 Centerline is valid? [True, True] Translation: X:270.35, Y:-10.55, Z:-5.53 [[ 9.99322738e-01 3.31414283e-02 1.59909687e-02 2.70349498e+02] [-3.31335211e-02 9.99450646e-01 -7.59231539e-04 -1.05534096e+01] [-1.60073461e-02 2.28880240e-04 9.99871848e-01 -5.52824650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62439141799996 meters 0.018606393472815487 Centerline is valid? [True, True] Translation: X:270.41, Y:-10.56, Z:-5.53 [[ 9.99484711e-01 2.73506386e-02 1.68004430e-02 2.70408047e+02] [-2.73411106e-02 9.99625845e-01 -7.96597236e-04 -1.05640180e+01] [-1.68159445e-02 3.36843988e-04 9.99858545e-01 -5.52957926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68439141799996 meters 0.02096867842187098 Centerline is valid? [True, True] Translation: X:270.47, Y:-10.57, Z:-5.53 [[ 9.99682681e-01 1.86197816e-02 1.69658788e-02 2.70469136e+02] [-1.86087926e-02 9.99826517e-01 -8.05367624e-04 -1.05741998e+01] [-1.69779313e-02 4.89397546e-04 9.99855745e-01 -5.53033333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74439141799996 meters 0.024009266899299206 Centerline is valid? [True, True] Translation: X:270.53, Y:-10.58, Z:-5.53 [[ 9.99768751e-01 1.19508472e-02 1.78779825e-02 2.70529825e+02] [-1.19375648e-02 9.99928384e-01 -8.49487003e-04 -1.05835417e+01] [-1.78868543e-02 6.35870985e-04 9.99839815e-01 -5.53102543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80439141799997 meters 0.0273139618051709 Centerline is valid? [True, True] Translation: X:270.59, Y:-10.59, Z:-5.53 [[ 9.99809602e-01 4.98893011e-03 1.88645372e-02 2.70589737e+02] [-4.97289569e-03 9.99987233e-01 -8.96791622e-04 -1.05924092e+01] [-1.88687704e-02 8.02809499e-04 9.99821647e-01 -5.53113189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86439141799997 meters 0.03449463704571246 Centerline is valid? [True, True] Translation: X:270.65, Y:-10.61, Z:-5.53 [[ 9.99813506e-01 -5.01222639e-03 1.86502084e-02 2.70649594e+02] [ 5.02963670e-03 9.99986958e-01 -8.86729263e-04 -1.06061810e+01] [-1.86455207e-02 9.80367666e-04 9.99825677e-01 -5.53188140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92439141799997 meters 0.0358252563610875 Centerline is valid? [True, True] Translation: X:270.71, Y:-10.61, Z:-5.53 [[ 9.99785094e-01 -1.09063392e-02 1.76300284e-02 2.70710203e+02] [ 1.09228147e-02 9.99939993e-01 -8.38488669e-04 -1.06104048e+01] [-1.76198256e-02 1.03087801e-03 9.99844227e-01 -5.53353425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.984391418 meters 0.035843501912593084 Centerline is valid? [True, True] Translation: X:270.77, Y:-10.61, Z:-5.54 [[ 9.99786428e-01 -1.17548240e-02 1.69976947e-02 2.70772063e+02] [ 1.17702571e-02 9.99930402e-01 -8.08194280e-04 -1.06112615e+01] [-1.69870115e-02 1.00808891e-03 9.99855202e-01 -5.53528344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044391418 meters 0.03366803867788721 Centerline is valid? [True, True] Translation: X:270.83, Y:-10.61, Z:-5.54 [[ 9.99821109e-01 -1.05058339e-02 1.57282372e-02 2.70834146e+02] [ 1.05189120e-02 9.99944394e-01 -7.49006667e-04 -1.06091480e+01] [-1.57194937e-02 9.14316619e-04 9.99876023e-01 -5.53741858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104391418 meters 0.032530651245525156 Centerline is valid? [True, True] Translation: X:270.89, Y:-10.61, Z:-5.54 [[ 9.99877509e-01 -6.04487321e-03 1.44369986e-02 2.70894655e+02] [ 6.05545141e-03 9.99981428e-01 -6.89113371e-04 -1.06062255e+01] [-1.44325649e-02 7.76451504e-04 9.99895544e-01 -5.53952247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164391418 meters 0.03190887311832421 Centerline is valid? [True, True] Translation: X:270.95, Y:-10.60, Z:-5.54 [[ 9.99884988e-01 1.00741352e-03 1.51326302e-02 2.70954890e+02] [-9.96596840e-04 9.99999243e-01 -7.22315777e-04 -1.06019240e+01] [-1.51333464e-02 7.07151571e-04 9.99885234e-01 -5.53945293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224391418 meters 0.026986851764527166 Centerline is valid? [True, True] Translation: X:271.02, Y:-10.59, Z:-5.54 [[ 9.99842714e-01 6.74100009e-03 1.64044717e-02 2.71016088e+02] [-6.72905995e-03 9.99977053e-01 -7.82947404e-04 -1.05937450e+01] [-1.64093732e-02 6.72437583e-04 9.99865131e-01 -5.53899805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284391418 meters 0.021570929099045438 Centerline is valid? [True, True] Translation: X:271.08, Y:-10.58, Z:-5.54 [[ 9.99702907e-01 1.69035429e-02 1.75603840e-02 2.71077868e+02] [-1.68914183e-02 9.99856978e-01 -8.38557956e-04 -1.05805045e+01] [-1.75720470e-02 5.41689036e-04 9.99845453e-01 -5.53821079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344391418 meters 0.01932539996573034 Centerline is valid? [True, True] Translation: X:271.14, Y:-10.58, Z:-5.54 [[ 9.99558038e-01 2.40895037e-02 1.74190817e-02 2.71137722e+02] [-2.40786619e-02 9.99709721e-01 -8.31899227e-04 -1.05753364e+01] [-1.74340654e-02 4.12103380e-04 9.99847930e-01 -5.53983951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404391418 meters 0.016171098867663256 Centerline is valid? [True, True] Translation: X:271.20, Y:-10.57, Z:-5.54 [[ 9.99310484e-01 3.32035347e-02 1.66157341e-02 2.71199422e+02] [-3.31949382e-02 9.99448582e-01 -7.92979792e-04 -1.05661349e+01] [-1.66329016e-02 2.40874752e-04 9.99861635e-01 -5.54232829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464391418 meters 0.014635075082901593 Centerline is valid? [True, True] Translation: X:271.26, Y:-10.56, Z:-5.54 [[ 9.99089785e-01 3.95796695e-02 1.59075699e-02 2.71258062e+02] [-3.95725796e-02 9.99216409e-01 -7.60336991e-04 -1.05604673e+01] [-1.59251988e-02 1.30141343e-04 9.99873178e-01 -5.54476114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524391418 meters 0.0140590044176131 Centerline is valid? [True, True] Translation: X:271.32, Y:-10.56, Z:-5.55 [[ 9.98866215e-01 4.48130914e-02 1.60646177e-02 2.71316938e+02] [-4.48065580e-02 9.98995388e-01 -7.66566279e-04 -1.05553999e+01] [-1.60828312e-02 4.58969343e-05 9.99870662e-01 -5.54649114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584391418 meters 0.013969473544979516 Centerline is valid? [True, True] Translation: X:271.38, Y:-10.55, Z:-5.55 [[ 9.98729405e-01 4.73291745e-02 1.73067954e-02 2.71375667e+02] [-4.73219945e-02 9.98879347e-01 -8.24384531e-04 -1.05545513e+01] [-1.73264179e-02 4.34499658e-06 9.99849886e-01 -5.54688888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644391418 meters 0.013750864366067036 Centerline is valid? [True, True] Translation: X:271.43, Y:-10.56, Z:-5.55 [[ 9.98750466e-01 4.58636774e-02 1.98501977e-02 2.71434648e+02] [-4.58539776e-02 9.98947707e-01 -9.43763210e-04 -1.05584755e+01] [-1.98725940e-02 3.23734244e-05 9.99802520e-01 -5.54668315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70439141799994 meters 0.014844271217467073 Centerline is valid? [True, True] Translation: X:271.49, Y:-10.57, Z:-5.55 [[ 9.99130293e-01 3.66045422e-02 1.99690807e-02 2.71493311e+02] [-3.65929067e-02 9.99329806e-01 -9.47888083e-04 -1.05690783e+01] [-1.99903945e-02 2.16336993e-04 9.99800149e-01 -5.54834131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76439141799995 meters 0.017533943012317418 Centerline is valid? [True, True] Translation: X:271.55, Y:-10.58, Z:-5.55 [[ 9.99432939e-01 2.68361187e-02 2.03377085e-02 2.71553044e+02] [-2.68220619e-02 9.99639759e-01 -9.63683722e-04 -1.05805917e+01] [-2.03562436e-02 4.17637980e-04 9.99792703e-01 -5.55011214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82439141799995 meters 0.02351912417939981 Centerline is valid? [True, True] Translation: X:271.61, Y:-10.60, Z:-5.55 [[ 9.99728816e-01 1.18088414e-02 2.00710136e-02 2.71613543e+02] [-1.17921331e-02 9.99930019e-01 -9.50614495e-04 -1.05981485e+01] [-2.00808347e-02 7.13676640e-04 9.99798105e-01 -5.55270375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88439141799995 meters 0.028688299378761377 Centerline is valid? [True, True] Translation: X:271.67, Y:-10.61, Z:-5.56 [[ 9.99796393e-01 1.29157726e-03 2.01371380e-02 2.71673512e+02] [-1.27261608e-03 9.99998735e-01 -9.54388703e-04 -1.06117687e+01] [-2.01383452e-02 9.28567538e-04 9.99796772e-01 -5.55521547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94439141799995 meters 0.030620901734540837 Centerline is valid? [True, True] Translation: X:271.73, Y:-10.62, Z:-5.56 [[ 9.99803212e-01 -2.01140993e-03 1.97355384e-02 2.71734237e+02] [ 2.03026832e-03 9.99997501e-01 -9.35564998e-04 -1.06174139e+01] [-1.97336072e-02 9.75449328e-04 9.99804798e-01 -5.55703500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00439141799995 meters 0.032716086730052926 Centerline is valid? [True, True] Translation: X:271.80, Y:-10.62, Z:-5.56 [[ 9.99805510e-01 -2.55016430e-03 1.95560355e-02 2.71795482e+02] [ 2.56878707e-03 9.99996271e-01 -9.27216417e-04 -1.06227640e+01] [-1.95535981e-02 9.77271374e-04 9.99808333e-01 -5.55868534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06439141799996 meters 0.03254945326668164 Centerline is valid? [True, True] Translation: X:271.86, Y:-10.62, Z:-5.56 [[ 9.99794843e-01 -2.47084468e-03 2.01038819e-02 2.71858344e+02] [ 2.49062080e-03 9.99996439e-01 -9.58717739e-04 -1.06244913e+01] [-2.01014415e-02 1.00859220e-03 9.99797437e-01 -5.56005729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12439141799996 meters 0.03400362862858376 Centerline is valid? [True, True] Translation: X:271.92, Y:-10.63, Z:-5.56 [[ 9.99789913e-01 -4.21971367e-03 2.00580332e-02 2.71920201e+02] [ 4.23980002e-03 9.99990552e-01 -9.58991787e-04 -1.06276303e+01] [-2.00537970e-02 1.04383236e-03 9.99798357e-01 -5.56128690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18439141799996 meters 0.034672851166575175 Centerline is valid? [True, True] Translation: X:271.98, Y:-10.63, Z:-5.56 [[ 9.99798694e-01 -6.03449314e-03 1.91352152e-02 2.71982151e+02] [ 6.05313284e-03 9.99981260e-01 -9.16334283e-04 -1.06301755e+01] [-1.91293270e-02 1.03197782e-03 9.99816485e-01 -5.56331473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24439141799996 meters 0.03846341791448925 Centerline is valid? [True, True] Translation: X:272.04, Y:-10.64, Z:-5.57 [[ 9.99832813e-01 -8.65881175e-03 1.61050095e-02 2.72041775e+02] [ 8.67237655e-03 9.99962096e-01 -7.72623212e-04 -1.06365839e+01] [-1.60977090e-02 9.12162746e-04 9.99870007e-01 -5.56802898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30439141799997 meters 0.034888967163013686 Centerline is valid? [True, True] Translation: X:272.10, Y:-10.63, Z:-5.57 [[ 9.99847304e-01 -9.90644784e-03 1.43954895e-02 2.72104075e+02] [ 9.91740697e-03 9.99950583e-01 -6.90100657e-04 -1.06340047e+01] [-1.43879417e-02 8.32761209e-04 9.99896141e-01 -5.57035842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36439141799997 meters 0.036032346821491874 Centerline is valid? [True, True] Translation: X:272.17, Y:-10.63, Z:-5.57 [[ 9.99862203e-01 -1.04342021e-02 1.29113069e-02 2.72166704e+02] [ 1.04430732e-02 9.99945278e-01 -6.19853607e-04 -1.06345961e+01] [-1.29041327e-02 7.54601916e-04 9.99916453e-01 -5.57178357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42439141799997 meters 0.03857529422414035 Centerline is valid? [True, True] Translation: X:272.23, Y:-10.64, Z:-5.57 [[ 9.99889049e-01 -6.71831089e-03 1.32949140e-02 2.72226935e+02] [ 6.72741274e-03 9.99977166e-01 -6.40007210e-04 -1.06354958e+01] [-1.32903106e-02 7.29376574e-04 9.99911414e-01 -5.57195676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.484391418 meters 0.031967138161907806 Centerline is valid? [True, True] Translation: X:272.29, Y:-10.62, Z:-5.57 [[ 9.99875436e-01 -7.87759023e-04 1.57636081e-02 2.72288432e+02] [ 7.99820215e-04 9.99999392e-01 -7.58839097e-04 -1.06226618e+01] [-1.57630008e-02 7.71352626e-04 9.99875459e-01 -5.56891786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544391418 meters 0.03088742115704697 Centerline is valid? [True, True] Translation: X:272.35, Y:-10.62, Z:-5.57 [[ 9.99848415e-01 1.94787865e-03 1.73018374e-02 2.72349735e+02] [-1.93375847e-03 9.99997784e-01 -8.32801436e-04 -1.06198686e+01] [-1.73034213e-02 7.99217621e-04 9.99849965e-01 -5.56804560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604391418 meters 0.03163677284407562 Centerline is valid? [True, True] Translation: X:272.41, Y:-10.62, Z:-5.57 [[ 9.99822588e-01 3.01966989e-03 1.85923340e-02 2.72410872e+02] [-3.00354208e-03 9.99995089e-01 -8.95307133e-04 -1.06203903e+01] [-1.85949462e-02 8.39305437e-04 9.99826747e-01 -5.56823365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664391418 meters 0.02934288831346339 Centerline is valid? [True, True] Translation: X:272.47, Y:-10.62, Z:-5.57 [[ 9.99818059e-01 2.50332081e-03 1.89098721e-02 2.72473383e+02] [-2.48645375e-03 9.99996490e-01 -9.15430200e-04 -1.06181898e+01] [-1.89120974e-02 8.68245123e-04 9.99820773e-01 -5.56915139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724391418 meters 0.03207082103458446 Centerline is valid? [True, True] Translation: X:272.53, Y:-10.62, Z:-5.57 [[ 9.99858386e-01 -6.79151102e-04 1.68150894e-02 2.72534704e+02] [ 6.93021913e-04 9.99999424e-01 -8.19089363e-04 -1.06210507e+01] [-1.68145234e-02 8.30626594e-04 9.99858281e-01 -5.57212501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784391418 meters 0.03437027637863202 Centerline is valid? [True, True] Translation: X:272.60, Y:-10.62, Z:-5.58 [[ 9.99902743e-01 -3.73788376e-03 1.34362544e-02 2.72595189e+02] [ 3.74701916e-03 9.99992766e-01 -6.54796430e-04 -1.06235579e+01] [-1.34337096e-02 7.05078649e-04 9.99909515e-01 -5.57679654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844391418 meters 0.0352144743752103 Centerline is valid? [True, True] Translation: X:272.66, Y:-10.63, Z:-5.58 [[ 9.99922161e-01 -3.82163779e-03 1.18771631e-02 2.72657737e+02] [ 3.82878476e-03 9.99992503e-01 -5.79059958e-04 -1.06259803e+01] [-1.18748611e-02 6.24489986e-04 9.99929296e-01 -5.58033359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904391418 meters 0.033870105443695064 Centerline is valid? [True, True] Translation: X:272.72, Y:-10.62, Z:-5.58 [[ 9.99930907e-01 1.25990731e-03 1.16873665e-02 2.72717855e+02] [-1.25331455e-03 9.99999051e-01 -5.71399999e-04 -1.06226257e+01] [-1.16880753e-02 5.56712572e-04 9.99931537e-01 -5.58141271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964391418 meters 0.02608522460477304 Centerline is valid? [True, True] Translation: X:272.78, Y:-10.61, Z:-5.58 [[ 9.99830757e-01 1.17670437e-02 1.41419179e-02 2.72779507e+02] [-1.17584413e-02 9.99930628e-01 -6.91285962e-04 -1.06092160e+01] [-1.41490712e-02 5.24882056e-04 9.99899759e-01 -5.57865856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024391418 meters 0.021735515976273167 Centerline is valid? [True, True] Translation: X:272.84, Y:-10.60, Z:-5.58 [[ 9.99669893e-01 2.06596548e-02 1.52736507e-02 2.72840465e+02] [-2.06506515e-02 9.99786474e-01 -7.46965127e-04 -1.06015210e+01] [-1.52858215e-02 4.31307711e-04 9.99883072e-01 -5.57829953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084391418 meters 0.0176609630596999 Centerline is valid? [True, True] Translation: X:272.90, Y:-10.59, Z:-5.58 [[ 9.99340073e-01 3.26789304e-02 1.58589204e-02 2.72900123e+02] [-3.26707321e-02 9.99465868e-01 -7.75823479e-04 -1.05921617e+01] [-1.58758027e-02 2.57188953e-04 9.99873938e-01 -5.57868162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144391418 meters 0.01457942531430221 Centerline is valid? [True, True] Translation: X:272.96, Y:-10.58, Z:-5.58 [[ 9.99039763e-01 4.16018251e-02 1.37418767e-02 2.72959543e+02] [-4.15965100e-02 9.99134264e-01 -6.72501832e-04 -1.05834960e+01] [-1.37579572e-02 1.00241960e-04 9.99905350e-01 -5.58099040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20439141799994 meters 0.01429697382610598 Centerline is valid? [True, True] Translation: X:273.02, Y:-10.58, Z:-5.58 [[ 9.98856528e-01 4.64500343e-02 1.13150346e-02 2.73017898e+02] [-4.64467447e-02 9.98920614e-01 -5.53484328e-04 -1.05813889e+01] [-1.13285307e-02 2.73049102e-05 9.99935830e-01 -5.58390700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26439141799995 meters 0.014872791075865857 Centerline is valid? [True, True] Translation: X:273.08, Y:-10.58, Z:-5.59 [[ 9.98568651e-01 5.28246599e-02 8.37887336e-03 2.73076365e+02] [-5.28230852e-02 9.98603802e-01 -4.09286217e-04 -1.05786098e+01] [-8.38879521e-03 -3.38975560e-05 9.99964813e-01 -5.58716952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32439141799995 meters 0.01639263418181512 Centerline is valid? [True, True] Translation: X:273.14, Y:-10.57, Z:-5.59 [[ 9.98110864e-01 6.08825209e-02 8.24752145e-03 2.73135652e+02] [-6.08812788e-02 9.98144934e-01 -4.01813181e-04 -1.05747915e+01] [-8.25668515e-03 -1.01065552e-04 9.99965908e-01 -5.58721579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38439141799995 meters 0.018580077508484612 Centerline is valid? [True, True] Translation: X:273.19, Y:-10.57, Z:-5.59 [[ 9.97601252e-01 6.83056400e-02 1.12285659e-02 2.73194163e+02] [-6.83038224e-02 9.97664418e-01 -5.45725313e-04 -1.05719341e+01] [-1.12396168e-02 -2.22537718e-04 9.99936809e-01 -5.58509056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44439141799995 meters 0.019176886079363874 Centerline is valid? [True, True] Translation: X:273.25, Y:-10.57, Z:-5.59 [[ 9.97456066e-01 7.01071922e-02 1.28987953e-02 2.73252962e+02] [-7.01049471e-02 9.97539425e-01 -6.26682399e-04 -1.05747546e+01] [-1.29109918e-02 -2.79181203e-04 9.99916611e-01 -5.58532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50439141799995 meters 0.01754596460619736 Centerline is valid? [True, True] Translation: X:273.31, Y:-10.59, Z:-5.59 [[ 9.97761935e-01 6.56085315e-02 1.29089568e-02 2.73311244e+02] [-6.56059718e-02 9.97845414e-01 -6.22118246e-04 -1.05851436e+01] [-1.29219596e-02 -2.26178754e-04 9.99916482e-01 -5.58708239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56439141799996 meters 0.014659493327325874 Centerline is valid? [True, True] Translation: X:273.37, Y:-10.60, Z:-5.59 [[ 9.98595192e-01 5.17355130e-02 1.14489539e-02 2.73370619e+02] [-5.17326015e-02 9.98660821e-01 -5.50505809e-04 -1.06045262e+01] [-1.14621024e-02 -4.25517140e-05 9.99934307e-01 -5.59049630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62439141799996 meters 0.01496539567735061 Centerline is valid? [True, True] Translation: X:273.43, Y:-10.62, Z:-5.59 [[ 9.99161756e-01 3.96253016e-02 1.02772039e-02 2.73428898e+02] [-3.96223100e-02 9.99214606e-01 -4.94619574e-04 -1.06216508e+01] [-1.02887317e-02 8.69984025e-05 9.99947066e-01 -5.59350530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68439141799996 meters 0.02014118002867097 Centerline is valid? [True, True] Translation: X:273.49, Y:-10.65, Z:-5.60 [[ 9.99719009e-01 2.18926771e-02 9.08920458e-03 2.73488594e+02] [-2.18896171e-02 9.99760299e-01 -4.36016563e-04 -1.06454817e+01] [-9.09657145e-03 2.36934839e-04 9.99958597e-01 -5.59682482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74439141799996 meters 0.025194264927527847 Centerline is valid? [True, True] Translation: X:273.55, Y:-10.66, Z:-5.60 [[ 9.99908101e-01 9.65284289e-03 9.51904775e-03 2.73548500e+02] [-9.64893315e-03 9.99953344e-01 -4.56569772e-04 -1.06641239e+01] [-9.52301082e-03 3.64679159e-04 9.99954589e-01 -5.59772461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80439141799997 meters 0.028560765453028363 Centerline is valid? [True, True] Translation: X:273.61, Y:-10.68, Z:-5.60 [[ 9.99920453e-01 4.07404461e-03 1.19369047e-02 2.73609197e+02] [-4.06750453e-03 9.99991564e-01 -5.72114301e-04 -1.06753640e+01] [-1.19391348e-02 5.23515377e-04 9.99928589e-01 -5.59722801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86439141799997 meters 0.03219750005957014 Centerline is valid? [True, True] Translation: X:273.67, Y:-10.69, Z:-5.60 [[ 9.99878319e-01 -1.90189787e-03 1.54832310e-02 2.73669523e+02] [ 1.91363618e-03 9.99997893e-01 -7.43350591e-04 -1.06871060e+01] [-1.54817846e-02 7.72889410e-04 9.99879851e-01 -5.59504390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92439141799997 meters 0.03527056747892162 Centerline is valid? [True, True] Translation: X:273.73, Y:-10.70, Z:-5.60 [[ 9.99839005e-01 -6.09101591e-03 1.68778852e-02 2.73730062e+02] [ 6.10556572e-03 9.99981032e-01 -8.10668962e-04 -1.06980501e+01] [-1.68726273e-02 9.13587486e-04 9.99857230e-01 -5.59624544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.984391418 meters 0.03696388680181438 Centerline is valid? [True, True] Translation: X:273.79, Y:-10.71, Z:-5.60 [[ 9.99826804e-01 -9.49232743e-03 1.60080659e-02 2.73790551e+02] [ 9.50585533e-03 9.99954523e-01 -7.69187860e-04 -1.07058174e+01] [-1.60000366e-02 9.21224999e-04 9.99871567e-01 -5.59892549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044391418 meters 0.039885009483368275 Centerline is valid? [True, True] Translation: X:273.85, Y:-10.72, Z:-5.61 [[ 9.99846356e-01 -1.26320787e-02 1.21529954e-02 2.73850643e+02] [ 1.26401080e-02 9.99919940e-01 -5.84098062e-04 -1.07155806e+01] [-1.21446441e-02 7.37623492e-04 9.99925979e-01 -5.60510461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104391418 meters 0.04072309775066099 Centerline is valid? [True, True] Translation: X:273.91, Y:-10.72, Z:-5.61 [[ 9.99860946e-01 -1.34621310e-02 9.84175002e-03 2.73912580e+02] [ 1.34674316e-02 9.99909198e-01 -4.72499522e-04 -1.07207342e+01] [-9.83449552e-03 6.04976913e-04 9.99951457e-01 -5.60926606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164391418 meters 0.035054153543475186 Centerline is valid? [True, True] Translation: X:273.97, Y:-10.71, Z:-5.61 [[ 9.99911888e-01 -1.03395235e-02 8.32528407e-03 2.73974839e+02] [ 1.03432109e-02 9.99946428e-01 -3.99980740e-04 -1.07144191e+01] [-8.32070245e-03 4.86055665e-04 9.99965264e-01 -5.61057989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224391418 meters 0.03050578806838837 Centerline is valid? [True, True] Translation: X:274.04, Y:-10.71, Z:-5.61 [[ 9.99942973e-01 -3.91080528e-04 1.06722653e-02 2.74035755e+02] [ 3.96600305e-04 9.99999789e-01 -5.15096196e-04 -1.07074426e+01] [-1.06720616e-02 5.19299446e-04 9.99942917e-01 -5.60963057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284391418 meters 0.025313283434987358 Centerline is valid? [True, True] Translation: X:274.10, Y:-10.70, Z:-5.61 [[ 9.99859413e-01 9.72864679e-03 1.36567930e-02 2.74096670e+02] [-9.72055042e-03 9.99952537e-01 -6.59100481e-04 -1.06994074e+01] [-1.36625569e-02 5.26256275e-04 9.99906524e-01 -5.60776304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344391418 meters 0.017856229269487968 Centerline is valid? [True, True] Translation: X:274.16, Y:-10.68, Z:-5.61 [[ 9.99495965e-01 2.68791737e-02 1.68915732e-02 2.74158766e+02] [-2.68692349e-02 9.99638625e-01 -8.15104243e-04 -1.06847853e+01] [-1.69073783e-02 3.60829754e-04 9.99856995e-01 -5.60516215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404391418 meters 0.015300213246923069 Centerline is valid? [True, True] Translation: X:274.22, Y:-10.68, Z:-5.61 [[ 9.99166333e-01 3.66637139e-02 1.79558370e-02 2.74217774e+02] [-3.66540539e-02 9.99327638e-01 -8.66908558e-04 -1.06787989e+01] [-1.79755483e-02 2.08031628e-04 9.99838405e-01 -5.60587614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464391418 meters 0.013610554064389645 Centerline is valid? [True, True] Translation: X:274.28, Y:-10.67, Z:-5.61 [[ 9.98800362e-01 4.62096920e-02 1.62019128e-02 2.74276606e+02] [-4.62030788e-02 9.98931761e-01 -7.82453457e-04 -1.06718222e+01] [-1.62207622e-02 3.29365433e-05 9.99868434e-01 -5.60864486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524391418 meters 0.013626700574454411 Centerline is valid? [True, True] Translation: X:274.34, Y:-10.67, Z:-5.61 [[ 9.98711605e-01 4.86004545e-02 1.45988065e-02 2.74335707e+02] [-4.85953553e-02 9.98818300e-01 -7.04028180e-04 -1.06726680e+01] [-1.46157712e-02 -6.31307681e-06 9.99893184e-01 -5.61186679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584391418 meters 0.013791089174816824 Centerline is valid? [True, True] Translation: X:274.39, Y:-10.68, Z:-5.61 [[ 9.98723863e-01 4.86172503e-02 1.36750797e-02 2.74393816e+02] [-4.86127897e-02 9.98817482e-01 -6.58598406e-04 -1.06754395e+01] [-1.36909279e-02 -7.02582987e-06 9.99906275e-01 -5.61475561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64439141799994 meters 0.013674591050369209 Centerline is valid? [True, True] Translation: X:274.45, Y:-10.68, Z:-5.62 [[ 9.98836485e-01 4.60574004e-02 1.42965793e-02 2.74450670e+02] [-4.60522815e-02 9.98938794e-01 -6.87225677e-04 -1.06817220e+01] [-1.43130595e-02 2.80359842e-05 9.99897563e-01 -5.61663821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70439141799994 meters 0.014047600448394535 Centerline is valid? [True, True] Translation: X:274.51, Y:-10.69, Z:-5.62 [[ 9.99048258e-01 4.05758522e-02 1.60055451e-02 2.74509051e+02] [-4.05687768e-02 9.99176454e-01 -7.66635276e-04 -1.06912319e+01] [-1.60234706e-02 1.16580253e-04 9.99871609e-01 -5.61661240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76439141799995 meters 0.015230140006397868 Centerline is valid? [True, True] Translation: X:274.57, Y:-10.70, Z:-5.62 [[ 9.99210051e-01 3.59514118e-02 1.69342946e-02 2.74566801e+02] [-3.59428508e-02 9.99353519e-01 -8.09721441e-04 -1.06995226e+01] [-1.69524576e-02 2.00414977e-04 9.99856277e-01 -5.61719718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82439141799995 meters 0.01715872105050443 Centerline is valid? [True, True] Translation: X:274.63, Y:-10.71, Z:-5.62 [[ 9.99423995e-01 2.78509804e-02 1.93907638e-02 2.74625644e+02] [-2.78382748e-02 9.99612012e-01 -9.24913184e-04 -1.07118152e+01] [-1.94090002e-02 3.84575019e-04 9.99811554e-01 -5.61760381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88439141799995 meters 0.02061821835782396 Centerline is valid? [True, True] Translation: X:274.69, Y:-10.73, Z:-5.62 [[ 9.99609453e-01 1.97689560e-02 1.97517287e-02 2.74686151e+02] [-1.97542217e-02 9.99804424e-01 -9.40822007e-04 -1.07270826e+01] [-1.97664648e-02 5.50274542e-04 9.99804473e-01 -5.61944413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94439141799995 meters 0.024808041289447733 Centerline is valid? [True, True] Translation: X:274.75, Y:-10.74, Z:-5.62 [[ 9.99711607e-01 1.37510812e-02 1.96878278e-02 2.74745921e+02] [-1.37352684e-02 9.99905227e-01 -9.38175948e-04 -1.07418975e+01] [-1.96988629e-02 6.67487785e-04 9.99805736e-01 -5.62171869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00439141799995 meters 0.02670732574148443 Centerline is valid? [True, True] Translation: X:274.81, Y:-10.75, Z:-5.62 [[ 9.99737877e-01 1.09895814e-02 2.00849681e-02 2.74807329e+02] [-1.09725615e-02 9.99939341e-01 -9.57403724e-04 -1.07529233e+01] [-2.00942713e-02 7.36769219e-04 9.99797818e-01 -5.62434957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06439141799996 meters 0.025876886030793283 Centerline is valid? [True, True] Translation: X:274.87, Y:-10.76, Z:-5.63 [[ 9.99733489e-01 1.18760709e-02 1.97966938e-02 2.74869317e+02] [-1.18596125e-02 9.99929222e-01 -9.48570633e-04 -1.07574186e+01] [-1.98065579e-02 7.13536712e-04 9.99803576e-01 -5.62641201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12439141799996 meters 0.024319480780647152 Centerline is valid? [True, True] Translation: X:274.93, Y:-10.76, Z:-5.63 [[ 9.99674659e-01 1.64296422e-02 1.95100555e-02 2.74930315e+02] [-1.64144155e-02 9.99864832e-01 -9.40349429e-04 -1.07590851e+01] [-1.95228680e-02 6.19797339e-04 9.99809219e-01 -5.62826262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18439141799996 meters 0.018593784755764755 Centerline is valid? [True, True] Translation: X:274.99, Y:-10.75, Z:-5.63 [[ 9.99512873e-01 2.42363852e-02 1.96625062e-02 2.74991874e+02] [-2.42224130e-02 9.99706144e-01 -9.48481782e-04 -1.07537742e+01] [-1.96797160e-02 4.71746405e-04 9.99806224e-01 -5.63049824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24439141799996 meters 0.01794027881668068 Centerline is valid? [True, True] Translation: X:275.05, Y:-10.76, Z:-5.63 [[ 9.99342937e-01 3.12384092e-02 1.83808771e-02 2.75052463e+02] [-3.12273773e-02 9.99511913e-01 -8.86965915e-04 -1.07563121e+01] [-1.83996131e-02 3.12396536e-04 9.99830664e-01 -5.63356236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30439141799997 meters 0.015401508786603048 Centerline is valid? [True, True] Translation: X:275.11, Y:-10.75, Z:-5.63 [[ 9.99254601e-01 3.40463461e-02 1.81958566e-02 2.75112307e+02] [-3.40359837e-02 9.99420222e-01 -8.78962095e-04 -1.07538233e+01] [-1.82152325e-02 2.58993040e-04 9.99834055e-01 -5.63433049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36439141799997 meters 0.015565352984786446 Centerline is valid? [True, True] Translation: X:275.17, Y:-10.76, Z:-5.64 [[ 9.99241067e-01 3.49412844e-02 1.72161528e-02 2.75170512e+02] [-3.49321511e-02 9.99389341e-01 -8.31034156e-04 -1.07575084e+01] [-1.72346770e-02 2.29006206e-04 9.99851446e-01 -5.63598805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42439141799997 meters 0.015798965034647627 Centerline is valid? [True, True] Translation: X:275.23, Y:-10.76, Z:-5.64 [[ 9.99302005e-01 3.36410626e-02 1.62413507e-02 2.75230090e+02] [-3.36327790e-02 9.99433951e-01 -7.82980608e-04 -1.07627748e+01] [-1.62584976e-02 2.36192333e-04 9.99867794e-01 -5.63780839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.484391418 meters 0.017297360128034428 Centerline is valid? [True, True] Translation: X:275.29, Y:-10.77, Z:-5.64 [[ 9.99461692e-01 2.90403276e-02 1.52638613e-02 2.75289195e+02] [-2.90324836e-02 9.99578198e-01 -7.35280070e-04 -1.07708493e+01] [-1.52787757e-02 2.91736461e-04 9.99883230e-01 -5.63993737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544391418 meters 0.01981861463803499 Centerline is valid? [True, True] Translation: X:275.35, Y:-10.78, Z:-5.64 [[ 9.99621063e-01 2.29618450e-02 1.51816877e-02 2.75348972e+02] [-2.29533954e-02 9.99736269e-01 -7.30603025e-04 -1.07809010e+01] [-1.51944599e-02 3.81854891e-04 9.99884485e-01 -5.64036679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604391418 meters 0.024367657946240844 Centerline is valid? [True, True] Translation: X:275.41, Y:-10.79, Z:-5.64 [[ 9.99798723e-01 1.36805075e-02 1.46750530e-02 2.75408691e+02] [-1.36716196e-02 9.99906290e-01 -7.05797432e-04 -1.07923171e+01] [-1.46833335e-02 5.05023629e-04 9.99892067e-01 -5.64121468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664391418 meters 0.029202349843826574 Centerline is valid? [True, True] Translation: X:275.47, Y:-10.80, Z:-5.64 [[ 9.99867409e-01 6.38611698e-03 1.49793597e-02 2.75468145e+02] [-6.37603649e-03 9.99979413e-01 -7.20620000e-04 -1.08033210e+01] [-1.49836533e-02 6.25015509e-04 9.99887543e-01 -5.64158533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724391418 meters 0.03479211974910758 Centerline is valid? [True, True] Translation: X:275.53, Y:-10.81, Z:-5.64 [[ 9.99871823e-01 -2.94890405e-03 1.57366208e-02 2.75528269e+02] [ 2.96117495e-03 9.99995330e-01 -7.56523212e-04 -1.08140408e+01] [-1.57343164e-02 8.03025130e-04 9.99875886e-01 -5.64112252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784391418 meters 0.03823144092469882 Centerline is valid? [True, True] Translation: X:275.59, Y:-10.82, Z:-5.64 [[ 9.99823787e-01 -9.40826484e-03 1.62443570e-02 2.75588875e+02] [ 9.42220423e-03 9.99955304e-01 -7.81784070e-04 -1.08230037e+01] [-1.62362757e-02 9.34703959e-04 9.99867746e-01 -5.64172561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844391418 meters 0.037710221372593875 Centerline is valid? [True, True] Translation: X:275.65, Y:-10.83, Z:-5.64 [[ 9.99790562e-01 -1.44374739e-02 1.45048804e-02 2.75649012e+02] [ 1.44491154e-02 9.99895362e-01 -6.98109588e-04 -1.08258852e+01] [-1.44932837e-02 9.07546068e-04 9.99894555e-01 -5.64425050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904391418 meters 0.03928518177359288 Centerline is valid? [True, True] Translation: X:275.71, Y:-10.83, Z:-5.65 [[ 9.99772397e-01 -1.68625489e-02 1.30693674e-02 2.75709520e+02] [ 1.68722053e-02 9.99857456e-01 -6.28944980e-04 -1.08310992e+01] [-1.30568988e-02 8.49310880e-04 9.99914394e-01 -5.64723568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964391418 meters 0.04532846844204258 Centerline is valid? [True, True] Translation: X:275.77, Y:-10.84, Z:-5.65 [[ 9.99762228e-01 -1.85474573e-02 1.14664613e-02 2.75769840e+02] [ 1.85550005e-02 9.99827689e-01 -5.51810938e-04 -1.08413976e+01] [-1.14542508e-02 7.64439929e-04 9.99934106e-01 -5.65103424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024391418 meters 0.043017692580146226 Centerline is valid? [True, True] Translation: X:275.83, Y:-10.84, Z:-5.65 [[ 9.99789978e-01 -1.66040303e-02 1.20127224e-02 2.75831584e+02] [ 1.66121761e-02 9.99861841e-01 -5.78629985e-04 -1.08384279e+01] [-1.20014552e-02 7.78065921e-04 9.99927677e-01 -5.65098597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084391418 meters 0.038382522307996776 Centerline is valid? [True, True] Translation: X:275.89, Y:-10.83, Z:-5.65 [[ 9.99830876e-01 -1.34362153e-02 1.25573578e-02 2.75892742e+02] [ 1.34448761e-02 9.99909430e-01 -6.05525310e-04 -1.08325855e+01] [-1.25480845e-02 7.74255021e-04 9.99920970e-01 -5.65063437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14439141799994 meters 0.036944096403343764 Centerline is valid? [True, True] Translation: X:275.95, Y:-10.83, Z:-5.65 [[ 9.99901482e-01 -6.53831815e-03 1.24208277e-02 2.75952870e+02] [ 6.54626716e-03 9.99978393e-01 -5.99425405e-04 -1.08287676e+01] [-1.24166401e-02 6.80676408e-04 9.99922679e-01 -5.65209831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20439141799994 meters 0.03259158526288313 Centerline is valid? [True, True] Translation: X:276.01, Y:-10.82, Z:-5.65 [[ 9.99931627e-01 -8.57711190e-04 1.16621337e-02 2.76013597e+02] [ 8.64332492e-04 9.99999468e-01 -5.62732462e-04 -1.08214301e+01] [-1.16616449e-02 5.72773947e-04 9.99931837e-01 -5.65382547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26439141799995 meters 0.03140380610179863 Centerline is valid? [True, True] Translation: X:276.08, Y:-10.82, Z:-5.66 [[ 9.99943039e-01 1.43669769e-03 1.05761587e-02 2.76075625e+02] [-1.43138514e-03 9.99998846e-01 -5.09865937e-04 -1.08206151e+01] [-1.05768790e-02 4.94698338e-04 9.99943941e-01 -5.65585626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32439141799995 meters 0.031730649804856494 Centerline is valid? [True, True] Translation: X:276.14, Y:-10.82, Z:-5.66 [[ 9.99950795e-01 2.97726638e-03 9.46277661e-03 2.76136708e+02] [-2.97307816e-03 9.99995476e-01 -4.56636065e-04 -1.08211780e+01] [-9.46409332e-03 4.28480021e-04 9.99955123e-01 -5.65795993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38439141799995 meters 0.03088357227221157 Centerline is valid? [True, True] Translation: X:276.20, Y:-10.82, Z:-5.66 [[ 9.99940936e-01 5.26898628e-03 9.50588793e-03 2.76198675e+02] [-5.26485773e-03 9.99986035e-01 -4.59286217e-04 -1.08197578e+01] [-9.50817515e-03 4.09211942e-04 9.99954713e-01 -5.65814409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44439141799995 meters 0.029195285902238913 Centerline is valid? [True, True] Translation: X:276.26, Y:-10.82, Z:-5.66 [[ 9.99928586e-01 7.11883791e-03 9.59918432e-03 2.76261255e+02] [-7.11473009e-03 9.99974583e-01 -4.62015715e-04 -1.08197729e+01] [-9.60222935e-03 3.93687115e-04 9.99953820e-01 -5.65890765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50439141799995 meters 0.0261612098672377 Centerline is valid? [True, True] Translation: X:276.32, Y:-10.81, Z:-5.66 [[ 9.99866420e-01 1.26491882e-02 1.03508424e-02 2.76322716e+02] [-1.26446474e-02 9.99919926e-01 -5.04014529e-04 -1.08149930e+01] [-1.03563889e-02 3.73064451e-04 9.99946302e-01 -5.65908117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56439141799996 meters 0.023095890914173432 Centerline is valid? [True, True] Translation: X:276.38, Y:-10.81, Z:-5.66 [[ 9.99761015e-01 1.93514460e-02 1.01702614e-02 2.76383903e+02] [-1.93474066e-02 9.99812699e-01 -4.95415553e-04 -1.08101278e+01] [-1.01779435e-02 2.98528972e-04 9.99948159e-01 -5.66045995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62439141799996 meters 0.01983138841614007 Centerline is valid? [True, True] Translation: X:276.44, Y:-10.81, Z:-5.66 [[ 9.99659748e-01 2.40986554e-02 9.98211246e-03 2.76444100e+02] [-2.40949926e-02 9.99709555e-01 -4.87051895e-04 -1.08052161e+01] [-9.99095050e-03 2.46367249e-04 9.99950059e-01 -5.66069219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68439141799996 meters 0.018479178071890263 Centerline is valid? [True, True] Translation: X:276.50, Y:-10.80, Z:-5.66 [[ 9.99478183e-01 3.06474374e-02 1.02027480e-02 2.76502965e+02] [-3.06439542e-02 9.99530240e-01 -4.97588437e-04 -1.08031715e+01] [-1.02132050e-02 1.84676243e-04 9.99947827e-01 -5.66185416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74439141799996 meters 0.016606519822811663 Centerline is valid? [True, True] Translation: X:276.56, Y:-10.80, Z:-5.66 [[ 9.99367287e-01 3.42931046e-02 9.43443542e-03 2.76562195e+02] [-3.42902912e-02 9.99411809e-01 -4.59846645e-04 -1.08004282e+01] [-9.44465574e-03 1.36046156e-04 9.99955389e-01 -5.66212696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80439141799997 meters 0.01631646690423549 Centerline is valid? [True, True] Translation: X:276.62, Y:-10.80, Z:-5.66 [[ 9.99347438e-01 3.49479580e-02 9.12894590e-03 2.76620845e+02] [-3.49453571e-02 9.99389126e-01 -4.44316419e-04 -1.08030292e+01] [-9.13889722e-03 1.25012201e-04 9.99958232e-01 -5.66336231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86439141799997 meters 0.015810660734237623 Centerline is valid? [True, True] Translation: X:276.68, Y:-10.81, Z:-5.66 [[ 9.99386284e-01 3.38759360e-02 8.91490398e-03 2.76679441e+02] [-3.38734180e-02 9.99426037e-01 -4.33329127e-04 -1.08061001e+01] [-8.92446658e-03 1.31084917e-04 9.99960168e-01 -5.66361785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92439141799997 meters 0.016534791743017065 Centerline is valid? [True, True] Translation: X:276.74, Y:-10.81, Z:-5.67 [[ 9.99490723e-01 3.06300397e-02 8.94960858e-03 2.76737636e+02] [-3.06273783e-02 9.99530777e-01 -4.34307469e-04 -1.08118906e+01] [-8.95871208e-03 1.59983239e-04 9.99959857e-01 -5.66521784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984391418 meters 0.017685530650906563 Centerline is valid? [True, True] Translation: X:276.80, Y:-10.82, Z:-5.67 [[ 9.99607628e-01 2.64294069e-02 9.27774634e-03 2.76795657e+02] [-2.64263688e-02 9.99650661e-01 -4.49919458e-04 -1.08179639e+01] [-9.28639637e-03 2.04565776e-04 9.99956860e-01 -5.66649267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044391418 meters 0.02214046103058757 Centerline is valid? [True, True] Translation: X:276.86, Y:-10.83, Z:-5.67 [[ 9.99827438e-01 1.64094947e-02 8.70765549e-03 2.76855091e+02] [-1.64064571e-02 9.99865317e-01 -4.20165211e-04 -1.08301488e+01] [-8.71337741e-03 2.77230930e-04 9.99961999e-01 -5.67001120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104391418 meters 0.028479370912796318 Centerline is valid? [True, True] Translation: X:276.91, Y:-10.84, Z:-5.67 [[ 9.99953085e-01 4.29038593e-03 8.68453618e-03 2.76914526e+02] [-4.28691152e-03 9.99990724e-01 -4.18644427e-04 -1.08446009e+01] [-8.68625177e-03 3.81394948e-04 9.99962201e-01 -5.67332390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164391418 meters 0.0347562498768245 Centerline is valid? [True, True] Translation: X:276.97, Y:-10.86, Z:-5.68 [[ 9.99951534e-01 -4.14143272e-03 8.93186073e-03 2.76973983e+02] [ 4.14544112e-03 9.99991315e-01 -4.30308555e-04 -1.08565194e+01] [-8.93000106e-03 4.67314203e-04 9.99960018e-01 -5.67594208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224391418 meters 0.036130484723845224 Centerline is valid? [True, True] Translation: X:277.04, Y:-10.86, Z:-5.68 [[ 9.99933621e-01 -6.04960335e-03 9.80594156e-03 2.77036165e+02] [ 6.05452024e-03 9.99981560e-01 -4.71811024e-04 -1.08601489e+01] [-9.80290646e-03 5.31149977e-04 9.99951809e-01 -5.67603161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284391418 meters 0.032507944710289026 Centerline is valid? [True, True] Translation: X:277.10, Y:-10.86, Z:-5.68 [[ 9.99931452e-01 -3.54544055e-03 1.11588933e-02 2.77097787e+02] [ 3.55166867e-03 9.99993548e-01 -5.38362585e-04 -1.08552932e+01] [-1.11569126e-02 5.77958374e-04 9.99937593e-01 -5.67510317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344391418 meters 0.030295787722875802 Centerline is valid? [True, True] Translation: X:277.16, Y:-10.85, Z:-5.68 [[ 9.99916576e-01 1.72078484e-03 1.28015909e-02 2.77158605e+02] [-1.71300788e-03 9.99998342e-01 -6.18439856e-04 -1.08509951e+01] [-1.28026339e-02 5.96459037e-04 9.99917865e-01 -5.67515403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404391418 meters 0.027731324182590906 Centerline is valid? [True, True] Translation: X:277.22, Y:-10.85, Z:-5.68 [[ 9.99887226e-01 7.39700593e-03 1.30698121e-02 2.77219368e+02] [-7.38937882e-03 9.99972499e-01 -6.31761620e-04 -1.08457288e+01] [-1.30741258e-02 5.35112581e-04 9.99914387e-01 -5.67649437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464391418 meters 0.02640449507043753 Centerline is valid? [True, True] Translation: X:277.28, Y:-10.84, Z:-5.68 [[ 9.99859347e-01 1.12428122e-02 1.24453360e-02 2.77279576e+02] [-1.12362057e-02 9.99936691e-01 -6.00634805e-04 -1.08439151e+01] [-1.24513009e-02 4.60711968e-04 9.99922373e-01 -5.67876333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524391418 meters 0.02416565167215459 Centerline is valid? [True, True] Translation: X:277.34, Y:-10.84, Z:-5.68 [[ 9.99809194e-01 1.63965519e-02 1.06173720e-02 2.77341012e+02] [-1.63920164e-02 9.99865510e-01 -5.14071396e-04 -1.08377228e+01] [-1.06243731e-02 3.39933172e-04 9.99943502e-01 -5.68196713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584391418 meters 0.02123731291764851 Centerline is valid? [True, True] Translation: X:277.40, Y:-10.83, Z:-5.68 [[ 9.99696002e-01 2.29366694e-02 9.04503118e-03 2.77401183e+02] [-2.29336391e-02 9.99736893e-01 -4.38612983e-04 -1.08293919e+01] [-9.05271169e-03 2.31044164e-04 9.99958997e-01 -5.68462741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64439141799994 meters 0.017990826478463968 Centerline is valid? [True, True] Translation: X:277.46, Y:-10.82, Z:-5.69 [[ 9.99496721e-01 3.04656256e-02 8.84022237e-03 2.77461809e+02] [-3.04630233e-02 9.99535802e-01 -4.28895523e-04 -1.08195407e+01] [-8.84918533e-03 1.59379769e-04 9.99960832e-01 -5.68635380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70439141799994 meters 0.01602324263215237 Centerline is valid? [True, True] Translation: X:277.52, Y:-10.81, Z:-5.69 [[ 9.99325501e-01 3.53444190e-02 9.96569048e-03 2.77521549e+02] [-3.53413530e-02 9.99375182e-01 -4.83649611e-04 -1.08141590e+01] [-9.97655806e-03 1.31122405e-04 9.99950224e-01 -5.68668000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76439141799995 meters 0.01352435791309933 Centerline is valid? [True, True] Translation: X:277.58, Y:-10.80, Z:-5.68 [[ 9.99017643e-01 4.24683495e-02 1.26565473e-02 2.77580744e+02] [-4.24639857e-02 9.99097810e-01 -6.13443455e-04 -1.08035571e+01] [-1.26711806e-02 7.53933911e-05 9.99919715e-01 -5.68380513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82439141799995 meters 0.01342246569712662 Centerline is valid? [True, True] Translation: X:277.64, Y:-10.80, Z:-5.68 [[ 9.98781936e-01 4.73593005e-02 1.38470390e-02 2.77638888e+02] [-4.73545626e-02 9.98877919e-01 -6.70023263e-04 -1.07992149e+01] [-1.38632334e-02 1.34866565e-05 9.99903901e-01 -5.68398575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88439141799995 meters 0.013446159457787685 Centerline is valid? [True, True] Translation: X:277.70, Y:-10.80, Z:-5.68 [[ 9.98841281e-01 4.56999039e-02 1.50868986e-02 2.77697241e+02] [-4.56941161e-02 9.98955213e-01 -7.28300272e-04 -1.08025782e+01] [-1.51044193e-02 3.80738797e-05 9.99885921e-01 -5.68436825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94439141799995 meters 0.013628226869552323 Centerline is valid? [True, True] Translation: X:277.76, Y:-10.81, Z:-5.69 [[ 9.99026198e-01 4.15262523e-02 1.49072597e-02 2.77756029e+02] [-4.15201546e-02 9.99137408e-01 -7.18434715e-04 -1.08093684e+01] [-1.49242347e-02 9.87833752e-05 9.99888623e-01 -5.68679435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00439141799995 meters 0.015111468493998068 Centerline is valid? [True, True] Translation: X:277.81, Y:-10.82, Z:-5.69 [[ 9.99312891e-01 3.40612888e-02 1.46141857e-02 2.77814199e+02] [-3.40546469e-02 9.99419725e-01 -7.03169237e-04 -1.08203976e+01] [-1.46296563e-02 2.05005150e-04 9.99892960e-01 -5.68960547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06439141799996 meters 0.01704567532636192 Centerline is valid? [True, True] Translation: X:277.87, Y:-10.83, Z:-5.69 [[ 9.99492013e-01 2.84645704e-02 1.43347524e-02 2.77873032e+02] [-2.84576226e-02 9.99594763e-01 -6.88468362e-04 -1.08304413e+01] [-1.43485404e-02 2.80185655e-04 9.99897015e-01 -5.69140395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12439141799996 meters 0.018271434831315034 Centerline is valid? [True, True] Translation: X:277.93, Y:-10.84, Z:-5.69 [[ 9.99555142e-01 2.59037339e-02 1.47822170e-02 2.77932027e+02] [-2.58960812e-02 9.99664389e-01 -7.08907159e-04 -1.08379171e+01] [-1.47956192e-02 3.25790305e-04 9.99890486e-01 -5.69303089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18439141799996 meters 0.0189276084038242 Centerline is valid? [True, True] Translation: X:277.99, Y:-10.84, Z:-5.69 [[ 9.99563949e-01 2.52112443e-02 1.53721951e-02 2.77991040e+02] [-2.52028965e-02 9.99682085e-01 -7.36554460e-04 -1.08431369e+01] [-1.53858776e-02 3.48809441e-04 9.99881570e-01 -5.69428086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24439141799996 meters 0.01865385188925269 Centerline is valid? [True, True] Translation: X:278.05, Y:-10.85, Z:-5.70 [[ 9.99535594e-01 2.58324785e-02 1.61641412e-02 2.78050204e+02] [-2.58233404e-02 9.99666222e-01 -7.73828512e-04 -1.08486268e+01] [-1.61787359e-02 3.56057021e-04 9.99869052e-01 -5.69561098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30439141799997 meters 0.018498115593594218 Centerline is valid? [True, True] Translation: X:278.11, Y:-10.85, Z:-5.70 [[ 9.99465062e-01 2.81511144e-02 1.66464349e-02 2.78108367e+02] [-2.81417543e-02 9.99603625e-01 -7.96313238e-04 -1.08544753e+01] [-1.66622538e-02 3.27427377e-04 9.99861121e-01 -5.69726139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36439141799997 meters 0.0168506700873898 Centerline is valid? [True, True] Translation: X:278.17, Y:-10.85, Z:-5.70 [[ 9.99428537e-01 2.93357259e-02 1.67932739e-02 2.78168375e+02] [-2.93263847e-02 9.99569567e-01 -8.02292399e-04 -1.08549592e+01] [-1.68095813e-02 3.09347908e-04 9.99858661e-01 -5.69813189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42439141799997 meters 0.015591800709707494 Centerline is valid? [True, True] Translation: X:278.23, Y:-10.86, Z:-5.70 [[ 9.99298248e-01 3.39521300e-02 1.58197467e-02 2.78227555e+02] [-3.39444267e-02 9.99423437e-01 -7.55279611e-04 -1.08579206e+01] [-1.58362690e-02 2.17757358e-04 9.99874575e-01 -5.70015139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484391418 meters 0.014913476210716082 Centerline is valid? [True, True] Translation: X:278.28, Y:-10.86, Z:-5.70 [[ 9.99189390e-01 3.75984576e-02 1.43847003e-02 2.78284967e+02] [-3.75924735e-02 9.99292918e-01 -6.86262870e-04 -1.08614978e+01] [-1.44003315e-02 1.44950114e-04 9.99896299e-01 -5.70307455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544391418 meters 0.01482580177142141 Centerline is valid? [True, True] Translation: X:278.34, Y:-10.87, Z:-5.71 [[ 9.99149214e-01 3.89675440e-02 1.35047855e-02 2.78343107e+02] [-3.89624136e-02 9.99240470e-01 -6.42888586e-04 -1.08660030e+01] [-1.35195800e-02 1.16162585e-04 9.99908600e-01 -5.70542891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604391418 meters 0.014794811468382355 Centerline is valid? [True, True] Translation: X:278.40, Y:-10.87, Z:-5.71 [[ 9.99130874e-01 3.96253315e-02 1.29356122e-02 2.78401925e+02] [-3.96206918e-02 9.99214603e-01 -6.14843403e-04 -1.08728524e+01] [-1.29498160e-02 1.01791122e-04 9.99916142e-01 -5.70783704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664391418 meters 0.015155670933842498 Centerline is valid? [True, True] Translation: X:278.46, Y:-10.88, Z:-5.71 [[ 9.99184110e-01 3.82943599e-02 1.28318854e-02 2.78460841e+02] [-3.82896973e-02 9.99266495e-01 -6.08921933e-04 -1.08794108e+01] [-1.28457914e-02 1.17096111e-04 9.99917483e-01 -5.70894256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724391418 meters 0.01595906622517494 Centerline is valid? [True, True] Translation: X:278.52, Y:-10.89, Z:-5.71 [[ 9.99276156e-01 3.56046651e-02 1.33967206e-02 2.78519587e+02] [-3.55993563e-02 9.99365941e-01 -6.34610825e-04 -1.08863892e+01] [-1.34108214e-02 1.57236838e-04 9.99910059e-01 -5.70984232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784391418 meters 0.018685568354965588 Centerline is valid? [True, True] Translation: X:278.58, Y:-10.90, Z:-5.71 [[ 9.99521245e-01 2.78133726e-02 1.35535135e-02 2.78578385e+02] [-2.78072387e-02 9.99613099e-01 -6.40848672e-04 -1.08991221e+01] [-1.35660938e-02 2.63656078e-04 9.99907942e-01 -5.71124024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844391418 meters 0.021651091232128314 Centerline is valid? [True, True] Translation: X:278.64, Y:-10.91, Z:-5.71 [[ 9.99709729e-01 1.95667806e-02 1.40570212e-02 2.78638623e+02] [-1.95593846e-02 9.99808477e-01 -6.63440765e-04 -1.09100339e+01] [-1.40673103e-02 3.88301502e-04 9.99900975e-01 -5.71173382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904391418 meters 0.029458120922380378 Centerline is valid? [True, True] Translation: X:278.70, Y:-10.93, Z:-5.71 [[ 9.99881343e-01 5.80063879e-03 1.42706998e-02 2.78698034e+02] [-5.79161547e-03 9.99983002e-01 -6.73543717e-04 -1.09288216e+01] [-1.42743642e-02 5.90813391e-04 9.99897942e-01 -5.71313740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964391418 meters 0.03676580539176172 Centerline is valid? [True, True] Translation: X:278.76, Y:-10.95, Z:-5.71 [[ 9.99885919e-01 -5.38622647e-03 1.41116107e-02 2.78757480e+02] [ 5.39615976e-03 9.99985219e-01 -6.65927412e-04 -1.09453275e+01] [-1.41078152e-02 7.41999948e-04 9.99900205e-01 -5.71470492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024391418 meters 0.040657994881275326 Centerline is valid? [True, True] Translation: X:278.82, Y:-10.96, Z:-5.72 [[ 9.99855975e-01 -9.76811214e-03 1.38785413e-02 2.78817677e+02] [ 9.77814127e-03 9.99951978e-01 -6.54961498e-04 -1.09552134e+01] [-1.38714771e-02 7.90573504e-04 9.99903474e-01 -5.71591651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084391418 meters 0.04203243749899116 Centerline is valid? [True, True] Translation: X:278.88, Y:-10.96, Z:-5.72 [[ 9.99853938e-01 -1.06918096e-02 1.33337046e-02 2.78879209e+02] [ 1.07011403e-02 9.99942544e-01 -6.28628241e-04 -1.09619027e+01] [-1.33262173e-02 7.71222265e-04 9.99910905e-01 -5.71811144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14439141799994 meters 0.039182703749571314 Centerline is valid? [True, True] Translation: X:278.94, Y:-10.96, Z:-5.72 [[ 9.99931813e-01 -4.71603135e-03 1.06831201e-02 2.78940070e+02] [ 4.72170464e-03 9.99988725e-01 -5.05891449e-04 -1.09596663e+01] [-1.06806138e-02 5.56299491e-04 9.99942806e-01 -5.72184771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20439141799994 meters 0.027762973039208137 Centerline is valid? [True, True] Translation: X:279.00, Y:-10.94, Z:-5.72 [[ 9.99934206e-01 7.28150697e-03 8.86356573e-03 2.79001564e+02] [-7.27807395e-03 9.99973426e-01 -4.19513212e-04 -1.09430690e+01] [-8.86638488e-03 3.54975924e-04 9.99960630e-01 -5.72264099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26439141799995 meters 0.02306276273891328 Centerline is valid? [True, True] Translation: X:279.06, Y:-10.93, Z:-5.73 [[ 9.99689584e-01 2.36977633e-02 7.69099556e-03 2.79061301e+02] [-2.36956587e-02 9.99719152e-01 -3.64658710e-04 -1.09340933e+01] [-7.69747716e-03 1.82302307e-04 9.99970357e-01 -5.72568637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32439141799995 meters 0.0177981520875636 Centerline is valid? [True, True] Translation: X:279.12, Y:-10.92, Z:-5.73 [[ 9.99342258e-01 3.54614101e-02 7.58550557e-03 2.79121710e+02] [-3.54597031e-02 9.99371042e-01 -3.59442839e-04 -1.09226182e+01] [-7.59348096e-03 9.02266434e-05 9.99971165e-01 -5.72642855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38439141799995 meters 0.015507285322681516 Centerline is valid? [True, True] Translation: X:279.18, Y:-10.91, Z:-5.72 [[ 9.98663446e-01 5.10132873e-02 8.30457267e-03 2.79181404e+02] [-5.10117741e-02 9.98697974e-01 -3.94072256e-04 -1.09082550e+01] [-8.31386282e-03 -3.00854269e-05 9.99965439e-01 -5.72366514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44439141799995 meters 0.017620238803701366 Centerline is valid? [True, True] Translation: X:279.24, Y:-10.90, Z:-5.72 [[ 9.98053874e-01 6.17617031e-02 8.59983498e-03 2.79241052e+02] [-6.17604849e-02 9.98090916e-01 -4.07400501e-04 -1.09023953e+01] [-8.60857892e-03 -1.24522330e-04 9.99962938e-01 -5.72400714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50439141799995 meters 0.018832957796082926 Centerline is valid? [True, True] Translation: X:279.30, Y:-10.90, Z:-5.73 [[ 9.97851635e-01 6.50686114e-02 7.62823285e-03 2.79300029e+02] [-6.50677532e-02 9.97880783e-01 -3.60897496e-04 -1.09025035e+01] [-7.63555007e-03 -1.36229815e-04 9.99970839e-01 -5.72562884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56439141799996 meters 0.018150394937582248 Centerline is valid? [True, True] Translation: X:279.36, Y:-10.91, Z:-5.73 [[ 9.98027427e-01 6.23907432e-02 6.97500852e-03 2.79358255e+02] [-6.23899632e-02 9.98051794e-01 -3.29580097e-04 -1.09089781e+01] [-6.98198252e-03 -1.06240548e-04 9.99975620e-01 -5.72702913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62439141799996 meters 0.015344701573287146 Centerline is valid? [True, True] Translation: X:279.42, Y:-10.93, Z:-5.73 [[ 9.98681988e-01 5.08632014e-02 6.87182466e-03 2.79416837e+02] [-5.08621763e-02 9.98705629e-01 -3.23970896e-04 -1.09266430e+01] [-6.87940817e-03 -2.59720596e-05 9.99976336e-01 -5.72712236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68439141799996 meters 0.016285681233262336 Centerline is valid? [True, True] Translation: X:279.48, Y:-10.95, Z:-5.73 [[ 9.99344361e-01 3.55505678e-02 6.85606017e-03 2.79475051e+02] [-3.55491877e-02 9.99367876e-01 -3.23092267e-04 -1.09467546e+01] [-6.86321240e-03 7.91530648e-05 9.99976445e-01 -5.72824504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74439141799996 meters 0.021091162823958214 Centerline is valid? [True, True] Translation: X:279.53, Y:-10.96, Z:-5.73 [[ 9.99662919e-01 2.52121866e-02 6.19633898e-03 2.79532885e+02] [-2.52108631e-02 9.99682113e-01 -2.91625468e-04 -1.09644145e+01] [-6.20172176e-03 1.35312112e-04 9.99980760e-01 -5.73161847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80439141799997 meters 0.028504155034894563 Centerline is valid? [True, True] Translation: X:279.59, Y:-10.99, Z:-5.73 [[ 9.99901744e-01 1.27886003e-02 5.74050034e-03 2.79591408e+02] [-1.27872667e-02 9.99918203e-01 -2.68955317e-04 -1.09868015e+01] [-5.74347035e-03 1.95523582e-04 9.99983487e-01 -5.73379730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86439141799997 meters 0.02712119630144956 Centerline is valid? [True, True] Translation: X:279.65, Y:-10.99, Z:-5.73 [[ 9.99958851e-01 6.21941276e-03 6.60424709e-03 2.79650944e+02] [-6.21750557e-03 9.99980623e-01 -3.09273563e-04 -1.09936812e+01] [-6.60604262e-03 2.68198893e-04 9.99978144e-01 -5.73099462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92439141799997 meters 0.026367679776709115 Centerline is valid? [True, True] Translation: X:279.71, Y:-11.00, Z:-5.73 [[ 9.99928785e-01 9.59079684e-03 7.10223044e-03 2.79710979e+02] [-9.58868102e-03 9.99953972e-01 -3.31901433e-04 -1.09981125e+01] [-7.10508674e-03 2.63776774e-04 9.99974724e-01 -5.73141904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984391418 meters 0.023189404071517237 Centerline is valid? [True, True] Translation: X:279.77, Y:-11.00, Z:-5.73 [[ 9.99820000e-01 1.75450116e-02 7.22079336e-03 2.79771282e+02] [-1.75430282e-02 9.99846052e-01 -3.37922721e-04 -1.09965845e+01] [-7.22561059e-03 2.11187313e-04 9.99973873e-01 -5.73249107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044391418 meters 0.016822874163325775 Centerline is valid? [True, True] Translation: X:279.83, Y:-10.99, Z:-5.73 [[ 9.99466377e-01 3.19628366e-02 6.73342212e-03 2.79831990e+02] [-3.19614391e-02 9.99489053e-01 -3.15080691e-04 -1.09875415e+01] [-6.74005257e-03 9.97026960e-05 9.99977281e-01 -5.73351267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104391418 meters 0.014681774325161864 Centerline is valid? [True, True] Translation: X:279.89, Y:-10.98, Z:-5.74 [[ 9.99064681e-01 4.29658660e-02 4.86796978e-03 2.79890903e+02] [-4.29652603e-02 9.99076541e-01 -2.28996534e-04 -1.09831528e+01] [-4.87331344e-03 1.96287607e-05 9.99988125e-01 -5.73657794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164391418 meters 0.014895148943396516 Centerline is valid? [True, True] Translation: X:279.95, Y:-10.98, Z:-5.74 [[ 9.98965610e-01 4.54105579e-02 2.36457110e-03 2.79949530e+02] [-4.54104202e-02 9.98968409e-01 -1.11915727e-04 -1.09846089e+01] [-2.36721398e-03 4.42379503e-06 9.99997198e-01 -5.73950970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224391418 meters 0.015172054683990271 Centerline is valid? [True, True] Translation: X:280.01, Y:-10.99, Z:-5.74 [[ 9.99041742e-01 4.37672378e-02 -1.64319796e-04 2.80007830e+02] [-4.37672374e-02 9.99041755e-01 5.99727416e-06 -1.09898376e+01] [ 1.64424821e-04 1.20029630e-06 9.99999986e-01 -5.74381130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284391418 meters 0.016036298602325683 Centerline is valid? [True, True] Translation: X:280.07, Y:-11.00, Z:-5.75 [[ 9.99374576e-01 3.53274644e-02 -1.55769446e-03 2.80066175e+02] [-3.53273971e-02 9.99375790e-01 7.06928797e-05 -1.10014802e+01] [ 1.55921953e-03 -1.56193760e-05 9.99998784e-01 -5.74642506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344391418 meters 0.018138330471474503 Centerline is valid? [True, True] Translation: X:280.12, Y:-11.01, Z:-5.75 [[ 9.99603801e-01 2.81445011e-02 -3.56827841e-04 2.80123562e+02] [-2.81444977e-02 9.99603865e-01 1.44820639e-05 -1.10119072e+01] [ 3.57094079e-04 -4.43358576e-06 9.99999936e-01 -5.74749711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404391418 meters 0.02272930944615881 Centerline is valid? [True, True] Translation: X:280.18, Y:-11.03, Z:-5.75 [[ 9.99844426e-01 1.74741547e-02 2.40350272e-03 2.80182024e+02] [-1.74739356e-02 9.99847313e-01 -1.12129158e-04 -1.10267211e+01] [-2.40509510e-03 7.01130617e-05 9.99997105e-01 -5.74629421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464391418 meters 0.025515585659015898 Centerline is valid? [True, True] Translation: X:280.24, Y:-11.04, Z:-5.74 [[ 9.99948330e-01 8.84762021e-03 5.00570268e-03 2.80241835e+02] [-8.84656834e-03 9.99960841e-01 -2.32237427e-04 -1.10372525e+01] [-5.00756142e-03 1.87942136e-04 9.99987444e-01 -5.74444481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524391418 meters 0.026696680830260854 Centerline is valid? [True, True] Translation: X:280.30, Y:-11.04, Z:-5.74 [[ 9.99973048e-01 3.51919597e-03 6.44341959e-03 2.80302751e+02] [-3.51734872e-03 9.99993770e-01 -2.97997176e-04 -1.10440482e+01] [-6.44442816e-03 2.75325391e-04 9.99979197e-01 -5.74383302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584391418 meters 0.03301125223135544 Centerline is valid? [True, True] Translation: X:280.36, Y:-11.06, Z:-5.74 [[ 9.99950540e-01 -3.65394729e-03 9.25016065e-03 2.80361391e+02] [ 3.65806805e-03 9.99993217e-01 -4.28599690e-04 -1.10571635e+01] [-9.24853183e-03 4.62416209e-04 9.99957124e-01 -5.74336509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64439141799994 meters 0.0362610781779478 Centerline is valid? [True, True] Translation: X:280.42, Y:-11.06, Z:-5.74 [[ 9.99895053e-01 -9.99125311e-03 1.04908750e-02 2.80421803e+02] [ 9.99689680e-03 9.99949912e-01 -4.85658759e-04 -1.10646977e+01] [-1.04854972e-02 5.90483985e-04 9.99944851e-01 -5.74339105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70439141799994 meters 0.038272271653286616 Centerline is valid? [True, True] Translation: X:280.48, Y:-11.07, Z:-5.75 [[ 9.99876445e-01 -1.23291645e-02 9.75119044e-03 2.80483104e+02] [ 1.23341480e-02 9.99923830e-01 -4.51085208e-04 -1.10693533e+01] [-9.74488619e-03 5.71302100e-04 9.99952354e-01 -5.74558465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76439141799995 meters 0.03913882172016623 Centerline is valid? [True, True] Translation: X:280.54, Y:-11.07, Z:-5.75 [[ 9.99905225e-01 -1.10285830e-02 8.24087886e-03 2.80544099e+02] [ 1.10320979e-02 9.99939072e-01 -3.81185056e-04 -1.10701811e+01] [-8.23617283e-03 4.72063112e-04 9.99965971e-01 -5.74970366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82439141799995 meters 0.038315197318294296 Centerline is valid? [True, True] Translation: X:280.61, Y:-11.07, Z:-5.75 [[ 9.99930745e-01 -8.84259654e-03 7.76621529e-03 2.80606126e+02] [ 8.84565553e-03 9.99960812e-01 -3.59622863e-04 -1.10696354e+01] [-7.76273095e-03 4.28295222e-04 9.99969778e-01 -5.75213102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88439141799995 meters 0.03428683629805104 Centerline is valid? [True, True] Translation: X:280.67, Y:-11.06, Z:-5.75 [[ 9.99973211e-01 -4.04465884e-03 6.10071887e-03 2.80667100e+02] [ 4.04646142e-03 9.99991773e-01 -2.83155768e-04 -1.10615463e+01] [-6.09952342e-03 3.07834506e-04 9.99981350e-01 -5.75463095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94439141799995 meters 0.028723397431681025 Centerline is valid? [True, True] Translation: X:280.73, Y:-11.05, Z:-5.75 [[ 9.99975500e-01 2.75371700e-03 6.43561146e-03 2.80727895e+02] [-2.75184899e-03 9.99996169e-01 -2.99097974e-04 -1.10509715e+01] [-6.43641044e-03 2.81380815e-04 9.99979247e-01 -5.75484836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00439141799995 meters 0.02443942819715817 Centerline is valid? [True, True] Translation: X:280.79, Y:-11.04, Z:-5.75 [[ 9.99892344e-01 1.15689930e-02 9.02548610e-03 2.80789302e+02] [-1.15656769e-02 9.99933027e-01 -4.19523855e-04 -1.10402843e+01] [-9.02973511e-03 3.15092835e-04 9.99959181e-01 -5.75277503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06439141799996 meters 0.02206506119704815 Centerline is valid? [True, True] Translation: X:280.85, Y:-11.03, Z:-5.75 [[ 9.99789923e-01 1.75221789e-02 1.06340766e-02 2.80850168e+02] [-1.75179118e-02 9.99846427e-01 -4.94280959e-04 -1.10349429e+01] [-1.06411044e-02 3.07890305e-04 9.99943334e-01 -5.75275962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12439141799996 meters 0.01871711740373117 Centerline is valid? [True, True] Translation: X:280.91, Y:-11.03, Z:-5.75 [[ 9.99600750e-01 2.54389326e-02 1.22964089e-02 2.80911021e+02] [-2.54338256e-02 9.99676345e-01 -5.71547582e-04 -1.10265198e+01] [-1.23069687e-02 2.58574673e-04 9.99924233e-01 -5.75316922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18439141799996 meters 0.016321202912418203 Centerline is valid? [True, True] Translation: X:280.97, Y:-11.02, Z:-5.75 [[ 9.99408933e-01 3.20665741e-02 1.23903014e-02 2.80971490e+02] [-3.20618959e-02 9.99485719e-01 -5.76077902e-04 -1.10196644e+01] [-1.24024022e-02 1.78480846e-04 9.99923071e-01 -5.75461577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24439141799996 meters 0.015271352534365576 Centerline is valid? [True, True] Translation: X:281.03, Y:-11.01, Z:-5.76 [[ 9.99246720e-01 3.68278528e-02 1.22353022e-02 2.81030415e+02] [-3.68236443e-02 9.99321618e-01 -5.69143973e-04 -1.10149674e+01] [-1.22479623e-02 1.18166832e-04 9.99924984e-01 -5.75604532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30439141799997 meters 0.014756820918130131 Centerline is valid? [True, True] Translation: X:281.09, Y:-11.01, Z:-5.76 [[ 9.99139087e-01 3.96770365e-02 1.21168560e-02 2.81089677e+02] [-3.96731305e-02 9.99212553e-01 -5.62650671e-04 -1.10144618e+01] [-1.21296390e-02 8.14526669e-05 9.99926430e-01 -5.75710098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36439141799997 meters 0.01446368231276831 Centerline is valid? [True, True] Translation: X:281.15, Y:-11.01, Z:-5.76 [[ 9.98998360e-01 4.27164007e-02 1.33261493e-02 2.81149047e+02] [-4.27119655e-02 9.99087237e-01 -6.17378988e-04 -1.10138595e+01] [-1.33403579e-02 4.75745669e-05 9.99911012e-01 -5.75816804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42439141799997 meters 0.01423391580919238 Centerline is valid? [True, True] Translation: X:281.21, Y:-11.02, Z:-5.76 [[ 9.98927884e-01 4.42079156e-02 1.37383724e-02 2.81207725e+02] [-4.42033532e-02 9.99022352e-01 -6.35722279e-04 -1.10154084e+01] [-1.37530451e-02 2.77585821e-05 9.99905422e-01 -5.75955634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484391418 meters 0.01433617532958648 Centerline is valid? [True, True] Translation: X:281.27, Y:-11.02, Z:-5.76 [[ 9.98909987e-01 4.47882243e-02 1.31473678e-02 2.81265999e+02] [-4.47841093e-02 9.98996504e-01 -6.07379658e-04 -1.10191705e+01] [-1.31613780e-02 1.79244482e-05 9.99913385e-01 -5.76172012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544391418 meters 0.014407962128343693 Centerline is valid? [True, True] Translation: X:281.32, Y:-11.03, Z:-5.76 [[ 9.99034646e-01 4.19542018e-02 1.30238430e-02 2.81323571e+02] [-4.19499345e-02 9.99119533e-01 -6.00782727e-04 -1.10264482e+01] [-1.30375813e-02 5.38533992e-05 9.99915006e-01 -5.76324318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604391418 meters 0.015191951671510138 Centerline is valid? [True, True] Translation: X:281.38, Y:-11.04, Z:-5.76 [[ 9.99216873e-01 3.72881558e-02 1.32376281e-02 2.81381578e+02] [-3.72833556e-02 9.99304548e-01 -6.09299647e-04 -1.10350721e+01] [-1.32511416e-02 1.15279291e-04 9.99912193e-01 -5.76411193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664391418 meters 0.015267255054879896 Centerline is valid? [True, True] Translation: X:281.44, Y:-11.04, Z:-5.77 [[ 9.99289781e-01 3.55943473e-02 1.23683220e-02 2.81440200e+02] [-3.55900421e-02 9.99366312e-01 -5.68085545e-04 -1.10410316e+01] [-1.23807050e-02 1.27492979e-04 9.99923348e-01 -5.76574897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724391418 meters 0.014772665364067865 Centerline is valid? [True, True] Translation: X:281.50, Y:-11.05, Z:-5.77 [[ 9.99256319e-01 3.63689387e-02 1.28104747e-02 2.81498735e+02] [-3.63643975e-02 9.99338424e-01 -5.87319813e-04 -1.10455847e+01] [-1.28233598e-02 1.21037841e-04 9.99917770e-01 -5.76602214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784391418 meters 0.014308808763020122 Centerline is valid? [True, True] Translation: X:281.56, Y:-11.05, Z:-5.77 [[ 9.99131353e-01 3.93596628e-02 1.36877935e-02 2.81557180e+02] [-3.93547759e-02 9.99225104e-01 -6.26297710e-04 -1.10487761e+01] [-1.37018378e-02 8.70736311e-05 9.99906122e-01 -5.76623113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844391418 meters 0.014209829168383318 Centerline is valid? [True, True] Translation: X:281.61, Y:-11.05, Z:-5.77 [[ 9.99085367e-01 4.02781560e-02 1.43561472e-02 2.81614563e+02] [-4.02728915e-02 9.99188503e-01 -6.55738447e-04 -1.10529314e+01] [-1.43709091e-02 7.69751306e-05 9.99896730e-01 -5.76764156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904391418 meters 0.015109620407014948 Centerline is valid? [True, True] Translation: X:281.67, Y:-11.07, Z:-5.77 [[ 9.99350445e-01 3.36642458e-02 1.28610253e-02 2.81672782e+02] [-3.36594885e-02 9.99433187e-01 -5.86237970e-04 -1.10667222e+01] [-1.28734707e-02 1.52961645e-04 9.99917122e-01 -5.77100853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964391418 meters 0.017238197227937787 Centerline is valid? [True, True] Translation: X:281.73, Y:-11.08, Z:-5.77 [[ 9.99576718e-01 2.64230702e-02 1.21740052e-02 2.81730342e+02] [-2.64182819e-02 9.99650823e-01 -5.53995959e-04 -1.10788429e+01] [-1.21843925e-02 2.32145163e-04 9.99925741e-01 -5.77367698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024391418 meters 0.022198477339921033 Centerline is valid? [True, True] Translation: X:281.79, Y:-11.10, Z:-5.78 [[ 9.99851383e-01 1.32545132e-02 1.10240166e-02 2.81789659e+02] [-1.32498055e-02 9.99912092e-01 -4.99968268e-04 -1.10959618e+01] [-1.10296743e-02 3.53827889e-04 9.99939109e-01 -5.77602716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084391418 meters 0.02640702782801194 Centerline is valid? [True, True] Translation: X:281.85, Y:-11.11, Z:-5.78 [[ 9.99935031e-01 4.69679901e-03 1.03862424e-02 2.81850132e+02] [-4.69215580e-03 9.99988881e-01 -4.71376648e-04 -1.11086695e+01] [-1.03883409e-02 4.22612155e-04 9.99945950e-01 -5.77817815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14439141799994 meters 0.031168865571383864 Centerline is valid? [True, True] Translation: X:281.91, Y:-11.12, Z:-5.78 [[ 9.99943057e-01 -2.73744608e-03 1.03144927e-02 2.81910598e+02] [ 2.74242058e-03 9.99996130e-01 -4.68169375e-04 -1.11201694e+01] [-1.03131712e-02 4.96429394e-04 9.99946695e-01 -5.77977692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20439141799994 meters 0.032786859875132926 Centerline is valid? [True, True] Translation: X:281.97, Y:-11.13, Z:-5.78 [[ 9.99859396e-01 -1.14601266e-02 1.22414941e-02 2.81971813e+02] [ 1.14677831e-02 9.99934089e-01 -5.55441210e-04 -1.11276750e+01] [-1.22343218e-02 6.95745913e-04 9.99924916e-01 -5.77855517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26439141799995 meters 0.041631141234651 Centerline is valid? [True, True] Translation: X:282.03, Y:-11.14, Z:-5.78 [[ 9.99789009e-01 -1.56688060e-02 1.32825637e-02 2.82031456e+02] [ 1.56781961e-02 9.99876908e-01 -6.03108867e-04 -1.11432706e+01] [-1.32714787e-02 8.11228254e-04 9.99911601e-01 -5.77988540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32439141799995 meters 0.0377861355327219 Centerline is valid? [True, True] Translation: X:282.09, Y:-11.14, Z:-5.78 [[ 9.99713104e-01 -1.97746668e-02 1.35155930e-02 2.82092303e+02] [ 1.97847711e-02 9.99804074e-01 -6.14286932e-04 -1.11412979e+01] [-1.35007976e-02 8.81513609e-04 9.99908472e-01 -5.77997525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38439141799995 meters 0.040171917990476674 Centerline is valid? [True, True] Translation: X:282.15, Y:-11.15, Z:-5.78 [[ 9.99685089e-01 -2.11334253e-02 1.35314562e-02 2.82153567e+02] [ 2.11436828e-02 9.99776258e-01 -6.15426503e-04 -1.11458375e+01] [-1.35154225e-02 9.01337516e-04 9.99908256e-01 -5.78179569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44439141799995 meters 0.04074040793759219 Centerline is valid? [True, True] Translation: X:282.22, Y:-11.15, Z:-5.78 [[ 9.99695558e-01 -2.05355235e-02 1.36778365e-02 2.82215378e+02] [ 2.05459584e-02 9.99788716e-01 -6.22812061e-04 -1.11482866e+01] [-1.36621568e-02 9.03646711e-04 9.99906260e-01 -5.78362051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50439141799995 meters 0.037893503107020186 Centerline is valid? [True, True] Translation: X:282.28, Y:-11.15, Z:-5.79 [[ 9.99729910e-01 -1.92811608e-02 1.29747627e-02 2.82277801e+02] [ 1.92904577e-02 9.99813747e-01 -5.91757187e-04 -1.11460388e+01] [-1.29609363e-02 8.41886469e-04 9.99915649e-01 -5.78529755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56439141799996 meters 0.03616043818156436 Centerline is valid? [True, True] Translation: X:282.34, Y:-11.14, Z:-5.79 [[ 9.99841721e-01 -1.35438961e-02 1.15367313e-02 2.82337658e+02] [ 1.35508856e-02 9.99908043e-01 -5.27882980e-04 -1.11428815e+01] [-1.15285208e-02 6.84132353e-04 9.99933310e-01 -5.78855208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62439141799996 meters 0.03267061961208653 Centerline is valid? [True, True] Translation: X:282.40, Y:-11.14, Z:-5.79 [[ 9.99913745e-01 -7.34585531e-03 1.08876462e-02 2.82398621e+02] [ 7.35170978e-03 9.99972852e-01 -4.97791256e-04 -1.11375177e+01] [-1.08836939e-02 5.77791134e-04 9.99940604e-01 -5.78957941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68439141799996 meters 0.027302533160085768 Centerline is valid? [True, True] Translation: X:282.46, Y:-11.13, Z:-5.79 [[ 9.99908848e-01 4.88635578e-03 1.25864822e-02 2.82458561e+02] [-4.87949684e-03 9.99987930e-01 -5.75596662e-04 -1.11267204e+01] [-1.25891429e-02 5.14128494e-04 9.99920621e-01 -5.78926273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74439141799996 meters 0.019628563788945657 Centerline is valid? [True, True] Translation: X:282.52, Y:-11.11, Z:-5.79 [[ 9.99682683e-01 2.00921250e-02 1.51934164e-02 2.82520569e+02] [-2.00838903e-02 9.99798057e-01 -6.94389484e-04 -1.11118122e+01] [-1.52043000e-02 3.89026233e-04 9.99884332e-01 -5.78772244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80439141799997 meters 0.015011094942591844 Centerline is valid? [True, True] Translation: X:282.58, Y:-11.10, Z:-5.79 [[ 9.99244783e-01 3.52722426e-02 1.63013160e-02 2.82581979e+02] [-3.52647756e-02 9.99377726e-01 -7.45374655e-04 -1.11000222e+01] [-1.63174631e-02 1.69949486e-04 9.99866847e-01 -5.78865431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86439141799997 meters 0.013949552353631135 Centerline is valid? [True, True] Translation: X:282.64, Y:-11.09, Z:-5.79 [[ 9.98760491e-01 4.70411202e-02 1.62669693e-02 2.82641607e+02] [-4.70352348e-02 9.98892953e-01 -7.44411452e-04 -1.10912895e+01] [-1.62839789e-02 -2.16319723e-05 9.99867407e-01 -5.79014753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92439141799997 meters 0.014529523111016176 Centerline is valid? [True, True] Translation: X:282.70, Y:-11.09, Z:-5.79 [[ 9.98507178e-01 5.21458240e-02 1.62551379e-02 2.82699890e+02] [-5.21406436e-02 9.98639475e-01 -7.42625684e-04 -1.10889356e+01] [-1.62717472e-02 -1.06036276e-04 9.99867601e-01 -5.79171627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984391418 meters 0.014748694851004582 Centerline is valid? [True, True] Translation: X:282.76, Y:-11.09, Z:-5.79 [[ 9.98437445e-01 5.34729452e-02 1.62269137e-02 2.82759093e+02] [-5.34679856e-02 9.98569290e-01 -7.39636833e-04 -1.10906162e+01] [-1.62432483e-02 -1.29139281e-04 9.99868061e-01 -5.79352189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044391418 meters 0.013998296057431725 Centerline is valid? [True, True] Translation: X:282.82, Y:-11.10, Z:-5.79 [[ 9.98748908e-01 4.68149586e-02 1.75777599e-02 2.82817610e+02] [-4.68081348e-02 9.98903578e-01 -7.99653939e-04 -1.11000017e+01] [-1.75959231e-02 -2.41286594e-05 9.99845179e-01 -5.79310238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104391418 meters 0.014083692223905027 Centerline is valid? [True, True] Translation: X:282.88, Y:-11.11, Z:-5.79 [[ 9.99022490e-01 4.07472397e-02 1.71384654e-02 2.82875354e+02] [-4.07398821e-02 9.99169483e-01 -7.78368517e-04 -1.11091210e+01] [-1.71559480e-02 7.93885948e-05 9.99852823e-01 -5.79400607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164391418 meters 0.01570481871752629 Centerline is valid? [True, True] Translation: X:282.93, Y:-11.12, Z:-5.79 [[ 9.99372990e-01 3.13605384e-02 1.64360676e-02 2.82934870e+02] [-3.13525318e-02 9.99508111e-01 -7.44644512e-04 -1.11210447e+01] [-1.64513353e-02 2.28865280e-04 9.99864641e-01 -5.79445024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224391418 meters 0.01910040157743521 Centerline is valid? [True, True] Translation: X:282.99, Y:-11.13, Z:-5.80 [[ 9.99564204e-01 2.51436482e-02 1.54660588e-02 2.82993800e+02] [-2.51358253e-02 9.99683800e-01 -7.00016285e-04 -1.11332825e+01] [-1.54787694e-02 3.10959069e-04 9.99880148e-01 -5.79648319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284391418 meters 0.02178951425096985 Centerline is valid? [True, True] Translation: X:283.05, Y:-11.15, Z:-5.80 [[ 9.99732283e-01 1.63427097e-02 1.63791993e-02 2.83054408e+02] [-1.63327636e-02 9.99866337e-01 -7.40830346e-04 -1.11454007e+01] [-1.63891172e-02 4.73114423e-04 9.99865577e-01 -5.79557867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344391418 meters 0.025439044141811484 Centerline is valid? [True, True] Translation: X:283.11, Y:-11.16, Z:-5.80 [[ 9.99816455e-01 1.01665082e-02 1.62387681e-02 2.83113563e+02] [-1.01559116e-02 9.99948157e-01 -7.34884752e-04 -1.11580855e+01] [-1.62453974e-02 5.69830375e-04 9.99867872e-01 -5.79538953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404391418 meters 0.023941917023857805 Centerline is valid? [True, True] Translation: X:283.18, Y:-11.16, Z:-5.80 [[ 9.99824718e-01 1.01873152e-02 1.57083525e-02 2.83176888e+02] [-1.01774271e-02 9.99947957e-01 -7.09292724e-04 -1.11626339e+01] [-1.57147608e-02 5.49297784e-04 9.99876365e-01 -5.79629877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464391418 meters 0.024359242071400493 Centerline is valid? [True, True] Translation: X:283.24, Y:-11.17, Z:-5.80 [[ 9.99793832e-01 1.47689794e-02 1.39345115e-02 2.83237145e+02] [-1.47615615e-02 9.99890841e-01 -6.35050525e-04 -1.11676316e+01] [-1.39423694e-02 4.29224450e-04 9.99902708e-01 -5.79985245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524391418 meters 0.0207464345317905 Centerline is valid? [True, True] Translation: X:283.30, Y:-11.16, Z:-5.80 [[ 9.99740240e-01 1.84410009e-02 1.33933743e-02 2.83299244e+02] [-1.84344990e-02 9.99829885e-01 -6.08760484e-04 -1.11646038e+01] [-1.34023221e-02 3.61702206e-04 9.99910119e-01 -5.80089005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584391418 meters 0.021199386232217798 Centerline is valid? [True, True] Translation: X:283.36, Y:-11.17, Z:-5.80 [[ 9.99730698e-01 2.05398477e-02 1.08002665e-02 2.83360567e+02] [-2.05357187e-02 9.99788998e-01 -4.93082623e-04 -1.11681503e+01] [-1.08081154e-02 2.71158601e-04 9.99941554e-01 -5.80499975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64439141799994 meters 0.02532086546303447 Centerline is valid? [True, True] Translation: X:283.42, Y:-11.18, Z:-5.81 [[ 9.99815382e-01 1.76969771e-02 7.48463608e-03 2.83419855e+02] [-1.76948869e-02 9.99843374e-01 -3.45396631e-04 -1.11775475e+01] [-7.48957627e-03 2.12893076e-04 9.99971930e-01 -5.81105479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70439141799994 meters 0.022982911915276454 Centerline is valid? [True, True] Translation: X:283.48, Y:-11.18, Z:-5.81 [[ 9.99875952e-01 1.45534152e-02 6.02314859e-03 2.83480681e+02] [-1.45520046e-02 9.99894075e-01 -2.77952757e-04 -1.11763913e+01] [-6.02655576e-03 1.90269392e-04 9.99981822e-01 -5.81035521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76439141799995 meters 0.024827079367784968 Centerline is valid? [True, True] Translation: X:283.54, Y:-11.18, Z:-5.81 [[ 9.99929761e-01 1.02802486e-02 5.89831602e-03 2.83540460e+02] [-1.02788199e-02 9.99947134e-01 -2.72488722e-04 -1.11803981e+01] [-5.90080545e-03 2.11841854e-04 9.99982568e-01 -5.81075740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82439141799995 meters 0.02688905999121422 Centerline is valid? [True, True] Translation: X:283.60, Y:-11.18, Z:-5.81 [[ 9.99935322e-01 9.03067549e-03 6.91370316e-03 2.83600513e+02] [-9.02868793e-03 9.99959190e-01 -3.18638143e-04 -1.11839875e+01] [-6.91629853e-03 2.56195866e-04 9.99976049e-01 -5.81019167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88439141799995 meters 0.025496030926449587 Centerline is valid? [True, True] Translation: X:283.66, Y:-11.18, Z:-5.81 [[ 9.99916427e-01 9.62036581e-03 8.63639411e-03 2.83661884e+02] [-9.61728601e-03 9.99953674e-01 -3.98067486e-04 -1.11825924e+01] [-8.63982357e-03 3.14975546e-04 9.99962626e-01 -5.80846969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94439141799995 meters 0.024055883012811363 Centerline is valid? [True, True] Translation: X:283.72, Y:-11.18, Z:-5.81 [[ 9.99874780e-01 1.19471191e-02 1.03774180e-02 2.83723411e+02] [-1.19427915e-02 9.99928568e-01 -4.78888612e-04 -1.11806283e+01] [-1.03823980e-02 3.54893305e-04 9.99946038e-01 -5.80730233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00439141799995 meters 0.022730332667282596 Centerline is valid? [True, True] Translation: X:283.79, Y:-11.18, Z:-5.81 [[ 9.99818785e-01 1.58953841e-02 1.04754129e-02 2.83785186e+02] [-1.58911883e-02 9.99873610e-01 -4.83653150e-04 -1.11801721e+01] [-1.04817768e-02 3.17098745e-04 9.99945014e-01 -5.80869322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06439141799996 meters 0.02124717133560395 Centerline is valid? [True, True] Translation: X:283.85, Y:-11.18, Z:-5.81 [[ 9.99730648e-01 2.08700612e-02 1.01524036e-02 2.83845722e+02] [-2.08663664e-02 9.99782163e-01 -4.69727301e-04 -1.11791785e+01] [-1.01599953e-02 2.57757005e-04 9.99948353e-01 -5.81056459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12439141799996 meters 0.018991331402072244 Centerline is valid? [True, True] Translation: X:283.91, Y:-11.18, Z:-5.81 [[ 9.99615240e-01 2.59397244e-02 9.82354036e-03 2.83905619e+02] [-2.59365018e-02 9.99663489e-01 -4.55321676e-04 -1.11753699e+01] [-9.83204555e-03 2.00358215e-04 9.99951644e-01 -5.81152342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18439141799996 meters 0.016382471219541943 Centerline is valid? [True, True] Translation: X:283.97, Y:-11.17, Z:-5.81 [[ 9.99439219e-01 3.21582924e-02 9.33234579e-03 2.83965158e+02] [-3.21556558e-02 9.99482780e-01 -4.32473783e-04 -1.11691277e+01] [-9.34142653e-03 1.32143561e-04 9.99956359e-01 -5.81223314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24439141799996 meters 0.01686347749447142 Centerline is valid? [True, True] Translation: X:284.02, Y:-11.17, Z:-5.82 [[ 9.99427487e-01 3.30004597e-02 7.46108529e-03 2.84022407e+02] [-3.29987957e-02 9.99455332e-01 -3.46056948e-04 -1.11712786e+01] [-7.46844151e-03 9.96519963e-05 9.99972106e-01 -5.81661192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30439141799997 meters 0.01721016632872428 Centerline is valid? [True, True] Translation: X:284.08, Y:-11.17, Z:-5.82 [[ 9.99526222e-01 3.00003773e-02 6.87819378e-03 2.84081312e+02] [-2.99988974e-02 9.99549881e-01 -3.18245856e-04 -1.11749211e+01] [-6.88464527e-03 1.11756848e-04 9.99976294e-01 -5.81726536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36439141799997 meters 0.019372594065878063 Centerline is valid? [True, True] Translation: X:284.14, Y:-11.18, Z:-5.82 [[ 9.99714290e-01 2.27719579e-02 7.26475335e-03 2.84140186e+02] [-2.27701231e-02 9.99740671e-01 -3.35193624e-04 -1.11829915e+01] [-7.27050241e-03 1.69678528e-04 9.99973555e-01 -5.81782474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42439141799997 meters 0.025463737976576563 Centerline is valid? [True, True] Translation: X:284.20, Y:-11.20, Z:-5.82 [[ 9.99821248e-01 1.71277134e-02 8.00710117e-03 2.84198435e+02] [-1.71253080e-02 9.99853283e-01 -3.68882944e-04 -1.11959427e+01] [-8.01224452e-03 2.31692932e-04 9.99967875e-01 -5.82101593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484391418 meters 0.025282643992681247 Centerline is valid? [True, True] Translation: X:284.26, Y:-11.20, Z:-5.82 [[ 9.99917321e-01 8.38064113e-03 9.75278697e-03 2.84258512e+02] [-8.37667165e-03 9.99964815e-01 -4.47788617e-04 -1.12008197e+01] [-9.75619657e-03 3.66055700e-04 9.99952340e-01 -5.81814571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544391418 meters 0.027074767077072598 Centerline is valid? [True, True] Translation: X:284.32, Y:-11.21, Z:-5.82 [[ 9.99919541e-01 2.68872190e-03 1.23968676e-02 2.84319103e+02] [-2.68187611e-03 9.99996242e-01 -5.68810078e-04 -1.12070071e+01] [-1.23983504e-02 5.35517449e-04 9.99922994e-01 -5.81715557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604391418 meters 0.02823283802539921 Centerline is valid? [True, True] Translation: X:284.38, Y:-11.21, Z:-5.82 [[ 9.99906724e-01 3.00299124e-03 1.33238598e-02 2.84381535e+02] [-2.99513648e-03 9.99995329e-01 -6.09441455e-04 -1.12120422e+01] [-1.33256277e-02 5.69477830e-04 9.99911048e-01 -5.81776802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664391418 meters 0.02679579705762163 Centerline is valid? [True, True] Translation: X:284.44, Y:-11.21, Z:-5.82 [[ 9.99880528e-01 6.66152656e-03 1.39482321e-02 2.84443213e+02] [-6.65318103e-03 9.99977660e-01 -6.44638653e-04 -1.12120042e+01] [-1.39522148e-02 5.51761524e-04 9.99902511e-01 -5.81908046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724391418 meters 0.02557380083397537 Centerline is valid? [True, True] Translation: X:284.50, Y:-11.21, Z:-5.82 [[ 9.99863004e-01 9.88157677e-03 1.32788746e-02 2.84504543e+02] [-9.87428470e-03 9.99951059e-01 -6.14600319e-04 -1.12120918e+01] [-1.32842980e-02 4.83396732e-04 9.99911643e-01 -5.82062943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784391418 meters 0.024041895152097 Centerline is valid? [True, True] Translation: X:284.57, Y:-11.21, Z:-5.82 [[ 9.99839396e-01 1.43532209e-02 1.07315627e-02 2.84565644e+02] [-1.43487126e-02 9.99896928e-01 -4.96979880e-04 -1.12106697e+01] [-1.07375898e-02 3.42915955e-04 9.99942292e-01 -5.82453668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844391418 meters 0.023007194336051025 Centerline is valid? [True, True] Translation: X:284.63, Y:-11.21, Z:-5.83 [[ 9.99793286e-01 1.77144475e-02 9.97914331e-03 2.84627348e+02] [-1.77107175e-02 9.99843046e-01 -4.62037288e-04 -1.12108747e+01] [-9.98576178e-03 2.85203991e-04 9.99950100e-01 -5.82714084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904391418 meters 0.02275367490358706 Centerline is valid? [True, True] Translation: X:284.69, Y:-11.21, Z:-5.83 [[ 9.99772149e-01 1.89791098e-02 9.76949510e-03 2.84688237e+02] [-1.89755794e-02 9.99819844e-01 -4.53948010e-04 -1.12124744e+01] [-9.77635060e-03 2.68462747e-04 9.99952174e-01 -5.82890097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964391418 meters 0.020019424455714353 Centerline is valid? [True, True] Translation: X:284.75, Y:-11.21, Z:-5.83 [[ 9.99770296e-01 1.87254759e-02 1.04265396e-02 2.84747841e+02] [-1.87214364e-02 9.99824621e-01 -4.84900138e-04 -1.12095223e+01] [-1.04337910e-02 2.89588955e-04 9.99945525e-01 -5.82780130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024391418 meters 0.02301046255509379 Centerline is valid? [True, True] Translation: X:284.81, Y:-11.22, Z:-5.83 [[ 9.99829897e-01 1.51972070e-02 1.04508941e-02 2.84806727e+02] [-1.51929629e-02 9.99884462e-01 -4.85380332e-04 -1.12168910e+01] [-1.04570631e-02 3.26517721e-04 9.99945270e-01 -5.82961853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084391418 meters 0.025973176004298187 Centerline is valid? [True, True] Translation: X:284.87, Y:-11.22, Z:-5.83 [[ 9.99904225e-01 7.34183289e-03 1.17319390e-02 2.84867406e+02] [-7.33595090e-03 9.99972943e-01 -5.44322160e-04 -1.12243624e+01] [-1.17356179e-02 4.58205100e-04 9.99931030e-01 -5.82974969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14439141799994 meters 0.030576442661272202 Centerline is valid? [True, True] Translation: X:284.93, Y:-11.23, Z:-5.83 [[ 9.99918781e-01 1.17585301e-03 1.26905062e-02 2.84927462e+02] [-1.16847598e-03 9.99999144e-01 -5.88701985e-04 -1.12334105e+01] [-1.26911876e-02 5.73825620e-04 9.99919299e-01 -5.83080774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20439141799994 meters 0.034702428291106424 Centerline is valid? [True, True] Translation: X:284.99, Y:-11.24, Z:-5.83 [[ 9.99890106e-01 -6.57177737e-03 1.32886460e-02 2.84987209e+02] [ 6.58056140e-03 9.99978157e-01 -6.17400185e-04 -1.12409194e+01] [-1.32842983e-02 7.04779088e-04 9.99911511e-01 -5.83156888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26439141799995 meters 0.03599735110582458 Centerline is valid? [True, True] Translation: X:285.05, Y:-11.24, Z:-5.83 [[ 9.99839145e-01 -1.11071413e-02 1.40824780e-02 2.85048045e+02] [ 1.11174459e-02 9.99937986e-01 -6.53656838e-04 -1.12436685e+01] [-1.40743445e-02 8.10112882e-04 9.99900623e-01 -5.83189918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32439141799995 meters 0.03550138956626887 Centerline is valid? [True, True] Translation: X:285.11, Y:-11.24, Z:-5.83 [[ 9.99828571e-01 -1.16222189e-02 1.44136458e-02 2.85110543e+02] [ 1.16330722e-02 9.99932109e-01 -6.69371662e-04 -1.12445923e+01] [-1.44048877e-02 8.36931896e-04 9.99895894e-01 -5.83274685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38439141799995 meters 0.03362562631828489 Centerline is valid? [True, True] Translation: X:285.17, Y:-11.24, Z:-5.83 [[ 9.99850181e-01 -9.57832233e-03 1.44177421e-02 2.85172357e+02] [ 9.58899070e-03 9.99953799e-01 -6.70998543e-04 -1.12421032e+01] [-1.44106490e-02 8.09149610e-04 9.99895834e-01 -5.83313350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44439141799995 meters 0.034287858331337004 Centerline is valid? [True, True] Translation: X:285.23, Y:-11.24, Z:-5.84 [[ 9.99889431e-01 -5.76558871e-03 1.37070399e-02 2.85232433e+02] [ 5.77488514e-03 9.99983121e-01 -6.38739457e-04 -1.12437231e+01] [-1.37031259e-02 7.17825414e-04 9.99905850e-01 -5.83561970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50439141799995 meters 0.031464329179734844 Centerline is valid? [True, True] Translation: X:285.29, Y:-11.24, Z:-5.84 [[ 9.99917673e-01 -1.93949893e-03 1.26840384e-02 2.85292990e+02] [ 1.94715235e-03 9.99997930e-01 -5.91068227e-04 -1.12406957e+01] [-1.26828658e-02 6.15717322e-04 9.99919380e-01 -5.83709128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56439141799996 meters 0.027442755966570413 Centerline is valid? [True, True] Translation: X:285.35, Y:-11.23, Z:-5.84 [[ 9.99908420e-01 6.29500704e-03 1.19801675e-02 2.85354281e+02] [-6.28876951e-03 9.99980070e-01 -5.58255683e-04 -1.12338990e+01] [-1.19834429e-02 4.82864046e-04 9.99928079e-01 -5.83810852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62439141799996 meters 0.022780390625247175 Centerline is valid? [True, True] Translation: X:285.41, Y:-11.23, Z:-5.84 [[ 9.99798123e-01 1.64705216e-02 1.15080360e-02 2.85414945e+02] [-1.64654395e-02 9.99864292e-01 -5.36227682e-04 -1.12251789e+01] [-1.15153062e-02 3.46634559e-04 9.99933637e-01 -5.83909883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68439141799996 meters 0.018953697896221713 Centerline is valid? [True, True] Translation: X:285.48, Y:-11.22, Z:-5.84 [[ 9.99594405e-01 2.61370040e-02 1.13085216e-02 2.85475510e+02] [-2.61327132e-02 9.99658343e-01 -5.27057433e-04 -1.12174335e+01] [-1.13184337e-02 2.31321309e-04 9.99935918e-01 -5.84041356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74439141799996 meters 0.01628506168136094 Centerline is valid? [True, True] Translation: X:285.54, Y:-11.21, Z:-5.84 [[ 9.99334513e-01 3.46383303e-02 1.14332026e-02 2.85535445e+02] [-3.46344965e-02 9.99399904e-01 -5.33212650e-04 -1.12104887e+01] [-1.14448112e-02 1.36874588e-04 9.99934497e-01 -5.84183735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80439141799997 meters 0.015187931424615489 Centerline is valid? [True, True] Translation: X:285.59, Y:-11.21, Z:-5.84 [[ 9.99151317e-01 3.96926037e-02 1.10065080e-02 2.85594627e+02] [-3.96893577e-02 9.99211935e-01 -5.13273507e-04 -1.12077531e+01] [-1.10182073e-02 7.59966687e-05 9.99939295e-01 -5.84292920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86439141799997 meters 0.014727639904039077 Centerline is valid? [True, True] Translation: X:285.65, Y:-11.21, Z:-5.84 [[ 9.98990792e-01 4.36260155e-02 1.06849484e-02 2.85653776e+02] [-4.36231888e-02 9.99047932e-01 -4.97579064e-04 -1.12058721e+01] [-1.06964830e-02 3.09653818e-05 9.99942791e-01 -5.84256865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92439141799997 meters 0.014793006180476204 Centerline is valid? [True, True] Translation: X:285.71, Y:-11.21, Z:-5.84 [[ 9.98945828e-01 4.46162706e-02 1.07990945e-02 2.85711835e+02] [-4.46134460e-02 9.99004198e-01 -5.02432782e-04 -1.12076726e+01] [-1.08107574e-02 2.01183119e-05 9.99941562e-01 -5.84281913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984391418 meters 0.014992441610804583 Centerline is valid? [True, True] Translation: X:285.77, Y:-11.21, Z:-5.84 [[ 9.99000819e-01 4.33555564e-02 1.08471086e-02 2.85768654e+02] [-4.33526449e-02 9.99059705e-01 -5.03506926e-04 -1.12123597e+01] [-1.08587389e-02 3.27529843e-05 9.99941042e-01 -5.84481667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044391418 meters 0.015253456636523327 Centerline is valid? [True, True] Translation: X:285.83, Y:-11.22, Z:-5.85 [[ 9.99194669e-01 3.88541467e-02 1.00184383e-02 2.85827146e+02] [-3.88514548e-02 9.99244890e-01 -4.63253270e-04 -1.12211351e+01] [-1.00288726e-02 7.36492942e-05 9.99949707e-01 -5.84625872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104391418 meters 0.016205717544780927 Centerline is valid? [True, True] Translation: X:285.89, Y:-11.23, Z:-5.85 [[ 9.99429071e-01 3.25404788e-02 9.09116317e-03 2.85885765e+02] [-3.25380062e-02 9.99470411e-01 -4.19792403e-04 -1.12312987e+01] [-9.10000883e-03 1.23744407e-04 9.99958586e-01 -5.84817239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164391418 meters 0.017472041642152505 Centerline is valid? [True, True] Translation: X:285.94, Y:-11.24, Z:-5.85 [[ 9.99564833e-01 2.82403957e-02 8.52198594e-03 2.85944041e+02] [-2.82380719e-02 9.99601149e-01 -3.92903457e-04 -1.12397097e+01] [-8.52968269e-03 1.52088027e-04 9.99963610e-01 -5.85014968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224391418 meters 0.019891088966990638 Centerline is valid? [True, True] Translation: X:286.00, Y:-11.25, Z:-5.85 [[ 9.99726009e-01 2.19674531e-02 8.08318617e-03 2.86001673e+02] [-2.19651661e-02 9.99758668e-01 -3.71618265e-04 -1.12512021e+01] [-8.08939895e-03 1.93967918e-04 9.99967261e-01 -5.85256855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284391418 meters 0.021047964482370195 Centerline is valid? [True, True] Translation: X:286.06, Y:-11.26, Z:-5.85 [[ 9.99799918e-01 1.79680629e-02 8.79050307e-03 2.86060718e+02] [-1.79652076e-02 9.99838531e-01 -4.03672718e-04 -1.12592868e+01] [-8.79633689e-03 2.45668737e-04 9.99961281e-01 -5.85218470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344391418 meters 0.022558792391241526 Centerline is valid? [True, True] Translation: X:286.12, Y:-11.27, Z:-5.85 [[ 9.99815742e-01 1.65573600e-02 9.71262782e-03 2.86119480e+02] [-1.65538103e-02 9.99862877e-01 -4.45747192e-04 -1.12668268e+01] [-9.71867640e-03 2.84884061e-04 9.99952732e-01 -5.85290066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404391418 meters 0.022413227276351165 Centerline is valid? [True, True] Translation: X:286.18, Y:-11.27, Z:-5.85 [[ 9.99845613e-01 1.39734448e-02 1.06533177e-02 2.86179247e+02] [-1.39690426e-02 9.99902309e-01 -4.87525216e-04 -1.12721709e+01] [-1.06590893e-02 3.38633300e-04 9.99943133e-01 -5.85282101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464391418 meters 0.026446516359195822 Centerline is valid? [True, True] Translation: X:286.24, Y:-11.28, Z:-5.86 [[ 9.99908002e-01 9.09108786e-03 1.00667902e-02 2.86238899e+02] [-9.08691091e-03 9.99958607e-01 -4.60586119e-04 -1.12842842e+01] [-1.00705607e-02 3.69067720e-04 9.99949223e-01 -5.85561786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524391418 meters 0.028201517702057716 Centerline is valid? [True, True] Translation: X:286.30, Y:-11.29, Z:-5.86 [[ 9.99959919e-01 2.65034455e-03 8.55196322e-03 2.86299073e+02] [-2.64709253e-03 9.99996420e-01 -3.91562599e-04 -1.12928708e+01] [-8.55297038e-03 3.68909067e-04 9.99963355e-01 -5.85811217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584391418 meters 0.02983447768266238 Centerline is valid? [True, True] Translation: X:286.36, Y:-11.30, Z:-5.86 [[ 9.99964791e-01 -1.27252396e-03 8.29444603e-03 2.86359674e+02] [ 1.27571658e-03 9.99999114e-01 -3.79631916e-04 -1.12999590e+01] [-8.29395559e-03 3.90199912e-04 9.99965528e-01 -5.85996510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64439141799994 meters 0.03315626488019138 Centerline is valid? [True, True] Translation: X:286.42, Y:-11.31, Z:-5.86 [[ 9.99956789e-01 -5.36123992e-03 7.59460072e-03 2.86418990e+02] [ 5.36403704e-03 9.99985553e-01 -3.47982597e-04 -1.13092962e+01] [-7.59262538e-03 3.88705280e-04 9.99971100e-01 -5.86179627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70439141799994 meters 0.03329866721289111 Centerline is valid? [True, True] Translation: X:286.48, Y:-11.31, Z:-5.86 [[ 9.99957727e-01 -6.76555175e-03 6.22666094e-03 2.86481313e+02] [ 6.76745191e-03 9.99977060e-01 -2.84146019e-04 -1.13133955e+01] [-6.22459570e-03 3.26272636e-04 9.99980574e-01 -5.86452699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76439141799995 meters 0.03482578809341838 Centerline is valid? [True, True] Translation: X:286.54, Y:-11.32, Z:-5.87 [[ 9.99966890e-01 -6.46702575e-03 4.93923516e-03 2.86541928e+02] [ 6.46821966e-03 9.99979055e-01 -2.25782810e-04 -1.13175128e+01] [-4.93767156e-03 2.57723392e-04 9.99987776e-01 -5.86730367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82439141799995 meters 0.033876989408172506 Centerline is valid? [True, True] Translation: X:286.60, Y:-11.32, Z:-5.87 [[ 9.99964325e-01 -4.33170677e-03 7.25154146e-03 2.86603141e+02] [ 4.33423349e-03 9.99990552e-01 -3.32760070e-04 -1.13167816e+01] [-7.25003152e-03 3.64178073e-04 9.99973652e-01 -5.86611636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88439141799995 meters 0.03242033698422129 Centerline is valid? [True, True] Translation: X:286.66, Y:-11.32, Z:-5.87 [[ 9.99948218e-01 2.60660373e-05 1.01764672e-02 2.86663962e+02] [-2.13054061e-05 9.99999890e-01 -4.67915976e-04 -1.13165821e+01] [-1.01764783e-02 4.67674932e-04 9.99948109e-01 -5.86551059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94439141799995 meters 0.029768117488001223 Centerline is valid? [True, True] Translation: X:286.73, Y:-11.31, Z:-5.87 [[ 9.99930637e-01 3.62781195e-03 1.12054035e-02 2.86725579e+02] [-3.62226482e-03 9.99993307e-01 -5.15296659e-04 -1.13135107e+01] [-1.12071979e-02 4.74671977e-04 9.99937085e-01 -5.86532223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00439141799995 meters 0.027276114095734473 Centerline is valid? [True, True] Translation: X:286.79, Y:-11.31, Z:-5.87 [[ 9.99900457e-01 9.57125740e-03 1.03666099e-02 2.86785939e+02] [-9.56682092e-03 9.99954123e-01 -4.77464488e-04 -1.13099024e+01] [-1.03707042e-02 3.78241460e-04 9.99946151e-01 -5.86840843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06439141799996 meters 0.022997369939179273 Centerline is valid? [True, True] Translation: X:286.85, Y:-11.31, Z:-5.87 [[ 9.99858397e-01 1.42260524e-02 8.98918038e-03 2.86847367e+02] [-1.42229086e-02 9.99898764e-01 -4.13560697e-04 -1.13056999e+01] [-8.99415368e-03 2.85649845e-04 9.99959511e-01 -5.87128776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12439141799996 meters 0.02074425551541901 Centerline is valid? [True, True] Translation: X:286.91, Y:-11.30, Z:-5.87 [[ 9.99802300e-01 1.85576398e-02 7.13969865e-03 2.86908668e+02] [-1.85557637e-02 9.99827773e-01 -3.28929547e-04 -1.13016061e+01] [-7.14457316e-03 1.96381956e-04 9.99974458e-01 -5.87382487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18439141799996 meters 0.019310665430065696 Centerline is valid? [True, True] Translation: X:286.97, Y:-11.30, Z:-5.88 [[ 9.99723054e-01 2.25255139e-02 6.81301166e-03 2.86968039e+02] [-2.25238901e-02 9.99746255e-01 -3.14989492e-04 -1.12986211e+01] [-6.81837820e-03 1.61446731e-04 9.99976742e-01 -5.87541272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24439141799996 meters 0.01675439053442102 Centerline is valid? [True, True] Translation: X:287.03, Y:-11.29, Z:-5.88 [[ 9.99515140e-01 2.98210518e-02 8.95485240e-03 2.87028521e+02] [-2.98185515e-02 9.99555243e-01 -4.12625714e-04 -1.12929075e+01] [-8.96317460e-03 1.45404921e-04 9.99959819e-01 -5.87550728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30439141799997 meters 0.015340627873532811 Centerline is valid? [True, True] Translation: X:287.09, Y:-11.29, Z:-5.87 [[ 9.99326615e-01 3.46114365e-02 1.21805306e-02 2.87087874e+02] [-3.46071647e-02 9.99400835e-01 -5.61376509e-04 -1.12881056e+01] [-1.21926625e-02 1.39464858e-04 9.99925657e-01 -5.87339697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36439141799997 meters 0.01555298091877691 Centerline is valid? [True, True] Translation: X:287.15, Y:-11.29, Z:-5.87 [[ 9.99347143e-01 3.28468781e-02 1.50455974e-02 2.87146803e+02] [-3.28401844e-02 9.99460376e-01 -6.91813432e-04 -1.12891054e+01] [-1.50602024e-02 1.97261584e-04 9.99886569e-01 -5.87256152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42439141799997 meters 0.01771496338669448 Centerline is valid? [True, True] Translation: X:287.21, Y:-11.30, Z:-5.87 [[ 9.99545739e-01 2.56051068e-02 1.58963695e-02 2.87205432e+02] [-2.55967423e-02 9.99672084e-01 -7.29458049e-04 -1.12979712e+01] [-1.59098346e-02 3.22231412e-04 9.99873379e-01 -5.87459053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484391418 meters 0.01941201733552294 Centerline is valid? [True, True] Translation: X:287.27, Y:-11.31, Z:-5.88 [[ 9.99663153e-01 2.06984886e-02 1.56573892e-02 2.87265579e+02] [-2.06897915e-02 9.99785686e-01 -7.17260999e-04 -1.13055018e+01] [-1.56688798e-02 3.93071275e-04 9.99877158e-01 -5.87710790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544391418 meters 0.02021186714298964 Centerline is valid? [True, True] Translation: X:287.33, Y:-11.31, Z:-5.88 [[ 9.99727091e-01 1.70271794e-02 1.59943538e-02 2.87327255e+02] [-1.70176541e-02 9.99854922e-01 -7.31461898e-04 -1.13116316e+01] [-1.60044881e-02 4.59075894e-04 9.99871815e-01 -5.87937789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604391418 meters 0.022304088374500437 Centerline is valid? [True, True] Translation: X:287.39, Y:-11.32, Z:-5.88 [[ 9.99708518e-01 1.76517259e-02 1.64710748e-02 2.87388398e+02] [-1.76416322e-02 9.99844087e-01 -7.57926880e-04 -1.13192409e+01] [-1.64818855e-02 4.67129315e-04 9.99864055e-01 -5.88239780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664391418 meters 0.019812151307159392 Centerline is valid? [True, True] Translation: X:287.45, Y:-11.32, Z:-5.88 [[ 9.99667100e-01 1.98532413e-02 1.64783831e-02 2.87450451e+02] [-1.98433664e-02 9.99802810e-01 -7.62565675e-04 -1.13187473e+01] [-1.64902731e-02 4.35325224e-04 9.99863931e-01 -5.88379880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724391418 meters 0.01851186825042712 Centerline is valid? [True, True] Translation: X:287.51, Y:-11.32, Z:-5.88 [[ 9.99538086e-01 2.47220906e-02 1.76757430e-02 2.87511837e+02] [-2.47113780e-02 9.99694287e-01 -8.24253377e-04 -1.13185502e+01] [-1.76907166e-02 3.87080676e-04 9.99843432e-01 -5.88472530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784391418 meters 0.01716833788964305 Centerline is valid? [True, True] Translation: X:287.57, Y:-11.32, Z:-5.88 [[ 9.99389570e-01 2.91362842e-02 1.92759939e-02 2.87572845e+02] [-2.91243470e-02 9.99575391e-01 -8.99770405e-04 -1.13177615e+01] [-1.92940251e-02 3.37820423e-04 9.99813796e-01 -5.88473464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844391418 meters 0.016935445477546725 Centerline is valid? [True, True] Translation: X:287.63, Y:-11.32, Z:-5.89 [[ 9.99362533e-01 3.02476042e-02 1.89633890e-02 2.87633144e+02] [-3.02362433e-02 9.99542388e-01 -8.85589110e-04 -1.13198527e+01] [-1.89814980e-02 3.11642933e-04 9.99819787e-01 -5.88634462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904391418 meters 0.016351016238552517 Centerline is valid? [True, True] Translation: X:287.69, Y:-11.32, Z:-5.89 [[ 9.99358566e-01 3.10779552e-02 1.77937282e-02 2.87692247e+02] [-3.10680824e-02 9.99516925e-01 -8.31078576e-04 -1.13226655e+01] [-1.78109607e-02 2.77728480e-04 9.99841334e-01 -5.88970200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964391418 meters 0.016779170180712507 Centerline is valid? [True, True] Translation: X:287.75, Y:-11.33, Z:-5.89 [[ 9.99419397e-01 2.97353911e-02 1.66335358e-02 2.87751553e+02] [-2.97265884e-02 9.99557766e-01 -7.76262479e-04 -1.13277317e+01] [-1.66492624e-02 2.81353506e-04 9.99861352e-01 -5.89219777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024391418 meters 0.017506285176842405 Centerline is valid? [True, True] Translation: X:287.81, Y:-11.33, Z:-5.89 [[ 9.99462563e-01 2.80280772e-02 1.70003781e-02 2.87810437e+02] [-2.80186460e-02 9.99607086e-01 -7.92740669e-04 -1.13342452e+01] [-1.70159174e-02 3.15987045e-04 9.99855169e-01 -5.89406409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084391418 meters 0.016988492067635155 Centerline is valid? [True, True] Translation: X:287.87, Y:-11.34, Z:-5.89 [[ 9.99382612e-01 3.00331030e-02 1.82320578e-02 2.87870122e+02] [-3.00226125e-02 9.99548859e-01 -8.48886949e-04 -1.13376853e+01] [-1.82493273e-02 3.00988850e-04 9.99833422e-01 -5.89436827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14439141799994 meters 0.016190093289229504 Centerline is valid? [True, True] Translation: X:287.93, Y:-11.34, Z:-5.89 [[ 9.99240357e-01 3.38782714e-02 1.92606153e-02 2.87929947e+02] [-3.38672855e-02 9.99425937e-01 -8.96371186e-04 -1.13390835e+01] [-1.92799260e-02 2.43385506e-04 9.99814095e-01 -5.89433685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20439141799994 meters 0.014556776010923565 Centerline is valid? [True, True] Translation: X:287.99, Y:-11.34, Z:-5.89 [[ 9.98912610e-01 4.11519874e-02 2.19114529e-02 2.87989536e+02] [-4.11395291e-02 9.99152891e-01 -1.01922933e-03 -1.13379265e+01] [-2.19348348e-02 1.16694176e-04 9.99759396e-01 -5.89363674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26439141799995 meters 0.014281572947874995 Centerline is valid? [True, True] Translation: X:288.05, Y:-11.34, Z:-5.90 [[ 9.98751140e-01 4.49266811e-02 2.18575809e-02 2.88048533e+02] [-4.49152079e-02 9.98990286e-01 -1.01580038e-03 -1.13414093e+01] [-2.18811475e-02 3.27940009e-05 9.99760578e-01 -5.89567854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32439141799995 meters 0.01440315491648624 Centerline is valid? [True, True] Translation: X:288.11, Y:-11.35, Z:-5.90 [[ 9.98881433e-01 4.29541813e-02 1.97691792e-02 2.88107052e+02] [-4.29444385e-02 9.99077041e-01 -9.17288897e-04 -1.13500832e+01] [-1.97903344e-02 6.72865487e-05 9.99804150e-01 -5.89903582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38439141799995 meters 0.01529963388808928 Centerline is valid? [True, True] Translation: X:288.17, Y:-11.36, Z:-5.90 [[ 9.99198886e-01 3.61738749e-02 1.71183416e-02 2.88166188e+02] [-3.61655974e-02 9.99345496e-01 -7.92969717e-04 -1.13633591e+01] [-1.71358224e-02 1.73239408e-04 9.99853156e-01 -5.90255091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44439141799995 meters 0.016658429046478244 Centerline is valid? [True, True] Translation: X:288.23, Y:-11.37, Z:-5.91 [[ 9.99410079e-01 3.05221675e-02 1.57445641e-02 2.88225346e+02] [-3.05144732e-02 9.99534059e-01 -7.28758631e-04 -1.13741897e+01] [-1.57594713e-02 2.47891643e-04 9.99875781e-01 -5.90526424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50439141799995 meters 0.018903005077200354 Centerline is valid? [True, True] Translation: X:288.29, Y:-11.39, Z:-5.91 [[ 9.99599718e-01 2.40081705e-02 1.49670420e-02 2.88285584e+02] [-2.40004992e-02 9.99711707e-01 -6.91976134e-04 -1.13871241e+01] [-1.49793402e-02 3.32482668e-04 9.99887748e-01 -5.90679107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56439141799996 meters 0.01938005279970797 Centerline is valid? [True, True] Translation: X:288.35, Y:-11.39, Z:-5.91 [[ 9.99623237e-01 2.25560291e-02 1.56399861e-02 2.88346468e+02] [-2.25474780e-02 9.99745512e-01 -7.22889697e-04 -1.13936460e+01] [-1.56523114e-02 3.69975097e-04 9.99877427e-01 -5.90717233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62439141799996 meters 0.019459229710830035 Centerline is valid? [True, True] Translation: X:288.41, Y:-11.40, Z:-5.91 [[ 9.99567298e-01 2.38694431e-02 1.71891371e-02 2.88407076e+02] [-2.38593014e-02 9.99715010e-01 -7.94871702e-04 -1.14004613e+01] [-1.72032115e-02 3.84406957e-04 9.99851940e-01 -5.90643434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68439141799996 meters 0.018072640071205383 Centerline is valid? [True, True] Translation: X:288.47, Y:-11.40, Z:-5.91 [[ 9.99523843e-01 2.56188966e-02 1.71976653e-02 2.88469552e+02] [-2.56089636e-02 9.99671719e-01 -7.97593420e-04 -1.14046225e+01] [-1.72124531e-02 3.56799255e-04 9.99851791e-01 -5.90753887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74439141799996 meters 0.019723267576654557 Centerline is valid? [True, True] Translation: X:288.53, Y:-11.41, Z:-5.91 [[ 9.99564362e-01 2.46740255e-02 1.61950134e-02 2.88530035e+02] [-2.46650133e-02 9.99695486e-01 -7.56013625e-04 -1.14142699e+01] [-1.62087357e-02 3.56234058e-04 9.99868566e-01 -5.90992527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80439141799997 meters 0.019167022188571737 Centerline is valid? [True, True] Translation: X:288.59, Y:-11.42, Z:-5.91 [[ 9.99614541e-01 2.34463677e-02 1.48673295e-02 2.88591656e+02] [-2.34385969e-02 9.99725036e-01 -6.96725019e-04 -1.14182183e+01] [-1.48795772e-02 3.47987117e-04 9.99889232e-01 -5.91140653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86439141799997 meters 0.01904972900056873 Centerline is valid? [True, True] Translation: X:288.65, Y:-11.42, Z:-5.91 [[ 9.99635260e-01 2.28455405e-02 1.44023405e-02 2.88653025e+02] [-2.28381780e-02 9.99738947e-01 -6.75488209e-04 -1.14239980e+01] [-1.44140126e-02 3.46318616e-04 9.99896053e-01 -5.91298229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92439141799997 meters 0.018442226146940792 Centerline is valid? [True, True] Translation: X:288.71, Y:-11.43, Z:-5.92 [[ 9.99591148e-01 2.54939300e-02 1.29458955e-02 2.88714792e+02] [-2.54881995e-02 9.99674939e-01 -6.07479530e-04 -1.14259914e+01] [-1.29571744e-02 2.77263593e-04 9.99916014e-01 -5.91510609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984391418 meters 0.017587210187584395 Centerline is valid? [True, True] Translation: X:288.77, Y:-11.43, Z:-5.92 [[ 9.99515544e-01 2.88231119e-02 1.17433073e-02 2.88774934e+02] [-2.88186109e-02 9.99584505e-01 -5.52357745e-04 -1.14263044e+01] [-1.17543487e-02 2.13664349e-04 9.99930892e-01 -5.91764243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044391418 meters 0.015872078315577312 Centerline is valid? [True, True] Translation: X:288.83, Y:-11.42, Z:-5.92 [[ 9.99375471e-01 3.37885627e-02 1.03440851e-02 2.88834241e+02] [-3.37853275e-02 9.99428994e-01 -4.87394122e-04 -1.14246296e+01] [-1.03546469e-02 1.37611429e-04 9.99946380e-01 -5.91935276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104391418 meters 0.014998607828859827 Centerline is valid? [True, True] Translation: X:288.89, Y:-11.42, Z:-5.92 [[ 9.99246388e-01 3.73255864e-02 1.06516153e-02 2.88893423e+02] [-3.73223750e-02 9.99303152e-01 -5.00181941e-04 -1.14243319e+01] [-1.06628624e-02 1.02261417e-04 9.99943145e-01 -5.91897013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164391418 meters 0.014894190562685941 Centerline is valid? [True, True] Translation: X:288.95, Y:-11.43, Z:-5.92 [[ 9.99233188e-01 3.76099081e-02 1.08871893e-02 2.88951824e+02] [-3.76065800e-02 9.99292492e-01 -5.10323443e-04 -1.14270275e+01] [-1.08986797e-02 1.00502166e-04 9.99940603e-01 -5.91945758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224391418 meters 0.01568745497003671 Centerline is valid? [True, True] Translation: X:289.01, Y:-11.43, Z:-5.92 [[ 9.99287908e-01 3.55628992e-02 1.26078438e-02 2.89009049e+02] [-3.55582877e-02 9.99367430e-01 -5.89813034e-04 -1.14346249e+01] [-1.26208439e-02 1.41079694e-04 9.99920344e-01 -5.92080872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284391418 meters 0.015972958314634224 Centerline is valid? [True, True] Translation: X:289.07, Y:-11.44, Z:-5.92 [[ 9.99366254e-01 3.27110759e-02 1.40383396e-02 2.89068030e+02] [-3.27051062e-02 9.99464831e-01 -6.54668759e-04 -1.14412621e+01] [-1.40522416e-02 1.95128477e-04 9.99901243e-01 -5.92042650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344391418 meters 0.01640900815388197 Centerline is valid? [True, True] Translation: X:289.13, Y:-11.45, Z:-5.92 [[ 9.99416742e-01 3.13318505e-02 1.35827651e-02 2.89127883e+02] [-3.13261418e-02 9.99509016e-01 -6.32901461e-04 -1.14467746e+01] [-1.35959262e-02 2.07036690e-04 9.99907550e-01 -5.92170553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404391418 meters 0.0166151273034201 Centerline is valid? [True, True] Translation: X:289.19, Y:-11.45, Z:-5.92 [[ 9.99454751e-01 2.99849965e-02 1.38239089e-02 2.89187634e+02] [-2.99789621e-02 9.99550323e-01 -6.43580754e-04 -1.14525464e+01] [-1.38369904e-02 2.28803400e-04 9.99904238e-01 -5.92225841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464391418 meters 0.016681093815867673 Centerline is valid? [True, True] Translation: X:289.25, Y:-11.46, Z:-5.92 [[ 9.99499000e-01 2.89651705e-02 1.27580184e-02 2.89247045e+02] [-2.89599536e-02 9.99580396e-01 -5.93508224e-04 -1.14588547e+01] [-1.27698562e-02 2.23739255e-04 9.99918437e-01 -5.92376672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524391418 meters 0.017429001520677032 Centerline is valid? [True, True] Translation: X:289.31, Y:-11.47, Z:-5.93 [[ 9.99547939e-01 2.79596353e-02 1.10533508e-02 2.89306428e+02] [-2.79556618e-02 9.99609032e-01 -5.13856603e-04 -1.14659984e+01] [-1.10633966e-02 2.04620570e-04 9.99938778e-01 -5.92664536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58439141799994 meters 0.017504334219341628 Centerline is valid? [True, True] Translation: X:289.37, Y:-11.47, Z:-5.93 [[ 9.99575446e-01 2.72475482e-02 1.03198070e-02 2.89365516e+02] [-2.72440504e-02 9.99628697e-01 -4.79397593e-04 -1.14712428e+01] [-1.03290376e-02 1.98040721e-04 9.99946634e-01 -5.92811726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64439141799994 meters 0.01972975101798365 Centerline is valid? [True, True] Translation: X:289.42, Y:-11.48, Z:-5.93 [[ 9.99584818e-01 2.70532742e-02 9.91522012e-03 2.89423638e+02] [-2.70500394e-02 9.99633975e-01 -4.60240066e-04 -1.14807995e+01] [-9.92404190e-03 1.91841888e-04 9.99950737e-01 -5.93108474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70439141799994 meters 0.017618932523117626 Centerline is valid? [True, True] Translation: X:289.48, Y:-11.48, Z:-5.93 [[ 9.99588962e-01 2.69859608e-02 9.67807299e-03 2.89483298e+02] [-2.69828795e-02 9.99635795e-01 -4.48839339e-04 -1.14811638e+01] [-9.68666055e-03 1.87512572e-04 9.99953066e-01 -5.93037146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76439141799995 meters 0.01792094872508682 Centerline is valid? [True, True] Translation: X:289.54, Y:-11.49, Z:-5.93 [[ 9.99599557e-01 2.65537418e-02 9.77879211e-03 2.89542718e+02] [-2.65505794e-02 9.99647369e-01 -4.53097998e-04 -1.14868469e+01] [-9.78737525e-03 1.93283962e-04 9.99952084e-01 -5.93123857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82439141799995 meters 0.018015993089277923 Centerline is valid? [True, True] Translation: X:289.60, Y:-11.49, Z:-5.93 [[ 9.99629233e-01 2.51177083e-02 1.05118080e-02 2.89602204e+02] [-2.51139796e-02 9.99684476e-01 -4.86585100e-04 -1.14935870e+01] [-1.05207131e-02 2.22411360e-04 9.99944631e-01 -5.93133823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88439141799995 meters 0.019068963760874698 Centerline is valid? [True, True] Translation: X:289.66, Y:-11.50, Z:-5.93 [[ 9.99674866e-01 2.34700679e-02 9.96585132e-03 2.89661767e+02] [-2.34666405e-02 9.99724514e-01 -4.60730996e-04 -1.15016001e+01] [-9.97391926e-03 2.26716147e-04 9.99950234e-01 -5.93307179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94439141799995 meters 0.01937710922240017 Centerline is valid? [True, True] Translation: X:289.72, Y:-11.51, Z:-5.94 [[ 9.99698720e-01 2.30252280e-02 8.50341179e-03 2.89722406e+02] [-2.30227196e-02 9.99734865e-01 -3.92770355e-04 -1.15062761e+01] [-8.51020086e-03 1.96880355e-04 9.99963768e-01 -5.93519635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00439141799995 meters 0.018966991924508073 Centerline is valid? [True, True] Translation: X:289.78, Y:-11.51, Z:-5.94 [[ 9.99690420e-01 2.40212363e-02 6.48421834e-03 2.89782410e+02] [-2.40197950e-02 9.99711438e-01 -3.00063836e-04 -1.15098139e+01] [-6.48955514e-03 1.44221346e-04 9.99978932e-01 -5.93660411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06439141799996 meters 0.01828571544293349 Centerline is valid? [True, True] Translation: X:289.84, Y:-11.51, Z:-5.94 [[ 9.99640459e-01 2.59604759e-02 6.70861702e-03 2.89841722e+02] [-2.59589717e-02 9.99662961e-01 -3.11206636e-04 -1.15116170e+01] [-6.71443502e-03 1.36945945e-04 9.99977449e-01 -5.93690402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12439141799996 meters 0.01691705798532146 Centerline is valid? [True, True] Translation: X:289.90, Y:-11.51, Z:-5.94 [[ 9.99525521e-01 3.01201822e-02 6.44258948e-03 2.89900379e+02] [-3.01188908e-02 9.99546279e-01 -2.97401756e-04 -1.15134646e+01] [-6.44862413e-03 1.03216996e-04 9.99979202e-01 -5.93739693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18439141799996 meters 0.015854084038013073 Centerline is valid? [True, True] Translation: X:289.96, Y:-11.51, Z:-5.94 [[ 9.99469175e-01 3.21626430e-02 5.18971697e-03 2.89959468e+02] [-3.21618311e-02 9.99482646e-01 -2.39848080e-04 -1.15145414e+01] [-5.19474619e-03 7.28099624e-05 9.99986505e-01 -5.93758052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24439141799996 meters 0.01691276552331373 Centerline is valid? [True, True] Translation: X:290.02, Y:-11.52, Z:-5.94 [[ 9.99563909e-01 2.93158122e-02 3.54620299e-03 2.90017756e+02] [-2.93154144e-02 9.99570197e-01 -1.64118588e-04 -1.15216655e+01] [-3.54949009e-03 6.00886076e-05 9.99993699e-01 -5.93934073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30439141799997 meters 0.018138148175386736 Centerline is valid? [True, True] Translation: X:290.08, Y:-11.53, Z:-5.94 [[ 9.99670516e-01 2.54757624e-02 3.13774181e-03 2.90076417e+02] [-2.54754323e-02 9.99675438e-01 -1.45147629e-04 -1.15286897e+01] [-3.14042116e-03 6.51644764e-05 9.99995067e-01 -5.94014617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36439141799997 meters 0.021134517739148605 Centerline is valid? [True, True] Translation: X:290.13, Y:-11.54, Z:-5.94 [[ 9.99818761e-01 1.85912564e-02 4.09999969e-03 2.90134229e+02] [-1.85906407e-02 9.99827161e-01 -1.88235973e-04 -1.15391047e+01] [-4.10279059e-03 1.11980236e-04 9.99991577e-01 -5.93964571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42439141799997 meters 0.024092884978963332 Centerline is valid? [True, True] Translation: X:290.19, Y:-11.55, Z:-5.94 [[ 9.99915946e-01 1.20718879e-02 4.72982297e-03 2.90194452e+02] [-1.20710006e-02 9.99927119e-01 -2.16100164e-04 -1.15494093e+01] [-4.73208699e-03 1.58988304e-04 9.99988791e-01 -5.93955322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484391418 meters 0.02723463884229086 Centerline is valid? [True, True] Translation: X:290.25, Y:-11.56, Z:-5.94 [[ 9.99957634e-01 7.76988854e-03 4.93539362e-03 2.90254666e+02] [-7.76887160e-03 9.99969797e-01 -2.25189723e-04 -1.15577940e+01] [-4.93699425e-03 1.86837744e-04 9.99987796e-01 -5.94130770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544391418 meters 0.03043372992406213 Centerline is valid? [True, True] Translation: X:290.32, Y:-11.57, Z:-5.94 [[ 9.99985553e-01 3.78844762e-03 3.81340482e-03 2.90315815e+02] [-3.78781284e-03 9.99992811e-01 -1.73667862e-04 -1.15650846e+01] [-3.81403533e-03 1.59220889e-04 9.99992714e-01 -5.94397787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604391418 meters 0.027293373117963517 Centerline is valid? [True, True] Translation: X:290.38, Y:-11.56, Z:-5.94 [[ 9.99993500e-01 1.12918213e-03 3.42405910e-03 2.90377540e+02] [-1.12865483e-03 9.99999351e-01 -1.55925753e-04 -1.15627483e+01] [-3.42423294e-03 1.52060159e-04 9.99994126e-01 -5.94274254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664391418 meters 0.030627554643845437 Centerline is valid? [True, True] Translation: X:290.44, Y:-11.57, Z:-5.94 [[ 9.99991398e-01 -2.10720386e-03 3.57272492e-03 2.90437547e+02] [ 2.10780050e-03 9.99997765e-01 -1.63241071e-04 -1.15683347e+01] [-3.57237295e-03 1.70770258e-04 9.99993604e-01 -5.94371103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724391418 meters 0.03169850487832038 Centerline is valid? [True, True] Translation: X:290.50, Y:-11.57, Z:-5.94 [[ 9.99985094e-01 -4.69949005e-03 2.77965791e-03 2.90498357e+02] [ 4.69985923e-03 9.99988948e-01 -1.26300192e-04 -1.15703925e+01] [-2.77903364e-03 1.39362310e-04 9.99996129e-01 -5.94441701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784391418 meters 0.03553290421750264 Centerline is valid? [True, True] Translation: X:290.56, Y:-11.57, Z:-5.95 [[ 9.99956523e-01 -9.20372752e-03 1.49804080e-03 2.90557875e+02] [ 9.20383961e-03 9.99957641e-01 -6.79436714e-05 -1.15746540e+01] [-1.49735201e-03 8.17284447e-05 9.99998876e-01 -5.94671258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844391418 meters 0.03643440412470023 Centerline is valid? [True, True] Translation: X:290.62, Y:-11.58, Z:-5.95 [[ 9.99918664e-01 -1.26446054e-02 1.66697654e-03 2.90618485e+02] [ 1.26447490e-02 9.99920049e-01 -7.56179977e-05 -1.15766130e+01] [-1.66588711e-03 9.66903472e-05 9.99998608e-01 -5.94741082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904391418 meters 0.03760354129654378 Centerline is valid? [True, True] Translation: X:290.68, Y:-11.58, Z:-5.95 [[ 9.99833964e-01 -1.81600081e-02 1.50255659e-03 2.90678982e+02] [ 1.81601322e-02 9.99835089e-01 -6.89752578e-05 -1.15763395e+01] [-1.50105621e-03 9.62504317e-05 9.99998869e-01 -5.94760069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964391418 meters 0.0391009922213213 Centerline is valid? [True, True] Translation: X:290.74, Y:-11.58, Z:-5.95 [[ 9.99771979e-01 -2.12612270e-02 1.98732946e-03 2.90740275e+02] [ 2.12614488e-02 9.99773946e-01 -9.05603946e-05 -1.15766554e+01] [-1.98495480e-03 1.32793249e-04 9.99998021e-01 -5.94806620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024391418 meters 0.03931466569315586 Centerline is valid? [True, True] Translation: X:290.80, Y:-11.57, Z:-5.95 [[ 9.99777340e-01 -2.07756047e-02 3.69385902e-03 2.90802715e+02] [ 2.07763685e-02 9.99784134e-01 -1.68513719e-04 -1.15741823e+01] [-3.68956066e-03 2.45221174e-04 9.99993163e-01 -5.94797443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08439141799994 meters 0.03720120366625454 Centerline is valid? [True, True] Translation: X:290.86, Y:-11.57, Z:-5.95 [[ 9.99839927e-01 -1.72280181e-02 4.82856511e-03 2.90863963e+02] [ 1.72292907e-02 9.99851540e-01 -2.22088355e-04 -1.15697352e+01] [-4.82402212e-03 3.05245557e-04 9.99988318e-01 -5.94765039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14439141799994 meters 0.03388738741050841 Centerline is valid? [True, True] Translation: X:290.92, Y:-11.56, Z:-5.95 [[ 9.99956008e-01 -7.42213837e-03 5.73535545e-03 2.90924000e+02] [ 7.42377798e-03 9.99972408e-01 -2.64641240e-04 -1.15615078e+01] [-5.73323300e-03 3.07207603e-04 9.99983518e-01 -5.94836500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20439141799994 meters 0.026562331509459344 Centerline is valid? [True, True] Translation: X:290.99, Y:-11.55, Z:-5.95 [[ 9.99969103e-01 5.01285337e-03 6.05508198e-03 2.90985224e+02] [-5.01125556e-03 9.99987405e-01 -2.79021903e-04 -1.15474031e+01] [-6.05640441e-03 2.48669719e-04 9.99981629e-01 -5.94893419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26439141799995 meters 0.021128667554843782 Centerline is valid? [True, True] Translation: X:291.05, Y:-11.54, Z:-5.95 [[ 9.99864454e-01 1.54533811e-02 5.68035829e-03 2.91045892e+02] [-1.54521423e-02 9.99880574e-01 -2.61906546e-04 -1.15371704e+01] [-5.68372726e-03 1.74097341e-04 9.99983832e-01 -5.95039778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32439141799995 meters 0.020117732428173093 Centerline is valid? [True, True] Translation: X:291.10, Y:-11.54, Z:-5.95 [[ 9.99782041e-01 2.00551916e-02 5.80178959e-03 2.91104484e+02] [-2.00539716e-02 9.99798863e-01 -2.68390781e-04 -1.15359823e+01] [-5.80600527e-03 1.51983359e-04 9.99983133e-01 -5.95305465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38439141799995 meters 0.01866035646562908 Centerline is valid? [True, True] Translation: X:291.16, Y:-11.53, Z:-5.96 [[ 9.99710694e-01 2.33693939e-02 5.69210857e-03 2.91163489e+02] [-2.33682735e-02 9.99726890e-01 -2.63269920e-04 -1.15333699e+01] [-5.69670646e-03 1.30179004e-04 9.99983765e-01 -5.95534261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44439141799995 meters 0.017896026635648845 Centerline is valid? [True, True] Translation: X:291.22, Y:-11.53, Z:-5.96 [[ 9.99711566e-01 2.32733070e-02 5.92770318e-03 2.91222258e+02] [-2.32720931e-02 9.99729131e-01 -2.73673038e-04 -1.15336736e+01] [-5.93246682e-03 1.35644041e-04 9.99982394e-01 -5.95627713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50439141799995 meters 0.01851592920555732 Centerline is valid? [True, True] Translation: X:291.28, Y:-11.54, Z:-5.96 [[ 9.99771211e-01 2.02434652e-02 6.90855932e-03 2.91282177e+02] [-2.02417536e-02 9.99795064e-01 -3.17577966e-04 -1.15368265e+01] [-6.91357238e-03 1.77663952e-04 9.99976085e-01 -5.95614324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56439141799996 meters 0.02035750137170921 Centerline is valid? [True, True] Translation: X:291.34, Y:-11.54, Z:-5.96 [[ 9.99838586e-01 1.58888163e-02 8.38732214e-03 2.91341696e+02] [-1.58861450e-02 9.99873733e-01 -3.85020535e-04 -1.15424602e+01] [-8.39238062e-03 2.51716172e-04 9.99964752e-01 -5.95621904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62439141799996 meters 0.022096722267692867 Centerline is valid? [True, True] Translation: X:291.40, Y:-11.55, Z:-5.96 [[ 9.99885083e-01 1.14585871e-02 9.92576301e-03 2.91401903e+02] [-1.14546378e-02 9.99934290e-01 -4.54642198e-04 -1.15483679e+01] [-9.93032035e-03 3.40893932e-04 9.99950635e-01 -5.95586055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68439141799996 meters 0.023718825645714682 Centerline is valid? [True, True] Translation: X:291.46, Y:-11.55, Z:-5.96 [[ 9.99898829e-01 9.96820622e-03 1.01472622e-02 2.91462728e+02] [-9.96401918e-03 9.99950251e-01 -4.63100517e-04 -1.15535566e+01] [-1.01513736e-02 3.61946150e-04 9.99948408e-01 -5.95746403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74439141799996 meters 0.027015719647204357 Centerline is valid? [True, True] Translation: X:291.52, Y:-11.56, Z:-5.96 [[ 9.99940525e-01 5.10952040e-03 9.63532788e-03 2.91522741e+02] [-5.10549440e-03 9.99986869e-01 -4.42387596e-04 -1.15621991e+01] [-9.63746175e-03 3.93168172e-04 9.99953481e-01 -5.95962660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80439141799997 meters 0.02782045435269629 Centerline is valid? [True, True] Translation: X:291.58, Y:-11.57, Z:-5.96 [[ 9.99950215e-01 2.77558837e-03 9.58451856e-03 2.91584544e+02] [-2.77151597e-03 9.99996063e-01 -4.38149601e-04 -1.15663755e+01] [-9.58569695e-03 4.11564141e-04 9.99953971e-01 -5.96095756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86439141799997 meters 0.029388091380921827 Centerline is valid? [True, True] Translation: X:291.65, Y:-11.57, Z:-5.96 [[ 9.99959313e-01 1.64011651e-03 8.87033875e-03 2.91646746e+02] [-1.63656838e-03 9.99998578e-01 -4.07243007e-04 -1.15707073e+01] [-8.87099406e-03 3.92709522e-04 9.99960575e-01 -5.96295019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92439141799997 meters 0.029697643872349553 Centerline is valid? [True, True] Translation: X:291.71, Y:-11.57, Z:-5.97 [[ 9.99966731e-01 2.88547204e-03 7.62966670e-03 2.91708198e+02] [-2.88285158e-03 9.99995782e-01 -3.54433076e-04 -1.15732098e+01] [-7.63065722e-03 3.32426087e-04 9.99970831e-01 -5.96541422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984391418 meters 0.02868987113995191 Centerline is valid? [True, True] Translation: X:291.77, Y:-11.57, Z:-5.97 [[ 9.99953152e-01 6.43643953e-03 7.22951715e-03 2.91768902e+02] [-6.43417482e-03 9.99979244e-01 -3.36474578e-04 -1.15731720e+01] [-7.23153279e-03 2.89942838e-04 9.99973810e-01 -5.96741302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044391418 meters 0.022684334644462425 Centerline is valid? [True, True] Translation: X:291.83, Y:-11.56, Z:-5.97 [[ 9.99847386e-01 1.54739162e-02 8.10938641e-03 2.91830118e+02] [-1.54713569e-02 9.99880240e-01 -3.78246552e-04 -1.15644101e+01] [-8.11426818e-03 2.52725616e-04 9.99967047e-01 -5.96783813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104391418 meters 0.019808431577887194 Centerline is valid? [True, True] Translation: X:291.89, Y:-11.56, Z:-5.97 [[ 9.99716497e-01 2.23870341e-02 8.10845022e-03 2.91889900e+02] [-2.23846997e-02 9.99749360e-01 -3.78550348e-04 -1.15608108e+01] [-8.11489254e-03 1.96937805e-04 9.99967054e-01 -5.96918977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164391418 meters 0.015150178475250214 Centerline is valid? [True, True] Translation: X:291.95, Y:-11.55, Z:-5.97 [[ 9.99487943e-01 3.10423634e-02 7.76040086e-03 2.91950173e+02] [-3.10404847e-02 9.99518062e-01 -3.62449242e-04 -1.15530371e+01] [-7.76791211e-03 1.21377043e-04 9.99969822e-01 -5.96874807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224391418 meters 0.014358473531284163 Centerline is valid? [True, True] Translation: X:292.01, Y:-11.55, Z:-5.97 [[ 9.99336309e-01 3.56204896e-02 7.62379950e-03 2.92008067e+02] [-3.56188061e-02 9.99365385e-01 -3.56533179e-04 -1.15526555e+01] [-7.63166121e-03 8.47459156e-05 9.99970875e-01 -5.97101965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284391418 meters 0.014154938052478189 Centerline is valid? [True, True] Translation: X:292.07, Y:-11.55, Z:-5.97 [[ 9.99311904e-01 3.62380871e-02 7.90688696e-03 2.92066917e+02] [-3.62363042e-02 9.99343181e-01 -3.68672072e-04 -1.15547453e+01] [-7.91505354e-03 8.19020288e-05 9.99968672e-01 -5.97211349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344391418 meters 0.014873582573603541 Centerline is valid? [True, True] Translation: X:292.12, Y:-11.56, Z:-5.97 [[ 9.99400321e-01 3.37032815e-02 7.94276452e-03 2.92124471e+02] [-3.37014058e-02 9.99431878e-01 -3.69921407e-04 -1.15602427e+01] [-7.95071962e-03 1.02017243e-04 9.99968387e-01 -5.97415618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404391418 meters 0.015813075796385485 Centerline is valid? [True, True] Translation: X:292.18, Y:-11.57, Z:-5.98 [[ 9.99526904e-01 2.97327940e-02 7.86955915e-03 2.92183448e+02] [-2.97308376e-02 9.99557874e-01 -3.65499452e-04 -1.15661919e+01] [-7.87694714e-03 1.31357951e-04 9.99968968e-01 -5.97551211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464391418 meters 0.019622990318554318 Centerline is valid? [True, True] Translation: X:292.24, Y:-11.58, Z:-5.98 [[ 9.99729730e-01 2.15252948e-02 8.78231965e-03 2.92241835e+02] [-2.15225518e-02 9.99768280e-01 -4.06736073e-04 -1.15774836e+01] [-8.78903972e-03 2.17608215e-04 9.99961352e-01 -5.97646968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524391418 meters 0.02257043225819665 Centerline is valid? [True, True] Translation: X:292.30, Y:-11.59, Z:-5.98 [[ 9.99835325e-01 1.49426992e-02 1.02975389e-02 2.92301381e+02] [-1.49385919e-02 9.99888300e-01 -4.75672901e-04 -1.15860303e+01] [-1.03034965e-02 3.21763839e-04 9.99946866e-01 -5.97656127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58439141799994 meters 0.026937347076062615 Centerline is valid? [True, True] Translation: X:292.36, Y:-11.60, Z:-5.98 [[ 9.99913720e-01 5.10537019e-03 1.21031759e-02 2.92361783e+02] [-5.09898239e-03 9.99986844e-01 -5.58578747e-04 -1.15966398e+01] [-1.21058684e-02 4.96816672e-04 9.99926598e-01 -5.97656224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64439141799994 meters 0.03347098208750324 Centerline is valid? [True, True] Translation: X:292.42, Y:-11.61, Z:-5.98 [[ 9.99894476e-01 -4.44784247e-03 1.38294234e-02 2.92421726e+02] [ 4.45709144e-03 9.99989864e-01 -6.38040033e-04 -1.16091161e+01] [-1.38264453e-02 6.99611709e-04 9.99904165e-01 -5.97815314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70439141799994 meters 0.03623837839618229 Centerline is valid? [True, True] Translation: X:292.48, Y:-11.62, Z:-5.98 [[ 9.99845575e-01 -1.02333491e-02 1.42865364e-02 2.92482004e+02] [ 1.02438209e-02 9.99947313e-01 -6.60002585e-04 -1.16152512e+01] [-1.42790297e-02 8.06249385e-04 9.99897724e-01 -5.97976829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76439141799995 meters 0.0362477083467626 Centerline is valid? [True, True] Translation: X:292.54, Y:-11.62, Z:-5.98 [[ 9.99770580e-01 -1.55880305e-02 1.46901265e-02 2.92542282e+02] [ 1.55996791e-02 9.99878087e-01 -6.78699432e-04 -1.16162384e+01] [-1.46777560e-02 9.07704985e-04 9.99891864e-01 -5.98103417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82439141799995 meters 0.03983911623782663 Centerline is valid? [True, True] Translation: X:292.60, Y:-11.62, Z:-5.98 [[ 9.99755265e-01 -1.62986515e-02 1.49587180e-02 2.92603006e+02] [ 1.63108054e-02 9.99866731e-01 -6.90847393e-04 -1.16206863e+01] [-1.49454646e-02 9.34667056e-04 9.99887873e-01 -5.98304587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88439141799995 meters 0.03758179385939464 Centerline is valid? [True, True] Translation: X:292.66, Y:-11.62, Z:-5.99 [[ 9.99784562e-01 -1.43362368e-02 1.50100698e-02 2.92664639e+02] [ 1.43482696e-02 9.99896817e-01 -6.94260675e-04 -1.16154397e+01] [-1.49985679e-02 9.09479633e-04 9.99887102e-01 -5.98501280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94439141799995 meters 0.0350968758687483 Centerline is valid? [True, True] Translation: X:292.73, Y:-11.61, Z:-5.99 [[ 9.99819575e-01 -1.15465391e-02 1.50829405e-02 2.92726940e+02] [ 1.15583803e-02 9.99932956e-01 -6.98137848e-04 -1.16112187e+01] [-1.50738682e-02 8.72346249e-04 9.99886002e-01 -5.98685913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00439141799995 meters 0.03423169505854573 Centerline is valid? [True, True] Translation: X:292.79, Y:-11.61, Z:-5.99 [[ 9.99870224e-01 -5.66924492e-03 1.50796154e-02 2.92787162e+02] [ 5.68043523e-03 9.99983622e-01 -6.99353258e-04 -1.16066507e+01] [-1.50754036e-02 7.84921278e-04 9.99886052e-01 -5.98924087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06439141799996 meters 0.030139750837624272 Centerline is valid? [True, True] Translation: X:292.85, Y:-11.60, Z:-5.99 [[ 9.99870734e-01 2.95024033e-03 1.58054042e-02 2.92848037e+02] [-2.93902804e-03 9.99995413e-01 -7.32576482e-04 -1.15968060e+01] [-1.58074930e-02 6.86029259e-04 9.99874818e-01 -5.98993494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12439141799996 meters 0.023901591300686774 Centerline is valid? [True, True] Translation: X:292.91, Y:-11.59, Z:-5.99 [[ 9.99794347e-01 1.04923474e-02 1.73543896e-02 2.92909543e+02] [-1.04799602e-02 9.99944760e-01 -8.04569549e-04 -1.15859987e+01] [-1.73618727e-02 6.22530775e-04 9.99849078e-01 -5.99014496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18439141799996 meters 0.01856882842365306 Centerline is valid? [True, True] Translation: X:292.97, Y:-11.57, Z:-5.99 [[ 9.99570849e-01 2.23418028e-02 1.89462986e-02 2.92970696e+02] [-2.23291626e-02 9.99750287e-01 -8.78471296e-04 -1.15731411e+01] [-1.89611941e-02 4.55039316e-04 9.99820117e-01 -5.99089909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24439141799996 meters 0.015212336015134687 Centerline is valid? [True, True] Translation: X:293.03, Y:-11.56, Z:-5.99 [[ 9.99239082e-01 3.32305407e-02 2.04202729e-02 2.93031128e+02] [-3.32181261e-02 9.99447677e-01 -9.46946132e-04 -1.15634093e+01] [-2.04404618e-02 2.67902385e-04 9.99791036e-01 -5.99172111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30439141799997 meters 0.013880452674731198 Centerline is valid? [True, True] Translation: X:293.09, Y:-11.56, Z:-5.99 [[ 9.99034816e-01 3.86144343e-02 2.09370866e-02 2.93090854e+02] [-3.86025654e-02 9.99254172e-01 -9.70896042e-04 -1.15584264e+01] [-2.09589618e-02 1.61733694e-04 9.99780324e-01 -5.99288368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36439141799997 meters 0.013368199600965209 Centerline is valid? [True, True] Translation: X:293.15, Y:-11.55, Z:-6.00 [[ 9.98801894e-01 4.39962267e-02 2.14268262e-02 2.93149818e+02] [-4.39850538e-02 9.99031696e-01 -9.92677160e-04 -1.15543339e+01] [-2.14497525e-02 4.90277258e-05 9.99769926e-01 -5.99523600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42439141799997 meters 0.01344334004226629 Centerline is valid? [True, True] Translation: X:293.21, Y:-11.55, Z:-6.00 [[ 9.98673775e-01 4.65002199e-02 2.21002263e-02 2.93208760e+02] [-4.64889874e-02 9.98918280e-01 -1.02203421e-03 -1.15537638e+01] [-2.21238448e-02 -6.73838094e-06 9.99755238e-01 -5.99663106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484391418 meters 0.013741811239223713 Centerline is valid? [True, True] Translation: X:293.27, Y:-11.55, Z:-6.00 [[ 9.98543872e-01 4.87679785e-02 2.30612186e-02 2.93267964e+02] [-4.87563967e-02 9.98810132e-01 -1.06455145e-03 -1.15540338e+01] [-2.30856948e-02 -6.13805920e-05 9.99733488e-01 -5.99821650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544391418 meters 0.013826435799126978 Centerline is valid? [True, True] Translation: X:293.33, Y:-11.56, Z:-6.00 [[ 9.98642697e-01 4.60574773e-02 2.43202061e-02 2.93326379e+02] [-4.60438432e-02 9.98938791e-01 -1.12058779e-03 -1.15597309e+01] [-2.43460087e-02 -7.28945612e-07 9.99703592e-01 -6.00013585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604391418 meters 0.013822108717249138 Centerline is valid? [True, True] Translation: X:293.38, Y:-11.56, Z:-6.00 [[ 9.98746357e-01 4.38027663e-02 2.42287262e-02 2.93384347e+02] [-4.37886217e-02 9.99040197e-01 -1.11429036e-03 -1.15647372e+01] [-2.42542804e-02 5.19509168e-05 9.99705820e-01 -6.00144071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664391418 meters 0.01559913651611466 Centerline is valid? [True, True] Translation: X:293.44, Y:-11.58, Z:-6.00 [[ 9.99178765e-01 3.27382746e-02 2.38746925e-02 2.93443453e+02] [-3.27214339e-02 9.99463910e-01 -1.09580675e-03 -1.15784857e+01] [-2.38977683e-02 3.13692662e-04 9.99714358e-01 -6.00406786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724391418 meters 0.020439158845828344 Centerline is valid? [True, True] Translation: X:293.50, Y:-11.60, Z:-6.01 [[ 9.99521480e-01 1.97359098e-02 2.38181636e-02 2.93503398e+02] [-1.97154764e-02 9.99805034e-01 -1.09243726e-03 -1.15960930e+01] [-2.38350801e-02 6.22328070e-04 9.99715710e-01 -6.00575330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784391418 meters 0.02342748615721306 Centerline is valid? [True, True] Translation: X:293.56, Y:-11.61, Z:-6.01 [[ 9.99656302e-01 1.17741170e-02 2.34232432e-02 2.93563765e+02] [-1.17521614e-02 9.99930363e-01 -1.07478203e-03 -1.16066569e+01] [-2.34342667e-02 7.99138894e-04 9.99725060e-01 -6.00724512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844391418 meters 0.02725738379326774 Centerline is valid? [True, True] Translation: X:293.62, Y:-11.62, Z:-6.01 [[ 9.99751787e-01 3.99201519e-03 2.19186716e-02 2.93623917e+02] [-3.97091391e-03 9.99991610e-01 -1.00614740e-03 -1.16189710e+01] [-2.19225043e-02 9.18860508e-04 9.99759251e-01 -6.00919255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904391418 meters 0.029900854143536215 Centerline is valid? [True, True] Translation: X:293.68, Y:-11.63, Z:-6.01 [[ 9.99774113e-01 1.39673546e-03 2.12078541e-02 2.93684299e+02] [-1.37639572e-03 9.99998579e-01 -9.73632725e-04 -1.16271819e+01] [-2.12091838e-02 9.44222394e-04 9.99774614e-01 -6.01042003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964391418 meters 0.03154385514151523 Centerline is valid? [True, True] Translation: X:293.74, Y:-11.63, Z:-6.01 [[ 9.99800364e-01 9.81718295e-04 1.99566506e-02 2.93744774e+02] [-9.63611562e-04 9.99999115e-01 -9.16899152e-04 -1.16338659e+01] [-1.99575331e-02 8.97485646e-04 9.99800426e-01 -6.01261379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024391418 meters 0.03126471563325417 Centerline is valid? [True, True] Translation: X:293.81, Y:-11.64, Z:-6.01 [[ 9.99826079e-01 3.35331026e-03 1.83457649e-02 2.93805191e+02] [-3.33836420e-03 9.99994070e-01 -8.45251420e-04 -1.16353547e+01] [-1.83484905e-02 7.83859568e-04 9.99831345e-01 -6.01474101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08439141799994 meters 0.02556006502764041 Centerline is valid? [True, True] Translation: X:293.87, Y:-11.63, Z:-6.02 [[ 9.99844045e-01 6.68098597e-03 1.63478008e-02 2.93867192e+02] [-6.66953291e-03 9.99977473e-01 -7.55007378e-04 -1.16294156e+01] [-1.63524768e-02 6.45857435e-04 9.99866081e-01 -6.01684095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14439141799994 meters 0.024999739080836247 Centerline is valid? [True, True] Translation: X:293.93, Y:-11.63, Z:-6.02 [[ 9.99824471e-01 1.21978985e-02 1.42210468e-02 2.93926780e+02] [-1.21897713e-02 9.99925485e-01 -6.58035021e-04 -1.16296785e+01] [-1.42280137e-02 4.84568209e-04 9.99898659e-01 -6.01902216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20439141799994 meters 0.0215959297789765 Centerline is valid? [True, True] Translation: X:293.99, Y:-11.62, Z:-6.02 [[ 9.99757232e-01 1.72705715e-02 1.36822617e-02 2.93988997e+02] [-1.72635343e-02 9.99850774e-01 -6.32280242e-04 -1.16247908e+01] [-1.36911398e-02 3.95922551e-04 9.99906194e-01 -6.01886538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26439141799995 meters 0.020658341078086968 Centerline is valid? [True, True] Translation: X:294.05, Y:-11.63, Z:-6.02 [[ 9.99723295e-01 2.00290914e-02 1.23356891e-02 2.94050775e+02] [-2.00235758e-02 9.99799345e-01 -5.70487011e-04 -1.16252271e+01] [-1.23446402e-02 3.23324549e-04 9.99923750e-01 -6.02014307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32439141799995 meters 0.019801168368462664 Centerline is valid? [True, True] Translation: X:294.11, Y:-11.62, Z:-6.02 [[ 9.99681480e-01 2.28123535e-02 1.07951731e-02 2.94111717e+02] [-2.28082751e-02 9.99739732e-01 -5.00781532e-04 -1.16248850e+01] [-1.08037874e-02 2.54402746e-04 9.99941605e-01 -6.02121525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38439141799995 meters 0.019923135312772473 Centerline is valid? [True, True] Translation: X:294.17, Y:-11.63, Z:-6.02 [[ 9.99663112e-01 2.34934776e-02 1.10326782e-02 2.94170296e+02] [-2.34892530e-02 9.99723958e-01 -5.12361020e-04 -1.16278588e+01] [-1.10416698e-02 2.53039043e-04 9.99939007e-01 -6.02174503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44439141799995 meters 0.02083946417834542 Centerline is valid? [True, True] Translation: X:294.23, Y:-11.63, Z:-6.02 [[ 9.99690854e-01 2.24834719e-02 1.06155268e-02 2.94228871e+02] [-2.24795101e-02 9.99747183e-01 -4.92392331e-04 -1.16327628e+01] [-1.06239137e-02 2.53608267e-04 9.99943532e-01 -6.02221554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50439141799995 meters 0.021299622979081063 Centerline is valid? [True, True] Translation: X:294.29, Y:-11.64, Z:-6.02 [[ 9.99748794e-01 1.95534451e-02 1.09550016e-02 2.94287837e+02] [-1.95490572e-02 9.99808770e-01 -5.07486110e-04 -1.16382675e+01] [-1.09628298e-02 2.93198673e-04 9.99939863e-01 -6.02227067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56439141799996 meters 0.023548032176948494 Centerline is valid? [True, True] Translation: X:294.35, Y:-11.65, Z:-6.02 [[ 9.99803496e-01 1.62040821e-02 1.14191724e-02 2.94346766e+02] [-1.61991087e-02 9.99868646e-01 -5.27895219e-04 -1.16465394e+01] [-1.14262265e-02 3.42811071e-04 9.99934660e-01 -6.02291901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62439141799996 meters 0.02456901674122374 Centerline is valid? [True, True] Translation: X:294.41, Y:-11.65, Z:-6.02 [[ 9.99829415e-01 1.52443330e-02 1.04283808e-02 2.94407523e+02] [-1.52401409e-02 9.99883746e-01 -4.81341777e-04 -1.16519012e+01] [-1.04345062e-02 3.22329674e-04 9.99945507e-01 -6.02490055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68439141799996 meters 0.023110265400280498 Centerline is valid? [True, True] Translation: X:294.47, Y:-11.65, Z:-6.03 [[ 9.99823776e-01 1.65609313e-02 8.84037986e-03 2.94467590e+02] [-1.65579643e-02 9.99862824e-01 -4.08707976e-04 -1.16531411e+01] [-8.84593575e-03 2.62257258e-04 9.99960840e-01 -6.02622318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74439141799996 meters 0.0211651839628518 Centerline is valid? [True, True] Translation: X:294.53, Y:-11.65, Z:-6.03 [[ 9.99775425e-01 1.95636090e-02 8.14651086e-03 2.94527771e+02] [-1.95611870e-02 9.99808591e-01 -3.76877394e-04 -1.16534228e+01] [-8.15232463e-03 2.17437334e-04 9.99966746e-01 -6.02628423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80439141799997 meters 0.020074551443804853 Centerline is valid? [True, True] Translation: X:294.59, Y:-11.65, Z:-6.03 [[ 9.99741075e-01 2.14275199e-02 7.65790492e-03 2.94586265e+02] [-2.14254293e-02 9.99770386e-01 -3.54938527e-04 -1.16547183e+01] [-7.66375201e-03 1.90772725e-04 9.99970615e-01 -6.02693940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86439141799997 meters 0.019042315501874147 Centerline is valid? [True, True] Translation: X:294.64, Y:-11.66, Z:-6.03 [[ 9.99705892e-01 2.30488901e-02 7.54182026e-03 2.94644775e+02] [-2.30469128e-02 9.99734324e-01 -3.48982526e-04 -1.16584268e+01] [-7.54786024e-03 1.75064213e-04 9.99971499e-01 -6.02812901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92439141799997 meters 0.01913284486183407 Centerline is valid? [True, True] Translation: X:294.70, Y:-11.66, Z:-6.03 [[ 9.99716092e-01 2.29013720e-02 6.57744478e-03 2.94703092e+02] [-2.28998671e-02 9.99737717e-01 -3.04026422e-04 -1.16630138e+01] [-6.58268225e-03 1.53317495e-04 9.99978322e-01 -6.03018524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984391418 meters 0.021415920475415934 Centerline is valid? [True, True] Translation: X:294.76, Y:-11.67, Z:-6.03 [[ 9.99765285e-01 2.09804076e-02 5.40344889e-03 2.94761078e+02] [-2.09793673e-02 9.99779878e-01 -2.49146773e-04 -1.16716577e+01] [-5.40748667e-03 1.35727356e-04 9.99985370e-01 -6.03356236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044391418 meters 0.02144341088771551 Centerline is valid? [True, True] Translation: X:294.82, Y:-11.68, Z:-6.03 [[ 9.99846442e-01 1.69538076e-02 4.43415042e-03 2.94820411e+02] [-1.69530683e-02 9.99856266e-01 -2.04247068e-04 -1.16768755e+01] [-4.43697585e-03 1.29043249e-04 9.99990148e-01 -6.03376446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104391418 meters 0.024040698754433557 Centerline is valid? [True, True] Translation: X:294.88, Y:-11.69, Z:-6.04 [[ 9.99899491e-01 1.36333324e-02 3.89091271e-03 2.94878701e+02] [-1.36327373e-02 9.99907054e-01 -1.79440023e-04 -1.16851485e+01] [-3.89299743e-03 1.26378198e-04 9.99992414e-01 -6.03585690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164391418 meters 0.02586271965362656 Centerline is valid? [True, True] Translation: X:294.94, Y:-11.69, Z:-6.04 [[ 9.99949799e-01 8.99779643e-03 4.40903330e-03 2.94938168e+02] [-8.99699026e-03 9.99959506e-01 -2.02644842e-04 -1.16923161e+01] [-4.41067812e-03 1.62966639e-04 9.99990260e-01 -6.03647189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224391418 meters 0.02901651380717531 Centerline is valid? [True, True] Translation: X:295.00, Y:-11.70, Z:-6.04 [[ 9.99973557e-01 5.06341446e-03 5.21984067e-03 2.94997351e+02] [-5.06223451e-03 9.99987158e-01 -2.39239600e-04 -1.16994963e+01] [-5.22098500e-03 2.12809216e-04 9.99986348e-01 -6.03742650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284391418 meters 0.030153233559737595 Centerline is valid? [True, True] Translation: X:295.06, Y:-11.70, Z:-6.04 [[ 9.99978821e-01 2.60346979e-03 5.96481866e-03 2.95058542e+02] [-2.60189144e-03 9.99996578e-01 -2.72354421e-04 -1.17045369e+01] [-5.96550731e-03 2.56828843e-04 9.99982173e-01 -6.03831374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344391418 meters 0.03088292509759342 Centerline is valid? [True, True] Translation: X:295.12, Y:-11.71, Z:-6.04 [[ 9.99963067e-01 -1.94796391e-03 8.37072889e-03 2.95119509e+02] [ 1.95123885e-03 9.99998023e-01 -3.83088368e-04 -1.17077544e+01] [-8.36996610e-03 3.99407511e-04 9.99964891e-01 -6.03647916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404391418 meters 0.033549500646175845 Centerline is valid? [True, True] Translation: X:295.18, Y:-11.71, Z:-6.04 [[ 9.99951411e-01 -4.59396858e-03 8.72184657e-03 2.95181302e+02] [ 4.59760179e-03 9.99989352e-01 -3.96559976e-04 -1.17135584e+01] [-8.71993192e-03 4.36640285e-04 9.99961885e-01 -6.03743992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464391418 meters 0.03517882378017267 Centerline is valid? [True, True] Translation: X:295.24, Y:-11.72, Z:-6.04 [[ 9.99936785e-01 -6.66296386e-03 9.05703952e-03 2.95243442e+02] [ 6.66700762e-03 9.99977689e-01 -4.16358108e-04 -1.17178245e+01] [-9.05406326e-03 4.76715140e-04 9.99958897e-01 -6.03909258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524391418 meters 0.036407622481130233 Centerline is valid? [True, True] Translation: X:295.31, Y:-11.72, Z:-6.04 [[ 9.99929445e-01 -8.10126293e-03 8.68755966e-03 2.95305547e+02] [ 8.10504303e-03 9.99967074e-01 -3.99997702e-04 -1.17216064e+01] [-8.68403313e-03 4.70382525e-04 9.99962182e-01 -6.04129083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58439141799994 meters 0.03664331753927309 Centerline is valid? [True, True] Translation: X:295.37, Y:-11.72, Z:-6.04 [[ 9.99938546e-01 -7.38655555e-03 8.26695230e-03 2.95367928e+02] [ 7.38995894e-03 9.99972621e-01 -3.81214548e-04 -1.17223124e+01] [-8.26391010e-03 4.42283559e-04 9.99965756e-01 -6.04381727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64439141799994 meters 0.03256224236960607 Centerline is valid? [True, True] Translation: X:295.43, Y:-11.72, Z:-6.04 [[ 9.99964121e-01 -2.44204944e-03 8.11133942e-03 2.95429049e+02] [ 2.44517439e-03 9.99996940e-01 -3.75361895e-04 -1.17152010e+01] [-8.11039795e-03 3.95182067e-04 9.99967032e-01 -6.04471800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70439141799994 meters 0.02714533393866745 Centerline is valid? [True, True] Translation: X:295.49, Y:-11.71, Z:-6.04 [[ 9.99955350e-01 3.46137938e-03 8.79301304e-03 2.95490068e+02] [-3.45793305e-03 9.99993938e-01 -4.07112257e-04 -1.17070667e+01] [-8.79436891e-03 3.76688429e-04 9.99961258e-01 -6.04408780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76439141799995 meters 0.025161187240883242 Centerline is valid? [True, True] Translation: X:295.55, Y:-11.70, Z:-6.04 [[ 9.99854076e-01 1.33737171e-02 1.06287883e-02 2.95549806e+02] [-1.33692332e-02 9.99910506e-01 -4.92812247e-04 -1.17009271e+01] [-1.06344278e-02 3.50641585e-04 9.99943391e-01 -6.04382428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82439141799995 meters 0.01860702143549509 Centerline is valid? [True, True] Translation: X:295.61, Y:-11.69, Z:-6.04 [[ 9.99628915e-01 2.38566808e-02 1.31488398e-02 2.95611528e+02] [-2.38507316e-02 9.99715345e-01 -6.09097608e-04 -1.16878567e+01] [-1.31596280e-02 2.95262130e-04 9.99913365e-01 -6.04177302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88439141799995 meters 0.0166536050196417 Centerline is valid? [True, True] Translation: X:295.67, Y:-11.68, Z:-6.04 [[ 9.99465879e-01 2.96987812e-02 1.36359631e-02 2.95671876e+02] [-2.96929236e-02 9.99558868e-01 -6.31866152e-04 -1.16838893e+01] [-1.36487135e-02 2.26637047e-04 9.99906826e-01 -6.04356206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94439141799995 meters 0.015005512886433871 Centerline is valid? [True, True] Translation: X:295.73, Y:-11.68, Z:-6.05 [[ 9.99271711e-01 3.61188302e-02 1.23075883e-02 2.95730579e+02] [-3.61145415e-02 9.99347494e-01 -5.70606395e-04 -1.16787781e+01] [-1.23201671e-02 1.25707922e-04 9.99924096e-01 -6.04657225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00439141799995 meters 0.014620141614552157 Centerline is valid? [True, True] Translation: X:295.79, Y:-11.68, Z:-6.05 [[ 9.99183810e-01 3.87214849e-02 1.15047784e-02 2.95788716e+02] [-3.87179175e-02 9.99250038e-01 -5.32728802e-04 -1.16790572e+01] [-1.15167783e-02 8.68529337e-05 9.99933676e-01 -6.04911136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06439141799996 meters 0.014064875954898798 Centerline is valid? [True, True] Translation: X:295.85, Y:-11.68, Z:-6.05 [[ 9.99023663e-01 4.23408817e-02 1.26083642e-02 2.95847895e+02] [-4.23369053e-02 9.99103222e-01 -5.82242608e-04 -1.16781543e+01] [-1.26217099e-02 4.78750229e-05 9.99920342e-01 -6.04850941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12439141799996 meters 0.014011618498145742 Centerline is valid? [True, True] Translation: X:295.91, Y:-11.68, Z:-6.05 [[ 9.98891250e-01 4.49449725e-02 1.40078658e-02 2.95906036e+02] [-4.49403372e-02 9.98989464e-01 -6.45661438e-04 -1.16800414e+01] [-1.40227296e-02 1.54273468e-05 9.99901677e-01 -6.04923462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18439141799996 meters 0.013903714669744497 Centerline is valid? [True, True] Translation: X:295.96, Y:-11.68, Z:-6.05 [[ 9.98866556e-01 4.51081668e-02 1.51939406e-02 2.95964583e+02] [-4.51027594e-02 9.98982109e-01 -6.98546011e-04 -1.16836792e+01] [-1.52099849e-02 1.24656033e-05 9.99884321e-01 -6.04989981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24439141799996 meters 0.014025761009195038 Centerline is valid? [True, True] Translation: X:296.02, Y:-11.69, Z:-6.05 [[ 9.99013013e-01 4.17389910e-02 1.51939726e-02 2.96021883e+02] [-4.17332106e-02 9.99128547e-01 -6.97443098e-04 -1.16922414e+01] [-1.52098423e-02 6.26614709e-05 9.99884322e-01 -6.05249894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30439141799997 meters 0.015149249487653609 Centerline is valid? [True, True] Translation: X:296.08, Y:-11.71, Z:-6.05 [[ 9.99305788e-01 3.41310042e-02 1.49337659e-02 2.96079880e+02] [-3.41245975e-02 9.99417352e-01 -6.83690751e-04 -1.17052188e+01] [-1.49483999e-02 1.73607373e-04 9.99888251e-01 -6.05417932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36439141799997 meters 0.01834941108017913 Centerline is valid? [True, True] Translation: X:296.14, Y:-11.72, Z:-6.06 [[ 9.99577580e-01 2.44346242e-02 1.57356242e-02 2.96139098e+02] [-2.44263338e-02 9.99701374e-01 -7.18863682e-04 -1.17215024e+01] [-1.57484903e-02 3.34196412e-04 9.99875929e-01 -6.05514583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42439141799997 meters 0.02116221370237256 Centerline is valid? [True, True] Translation: X:296.20, Y:-11.73, Z:-6.06 [[ 9.99712320e-01 1.78152930e-02 1.60590295e-02 2.96198994e+02] [-1.78058179e-02 9.99841195e-01 -7.32811965e-04 -1.17330045e+01] [-1.60695345e-02 4.46656994e-04 9.99870777e-01 -6.05678545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484391418 meters 0.02500588085531341 Centerline is valid? [True, True] Translation: X:296.26, Y:-11.74, Z:-6.06 [[ 9.99809592e-01 1.18594322e-02 1.54962146e-02 2.96258226e+02] [-1.18499017e-02 9.99929538e-01 -7.06702239e-04 -1.17449933e+01] [-1.55035038e-02 5.22939058e-04 9.99879677e-01 -6.05923843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544391418 meters 0.027035693515757304 Centerline is valid? [True, True] Translation: X:296.32, Y:-11.75, Z:-6.06 [[ 9.99868903e-01 5.52140287e-03 1.52214299e-02 2.96319211e+02] [-5.51145116e-03 9.99984570e-01 -6.95667576e-04 -1.17545594e+01] [-1.52250361e-02 6.11684208e-04 9.99883905e-01 -6.06115733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604391418 meters 0.029351818481400192 Centerline is valid? [True, True] Translation: X:296.38, Y:-11.76, Z:-6.06 [[ 9.99873002e-01 -4.55137537e-04 1.59302409e-02 2.96379979e+02] [ 4.66807037e-04 9.99999625e-01 -7.28826859e-04 -1.17627871e+01] [-1.59299032e-02 7.36170648e-04 9.99872840e-01 -6.06188540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664391418 meters 0.031625441408051236 Centerline is valid? [True, True] Translation: X:296.44, Y:-11.77, Z:-6.06 [[ 9.99838520e-01 -6.13514848e-03 1.68906543e-02 2.96440705e+02] [ 6.14908303e-03 9.99980795e-01 -7.73173671e-04 -1.17699333e+01] [-1.68855864e-02 8.76910854e-04 9.99857044e-01 -6.06212986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724391418 meters 0.03675816865957433 Centerline is valid? [True, True] Translation: X:296.50, Y:-11.78, Z:-6.06 [[ 9.99818953e-01 -8.43803505e-03 1.70546539e-02 2.96500967e+02] [ 8.45257562e-03 9.99963972e-01 -7.80682148e-04 -1.17800807e+01] [-1.70474520e-02 9.24696559e-04 9.99854254e-01 -6.06432597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784391418 meters 0.033894868872223545 Centerline is valid? [True, True] Translation: X:296.56, Y:-11.78, Z:-6.07 [[ 9.99840418e-01 -9.32573906e-03 1.52371123e-02 2.96562749e+02] [ 9.33743786e-03 9.99956162e-01 -6.96820288e-04 -1.17788347e+01] [-1.52299460e-02 8.38984676e-04 9.99883666e-01 -6.06773828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844391418 meters 0.03342796464731659 Centerline is valid? [True, True] Translation: X:296.63, Y:-11.78, Z:-6.07 [[ 9.99851220e-01 -1.02648318e-02 1.38625451e-02 2.96625041e+02] [ 1.02746662e-02 9.99947010e-01 -6.38383594e-04 -1.17801589e+01] [-1.38552576e-02 7.80721639e-04 9.99903707e-01 -6.07068636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904391418 meters 0.03555620582727982 Centerline is valid? [True, True] Translation: X:296.69, Y:-11.78, Z:-6.07 [[ 9.99856324e-01 -1.15091879e-02 1.24446496e-02 2.96685579e+02] [ 1.15172140e-02 9.99933510e-01 -5.73467569e-04 -1.17837757e+01] [-1.24372220e-02 7.16712868e-04 9.99922398e-01 -6.07333216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964391418 meters 0.03721893341062582 Centerline is valid? [True, True] Translation: X:296.75, Y:-11.79, Z:-6.08 [[ 9.99846623e-01 -1.28784964e-02 1.18690464e-02 2.96747900e+02] [ 1.28859182e-02 9.99916822e-01 -5.49047834e-04 -1.17860487e+01] [-1.18609883e-02 7.01907185e-04 9.99929410e-01 -6.07537773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024391418 meters 0.038143018267257925 Centerline is valid? [True, True] Translation: X:296.81, Y:-11.79, Z:-6.07 [[ 9.99811247e-01 -1.29579185e-02 1.44762706e-02 2.96810238e+02] [ 1.29689902e-02 9.99915674e-01 -6.71198386e-04 -1.17867410e+01] [-1.44663526e-02 8.58814307e-04 9.99894988e-01 -6.07407583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08439141799994 meters 0.039558455013875816 Centerline is valid? [True, True] Translation: X:296.87, Y:-11.79, Z:-6.07 [[ 9.99780004e-01 -1.25179127e-02 1.68299149e-02 2.96871336e+02] [ 1.25328443e-02 9.99921155e-01 -7.82019573e-04 -1.17879142e+01] [-1.68187987e-02 9.92774235e-04 9.99858061e-01 -6.07347491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14439141799994 meters 0.035929242753345095 Centerline is valid? [True, True] Translation: X:296.93, Y:-11.78, Z:-6.07 [[ 9.99767305e-01 -1.07227011e-02 1.87178675e-02 2.96933390e+02] [ 1.07408814e-02 9.99941936e-01 -8.71020450e-04 -1.17807434e+01] [-1.87074410e-02 1.07186416e-03 9.99824426e-01 -6.07283643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20439141799994 meters 0.03578241785129133 Centerline is valid? [True, True] Translation: X:297.00, Y:-11.78, Z:-6.08 [[ 9.99795881e-01 -9.54698047e-03 1.78059365e-02 2.96995819e+02] [ 9.56325665e-03 9.99953927e-01 -8.29161647e-04 -1.17788533e+01] [-1.77972001e-02 9.99275140e-04 9.99841118e-01 -6.07510094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26439141799995 meters 0.036825116430791595 Centerline is valid? [True, True] Translation: X:297.06, Y:-11.78, Z:-6.08 [[ 9.99816472e-01 -9.41308099e-03 1.66857839e-02 2.97059051e+02] [ 9.42737312e-03 9.99955259e-01 -7.78093591e-04 -1.17803724e+01] [-1.66777131e-02 9.35253900e-04 9.99860480e-01 -6.07782531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32439141799995 meters 0.03740872096621017 Centerline is valid? [True, True] Translation: X:297.12, Y:-11.78, Z:-6.08 [[ 9.99855674e-01 -8.89229818e-03 1.44760970e-02 2.97121307e+02] [ 8.90302477e-03 9.99960138e-01 -6.76709839e-04 -1.17795021e+01] [-1.44695024e-02 8.05493223e-04 9.99894987e-01 -6.08102305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38439141799995 meters 0.0375604522398958 Centerline is valid? [True, True] Translation: X:297.18, Y:-11.78, Z:-6.08 [[ 9.99871196e-01 -7.98249918e-03 1.39237302e-02 2.97183599e+02] [ 7.99234917e-03 9.99967848e-01 -6.51922796e-04 -1.17808366e+01] [-1.39180785e-02 7.63122140e-04 9.99902848e-01 -6.08273942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44439141799995 meters 0.03467725773792697 Centerline is valid? [True, True] Translation: X:297.24, Y:-11.77, Z:-6.08 [[ 9.99896940e-01 -1.98197569e-03 1.42190530e-02 2.97244593e+02] [ 1.99166592e-03 9.99997794e-01 -6.67368231e-04 -1.17737651e+01] [-1.42176989e-02 6.95619055e-04 9.99898681e-01 -6.08298474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50439141799995 meters 0.028541485772274944 Centerline is valid? [True, True] Translation: X:297.31, Y:-11.76, Z:-6.08 [[ 9.99872169e-01 4.33252821e-03 1.53907161e-02 2.97306072e+02] [-4.32192160e-03 9.99990400e-01 -7.22350196e-04 -1.17634610e+01] [-1.53936980e-02 6.55740389e-04 9.99881295e-01 -6.08149535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56439141799996 meters 0.022046671889408256 Centerline is valid? [True, True] Translation: X:297.37, Y:-11.75, Z:-6.08 [[ 9.99746251e-01 1.48577990e-02 1.69315859e-02 2.97366949e+02] [-1.48464662e-02 9.99889469e-01 -7.94835838e-04 -1.17512590e+01] [-1.69415240e-02 5.43259931e-04 9.99856334e-01 -6.08004138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62439141799996 meters 0.018590184667202615 Centerline is valid? [True, True] Translation: X:297.43, Y:-11.74, Z:-6.08 [[ 9.99529864e-01 2.58083898e-02 1.65522512e-02 2.97426517e+02] [-2.57990544e-02 9.99666847e-01 -7.77313404e-04 -1.17434735e+01] [-1.65667980e-02 3.49915531e-04 9.99862700e-01 -6.08135537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68439141799996 meters 0.01586880138191926 Centerline is valid? [True, True] Translation: X:297.49, Y:-11.74, Z:-6.08 [[ 9.99322772e-01 3.34893628e-02 1.52466510e-02 2.97486346e+02] [-3.34823418e-02 9.99439053e-01 -7.15593043e-04 -1.17363787e+01] [-1.52620632e-02 2.04614842e-04 9.99883507e-01 -6.08302509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74439141799996 meters 0.014598986515878152 Centerline is valid? [True, True] Translation: X:297.55, Y:-11.73, Z:-6.09 [[ 9.98937003e-01 4.45457925e-02 1.18548010e-02 2.97545464e+02] [-4.45423257e-02 9.99007343e-01 -5.56442446e-04 -1.17288120e+01] [-1.18678204e-02 2.78105417e-05 9.99929575e-01 -6.08606943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80439141799997 meters 0.0151676465478431 Centerline is valid? [True, True] Translation: X:297.60, Y:-11.72, Z:-6.09 [[ 9.98522296e-01 5.33779016e-02 1.01992584e-02 2.97604876e+02] [-5.33758018e-02 9.98574381e-01 -4.78162540e-04 -1.17243753e+01] [-1.02102414e-02 -6.69376355e-05 9.99947872e-01 -6.08768269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86439141799997 meters 0.01575034865235661 Centerline is valid? [True, True] Translation: X:297.66, Y:-11.73, Z:-6.09 [[ 9.98369732e-01 5.62015805e-02 9.96298630e-03 2.97663707e+02] [-5.61997253e-02 9.98419438e-01 -4.66300158e-04 -1.17257848e+01] [-9.97344598e-03 -9.43771286e-05 9.99950259e-01 -6.08900594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92439141799997 meters 0.01590047196579531 Centerline is valid? [True, True] Translation: X:297.72, Y:-11.73, Z:-6.09 [[ 9.98345506e-01 5.63963898e-02 1.12115037e-02 2.97720881e+02] [-5.63940510e-02 9.98408451e-01 -5.24891114e-04 -1.17304649e+01] [-1.12232620e-02 -1.08239424e-04 9.99937011e-01 -6.08900152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984391418 meters 0.014985916075481824 Centerline is valid? [True, True] Translation: X:297.78, Y:-11.74, Z:-6.09 [[ 9.98586251e-01 5.18484500e-02 1.17148410e-02 2.97777996e+02] [-5.18456276e-02 9.98654963e-01 -5.44690511e-04 -1.17412069e+01] [-1.17273254e-02 -6.34428276e-05 9.99931231e-01 -6.08968764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044391418 meters 0.01443711202685711 Centerline is valid? [True, True] Translation: X:297.84, Y:-11.76, Z:-6.09 [[ 9.99093529e-01 4.12090396e-02 1.06740721e-02 2.97835505e+02] [-4.12060940e-02 9.99150545e-01 -4.95834527e-04 -1.17588732e+01] [-1.06854378e-02 5.55482487e-05 9.99942908e-01 -6.09094569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104391418 meters 0.016066603818470953 Centerline is valid? [True, True] Translation: X:297.89, Y:-11.77, Z:-6.09 [[ 9.99470861e-01 3.11347220e-02 9.41414744e-03 2.97894774e+02] [-3.11320024e-02 9.99515187e-01 -4.35328305e-04 -1.17747216e+01] [-9.42313716e-03 1.42016695e-04 9.99955591e-01 -6.09365427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164391418 meters 0.020150999731753546 Centerline is valid? [True, True] Translation: X:297.95, Y:-11.79, Z:-6.10 [[ 9.99755056e-01 2.06033764e-02 8.08256989e-03 2.97953661e+02] [-2.06010314e-02 9.99787707e-01 -3.73285095e-04 -1.17915611e+01] [-8.08854495e-03 2.06684385e-04 9.99967266e-01 -6.09725686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224391418 meters 0.027280373375749217 Centerline is valid? [True, True] Translation: X:298.01, Y:-11.81, Z:-6.10 [[ 9.99952520e-01 7.76897293e-03 5.88228141e-03 2.98012197e+02] [-7.76750924e-03 9.99969796e-01 -2.71635313e-04 -1.18129078e+01] [-5.88421406e-03 2.25931741e-04 9.99982662e-01 -6.10063018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284391418 meters 0.03010687079343278 Centerline is valid? [True, True] Translation: X:298.07, Y:-11.83, Z:-6.10 [[ 9.99985696e-01 -1.12419841e-03 5.22921949e-03 2.98072580e+02] [ 1.12547485e-03 9.99999338e-01 -2.41161035e-04 -1.18252549e+01] [-5.22894491e-03 2.47042941e-04 9.99986298e-01 -6.10082786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344391418 meters 0.03447775852402131 Centerline is valid? [True, True] Translation: X:298.13, Y:-11.84, Z:-6.10 [[ 9.99962924e-01 -7.00719714e-03 5.00490575e-03 2.98131640e+02] [ 7.00844109e-03 9.99975414e-01 -2.31052161e-04 -1.18379593e+01] [-5.00316367e-03 2.66120182e-04 9.99987449e-01 -6.10160292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404391418 meters 0.0357300685544798 Centerline is valid? [True, True] Translation: X:298.19, Y:-11.84, Z:-6.10 [[ 9.99940727e-01 -9.73731271e-03 4.87104721e-03 2.98192281e+02] [ 9.73852018e-03 9.99952554e-01 -2.24228648e-04 -1.18446572e+01] [-4.86863271e-03 2.71652149e-04 9.99988111e-01 -6.10218200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464391418 meters 0.03903333365943426 Centerline is valid? [True, True] Translation: X:298.25, Y:-11.86, Z:-6.10 [[ 9.99909314e-01 -1.28750160e-02 3.94950904e-03 2.98251976e+02] [ 1.28758355e-02 9.99917086e-01 -1.82140955e-04 -1.18551211e+01] [-3.94683651e-03 2.32977666e-04 9.99992184e-01 -6.10414631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524391418 meters 0.036842975749545655 Centerline is valid? [True, True] Translation: X:298.31, Y:-11.86, Z:-6.10 [[ 9.99877928e-01 -1.54231290e-02 2.50139903e-03 2.98313108e+02] [ 1.54234639e-02 9.99881045e-01 -1.14616960e-04 -1.18584126e+01] [-2.49933373e-03 1.53183206e-04 9.99996865e-01 -6.10488436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58439141799994 meters 0.04068818794556996 Centerline is valid? [True, True] Translation: X:298.37, Y:-11.87, Z:-6.11 [[ 9.99864053e-01 -1.64663529e-02 8.57132180e-04 2.98373687e+02] [ 1.64663918e-02 9.99864419e-01 -3.83659097e-05 -1.18673491e+01] [-8.56384223e-04 5.24745682e-05 9.99999632e-01 -6.10849794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64439141799994 meters 0.03781960380296819 Centerline is valid? [True, True] Translation: X:298.44, Y:-11.87, Z:-6.11 [[ 9.99867047e-01 -1.61613887e-02 -2.16726713e-03 2.98435426e+02] [ 1.61616466e-02 9.99869387e-01 1.01569643e-04 -1.18660162e+01] [ 2.16534255e-03 -1.36582745e-04 9.99997646e-01 -6.11016798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70439141799994 meters 0.03789459216988195 Centerline is valid? [True, True] Translation: X:298.50, Y:-11.87, Z:-6.11 [[ 9.99889267e-01 -1.42662743e-02 -4.23399447e-03 2.98496914e+02] [ 1.42672357e-02 9.99898198e-01 1.96950195e-04 -1.18671736e+01] [ 4.23075369e-03 -2.57335783e-04 9.99991017e-01 -6.11322957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76439141799995 meters 0.03150185084343529 Centerline is valid? [True, True] Translation: X:298.56, Y:-11.86, Z:-6.11 [[ 9.99960388e-01 -7.77624131e-03 -4.33037071e-03 2.98557999e+02] [ 7.77718269e-03 9.99969737e-01 2.00592160e-04 -1.18575702e+01] [ 4.32867980e-03 -2.34262298e-04 9.99990604e-01 -6.11172593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82439141799995 meters 0.0293171797885 Centerline is valid? [True, True] Translation: X:298.62, Y:-11.85, Z:-6.11 [[ 9.99996652e-01 2.19329728e-03 -1.37304824e-03 2.98617628e+02] [-2.19321282e-03 9.99997593e-01 6.30173272e-05 -1.18522762e+01] [ 1.37318315e-03 -6.00057292e-05 9.99999055e-01 -6.11071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88439141799995 meters 0.024725497128363437 Centerline is valid? [True, True] Translation: X:298.68, Y:-11.85, Z:-6.11 [[ 9.99953102e-01 9.64072773e-03 9.22354297e-04 2.98678233e+02] [-9.64069238e-03 9.99953527e-01 -4.27675481e-05 -1.18451705e+01] [-9.22723742e-04 3.38734083e-05 9.99999574e-01 -6.10860240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94439141799995 meters 0.0204252354537232 Centerline is valid? [True, True] Translation: X:298.74, Y:-11.84, Z:-6.11 [[ 9.99791090e-01 2.02426261e-02 2.83053187e-03 2.98737771e+02] [-2.02423351e-02 9.99795094e-01 -1.31434523e-04 -1.18381827e+01] [-2.83261246e-03 7.41104907e-05 9.99995985e-01 -6.10886480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00439141799995 meters 0.01605792875937745 Centerline is valid? [True, True] Translation: X:298.80, Y:-11.83, Z:-6.11 [[ 9.99590793e-01 2.83387312e-02 3.89395811e-03 2.98798526e+02] [-2.83382430e-02 9.99598375e-01 -1.80508922e-04 -1.18320253e+01] [-3.89750960e-03 7.00871257e-05 9.99992402e-01 -6.10818672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06439141799996 meters 0.014973690701030842 Centerline is valid? [True, True] Translation: X:298.86, Y:-11.83, Z:-6.11 [[ 9.99449137e-01 3.29981078e-02 3.54215345e-03 2.98857532e+02] [-3.29977296e-02 9.99455413e-01 -1.65188355e-04 -1.18314556e+01] [-3.54567534e-03 4.82143370e-05 9.99993713e-01 -6.11028289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12439141799996 meters 0.0137479840762547 Centerline is valid? [True, True] Translation: X:298.92, Y:-11.83, Z:-6.11 [[ 9.99113831e-01 4.20159990e-02 2.49187980e-03 2.98915638e+02] [-4.20158383e-02 9.99116938e-01 -1.16828203e-04 -1.18282010e+01] [-2.49458797e-03 1.20262543e-05 9.99996888e-01 -6.11349880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18439141799996 meters 0.013895083239471124 Centerline is valid? [True, True] Translation: X:298.98, Y:-11.82, Z:-6.11 [[ 9.98615817e-01 5.24210686e-02 4.29902761e-03 2.98975105e+02] [-5.24206962e-02 9.98625070e-01 -1.99347539e-04 -1.18234477e+01] [-4.30356676e-03 -2.62864150e-05 9.99990739e-01 -6.11315171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24439141799996 meters 0.01525040844760342 Centerline is valid? [True, True] Translation: X:299.03, Y:-11.82, Z:-6.11 [[ 9.98248039e-01 5.88338078e-02 6.27970786e-03 2.99034386e+02] [-5.88331480e-02 9.98267788e-01 -2.89915002e-04 -1.18221109e+01] [-6.28588688e-03 -8.00478998e-05 9.99980240e-01 -6.11313618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30439141799997 meters 0.016060854251660307 Centerline is valid? [True, True] Translation: X:299.09, Y:-11.82, Z:-6.11 [[ 9.98085495e-01 6.14060422e-02 7.39211336e-03 2.99093581e+02] [-6.14052049e-02 9.98112862e-01 -3.40390038e-04 -1.18229550e+01] [-7.39906542e-03 -1.14175876e-04 9.99972620e-01 -6.11386399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36439141799997 meters 0.017726720978381714 Centerline is valid? [True, True] Translation: X:299.15, Y:-11.83, Z:-6.11 [[ 9.97826220e-01 6.52668467e-02 9.11446255e-03 2.99152069e+02] [-6.52657447e-02 9.97867831e-01 -4.18604793e-04 -1.18252108e+01] [-9.12234998e-03 -1.77167348e-04 9.99958375e-01 -6.11461749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42439141799997 meters 0.014691940558243556 Centerline is valid? [True, True] Translation: X:299.21, Y:-11.84, Z:-6.12 [[ 9.98172884e-01 5.96423893e-02 9.67877027e-03 2.99210834e+02] [-5.96408920e-02 9.98219799e-01 -4.43520489e-04 -1.18402327e+01] [-9.68799274e-03 -1.34540366e-04 9.99953061e-01 -6.11584235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484391418 meters 0.012996936559855458 Centerline is valid? [True, True] Translation: X:299.27, Y:-11.85, Z:-6.12 [[ 9.98616560e-01 5.15422117e-02 1.04099627e-02 2.99268767e+02] [-5.15400446e-02 9.98670815e-01 -4.76513555e-04 -1.18540910e+01] [-1.04206865e-02 -6.06756141e-05 9.99945701e-01 -6.11747695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544391418 meters 0.013597677266738575 Centerline is valid? [True, True] Translation: X:299.33, Y:-11.88, Z:-6.12 [[ 9.99284983e-01 3.59810396e-02 1.16141026e-02 2.99326878e+02] [-3.59773040e-02 9.99352466e-01 -5.30479655e-04 -1.18759283e+01] [-1.16256693e-02 1.12256254e-04 9.99932413e-01 -6.11930789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604391418 meters 0.016683722603249566 Centerline is valid? [True, True] Translation: X:299.38, Y:-11.89, Z:-6.12 [[ 9.99585675e-01 2.57560309e-02 1.28493119e-02 2.99384693e+02] [-2.57506315e-02 9.99668226e-01 -5.85500765e-04 -1.18929138e+01] [-1.28601290e-02 2.54380282e-04 9.99917273e-01 -6.12168149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664391418 meters 0.021207774821303163 Centerline is valid? [True, True] Translation: X:299.44, Y:-11.91, Z:-6.12 [[ 9.99815822e-01 1.32161997e-02 1.39159336e-02 2.99444038e+02] [-1.32086726e-02 9.99912562e-01 -6.32674992e-04 -1.19123942e+01] [-1.39230783e-02 4.48747457e-04 9.99902969e-01 -6.12352246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724391418 meters 0.026719877745473096 Centerline is valid? [True, True] Translation: X:299.50, Y:-11.93, Z:-6.13 [[ 9.99916568e-01 3.49278465e-03 1.24361659e-02 2.99503215e+02] [-3.48602214e-03 9.99993764e-01 -5.65413388e-04 -1.19299437e+01] [-1.24380632e-02 5.22013465e-04 9.99922508e-01 -6.12768839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784391418 meters 0.0326670822662781 Centerline is valid? [True, True] Translation: X:299.56, Y:-11.94, Z:-6.13 [[ 9.99920136e-01 -1.92872158e-03 1.24900243e-02 2.99563001e+02] [ 1.93596261e-03 9.99997965e-01 -5.67680627e-04 -1.19446236e+01] [-1.24889040e-02 5.91815510e-04 9.99921835e-01 -6.13064310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844391418 meters 0.03419556895509001 Centerline is valid? [True, True] Translation: X:299.62, Y:-11.95, Z:-6.13 [[ 9.99887487e-01 -6.85080114e-03 1.33446272e-02 2.99623518e+02] [ 6.85951409e-03 9.99976289e-01 -6.07256052e-04 -1.19530510e+01] [-1.33401506e-02 6.98725386e-04 9.99910772e-01 -6.13199612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904391418 meters 0.036424265913183256 Centerline is valid? [True, True] Translation: X:299.68, Y:-11.96, Z:-6.13 [[ 9.99871477e-01 -7.73749909e-03 1.40413938e-02 2.99684649e+02] [ 7.74723359e-03 9.99969786e-01 -6.39009594e-04 -1.19588684e+01] [-1.40360252e-02 7.47709424e-04 9.99901211e-01 -6.13257691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964391418 meters 0.036286864039091975 Centerline is valid? [True, True] Translation: X:299.75, Y:-11.96, Z:-6.13 [[ 9.99865104e-01 -6.63698756e-03 1.50241461e-02 2.99746461e+02] [ 6.64802165e-03 9.99977667e-01 -6.84599194e-04 -1.19611654e+01] [-1.50192669e-02 7.84387692e-04 9.99886897e-01 -6.13323356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024391418 meters 0.0315861371423248 Centerline is valid? [True, True] Translation: X:299.81, Y:-11.96, Z:-6.13 [[ 9.99869666e-01 -5.02794792e-03 1.53417815e-02 2.99809120e+02] [ 5.03928291e-03 9.99987058e-01 -7.00262582e-04 -1.19575295e+01] [-1.53380621e-02 7.77482891e-04 9.99882063e-01 -6.13408858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08439141799994 meters 0.031013176811586378 Centerline is valid? [True, True] Translation: X:299.87, Y:-11.96, Z:-6.14 [[ 9.99873469e-01 -4.70806490e-03 1.51947478e-02 2.99871344e+02] [ 4.71916533e-03 9.99988623e-01 -6.94770941e-04 -1.19587814e+01] [-1.51913039e-02 7.66389558e-04 9.99884312e-01 -6.13571013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14439141799994 meters 0.0315500949016247 Centerline is valid? [True, True] Translation: X:299.93, Y:-11.96, Z:-6.14 [[ 9.99887892e-01 -4.86134087e-03 1.41623258e-02 2.99933530e+02] [ 4.87101422e-03 9.99987926e-01 -6.48619186e-04 -1.19606156e+01] [-1.41590016e-02 7.17531361e-04 9.99899499e-01 -6.13829143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20439141799994 meters 0.03248497495392168 Centerline is valid? [True, True] Translation: X:300.00, Y:-11.96, Z:-6.14 [[ 9.99881271e-01 -4.53668577e-03 1.47262772e-02 2.99995365e+02] [ 4.54712865e-03 9.99989433e-01 -6.75727075e-04 -1.19635593e+01] [-1.47230560e-02 7.42609123e-04 9.99891334e-01 -6.13979296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26439141799995 meters 0.0316422752288328 Centerline is valid? [True, True] Translation: X:300.06, Y:-11.96, Z:-6.14 [[ 9.99879242e-01 -1.26027520e-03 1.54891520e-02 3.00056631e+02] [ 1.27145978e-03 9.99998938e-01 -7.12264669e-04 -1.19618483e+01] [-1.54882379e-02 7.31872490e-04 9.99879782e-01 -6.14015543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32439141799995 meters 0.02823603545665961 Centerline is valid? [True, True] Translation: X:300.12, Y:-11.96, Z:-6.14 [[ 9.99840809e-01 5.57318012e-03 1.69498119e-02 3.00117182e+02] [-5.56075126e-03 9.99984234e-01 -7.80316209e-04 -1.19550783e+01] [-1.69538935e-02 6.85938302e-04 9.99856037e-01 -6.13961921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38439141799995 meters 0.026211136933902222 Centerline is valid? [True, True] Translation: X:300.18, Y:-11.95, Z:-6.14 [[ 9.99782786e-01 1.07267088e-02 1.78694606e-02 3.00177738e+02] [-1.07137153e-02 9.99942268e-01 -8.22707703e-04 -1.19521568e+01] [-1.78772540e-02 6.31080685e-04 9.99839990e-01 -6.14024784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44439141799995 meters 0.02290592760443815 Centerline is valid? [True, True] Translation: X:300.24, Y:-11.95, Z:-6.14 [[ 9.99662919e-01 1.72873902e-02 1.93699604e-02 3.00238867e+02] [-1.72733532e-02 9.99850407e-01 -8.91768352e-04 -1.19457114e+01] [-1.93824791e-02 5.56883587e-04 9.99811987e-01 -6.13991978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50439141799995 meters 0.021838145383106827 Centerline is valid? [True, True] Translation: X:300.30, Y:-11.94, Z:-6.14 [[ 9.99584112e-01 2.04045215e-02 2.03779043e-02 3.00301340e+02] [-2.03896249e-02 9.99791669e-01 -9.38539917e-04 -1.19445797e+01] [-2.03928094e-02 5.22651763e-04 9.99791908e-01 -6.13984280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56439141799996 meters 0.021840511397029163 Centerline is valid? [True, True] Translation: X:300.36, Y:-11.94, Z:-6.14 [[ 9.99554113e-01 2.16517557e-02 2.05615365e-02 3.00363370e+02] [-2.16367415e-02 9.99765445e-01 -9.52419730e-04 -1.19446897e+01] [-2.05773352e-02 5.07110408e-04 9.99788136e-01 -6.14061356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62439141799996 meters 0.020218505389435114 Centerline is valid? [True, True] Translation: X:300.43, Y:-11.94, Z:-6.14 [[ 9.99594695e-01 2.01751019e-02 2.00850696e-02 3.00425958e+02] [-2.01603762e-02 9.99796321e-01 -9.35396534e-04 -1.19432467e+01] [-2.00998504e-02 5.30094855e-04 9.99797837e-01 -6.14224801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68439141799996 meters 0.02104655361509863 Centerline is valid? [True, True] Translation: X:300.49, Y:-11.95, Z:-6.14 [[ 9.99617719e-01 1.87361083e-02 2.03316212e-02 3.00488309e+02] [-1.87206032e-02 9.99824300e-01 -9.52690197e-04 -1.19471829e+01] [-2.03458987e-02 5.71705789e-04 9.99792837e-01 -6.14362209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74439141799996 meters 0.02322163869373015 Centerline is valid? [True, True] Translation: X:300.55, Y:-11.95, Z:-6.15 [[ 9.99661718e-01 1.57383465e-02 2.07063702e-02 3.00549197e+02] [-1.57214984e-02 9.99875933e-01 -9.76212778e-04 -1.19539931e+01] [-2.07191652e-02 6.50347377e-04 9.99785124e-01 -6.14506961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80439141799997 meters 0.02294224531819176 Centerline is valid? [True, True] Translation: X:300.61, Y:-11.96, Z:-6.15 [[ 9.99690684e-01 1.39711686e-02 2.05753153e-02 3.00610794e+02] [-1.39540505e-02 9.99902162e-01 -9.75314103e-04 -1.19569592e+01] [-2.05869285e-02 6.87903435e-04 9.99787830e-01 -6.14660498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86439141799997 meters 0.026232680186534012 Centerline is valid? [True, True] Translation: X:300.67, Y:-11.97, Z:-6.15 [[ 9.99747177e-01 1.04835727e-02 1.98916354e-02 3.00671154e+02] [-1.04667805e-02 9.99944772e-01 -9.48113457e-04 -1.19650418e+01] [-1.99004765e-02 7.39672371e-04 9.99801692e-01 -6.14818785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92439141799997 meters 0.027816899882161652 Centerline is valid? [True, True] Translation: X:300.73, Y:-11.97, Z:-6.15 [[ 9.99772001e-01 8.47714784e-03 1.95980732e-02 3.00732745e+02] [-8.46041145e-03 9.99963771e-01 -9.36737103e-04 -1.19709699e+01] [-1.96053040e-02 7.70715765e-04 9.99807500e-01 -6.14978652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984391418 meters 0.02784174075389572 Centerline is valid? [True, True] Translation: X:300.79, Y:-11.97, Z:-6.15 [[ 9.99800828e-01 7.95855389e-03 1.83020919e-02 3.00794766e+02] [-7.94379319e-03 9.99968061e-01 -8.79063239e-04 -1.19740926e+01] [-1.83085034e-02 7.33500121e-04 9.99832116e-01 -6.15207953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044391418 meters 0.028919973041033088 Centerline is valid? [True, True] Translation: X:300.86, Y:-11.98, Z:-6.15 [[ 9.99801092e-01 9.89641488e-03 1.73158089e-02 3.00855524e+02] [-9.88341358e-03 9.99950808e-01 -8.36251267e-04 -1.19778823e+01] [-1.73232329e-02 6.64945629e-04 9.99849720e-01 -6.15474174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104391418 meters 0.02267481876723344 Centerline is valid? [True, True] Translation: X:300.92, Y:-11.97, Z:-6.16 [[ 9.99738786e-01 1.64312098e-02 1.58863321e-02 3.00917162e+02] [-1.64210166e-02 9.99864868e-01 -7.71874073e-04 -1.19704801e+01] [-1.58968682e-02 5.10802725e-04 9.99873506e-01 -6.15666775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164391418 meters 0.01897555878051703 Centerline is valid? [True, True] Translation: X:300.98, Y:-11.96, Z:-6.16 [[ 9.99542589e-01 2.61976507e-02 1.51094793e-02 3.00978331e+02] [-2.61895404e-02 9.99656725e-01 -7.34417223e-04 -1.19638823e+01] [-1.51235326e-02 3.38370973e-04 9.99885576e-01 -6.15743615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224391418 meters 0.01789297992245682 Centerline is valid? [True, True] Translation: X:301.04, Y:-11.96, Z:-6.16 [[ 9.99449455e-01 2.94544483e-02 1.52716250e-02 3.01038149e+02] [-2.94465336e-02 9.99566081e-01 -7.42914558e-04 -1.19632169e+01] [-1.52868805e-02 2.92809130e-04 9.99883106e-01 -6.15852028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284391418 meters 0.015459181679741058 Centerline is valid? [True, True] Translation: X:301.10, Y:-11.96, Z:-6.16 [[ 9.99209704e-01 3.71200248e-02 1.42151550e-02 3.01098594e+02] [-3.71139515e-02 9.99310801e-01 -6.90892410e-04 -1.19575680e+01] [-1.42310039e-02 1.62765826e-04 9.99898721e-01 -6.15979664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344391418 meters 0.015130342643404326 Centerline is valid? [True, True] Translation: X:301.16, Y:-11.96, Z:-6.16 [[ 9.99158519e-01 3.86310277e-02 1.37803089e-02 3.01156267e+02] [-3.86254604e-02 9.99253534e-01 -6.70021912e-04 -1.19592796e+01] [-1.37959060e-02 1.37187325e-04 9.99904823e-01 -6.16196694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404391418 meters 0.016184395890390096 Centerline is valid? [True, True] Translation: X:301.21, Y:-11.96, Z:-6.16 [[ 9.99295597e-01 3.48592943e-02 1.38974355e-02 3.01214153e+02] [-3.48532866e-02 9.99392212e-01 -6.74320713e-04 -1.19644105e+01] [-1.39124951e-02 1.89474419e-04 9.99903199e-01 -6.16279982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464391418 meters 0.019188298728748696 Centerline is valid? [True, True] Translation: X:301.27, Y:-11.97, Z:-6.16 [[ 9.99562737e-01 2.67527822e-02 1.25946127e-02 3.01273066e+02] [-2.67472213e-02 9.99642043e-01 -6.09796719e-04 -1.19737609e+01] [-1.26064181e-02 2.72659184e-04 9.99920499e-01 -6.16482812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524391418 meters 0.023558148305783042 Centerline is valid? [True, True] Translation: X:301.33, Y:-11.98, Z:-6.17 [[ 9.99722310e-01 2.03117842e-02 1.19471781e-02 3.01332087e+02] [-2.03063322e-02 9.99793638e-01 -5.77491154e-04 -1.19847687e+01] [-1.19564425e-02 3.34727424e-04 9.99928463e-01 -6.16733600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58439141799994 meters 0.02526171375111035 Centerline is valid? [True, True] Translation: X:301.39, Y:-11.99, Z:-6.17 [[ 9.99858348e-01 1.16055720e-02 1.21898996e-02 3.01392494e+02] [-1.15992550e-02 9.99932553e-01 -5.88791044e-04 -1.19909715e+01] [-1.21959106e-02 4.47313887e-04 9.99925527e-01 -6.16663498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64439141799994 meters 0.025541450118326987 Centerline is valid? [True, True] Translation: X:301.45, Y:-11.99, Z:-6.17 [[ 9.99888415e-01 8.31693326e-03 1.24091195e-02 3.01454195e+02] [-8.31015998e-03 9.99965292e-01 -5.97294929e-04 -1.19940021e+01] [-1.24136564e-02 4.94106512e-04 9.99922826e-01 -6.16689830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70439141799994 meters 0.02679848054383365 Centerline is valid? [True, True] Translation: X:301.52, Y:-12.00, Z:-6.17 [[ 9.99896563e-01 7.27958893e-03 1.24044384e-02 3.01516267e+02] [-7.27270149e-03 9.99973373e-01 -6.00258358e-04 -1.19982722e+01] [-1.24084777e-02 5.09982492e-04 9.99922882e-01 -6.16827589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76439141799995 meters 0.024534286671852205 Centerline is valid? [True, True] Translation: X:301.58, Y:-12.00, Z:-6.17 [[ 9.99879115e-01 1.00394418e-02 1.18729079e-02 3.01578306e+02] [-1.00332899e-02 9.99949498e-01 -5.77601364e-04 -1.19966600e+01] [-1.18781071e-02 4.58407214e-04 9.99929348e-01 -6.16915213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82439141799995 meters 0.024420846605000785 Centerline is valid? [True, True] Translation: X:301.64, Y:-12.00, Z:-6.17 [[ 9.99850810e-01 1.29017638e-02 1.14848705e-02 3.01638508e+02] [-1.28961419e-02 9.99916683e-01 -5.63431468e-04 -1.19971397e+01] [-1.14911829e-02 4.15236890e-04 9.99933888e-01 -6.17012259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88439141799995 meters 0.022027174693167763 Centerline is valid? [True, True] Translation: X:301.70, Y:-11.99, Z:-6.17 [[ 9.99775542e-01 1.85409388e-02 1.02517573e-02 3.01700455e+02] [-1.85367393e-02 9.99828053e-01 -5.04514070e-04 -1.19926485e+01] [-1.02593487e-02 3.14366675e-04 9.99947322e-01 -6.17166802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94439141799995 meters 0.020796453376243428 Centerline is valid? [True, True] Translation: X:301.76, Y:-11.99, Z:-6.17 [[ 9.99707450e-01 2.21060891e-02 9.81507443e-03 3.01760536e+02] [-2.21023977e-02 9.99755595e-01 -4.84425836e-04 -1.19914791e+01] [-9.82338434e-03 2.67347439e-04 9.99951714e-01 -6.17335551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00439141799995 meters 0.018611545875633607 Centerline is valid? [True, True] Translation: X:301.82, Y:-11.99, Z:-6.18 [[ 9.99608109e-01 2.65829792e-02 8.77344681e-03 3.01820222e+02] [-2.65802010e-02 9.99646590e-01 -4.33124184e-04 -1.19877698e+01] [-8.78185992e-03 1.99754467e-04 9.99961419e-01 -6.17514383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06439141799996 meters 0.017981174110418753 Centerline is valid? [True, True] Translation: X:301.88, Y:-11.99, Z:-6.18 [[ 9.99553295e-01 2.88477157e-02 7.81156812e-03 3.01879274e+02] [-2.88455803e-02 9.99583805e-01 -3.85909853e-04 -1.19870277e+01] [-7.81944960e-03 1.60408250e-04 9.99969415e-01 -6.17741729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12439141799996 meters 0.016575195855696185 Centerline is valid? [True, True] Translation: X:301.94, Y:-11.98, Z:-6.18 [[ 9.99459597e-01 3.21946363e-02 6.63468975e-03 3.01938225e+02] [-3.21931713e-02 9.99481612e-01 -3.27512285e-04 -1.19837021e+01] [-6.64179454e-03 1.13743593e-04 9.99977937e-01 -6.17862264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18439141799996 meters 0.015031350192623241 Centerline is valid? [True, True] Translation: X:302.00, Y:-11.98, Z:-6.18 [[ 9.99315408e-01 3.64047289e-02 6.58873124e-03 3.01997358e+02] [-3.64033788e-02 9.99337125e-01 -3.24758324e-04 -1.19806704e+01] [-6.59618647e-03 8.46839180e-05 9.99978241e-01 -6.17827501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24439141799996 meters 0.014606189420080996 Centerline is valid? [True, True] Translation: X:302.06, Y:-11.98, Z:-6.18 [[ 9.99194578e-01 3.95239136e-02 6.93214044e-03 3.02055866e+02] [-3.95224989e-02 9.99218623e-01 -3.41001998e-04 -1.19801047e+01] [-6.94020156e-03 6.67518340e-05 9.99975914e-01 -6.17930516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30439141799997 meters 0.013982295095583535 Centerline is valid? [True, True] Translation: X:302.11, Y:-11.98, Z:-6.18 [[ 9.98954844e-01 4.50398133e-02 7.78684689e-03 3.02114112e+02] [-4.50382004e-02 9.98985192e-01 -3.82441427e-04 -1.19779420e+01] [-7.79616983e-03 3.13361452e-05 9.99969609e-01 -6.18100484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36439141799997 meters 0.01375923812737693 Centerline is valid? [True, True] Translation: X:302.17, Y:-11.98, Z:-6.18 [[ 9.98684401e-01 5.05834026e-02 8.41347989e-03 3.02172677e+02] [-5.05817269e-02 9.98719840e-01 -4.11969949e-04 -1.19764214e+01] [-8.42354813e-03 -1.41403806e-05 9.99964521e-01 -6.18073276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42439141799997 meters 0.01410454261047485 Centerline is valid? [True, True] Translation: X:302.23, Y:-11.98, Z:-6.18 [[ 9.98542887e-01 5.33413840e-02 8.17315336e-03 3.02231937e+02] [-5.33399002e-02 9.98576334e-01 -3.99577671e-04 -1.19773086e+01] [-8.18283154e-03 -3.69597430e-05 9.99966519e-01 -6.18208662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484391418 meters 0.014695033794020575 Centerline is valid? [True, True] Translation: X:302.29, Y:-11.98, Z:-6.18 [[ 9.98393651e-01 5.61832249e-02 7.31860603e-03 3.02290321e+02] [-5.61821146e-02 9.98420474e-01 -3.57374321e-04 -1.19790570e+01] [-7.32712454e-03 -5.43745093e-05 9.99973155e-01 -6.18397869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544391418 meters 0.014992756601429189 Centerline is valid? [True, True] Translation: X:302.35, Y:-11.98, Z:-6.19 [[ 9.98361890e-01 5.68255764e-02 6.66268713e-03 3.02348834e+02] [-5.68246730e-02 9.98384120e-01 -3.24970169e-04 -1.19831283e+01] [-6.67038765e-03 -5.41671860e-05 9.99977751e-01 -6.18535501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604391418 meters 0.01422285505434468 Centerline is valid? [True, True] Translation: X:302.41, Y:-11.99, Z:-6.19 [[ 9.98443599e-01 5.53205930e-02 7.07190846e-03 3.02407734e+02] [-5.53195242e-02 9.98468642e-01 -3.46805444e-04 -1.19917349e+01] [-7.08026432e-03 -4.49489354e-05 9.99974934e-01 -6.18545828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664391418 meters 0.013822408026746934 Centerline is valid? [True, True] Translation: X:302.47, Y:-12.00, Z:-6.19 [[ 9.98651566e-01 5.13202930e-02 7.82792706e-03 3.02465111e+02] [-5.13188977e-02 9.98682245e-01 -3.79138461e-04 -1.20020587e+01] [-7.83706927e-03 -2.30933699e-05 9.99969289e-01 -6.18816720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724391418 meters 0.013483118289214389 Centerline is valid? [True, True] Translation: X:302.52, Y:-12.01, Z:-6.19 [[ 9.98877571e-01 4.66417555e-02 8.25502822e-03 3.02523685e+02] [-4.66400538e-02 9.98911681e-01 -3.98630050e-04 -1.20142466e+01] [-8.26463693e-03 1.31676554e-05 9.99965847e-01 -6.18851608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784391418 meters 0.013559733827540037 Centerline is valid? [True, True] Translation: X:302.58, Y:-12.02, Z:-6.19 [[ 9.99004331e-01 4.38545425e-02 8.19305145e-03 3.02582382e+02] [-4.38527776e-02 9.99037926e-01 -3.95025079e-04 -1.20225677e+01] [-8.20249277e-03 3.53437019e-05 9.99966358e-01 -6.18945430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844391418 meters 0.013643705452479215 Centerline is valid? [True, True] Translation: X:302.64, Y:-12.03, Z:-6.19 [[ 9.99112998e-01 4.10135200e-02 9.54503112e-03 3.02639604e+02] [-4.10110007e-02 9.99158589e-01 -4.59600020e-04 -1.20318209e+01] [-9.55584965e-03 6.77410760e-05 9.99954340e-01 -6.19070933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904391418 meters 0.014815092875220827 Centerline is valid? [True, True] Translation: X:302.70, Y:-12.05, Z:-6.19 [[ 9.99303398e-01 3.57278884e-02 1.07813049e-02 3.02696837e+02] [-3.57243862e-02 9.99361547e-01 -5.17307201e-04 -1.20456217e+01] [-1.07929039e-02 1.31791342e-04 9.99941746e-01 -6.19217583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964391418 meters 0.015155802360076215 Centerline is valid? [True, True] Translation: X:302.76, Y:-12.06, Z:-6.19 [[ 9.99412708e-01 3.24293511e-02 1.10714389e-02 3.02755297e+02] [-3.24254698e-02 9.99474016e-01 -5.29943187e-04 -1.20559557e+01] [-1.10828012e-02 1.70635347e-04 9.99938569e-01 -6.19287088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024391418 meters 0.015206676531540859 Centerline is valid? [True, True] Translation: X:302.81, Y:-12.06, Z:-6.19 [[ 9.99383382e-01 3.32033170e-02 1.14190950e-02 3.02812743e+02] [-3.31992480e-02 9.99448604e-01 -5.45754611e-04 -1.20621699e+01] [-1.14309194e-02 1.66312723e-04 9.99934651e-01 -6.19468404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08439141799994 meters 0.014737037061588862 Centerline is valid? [True, True] Translation: X:302.87, Y:-12.07, Z:-6.20 [[ 9.99329727e-01 3.47406683e-02 1.15404791e-02 3.02871025e+02] [-3.47366308e-02 9.99396350e-01 -5.50172399e-04 -1.20650966e+01] [-1.15526260e-02 1.48926271e-04 9.99933255e-01 -6.19559307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14439141799994 meters 0.013370478504426846 Centerline is valid? [True, True] Translation: X:302.93, Y:-12.07, Z:-6.20 [[ 9.99030777e-01 4.25877825e-02 1.11260061e-02 3.02929441e+02] [-4.25845256e-02 9.99092727e-01 -5.29574383e-04 -1.20662295e+01] [-1.11384652e-02 5.52654147e-05 9.99937964e-01 -6.19668822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20439141799994 meters 0.013162971967496275 Centerline is valid? [True, True] Translation: X:302.99, Y:-12.07, Z:-6.20 [[ 9.98638420e-01 5.06409627e-02 1.25219121e-02 3.02988483e+02] [-5.06374855e-02 9.98716923e-01 -5.94784751e-04 -1.20676321e+01] [-1.25359660e-02 -4.01032406e-05 9.99921421e-01 -6.19691614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26439141799995 meters 0.01354656249757115 Centerline is valid? [True, True] Translation: X:303.05, Y:-12.07, Z:-6.20 [[ 9.98480609e-01 5.37011427e-02 1.23556337e-02 3.03047124e+02] [-5.36980040e-02 9.98557050e-01 -5.85879724e-04 -1.20718914e+01] [-1.23692676e-02 -7.84833262e-05 9.99923495e-01 -6.19889183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32439141799995 meters 0.013664508130694173 Centerline is valid? [True, True] Translation: X:303.11, Y:-12.08, Z:-6.20 [[ 9.98457247e-01 5.42685592e-02 1.17494552e-02 3.03105535e+02] [-5.42657707e-02 9.98526373e-01 -5.56242199e-04 -1.20797560e+01] [-1.17623273e-02 -8.22091870e-05 9.99930818e-01 -6.20151656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38439141799995 meters 0.013092644850347973 Centerline is valid? [True, True] Translation: X:303.16, Y:-12.09, Z:-6.20 [[ 9.98667221e-01 5.02664929e-02 1.17073524e-02 3.03164075e+02] [-5.02634603e-02 9.98735840e-01 -5.53311015e-04 -1.20917704e+01] [-1.17203655e-02 -3.58784699e-05 9.99931314e-01 -6.20308122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44439141799995 meters 0.012906290959886909 Centerline is valid? [True, True] Translation: X:303.22, Y:-12.10, Z:-6.20 [[ 9.98889769e-01 4.55166175e-02 1.21435602e-02 3.03222418e+02] [-4.55130164e-02 9.98963581e-01 -5.72874885e-04 -1.21021475e+01] [-1.21570497e-02 1.95488084e-05 9.99926100e-01 -6.20327130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50439141799995 meters 0.01416543313023068 Centerline is valid? [True, True] Translation: X:303.28, Y:-12.12, Z:-6.20 [[ 9.99232658e-01 3.69017373e-02 1.31284649e-02 3.03279664e+02] [-3.68967988e-02 9.99318890e-01 -6.18262041e-04 -1.21181293e+01] [-1.31423379e-02 1.33389295e-04 9.99913627e-01 -6.20381798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56439141799996 meters 0.01632712597123717 Centerline is valid? [True, True] Translation: X:303.34, Y:-12.13, Z:-6.21 [[ 9.99443658e-01 3.05217170e-02 1.34461792e-02 3.03337570e+02] [-3.05159823e-02 9.99534079e-01 -6.31507248e-04 -1.21301865e+01] [-1.34591890e-02 2.20832548e-04 9.99909397e-01 -6.20534621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62439141799996 meters 0.018567293212149363 Centerline is valid? [True, True] Translation: X:303.40, Y:-12.14, Z:-6.21 [[ 9.99683855e-01 2.09875877e-02 1.38460148e-02 3.03397911e+02] [-2.09806099e-02 9.99779672e-01 -6.49030553e-04 -1.21432237e+01] [-1.38565858e-02 3.58327528e-04 9.99903929e-01 -6.20593082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68439141799996 meters 0.022201972728710197 Centerline is valid? [True, True] Translation: X:303.46, Y:-12.16, Z:-6.21 [[ 9.99811909e-01 1.37879498e-02 1.36396344e-02 3.03458187e+02] [-1.37805088e-02 9.99904840e-01 -6.39379304e-04 -1.21577667e+01] [-1.36471522e-02 4.51297941e-04 9.99906771e-01 -6.20747747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74439141799996 meters 0.02396515945266213 Centerline is valid? [True, True] Translation: X:303.52, Y:-12.17, Z:-6.21 [[ 9.99837979e-01 1.18855069e-02 1.35185311e-02 3.03519396e+02] [-1.18780430e-02 9.99929254e-01 -6.32281194e-04 -1.21655032e+01] [-1.35250897e-02 4.71605056e-04 9.99908421e-01 -6.20903184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80439141799997 meters 0.022638220255590133 Centerline is valid? [True, True] Translation: X:303.58, Y:-12.17, Z:-6.21 [[ 9.99820559e-01 1.33518436e-02 1.34379651e-02 3.03581988e+02] [-1.33445436e-02 9.99910757e-01 -6.32765170e-04 -1.21686696e+01] [-1.34452144e-02 4.53328116e-04 9.99909506e-01 -6.21022577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86439141799997 meters 0.0196912190734175 Centerline is valid? [True, True] Translation: X:303.64, Y:-12.17, Z:-6.21 [[ 9.99720338e-01 1.90530714e-02 1.40080751e-02 3.03643680e+02] [-1.90456575e-02 9.99818396e-01 -6.62480855e-04 -1.21687772e+01] [-1.40181535e-02 3.95502583e-04 9.99901663e-01 -6.21112718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92439141799997 meters 0.017916102275575038 Centerline is valid? [True, True] Translation: X:303.71, Y:-12.17, Z:-6.21 [[ 9.99607575e-01 2.40819765e-02 1.43092175e-02 3.03705408e+02] [-2.40747448e-02 9.99709932e-01 -6.77455435e-04 -1.21689169e+01] [-1.43213813e-02 3.32698825e-04 9.99897388e-01 -6.21238375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984391418 meters 0.015642306743439107 Centerline is valid? [True, True] Translation: X:303.77, Y:-12.17, Z:-6.21 [[ 9.99434208e-01 3.10708862e-02 1.28788277e-02 3.03767011e+02] [-3.10655904e-02 9.99517161e-01 -6.11097870e-04 -1.21674457e+01] [-1.28915966e-02 2.10663729e-04 9.99916878e-01 -6.21491806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044391418 meters 0.014702246431758562 Centerline is valid? [True, True] Translation: X:303.83, Y:-12.17, Z:-6.22 [[ 9.99295930e-01 3.55736890e-02 1.19229758e-02 3.03826610e+02] [-3.55694595e-02 9.99367046e-01 -5.66673539e-04 -1.21679937e+01] [-1.19355878e-02 1.42180756e-04 9.99928758e-01 -6.21730754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104391418 meters 0.013624959622032069 Centerline is valid? [True, True] Translation: X:303.89, Y:-12.17, Z:-6.22 [[ 9.99235725e-01 3.70736739e-02 1.23898785e-02 3.03885204e+02] [-3.70692187e-02 9.99312527e-01 -5.89122279e-04 -1.21687832e+01] [-1.24032017e-02 1.29388911e-04 9.99923069e-01 -6.21607833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164391418 meters 0.013521749922625038 Centerline is valid? [True, True] Translation: X:303.94, Y:-12.17, Z:-6.22 [[ 9.99207900e-01 3.73642716e-02 1.36924964e-02 3.03943779e+02] [-3.73588755e-02 9.99301702e-01 -6.49744912e-04 -1.21733122e+01] [-1.37072122e-02 1.37693982e-04 9.99906042e-01 -6.21557197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224391418 meters 0.014299138064545107 Centerline is valid? [True, True] Translation: X:304.00, Y:-12.18, Z:-6.22 [[ 9.99229576e-01 3.68232761e-02 1.35757478e-02 3.04002765e+02] [-3.68179425e-02 9.99321783e-01 -6.42680576e-04 -1.21793515e+01] [-1.35902061e-02 1.42354339e-04 9.99907639e-01 -6.21813875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284391418 meters 0.015419757289328729 Centerline is valid? [True, True] Translation: X:304.06, Y:-12.19, Z:-6.22 [[ 9.99344010e-01 3.39037273e-02 1.27313615e-02 3.04061806e+02] [-3.38988028e-02 9.99425089e-01 -6.02460931e-04 -1.21868956e+01] [-1.27444677e-02 1.70487811e-04 9.99918771e-01 -6.22046280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344391418 meters 0.015864606760260948 Centerline is valid? [True, True] Translation: X:304.12, Y:-12.19, Z:-6.22 [[ 9.99410977e-01 3.20527025e-02 1.22606348e-02 3.04121395e+02] [-3.20479970e-02 9.99486163e-01 -5.80124431e-04 -1.21928666e+01] [-1.22729294e-02 1.86853937e-04 9.99924667e-01 -6.22194020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404391418 meters 0.01581920043001446 Centerline is valid? [True, True] Translation: X:304.18, Y:-12.20, Z:-6.22 [[ 9.99436237e-01 3.14168233e-02 1.18402590e-02 3.04179959e+02] [-3.14123939e-02 9.99506352e-01 -5.59925341e-04 -1.21977600e+01] [-1.18520052e-02 1.87678795e-04 9.99929745e-01 -6.22172210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464391418 meters 0.014565641848352183 Centerline is valid? [True, True] Translation: X:304.24, Y:-12.20, Z:-6.22 [[ 9.99280217e-01 3.60696968e-02 1.17484322e-02 3.04239881e+02] [-3.60656706e-02 9.99349268e-01 -5.54449318e-04 -1.21978899e+01] [-1.17607859e-02 1.30335150e-04 9.99930831e-01 -6.22193514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52439141799994 meters 0.013449108735967495 Centerline is valid? [True, True] Translation: X:304.30, Y:-12.20, Z:-6.22 [[ 9.99080031e-01 4.14725394e-02 1.09142631e-02 3.04299277e+02] [-4.14693847e-02 9.99139642e-01 -5.15294619e-04 -1.21970001e+01] [-1.09262435e-02 6.22127896e-05 9.99940305e-01 -6.22407489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58439141799994 meters 0.013431268960442708 Centerline is valid? [True, True] Translation: X:304.36, Y:-12.19, Z:-6.23 [[ 9.98727077e-01 4.95469314e-02 9.45126749e-03 3.04357278e+02] [-4.95449266e-02 9.98771796e-01 -4.46282480e-04 -1.21938709e+01] [-9.46177134e-03 -2.25479571e-05 9.99955236e-01 -6.22695657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64439141799994 meters 0.013887838470411206 Centerline is valid? [True, True] Translation: X:304.42, Y:-12.19, Z:-6.23 [[ 9.98538387e-01 5.34430689e-02 8.05773438e-03 3.04415846e+02] [-5.34417449e-02 9.98570897e-01 -3.79696133e-04 -1.21942113e+01] [-8.06651117e-03 -5.14782208e-05 9.99967464e-01 -6.22754821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70439141799994 meters 0.014634279487698612 Centerline is valid? [True, True] Translation: X:304.47, Y:-12.20, Z:-6.23 [[ 9.98440148e-01 5.54270572e-02 6.71658912e-03 3.04474204e+02] [-5.54261842e-02 9.98462737e-01 -3.16191552e-04 -1.21969800e+01] [-6.72378953e-03 -5.65765659e-05 9.99977393e-01 -6.22858448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76439141799995 meters 0.01399492240178218 Centerline is valid? [True, True] Translation: X:304.53, Y:-12.21, Z:-6.23 [[ 9.98606179e-01 5.23622330e-02 6.62539744e-03 3.04532951e+02] [-5.23613198e-02 9.98628157e-01 -3.11342821e-04 -1.22056784e+01] [-6.63261104e-03 -3.60056891e-05 9.99978003e-01 -6.22794912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82439141799995 meters 0.01333691589739957 Centerline is valid? [True, True] Translation: X:304.59, Y:-12.21, Z:-6.23 [[ 9.98845464e-01 4.75130700e-02 7.08855114e-03 3.04591744e+02] [-4.75119081e-02 9.98870616e-01 -3.32322717e-04 -1.22146153e+01] [-7.09633512e-03 -4.85155177e-06 9.99974821e-01 -6.22842604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88439141799995 meters 0.014271175386779487 Centerline is valid? [True, True] Translation: X:304.65, Y:-12.23, Z:-6.23 [[ 9.99261169e-01 3.77135805e-02 7.40278031e-03 3.04648499e+02] [-3.77120479e-02 9.99288588e-01 -3.46560600e-04 -1.22303590e+01] [-7.41058392e-03 6.71305445e-05 9.99972539e-01 -6.22982744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94439141799995 meters 0.018243542973940843 Centerline is valid? [True, True] Translation: X:304.71, Y:-12.25, Z:-6.23 [[ 9.99618013e-01 2.67185575e-02 7.06733872e-03 3.04707398e+02] [-2.67168970e-02 9.99642986e-01 -3.29283231e-04 -1.22464743e+01] [-7.07361356e-03 1.40340089e-04 9.99974972e-01 -6.23110134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00439141799995 meters 0.02063090076006908 Centerline is valid? [True, True] Translation: X:304.77, Y:-12.25, Z:-6.23 [[ 9.99703289e-01 2.32881736e-02 7.14105060e-03 3.04766012e+02] [-2.32864029e-02 9.99728780e-01 -3.31014520e-04 -1.22545609e+01] [-7.14682253e-03 1.64626923e-04 9.99974448e-01 -6.23287016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06439141799996 meters 0.02375726789291649 Centerline is valid? [True, True] Translation: X:304.83, Y:-12.26, Z:-6.23 [[ 9.99836178e-01 1.65687839e-02 7.28642522e-03 3.04826264e+02] [-1.65667529e-02 9.99862704e-01 -3.39009580e-04 -1.22648186e+01] [-7.29104180e-03 2.18241637e-04 9.99973396e-01 -6.23346195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12439141799996 meters 0.026297850896413306 Centerline is valid? [True, True] Translation: X:304.89, Y:-12.27, Z:-6.23 [[ 9.99926243e-01 9.22814832e-03 7.89614474e-03 3.04887385e+02] [-9.22553897e-03 9.99957377e-01 -3.66819378e-04 -1.22741355e+01] [-7.89919324e-03 2.93946132e-04 9.99968758e-01 -6.23351485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18439141799996 meters 0.027004225377074143 Centerline is valid? [True, True] Translation: X:304.95, Y:-12.28, Z:-6.23 [[ 9.99931213e-01 8.39828205e-03 8.18772680e-03 3.04949645e+02] [-8.39547208e-03 9.99964686e-01 -3.77503876e-04 -1.22779493e+01] [-8.19060804e-03 3.08738076e-04 9.99966409e-01 -6.23457375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24439141799996 meters 0.026427843505039232 Centerline is valid? [True, True] Translation: X:305.01, Y:-12.28, Z:-6.24 [[ 9.99901700e-01 1.12414306e-02 8.37973072e-03 3.05012200e+02] [-1.12385635e-02 9.99936770e-01 -3.89162678e-04 -1.22787735e+01] [-8.38357562e-03 2.94948288e-04 9.99964814e-01 -6.23612672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30439141799997 meters 0.020224915862657563 Centerline is valid? [True, True] Translation: X:305.07, Y:-12.27, Z:-6.24 [[ 9.99786248e-01 1.89266696e-02 8.32101172e-03 3.05073834e+02] [-1.89240594e-02 9.99820847e-01 -3.92317520e-04 -1.22702595e+01] [-8.32694625e-03 2.34766342e-04 9.99965303e-01 -6.23599591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36439141799997 meters 0.0162084240466978 Centerline is valid? [True, True] Translation: X:305.14, Y:-12.26, Z:-6.24 [[ 9.99567220e-01 2.81337535e-02 8.59445343e-03 3.05135436e+02] [-2.81313064e-02 9.99604154e-01 -4.05507803e-04 -1.22625926e+01] [-8.60245981e-03 1.63559104e-04 9.99962985e-01 -6.23642395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42439141799997 meters 0.015369261907048798 Centerline is valid? [True, True] Translation: X:305.19, Y:-12.26, Z:-6.24 [[ 9.99329730e-01 3.56827236e-02 8.17519626e-03 3.05194108e+02] [-3.56807554e-02 9.99363164e-01 -3.86515285e-04 -1.22597170e+01] [-8.18378192e-03 9.45590371e-05 9.99966508e-01 -6.24057680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484391418 meters 0.014578011699459102 Centerline is valid? [True, True] Translation: X:305.25, Y:-12.26, Z:-6.24 [[ 9.99229838e-01 3.82925515e-02 8.56806900e-03 3.05253158e+02] [-3.82904849e-02 9.99266568e-01 -4.05161514e-04 -1.22585800e+01] [-8.57729958e-03 7.67739566e-05 9.99963211e-01 -6.24212955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544391418 meters 0.015434121433016626 Centerline is valid? [True, True] Translation: X:305.31, Y:-12.26, Z:-6.24 [[ 9.99165143e-01 3.99237531e-02 8.66663007e-03 3.05311921e+02] [-3.99217060e-02 9.99202727e-01 -4.09145074e-04 -1.22579974e+01] [-8.67605501e-03 6.28168394e-05 9.99962360e-01 -6.24186397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604391418 meters 0.01444093989741015 Centerline is valid? [True, True] Translation: X:305.37, Y:-12.26, Z:-6.24 [[ 9.99206804e-01 3.84933592e-02 1.01992046e-02 3.05370136e+02] [-3.84904599e-02 9.99258852e-01 -4.80482623e-04 -1.22605701e+01] [-1.02101409e-02 8.75294309e-05 9.99947871e-01 -6.24301989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664391418 meters 0.015666881659437908 Centerline is valid? [True, True] Translation: X:305.43, Y:-12.27, Z:-6.24 [[ 9.99357803e-01 3.38926621e-02 1.16305052e-02 3.05429095e+02] [-3.38886033e-02 9.99425467e-01 -5.45937526e-04 -1.22664899e+01] [-1.16423263e-02 1.51445351e-04 9.99932214e-01 -6.24242335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724391418 meters 0.01756911223749236 Centerline is valid? [True, True] Translation: X:305.49, Y:-12.27, Z:-6.24 [[ 9.99486296e-01 2.96167943e-02 1.22470119e-02 3.05489365e+02] [-2.96119892e-02 9.99561304e-01 -5.73542360e-04 -1.22716123e+01] [-1.22586257e-02 2.10589345e-04 9.99924838e-01 -6.24240609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784391418 meters 0.021761047859521324 Centerline is valid? [True, True] Translation: X:305.55, Y:-12.28, Z:-6.24 [[ 9.99695858e-01 2.04993420e-02 1.37101647e-02 3.05548683e+02] [-2.04924721e-02 9.99789802e-01 -6.41385749e-04 -1.22824783e+01] [-1.37204309e-02 3.60235508e-04 9.99905806e-01 -6.24364565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844391418 meters 0.02706293620252962 Centerline is valid? [True, True] Translation: X:305.61, Y:-12.29, Z:-6.25 [[ 9.99822191e-01 1.22003478e-02 1.43783872e-02 3.05608865e+02] [-1.21919056e-02 9.99925448e-01 -6.74657455e-04 -1.22926719e+01] [-1.43855464e-02 4.99237555e-04 9.99896398e-01 -6.24513895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904391418 meters 0.027754509363443817 Centerline is valid? [True, True] Translation: X:305.67, Y:-12.30, Z:-6.25 [[ 9.99862359e-01 7.02159860e-03 1.50319679e-02 3.05669949e+02] [-7.01178208e-03 9.99975168e-01 -7.05647419e-04 -1.22957973e+01] [-1.50365494e-02 6.00149410e-04 9.99886765e-01 -6.24547876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964391418 meters 0.026026604071470515 Centerline is valid? [True, True] Translation: X:305.73, Y:-12.29, Z:-6.25 [[ 9.99882878e-01 2.84318555e-03 1.50381811e-02 3.05731574e+02] [-2.83288615e-03 9.99995738e-01 -7.06141445e-04 -1.22948030e+01] [-1.50401247e-02 6.63457285e-04 9.99886671e-01 -6.24566150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02439141799994 meters 0.03538606387324795 Centerline is valid? [True, True] Translation: X:305.79, Y:-12.31, Z:-6.25 [[ 9.99882502e-01 -6.07302512e-04 1.53171267e-02 3.05791516e+02] [ 6.18401265e-04 9.99999550e-01 -7.19871646e-04 -1.23050108e+01] [-1.53166826e-02 7.29259192e-04 9.99882427e-01 -6.24758421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08439141799994 meters 0.02860829124096667 Centerline is valid? [True, True] Translation: X:305.85, Y:-12.29, Z:-6.25 [[ 9.99869649e-01 -7.39654783e-04 1.61287868e-02 3.05854480e+02] [ 7.51992453e-04 9.99999429e-01 -7.58895893e-04 -1.22931580e+01] [-1.61282163e-02 7.70925696e-04 9.99869635e-01 -6.24777767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14439141799994 meters 0.02838700374244217 Centerline is valid? [True, True] Translation: X:305.92, Y:-12.29, Z:-6.25 [[ 9.99878279e-01 6.62988819e-04 1.55880386e-02 3.05917070e+02] [-6.51615226e-04 9.99999518e-01 -7.34703623e-04 -1.22878405e+01] [-1.55885182e-02 7.24456791e-04 9.99878229e-01 -6.24933403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20439141799994 meters 0.028909375912268782 Centerline is valid? [True, True] Translation: X:305.98, Y:-12.29, Z:-6.25 [[ 9.99884480e-01 1.58797393e-03 1.51163840e-02 3.05979667e+02] [-1.57736549e-03 9.99998501e-01 -7.13681201e-04 -1.22853917e+01] [-1.51174947e-02 6.89754694e-04 9.99885486e-01 -6.25078247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26439141799995 meters 0.02919959245359924 Centerline is valid? [True, True] Translation: X:306.04, Y:-12.28, Z:-6.25 [[ 9.99880232e-01 2.69709306e-03 1.52396500e-02 3.06041837e+02] [-2.68642022e-03 9.99996132e-01 -7.20761423e-04 -1.22796132e+01] [-1.52415350e-02 6.79734995e-04 9.99883610e-01 -6.25036640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32439141799995 meters 0.030028528643781815 Centerline is valid? [True, True] Translation: X:306.10, Y:-12.27, Z:-6.25 [[ 9.99899949e-01 4.25393322e-03 1.34905870e-02 3.06103630e+02] [-4.24571588e-03 9.99990784e-01 -6.37697750e-04 -1.22749765e+01] [-1.34931754e-02 5.80356748e-04 9.99908795e-01 -6.25133980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38439141799995 meters 0.030862648378049876 Centerline is valid? [True, True] Translation: X:306.17, Y:-12.27, Z:-6.25 [[ 9.99918997e-01 6.05367780e-03 1.11960489e-02 3.06165927e+02] [-6.04811042e-03 9.99981569e-01 -5.31055094e-04 -1.22708232e+01] [-1.11990574e-02 4.63297137e-04 9.99937181e-01 -6.25378078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44439141799995 meters 0.024745289358808358 Centerline is valid? [True, True] Translation: X:306.23, Y:-12.26, Z:-6.25 [[ 9.99925715e-01 8.15908425e-03 9.05508764e-03 3.06229161e+02] [-8.15551842e-03 9.99966650e-01 -4.30648605e-04 -1.22580231e+01] [-9.05829936e-03 3.56767680e-04 9.99958909e-01 -6.25336098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50439141799995 meters 0.023739304050680136 Centerline is valid? [True, True] Translation: X:306.29, Y:-12.25, Z:-6.25 [[ 9.99901733e-01 1.14029156e-02 8.15456366e-03 3.06291503e+02] [-1.14001166e-02 9.99934941e-01 -3.89647882e-04 -1.22533074e+01] [-8.15847625e-03 2.96646616e-04 9.99966675e-01 -6.25412394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56439141799996 meters 0.02081809046926162 Centerline is valid? [True, True] Translation: X:306.35, Y:-12.24, Z:-6.25 [[ 9.99798304e-01 1.81790603e-02 8.53655813e-03 3.06353395e+02] [-1.81761887e-02 9.99834714e-01 -4.13855305e-04 -1.22414434e+01] [-8.54267066e-03 2.58609741e-04 9.99963477e-01 -6.25309857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62439141799996 meters 0.01670283496326334 Centerline is valid? [True, True] Translation: X:306.41, Y:-12.23, Z:-6.25 [[ 9.99597243e-01 2.68410544e-02 9.21467277e-03 3.06414361e+02] [-2.68380698e-02 9.99639694e-01 -4.47417951e-04 -1.22284654e+01] [-9.22336184e-03 1.99933719e-04 9.99957444e-01 -6.25264923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68439141799996 meters 0.014743208041435594 Centerline is valid? [True, True] Translation: X:306.47, Y:-12.22, Z:-6.25 [[ 9.99348921e-01 3.48742362e-02 9.24784856e-03 3.06473737e+02] [-3.48715734e-02 9.99391701e-01 -4.49067918e-04 -1.22183295e+01] [-9.25788400e-03 1.26288509e-04 9.99957137e-01 -6.25381751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74439141799996 meters 0.014129617266822731 Centerline is valid? [True, True] Translation: X:306.53, Y:-12.21, Z:-6.26 [[ 9.99197744e-01 3.91239076e-02 8.55503645e-03 3.06532370e+02] [-3.91217832e-02 9.99234364e-01 -4.15591734e-04 -1.22131844e+01] [-8.56474598e-03 8.05700419e-05 9.99963319e-01 -6.25566576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80439141799997 meters 0.013480927844001943 Centerline is valid? [True, True] Translation: X:306.59, Y:-12.21, Z:-6.26 [[ 9.99033251e-01 4.31892321e-02 8.20078334e-03 3.06591451e+02] [-4.31874215e-02 9.99066909e-01 -3.97827759e-04 -1.22054740e+01] [-8.21031314e-03 4.32724733e-05 9.99966294e-01 -6.25626479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86439141799997 meters 0.013413859897191786 Centerline is valid? [True, True] Translation: X:306.65, Y:-12.20, Z:-6.26 [[ 9.98985532e-01 4.43985486e-02 7.52832277e-03 3.06650360e+02] [-4.43970607e-02 9.99013898e-01 -3.64722195e-04 -1.22036933e+01] [-7.53709221e-03 3.01167935e-05 9.99971595e-01 -6.25750592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92439141799997 meters 0.013352156795755049 Centerline is valid? [True, True] Translation: X:306.71, Y:-12.20, Z:-6.26 [[ 9.98984557e-01 4.43358179e-02 8.01187069e-03 3.06709305e+02] [-4.43341369e-02 9.99016684e-01 -3.87381863e-04 -1.22039607e+01] [-8.02116738e-03 3.17891275e-05 9.99967829e-01 -6.25887405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984391418 meters 0.01345586298482681 Centerline is valid? [True, True] Translation: X:306.77, Y:-12.21, Z:-6.26 [[ 9.99029603e-01 4.31800159e-02 8.67973940e-03 3.06767059e+02] [-4.31780026e-02 9.99067307e-01 -4.19296509e-04 -1.22051683e+01] [-8.68974910e-03 4.41158146e-05 9.99962242e-01 -6.25959051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044391418 meters 0.01374778669982495 Centerline is valid? [True, True] Translation: X:306.82, Y:-12.21, Z:-6.26 [[ 9.99106688e-01 4.11157216e-02 9.76334381e-03 3.06824077e+02] [-4.11130881e-02 9.99154389e-01 -4.70364427e-04 -1.22080219e+01] [-9.77442719e-03 6.85430302e-05 9.99952227e-01 -6.26047316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104391418 meters 0.014117381423889724 Centerline is valid? [True, True] Translation: X:306.88, Y:-12.21, Z:-6.26 [[ 9.99174166e-01 3.92925878e-02 1.03478505e-02 3.06882945e+02] [-3.92895545e-02 9.99227744e-01 -4.96336685e-04 -1.22117868e+01] [-1.03593617e-02 8.93643562e-05 9.99946336e-01 -6.26163602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164391418 meters 0.014822095175561335 Centerline is valid? [True, True] Translation: X:306.94, Y:-12.22, Z:-6.26 [[ 9.99272376e-01 3.66970144e-02 1.03946440e-02 3.06941581e+02] [-3.66938217e-02 9.99326431e-01 -4.97760110e-04 -1.22172306e+01] [-1.04059088e-02 1.15978715e-04 9.99945850e-01 -6.26311261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224391418 meters 0.014874284477675762 Centerline is valid? [True, True] Translation: X:307.00, Y:-12.22, Z:-6.26 [[ 9.99344309e-01 3.45351009e-02 1.08756329e-02 3.07000037e+02] [-3.45314872e-02 9.99403475e-01 -5.19939107e-04 -1.22210354e+01] [-1.08871014e-02 1.44046410e-04 9.99940723e-01 -6.26345334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284391418 meters 0.01619579880237065 Centerline is valid? [True, True] Translation: X:307.06, Y:-12.23, Z:-6.27 [[ 9.99357569e-01 3.39943240e-02 1.13505873e-02 3.07057794e+02] [-3.39903621e-02 9.99422014e-01 -5.41828478e-04 -1.22267363e+01] [-1.13624459e-02 1.55669819e-04 9.99935433e-01 -6.26608660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344391418 meters 0.014578168670847323 Centerline is valid? [True, True] Translation: X:307.12, Y:-12.23, Z:-6.27 [[ 9.99258149e-01 3.67350260e-02 1.15623829e-02 3.07116419e+02] [-3.67311139e-02 9.99325033e-01 -5.50595815e-04 -1.22263481e+01] [-1.15748048e-02 1.25488151e-04 9.99933002e-01 -6.26551588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404391418 meters 0.013667058023292218 Centerline is valid? [True, True] Translation: X:307.18, Y:-12.23, Z:-6.27 [[ 9.98981157e-01 4.34966779e-02 1.20286284e-02 3.07175202e+02] [-4.34929465e-02 9.99053570e-01 -5.71748211e-04 -1.22251645e+01] [-1.20421133e-02 4.80051980e-05 9.99927490e-01 -6.26650398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464391418 meters 0.013789962917235138 Centerline is valid? [True, True] Translation: X:307.23, Y:-12.22, Z:-6.27 [[ 9.98707558e-01 4.92988769e-02 1.23625920e-02 3.07232954e+02] [-4.92953878e-02 9.98784071e-01 -5.86978059e-04 -1.22245629e+01] [-1.23764973e-02 -2.31993425e-05 9.99923408e-01 -6.26823985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52439141799994 meters 0.01497525341306089 Centerline is valid? [True, True] Translation: X:307.29, Y:-12.22, Z:-6.27 [[ 9.98280129e-01 5.74100607e-02 1.18687889e-02 3.07291802e+02] [-5.74074409e-02 9.98350675e-01 -5.61589942e-04 -1.22249602e+01] [-1.18814543e-02 -1.20732718e-04 9.99929406e-01 -6.26892362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58439141799994 meters 0.015632491632394874 Centerline is valid? [True, True] Translation: X:307.35, Y:-12.23, Z:-6.27 [[ 9.98114564e-01 6.01572731e-02 1.21827893e-02 3.07350562e+02] [-6.01547297e-02 9.98188899e-01 -5.75431301e-04 -1.22285584e+01] [-1.21953414e-02 -1.58506034e-04 9.99925621e-01 -6.26989446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64439141799994 meters 0.015734621618984666 Centerline is valid? [True, True] Translation: X:307.41, Y:-12.24, Z:-6.27 [[ 9.98178268e-01 5.90078548e-02 1.25785237e-02 3.07407744e+02] [-5.90050640e-02 9.98257507e-01 -5.93191295e-04 -1.22377520e+01] [-1.25916086e-02 -1.50085935e-04 9.99920711e-01 -6.27189948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70439141799994 meters 0.01463108253191382 Centerline is valid? [True, True] Translation: X:307.47, Y:-12.25, Z:-6.27 [[ 9.98582833e-01 5.17480854e-02 1.24282547e-02 3.07465732e+02] [-5.17448157e-02 9.98660169e-01 -5.84712106e-04 -1.22537878e+01] [-1.24418607e-02 -5.92142802e-05 9.99922595e-01 -6.27482581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76439141799995 meters 0.014362633850913995 Centerline is valid? [True, True] Translation: X:307.52, Y:-12.27, Z:-6.28 [[ 9.98949699e-01 4.41507358e-02 1.22561154e-02 3.07524379e+02] [-4.41469958e-02 9.99024880e-01 -5.75668975e-04 -1.22677226e+01] [-1.22695805e-02 3.39936728e-05 9.99924725e-01 -6.27650395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82439141799995 meters 0.016829925571118443 Centerline is valid? [True, True] Translation: X:307.58, Y:-12.29, Z:-6.28 [[ 9.99452639e-01 3.06353196e-02 1.24859561e-02 3.07583119e+02] [-3.06303993e-02 9.99530608e-01 -5.85152519e-04 -1.22883452e+01] [-1.24980216e-02 2.02382409e-04 9.99921876e-01 -6.27714627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88439141799995 meters 0.023798549677843308 Centerline is valid? [True, True] Translation: X:307.64, Y:-12.31, Z:-6.28 [[ 9.99805229e-01 1.53758032e-02 1.23729358e-02 3.07641315e+02] [-1.53698116e-02 9.99881710e-01 -5.79194987e-04 -1.23120544e+01] [-1.23803778e-02 3.88912483e-04 9.99923285e-01 -6.27940255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94439141799995 meters 0.02976989486411141 Centerline is valid? [True, True] Translation: X:307.70, Y:-12.33, Z:-6.28 [[ 9.99908683e-01 4.87114849e-03 1.26054706e-02 3.07702091e+02] [-4.86410354e-03 9.99987996e-01 -5.89478018e-04 -1.23281122e+01] [-1.26081908e-02 5.28109874e-04 9.99920374e-01 -6.28065200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00439141799995 meters 0.03508229230377803 Centerline is valid? [True, True] Translation: X:307.76, Y:-12.34, Z:-6.28 [[ 9.99885098e-01 -8.05215194e-03 1.28434097e-02 3.07762401e+02] [ 8.06053600e-03 9.99967333e-01 -6.01158875e-04 -1.23434675e+01] [-1.28381495e-02 7.04614567e-04 9.99917339e-01 -6.28185172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06439141799996 meters 0.04091647315842409 Centerline is valid? [True, True] Translation: X:307.82, Y:-12.36, Z:-6.28 [[ 9.99807213e-01 -1.47575231e-02 1.29519232e-02 3.07821240e+02] [ 1.47666133e-02 9.99890784e-01 -6.06487112e-04 -1.23569297e+01] [-1.29415583e-02 7.97626230e-04 9.99915936e-01 -6.28433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12439141799996 meters 0.04227135134879649 Centerline is valid? [True, True] Translation: X:307.88, Y:-12.36, Z:-6.29 [[ 9.99791429e-01 -1.56978082e-02 1.30643752e-02 3.07883292e+02] [ 1.57071249e-02 9.99876449e-01 -6.10832184e-04 -1.23622421e+01] [-1.30531723e-02 8.15908555e-04 9.99914471e-01 -6.28601176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18439141799996 meters 0.04206453895618633 Centerline is valid? [True, True] Translation: X:307.95, Y:-12.36, Z:-6.29 [[ 9.99818108e-01 -1.35902074e-02 1.33812034e-02 3.07945255e+02] [ 1.35998099e-02 9.99907322e-01 -6.26874097e-04 -1.23638963e+01] [-1.33714439e-02 8.08741896e-04 9.99910271e-01 -6.28768366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24439141799996 meters 0.03635589914364398 Centerline is valid? [True, True] Translation: X:308.01, Y:-12.36, Z:-6.29 [[ 9.99872937e-01 -1.03967901e-02 1.20837687e-02 3.08006713e+02] [ 1.04043970e-02 9.99945712e-01 -5.66821729e-04 -1.23579839e+01] [-1.20772196e-02 6.92474034e-04 9.99926828e-01 -6.28970387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30439141799997 meters 0.03187785228077853 Centerline is valid? [True, True] Translation: X:308.07, Y:-12.35, Z:-6.29 [[ 9.99930738e-01 -4.11583075e-03 1.10263086e-02 3.08068078e+02] [ 4.12179234e-03 9.99991371e-01 -5.17999749e-04 -1.23514263e+01] [-1.10240814e-02 5.63412026e-04 9.99939074e-01 -6.29211558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36439141799997 meters 0.02826142398459659 Centerline is valid? [True, True] Translation: X:308.13, Y:-12.34, Z:-6.29 [[ 9.99933844e-01 3.67914022e-03 1.08982105e-02 3.08129233e+02] [-3.67377871e-03 9.99993121e-01 -5.11940741e-04 -1.23432730e+01] [-1.09000191e-02 4.71869259e-04 9.99940482e-01 -6.29273576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42439141799997 meters 0.024024139916372443 Centerline is valid? [True, True] Translation: X:308.19, Y:-12.34, Z:-6.29 [[ 9.99873015e-01 1.06231808e-02 1.18786499e-02 3.08189844e+02] [-1.06172994e-02 9.99943479e-01 -5.58073238e-04 -1.23360569e+01] [-1.18839070e-02 4.31883188e-04 9.99929291e-01 -6.29327107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484391418 meters 0.01893363382272405 Centerline is valid? [True, True] Translation: X:308.25, Y:-12.32, Z:-6.29 [[ 9.99662606e-01 2.25908287e-02 1.28190562e-02 3.08250613e+02] [-2.25849653e-02 9.99744746e-01 -6.02000733e-04 -1.23245028e+01] [-1.28293838e-02 3.12279682e-04 9.99917651e-01 -6.29385235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544391418 meters 0.014516056533739614 Centerline is valid? [True, True] Translation: X:308.31, Y:-12.31, Z:-6.29 [[ 9.99244877e-01 3.61080773e-02 1.43485964e-02 3.08311414e+02] [-3.61021173e-02 9.99347879e-01 -6.74255583e-04 -1.23126195e+01] [-1.43635854e-02 1.55731728e-04 9.99896826e-01 -6.29447559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604391418 meters 0.013247568251209055 Centerline is valid? [True, True] Translation: X:308.37, Y:-12.31, Z:-6.30 [[ 9.98924437e-01 4.38672861e-02 1.50210306e-02 3.08371024e+02] [-4.38616361e-02 9.99037366e-01 -7.05533962e-04 -1.23067287e+01] [-1.50375207e-02 4.59281391e-05 9.99886929e-01 -6.29588540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664391418 meters 0.013547344126536298 Centerline is valid? [True, True] Translation: X:308.43, Y:-12.30, Z:-6.30 [[ 9.98521656e-01 5.20924347e-02 1.55203575e-02 3.08429258e+02] [-5.20874272e-02 9.98642264e-01 -7.26968301e-04 -1.23005392e+01] [-1.55371545e-02 -8.25219011e-05 9.99879288e-01 -6.29789293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724391418 meters 0.013986322467460748 Centerline is valid? [True, True] Translation: X:308.49, Y:-12.30, Z:-6.30 [[ 9.98410930e-01 5.40690362e-02 1.58793550e-02 3.08486773e+02] [-5.40640681e-02 9.98537193e-01 -7.42296284e-04 -1.23006094e+01] [-1.58962618e-02 -1.17385804e-04 9.99873640e-01 -6.29979391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784391418 meters 0.013348124037971107 Centerline is valid? [True, True] Translation: X:308.55, Y:-12.31, Z:-6.30 [[ 9.98535022e-01 5.16165616e-02 1.62339408e-02 3.08545050e+02] [-5.16110798e-02 9.98666973e-01 -7.56722702e-04 -1.23057481e+01] [-1.62513600e-02 -8.22370967e-05 9.99867935e-01 -6.30100790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844391418 meters 0.012901923524200625 Centerline is valid? [True, True] Translation: X:308.60, Y:-12.31, Z:-6.30 [[ 9.98774781e-01 4.65416463e-02 1.68170389e-02 3.08603384e+02] [-4.65350670e-02 9.98916350e-01 -7.82549676e-04 -1.23136779e+01] [-1.68352363e-02 -9.91152433e-07 9.99858277e-01 -6.30236839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904391418 meters 0.01352062452686578 Centerline is valid? [True, True] Translation: X:308.66, Y:-12.32, Z:-6.30 [[ 9.99053771e-01 3.96358771e-02 1.79041992e-02 3.08662242e+02] [-3.96273375e-02 9.99214183e-01 -8.31625435e-04 -1.23236996e+01] [-1.79230919e-02 1.21342784e-04 9.99839361e-01 -6.30352383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964391418 meters 0.01618729615364343 Centerline is valid? [True, True] Translation: X:308.72, Y:-12.34, Z:-6.30 [[ 9.99356515e-01 3.05942665e-02 1.87228733e-02 3.08721479e+02] [-3.05833712e-02 9.99531842e-01 -8.68047727e-04 -1.23372230e+01] [-1.87406653e-02 2.94880569e-04 9.99824335e-01 -6.30439441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02439141799994 meters 0.017471602351731806 Centerline is valid? [True, True] Translation: X:308.78, Y:-12.35, Z:-6.31 [[ 9.99482643e-01 2.63402966e-02 1.84563180e-02 3.08781659e+02] [-2.63289987e-02 9.99652966e-01 -8.54909474e-04 -1.23458011e+01] [-1.84724316e-02 3.68530807e-04 9.99829302e-01 -6.30648749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08439141799994 meters 0.01796611062737019 Centerline is valid? [True, True] Translation: X:308.84, Y:-12.35, Z:-6.31 [[ 9.99485859e-01 2.59851936e-02 1.87826201e-02 3.08842742e+02] [-2.59734312e-02 9.99662255e-01 -8.69955678e-04 -1.23516307e+01] [-1.87988823e-02 3.81659308e-04 9.99823213e-01 -6.30799840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14439141799994 meters 0.017259525372086592 Centerline is valid? [True, True] Translation: X:308.91, Y:-12.36, Z:-6.31 [[ 9.99428137e-01 2.71173199e-02 2.02002380e-02 3.08905102e+02] [-2.71039303e-02 9.99632182e-01 -9.36380637e-04 -1.23557146e+01] [-2.02182001e-02 3.88339312e-04 9.99795516e-01 -6.30885004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20439141799994 meters 0.017303791523996553 Centerline is valid? [True, True] Translation: X:308.97, Y:-12.36, Z:-6.31 [[ 9.99422469e-01 2.77308804e-02 1.96399516e-02 3.08966884e+02] [-2.77182378e-02 9.99615356e-01 -9.15696583e-04 -1.23594713e+01] [-1.96577903e-02 3.70782891e-04 9.99806698e-01 -6.31106582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26439141799995 meters 0.01731627002123063 Centerline is valid? [True, True] Translation: X:309.03, Y:-12.36, Z:-6.31 [[ 9.99433159e-01 2.81291232e-02 1.84963026e-02 3.09028532e+02] [-2.81178896e-02 9.99604238e-01 -8.67177837e-04 -1.23634379e+01] [-1.85133754e-02 3.46609292e-04 9.99828553e-01 -6.31322196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32439141799995 meters 0.018131202450588267 Centerline is valid? [True, True] Translation: X:309.09, Y:-12.37, Z:-6.32 [[ 9.99520905e-01 2.58694027e-02 1.69921696e-02 3.09089276e+02] [-2.58595103e-02 9.99665266e-01 -8.01674326e-04 -1.23687338e+01] [-1.70072206e-02 3.61881064e-04 9.99855301e-01 -6.31546562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38439141799995 meters 0.02000656403272874 Centerline is valid? [True, True] Translation: X:309.15, Y:-12.38, Z:-6.32 [[ 9.99680082e-01 1.93393296e-02 1.63010231e-02 3.09149670e+02] [-1.93293468e-02 9.99812874e-01 -7.69748709e-04 -1.23759543e+01] [-1.63128592e-02 4.54414323e-04 9.99866833e-01 -6.31662196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44439141799995 meters 0.022572044851601736 Centerline is valid? [True, True] Translation: X:309.21, Y:-12.38, Z:-6.32 [[ 9.99786910e-01 1.37006473e-02 1.54410671e-02 3.09210664e+02] [-1.36910153e-02 9.99906008e-01 -7.29330405e-04 -1.23834012e+01] [-1.54496080e-02 5.17771106e-04 9.99880514e-01 -6.31805371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50439141799995 meters 0.030471556486175527 Centerline is valid? [True, True] Translation: X:309.27, Y:-12.40, Z:-6.32 [[ 9.99874228e-01 4.94405265e-03 1.50692991e-02 3.09269121e+02] [-4.93387883e-03 9.99987575e-01 -7.12238647e-04 -1.23982502e+01] [-1.50726332e-02 6.37798972e-04 9.99886198e-01 -6.31993064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56439141799996 meters 0.029607947540628052 Centerline is valid? [True, True] Translation: X:309.33, Y:-12.40, Z:-6.32 [[ 9.99895057e-01 -3.60421457e-04 1.44825853e-02 3.09330256e+02] [ 3.70390137e-04 9.99999696e-01 -6.85645470e-04 -1.23999080e+01] [-1.44823338e-02 6.90937723e-04 9.99894887e-01 -6.31993271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62439141799996 meters 0.03612863000247225 Centerline is valid? [True, True] Translation: X:309.39, Y:-12.41, Z:-6.32 [[ 9.99882592e-01 -7.22990124e-03 1.35103703e-02 3.09389369e+02] [ 7.23920864e-03 9.99973592e-01 -6.40129880e-04 -1.24107333e+01] [-1.35053854e-02 7.37859113e-04 9.99908526e-01 -6.32100255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68439141799996 meters 0.03862192939159673 Centerline is valid? [True, True] Translation: X:309.45, Y:-12.42, Z:-6.32 [[ 9.99832598e-01 -1.18201716e-02 1.39664041e-02 3.09449533e+02] [ 1.18305585e-02 9.99929798e-01 -6.61318087e-04 -1.24152185e+01] [-1.39576067e-02 8.26437741e-04 9.99902246e-01 -6.32006241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74439141799996 meters 0.03966107334644998 Centerline is valid? [True, True] Translation: X:309.51, Y:-12.42, Z:-6.32 [[ 9.99786354e-01 -1.43338088e-02 1.48925682e-02 3.09510822e+02] [ 1.43458964e-02 9.99896844e-01 -7.05139591e-04 -1.24162546e+01] [-1.48809246e-02 9.18636183e-04 9.99888851e-01 -6.31862849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80439141799997 meters 0.04108759272836063 Centerline is valid? [True, True] Translation: X:309.57, Y:-12.42, Z:-6.32 [[ 9.99777421e-01 -1.54371366e-02 1.43806363e-02 3.09572618e+02] [ 1.54485254e-02 9.99880432e-01 -6.81201832e-04 -1.24187757e+01] [-1.43684010e-02 9.03209836e-04 9.99896361e-01 -6.31993176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86439141799997 meters 0.043484815842890594 Centerline is valid? [True, True] Translation: X:309.63, Y:-12.42, Z:-6.32 [[ 9.99794072e-01 -1.60436748e-02 1.24263173e-02 3.09633416e+02] [ 1.60522365e-02 9.99870981e-01 -5.89557853e-04 -1.24212019e+01] [-1.24152554e-02 7.88906631e-04 9.99922617e-01 -6.32274710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92439141799997 meters 0.039859209680599576 Centerline is valid? [True, True] Translation: X:309.70, Y:-12.41, Z:-6.32 [[ 9.99845006e-01 -1.40101195e-02 1.06621037e-02 3.09695050e+02] [ 1.40163142e-02 9.99901638e-01 -5.06491548e-04 -1.24149527e+01] [-1.06539589e-02 6.55856440e-04 9.99943030e-01 -6.32438638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984391418 meters 0.038893592423017126 Centerline is valid? [True, True] Translation: X:309.76, Y:-12.41, Z:-6.33 [[ 9.99888000e-01 -1.09939028e-02 1.01548343e-02 3.09756546e+02] [ 1.09993708e-02 9.99939389e-01 -4.82766827e-04 -1.24124620e+01] [-1.01489113e-02 5.94409545e-04 9.99948322e-01 -6.32560700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044391418 meters 0.035537611215346765 Centerline is valid? [True, True] Translation: X:309.82, Y:-12.40, Z:-6.33 [[ 9.99943077e-01 -2.46155398e-03 1.03818689e-02 3.09817804e+02] [ 2.46681742e-03 9.99996835e-01 -4.94209725e-04 -1.24045070e+01] [-1.03806195e-02 5.19791768e-04 9.99945985e-01 -6.32727093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104391418 meters 0.030176156053624403 Centerline is valid? [True, True] Translation: X:309.88, Y:-12.39, Z:-6.33 [[ 9.99889890e-01 9.37184753e-03 1.15055091e-02 3.09878260e+02] [-9.36615953e-03 9.99955986e-01 -5.48156373e-04 -1.23929340e+01] [-1.15101399e-02 4.40333582e-04 9.99933659e-01 -6.32690249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164391418 meters 0.024188586622664845 Centerline is valid? [True, True] Translation: X:309.94, Y:-12.38, Z:-6.33 [[ 9.99755797e-01 1.84240190e-02 1.22024971e-02 3.09939132e+02] [-1.84182965e-02 9.99830200e-01 -5.81184928e-04 -1.23795522e+01] [-1.22111329e-02 3.56293791e-04 9.99925378e-01 -6.32622101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224391418 meters 0.019789998104101945 Centerline is valid? [True, True] Translation: X:310.00, Y:-12.37, Z:-6.33 [[ 9.99462985e-01 3.01782703e-02 1.27676593e-02 3.09999651e+02] [-3.01729609e-02 9.99544507e-01 -6.08312562e-04 -1.23682226e+01] [-1.27802015e-02 2.22747805e-04 9.99918305e-01 -6.32669428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284391418 meters 0.01704851384028793 Centerline is valid? [True, True] Translation: X:310.06, Y:-12.36, Z:-6.33 [[ 9.99153994e-01 3.86228101e-02 1.41270792e-02 3.10059289e+02] [-3.86171490e-02 9.99253853e-01 -6.73397474e-04 -1.23584944e+01] [-1.41425468e-02 1.27280254e-04 9.99899981e-01 -6.32605987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344391418 meters 0.01750476543109524 Centerline is valid? [True, True] Translation: X:310.12, Y:-12.35, Z:-6.33 [[ 9.98958419e-01 4.29669946e-02 1.53595037e-02 3.10118578e+02] [-4.29608477e-02 9.99076490e-01 -7.30078304e-04 -1.23534480e+01] [-1.53766884e-02 6.94605668e-05 9.99881769e-01 -6.32659126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404391418 meters 0.01651984314476314 Centerline is valid? [True, True] Translation: X:310.18, Y:-12.35, Z:-6.33 [[ 9.98953444e-01 4.32674228e-02 1.48306228e-02 3.10177399e+02] [-4.32617423e-02 9.99063525e-01 -7.03776786e-04 -1.23538169e+01] [-1.48471849e-02 6.14416605e-05 9.99889773e-01 -6.32824483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464391418 meters 0.014460800255396667 Centerline is valid? [True, True] Translation: X:310.23, Y:-12.35, Z:-6.33 [[ 9.98985027e-01 4.27106575e-02 1.43078628e-02 3.10234871e+02] [-4.27053273e-02 9.99087481e-01 -6.77993885e-04 -1.23545508e+01] [-1.43237642e-02 6.62837756e-05 9.99897407e-01 -6.32903351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52439141799994 meters 0.016802062557986646 Centerline is valid? [True, True] Translation: X:310.29, Y:-12.36, Z:-6.33 [[ 9.98989697e-01 4.20495096e-02 1.58563717e-02 3.10293452e+02] [-4.20429096e-02 9.99115525e-01 -7.49497051e-04 -1.23572618e+01] [-1.58738631e-02 8.20918305e-05 9.99873999e-01 -6.33037513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58439141799994 meters 0.01464101845828894 Centerline is valid? [True, True] Translation: X:310.35, Y:-12.36, Z:-6.33 [[ 9.99118892e-01 3.88082613e-02 1.59799205e-02 3.10352192e+02] [-3.88011634e-02 9.99246667e-01 -7.54091309e-04 -1.23613103e+01] [-1.59971473e-02 1.33387365e-04 9.99872029e-01 -6.32961784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64439141799994 meters 0.015913600264477898 Centerline is valid? [True, True] Translation: X:310.41, Y:-12.37, Z:-6.33 [[ 9.99332491e-01 3.23839445e-02 1.69072019e-02 3.10410463e+02] [-3.23751046e-02 9.99475472e-01 -7.96366498e-04 -1.23714918e+01] [-1.69241230e-02 2.48462487e-04 9.99856746e-01 -6.33142173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70439141799994 meters 0.016653729060036915 Centerline is valid? [True, True] Translation: X:310.47, Y:-12.38, Z:-6.33 [[ 9.99417314e-01 2.96597251e-02 1.68917950e-02 3.10469455e+02] [-2.96505381e-02 9.99560011e-01 -7.94116534e-04 -1.23777736e+01] [-1.69079161e-02 2.92803004e-04 9.99857008e-01 -6.33317965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76439141799995 meters 0.019728584438234324 Centerline is valid? [True, True] Translation: X:310.53, Y:-12.39, Z:-6.34 [[ 9.99624163e-01 2.13669070e-02 1.71752041e-02 3.10529487e+02] [-2.13561999e-02 9.99771605e-01 -8.06593363e-04 -1.23904391e+01] [-1.71885158e-02 4.39493123e-04 9.99852170e-01 -6.33557096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82439141799995 meters 0.023057738162277054 Centerline is valid? [True, True] Translation: X:310.59, Y:-12.40, Z:-6.34 [[ 9.99772866e-01 1.44386457e-02 1.56761358e-02 3.10589966e+02] [-1.44288768e-02 9.99895627e-01 -7.36095647e-04 -1.24017592e+01] [-1.56851279e-02 5.09739422e-04 9.99876851e-01 -6.33805984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88439141799995 meters 0.02287003070148184 Centerline is valid? [True, True] Translation: X:310.65, Y:-12.41, Z:-6.34 [[ 9.99811806e-01 1.24439717e-02 1.48829042e-02 3.10652011e+02] [-1.24349646e-02 9.99922440e-01 -6.97590400e-04 -1.24058094e+01] [-1.48904307e-02 5.12390730e-04 9.99889000e-01 -6.33972122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94439141799995 meters 0.02349384892268992 Centerline is valid? [True, True] Translation: X:310.71, Y:-12.41, Z:-6.34 [[ 9.99814362e-01 1.25787533e-02 1.45950786e-02 3.10714052e+02] [-1.25700465e-02 9.99920757e-01 -6.88143947e-04 -1.24111127e+01] [-1.46025781e-02 5.04555384e-04 9.99893249e-01 -6.34121808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00439141799995 meters 0.023586842667836356 Centerline is valid? [True, True] Translation: X:310.78, Y:-12.41, Z:-6.34 [[ 9.99804345e-01 1.38050269e-02 1.41666484e-02 3.10776029e+02] [-1.37968853e-02 9.99904592e-01 -6.72279655e-04 -1.24145941e+01] [-1.41745777e-02 4.76692497e-04 9.99899422e-01 -6.34342081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06439141799996 meters 0.02273485707119582 Centerline is valid? [True, True] Translation: X:310.84, Y:-12.42, Z:-6.34 [[ 9.99767330e-01 1.59204018e-02 1.45542429e-02 3.10838435e+02] [-1.59119704e-02 9.99873155e-01 -6.94931914e-04 -1.24164172e+01] [-1.45634604e-02 4.63183542e-04 9.99893840e-01 -6.34477311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12439141799996 meters 0.021355952977412402 Centerline is valid? [True, True] Translation: X:310.90, Y:-12.42, Z:-6.35 [[ 9.99681829e-01 2.03104270e-02 1.49574990e-02 3.10899312e+02] [-2.03019274e-02 9.99793635e-01 -7.19893023e-04 -1.24164486e+01] [-1.49690336e-02 4.15997917e-04 9.99887871e-01 -6.34571483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18439141799996 meters 0.018344297597185085 Centerline is valid? [True, True] Translation: X:310.96, Y:-12.41, Z:-6.35 [[ 9.99533970e-01 2.63395681e-02 1.54295106e-02 3.10960223e+02] [-2.63312282e-02 9.99652997e-01 -7.43450997e-04 -1.24125459e+01] [-1.54437387e-02 3.36826562e-04 9.99880682e-01 -6.34578349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24439141799996 meters 0.016919041495205598 Centerline is valid? [True, True] Translation: X:311.02, Y:-12.41, Z:-6.35 [[ 9.99416785e-01 3.04239680e-02 1.55071483e-02 3.11019071e+02] [-3.04160308e-02 9.99537046e-01 -7.47486951e-04 -1.24127594e+01] [-1.55227107e-02 2.75385105e-04 9.99879478e-01 -6.34737300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30439141799997 meters 0.014756742998686526 Centerline is valid? [True, True] Translation: X:311.08, Y:-12.41, Z:-6.35 [[ 9.99225384e-01 3.66662564e-02 1.42904386e-02 3.11077989e+02] [-3.66601628e-02 9.99327553e-01 -6.88223740e-04 -1.24099884e+01] [-1.43060636e-02 1.63800826e-04 9.99897650e-01 -6.34986160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36439141799997 meters 0.01360620743774624 Centerline is valid? [True, True] Translation: X:311.14, Y:-12.41, Z:-6.35 [[ 9.98977025e-01 4.32188769e-02 1.33053395e-02 3.11137436e+02] [-4.32141901e-02 9.99065626e-01 -6.39689052e-04 -1.24067296e+01] [-1.33205540e-02 6.40551954e-05 9.99911275e-01 -6.35186352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42439141799997 meters 0.013303882133200802 Centerline is valid? [True, True] Translation: X:311.20, Y:-12.41, Z:-6.35 [[ 9.98711018e-01 4.88360250e-02 1.38327581e-02 3.11196791e+02] [-4.88315079e-02 9.98806809e-01 -6.64323655e-04 -1.24050719e+01] [-1.38486959e-02 -1.20070824e-05 9.99904102e-01 -6.35223805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484391418 meters 0.013485048280112828 Centerline is valid? [True, True] Translation: X:311.26, Y:-12.41, Z:-6.35 [[ 9.98604880e-01 5.07940085e-02 1.44312801e-02 3.11255119e+02] [-5.07893103e-02 9.98709150e-01 -6.92105359e-04 -1.24065593e+01] [-1.44478063e-02 -4.18149745e-05 9.99895624e-01 -6.35258008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544391418 meters 0.013496494905127733 Centerline is valid? [True, True] Translation: X:311.31, Y:-12.41, Z:-6.35 [[ 9.98554585e-01 5.13896842e-02 1.57429930e-02 3.11312940e+02] [-5.13842022e-02 9.98678676e-01 -7.52783196e-04 -1.24096436e+01] [-1.57608767e-02 -5.72460268e-05 9.99875788e-01 -6.35306238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604391418 meters 0.013369374562328718 Centerline is valid? [True, True] Translation: X:311.37, Y:-12.42, Z:-6.36 [[ 9.98810193e-01 4.61961227e-02 1.56242601e-02 3.11369972e+02] [-4.61901116e-02 9.98932389e-01 -7.45565329e-04 -1.24197242e+01] [-1.56420217e-02 2.29919324e-05 9.99877656e-01 -6.35548066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664391418 meters 0.014097876029238128 Centerline is valid? [True, True] Translation: X:311.43, Y:-12.43, Z:-6.36 [[ 9.99087153e-01 3.96593447e-02 1.58744418e-02 3.11428721e+02] [-3.96523402e-02 9.99213251e-01 -7.55874449e-04 -1.24299781e+01] [-1.58919301e-02 1.25725683e-04 9.99873707e-01 -6.35712422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724391418 meters 0.019173968539729212 Centerline is valid? [True, True] Translation: X:311.49, Y:-12.45, Z:-6.36 [[ 9.99561123e-01 2.58930221e-02 1.43914164e-02 3.11487539e+02] [-2.58858582e-02 9.99664671e-01 -6.83875890e-04 -1.24484528e+01] [-1.44042982e-02 3.11041587e-04 9.99896204e-01 -6.36064378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784391418 meters 0.023293290481650658 Centerline is valid? [True, True] Translation: X:311.55, Y:-12.46, Z:-6.36 [[ 9.99790190e-01 1.50406169e-02 1.39052623e-02 3.11547924e+02] [-1.50328863e-02 9.99886782e-01 -6.60314653e-04 -1.24634297e+01] [-1.39136195e-02 4.51139885e-04 9.99903099e-01 -6.36172658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844391418 meters 0.031757854985233744 Centerline is valid? [True, True] Translation: X:311.61, Y:-12.48, Z:-6.36 [[ 9.99902542e-01 3.85539093e-04 1.39555462e-02 3.11607825e+02] [-3.76324782e-04 9.99999709e-01 -6.62881595e-04 -1.24834835e+01] [-1.39557977e-02 6.57565174e-04 9.99902397e-01 -6.36412277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904391418 meters 0.035722113043290656 Centerline is valid? [True, True] Translation: X:311.67, Y:-12.49, Z:-6.37 [[ 9.99865091e-01 -8.39963456e-03 1.41154701e-02 3.11668362e+02] [ 8.40993223e-03 9.99964411e-01 -6.70329964e-04 -1.24947173e+01] [-1.41093372e-02 7.88949677e-04 9.99900147e-01 -6.36569929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964391418 meters 0.03651119193178973 Centerline is valid? [True, True] Translation: X:311.73, Y:-12.50, Z:-6.37 [[ 9.99844096e-01 -1.01537382e-02 1.44459762e-02 3.11730026e+02] [ 1.01647110e-02 9.99948102e-01 -6.86351925e-04 -1.24996129e+01] [-1.44382575e-02 8.33084092e-04 9.99895416e-01 -6.36685709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02439141799994 meters 0.03902051376609523 Centerline is valid? [True, True] Translation: X:311.79, Y:-12.51, Z:-6.37 [[ 9.99858633e-01 -8.13495057e-03 1.47151687e-02 3.11790046e+02] [ 8.14613520e-03 9.99966574e-01 -7.00294116e-04 -1.25051277e+01] [-1.47089800e-02 8.20066871e-04 9.99891481e-01 -6.36829193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08439141799994 meters 0.033026787874115345 Centerline is valid? [True, True] Translation: X:311.85, Y:-12.50, Z:-6.37 [[ 9.99901498e-01 -1.47421846e-03 1.39578389e-02 3.11850633e+02] [ 1.48363955e-03 9.99998679e-01 -6.64637133e-04 -1.24970954e+01] [-1.39568406e-02 6.85280067e-04 9.99902364e-01 -6.36967044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14439141799994 meters 0.030200280073891392 Centerline is valid? [True, True] Translation: X:311.91, Y:-12.49, Z:-6.37 [[ 9.99890599e-01 4.32531081e-03 1.41449991e-02 3.11911996e+02] [-4.31621552e-03 9.99990458e-01 -6.73469297e-04 -1.24936412e+01] [-1.41477771e-02 6.12342755e-04 9.99899728e-01 -6.37073125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20439141799994 meters 0.02391444476199229 Centerline is valid? [True, True] Translation: X:311.97, Y:-12.48, Z:-6.37 [[ 9.99800462e-01 1.22948491e-02 1.57439654e-02 3.11973610e+02] [-1.22845628e-02 9.99924261e-01 -7.49897105e-04 -1.24834230e+01] [-1.57519928e-02 5.56339741e-04 9.99875775e-01 -6.37125872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26439141799995 meters 0.022133260075631107 Centerline is valid? [True, True] Translation: X:312.04, Y:-12.48, Z:-6.37 [[ 9.99718447e-01 1.72635611e-02 1.62786811e-02 3.12035772e+02] [-1.72532270e-02 9.99850852e-01 -7.75056114e-04 -1.24803000e+01] [-1.62896333e-02 4.93978115e-04 9.99867193e-01 -6.37327458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32439141799995 meters 0.018537014566979523 Centerline is valid? [True, True] Translation: X:312.10, Y:-12.47, Z:-6.38 [[ 9.99585320e-01 2.38851652e-02 1.60837783e-02 3.12098197e+02] [-2.38759208e-02 9.99714636e-01 -7.66563038e-04 -1.24732265e+01] [-1.60974981e-02 3.82230142e-04 9.99870354e-01 -6.37604517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38439141799995 meters 0.01702850613382907 Centerline is valid? [True, True] Translation: X:312.16, Y:-12.47, Z:-6.38 [[ 9.99409129e-01 3.02782849e-02 1.62670808e-02 3.12157875e+02] [-3.02696408e-02 9.99541467e-01 -7.77394193e-04 -1.24690513e+01] [-1.62831599e-02 2.84536161e-04 9.99867380e-01 -6.37765827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44439141799995 meters 0.014319794885053283 Centerline is valid? [True, True] Translation: X:312.22, Y:-12.46, Z:-6.38 [[ 9.99156875e-01 3.67821087e-02 1.82377753e-02 3.12218204e+02] [-3.67723327e-02 9.99323289e-01 -8.71204758e-04 -1.24626420e+01] [-1.82574784e-02 1.99824680e-04 9.99833298e-01 -6.37718428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50439141799995 meters 0.013213892826965357 Centerline is valid? [True, True] Translation: X:312.28, Y:-12.46, Z:-6.38 [[ 9.98871661e-01 4.29780118e-02 2.02062980e-02 3.12276356e+02] [-4.29672962e-02 9.99076014e-01 -9.64361130e-04 -1.24597376e+01] [-2.02290740e-02 9.50630135e-05 9.99795367e-01 -6.37781383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56439141799996 meters 0.012928651346185665 Centerline is valid? [True, True] Translation: X:312.33, Y:-12.46, Z:-6.38 [[ 9.98738560e-01 4.56763179e-02 2.08557814e-02 3.12334704e+02] [-4.56655345e-02 9.98956292e-01 -9.93252140e-04 -1.24601880e+01] [-2.08793822e-02 3.96088060e-05 9.99782001e-01 -6.37918077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62439141799996 meters 0.013046670962295009 Centerline is valid? [True, True] Translation: X:312.39, Y:-12.46, Z:-6.38 [[ 9.98706255e-01 4.61925581e-02 2.12618134e-02 3.12393490e+02] [-4.61815043e-02 9.98932554e-01 -1.01086499e-03 -1.24623769e+01] [-2.12858119e-02 2.76546635e-05 9.99773431e-01 -6.38075324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68439141799996 meters 0.013201452578556766 Centerline is valid? [True, True] Translation: X:312.45, Y:-12.47, Z:-6.38 [[ 9.98806892e-01 4.40857107e-02 2.10057919e-02 3.12451102e+02] [-4.40744907e-02 9.99027750e-01 -9.97026490e-04 -1.24689037e+01] [-2.10293237e-02 7.00173477e-05 9.99778857e-01 -6.38323254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74439141799996 meters 0.013569608425786132 Centerline is valid? [True, True] Translation: X:312.51, Y:-12.48, Z:-6.39 [[ 9.98956852e-01 4.03854038e-02 2.13125913e-02 3.12509966e+02] [-4.03730599e-02 9.99184166e-01 -1.00931677e-03 -1.24777085e+01] [-2.13359654e-02 1.47809375e-04 9.99772351e-01 -6.38525297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80439141799997 meters 0.015943695654847243 Centerline is valid? [True, True] Translation: X:312.57, Y:-12.49, Z:-6.39 [[ 9.99226835e-01 3.35937744e-02 2.04252617e-02 3.12567578e+02] [-3.35810489e-02 9.99435531e-01 -9.65791110e-04 -1.24899691e+01] [-2.04461768e-02 2.79142683e-04 9.99790916e-01 -6.38731974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86439141799997 meters 0.01793376782696217 Centerline is valid? [True, True] Translation: X:312.63, Y:-12.50, Z:-6.39 [[ 9.99412326e-01 2.76690545e-02 2.02342630e-02 3.12627771e+02] [-2.76553830e-02 9.99617060e-01 -9.55222696e-04 -1.25009055e+01] [-2.02529446e-02 3.95075042e-04 9.99794810e-01 -6.38952683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92439141799997 meters 0.020393703264157712 Centerline is valid? [True, True] Translation: X:312.69, Y:-12.51, Z:-6.39 [[ 9.99534366e-01 2.23668454e-02 2.07551232e-02 3.12689119e+02] [-2.23513172e-02 9.99749698e-01 -9.79866062e-04 -1.25119834e+01] [-2.07718447e-02 5.15505460e-04 9.99784109e-01 -6.39087261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984391418 meters 0.022552385023509987 Centerline is valid? [True, True] Translation: X:312.75, Y:-12.52, Z:-6.39 [[ 9.99605787e-01 1.90308679e-02 2.06421272e-02 3.12750817e+02] [-1.90146912e-02 9.99818724e-01 -9.79684252e-04 -1.25199076e+01] [-2.06570296e-02 5.86794373e-04 9.99786449e-01 -6.39239514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044391418 meters 0.024945206063033343 Centerline is valid? [True, True] Translation: X:312.81, Y:-12.53, Z:-6.39 [[ 9.99712754e-01 1.31921224e-02 2.00094242e-02 3.12811418e+02] [-1.31757236e-02 9.99912744e-01 -9.51171939e-04 -1.25277417e+01] [-2.00202262e-02 6.87260076e-04 9.99799339e-01 -6.39425068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104391418 meters 0.029107388083283895 Centerline is valid? [True, True] Translation: X:312.87, Y:-12.54, Z:-6.40 [[ 9.99792518e-01 6.68819389e-03 1.92403045e-02 3.12871511e+02] [-6.67182217e-03 9.99977325e-01 -9.14972281e-04 -1.25382504e+01] [-1.92459877e-02 7.86414550e-04 9.99814470e-01 -6.39664907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164391418 meters 0.03008154404365943 Centerline is valid? [True, True] Translation: X:312.93, Y:-12.54, Z:-6.40 [[ 9.99833302e-01 1.98045470e-03 1.81506607e-02 3.12932768e+02] [-1.96510609e-03 9.99997696e-01 -8.63419190e-04 -1.25431074e+01] [-1.81523289e-02 8.27607286e-04 9.99834890e-01 -6.39860023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224391418 meters 0.03542339529844691 Centerline is valid? [True, True] Translation: X:312.99, Y:-12.55, Z:-6.40 [[ 9.99842632e-01 -5.72554383e-03 1.67907635e-02 3.12993589e+02] [ 5.73977272e-03 9.99983208e-01 -7.99354325e-04 -1.25528976e+01] [-1.67859048e-02 8.95603698e-04 9.99858706e-01 -6.40175943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284391418 meters 0.038808130753355354 Centerline is valid? [True, True] Translation: X:313.05, Y:-12.56, Z:-6.40 [[ 9.99822483e-01 -9.81821435e-03 1.60812239e-02 3.13054198e+02] [ 9.83180338e-03 9.99951373e-01 -7.66182173e-04 -1.25591384e+01] [-1.60729194e-02 9.24153594e-04 9.99870395e-01 -6.40430324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344391418 meters 0.042078088012412 Centerline is valid? [True, True] Translation: X:313.11, Y:-12.56, Z:-6.41 [[ 9.99790362e-01 -1.43831308e-02 1.45724691e-02 3.13114495e+02] [ 1.43947773e-02 9.99896149e-01 -6.94635718e-04 -1.25631539e+01] [-1.45609647e-02 9.04257544e-04 9.99893575e-01 -6.40665756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404391418 meters 0.04574837531816039 Centerline is valid? [True, True] Translation: X:313.17, Y:-12.57, Z:-6.41 [[ 9.99761624e-01 -1.67913984e-02 1.39551048e-02 3.13174600e+02] [ 1.68023120e-02 9.99858610e-01 -6.65165108e-04 -1.25677361e+01] [-1.39419626e-02 8.99484573e-04 9.99902402e-01 -6.40791184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464391418 meters 0.04718428988454605 Centerline is valid? [True, True] Translation: X:313.24, Y:-12.57, Z:-6.41 [[ 9.99681051e-01 -2.04886542e-02 1.47651929e-02 3.13235539e+02] [ 2.05012778e-02 9.99789579e-01 -7.04083349e-04 -1.25681462e+01] [-1.47476602e-02 1.00656410e-03 9.99890741e-01 -6.40757835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52439141799994 meters 0.04618415406526211 Centerline is valid? [True, True] Translation: X:313.30, Y:-12.57, Z:-6.41 [[ 9.99607794e-01 -2.39017058e-02 1.45933707e-02 3.13296321e+02] [ 2.39144029e-02 9.99713767e-01 -6.96150033e-04 -1.25658701e+01] [-1.45725544e-02 1.04486874e-03 9.99893269e-01 -6.40857410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58439141799994 meters 0.046014604472475684 Centerline is valid? [True, True] Translation: X:313.36, Y:-12.56, Z:-6.41 [[ 9.99586099e-01 -2.53130521e-02 1.36703957e-02 3.13358985e+02] [ 2.53243227e-02 9.99679075e-01 -6.51949602e-04 -1.25636147e+01] [-1.36495057e-02 9.97873273e-04 9.99906343e-01 -6.40947714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64439141799994 meters 0.04596416288106858 Centerline is valid? [True, True] Translation: X:313.42, Y:-12.56, Z:-6.41 [[ 9.99618509e-01 -2.37833079e-02 1.40424800e-02 3.13421070e+02] [ 2.37950687e-02 9.99716632e-01 -6.71003799e-04 -1.25630725e+01] [-1.40225421e-02 1.00488959e-03 9.99901174e-01 -6.40981515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70439141799994 meters 0.0421054084891205 Centerline is valid? [True, True] Translation: X:313.48, Y:-12.56, Z:-6.41 [[ 9.99727732e-01 -1.76965642e-02 1.52083097e-02 3.13481939e+02] [ 1.77096784e-02 9.99842906e-01 -7.28050688e-04 -1.25558801e+01] [-1.51930366e-02 9.97186737e-04 9.99884082e-01 -6.40968074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76439141799995 meters 0.03806401577752388 Centerline is valid? [True, True] Translation: X:313.54, Y:-12.55, Z:-6.41 [[ 9.99819245e-01 -1.19322955e-02 1.48019771e-02 3.13542506e+02] [ 1.19440886e-02 9.99928416e-01 -7.08574040e-04 -1.25492390e+01] [-1.47924626e-02 8.85242087e-04 9.99890194e-01 -6.41048140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82439141799995 meters 0.02999343216008033 Centerline is valid? [True, True] Translation: X:313.60, Y:-12.53, Z:-6.41 [[ 9.99913446e-01 -1.30480736e-03 1.30919260e-02 3.13603946e+02] [ 1.31312272e-03 9.99998942e-01 -6.26576238e-04 -1.25349159e+01] [-1.30910946e-02 6.43713311e-04 9.99914101e-01 -6.41220658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88439141799995 meters 0.02509521978380559 Centerline is valid? [True, True] Translation: X:313.66, Y:-12.53, Z:-6.41 [[ 9.99876864e-01 1.02378408e-02 1.18929831e-02 3.13664616e+02] [-1.02317893e-02 9.99947492e-01 -5.69558634e-04 -1.25253342e+01] [-1.18981897e-02 4.47802003e-04 9.99929114e-01 -6.41448543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94439141799995 meters 0.021460722370928765 Centerline is valid? [True, True] Translation: X:313.73, Y:-12.52, Z:-6.42 [[ 9.99784065e-01 1.68775543e-02 1.21231961e-02 3.13726177e+02] [-1.68717564e-02 9.99857493e-01 -5.80370243e-04 -1.25194141e+01] [-1.21312637e-02 3.75705309e-04 9.99926343e-01 -6.41521056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00439141799995 meters 0.01779928740532739 Centerline is valid? [True, True] Translation: X:313.79, Y:-12.51, Z:-6.42 [[ 9.99604546e-01 2.53302281e-02 1.22119609e-02 3.13786446e+02] [-2.53249660e-02 9.99679100e-01 -5.85361589e-04 -1.25115280e+01] [-1.22228694e-02 2.75862610e-04 9.99925260e-01 -6.41548873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06439141799996 meters 0.015083423670124807 Centerline is valid? [True, True] Translation: X:313.85, Y:-12.51, Z:-6.42 [[ 9.99372212e-01 3.32003016e-02 1.23661369e-02 3.13846699e+02] [-3.31955160e-02 9.99448702e-01 -5.92111477e-04 -1.25061851e+01] [-1.23789778e-02 1.81239460e-04 9.99923361e-01 -6.41648032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12439141799996 meters 0.015542878518000446 Centerline is valid? [True, True] Translation: X:313.91, Y:-12.50, Z:-6.42 [[ 9.99154250e-01 3.92443220e-02 1.22746766e-02 3.13906229e+02] [-3.92400616e-02 9.99229639e-01 -5.87820768e-04 -1.25038042e+01] [-1.22882893e-02 1.05664551e-04 9.99924491e-01 -6.41820476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18439141799996 meters 0.012875112858188315 Centerline is valid? [True, True] Translation: X:313.96, Y:-12.50, Z:-6.42 [[ 9.98834230e-01 4.63172231e-02 1.35976431e-02 3.13964588e+02] [-4.63126594e-02 9.98926781e-01 -6.50488110e-04 -1.24998357e+01] [-1.36131786e-02 1.99867787e-05 9.99907336e-01 -6.41798654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24439141799996 meters 0.012900740194985046 Centerline is valid? [True, True] Translation: X:314.02, Y:-12.50, Z:-6.42 [[ 9.98709345e-01 4.88444563e-02 1.39234848e-02 3.14022436e+02] [-4.88399349e-02 9.98806397e-01 -6.64782423e-04 -1.25007048e+01] [-1.39393366e-02 -1.60976721e-05 9.99902843e-01 -6.41903081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30439141799997 meters 0.012715612973587203 Centerline is valid? [True, True] Translation: X:314.08, Y:-12.51, Z:-6.42 [[ 9.98816620e-01 4.66072659e-02 1.38968571e-02 3.14079741e+02] [-4.66025679e-02 9.98913291e-01 -6.61871444e-04 -1.25075400e+01] [-1.39126033e-02 1.34589719e-05 9.99903215e-01 -6.42134630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36439141799997 meters 0.014129691094037231 Centerline is valid? [True, True] Translation: X:314.14, Y:-12.52, Z:-6.42 [[ 9.99249667e-01 3.63499095e-02 1.33711614e-02 3.14136956e+02] [-3.63446641e-02 9.99339113e-01 -6.35159244e-04 -1.25220350e+01] [-1.33854126e-02 1.48712292e-04 9.99910400e-01 -6.42432239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42439141799997 meters 0.019269082926705344 Centerline is valid? [True, True] Translation: X:314.20, Y:-12.54, Z:-6.43 [[ 9.99655632e-01 2.16817520e-02 1.47823721e-02 3.14195838e+02] [-2.16737686e-02 9.99764851e-01 -7.00067408e-04 -1.25400539e+01] [-1.47940748e-02 3.79436613e-04 9.99890490e-01 -6.42516428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484391418 meters 0.023505972234657512 Centerline is valid? [True, True] Translation: X:314.26, Y:-12.55, Z:-6.43 [[ 9.99765438e-01 1.34861678e-02 1.69467525e-02 3.14255805e+02] [-1.34745068e-02 9.99908893e-01 -8.02099461e-04 -1.25532264e+01] [-1.69560257e-02 5.73562188e-04 9.99856072e-01 -6.42508974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544391418 meters 0.026193814148961433 Centerline is valid? [True, True] Translation: X:314.32, Y:-12.56, Z:-6.43 [[ 9.99807664e-01 8.14071890e-03 1.78427629e-02 3.14316963e+02] [-8.12694382e-03 9.99966619e-01 -8.44400579e-04 -1.25632047e+01] [-1.78490414e-02 6.99231039e-04 9.99840449e-01 -6.42528739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604391418 meters 0.027942179944622367 Centerline is valid? [True, True] Translation: X:314.38, Y:-12.57, Z:-6.43 [[ 9.99825506e-01 5.59444355e-03 1.78230313e-02 3.14378338e+02] [-5.58028703e-03 9.99984074e-01 -8.43916434e-04 -1.25709235e+01] [-1.78274686e-02 7.44311545e-04 9.99840801e-01 -6.42614238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664391418 meters 0.029243571703763495 Centerline is valid? [True, True] Translation: X:314.44, Y:-12.58, Z:-6.43 [[ 9.99856435e-01 4.51961623e-03 1.63304066e-02 3.14440312e+02] [-4.50756589e-03 9.99989541e-01 -7.74640882e-04 -1.25783164e+01] [-1.63337368e-02 7.00919287e-04 9.99866350e-01 -6.42894439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724391418 meters 0.030133546769942877 Centerline is valid? [True, True] Translation: X:314.50, Y:-12.58, Z:-6.43 [[ 9.99880299e-01 5.48085622e-03 1.44688800e-02 3.14501632e+02] [-5.47144690e-03 9.99984794e-01 -6.89819343e-04 -1.25839350e+01] [-1.44724408e-02 6.10571062e-04 9.99895082e-01 -6.43191108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784391418 meters 0.026620458271190767 Centerline is valid? [True, True] Translation: X:314.56, Y:-12.58, Z:-6.44 [[ 9.99904629e-01 7.79993210e-03 1.13971219e-02 3.14563630e+02] [-7.79420661e-03 9.99969475e-01 -5.46694846e-04 -1.25817512e+01] [-1.14010382e-02 4.57811184e-04 9.99934901e-01 -6.43553253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844391418 meters 0.027154650119458383 Centerline is valid? [True, True] Translation: X:314.62, Y:-12.58, Z:-6.44 [[ 9.99930335e-01 8.55301913e-03 8.13451077e-03 3.14624742e+02] [-8.55014373e-03 9.99963372e-01 -3.88193081e-04 -1.25840861e+01] [-8.13753304e-03 3.18614802e-04 9.99966839e-01 -6.43916654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904391418 meters 0.027605705989312945 Centerline is valid? [True, True] Translation: X:314.69, Y:-12.59, Z:-6.44 [[ 9.99937704e-01 8.23471261e-03 7.53506685e-03 3.14685783e+02] [-8.23220339e-03 9.99966049e-01 -3.63960744e-04 -1.25869232e+01] [-7.53780814e-03 3.01907868e-04 9.99971545e-01 -6.44081989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964391418 meters 0.027497106737651114 Centerline is valid? [True, True] Translation: X:314.75, Y:-12.59, Z:-6.44 [[ 9.99918479e-01 8.33671395e-03 9.67127726e-03 3.14746980e+02] [-8.33257915e-03 9.99965174e-01 -4.67750501e-04 -1.25859504e+01] [-9.67483995e-03 3.87125686e-04 9.99953123e-01 -6.43938918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02439141799994 meters 0.027749693955529228 Centerline is valid? [True, True] Translation: X:314.81, Y:-12.59, Z:-6.44 [[ 9.99878192e-01 9.99870160e-03 1.19844725e-02 3.14808184e+02] [-9.99248507e-03 9.99949907e-01 -5.78484058e-04 -1.25852616e+01] [-1.19896563e-02 4.58658931e-04 9.99928016e-01 -6.43775459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08439141799994 meters 0.025655530926132077 Centerline is valid? [True, True] Translation: X:314.87, Y:-12.58, Z:-6.44 [[ 9.99857319e-01 1.03828815e-02 1.33243510e-02 3.14871146e+02] [-1.03751819e-02 9.99945967e-01 -6.46852282e-04 -1.25828403e+01] [-1.33303472e-02 5.08517423e-04 9.99911018e-01 -6.43657569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14439141799994 meters 0.026923802354383658 Centerline is valid? [True, True] Translation: X:314.93, Y:-12.58, Z:-6.44 [[ 9.99856154e-01 9.71911508e-03 1.38999873e-02 3.14932690e+02] [-9.71060202e-03 9.99952620e-01 -6.79813714e-04 -1.25846977e+01] [-1.39059359e-02 5.44738680e-04 9.99903159e-01 -6.43603343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20439141799994 meters 0.028197739039982395 Centerline is valid? [True, True] Translation: X:314.99, Y:-12.59, Z:-6.44 [[ 9.99879748e-01 9.18395551e-03 1.24958175e-02 3.14993590e+02] [-9.17702449e-03 9.99957703e-01 -6.11894409e-04 -1.25871636e+01] [-1.25009086e-02 4.97146404e-04 9.99921737e-01 -6.43833385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26439141799995 meters 0.027840905372555968 Centerline is valid? [True, True] Translation: X:315.06, Y:-12.59, Z:-6.44 [[ 9.99868075e-01 1.11052041e-02 1.18535919e-02 3.15056380e+02] [-1.10990538e-02 9.99938233e-01 -5.84515009e-04 -1.25879572e+01] [-1.18593509e-02 4.52874243e-04 9.99929573e-01 -6.44039441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32439141799995 meters 0.02362416375742313 Centerline is valid? [True, True] Translation: X:315.12, Y:-12.58, Z:-6.44 [[ 9.99745822e-01 1.93278873e-02 1.16070716e-02 3.15117902e+02] [-1.93225218e-02 9.99813138e-01 -5.74236896e-04 -1.25797787e+01] [-1.16160015e-02 3.49813044e-04 9.99932471e-01 -6.44135740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38439141799995 meters 0.01638645868288861 Centerline is valid? [True, True] Translation: X:315.18, Y:-12.57, Z:-6.44 [[ 9.99384417e-01 3.29889183e-02 1.19381157e-02 3.15178952e+02] [-3.29842146e-02 9.99455698e-01 -5.90740409e-04 -1.25650973e+01] [-1.19511057e-02 1.96607389e-04 9.99928564e-01 -6.44138327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44439141799995 meters 0.01351405205500386 Centerline is valid? [True, True] Translation: X:315.24, Y:-12.56, Z:-6.44 [[ 9.99019443e-01 4.26317830e-02 1.19449956e-02 3.15238559e+02] [-4.26277575e-02 9.99090849e-01 -5.91522119e-04 -1.25570824e+01] [-1.19593535e-02 8.17537205e-05 9.99928481e-01 -6.44203370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50439141799995 meters 0.01342668360608795 Centerline is valid? [True, True] Translation: X:315.30, Y:-12.55, Z:-6.44 [[ 9.98439165e-01 5.47194008e-02 1.11813107e-02 3.15296784e+02] [-5.47166313e-02 9.98501770e-01 -5.53685647e-04 -1.25475172e+01] [-1.11948558e-02 -5.89822185e-05 9.99937334e-01 -6.44364395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56439141799996 meters 0.014792908658200423 Centerline is valid? [True, True] Translation: X:315.36, Y:-12.54, Z:-6.45 [[ 9.98043802e-01 6.15821167e-02 1.07801352e-02 3.15355908e+02] [-6.15799596e-02 9.98102011e-01 -5.32231170e-04 -1.25434529e+01] [-1.07924505e-02 -1.32650269e-04 9.99941751e-01 -6.44520251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62439141799996 meters 0.01512159050279518 Centerline is valid? [True, True] Translation: X:315.41, Y:-12.55, Z:-6.45 [[ 9.98035896e-01 6.18319440e-02 1.00579110e-02 3.15414317e+02] [-6.18300859e-02 9.98086567e-01 -4.95882943e-04 -1.25455892e+01] [-1.00693273e-02 -1.26972525e-04 9.99949295e-01 -6.44693113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68439141799996 meters 0.013732416950931517 Centerline is valid? [True, True] Translation: X:315.47, Y:-12.55, Z:-6.45 [[ 9.98343650e-01 5.66221424e-02 1.01926539e-02 3.15472993e+02] [-5.66199709e-02 9.98395677e-01 -5.01715748e-04 -1.25536189e+01] [-1.02047099e-02 -7.62230392e-05 9.99947928e-01 -6.44806582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74439141799996 meters 0.012683714034564439 Centerline is valid? [True, True] Translation: X:315.53, Y:-12.57, Z:-6.45 [[ 9.98903895e-01 4.57118724e-02 1.00713840e-02 3.15531461e+02] [-4.57092052e-02 9.98954665e-01 -4.94981874e-04 -1.25669153e+01] [-1.00834826e-02 3.40843661e-05 9.99949160e-01 -6.44906666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80439141799997 meters 0.014350817619198432 Centerline is valid? [True, True] Translation: X:315.59, Y:-12.58, Z:-6.45 [[ 9.99259660e-01 3.69334640e-02 1.07726981e-02 3.15588733e+02] [-3.69299067e-02 9.99317718e-01 -5.29016082e-04 -1.25791906e+01] [-1.07848865e-02 1.30789693e-04 9.99941833e-01 -6.45046977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86439141799997 meters 0.01983805048203786 Centerline is valid? [True, True] Translation: X:315.65, Y:-12.60, Z:-6.45 [[ 9.99650208e-01 2.37488952e-02 1.16384117e-02 3.15646705e+02] [-2.37438801e-02 9.99717912e-01 -5.68918055e-04 -1.25970378e+01] [-1.16486398e-02 2.92378001e-04 9.99932110e-01 -6.45091413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92439141799997 meters 0.023983927077718042 Centerline is valid? [True, True] Translation: X:315.71, Y:-12.61, Z:-6.45 [[ 9.99855438e-01 1.20908823e-02 1.19546182e-02 3.15706881e+02] [-1.20847679e-02 9.99926806e-01 -5.83572256e-04 -1.26102924e+01] [-1.19607991e-02 4.39019107e-04 9.99928371e-01 -6.45151426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984391418 meters 0.027500989403891618 Centerline is valid? [True, True] Translation: X:315.77, Y:-12.62, Z:-6.45 [[ 9.99914183e-01 5.84286967e-03 1.17255416e-02 3.15767837e+02] [-5.83656266e-03 9.99982804e-01 -5.72033976e-04 -1.26208273e+01] [-1.17286822e-02 5.03548028e-04 9.99931090e-01 -6.45325776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044391418 meters 0.03063563229460739 Centerline is valid? [True, True] Translation: X:315.83, Y:-12.63, Z:-6.45 [[ 9.99925205e-01 -6.72019374e-04 1.22119541e-02 3.15828169e+02] [ 6.79355313e-04 9.99999591e-01 -5.96579583e-04 -1.26305047e+01] [-1.22115482e-02 6.04831218e-04 9.99925253e-01 -6.45457179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104391418 meters 0.03235144616373112 Centerline is valid? [True, True] Translation: X:315.89, Y:-12.64, Z:-6.46 [[ 9.99912655e-01 -1.97802194e-03 1.30679193e-02 3.15889991e+02] [ 1.98650738e-03 9.99997824e-01 -6.36385213e-04 -1.26363092e+01] [-1.30666321e-02 6.62289146e-04 9.99914409e-01 -6.45545446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164391418 meters 0.030162637495114858 Centerline is valid? [True, True] Translation: X:315.95, Y:-12.64, Z:-6.46 [[ 9.99905247e-01 -8.34794346e-04 1.37404671e-02 3.15952867e+02] [ 8.44137861e-04 9.99999416e-01 -6.74214200e-04 -1.26351727e+01] [-1.37398963e-02 6.85749165e-04 9.99905368e-01 -6.45592550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224391418 meters 0.029032854990026433 Centerline is valid? [True, True] Translation: X:316.01, Y:-12.63, Z:-6.46 [[ 9.99914728e-01 3.05783981e-03 1.26958973e-02 3.16014379e+02] [-3.05014560e-03 9.99995153e-01 -6.25358263e-04 -1.26337123e+01] [-1.26977480e-02 5.86580602e-04 9.99919208e-01 -6.45877760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284391418 meters 0.02773933691963735 Centerline is valid? [True, True] Translation: X:316.08, Y:-12.63, Z:-6.46 [[ 9.99902667e-01 7.00711100e-03 1.20647217e-02 3.16076012e+02] [-7.00044431e-03 9.99975320e-01 -5.94719589e-04 -1.26321940e+01] [-1.20685912e-02 5.10203290e-04 9.99927042e-01 -6.46141523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344391418 meters 0.022772900913008823 Centerline is valid? [True, True] Translation: X:316.14, Y:-12.62, Z:-6.46 [[ 9.99793530e-01 1.49894221e-02 1.37191283e-02 3.16137182e+02] [-1.49815392e-02 9.99887541e-01 -6.77189763e-04 -1.26224526e+01] [-1.37277361e-02 4.71516286e-04 9.99905659e-01 -6.46122521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404391418 meters 0.01756429460816671 Centerline is valid? [True, True] Translation: X:316.20, Y:-12.61, Z:-6.46 [[ 9.99531757e-01 2.56369593e-02 1.67036933e-02 3.16198784e+02] [-2.56267575e-02 9.99671241e-01 -8.24546240e-04 -1.26106823e+01] [-1.67193407e-02 3.96098654e-04 9.99860144e-01 -6.45877528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464391418 meters 0.016141475981074196 Centerline is valid? [True, True] Translation: X:316.26, Y:-12.61, Z:-6.46 [[ 9.99397257e-01 2.97640585e-02 1.78668440e-02 3.16258058e+02] [-2.97530415e-02 9.99556891e-01 -8.82180485e-04 -1.26091045e+01] [-1.78851843e-02 3.50055807e-04 9.99839986e-01 -6.45888787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52439141799994 meters 0.012930508154073862 Centerline is valid? [True, True] Translation: X:316.32, Y:-12.60, Z:-6.46 [[ 9.99068767e-01 3.83361412e-02 1.97974595e-02 3.16318675e+02] [-3.83243138e-02 9.99264876e-01 -9.76616667e-04 -1.26010717e+01] [-1.98203456e-02 2.16983161e-04 9.99803534e-01 -6.45820097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58439141799994 meters 0.011465558130515112 Centerline is valid? [True, True] Translation: X:316.38, Y:-12.59, Z:-6.46 [[ 9.98517525e-01 4.92187680e-02 2.32436147e-02 3.16377256e+02] [-4.92054278e-02 9.98788022e-01 -1.14585945e-03 -1.25912361e+01] [-2.32718417e-02 4.48735759e-07 9.99729174e-01 -6.45648849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64439141799994 meters 0.011760586295855392 Centerline is valid? [True, True] Translation: X:316.44, Y:-12.59, Z:-6.46 [[ 9.98163793e-01 5.48148222e-02 2.57755252e-02 3.16436206e+02] [-5.48003514e-02 9.98496527e-01 -1.26798484e-03 -1.25881073e+01] [-2.58062767e-02 -1.46851280e-04 9.99666952e-01 -6.45651674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70439141799994 meters 0.011532110393575002 Centerline is valid? [True, True] Translation: X:316.49, Y:-12.59, Z:-6.46 [[ 9.98198680e-01 5.41852576e-02 2.57556407e-02 3.16494000e+02] [-5.41706593e-02 9.98530891e-01 -1.26469286e-03 -1.25913443e+01] [-2.57863306e-02 -1.32785299e-04 9.99667468e-01 -6.45857782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76439141799995 meters 0.011323478806842544 Centerline is valid? [True, True] Translation: X:316.55, Y:-12.60, Z:-6.46 [[ 9.98371718e-01 5.09268852e-02 2.56975856e-02 3.16552806e+02] [-5.09113483e-02 9.98702383e-01 -1.25892330e-03 -1.25973104e+01] [-2.57283530e-02 -5.14253122e-05 9.99668970e-01 -6.46081197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82439141799995 meters 0.01167175468845845 Centerline is valid? [True, True] Translation: X:316.61, Y:-12.61, Z:-6.46 [[ 9.98630839e-01 4.50926158e-02 2.65161135e-02 3.16611666e+02] [-4.50740753e-02 9.98982806e-01 -1.29680464e-03 -1.26067893e+01] [-2.65476178e-02 9.98398117e-05 9.99647545e-01 -6.46224703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88439141799995 meters 0.012383842960120165 Centerline is valid? [True, True] Translation: X:316.67, Y:-12.62, Z:-6.46 [[ 9.98809757e-01 4.05653335e-02 2.70836240e-02 3.16670456e+02] [-4.05443870e-02 9.99176863e-01 -1.32232470e-03 -1.26167483e+01] [-2.71149711e-02 2.22661879e-04 9.99632297e-01 -6.46423241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94439141799995 meters 0.012827780709412897 Centerline is valid? [True, True] Translation: X:316.73, Y:-12.62, Z:-6.47 [[ 9.98927678e-01 3.81432250e-02 2.62409531e-02 3.16729594e+02] [-3.81227745e-02 9.99272244e-01 -1.27935286e-03 -1.26242153e+01] [-2.62706547e-02 2.77603043e-04 9.99654828e-01 -6.46674142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00439141799995 meters 0.013602256007320014 Centerline is valid? [True, True] Translation: X:316.79, Y:-12.63, Z:-6.47 [[ 9.99099306e-01 3.46468236e-02 2.44984654e-02 3.16788615e+02] [-3.46279712e-02 9.99399559e-01 -1.19347328e-03 -1.26338509e+01] [-2.45251056e-02 3.44066173e-04 9.99699155e-01 -6.47080186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06439141799996 meters 0.015183216915795052 Centerline is valid? [True, True] Translation: X:316.85, Y:-12.65, Z:-6.48 [[ 9.99266180e-01 3.07776371e-02 2.27999741e-02 3.16848615e+02] [-3.07603194e-02 9.99526173e-01 -1.10995522e-03 -1.26451957e+01] [-2.28233327e-02 4.07806223e-04 9.99739431e-01 -6.47502021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12439141799996 meters 0.016568098509742845 Centerline is valid? [True, True] Translation: X:316.91, Y:-12.65, Z:-6.48 [[ 9.99347520e-01 2.90194752e-02 2.15035782e-02 3.16907310e+02] [-2.90036642e-02 9.99578757e-01 -1.04685421e-03 -1.26545959e+01] [-2.15248991e-02 4.22488596e-04 9.99768223e-01 -6.47809741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18439141799996 meters 0.017502081290358715 Centerline is valid? [True, True] Translation: X:316.97, Y:-12.67, Z:-6.48 [[ 9.99467525e-01 2.63679538e-02 1.92197020e-02 3.16967447e+02] [-2.63548295e-02 9.99652213e-01 -9.35868735e-04 -1.26652504e+01] [-1.92376945e-02 4.28838440e-04 9.99814846e-01 -6.48319581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24439141799996 meters 0.017963995971109228 Centerline is valid? [True, True] Translation: X:317.03, Y:-12.68, Z:-6.49 [[ 9.99594754e-01 2.36567808e-02 1.58330193e-02 3.17027713e+02] [-2.36475363e-02 9.99720061e-01 -7.70864951e-04 -1.26759811e+01] [-1.58468232e-02 3.96140663e-04 9.99874353e-01 -6.48952444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30439141799997 meters 0.018290687679111444 Centerline is valid? [True, True] Translation: X:317.09, Y:-12.68, Z:-6.49 [[ 9.99667993e-01 2.20900958e-02 1.32639361e-02 3.17087948e+02] [-2.20834657e-02 9.99755922e-01 -6.46132387e-04 -1.26844550e+01] [-1.32749718e-02 3.53004189e-04 9.99911821e-01 -6.49368324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36439141799997 meters 0.019932195227312665 Centerline is valid? [True, True] Translation: X:317.15, Y:-12.70, Z:-6.50 [[ 9.99746397e-01 2.08040767e-02 8.62164662e-03 3.17146343e+02] [-2.08012236e-02 9.99783543e-01 -4.20470604e-04 -1.26960388e+01] [-8.62852790e-03 2.41023171e-04 9.99962745e-01 -6.50043390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42439141799997 meters 0.019008592128037384 Centerline is valid? [True, True] Translation: X:317.20, Y:-12.70, Z:-6.50 [[ 9.99746704e-01 2.20721682e-02 4.39856392e-03 3.17204778e+02] [-2.20714339e-02 9.99756373e-01 -2.15404931e-04 -1.27026516e+01] [-4.40224677e-03 1.18267756e-04 9.99990303e-01 -6.50488459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484391418 meters 0.019024648797392803 Centerline is valid? [True, True] Translation: X:317.26, Y:-12.71, Z:-6.51 [[ 9.99704783e-01 2.40663892e-02 3.34007813e-03 3.17261959e+02] [-2.40659755e-02 9.99710359e-01 -1.64017558e-04 -1.27082940e+01] [-3.34305802e-03 8.35868991e-05 9.99994408e-01 -6.50813811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544391418 meters 0.01632999072657307 Centerline is valid? [True, True] Translation: X:317.32, Y:-12.71, Z:-6.51 [[ 9.99536081e-01 3.03214142e-02 2.86976305e-03 3.17321114e+02] [-3.03211365e-02 9.99540199e-01 -1.40242119e-04 -1.27089122e+01] [-2.87269586e-03 5.31625813e-05 9.99995872e-01 -6.50834206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604391418 meters 0.014252679944068824 Centerline is valid? [True, True] Translation: X:317.38, Y:-12.71, Z:-6.51 [[ 9.99267913e-01 3.81330622e-02 3.08353808e-03 3.17379935e+02] [-3.81327785e-02 9.99272670e-01 -1.50767446e-04 -1.27094022e+01] [-3.08704456e-03 3.30731965e-05 9.99995235e-01 -6.50780119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664391418 meters 0.013788337937829104 Centerline is valid? [True, True] Translation: X:317.44, Y:-12.71, Z:-6.51 [[ 9.99130412e-01 4.14950196e-02 4.07234218e-03 3.17438349e+02] [-4.14945563e-02 9.99138710e-01 -1.98223278e-04 -1.27120807e+01] [-4.07705999e-03 2.90708728e-05 9.99991688e-01 -6.50799553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724391418 meters 0.013616051513943963 Centerline is valid? [True, True] Translation: X:317.50, Y:-12.72, Z:-6.51 [[ 9.99028544e-01 4.37579352e-02 5.21640745e-03 3.17496980e+02] [-4.37572105e-02 9.99042163e-01 -2.53015220e-04 -1.27169062e+01] [-5.22248240e-03 2.45139879e-05 9.99986362e-01 -6.50722430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784391418 meters 0.013662576713397052 Centerline is valid? [True, True] Translation: X:317.56, Y:-12.72, Z:-6.51 [[ 9.99008107e-01 4.42757056e-02 4.73970111e-03 3.17555623e+02] [-4.42751143e-02 9.99019350e-01 -2.29644908e-04 -1.27219971e+01] [-4.74522082e-03 1.95663158e-05 9.99988741e-01 -6.50860659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844391418 meters 0.013799944186151285 Centerline is valid? [True, True] Translation: X:317.61, Y:-12.73, Z:-6.51 [[ 9.99024265e-01 4.39068307e-02 4.76528883e-03 3.17613643e+02] [-4.39062278e-02 9.99035630e-01 -2.31104981e-04 -1.27293368e+01] [-4.77084041e-03 2.16536270e-05 9.99988619e-01 -6.50926559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904391418 meters 0.013990370969723625 Centerline is valid? [True, True] Translation: X:317.67, Y:-12.74, Z:-6.51 [[ 9.99094862e-01 4.23054271e-02 4.43930562e-03 3.17671157e+02] [-4.23048912e-02 9.99104724e-01 -2.14594181e-04 -1.27378155e+01] [-4.44440972e-03 2.65956020e-05 9.99990123e-01 -6.50979019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964391418 meters 0.014367584512895777 Centerline is valid? [True, True] Translation: X:317.73, Y:-12.75, Z:-6.51 [[ 9.99229764e-01 3.89389698e-02 4.86155930e-03 3.17729486e+02] [-3.89382916e-02 9.99241590e-01 -2.34122095e-04 -1.27475205e+01] [-4.86698872e-03 4.46409518e-05 9.99988155e-01 -6.50947418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02439141799994 meters 0.014846390468537314 Centerline is valid? [True, True] Translation: X:317.79, Y:-12.76, Z:-6.51 [[ 9.99339685e-01 3.58869616e-02 5.68500345e-03 3.17788180e+02] [-3.58859891e-02 9.99355853e-01 -2.73028030e-04 -1.27554290e+01] [-5.69113962e-03 6.88357744e-05 9.99983803e-01 -6.50931598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08439141799994 meters 0.01532934949087829 Centerline is valid? [True, True] Translation: X:317.85, Y:-12.76, Z:-6.51 [[ 9.99451354e-01 3.24410811e-02 6.67590912e-03 3.17846512e+02] [-3.24396685e-02 9.99473644e-01 -3.19787452e-04 -1.27644707e+01] [-6.68276946e-03 1.03047723e-04 9.99977665e-01 -6.50854914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14439141799994 meters 0.015932916208573344 Centerline is valid? [True, True] Translation: X:317.90, Y:-12.77, Z:-6.51 [[ 9.99508863e-01 3.04849651e-02 7.25940587e-03 3.17904771e+02] [-3.04832487e-02 9.99535218e-01 -3.46998685e-04 -1.27702732e+01] [-7.26661007e-03 1.25537986e-04 9.99973590e-01 -6.50882140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20439141799994 meters 0.017002179350785764 Centerline is valid? [True, True] Translation: X:317.96, Y:-12.78, Z:-6.51 [[ 9.99603544e-01 2.68798733e-02 8.38011230e-03 3.17962842e+02] [-2.68774651e-02 9.99638656e-01 -3.99885823e-04 -1.27775785e+01] [-8.38783308e-03 1.74491111e-04 9.99964806e-01 -6.50877834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26439141799995 meters 0.018217428392543443 Centerline is valid? [True, True] Translation: X:318.02, Y:-12.79, Z:-6.51 [[ 9.99691512e-01 2.29644875e-02 9.46115058e-03 3.18021885e+02] [-2.29612609e-02 9.99736254e-01 -4.49525164e-04 -1.27853141e+01] [-9.46897836e-03 2.32146544e-04 9.99955141e-01 -6.50889589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32439141799995 meters 0.019044517249220717 Centerline is valid? [True, True] Translation: X:318.08, Y:-12.79, Z:-6.51 [[ 9.99714604e-01 2.19309865e-02 9.47328604e-03 3.18080407e+02] [-2.19277086e-02 9.99759458e-01 -4.49751892e-04 -1.27902136e+01] [-9.48087082e-03 2.41896078e-04 9.99955026e-01 -6.51010044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38439141799995 meters 0.019716309214272247 Centerline is valid? [True, True] Translation: X:318.14, Y:-12.79, Z:-6.51 [[ 9.99739671e-01 2.05789915e-02 9.85369697e-03 3.18139995e+02] [-2.05753848e-02 9.99788195e-01 -4.67277468e-04 -1.27945058e+01] [-9.86122601e-03 2.64412215e-04 9.99951342e-01 -6.51044224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44439141799995 meters 0.019057132573738964 Centerline is valid? [True, True] Translation: X:318.20, Y:-12.80, Z:-6.51 [[ 9.99694844e-01 2.25694798e-02 1.00418009e-02 3.18199853e+02] [-2.25658386e-02 9.99745246e-01 -4.75773009e-04 -1.27960476e+01] [-1.00499807e-02 2.49026165e-04 9.99949467e-01 -6.51097116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50439141799995 meters 0.01671732213697939 Centerline is valid? [True, True] Translation: X:318.26, Y:-12.79, Z:-6.51 [[ 9.99508224e-01 2.93599055e-02 1.10138952e-02 3.18260256e+02] [-2.93559451e-02 9.99568886e-01 -5.21112674e-04 -1.27945792e+01] [-1.10244468e-02 1.97533101e-04 9.99939209e-01 -6.51079829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56439141799996 meters 0.014487111247231177 Centerline is valid? [True, True] Translation: X:318.32, Y:-12.79, Z:-6.51 [[ 9.99274898e-01 3.58012074e-02 1.29596425e-02 3.18318612e+02] [-3.57962640e-02 9.99358920e-01 -6.13284918e-04 -1.27925767e+01] [-1.29732907e-02 1.48933440e-04 9.99915832e-01 -6.51040296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62439141799996 meters 0.013667244187757395 Centerline is valid? [True, True] Translation: X:318.38, Y:-12.79, Z:-6.51 [[ 9.99178506e-01 3.82472658e-02 1.33962929e-02 3.18377233e+02] [-3.82422178e-02 9.99268298e-01 -6.32877580e-04 -1.27921358e+01] [-1.34106967e-02 1.20053724e-04 9.99910065e-01 -6.51089392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68439141799996 meters 0.014214343238631473 Centerline is valid? [True, True] Translation: X:318.43, Y:-12.80, Z:-6.52 [[ 9.99218178e-01 3.76451905e-02 1.20777379e-02 3.18434436e+02] [-3.76410513e-02 9.99291162e-01 -5.69928223e-04 -1.27983678e+01] [-1.20906318e-02 1.14863887e-04 9.99926899e-01 -6.51500548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74439141799996 meters 0.014468170246910323 Centerline is valid? [True, True] Translation: X:318.49, Y:-12.80, Z:-6.52 [[ 9.99350301e-01 3.41583745e-02 1.14969895e-02 3.18493278e+02] [-3.41544068e-02 9.99416421e-01 -5.41326557e-04 -1.28036321e+01] [-1.15087709e-02 1.48302001e-04 9.99933761e-01 -6.51598641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80439141799997 meters 0.016632937983735076 Centerline is valid? [True, True] Translation: X:318.55, Y:-12.81, Z:-6.52 [[ 9.99540645e-01 2.73268171e-02 1.31051366e-02 3.18552574e+02] [-2.73210959e-02 9.99626520e-01 -6.15426784e-04 -1.28127648e+01] [-1.31170598e-02 2.57097390e-04 9.99913935e-01 -6.51556953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86439141799997 meters 0.018847307301141005 Centerline is valid? [True, True] Translation: X:318.61, Y:-12.82, Z:-6.52 [[ 9.99666259e-01 2.08824604e-02 1.52083298e-02 3.18612593e+02] [-2.08740247e-02 9.99781859e-01 -7.13220765e-04 -1.28228271e+01] [-1.52199061e-02 3.95523682e-04 9.99884092e-01 -6.51500536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92439141799997 meters 0.0222349558392617 Centerline is valid? [True, True] Translation: X:318.67, Y:-12.83, Z:-6.52 [[ 9.99762505e-01 1.43158663e-02 1.64313330e-02 3.18673579e+02] [-1.43051358e-02 9.99897380e-01 -7.70408338e-04 -1.28335472e+01] [-1.64406758e-02 5.35172921e-04 9.99864700e-01 -6.51622841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984391418 meters 0.023361816226826097 Centerline is valid? [True, True] Translation: X:318.73, Y:-12.84, Z:-6.52 [[ 9.99813291e-01 9.96545990e-03 1.65551180e-02 3.18734211e+02] [-9.95395881e-03 9.99950156e-01 -7.76971988e-04 -1.28399605e+01] [-1.65620357e-02 6.12037959e-04 9.99862653e-01 -6.51727881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044391418 meters 0.026501084746747082 Centerline is valid? [True, True] Translation: X:318.79, Y:-12.85, Z:-6.52 [[ 9.99870354e-01 3.01204024e-03 1.58177880e-02 3.18794109e+02] [-3.00066622e-03 9.99995222e-01 -7.42748905e-04 -1.28501772e+01] [-1.58199496e-02 6.95188709e-04 9.99874615e-01 -6.51950380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104391418 meters 0.029809208669095318 Centerline is valid? [True, True] Translation: X:318.85, Y:-12.86, Z:-6.52 [[ 9.99889798e-01 -3.28474419e-03 1.44776555e-02 3.18854492e+02] [ 3.29493207e-03 9.99994341e-01 -6.79900017e-04 -1.28588229e+01] [-1.44753403e-02 7.27527982e-04 9.99894962e-01 -6.52098849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164391418 meters 0.03189507764261241 Centerline is valid? [True, True] Translation: X:318.92, Y:-12.86, Z:-6.52 [[ 9.99890624e-01 -5.87853918e-03 1.35713701e-02 3.18915505e+02] [ 5.88772689e-03 9.99982464e-01 -6.37136774e-04 -1.28646028e+01] [-1.35673867e-02 7.16971607e-04 9.99907702e-01 -6.52290736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224391418 meters 0.03370175967681526 Centerline is valid? [True, True] Translation: X:318.98, Y:-12.87, Z:-6.52 [[ 9.99878789e-01 -7.74008986e-03 1.35092138e-02 3.18977344e+02] [ 7.74936660e-03 9.99969772e-01 -6.34485401e-04 -1.28705419e+01] [-1.35038944e-02 7.39096344e-04 9.99908545e-01 -6.52476019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284391418 meters 0.035376375892850066 Centerline is valid? [True, True] Translation: X:319.04, Y:-12.87, Z:-6.53 [[ 9.99884002e-01 -8.43050036e-03 1.26849693e-02 3.19039331e+02] [ 8.43874690e-03 9.99964215e-01 -5.96718563e-04 -1.28742941e+01] [-1.26794847e-02 7.03694590e-04 9.99919364e-01 -6.52665586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344391418 meters 0.037165357240267996 Centerline is valid? [True, True] Translation: X:319.10, Y:-12.88, Z:-6.53 [[ 9.99905334e-01 -8.73759201e-03 1.06290533e-02 3.19099900e+02] [ 8.74340973e-03 9.99961650e-01 -5.00995465e-04 -1.28771666e+01] [-1.06242682e-02 5.93882206e-04 9.99943385e-01 -6.52921256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404391418 meters 0.034436746512822594 Centerline is valid? [True, True] Translation: X:319.16, Y:-12.87, Z:-6.53 [[ 9.99908397e-01 -9.39719363e-03 9.74115209e-03 3.19162582e+02] [ 9.40210977e-03 9.99955694e-01 -4.59004967e-04 -1.28723773e+01] [-9.73640714e-03 5.50550302e-04 9.99952449e-01 -6.52988868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46439141799993 meters 0.03561153154387165 Centerline is valid? [True, True] Translation: X:319.23, Y:-12.87, Z:-6.53 [[ 9.99899561e-01 -9.09321668e-03 1.08711285e-02 3.19225162e+02] [ 9.09933367e-03 9.99958468e-01 -5.13352318e-04 -1.28721515e+01] [-1.08660090e-02 6.12220783e-04 9.99940776e-01 -6.52932687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52439141799994 meters 0.033384634337231704 Centerline is valid? [True, True] Translation: X:319.29, Y:-12.87, Z:-6.53 [[ 9.99900236e-01 -7.26162897e-03 1.21155870e-02 3.19287298e+02] [ 7.26910874e-03 9.99973415e-01 -5.73444660e-04 -1.28678330e+01] [-1.21111008e-02 6.61456970e-04 9.99926439e-01 -6.52886494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58439141799994 meters 0.03183351649778361 Centerline is valid? [True, True] Translation: X:319.35, Y:-12.86, Z:-6.53 [[ 9.99904705e-01 -3.33900762e-03 1.33952255e-02 3.19348334e+02] [ 3.34781685e-03 9.99994194e-01 -6.35269496e-04 -1.28626745e+01] [-1.33930266e-02 6.80053720e-04 9.99910078e-01 -6.52846930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64439141799994 meters 0.030265786922897442 Centerline is valid? [True, True] Translation: X:319.41, Y:-12.86, Z:-6.53 [[ 9.99911607e-01 2.64224882e-05 1.32957532e-02 3.19410633e+02] [-1.80407789e-05 9.99999801e-01 -6.30524542e-04 -1.28581550e+01] [-1.32957673e-02 6.30228942e-04 9.99911409e-01 -6.52953489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70439141799994 meters 0.03178920523187442 Centerline is valid? [True, True] Translation: X:319.47, Y:-12.86, Z:-6.53 [[ 9.99911319e-01 1.35754836e-03 1.32480307e-02 3.19472147e+02] [-1.34933256e-03 9.99998892e-01 -6.29071444e-04 -1.28583932e+01] [-1.32488700e-02 6.11139659e-04 9.99912043e-01 -6.53018483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76439141799995 meters 0.03030581273867892 Centerline is valid? [True, True] Translation: X:319.54, Y:-12.86, Z:-6.53 [[ 9.99919241e-01 1.86579251e-03 1.25710009e-02 3.19535282e+02] [-1.85845232e-03 9.99998096e-01 -5.95555061e-04 -1.28571824e+01] [-1.25720882e-02 5.72144359e-04 9.99920804e-01 -6.53155100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82439141799995 meters 0.03140417915520428 Centerline is valid? [True, True] Translation: X:319.60, Y:-12.86, Z:-6.53 [[ 9.99929195e-01 1.94698109e-03 1.17394599e-02 3.19596727e+02] [-1.94052940e-03 9.99997960e-01 -5.60938791e-04 -1.28590082e+01] [-1.17405281e-02 5.38118306e-04 9.99930933e-01 -6.53368395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88439141799995 meters 0.02724417051834847 Centerline is valid? [True, True] Translation: X:319.66, Y:-12.85, Z:-6.53 [[ 9.99931948e-01 3.83555806e-03 1.10176361e-02 3.19659643e+02] [-3.82996660e-03 9.99992526e-01 -5.28555479e-04 -1.28519198e+01] [-1.10195811e-02 4.86322331e-04 9.99939164e-01 -6.53466376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94439141799995 meters 0.024463323725905255 Centerline is valid? [True, True] Translation: X:319.72, Y:-12.85, Z:-6.54 [[ 9.99892011e-01 1.01433582e-02 1.06338861e-02 3.19720758e+02] [-1.01384909e-02 9.99948473e-01 -5.11524675e-04 -1.28455968e+01] [-1.06385268e-02 4.03657879e-04 9.99943328e-01 -6.53554014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00439141799995 meters 0.020668975133140033 Centerline is valid? [True, True] Translation: X:319.78, Y:-12.84, Z:-6.54 [[ 9.99755377e-01 1.89849129e-02 1.13472101e-02 3.19782007e+02] [-1.89799332e-02 9.99819716e-01 -5.46383448e-04 -1.28364445e+01] [-1.13555374e-02 3.30880502e-04 9.99935469e-01 -6.53587999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06439141799996 meters 0.018204993611398653 Centerline is valid? [True, True] Translation: X:319.84, Y:-12.83, Z:-6.54 [[ 9.99621554e-01 2.46138146e-02 1.22845178e-02 3.19842191e+02] [-2.46083974e-02 9.99696992e-01 -5.91968405e-04 -1.28316466e+01] [-1.22953661e-02 2.89442081e-04 9.99924367e-01 -6.53600893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12439141799996 meters 0.015977096459005694 Centerline is valid? [True, True] Translation: X:319.90, Y:-12.83, Z:-6.54 [[ 9.99376611e-01 3.21601905e-02 1.45640590e-02 3.19901597e+02] [-3.21533880e-02 9.99482700e-01 -7.01045275e-04 -1.28269463e+01] [-1.45790708e-02 2.32324409e-04 9.99893693e-01 -6.53652682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18439141799996 meters 0.01384484225568114 Centerline is valid? [True, True] Translation: X:319.96, Y:-12.82, Z:-6.54 [[ 9.99122144e-01 3.89054220e-02 1.55341664e-02 3.19960669e+02] [-3.88985055e-02 9.99242887e-01 -7.47255906e-04 -1.28213227e+01] [-1.55514776e-02 1.42344065e-04 9.99879058e-01 -6.53742051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24439141799996 meters 0.01336889199474121 Centerline is valid? [True, True] Translation: X:320.02, Y:-12.82, Z:-6.54 [[ 9.99049459e-01 4.07214080e-02 1.55545886e-02 3.20019432e+02] [-4.07147120e-02 9.99170533e-01 -7.47044908e-04 -1.28213438e+01] [-1.55721073e-02 1.13034216e-04 9.99878741e-01 -6.53854794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30439141799997 meters 0.01286062534639253 Centerline is valid? [True, True] Translation: X:320.08, Y:-12.82, Z:-6.54 [[ 9.98881876e-01 4.44327957e-02 1.61469352e-02 3.20077934e+02] [-4.44260861e-02 9.99012374e-01 -7.74169091e-04 -1.28191909e+01] [-1.61653866e-02 5.59583383e-05 9.99869330e-01 -6.54017234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36439141799997 meters 0.01294048460492765 Centerline is valid? [True, True] Translation: X:320.14, Y:-12.82, Z:-6.54 [[ 9.98925269e-01 4.38312682e-02 1.50707266e-02 3.20135956e+02] [-4.38253698e-02 9.99038946e-01 -7.21578030e-04 -1.28218019e+01] [-1.50878705e-02 6.03223609e-05 9.99886170e-01 -6.54313014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42439141799997 meters 0.013325864303007081 Centerline is valid? [True, True] Translation: X:320.19, Y:-12.83, Z:-6.55 [[ 9.99040790e-01 4.12859371e-02 1.45935194e-02 3.20193643e+02] [-4.12801549e-02 9.99147368e-01 -6.97346366e-04 -1.28266955e+01] [-1.46098671e-02 9.42547214e-05 9.99893266e-01 -6.54573324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484391418 meters 0.014439861177406093 Centerline is valid? [True, True] Translation: X:320.25, Y:-12.83, Z:-6.55 [[ 9.99267057e-01 3.58127432e-02 1.35202365e-02 3.20251612e+02] [-3.58072943e-02 9.99358505e-01 -6.44948015e-04 -1.28340004e+01] [-1.35346607e-02 1.60352218e-04 9.99908389e-01 -6.54787958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544391418 meters 0.015390143934296191 Centerline is valid? [True, True] Translation: X:320.31, Y:-12.84, Z:-6.55 [[ 9.99393233e-01 3.22886555e-02 1.30617044e-02 3.20310452e+02] [-3.22832867e-02 9.99478565e-01 -6.21727111e-04 -1.28400875e+01] [-1.30749683e-02 1.99675120e-04 9.99914499e-01 -6.55001489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604391418 meters 0.018111338938973237 Centerline is valid? [True, True] Translation: X:320.37, Y:-12.85, Z:-6.55 [[ 9.99565137e-01 2.69163397e-02 1.20435969e-02 3.20368484e+02] [-2.69113974e-02 9.99637659e-01 -5.72271779e-04 -1.28479445e+01] [-1.20546365e-02 2.47912897e-04 9.99927309e-01 -6.55276227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664391418 meters 0.020267799600386664 Centerline is valid? [True, True] Translation: X:320.43, Y:-12.85, Z:-6.55 [[ 9.99711117e-01 2.11386757e-02 1.14385040e-02 3.20427884e+02] [-2.11338484e-02 9.99776508e-01 -5.42746197e-04 -1.28543254e+01] [-1.14474205e-02 3.00849797e-04 9.99934431e-01 -6.55390952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724391418 meters 0.022649489955833157 Centerline is valid? [True, True] Translation: X:320.49, Y:-12.86, Z:-6.56 [[ 9.99800629e-01 1.65325320e-02 1.11971993e-02 3.20487958e+02] [-1.65276263e-02 9.99863269e-01 -5.30513486e-04 -1.28613902e+01] [-1.12044390e-02 3.45344591e-04 9.99937169e-01 -6.55535755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784391418 meters 0.025141598917190797 Centerline is valid? [True, True] Translation: X:320.55, Y:-12.87, Z:-6.56 [[ 9.99896668e-01 8.95178499e-03 1.12480374e-02 3.20548376e+02] [-8.94635679e-03 9.99959839e-01 -5.32815235e-04 -1.28692267e+01] [-1.12523554e-02 4.32131222e-04 9.99936597e-01 -6.55621871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844391418 meters 0.02983134394545623 Centerline is valid? [True, True] Translation: X:320.61, Y:-12.88, Z:-6.56 [[ 9.99920124e-01 2.19956333e-03 1.24462027e-02 3.20607976e+02] [-2.19239006e-03 9.99997423e-01 -5.89957081e-04 -1.28798117e+01] [-1.24474682e-02 5.62623027e-04 9.99922369e-01 -6.55641728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904391418 meters 0.03201349330208103 Centerline is valid? [True, True] Translation: X:320.67, Y:-12.89, Z:-6.56 [[ 9.99923385e-01 -1.08536172e-03 1.23306779e-02 3.20668934e+02] [ 1.09264383e-03 9.99999233e-01 -5.83847150e-04 -1.28861743e+01] [-1.23300347e-02 5.97275458e-04 9.99923804e-01 -6.55810296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96439141799993 meters 0.03277233481138509 Centerline is valid? [True, True] Translation: X:320.73, Y:-12.89, Z:-6.56 [[ 9.99929473e-01 -4.15020777e-03 1.11276477e-02 3.20729747e+02] [ 4.15633349e-03 9.99991223e-01 -5.27425731e-04 -1.28904587e+01] [-1.11253611e-02 5.73638748e-04 9.99937947e-01 -6.55984038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02439141799994 meters 0.033887482671675136 Centerline is valid? [True, True] Translation: X:320.79, Y:-12.89, Z:-6.56 [[ 9.99938735e-01 -4.42442082e-03 1.01465011e-02 3.20792165e+02] [ 4.42952340e-03 9.99990074e-01 -4.80473149e-04 -1.28947241e+01] [-1.01442746e-02 5.25387877e-04 9.99948407e-01 -6.56220975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08439141799994 meters 0.031449159527350924 Centerline is valid? [True, True] Translation: X:320.85, Y:-12.89, Z:-6.56 [[ 9.99958578e-01 -1.65977382e-03 8.94910694e-03 3.20853979e+02] [ 1.66363926e-03 9.99998526e-01 -4.24508661e-04 -1.28924333e+01] [-8.94838916e-03 4.39379162e-04 9.99959866e-01 -6.56376483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14439141799994 meters 0.0284429561599983 Centerline is valid? [True, True] Translation: X:320.91, Y:-12.89, Z:-6.56 [[ 9.99957151e-01 3.13102433e-03 8.71165689e-03 3.20914764e+02] [-3.12753220e-03 9.99995023e-01 -4.14451131e-04 -1.28883156e+01] [-8.71291119e-03 3.87187385e-04 9.99961967e-01 -6.56462336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20439141799994 meters 0.023923590468777248 Centerline is valid? [True, True] Translation: X:320.98, Y:-12.88, Z:-6.56 [[ 9.99879120e-01 1.23416678e-02 9.45671672e-03 3.20976099e+02] [-1.23379646e-02 9.99923783e-01 -4.49829741e-04 -1.28798436e+01] [-9.46154761e-03 3.33098728e-04 9.99955183e-01 -6.56411406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26439141799995 meters 0.021387595668885793 Centerline is valid? [True, True] Translation: X:321.04, Y:-12.88, Z:-6.56 [[ 9.99741884e-01 2.05520044e-02 9.68405439e-03 3.21036343e+02] [-2.05485045e-02 9.99788751e-01 -4.60780315e-04 -1.28751615e+01] [-9.69147860e-03 2.61668545e-04 9.99953002e-01 -6.56494906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32439141799995 meters 0.014987901293011136 Centerline is valid? [True, True] Translation: X:321.10, Y:-12.86, Z:-6.56 [[ 9.99403576e-01 3.25502959e-02 1.15313004e-02 3.21097627e+02] [-3.25461309e-02 9.99470084e-01 -5.48714856e-04 -1.28613592e+01] [-1.15430507e-02 1.73088375e-04 9.99933362e-01 -6.56288822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38439141799995 meters 0.013337643918484183 Centerline is valid? [True, True] Translation: X:321.16, Y:-12.86, Z:-6.56 [[ 9.99060606e-01 4.14520641e-02 1.26345700e-02 3.21155676e+02] [-4.14477670e-02 9.99140491e-01 -6.01883200e-04 -1.28550149e+01] [-1.26486598e-02 7.76430820e-05 9.99919999e-01 -6.56414525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44439141799995 meters 0.013022070576431774 Centerline is valid? [True, True] Translation: X:321.21, Y:-12.85, Z:-6.57 [[ 9.98927144e-01 4.48420903e-02 1.15649142e-02 3.21214287e+02] [-4.48387316e-02 9.98994087e-01 -5.49673133e-04 -1.28538607e+01] [-1.15779294e-02 3.05273301e-05 9.99932973e-01 -6.56656208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50439141799995 meters 0.013231299073655582 Centerline is valid? [True, True] Translation: X:321.27, Y:-12.85, Z:-6.57 [[ 9.98759796e-01 4.88241945e-02 9.75030855e-03 3.21271978e+02] [-4.88219999e-02 9.98807388e-01 -4.63107642e-04 -1.28516554e+01] [-9.76129107e-03 -1.34962700e-05 9.99952357e-01 -6.56932286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56439141799996 meters 0.013953936928397066 Centerline is valid? [True, True] Translation: X:321.33, Y:-12.85, Z:-6.57 [[ 9.98589013e-01 5.23997026e-02 8.61705454e-03 3.21329623e+02] [-5.23981270e-02 9.98626191e-01 -4.08659261e-04 -1.28510662e+01] [-8.62662998e-03 -4.34348698e-05 9.99962789e-01 -6.57177405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62439141799996 meters 0.013841120893726194 Centerline is valid? [True, True] Translation: X:321.39, Y:-12.85, Z:-6.57 [[ 9.98474380e-01 5.44072176e-02 9.42158725e-03 3.21388539e+02] [-5.44054348e-02 9.98518828e-01 -4.45604604e-04 -1.28530879e+01] [-9.43187637e-03 -6.76607695e-05 9.99955517e-01 -6.57002156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68439141799996 meters 0.014179008203711737 Centerline is valid? [True, True] Translation: X:321.45, Y:-12.86, Z:-6.57 [[ 9.98366138e-01 5.58896310e-02 1.18913460e-02 3.21445959e+02] [-5.58869110e-02 9.98436948e-01 -5.61167809e-04 -1.28555616e+01] [-1.19041227e-02 -1.04319658e-04 9.99929138e-01 -6.56960513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74439141799996 meters 0.013901360775469572 Centerline is valid? [True, True] Translation: X:321.50, Y:-12.86, Z:-6.57 [[ 9.98457054e-01 5.39826991e-02 1.30146100e-02 3.21503466e+02] [-5.39792987e-02 9.98541867e-01 -6.12667138e-04 -1.28617173e+01] [-1.30287063e-02 -9.07976924e-05 9.99915119e-01 -6.57029646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80439141799997 meters 0.013336612482971511 Centerline is valid? [True, True] Translation: X:321.56, Y:-12.87, Z:-6.57 [[ 9.98743579e-01 4.85202505e-02 1.25319280e-02 3.21562245e+02] [-4.85166770e-02 9.98822199e-01 -5.89186081e-04 -1.28726127e+01] [-1.25457554e-02 -1.95616900e-05 9.99921299e-01 -6.57276539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86439141799997 meters 0.01341191193769691 Centerline is valid? [True, True] Translation: X:321.62, Y:-12.88, Z:-6.58 [[ 9.98961877e-01 4.40506203e-02 1.16064979e-02 3.21619421e+02] [-4.40472762e-02 9.99029300e-01 -5.43719324e-04 -1.28820438e+01] [-1.16191826e-02 3.19202579e-05 9.99932495e-01 -6.57548859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92439141799997 meters 0.014124802919706239 Centerline is valid? [True, True] Translation: X:321.68, Y:-12.89, Z:-6.58 [[ 9.99209185e-01 3.83101031e-02 1.06461734e-02 3.21677227e+02] [-3.83069723e-02 9.99265895e-01 -4.97914909e-04 -1.28944893e+01] [-1.06574332e-02 8.96984805e-05 9.99943204e-01 -6.57749020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984391418 meters 0.01432370477454305 Centerline is valid? [True, True] Translation: X:321.74, Y:-12.90, Z:-6.58 [[ 9.99287985e-01 3.61898549e-02 1.06685367e-02 3.21735612e+02] [-3.61866031e-02 9.99344926e-01 -4.97744756e-04 -1.29018943e+01] [-1.06795613e-02 1.11332250e-04 9.99942966e-01 -6.57843314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044391418 meters 0.01462892506279122 Centerline is valid? [True, True] Translation: X:321.79, Y:-12.91, Z:-6.58 [[ 9.99287620e-01 3.59266227e-02 1.15555070e-02 3.21793373e+02] [-3.59228005e-02 9.99354423e-01 -5.38217696e-04 -1.29094094e+01] [-1.15673834e-02 1.22728108e-04 9.99933088e-01 -6.57896033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104391418 meters 0.014142579495259166 Centerline is valid? [True, True] Translation: X:321.85, Y:-12.91, Z:-6.58 [[ 9.99181471e-01 3.86488770e-02 1.19437165e-02 3.21852535e+02] [-3.86450072e-02 9.99252849e-01 -5.54707159e-04 -1.29139611e+01] [-1.19562316e-02 9.26881041e-05 9.99928517e-01 -6.57919841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164391418 meters 0.014049750191347856 Centerline is valid? [True, True] Translation: X:321.91, Y:-12.92, Z:-6.58 [[ 9.99121551e-01 4.02584026e-02 1.16356056e-02 3.21910425e+02] [-4.02548429e-02 9.99189299e-01 -5.40067806e-04 -1.29171969e+01] [-1.16479149e-02 7.12039080e-05 9.99932158e-01 -6.58109509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224391418 meters 0.01385112443896012 Centerline is valid? [True, True] Translation: X:321.97, Y:-12.92, Z:-6.58 [[ 9.98909410e-01 4.54725406e-02 1.05942833e-02 3.21969612e+02] [-4.54698940e-02 9.98965589e-01 -4.90672616e-04 -1.29202084e+01] [-1.06056366e-02 8.41655621e-06 9.99943759e-01 -6.58263482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284391418 meters 0.014101087566824513 Centerline is valid? [True, True] Translation: X:322.03, Y:-12.93, Z:-6.58 [[ 9.98752063e-01 4.90868034e-02 9.20886651e-03 3.22027688e+02] [-4.90849600e-02 9.98794516e-01 -4.26219639e-04 -1.29253291e+01] [-9.21868713e-03 -2.63290999e-05 9.99957507e-01 -6.58464644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344391418 meters 0.014333537249180699 Centerline is valid? [True, True] Translation: X:322.09, Y:-12.93, Z:-6.59 [[ 9.98704581e-01 5.00529861e-02 9.15745995e-03 3.22086566e+02] [-5.00512143e-02 9.98746563e-01 -4.22704304e-04 -1.29310269e+01] [-9.16713926e-03 -3.61852651e-05 9.99957980e-01 -6.58593275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404391418 meters 0.014507529323335521 Centerline is valid? [True, True] Translation: X:322.15, Y:-12.94, Z:-6.59 [[ 9.98712281e-01 4.97526737e-02 9.92227838e-03 3.22145238e+02] [-4.97505881e-02 9.98761568e-01 -4.57065655e-04 -1.29391506e+01] [-9.93273055e-03 -3.71621011e-05 9.99950669e-01 -6.58648877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46439141799993 meters 0.014146064692737256 Centerline is valid? [True, True] Translation: X:322.20, Y:-12.95, Z:-6.59 [[ 9.98811020e-01 4.76424474e-02 1.03317022e-02 3.22203404e+02] [-4.76400823e-02 9.98864454e-01 -4.75045030e-04 -1.29488389e+01] [-1.03426024e-02 -1.77229330e-05 9.99946514e-01 -6.58687752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52439141799994 meters 0.014247551966092781 Centerline is valid? [True, True] Translation: X:322.26, Y:-12.96, Z:-6.59 [[ 9.98910387e-01 4.55379759e-02 1.02143182e-02 3.22261543e+02] [-4.55355583e-02 9.98962608e-01 -4.69246683e-04 -1.29552352e+01] [-1.02250905e-02 3.62070299e-06 9.99947722e-01 -6.58795298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58439141799994 meters 0.014575308850793403 Centerline is valid? [True, True] Translation: X:322.32, Y:-12.97, Z:-6.59 [[ 9.99132573e-01 3.99770840e-02 1.16591287e-02 3.22318946e+02] [-3.99735759e-02 9.99200595e-01 -5.33862882e-04 -1.29655652e+01] [-1.16711506e-02 6.73427305e-05 9.99931888e-01 -6.58871615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64439141799994 meters 0.015435852693304233 Centerline is valid? [True, True] Translation: X:322.38, Y:-12.97, Z:-6.59 [[ 9.99334731e-01 3.42075019e-02 1.26467982e-02 3.22377219e+02] [-3.42029375e-02 9.99414742e-01 -5.77088176e-04 -1.29748937e+01] [-1.26591373e-02 1.44146608e-04 9.99919860e-01 -6.58925676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70439141799994 meters 0.02024018655638372 Centerline is valid? [True, True] Translation: X:322.44, Y:-12.99, Z:-6.59 [[ 9.99676484e-01 2.22093676e-02 1.23963901e-02 3.22435400e+02] [-2.22040758e-02 9.99753300e-01 -5.64369580e-04 -1.29921202e+01] [-1.24058662e-02 2.88936613e-04 9.99923003e-01 -6.59224332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76439141799995 meters 0.027096623672656955 Centerline is valid? [True, True] Translation: X:322.50, Y:-13.01, Z:-6.59 [[ 9.99882711e-01 8.80295724e-03 1.25328185e-02 3.22495159e+02] [-8.79651099e-03 9.99961148e-01 -5.69382810e-04 -1.30112177e+01] [-1.25373439e-02 4.59070952e-04 9.99921299e-01 -6.59456949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82439141799995 meters 0.032258009667433585 Centerline is valid? [True, True] Translation: X:322.55, Y:-13.02, Z:-6.60 [[ 9.99916878e-01 -1.20830534e-04 1.28926938e-02 3.22554769e+02] [ 1.28407411e-04 9.99999820e-01 -5.86861478e-04 -1.30238953e+01] [-1.28926206e-02 5.88468214e-04 9.99916714e-01 -6.59535765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88439141799995 meters 0.04037825101184376 Centerline is valid? [True, True] Translation: X:322.61, Y:-13.04, Z:-6.60 [[ 9.99847448e-01 -1.08066891e-02 1.37220986e-02 3.22613376e+02] [ 1.08162726e-02 9.99941307e-01 -6.24377607e-04 -1.30403968e+01] [-1.37145458e-02 7.72704317e-04 9.99905653e-01 -6.59648022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94439141799995 meters 0.03794156172819739 Centerline is valid? [True, True] Translation: X:322.67, Y:-13.04, Z:-6.60 [[ 9.99760758e-01 -1.72884876e-02 1.33990481e-02 3.22673831e+02] [ 1.72982005e-02 9.99850189e-01 -6.09335321e-04 -1.30401503e+01] [-1.33865063e-02 8.40968962e-04 9.99910043e-01 -6.59716281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00439141799995 meters 0.0418525828292001 Centerline is valid? [True, True] Translation: X:322.73, Y:-13.05, Z:-6.60 [[ 9.99739684e-01 -1.81875776e-02 1.37759448e-02 3.22734395e+02] [ 1.81979258e-02 9.99834208e-01 -6.26187277e-04 -1.30460029e+01] [-1.37622720e-02 8.76717890e-04 9.99904911e-01 -6.59785454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06439141799996 meters 0.03930827440389862 Centerline is valid? [True, True] Translation: X:322.80, Y:-13.04, Z:-6.60 [[ 9.99777410e-01 -1.63796494e-02 1.32980065e-02 3.22795911e+02] [ 1.63891395e-02 9.99865506e-01 -6.04977523e-04 -1.30434142e+01] [-1.32863087e-02 8.22785744e-04 9.99911395e-01 -6.59873992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12439141799996 meters 0.03438854503063274 Centerline is valid? [True, True] Translation: X:322.86, Y:-13.04, Z:-6.60 [[ 9.99849938e-01 -1.14223743e-02 1.30242726e-02 3.22857306e+02] [ 1.14310682e-02 9.99934487e-01 -5.93262491e-04 -1.30357042e+01] [-1.30166429e-02 7.42054813e-04 9.99915005e-01 -6.59926632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18439141799996 meters 0.031943249959780366 Centerline is valid? [True, True] Translation: X:322.92, Y:-13.03, Z:-6.60 [[ 9.99889780e-01 -7.51310071e-03 1.28055131e-02 3.22918697e+02] [ 7.52118591e-03 9.99971545e-01 -5.83342532e-04 -1.30321353e+01] [-1.28007660e-02 6.79590881e-04 9.99917836e-01 -6.60075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24439141799996 meters 0.0289747054467524 Centerline is valid? [True, True] Translation: X:322.98, Y:-13.02, Z:-6.60 [[ 9.99922408e-01 -2.96264998e-04 1.24535032e-02 3.22979796e+02] [ 3.03358559e-04 9.99999793e-01 -5.67718485e-04 -1.30240063e+01] [-1.24533325e-02 5.71452312e-04 9.99922291e-01 -6.60158528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30439141799997 meters 0.02447728970702499 Centerline is valid? [True, True] Translation: X:323.04, Y:-13.01, Z:-6.60 [[ 9.99883827e-01 7.90697736e-03 1.30312288e-02 3.23041095e+02] [-7.89990567e-03 9.99968619e-01 -5.94059095e-04 -1.30141715e+01] [-1.30355171e-02 4.91044602e-04 9.99914913e-01 -6.60166111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36439141799997 meters 0.02182248238414176 Centerline is valid? [True, True] Translation: X:323.10, Y:-13.01, Z:-6.60 [[ 9.99774005e-01 1.68984928e-02 1.28988158e-02 3.23100657e+02] [-1.68923098e-02 9.99857142e-01 -5.88153557e-04 -1.30066228e+01] [-1.29069120e-02 3.70129845e-04 9.99916634e-01 -6.60264783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42439141799997 meters 0.01804227296388804 Centerline is valid? [True, True] Translation: X:323.16, Y:-13.00, Z:-6.60 [[ 9.99651128e-01 2.31834129e-02 1.26550901e-02 3.23162084e+02] [-2.31779704e-02 9.99731188e-01 -5.76584172e-04 -1.29986631e+01] [-1.26650554e-02 2.83063715e-04 9.99919755e-01 -6.60292662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484391418 meters 0.015499444063762219 Centerline is valid? [True, True] Translation: X:323.22, Y:-12.99, Z:-6.60 [[ 9.99345737e-01 3.39834133e-02 1.23784232e-02 3.23221146e+02] [-3.39790226e-02 9.99422387e-01 -5.64901222e-04 -1.29898313e+01] [-1.23904706e-02 1.43924905e-04 9.99923225e-01 -6.60391778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544391418 meters 0.014356966624693103 Centerline is valid? [True, True] Translation: X:323.28, Y:-12.99, Z:-6.60 [[ 9.99106138e-01 4.03162901e-02 1.27091033e-02 3.23280376e+02] [-4.03121821e-02 9.99186966e-01 -5.79344842e-04 -1.29855342e+01] [-1.27221274e-02 6.64952996e-05 9.99919068e-01 -6.60407434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604391418 meters 0.014369934151477824 Centerline is valid? [True, True] Translation: X:323.34, Y:-12.98, Z:-6.60 [[ 9.98829570e-01 4.62040645e-02 1.43064705e-02 3.23338914e+02] [-4.61994829e-02 9.98932022e-01 -6.50748110e-04 -1.29820739e+01] [-1.43212587e-02 -1.09650850e-05 9.99897445e-01 -6.60439787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664391418 meters 0.014299633249925734 Centerline is valid? [True, True] Translation: X:323.40, Y:-12.98, Z:-6.61 [[ 9.98807515e-01 4.62102239e-02 1.57532010e-02 3.23397928e+02] [-4.62046924e-02 9.98931737e-01 -7.15103465e-04 -1.29849702e+01] [-1.57694175e-02 -1.36210909e-05 9.99875655e-01 -6.60530146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724391418 meters 0.014300938953500337 Centerline is valid? [True, True] Translation: X:323.46, Y:-12.99, Z:-6.61 [[ 9.98929254e-01 4.31543076e-02 1.66748832e-02 3.23455819e+02] [-4.31477071e-02 9.99068418e-01 -7.55564981e-04 -1.29912079e+01] [-1.66919551e-02 3.52729862e-05 9.99860679e-01 -6.60651288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784391418 meters 0.015351874591517321 Centerline is valid? [True, True] Translation: X:323.51, Y:-13.00, Z:-6.61 [[ 9.99239502e-01 3.48980652e-02 1.73937285e-02 3.23513954e+02] [-3.48896650e-02 9.99390861e-01 -7.86261395e-04 -1.30027261e+01] [-1.74105723e-02 1.78802085e-04 9.99848409e-01 -6.60774691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844391418 meters 0.01819117418898949 Centerline is valid? [True, True] Translation: X:323.57, Y:-13.02, Z:-6.61 [[ 9.99553476e-01 2.43799912e-02 1.72761248e-02 3.23573708e+02] [-2.43701620e-02 9.99702700e-01 -7.79280474e-04 -1.30177988e+01] [-1.72899875e-02 3.57910546e-04 9.99850453e-01 -6.60962218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904391418 meters 0.022183461350826918 Centerline is valid? [True, True] Translation: X:323.63, Y:-13.03, Z:-6.61 [[ 9.99688661e-01 1.83466107e-02 1.69110582e-02 3.23633524e+02] [-1.83363309e-02 9.99831584e-01 -7.62740392e-04 -1.30309563e+01] [-1.69222039e-02 4.52416161e-04 9.99856707e-01 -6.61184914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96439141799993 meters 0.02317980444494786 Centerline is valid? [True, True] Translation: X:323.69, Y:-13.04, Z:-6.61 [[ 9.99769754e-01 1.26003305e-02 1.73686494e-02 3.23694477e+02] [-1.25886153e-02 9.99920453e-01 -7.83674276e-04 -1.30400302e+01] [-1.73771423e-02 5.64846594e-04 9.99848847e-01 -6.61360156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02439141799994 meters 0.024239030922141625 Centerline is valid? [True, True] Translation: X:323.76, Y:-13.05, Z:-6.61 [[ 9.99765860e-01 1.15285475e-02 1.83117007e-02 3.23756142e+02] [-1.15153412e-02 9.99933355e-01 -8.26475458e-04 -1.30474189e+01] [-1.83200084e-02 6.15416465e-04 9.99831985e-01 -6.61464240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08439141799994 meters 0.024435709621415454 Centerline is valid? [True, True] Translation: X:323.82, Y:-13.05, Z:-6.62 [[ 9.99753902e-01 1.22843993e-02 1.84723658e-02 3.23818155e+02] [-1.22709920e-02 9.99924357e-01 -8.38979049e-04 -1.30508593e+01] [-1.84812748e-02 6.12098327e-04 9.99829019e-01 -6.61569146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14439141799994 meters 0.023162059713503533 Centerline is valid? [True, True] Translation: X:323.88, Y:-13.05, Z:-6.62 [[ 9.99740562e-01 1.40959005e-02 1.78917534e-02 3.23880956e+02] [-1.40835182e-02 9.99900488e-01 -8.17884122e-04 -1.30513132e+01] [-1.79015018e-02 5.65693097e-04 9.99839595e-01 -6.61706029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20439141799994 meters 0.02293447959267803 Centerline is valid? [True, True] Translation: X:323.94, Y:-13.05, Z:-6.62 [[ 9.99724465e-01 1.66993086e-02 1.64962712e-02 3.23941776e+02] [-1.66891223e-02 9.99860442e-01 -7.54966768e-04 -1.30548028e+01] [-1.65065765e-02 4.79450460e-04 9.99863642e-01 -6.62093681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26439141799995 meters 0.020878011687955614 Centerline is valid? [True, True] Translation: X:324.00, Y:-13.05, Z:-6.62 [[ 9.99714692e-01 1.83591953e-02 1.52798603e-02 3.24004053e+02] [-1.83505979e-02 9.99831367e-01 -7.02694811e-04 -1.30548409e+01] [-1.52901846e-02 4.22099754e-04 9.99883009e-01 -6.62266435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32439141799995 meters 0.02080342218617919 Centerline is valid? [True, True] Translation: X:324.07, Y:-13.06, Z:-6.62 [[ 9.99707814e-01 1.91240245e-02 1.47837084e-02 3.24065902e+02] [-1.91159816e-02 9.99817038e-01 -6.85170645e-04 -1.30560794e+01] [-1.47941068e-02 4.02365350e-04 9.99890480e-01 -6.62379062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38439141799995 meters 0.01994792523998209 Centerline is valid? [True, True] Translation: X:324.13, Y:-13.06, Z:-6.63 [[ 9.99681825e-01 2.11355221e-02 1.37673077e-02 3.24127139e+02] [-2.11287206e-02 9.99776559e-01 -6.39315211e-04 -1.30561446e+01] [-1.37777437e-02 3.48226200e-04 9.99905022e-01 -6.62515129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44439141799995 meters 0.020001283258632128 Centerline is valid? [True, True] Translation: X:324.19, Y:-13.06, Z:-6.63 [[ 9.99640483e-01 2.31900198e-02 1.34583757e-02 3.24187863e+02] [-2.31837056e-02 9.99731026e-01 -6.25015380e-04 -1.30571680e+01] [-1.34692499e-02 3.12775656e-04 9.99909237e-01 -6.62593710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50439141799995 meters 0.019468157961974753 Centerline is valid? [True, True] Translation: X:324.25, Y:-13.06, Z:-6.63 [[ 9.99588152e-01 2.47932345e-02 1.44506910e-02 3.24247769e+02] [-2.47860836e-02 9.99692551e-01 -6.73767669e-04 -1.30575010e+01] [-1.44629531e-02 3.15314143e-04 9.99895356e-01 -6.62527805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56439141799996 meters 0.018149591143790108 Centerline is valid? [True, True] Translation: X:324.31, Y:-13.06, Z:-6.62 [[ 9.99476483e-01 2.78250305e-02 1.65084330e-02 3.24307677e+02] [-2.78161237e-02 9.99612761e-01 -7.68948745e-04 -1.30562800e+01] [-1.65234363e-02 3.09345574e-04 9.99863431e-01 -6.62371667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62439141799996 meters 0.016831278883130976 Centerline is valid? [True, True] Translation: X:324.37, Y:-13.06, Z:-6.62 [[ 9.99373634e-01 3.07052322e-02 1.75934032e-02 3.24367670e+02] [-3.06955752e-02 9.99528444e-01 -8.18740349e-04 -1.30553251e+01] [-1.76102466e-02 2.78187887e-04 9.99844889e-01 -6.62372753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68439141799996 meters 0.015821336973558496 Centerline is valid? [True, True] Translation: X:324.43, Y:-13.05, Z:-6.62 [[ 9.99234388e-01 3.50782199e-02 1.73250102e-02 3.24427151e+02] [-3.50695244e-02 9.99384550e-01 -8.05555034e-04 -1.30531206e+01] [-1.73426049e-02 1.97358425e-04 9.99849586e-01 -6.62491402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74439141799996 meters 0.01531988759421135 Centerline is valid? [True, True] Translation: X:324.49, Y:-13.05, Z:-6.63 [[ 9.99159751e-01 3.75131346e-02 1.65092793e-02 3.24486026e+02] [-3.75055788e-02 9.99296124e-01 -7.67157370e-04 -1.30540466e+01] [-1.65264373e-02 1.47322692e-04 9.99863418e-01 -6.62652213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80439141799997 meters 0.015335886729343162 Centerline is valid? [True, True] Translation: X:324.55, Y:-13.06, Z:-6.63 [[ 9.99164310e-01 3.73530212e-02 1.65962039e-02 3.24545046e+02] [-3.73453862e-02 9.99302121e-01 -7.69833398e-04 -1.30589526e+01] [-1.66133773e-02 1.49398412e-04 9.99861977e-01 -6.62728491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86439141799997 meters 0.015443466116263514 Centerline is valid? [True, True] Translation: X:324.60, Y:-13.06, Z:-6.63 [[ 9.99197981e-01 3.63221454e-02 1.68551625e-02 3.24603344e+02] [-3.63141471e-02 9.99340119e-01 -7.80451141e-04 -1.30636496e+01] [-1.68723877e-02 1.67744355e-04 9.99857637e-01 -6.62816320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92439141799997 meters 0.015834539463828 Centerline is valid? [True, True] Translation: X:324.66, Y:-13.07, Z:-6.63 [[ 9.99269928e-01 3.45728958e-02 1.62580829e-02 3.24661688e+02] [-3.45652438e-02 9.99402161e-01 -7.51504425e-04 -1.30705313e+01] [-1.62743449e-02 1.88991174e-04 9.99867546e-01 -6.63003669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984391418 meters 0.016350489943896023 Centerline is valid? [True, True] Translation: X:324.72, Y:-13.08, Z:-6.63 [[ 9.99349010e-01 3.21781073e-02 1.63133662e-02 3.24719873e+02] [-3.21701063e-02 9.99482125e-01 -7.52709653e-04 -1.30779609e+01] [-1.63291387e-02 2.27416922e-04 9.99866645e-01 -6.63165674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044391418 meters 0.018476172495365945 Centerline is valid? [True, True] Translation: X:324.78, Y:-13.09, Z:-6.63 [[ 9.99538019e-01 2.56837541e-02 1.62509579e-02 3.24778772e+02] [-2.56749803e-02 9.99670063e-01 -7.48333665e-04 -1.30907798e+01] [-1.62648162e-02 3.30744924e-04 9.99867664e-01 -6.63349199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104391418 meters 0.023035275867431503 Centerline is valid? [True, True] Translation: X:324.84, Y:-13.11, Z:-6.64 [[ 9.99733723e-01 1.63707379e-02 1.62629345e-02 3.24838273e+02] [-1.63607331e-02 9.99865874e-01 -7.48058166e-04 -1.31068005e+01] [-1.62729995e-02 4.81785445e-04 9.99867470e-01 -6.63510779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164391418 meters 0.027028163633872157 Centerline is valid? [True, True] Translation: X:324.90, Y:-13.12, Z:-6.64 [[ 9.99819952e-01 9.14162939e-03 1.66280932e-02 3.24898562e+02] [-9.13017393e-03 9.99958027e-01 -7.64707206e-04 -1.31201893e+01] [-1.66343859e-02 6.12752140e-04 9.99861451e-01 -6.63664648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224391418 meters 0.03410050675063329 Centerline is valid? [True, True] Translation: X:324.96, Y:-13.14, Z:-6.64 [[ 9.99858817e-01 -5.05182522e-04 1.67955421e-02 3.24958513e+02] [ 5.18240942e-04 9.99999567e-01 -7.73149956e-04 -1.31373265e+01] [-1.67951443e-02 7.81744939e-04 9.99858646e-01 -6.63976130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284391418 meters 0.032691802771632014 Centerline is valid? [True, True] Translation: X:325.02, Y:-13.14, Z:-6.64 [[ 9.99815888e-01 -6.24745578e-03 1.81427707e-02 3.25019370e+02] [ 6.26364057e-03 9.99980034e-01 -8.35390852e-04 -1.31419150e+01] [-1.81371894e-02 9.48876841e-04 9.99835057e-01 -6.63782679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344391418 meters 0.036475392322429065 Centerline is valid? [True, True] Translation: X:325.08, Y:-13.15, Z:-6.64 [[ 9.99802188e-01 -1.01807222e-02 1.70861807e-02 3.25079365e+02] [ 1.01956497e-02 9.99947713e-01 -7.86776502e-04 -1.31526084e+01] [-1.70772774e-02 9.60825582e-04 9.99853711e-01 -6.64100684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404391418 meters 0.038695828326617485 Centerline is valid? [True, True] Translation: X:325.14, Y:-13.16, Z:-6.64 [[ 9.99814410e-01 -1.05489551e-02 1.61203409e-02 3.25139717e+02] [ 1.05622866e-02 9.99943942e-01 -7.42082540e-04 -1.31599112e+01] [-1.61116090e-02 9.12212478e-04 9.99869783e-01 -6.64390867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46439141799993 meters 0.03644193868075257 Centerline is valid? [True, True] Translation: X:325.20, Y:-13.16, Z:-6.65 [[ 9.99845646e-01 -8.93675005e-03 1.51267613e-02 3.25201838e+02] [ 8.94833846e-03 9.99959719e-01 -6.98575100e-04 -1.31593990e+01] [-1.51199090e-02 8.33826653e-04 9.99885340e-01 -6.64619102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52439141799994 meters 0.03177258097957293 Centerline is valid? [True, True] Translation: X:325.26, Y:-13.16, Z:-6.65 [[ 9.99888449e-01 -6.54155986e-03 1.34274668e-02 3.25263263e+02] [ 6.55049081e-03 9.99978352e-01 -6.21252823e-04 -1.31560097e+01] [-1.34231122e-02 7.09140020e-04 9.99909655e-01 -6.64861536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58439141799994 meters 0.030095541051968804 Centerline is valid? [True, True] Translation: X:325.32, Y:-13.15, Z:-6.65 [[ 9.99924623e-01 -1.37101078e-03 1.22011342e-02 3.25324655e+02] [ 1.37800833e-03 9.99998891e-01 -5.65127795e-04 -1.31542634e+01] [-1.22003458e-02 5.81898462e-04 9.99925404e-01 -6.65102542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64439141799994 meters 0.028564954215641623 Centerline is valid? [True, True] Translation: X:325.39, Y:-13.15, Z:-6.65 [[ 9.99909798e-01 3.35224172e-03 1.30060546e-02 3.25385562e+02] [-3.34468522e-03 9.99994225e-01 -6.02707092e-04 -1.31524302e+01] [-1.30079999e-02 5.59151568e-04 9.99915236e-01 -6.65187956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70439141799994 meters 0.02430925786993295 Centerline is valid? [True, True] Translation: X:325.45, Y:-13.15, Z:-6.65 [[ 9.99834313e-01 1.20578546e-02 1.36364883e-02 3.25446503e+02] [-1.20503506e-02 9.99927192e-01 -6.32321293e-04 -1.31452866e+01] [-1.36431199e-02 4.67892061e-04 9.99906819e-01 -6.65168068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76439141799995 meters 0.02115141570640521 Centerline is valid? [True, True] Translation: X:325.51, Y:-13.14, Z:-6.65 [[ 9.99731714e-01 1.86082163e-02 1.37925350e-02 3.25507212e+02] [-1.86011607e-02 9.99826779e-01 -6.39667947e-04 -1.31397894e+01] [-1.38020489e-02 3.82939173e-04 9.99904674e-01 -6.65227275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82439141799995 meters 0.01781232811582149 Centerline is valid? [True, True] Translation: X:325.57, Y:-13.13, Z:-6.65 [[ 9.99501635e-01 2.82121164e-02 1.41618795e-02 3.25568378e+02] [-2.82056430e-02 9.99601926e-01 -6.56668388e-04 -1.31317010e+01] [-1.41747681e-02 2.56896209e-04 9.99899500e-01 -6.65314442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88439141799995 meters 0.015720564327576545 Centerline is valid? [True, True] Translation: X:325.63, Y:-13.12, Z:-6.65 [[ 9.99222560e-01 3.65855829e-02 1.46891350e-02 3.25628355e+02] [-3.65795129e-02 9.99330513e-01 -6.81784924e-04 -1.31241077e+01] [-1.47042443e-02 1.43933473e-04 9.99891876e-01 -6.65324057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94439141799995 meters 0.015283726188243467 Centerline is valid? [True, True] Translation: X:325.69, Y:-13.12, Z:-6.65 [[ 9.99144723e-01 3.86701241e-02 1.46439104e-02 3.25686922e+02] [-3.86643204e-02 9.99252025e-01 -6.79335177e-04 -1.31241213e+01] [-1.46592271e-02 1.12557313e-04 9.99892541e-01 -6.65426202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00439141799995 meters 0.014631249554555671 Centerline is valid? [True, True] Translation: X:325.75, Y:-13.12, Z:-6.66 [[ 9.98965829e-01 4.30310395e-02 1.46833872e-02 3.25745937e+02] [-4.30256929e-02 9.99073735e-01 -6.79978696e-04 -1.31206909e+01] [-1.46990467e-02 4.75125735e-05 9.99891962e-01 -6.65518756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06439141799996 meters 0.014746433688137774 Centerline is valid? [True, True] Translation: X:325.80, Y:-13.12, Z:-6.66 [[ 9.98928689e-01 4.35381867e-02 1.56811907e-02 3.25803891e+02] [-4.35321722e-02 9.99051763e-01 -7.24844057e-04 -1.31221304e+01] [-1.56978796e-02 4.14312291e-05 9.99876780e-01 -6.65629280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12439141799996 meters 0.014686728847404412 Centerline is valid? [True, True] Translation: X:325.86, Y:-13.13, Z:-6.66 [[ 9.98996443e-01 4.17051780e-02 1.63335244e-02 3.25862485e+02] [-4.16984380e-02 9.99129958e-01 -7.53141521e-04 -1.31258424e+01] [-1.63507234e-02 7.13032477e-05 9.99866315e-01 -6.65672364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18439141799996 meters 0.01539468046835212 Centerline is valid? [True, True] Translation: X:325.92, Y:-13.13, Z:-6.66 [[ 9.99184489e-01 3.67730632e-02 1.66762905e-02 3.25920445e+02] [-3.67653719e-02 9.99323630e-01 -7.67654962e-04 -1.31328225e+01] [-1.66932402e-02 1.53918910e-04 9.99860646e-01 -6.65795874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24439141799996 meters 0.016386690761072624 Centerline is valid? [True, True] Translation: X:325.98, Y:-13.14, Z:-6.66 [[ 9.99370145e-01 3.15160517e-02 1.63110663e-02 3.25979576e+02] [-3.15080279e-02 9.99503218e-01 -7.48735087e-04 -1.31400060e+01] [-1.63265605e-02 2.34333959e-04 9.99866685e-01 -6.66016925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30439141799997 meters 0.02000108075394504 Centerline is valid? [True, True] Translation: X:326.04, Y:-13.15, Z:-6.66 [[ 9.99648833e-01 2.14735204e-02 1.55273744e-02 3.26038756e+02] [-2.14650505e-02 9.99769346e-01 -7.11959450e-04 -1.31532368e+01] [-1.55390812e-02 3.78413559e-04 9.99879190e-01 -6.66322939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36439141799997 meters 0.023367545931385555 Centerline is valid? [True, True] Translation: X:326.10, Y:-13.16, Z:-6.66 [[ 9.99772963e-01 1.44309747e-02 1.56770310e-02 3.26099709e+02] [-1.44214785e-02 9.99895747e-01 -7.18628383e-04 -1.31636089e+01] [-1.56857671e-02 4.92379262e-04 9.99876850e-01 -6.66470881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42439141799997 meters 0.02889803780492752 Centerline is valid? [True, True] Translation: X:326.16, Y:-13.18, Z:-6.67 [[ 9.99856725e-01 5.52473531e-03 1.60002150e-02 3.26158974e+02] [-5.51369006e-03 9.99984530e-01 -7.34349720e-04 -1.31755221e+01] [-1.60040246e-02 6.46024280e-04 9.99871719e-01 -6.66626551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484391418 meters 0.03282337044328103 Centerline is valid? [True, True] Translation: X:326.22, Y:-13.18, Z:-6.67 [[ 9.99861593e-01 -7.23721916e-04 1.66214222e-02 3.26219784e+02] [ 7.36495882e-04 9.99999438e-01 -7.62415886e-04 -1.31839216e+01] [-1.66208610e-02 7.74551971e-04 9.99861564e-01 -6.66728825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544391418 meters 0.0359730197122503 Centerline is valid? [True, True] Translation: X:326.28, Y:-13.19, Z:-6.67 [[ 9.99849606e-01 -3.61701933e-03 1.69612338e-02 3.26279850e+02] [ 3.63074387e-03 9.99993106e-01 -7.78448028e-04 -1.31904018e+01] [-1.69583012e-02 8.39912849e-04 9.99855845e-01 -6.66852267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604391418 meters 0.03976477701944673 Centerline is valid? [True, True] Translation: X:326.34, Y:-13.20, Z:-6.67 [[ 9.99825636e-01 -7.44423690e-03 1.71254505e-02 3.26340075e+02] [ 7.45879408e-03 9.99971874e-01 -7.86316151e-04 -1.31956045e+01] [-1.71191153e-02 9.13914255e-04 9.99853040e-01 -6.66893863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664391418 meters 0.04358823194582686 Centerline is valid? [True, True] Translation: X:326.40, Y:-13.20, Z:-6.67 [[ 9.99803824e-01 -1.04591849e-02 1.68201797e-02 3.26399581e+02] [ 1.04736593e-02 9.99944851e-01 -7.72677058e-04 -1.32005297e+01] [-1.68111705e-02 9.48694309e-04 9.99858232e-01 -6.67060215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724391418 meters 0.045698493501713115 Centerline is valid? [True, True] Translation: X:326.46, Y:-13.20, Z:-6.67 [[ 9.99800132e-01 -1.21266064e-02 1.58947022e-02 3.26461853e+02] [ 1.21397363e-02 9.99926044e-01 -7.29826983e-04 -1.32045086e+01] [-1.58846764e-02 9.22638607e-04 9.99873405e-01 -6.67290762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784391418 meters 0.04829835646527207 Centerline is valid? [True, True] Translation: X:326.52, Y:-13.21, Z:-6.68 [[ 9.99807865e-01 -1.38453703e-02 1.38758530e-02 3.26523634e+02] [ 1.38555544e-02 9.99903804e-01 -6.38073608e-04 -1.32067448e+01] [-1.38656838e-02 8.30208648e-04 9.99903522e-01 -6.67596634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844391418 meters 0.039187686419253846 Centerline is valid? [True, True] Translation: X:326.59, Y:-13.19, Z:-6.68 [[ 9.99841665e-01 -1.21219820e-02 1.30270189e-02 3.26586570e+02] [ 1.21308180e-02 9.99926239e-01 -5.99474649e-04 -1.31944792e+01] [-1.30187912e-02 7.57408126e-04 9.99914965e-01 -6.67582876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904391418 meters 0.031731334416563964 Centerline is valid? [True, True] Translation: X:326.65, Y:-13.18, Z:-6.67 [[ 9.99879788e-01 -4.94168752e-03 1.46965878e-02 3.26647555e+02] [ 4.95218702e-03 9.99987508e-01 -6.78111065e-04 -1.31802033e+01] [-1.46930532e-02 7.50809799e-04 9.99891769e-01 -6.67422037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96439141799993 meters 0.02696795090917176 Centerline is valid? [True, True] Translation: X:326.71, Y:-13.17, Z:-6.67 [[ 9.99837417e-01 6.39658249e-03 1.68589471e-02 3.26707875e+02] [-6.38437401e-03 9.99979317e-01 -7.77876435e-04 -1.31668346e+01] [-1.68635742e-02 6.70116141e-04 9.99857575e-01 -6.67205072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02439141799994 meters 0.023433502431070504 Centerline is valid? [True, True] Translation: X:326.77, Y:-13.16, Z:-6.67 [[ 9.99742980e-01 1.41369331e-02 1.77234744e-02 3.26768796e+02] [-1.41246561e-02 9.99899908e-01 -8.17686946e-04 -1.31590366e+01] [-1.77332600e-02 5.67138802e-04 9.99842593e-01 -6.67219747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08439141799994 meters 0.019438902134970817 Centerline is valid? [True, True] Translation: X:326.83, Y:-13.15, Z:-6.67 [[ 9.99553573e-01 2.41637872e-02 1.75717655e-02 3.26828678e+02] [-2.41532632e-02 9.99707938e-01 -8.10926871e-04 -1.31486114e+01] [-1.75862285e-02 3.86149375e-04 9.99845276e-01 -6.67382242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14439141799994 meters 0.01736099317791822 Centerline is valid? [True, True] Translation: X:326.89, Y:-13.14, Z:-6.67 [[ 9.99416651e-01 2.95524531e-02 1.71175259e-02 3.26889572e+02] [-2.95432585e-02 9.99563191e-01 -7.89822616e-04 -1.31435365e+01] [-1.71333900e-02 2.83654381e-04 9.99853172e-01 -6.67487791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20439141799994 meters 0.014869860176997134 Centerline is valid? [True, True] Translation: X:326.95, Y:-13.13, Z:-6.68 [[ 9.99197540e-01 3.65405968e-02 1.64030475e-02 3.26948933e+02] [-3.65330894e-02 9.99332157e-01 -7.57198614e-04 -1.31344163e+01] [-1.64197614e-02 1.57336991e-04 9.99865174e-01 -6.67589874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26439141799995 meters 0.014172026315753707 Centerline is valid? [True, True] Translation: X:327.01, Y:-13.13, Z:-6.68 [[ 9.98976705e-01 4.25648894e-02 1.52896305e-02 3.27007855e+02] [-4.25590897e-02 9.99093703e-01 -7.04642958e-04 -1.31304540e+01] [-1.53057666e-02 5.32091448e-05 9.99882858e-01 -6.67876043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32439141799995 meters 0.014199681497831787 Centerline is valid? [True, True] Translation: X:327.07, Y:-13.13, Z:-6.68 [[ 9.98779083e-01 4.70818105e-02 1.49548324e-02 3.27065785e+02] [-4.70767827e-02 9.98891037e-01 -6.88252262e-04 -1.31273865e+01] [-1.49706522e-02 -1.66134306e-05 9.99887933e-01 -6.68093439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38439141799995 meters 0.014103203437170145 Centerline is valid? [True, True] Translation: X:327.12, Y:-13.13, Z:-6.68 [[ 9.98701196e-01 4.86226634e-02 1.52235680e-02 3.27122846e+02] [-4.86176597e-02 9.98817218e-01 -6.98815481e-04 -1.31273153e+01] [-1.52395401e-02 -4.22263924e-05 9.99883871e-01 -6.68167675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44439141799995 meters 0.014162762530455916 Centerline is valid? [True, True] Translation: X:327.18, Y:-13.13, Z:-6.68 [[ 9.98759209e-01 4.69763671e-02 1.65307022e-02 3.27181353e+02] [-4.69702877e-02 9.98896001e-01 -7.56038325e-04 -1.31299854e+01] [-1.65479683e-02 -2.13515999e-05 9.99863073e-01 -6.68157247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50439141799995 meters 0.01393596864685151 Centerline is valid? [True, True] Translation: X:327.24, Y:-13.14, Z:-6.68 [[ 9.98921114e-01 4.31922560e-02 1.70597940e-02 3.27239568e+02] [-4.31852521e-02 9.99066778e-01 -7.78901412e-04 -1.31354212e+01] [-1.70775159e-02 4.13295608e-05 9.99854168e-01 -6.68273310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56439141799996 meters 0.015542770834961736 Centerline is valid? [True, True] Translation: X:327.30, Y:-13.15, Z:-6.69 [[ 9.99313759e-01 3.31003077e-02 1.66247075e-02 3.27297658e+02] [-3.30922953e-02 9.99452013e-01 -7.56894166e-04 -1.31477805e+01] [-1.66406508e-02 2.06225024e-04 9.99861514e-01 -6.68558702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62439141799996 meters 0.01852015081930996 Centerline is valid? [True, True] Translation: X:327.36, Y:-13.16, Z:-6.69 [[ 9.99556146e-01 2.46893188e-02 1.66717685e-02 3.27355168e+02] [-2.46801138e-02 9.99695112e-01 -7.57684113e-04 -1.31597795e+01] [-1.66853922e-02 3.45886667e-04 9.99860729e-01 -6.68747330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68439141799996 meters 0.023951399686933356 Centerline is valid? [True, True] Translation: X:327.41, Y:-13.18, Z:-6.69 [[ 9.99769850e-01 1.30458982e-02 1.70309040e-02 3.27414671e+02] [-1.30346324e-02 9.99914747e-01 -7.72329896e-04 -1.31763214e+01] [-1.70395278e-02 5.50160571e-04 9.99854665e-01 -6.68887738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74439141799996 meters 0.02948876260343648 Centerline is valid? [True, True] Translation: X:327.47, Y:-13.19, Z:-6.69 [[ 9.99849557e-01 3.76802256e-03 1.69311870e-02 3.27474410e+02] [-3.75555886e-03 9.99992653e-01 -7.67873705e-04 -1.31909513e+01] [-1.69339560e-02 7.04172114e-04 9.99856362e-01 -6.69064692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80439141799997 meters 0.0328547921400484 Centerline is valid? [True, True] Translation: X:327.54, Y:-13.20, Z:-6.69 [[ 9.99865863e-01 -1.19299758e-03 1.63350209e-02 3.27535182e+02] [ 1.20525858e-03 9.99998999e-01 -7.40772257e-04 -1.32010884e+01] [-1.63341208e-02 7.60360816e-04 9.99866300e-01 -6.69322916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86439141799997 meters 0.030596181764900764 Centerline is valid? [True, True] Translation: X:327.60, Y:-13.20, Z:-6.69 [[ 9.99862227e-01 -5.13137382e-03 1.57859679e-02 3.27595924e+02] [ 5.14331846e-03 9.99986517e-01 -7.16156437e-04 -1.32023214e+01] [-1.57820802e-02 7.97250029e-04 9.99875137e-01 -6.69444347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92439141799997 meters 0.03452520723649365 Centerline is valid? [True, True] Translation: X:327.66, Y:-13.21, Z:-6.70 [[ 9.99850108e-01 -7.29006710e-03 1.57040026e-02 3.27656704e+02] [ 7.30214006e-03 9.99973086e-01 -7.11578890e-04 -1.32116608e+01] [-1.56983925e-02 8.26145057e-04 9.99876431e-01 -6.69644506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984391418 meters 0.04219198780606349 Centerline is valid? [True, True] Translation: X:327.72, Y:-13.23, Z:-6.70 [[ 9.99846339e-01 -8.97894327e-03 1.50557740e-02 3.27717003e+02] [ 8.99029861e-03 9.99959351e-01 -6.86704741e-04 -1.32254502e+01] [-1.50489961e-02 8.21955125e-04 9.99886420e-01 -6.69995779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044391418 meters 0.03641184705169781 Centerline is valid? [True, True] Translation: X:327.78, Y:-13.22, Z:-6.70 [[ 9.99844392e-01 -9.85175463e-03 1.46333376e-02 3.27779061e+02] [ 9.86260664e-03 9.99951139e-01 -6.69613502e-04 -1.32212178e+01] [-1.46260257e-02 8.13832157e-04 9.99892703e-01 -6.70078717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104391418 meters 0.03544273619032464 Centerline is valid? [True, True] Translation: X:327.84, Y:-13.22, Z:-6.70 [[ 9.99848252e-01 -9.96880644e-03 1.42862118e-02 3.27841288e+02] [ 9.97917716e-03 9.99949992e-01 -6.54821069e-04 -1.32228684e+01] [-1.42789696e-02 7.97286340e-04 9.99897732e-01 -6.70205497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164391418 meters 0.03401417302808626 Centerline is valid? [True, True] Translation: X:327.90, Y:-13.22, Z:-6.70 [[ 9.99859999e-01 -9.11977031e-03 1.40289451e-02 3.27904052e+02] [ 9.12970105e-03 9.99958116e-01 -6.43993659e-04 -1.32228428e+01] [-1.40224844e-02 7.71983575e-04 9.99901382e-01 -6.70409291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224391418 meters 0.035524957394341125 Centerline is valid? [True, True] Translation: X:327.97, Y:-13.23, Z:-6.70 [[ 9.99864874e-01 -7.97981243e-03 1.43720447e-02 3.27965603e+02] [ 7.99014135e-03 9.99967860e-01 -6.61403786e-04 -1.32259865e+01] [-1.43663049e-02 7.76149082e-04 9.99896498e-01 -6.70482603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284391418 meters 0.03485066142690672 Centerline is valid? [True, True] Translation: X:328.03, Y:-13.23, Z:-6.71 [[ 9.99872107e-01 -6.24648929e-03 1.47224606e-02 3.28027581e+02] [ 6.25715893e-03 9.99980193e-01 -6.78766680e-04 -1.32258904e+01] [-1.47179290e-02 7.70800646e-04 9.99891388e-01 -6.70512005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344391418 meters 0.03453567592783412 Centerline is valid? [True, True] Translation: X:328.09, Y:-13.23, Z:-6.71 [[ 9.99866140e-01 -5.75185183e-03 1.53172750e-02 3.28090317e+02] [ 5.76336107e-03 9.99983142e-01 -7.07352770e-04 -1.32262466e+01] [-1.53129482e-02 7.95537070e-04 9.99882433e-01 -6.70588982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404391418 meters 0.03357548232320352 Centerline is valid? [True, True] Translation: X:328.15, Y:-13.23, Z:-6.71 [[ 9.99856510e-01 -5.75922367e-03 1.59307976e-02 3.28152985e+02] [ 5.77169917e-03 9.99983072e-01 -7.37239375e-04 -1.32271565e+01] [-1.59262820e-02 8.29081360e-04 9.99872825e-01 -6.70701459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46439141799993 meters 0.037119898427510824 Centerline is valid? [True, True] Translation: X:328.21, Y:-13.23, Z:-6.71 [[ 9.99852940e-01 -4.22062165e-03 1.66218044e-02 3.28214524e+02] [ 4.23402903e-03 9.99990739e-01 -7.71505378e-04 -1.32316661e+01] [-1.66183942e-02 8.41769123e-04 9.99861551e-01 -6.70819208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52439141799994 meters 0.029675649664935116 Centerline is valid? [True, True] Translation: X:328.28, Y:-13.22, Z:-6.71 [[ 9.99861250e-01 -2.18938440e-03 1.65132415e-02 3.28277694e+02] [ 2.20236063e-03 9.99997280e-01 -7.67662869e-04 -1.32223468e+01] [-1.65115158e-02 8.03924469e-04 9.99863352e-01 -6.70871682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58439141799994 meters 0.035455781975755996 Centerline is valid? [True, True] Translation: X:328.34, Y:-13.23, Z:-6.71 [[ 9.99862640e-01 1.09659612e-03 1.65377889e-02 3.28338263e+02] [-1.08399725e-03 9.99999115e-01 -7.70767970e-04 -1.32301638e+01] [-1.65386195e-02 7.52735180e-04 9.99862944e-01 -6.71192615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64439141799994 meters 0.029960046994903306 Centerline is valid? [True, True] Translation: X:328.40, Y:-13.22, Z:-6.71 [[ 9.99858695e-01 3.00752218e-03 1.65391928e-02 3.28400639e+02] [-2.99517332e-03 9.99995217e-01 -7.71362325e-04 -1.32228991e+01] [-1.65414336e-02 7.21715578e-04 9.99862921e-01 -6.71279999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70439141799994 meters 0.03134984438923198 Centerline is valid? [True, True] Translation: X:328.46, Y:-13.23, Z:-6.71 [[ 9.99851880e-01 5.04662784e-03 1.64544434e-02 3.28462165e+02] [-5.03465956e-03 9.99987031e-01 -7.68702030e-04 -1.32254941e+01] [-1.64581094e-02 6.85745650e-04 9.99864321e-01 -6.71467795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76439141799995 meters 0.027961377808728875 Centerline is valid? [True, True] Translation: X:328.53, Y:-13.22, Z:-6.72 [[ 9.99850707e-01 6.06193137e-03 1.61807223e-02 3.28525080e+02] [-6.05047244e-03 9.99981409e-01 -7.57044231e-04 -1.32217412e+01] [-1.61850106e-02 6.59030195e-04 9.99868797e-01 -6.71568531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82439141799995 meters 0.029305981801658477 Centerline is valid? [True, True] Translation: X:328.59, Y:-13.23, Z:-6.72 [[ 9.99833620e-01 5.99501521e-03 1.72276732e-02 3.28586533e+02] [-5.98198804e-03 9.99981782e-01 -8.07609392e-04 -1.32253908e+01] [-1.72322009e-02 7.04419287e-04 9.99851266e-01 -6.71656967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88439141799995 meters 0.02764771257539238 Centerline is valid? [True, True] Translation: X:328.65, Y:-13.23, Z:-6.72 [[ 9.99832987e-01 4.61763138e-03 1.76826153e-02 3.28648348e+02] [-4.60363995e-03 9.99989057e-01 -8.31877530e-04 -1.32254070e+01] [-1.76862631e-02 7.50334202e-04 9.99843304e-01 -6.71796987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94439141799995 meters 0.02844656346624198 Centerline is valid? [True, True] Translation: X:328.71, Y:-13.23, Z:-6.72 [[ 9.99852421e-01 8.52249749e-04 1.71583574e-02 3.28709706e+02] [-8.38434741e-04 9.99999319e-01 -8.12324970e-04 -1.32281534e+01] [-1.71590380e-02 7.97818925e-04 9.99852455e-01 -6.72064235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00439141799995 meters 0.031055354160879397 Centerline is valid? [True, True] Translation: X:328.77, Y:-13.23, Z:-6.72 [[ 9.99856778e-01 -2.17460872e-03 1.67837613e-02 3.28769978e+02] [ 2.18826269e-03 9.99997290e-01 -7.95200438e-04 -1.32339718e+01] [-1.67819865e-02 8.31813826e-04 9.99858827e-01 -6.72290063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06439141799996 meters 0.032683917164953724 Centerline is valid? [True, True] Translation: X:328.83, Y:-13.24, Z:-6.73 [[ 9.99862608e-01 -3.11396050e-03 1.62809400e-02 3.28831753e+02] [ 3.12693245e-03 9.99994814e-01 -7.71360810e-04 -1.32383997e+01] [-1.62784535e-02 8.22164230e-04 9.99867159e-01 -6.72572674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12439141799996 meters 0.033353197195923896 Centerline is valid? [True, True] Translation: X:328.89, Y:-13.24, Z:-6.73 [[ 9.99870391e-01 -2.90039094e-03 1.58363377e-02 3.28894423e+02] [ 2.91271698e-03 9.99995473e-01 -7.55329289e-04 -1.32393563e+01] [-1.58340752e-02 8.01358161e-04 9.99874312e-01 -6.72741817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18439141799996 meters 0.0336529419118142 Centerline is valid? [True, True] Translation: X:328.96, Y:-13.24, Z:-6.73 [[ 9.99867515e-01 -1.46553584e-03 1.62112622e-02 3.28956723e+02] [ 1.47829964e-03 9.99998607e-01 -7.75386340e-04 -1.32407468e+01] [-1.62101032e-02 7.99248716e-04 9.99868288e-01 -6.72905280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24439141799996 meters 0.03414758310557111 Centerline is valid? [True, True] Translation: X:329.02, Y:-13.24, Z:-6.73 [[ 9.99876008e-01 -7.75350933e-04 1.57279159e-02 3.29018533e+02] [ 7.87298366e-04 9.99999406e-01 -7.53454873e-04 -1.32435775e+01] [-1.57273223e-02 7.65744013e-04 9.99876025e-01 -6.73103390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30439141799997 meters 0.03487353310719668 Centerline is valid? [True, True] Translation: X:329.08, Y:-13.25, Z:-6.73 [[ 9.99868789e-01 3.03365670e-04 1.61960468e-02 3.29080061e+02] [-2.90821844e-04 9.99999656e-01 -7.76848866e-04 -1.32456212e+01] [-1.61962769e-02 7.72036771e-04 9.99868534e-01 -6.73204318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36439141799997 meters 0.031083720524130828 Centerline is valid? [True, True] Translation: X:329.14, Y:-13.24, Z:-6.73 [[ 9.99874883e-01 1.64941258e-03 1.57320719e-02 3.29142897e+02] [-1.63770197e-03 9.99998372e-01 -7.57232187e-04 -1.32414515e+01] [-1.57332953e-02 7.31372999e-04 9.99875957e-01 -6.73305867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42439141799997 meters 0.030373244860374245 Centerline is valid? [True, True] Translation: X:329.21, Y:-13.24, Z:-6.73 [[ 9.99878692e-01 2.22997263e-03 1.54151897e-02 3.29205671e+02] [-2.21879537e-03 9.99997263e-01 -7.42145391e-04 -1.32416218e+01] [-1.54168025e-02 7.07852212e-04 9.99880903e-01 -6.73427773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484391418 meters 0.03031928194107496 Centerline is valid? [True, True] Translation: X:329.27, Y:-13.24, Z:-6.74 [[ 9.99870379e-01 4.03650906e-03 1.55862813e-02 3.29267893e+02] [-4.02521717e-03 9.99991613e-01 -7.55778948e-04 -1.32437145e+01] [-1.55892013e-02 6.92942816e-04 9.99878241e-01 -6.73566592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544391418 meters 0.028389632813159562 Centerline is valid? [True, True] Translation: X:329.33, Y:-13.24, Z:-6.74 [[ 9.99854465e-01 5.77471160e-03 1.60530732e-02 3.29330143e+02] [-5.76295021e-03 9.99983091e-01 -7.78819697e-04 -1.32437693e+01] [-1.60572992e-02 6.86193290e-04 9.99870838e-01 -6.73670101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604391418 meters 0.026528180438720624 Centerline is valid? [True, True] Translation: X:329.39, Y:-13.24, Z:-6.74 [[ 9.99844355e-01 7.68761388e-03 1.58797643e-02 3.29392621e+02] [-7.67627676e-03 9.99970237e-01 -7.74765235e-04 -1.32433206e+01] [-1.58852477e-02 6.52747181e-04 9.99873608e-01 -6.73644573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664391418 meters 0.028007877488009855 Centerline is valid? [True, True] Translation: X:329.45, Y:-13.25, Z:-6.74 [[ 9.99849034e-01 8.29075631e-03 1.52700067e-02 3.29453896e+02] [-8.28027840e-03 9.99965437e-01 -7.49272703e-04 -1.32485718e+01] [-1.52756909e-02 6.22719682e-04 9.99883126e-01 -6.73905054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724391418 meters 0.02881114259301194 Centerline is valid? [True, True] Translation: X:329.52, Y:-13.25, Z:-6.74 [[ 9.99856328e-01 7.19092836e-03 1.53497285e-02 3.29516003e+02] [-7.18015099e-03 9.99973936e-01 -7.57116533e-04 -1.32541342e+01] [-1.53547728e-02 6.46794388e-04 9.99881899e-01 -6.74073349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784391418 meters 0.02901219444613669 Centerline is valid? [True, True] Translation: X:329.58, Y:-13.26, Z:-6.74 [[ 9.99856046e-01 6.76974513e-03 1.55581809e-02 3.29578411e+02] [-6.75855440e-03 9.99976863e-01 -7.71748955e-04 -1.32578720e+01] [-1.55630455e-02 6.66487047e-04 9.99878666e-01 -6.74189302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844391418 meters 0.030511559451652074 Centerline is valid? [True, True] Translation: X:329.64, Y:-13.26, Z:-6.74 [[ 9.99857123e-01 6.78719772e-03 1.54812256e-02 3.29639921e+02] [-6.77605492e-03 9.99976744e-01 -7.72102974e-04 -1.32638958e+01] [-1.54861060e-02 6.67091024e-04 9.99879861e-01 -6.74284042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904391418 meters 0.03232082899900346 Centerline is valid? [True, True] Translation: X:329.70, Y:-13.27, Z:-6.74 [[ 9.99850427e-01 5.68669420e-03 1.63335452e-02 3.29701980e+02] [-5.67405893e-03 9.99983566e-01 -8.19815701e-04 -1.32705973e+01] [-1.63379388e-02 7.27015581e-04 9.99866263e-01 -6.74277527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96439141799993 meters 0.02900479103715764 Centerline is valid? [True, True] Translation: X:329.76, Y:-13.27, Z:-6.74 [[ 9.99835298e-01 4.74318127e-03 1.75179674e-02 3.29764185e+02] [-4.72841510e-03 9.99988430e-01 -8.84239461e-04 -1.32717847e+01] [-1.75219588e-02 8.01261604e-04 9.99846158e-01 -6.74284819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02439141799994 meters 0.0316539658669742 Centerline is valid? [True, True] Translation: X:329.82, Y:-13.28, Z:-6.74 [[ 9.99856777e-01 1.75556396e-03 1.68328211e-02 3.29824353e+02] [-1.74141457e-03 9.99998118e-01 -8.55203974e-04 -1.32809511e+01] [-1.68342908e-02 8.25768569e-04 9.99857952e-01 -6.74401116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08439141799994 meters 0.03189002914119723 Centerline is valid? [True, True] Translation: X:329.89, Y:-13.29, Z:-6.75 [[ 9.99871039e-01 1.32430968e-04 1.60588803e-02 3.29886586e+02] [-1.19343687e-04 9.99999660e-01 -8.15911552e-04 -1.32863738e+01] [-1.60589829e-02 8.13889805e-04 9.99870715e-01 -6.74608024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14439141799994 meters 0.031136212987796983 Centerline is valid? [True, True] Translation: X:329.95, Y:-13.29, Z:-6.75 [[ 9.99871061e-01 1.86386045e-04 1.60570051e-02 3.29949298e+02] [-1.73305631e-04 9.99999652e-01 -8.16011166e-04 -1.32910933e+01] [-1.60571516e-02 8.13123181e-04 9.99870745e-01 -6.74700139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20439141799994 meters 0.03485648054712906 Centerline is valid? [True, True] Translation: X:330.01, Y:-13.30, Z:-6.75 [[ 9.99878756e-01 1.31413282e-03 1.55160256e-02 3.30009767e+02] [-1.30197363e-03 9.99998837e-01 -7.93729097e-04 -1.33003384e+01] [-1.55170506e-02 7.73431405e-04 9.99879304e-01 -6.74862353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26439141799995 meters 0.030420378273017225 Centerline is valid? [True, True] Translation: X:330.07, Y:-13.30, Z:-6.75 [[ 9.99879806e-01 3.99400453e-03 1.49807091e-02 3.30071684e+02] [-3.98289725e-03 9.99991771e-01 -7.71200497e-04 -1.32981307e+01] [-1.49836660e-02 7.11441178e-04 9.99887485e-01 -6.74914181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32439141799995 meters 0.028945686222376702 Centerline is valid? [True, True] Translation: X:330.13, Y:-13.30, Z:-6.75 [[ 9.99846847e-01 8.54246556e-03 1.52744267e-02 3.30132302e+02] [-8.53143022e-03 9.99963297e-01 -7.87486679e-04 -1.33003754e+01] [-1.52805931e-02 6.57053368e-04 9.99883029e-01 -6.75008271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38439141799995 meters 0.02665263392060615 Centerline is valid? [True, True] Translation: X:330.19, Y:-13.30, Z:-6.75 [[ 9.99795220e-01 1.27999215e-02 1.56741609e-02 3.30193650e+02] [-1.27888197e-02 9.99917893e-01 -8.08319282e-04 -1.33013711e+01] [-1.56832204e-02 6.07699737e-04 9.99876826e-01 -6.75065328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44439141799995 meters 0.021703188087434842 Centerline is valid? [True, True] Translation: X:330.25, Y:-13.30, Z:-6.75 [[ 9.99672402e-01 2.03692367e-02 1.54978536e-02 3.30254433e+02] [-2.03592792e-02 9.99792408e-01 -8.00027258e-04 -1.32968753e+01] [-1.55109323e-02 4.84240041e-04 9.99879581e-01 -6.75143949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50439141799995 meters 0.01873553029072583 Centerline is valid? [True, True] Translation: X:330.32, Y:-13.30, Z:-6.75 [[ 9.99517362e-01 2.77179485e-02 1.40270361e-02 3.30315359e+02] [-2.77105163e-02 9.99615728e-01 -7.23970477e-04 -1.32950935e+01] [-1.40417129e-02 3.34924650e-04 9.99901354e-01 -6.75410358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56439141799996 meters 0.01753728628367475 Centerline is valid? [True, True] Translation: X:330.37, Y:-13.30, Z:-6.76 [[ 9.99396585e-01 3.16423679e-02 1.43257129e-02 3.30373302e+02] [-3.16350044e-02 9.99499214e-01 -7.40380622e-04 -1.32956001e+01] [-1.43419662e-02 2.86739875e-04 9.99897108e-01 -6.75500019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62439141799996 meters 0.015261195316685761 Centerline is valid? [True, True] Translation: X:330.43, Y:-13.29, Z:-6.75 [[ 9.99228966e-01 3.65499106e-02 1.43380014e-02 3.30432020e+02] [-3.65430594e-02 9.99331806e-01 -7.39621267e-04 -1.32938278e+01] [-1.43554540e-02 2.15096556e-04 9.99896932e-01 -6.75413270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68439141799996 meters 0.014551383256738297 Centerline is valid? [True, True] Translation: X:330.49, Y:-13.29, Z:-6.75 [[ 9.99134841e-01 3.89532350e-02 1.45676096e-02 3.30490891e+02] [-3.89464357e-02 9.99241018e-01 -7.50248377e-04 -1.32940648e+01] [-1.45857777e-02 1.82242821e-04 9.99893605e-01 -6.75295646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74439141799996 meters 0.014105207376703077 Centerline is valid? [True, True] Translation: X:330.55, Y:-13.29, Z:-6.75 [[ 9.99025985e-01 4.12074764e-02 1.57805300e-02 3.30550113e+02] [-4.11998012e-02 9.99150598e-01 -8.11294444e-04 -1.32948035e+01] [-1.58005574e-02 1.60349529e-04 9.99875151e-01 -6.75159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80439141799997 meters 0.014749619150992507 Centerline is valid? [True, True] Translation: X:330.61, Y:-13.30, Z:-6.75 [[ 9.99100218e-01 3.92816866e-02 1.59907262e-02 3.30607746e+02] [-3.92735791e-02 9.99228158e-01 -8.20845947e-04 -1.33005353e+01] [-1.60106281e-02 1.92094317e-04 9.99871803e-01 -6.75165933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86439141799997 meters 0.015694069153083433 Centerline is valid? [True, True] Translation: X:330.67, Y:-13.31, Z:-6.75 [[ 9.99240672e-01 3.59319511e-02 1.50656733e-02 3.30666352e+02] [-3.59243968e-02 9.99354212e-01 -7.71839570e-04 -1.33074437e+01] [-1.50836778e-02 2.30028265e-04 9.99886208e-01 -6.75304559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92439141799997 meters 0.018777647234125373 Centerline is valid? [True, True] Translation: X:330.72, Y:-13.32, Z:-6.76 [[ 9.99502660e-01 2.85553715e-02 1.33799415e-02 3.30724319e+02] [-2.85487654e-02 9.99592167e-01 -6.84506826e-04 -1.33194301e+01] [-1.33940311e-02 3.02185583e-04 9.99910250e-01 -6.75703946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984391418 meters 0.02095586510379305 Centerline is valid? [True, True] Translation: X:330.78, Y:-13.33, Z:-6.76 [[ 9.99664513e-01 2.28512018e-02 1.21936468e-02 3.30782756e+02] [-2.28453004e-02 9.99738818e-01 -6.23060957e-04 -1.33301643e+01] [-1.22046997e-02 3.44284403e-04 9.99925461e-01 -6.76250664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044391418 meters 0.020099591402852567 Centerline is valid? [True, True] Translation: X:330.84, Y:-13.33, Z:-6.77 [[ 9.99686999e-01 2.19300181e-02 1.20407286e-02 3.30842102e+02] [-2.19242074e-02 9.99759447e-01 -6.14394097e-04 -1.33344934e+01] [-1.20513058e-02 3.50218361e-04 9.99927319e-01 -6.76653063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104391418 meters 0.020125871703231952 Centerline is valid? [True, True] Translation: X:330.90, Y:-13.34, Z:-6.77 [[ 9.99644996e-01 2.36460884e-02 1.22777980e-02 3.30900589e+02] [-2.36401803e-02 9.99720336e-01 -6.26128572e-04 -1.33371412e+01] [-1.22891698e-02 3.35656936e-04 9.99924429e-01 -6.76880505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164391418 meters 0.01873562886474739 Centerline is valid? [True, True] Translation: X:330.96, Y:-13.34, Z:-6.77 [[ 9.99524013e-01 2.75724220e-02 1.38386880e-02 3.30960401e+02] [-2.75653080e-02 9.99619756e-01 -7.04584663e-04 -1.33382900e+01] [-1.38528530e-02 3.22781593e-04 9.99903993e-01 -6.77101955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224391418 meters 0.017068735003613597 Centerline is valid? [True, True] Translation: X:331.02, Y:-13.34, Z:-6.77 [[ 9.99413410e-01 3.05341444e-02 1.55081324e-02 3.31018991e+02] [-3.05255744e-02 9.99533675e-01 -7.89076194e-04 -1.33384686e+01] [-1.55249943e-02 3.15218680e-04 9.99879430e-01 -6.77153905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284391418 meters 0.0166487780103436 Centerline is valid? [True, True] Translation: X:331.08, Y:-13.34, Z:-6.77 [[ 9.99365442e-01 3.16092163e-02 1.64185999e-02 3.31077475e+02] [-3.15997790e-02 9.99500254e-01 -8.33969830e-04 -1.33401843e+01] [-1.64367559e-02 3.14616498e-04 9.99864858e-01 -6.77182503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344391418 meters 0.016912219585341243 Centerline is valid? [True, True] Translation: X:331.14, Y:-13.34, Z:-6.77 [[ 9.99365628e-01 3.14938642e-02 1.66276557e-02 3.31136348e+02] [-3.14841919e-02 9.99503894e-01 -8.43215105e-04 -1.33426272e+01] [-1.66459628e-02 3.19171888e-04 9.99861395e-01 -6.77153327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404391418 meters 0.017547966743720108 Centerline is valid? [True, True] Translation: X:331.19, Y:-13.35, Z:-6.77 [[ 9.99398657e-01 3.03292348e-02 1.68065892e-02 3.31193985e+02] [-3.03192103e-02 9.99539905e-01 -8.50996934e-04 -1.33467148e+01] [-1.68246666e-02 3.40922682e-04 9.99858397e-01 -6.77143486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46439141799993 meters 0.018093697399283085 Centerline is valid? [True, True] Translation: X:331.25, Y:-13.35, Z:-6.77 [[ 9.99484628e-01 2.78693390e-02 1.59304264e-02 3.31253356e+02] [-2.78600477e-02 9.99611509e-01 -8.04909336e-04 -1.33494852e+01] [-1.59466698e-02 3.60672069e-04 9.99872779e-01 -6.77096996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52439141799994 meters 0.01945111901960742 Centerline is valid? [True, True] Translation: X:331.31, Y:-13.35, Z:-6.77 [[ 9.99564227e-01 2.54843650e-02 1.48964080e-02 3.31312827e+02] [-2.54759843e-02 9.99675152e-01 -7.52116390e-04 -1.33536680e+01] [-1.49107361e-02 3.72287981e-04 9.99888759e-01 -6.77207914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58439141799994 meters 0.019886550041559578 Centerline is valid? [True, True] Translation: X:331.37, Y:-13.36, Z:-6.77 [[ 9.99686865e-01 2.15698854e-02 1.26851441e-02 3.31372515e+02] [-2.15634980e-02 9.99767276e-01 -6.40100889e-04 -1.33572361e+01] [-1.26959989e-02 3.66364370e-04 9.99919335e-01 -6.77406725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64439141799994 meters 0.021966350355468768 Centerline is valid? [True, True] Translation: X:331.43, Y:-13.36, Z:-6.78 [[ 9.99764981e-01 1.86548351e-02 1.10444784e-02 3.31431208e+02] [-1.86498292e-02 9.99825922e-01 -5.56080303e-04 -1.33615987e+01] [-1.10529294e-02 3.49971978e-04 9.99938853e-01 -6.77702598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70439141799994 meters 0.022455476168763318 Centerline is valid? [True, True] Translation: X:331.49, Y:-13.36, Z:-6.78 [[ 9.99784747e-01 1.80707758e-02 1.01934296e-02 3.31491090e+02] [-1.80664670e-02 9.99836656e-01 -5.14628657e-04 -1.33644653e+01] [-1.02010643e-02 3.30358621e-04 9.99947913e-01 -6.77894144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76439141799995 meters 0.023521751030041647 Centerline is valid? [True, True] Translation: X:331.55, Y:-13.37, Z:-6.78 [[ 9.99812597e-01 1.70008022e-02 9.25976333e-03 3.31550029e+02] [-1.69972016e-02 9.99855428e-01 -4.67408717e-04 -1.33659478e+01] [-9.26637095e-03 3.09931059e-04 9.99957018e-01 -6.78088360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82439141799995 meters 0.022258401642627997 Centerline is valid? [True, True] Translation: X:331.61, Y:-13.37, Z:-6.78 [[ 9.99815973e-01 1.66628017e-02 9.50641834e-03 3.31609583e+02] [-1.66589990e-02 9.99861114e-01 -4.79062363e-04 -1.33651826e+01] [-9.51308056e-03 3.20606789e-04 9.99954698e-01 -6.78194861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88439141799995 meters 0.022876936969589354 Centerline is valid? [True, True] Translation: X:331.67, Y:-13.37, Z:-6.78 [[ 9.99811268e-01 1.64052378e-02 1.04065740e-02 3.31669555e+02] [-1.64006723e-02 9.99865363e-01 -5.23911723e-04 -1.33676242e+01] [-1.04137678e-02 3.53138034e-04 9.99945713e-01 -6.78276983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94439141799995 meters 0.02168317430334109 Centerline is valid? [True, True] Translation: X:331.73, Y:-13.37, Z:-6.78 [[ 9.99778500e-01 1.76471792e-02 1.14685500e-02 3.31729835e+02] [-1.76417242e-02 9.99844206e-01 -5.76651042e-04 -1.33659903e+01] [-1.14769395e-02 3.74198317e-04 9.99934068e-01 -6.78233754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00439141799995 meters 0.02187266423870986 Centerline is valid? [True, True] Translation: X:331.79, Y:-13.37, Z:-6.78 [[ 9.99720581e-01 2.00035821e-02 1.25942863e-02 3.31789180e+02] [-1.99971941e-02 9.99799836e-01 -6.32953509e-04 -1.33664123e+01] [-1.26044267e-02 3.80926263e-04 9.99920489e-01 -6.78222583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06439141799996 meters 0.018384230227903926 Centerline is valid? [True, True] Translation: X:331.85, Y:-13.36, Z:-6.78 [[ 9.99577604e-01 2.58333963e-02 1.33134986e-02 3.31849505e+02] [-2.58267783e-02 9.99666209e-01 -6.68809072e-04 -1.33599132e+01] [-1.33263323e-02 3.24681794e-04 9.99911148e-01 -6.78186089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12439141799996 meters 0.01534140301763094 Centerline is valid? [True, True] Translation: X:331.91, Y:-13.35, Z:-6.78 [[ 9.99370683e-01 3.25763553e-02 1.40363661e-02 3.31909182e+02] [-3.25696660e-02 9.99469219e-01 -7.04954344e-04 -1.33546228e+01] [-1.40518807e-02 2.47350948e-04 9.99901237e-01 -6.78301611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18439141799996 meters 0.014645346789862885 Centerline is valid? [True, True] Translation: X:331.97, Y:-13.35, Z:-6.79 [[ 9.99275247e-01 3.57941708e-02 1.29521650e-02 3.31966917e+02] [-3.57887453e-02 9.99359166e-01 -6.50499103e-04 -1.33541197e+01] [-1.29671489e-02 1.86485918e-04 9.99915906e-01 -6.78598515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24439141799996 meters 0.013599432244348317 Centerline is valid? [True, True] Translation: X:332.03, Y:-13.35, Z:-6.79 [[ 9.99187141e-01 3.85710230e-02 1.17189267e-02 3.32025589e+02] [-3.85667862e-02 9.99255852e-01 -5.87391776e-04 -1.33532597e+01] [-1.17328623e-02 1.34952970e-04 9.99931158e-01 -6.79015021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30439141799997 meters 0.013800796807327697 Centerline is valid? [True, True] Translation: X:332.08, Y:-13.36, Z:-6.79 [[ 9.99197407e-01 3.85108325e-02 1.10207630e-02 3.32083270e+02] [-3.85070854e-02 9.99258175e-01 -5.52077625e-04 -1.33568096e+01] [-1.10338485e-02 1.27257069e-04 9.99939117e-01 -6.79389260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36439141799997 meters 0.013908022717664685 Centerline is valid? [True, True] Translation: X:332.14, Y:-13.36, Z:-6.79 [[ 9.99214427e-01 3.79105840e-02 1.15462843e-02 3.32141129e+02] [-3.79064516e-02 9.99281126e-01 -5.76614132e-04 -1.33601100e+01] [-1.15598437e-02 1.38482494e-04 9.99933173e-01 -6.79469479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42439141799997 meters 0.013726783350771044 Centerline is valid? [True, True] Translation: X:332.20, Y:-13.36, Z:-6.79 [[ 9.99172867e-01 3.88801699e-02 1.19128079e-02 3.32199700e+02] [-3.88758620e-02 9.99243872e-01 -5.93061835e-04 -1.33622838e+01] [-1.19268587e-02 1.29450616e-04 9.99928864e-01 -6.79493714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484391418 meters 0.013670522399239056 Centerline is valid? [True, True] Translation: X:332.26, Y:-13.37, Z:-6.80 [[ 9.99194270e-01 3.82052881e-02 1.22949895e-02 3.32258540e+02] [-3.82006607e-02 9.99269902e-01 -6.11078670e-04 -1.33663937e+01] [-1.23093594e-02 1.40909584e-04 9.99924227e-01 -6.79552561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544391418 meters 0.014081364494212543 Centerline is valid? [True, True] Translation: X:332.32, Y:-13.37, Z:-6.80 [[ 9.99239757e-01 3.68565991e-02 1.27082686e-02 3.32317090e+02] [-3.68515600e-02 9.99320552e-01 -6.30541311e-04 -1.33711084e+01] [-1.27228736e-02 1.61742423e-04 9.99919048e-01 -6.79586714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604391418 meters 0.013867528932791888 Centerline is valid? [True, True] Translation: X:332.38, Y:-13.37, Z:-6.80 [[ 9.99212298e-01 3.78171039e-02 1.20270368e-02 3.32375529e+02] [-3.78126709e-02 9.99284668e-01 -5.95849880e-04 -1.33735376e+01] [-1.20409668e-02 1.40606143e-04 9.99927495e-01 -6.79642558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664391418 meters 0.013217245865087343 Centerline is valid? [True, True] Translation: X:332.43, Y:-13.37, Z:-6.80 [[ 9.99049804e-01 4.18510480e-02 1.21646626e-02 3.32434275e+02] [-4.18468242e-02 9.99123857e-01 -6.01654088e-04 -1.33730011e+01] [-1.21791845e-02 9.20298994e-05 9.99925827e-01 -6.79524618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724391418 meters 0.012880041050555435 Centerline is valid? [True, True] Translation: X:332.49, Y:-13.37, Z:-6.80 [[ 9.98908851e-01 4.50356275e-02 1.23652699e-02 3.32493475e+02] [-4.50315200e-02 9.98985380e-01 -6.10546650e-04 -1.33735192e+01] [-1.23802202e-02 5.30535534e-05 9.99923361e-01 -6.79591649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784391418 meters 0.012654729592744695 Centerline is valid? [True, True] Translation: X:332.55, Y:-13.38, Z:-6.80 [[ 9.98769400e-01 4.84354981e-02 1.06624709e-02 3.32551745e+02] [-4.84326444e-02 9.98826312e-01 -5.25836865e-04 -1.33752977e+01] [-1.06754256e-02 8.77810967e-06 9.99943016e-01 -6.79890355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844391418 meters 0.0129264562162583 Centerline is valid? [True, True] Translation: X:332.61, Y:-13.38, Z:-6.80 [[ 9.98762646e-01 4.90001200e-02 8.49500392e-03 3.32610617e+02] [-4.89983318e-02 9.98798773e-01 -4.18622112e-04 -1.33793288e+01] [-8.50531202e-03 1.86310748e-06 9.99963829e-01 -6.80268552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904391418 meters 0.012946399851325952 Centerline is valid? [True, True] Translation: X:332.67, Y:-13.38, Z:-6.80 [[ 9.98810287e-01 4.81412516e-02 7.77367747e-03 3.32668743e+02] [-4.81397254e-02 9.98840538e-01 -3.83436063e-04 -1.33832190e+01] [-7.78312328e-03 8.75718552e-06 9.99969711e-01 -6.80436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96439141799993 meters 0.012821112823581761 Centerline is valid? [True, True] Translation: X:332.73, Y:-13.39, Z:-6.80 [[ 9.98885131e-01 4.65650838e-02 7.75809302e-03 3.32726897e+02] [-4.65635270e-02 9.98915258e-01 -3.81267331e-04 -1.33873723e+01] [-7.76743123e-03 1.95980943e-05 9.99969833e-01 -6.80421331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02439141799994 meters 0.012987019154504391 Centerline is valid? [True, True] Translation: X:332.79, Y:-13.39, Z:-6.80 [[ 9.98979253e-01 4.44733300e-02 7.91043865e-03 3.32785189e+02] [-4.44716581e-02 9.99010571e-01 -3.87221177e-04 -1.33924988e+01] [-7.91983285e-03 3.50355990e-05 9.99968637e-01 -6.80445874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08439141799994 meters 0.013462768242548665 Centerline is valid? [True, True] Translation: X:332.84, Y:-13.40, Z:-6.80 [[ 9.99113969e-01 4.12814528e-02 8.19255524e-03 3.32843805e+02] [-4.12795580e-02 9.99147556e-01 -4.00310210e-04 -1.33983295e+01] [-8.20209693e-03 6.17704636e-05 9.99966360e-01 -6.80422492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14439141799994 meters 0.013716805004395129 Centerline is valid? [True, True] Translation: X:332.90, Y:-13.40, Z:-6.80 [[ 9.99180252e-01 3.98017543e-02 7.39217780e-03 3.32901863e+02] [-3.98001726e-02 9.99207594e-01 -3.61010059e-04 -1.34027424e+01] [-7.40068903e-03 6.65041691e-05 9.99972612e-01 -6.80428144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20439141799994 meters 0.013712744118616857 Centerline is valid? [True, True] Translation: X:332.96, Y:-13.41, Z:-6.80 [[ 9.99160960e-01 4.02040923e-02 7.81066923e-03 3.32960571e+02] [-4.02023475e-02 9.99191486e-01 -3.80325995e-04 -1.34056195e+01] [-7.81964486e-03 6.59996475e-05 9.99969424e-01 -6.80409606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26439141799995 meters 0.01292290136567939 Centerline is valid? [True, True] Translation: X:333.02, Y:-13.41, Z:-6.80 [[ 9.98891388e-01 4.59634900e-02 1.01662593e-02 3.33018943e+02] [-4.59608458e-02 9.98943120e-01 -4.93696981e-04 -1.34051580e+01] [-1.01782069e-02 2.58997843e-05 9.99948200e-01 -6.80270608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32439141799995 meters 0.013030787910263585 Centerline is valid? [True, True] Translation: X:333.08, Y:-13.40, Z:-6.80 [[ 9.98627502e-01 5.11486344e-02 1.12663038e-02 3.33078290e+02] [-5.11457290e-02 9.98691051e-01 -5.46046858e-04 -1.34034124e+01] [-1.12794863e-02 -3.09259088e-05 9.99936384e-01 -6.80084560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38439141799995 meters 0.013550317084062728 Centerline is valid? [True, True] Translation: X:333.14, Y:-13.40, Z:-6.80 [[ 9.98353292e-01 5.61467673e-02 1.17577190e-02 3.33137373e+02] [-5.61439607e-02 9.98422522e-01 -5.68902826e-04 -1.34040896e+01] [-1.17711135e-02 -9.21589030e-05 9.99930714e-01 -6.80009107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44439141799995 meters 0.013529926373104812 Centerline is valid? [True, True] Translation: X:333.20, Y:-13.41, Z:-6.80 [[ 9.98485623e-01 5.41972570e-02 9.44019190e-03 3.33195263e+02] [-5.41953648e-02 9.98530247e-01 -4.56319899e-04 -1.34139981e+01] [-9.45104843e-03 -5.59857847e-05 9.99955336e-01 -6.80415106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50439141799995 meters 0.013374751152354345 Centerline is valid? [True, True] Translation: X:333.25, Y:-13.43, Z:-6.81 [[ 9.98860842e-01 4.72879156e-02 6.39313774e-03 3.33253407e+02] [-4.72869062e-02 9.98881301e-01 -3.09045203e-04 -1.34265579e+01] [-6.40059985e-03 6.38144708e-06 9.99979516e-01 -6.80654915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56439141799996 meters 0.013693950375076529 Centerline is valid? [True, True] Translation: X:333.31, Y:-13.43, Z:-6.81 [[ 9.98982581e-01 4.47754182e-02 5.38197592e-03 3.33311309e+02] [-4.47746658e-02 9.98997078e-01 -2.60274769e-04 -1.34320155e+01] [-5.38823213e-03 1.90337876e-05 9.99985483e-01 -6.80832592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62439141799996 meters 0.014545182130400057 Centerline is valid? [True, True] Translation: X:333.37, Y:-13.44, Z:-6.81 [[ 9.99254736e-01 3.85023709e-02 2.74578117e-03 3.33369877e+02] [-3.85021503e-02 9.99258508e-01 -1.33189970e-04 -1.34425131e+01] [-2.74887333e-03 2.73722289e-05 9.99996221e-01 -6.80840254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68439141799996 meters 0.015510122599125641 Centerline is valid? [True, True] Translation: X:333.43, Y:-13.45, Z:-6.81 [[ 9.99390652e-01 3.48529397e-02 1.89656064e-03 3.33428681e+02] [-3.48528272e-02 9.99392451e-01 -9.23331444e-05 -1.34507721e+01] [-1.89862647e-03 2.61763810e-05 9.99998197e-01 -6.80974823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74439141799996 meters 0.016565983020921198 Centerline is valid? [True, True] Translation: X:333.49, Y:-13.46, Z:-6.81 [[ 9.99524867e-01 3.05504998e-02 4.08738925e-03 3.33486804e+02] [-3.05499505e-02 9.99533222e-01 -1.96763419e-04 -1.34607444e+01] [-4.09149257e-03 7.18003904e-05 9.99991627e-01 -6.80799831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80439141799997 meters 0.016256512871915752 Centerline is valid? [True, True] Translation: X:333.55, Y:-13.47, Z:-6.81 [[ 9.99564720e-01 2.90949537e-02 4.88412172e-03 3.33545632e+02] [-2.90941553e-02 9.99576648e-01 -2.34456878e-04 -1.34664358e+01] [-4.88887553e-03 9.22554274e-05 9.99988045e-01 -6.80674694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86439141799997 meters 0.01660935086625458 Centerline is valid? [True, True] Translation: X:333.60, Y:-13.47, Z:-6.81 [[ 9.99573811e-01 2.87915135e-02 4.82124618e-03 3.33603889e+02] [-2.87907339e-02 9.99585434e-01 -2.31046020e-04 -1.34716229e+01] [-4.82589962e-03 9.21403349e-05 9.99988351e-01 -6.80824842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92439141799997 meters 0.017756498604947005 Centerline is valid? [True, True] Translation: X:333.66, Y:-13.48, Z:-6.81 [[ 9.99653106e-01 2.59144970e-02 4.70185842e-03 3.33661713e+02] [-2.59137239e-02 9.99664158e-01 -2.25294687e-04 -1.34812233e+01] [-4.70611773e-03 1.03373873e-04 9.99988921e-01 -6.80963989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984391418 meters 0.019242992690531736 Centerline is valid? [True, True] Translation: X:333.72, Y:-13.49, Z:-6.81 [[ 9.99725021e-01 2.29862753e-02 4.63832832e-03 3.33719409e+02] [-2.29854922e-02 9.99735774e-01 -2.22057523e-04 -1.34889188e+01] [-4.64220703e-03 1.15382203e-04 9.99989218e-01 -6.81062401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044391418 meters 0.021419025459756956 Centerline is valid? [True, True] Translation: X:333.78, Y:-13.50, Z:-6.81 [[ 9.99826121e-01 1.84728469e-02 2.54608198e-03 3.33778693e+02] [-1.84725979e-02 9.99829360e-01 -1.21284007e-04 -1.34979277e+01] [-2.54788797e-03 7.42301699e-05 9.99996751e-01 -6.81310291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104391418 meters 0.021630188471832148 Centerline is valid? [True, True] Translation: X:333.84, Y:-13.50, Z:-6.81 [[ 9.99877030e-01 1.56219085e-02 1.37129457e-03 3.33838064e+02] [-1.56218331e-02 9.99877970e-01 -6.56711801e-05 -1.35026221e+01] [-1.37215314e-03 4.42409695e-05 9.99999058e-01 -6.81460742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164391418 meters 0.02409542023665132 Centerline is valid? [True, True] Translation: X:333.90, Y:-13.51, Z:-6.82 [[ 9.99923476e-01 1.23221588e-02 -1.09858259e-03 3.33896243e+02] [-1.23221106e-02 9.99924079e-01 5.06299879e-05 -1.35098108e+01] [ 1.09912305e-03 -3.70892574e-05 9.99999395e-01 -6.81802866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224391418 meters 0.02432045382322476 Centerline is valid? [True, True] Translation: X:333.95, Y:-13.51, Z:-6.82 [[ 9.99930282e-01 1.16842711e-02 -1.70535268e-03 3.33954730e+02] [-1.16841538e-02 9.99931735e-01 7.87329972e-05 -1.35119362e+01] [ 1.70615620e-03 -5.88019051e-05 9.99998543e-01 -6.81915953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284391418 meters 0.025034212261309165 Centerline is valid? [True, True] Translation: X:334.01, Y:-13.52, Z:-6.82 [[ 9.99945595e-01 1.04306458e-02 -9.74409552e-05 3.34013617e+02] [-1.04306455e-02 9.99945599e-01 2.94161400e-06 -1.35151484e+01] [ 9.74663371e-05 -1.92508189e-06 9.99999995e-01 -6.81909500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344391418 meters 0.02698911527622037 Centerline is valid? [True, True] Translation: X:334.07, Y:-13.52, Z:-6.82 [[ 9.99960787e-01 8.71914312e-03 1.54978575e-03 3.34070974e+02] [-8.71903765e-03 9.99961986e-01 -7.47945807e-05 -1.35200817e+01] [-1.55037898e-03 6.12790075e-05 9.99998796e-01 -6.81918320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40439141799993 meters 0.028210188738944087 Centerline is valid? [True, True] Translation: X:334.13, Y:-13.52, Z:-6.82 [[ 9.99966332e-01 6.95899692e-03 4.34834510e-03 3.34129971e+02] [-6.95816927e-03 9.99975771e-01 -2.05436537e-04 -1.35234178e+01] [-4.34966937e-03 1.75173099e-04 9.99990525e-01 -6.81769347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46439141799993 meters 0.028739936171281573 Centerline is valid? [True, True] Translation: X:334.19, Y:-13.52, Z:-6.82 [[ 9.99960641e-01 7.48657573e-03 4.76115281e-03 3.34190789e+02] [-7.48559773e-03 9.99971958e-01 -2.23200083e-04 -1.35228901e+01] [-4.76269030e-03 1.87551223e-04 9.99988641e-01 -6.81839562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52439141799994 meters 0.028917884268690346 Centerline is valid? [True, True] Translation: X:334.25, Y:-13.52, Z:-6.82 [[ 9.99954130e-01 8.64243963e-03 4.12875824e-03 3.34250100e+02] [-8.64171275e-03 9.99962641e-01 -1.93861016e-04 -1.35230978e+01] [-4.13027943e-03 1.58172581e-04 9.99991458e-01 -6.82022672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58439141799994 meters 0.026652993321423776 Centerline is valid? [True, True] Translation: X:334.31, Y:-13.52, Z:-6.82 [[ 9.99948722e-01 9.63149793e-03 3.12844928e-03 3.34309790e+02] [-9.63108422e-03 9.99953609e-01 -1.47276874e-04 -1.35185438e+01] [-3.12972265e-03 1.17138964e-04 9.99995096e-01 -6.82073239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64439141799994 meters 0.026735674304068296 Centerline is valid? [True, True] Translation: X:334.37, Y:-13.52, Z:-6.82 [[ 9.99942695e-01 1.04246461e-02 2.43606792e-03 3.34369139e+02] [-1.04243966e-02 9.99945658e-01 -1.15100525e-04 -1.35176892e+01] [-2.43713542e-03 8.96993911e-05 9.99997026e-01 -6.82289944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70439141799994 meters 0.026098664934852432 Centerline is valid? [True, True] Translation: X:334.43, Y:-13.52, Z:-6.82 [[ 9.99923191e-01 1.22250754e-02 2.03960365e-03 3.34427762e+02] [-1.22249033e-02 9.99925268e-01 -9.67822151e-05 -1.35168672e+01] [-2.04063440e-03 7.18408239e-05 9.99997915e-01 -6.82470198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76439141799995 meters 0.0244091345334055 Centerline is valid? [True, True] Translation: X:334.49, Y:-13.51, Z:-6.83 [[ 9.99861099e-01 1.65353083e-02 2.08933913e-03 3.34486430e+02] [-1.65351384e-02 9.99863280e-01 -9.85788474e-05 -1.35127279e+01] [-2.09068351e-03 6.40176432e-05 9.99997812e-01 -6.82604952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82439141799995 meters 0.022233763469519968 Centerline is valid? [True, True] Translation: X:334.55, Y:-13.51, Z:-6.83 [[ 9.99764914e-01 2.13456651e-02 3.80520129e-03 3.34545829e+02] [-2.13451419e-02 9.99772151e-01 -1.78057952e-04 -1.35077432e+01] [-3.80813504e-03 9.67935310e-05 9.99992744e-01 -6.82537173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88439141799995 meters 0.01821735223193954 Centerline is valid? [True, True] Translation: X:334.61, Y:-13.50, Z:-6.82 [[ 9.99716477e-01 2.33129686e-02 4.84471791e-03 3.34605134e+02] [-2.33121420e-02 9.99728209e-01 -2.27028128e-04 -1.35015737e+01] [-4.84869386e-03 1.14023008e-04 9.99988239e-01 -6.82269563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94439141799995 meters 0.018554576248894443 Centerline is valid? [True, True] Translation: X:334.66, Y:-13.50, Z:-6.83 [[ 9.99708399e-01 2.35225134e-02 5.45970569e-03 3.34662850e+02] [-2.35214688e-02 9.99723299e-01 -2.55467194e-04 -1.35025856e+01] [-5.46420422e-03 1.26972403e-04 9.99985063e-01 -6.82532941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00439141799995 meters 0.017922875636362415 Centerline is valid? [True, True] Translation: X:334.72, Y:-13.50, Z:-6.83 [[ 9.99658783e-01 2.55439820e-02 5.46101513e-03 3.34721301e+02] [-2.55429718e-02 9.99673693e-01 -2.54662157e-04 -1.35025924e+01] [-5.46573824e-03 1.15084707e-04 9.99985056e-01 -6.82724513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06439141799996 meters 0.01582188074186442 Centerline is valid? [True, True] Translation: X:334.78, Y:-13.50, Z:-6.83 [[ 9.99516864e-01 3.05722657e-02 5.60142972e-03 3.34780873e+02] [-3.05712804e-02 9.99532555e-01 -2.61460767e-04 -1.34981124e+01] [-5.60680480e-03 9.00915675e-05 9.99984278e-01 -6.82800941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12439141799996 meters 0.01455937476208551 Centerline is valid? [True, True] Translation: X:334.84, Y:-13.50, Z:-6.83 [[ 9.99373242e-01 3.48371595e-02 6.28450301e-03 3.34839723e+02] [-3.48360150e-02 9.99392999e-01 -2.91523531e-04 -1.34953043e+01] [-6.29084416e-03 7.24137752e-05 9.99980210e-01 -6.82949365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18439141799996 meters 0.013783267589002463 Centerline is valid? [True, True] Translation: X:334.90, Y:-13.49, Z:-6.83 [[ 9.99251010e-01 3.79135063e-02 7.74497414e-03 3.34897626e+02] [-3.79118663e-02 9.99281022e-01 -3.58505043e-04 -1.34942677e+01] [-7.75299786e-03 6.46101025e-05 9.99969943e-01 -6.83057448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24439141799996 meters 0.013220295682972593 Centerline is valid? [True, True] Translation: X:334.96, Y:-13.49, Z:-6.83 [[ 9.99179459e-01 3.97560943e-02 7.73697078e-03 3.34956850e+02] [-3.97545204e-02 9.99209413e-01 -3.57178097e-04 -1.34933959e+01] [-7.74505403e-03 4.93054555e-05 9.99970005e-01 -6.83051787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30439141799997 meters 0.01315634484068303 Centerline is valid? [True, True] Translation: X:335.02, Y:-13.49, Z:-6.83 [[ 9.99149783e-01 4.06498197e-02 6.87776304e-03 3.35015820e+02] [-4.06485998e-02 9.99173454e-01 -3.17129887e-04 -1.34949087e+01] [-6.88496952e-03 3.72888207e-05 9.99976298e-01 -6.83335710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36439141799997 meters 0.013436565722586917 Centerline is valid? [True, True] Translation: X:335.07, Y:-13.50, Z:-6.84 [[ 9.99173718e-01 4.02079810e-02 5.93293626e-03 3.35074500e+02] [-4.02070670e-02 9.99191332e-01 -2.73297881e-04 -1.34976522e+01] [-5.93912724e-03 3.45260938e-05 9.99982363e-01 -6.83574170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42439141799997 meters 0.01346257311160384 Centerline is valid? [True, True] Translation: X:335.13, Y:-13.50, Z:-6.84 [[ 9.99213084e-01 3.94050226e-02 4.52290327e-03 3.35133541e+02] [-3.94044831e-02 9.99223320e-01 -2.08386000e-04 -1.35003180e+01] [-4.52760188e-03 2.99993526e-05 9.99989750e-01 -6.83807232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484391418 meters 0.013771868706487521 Centerline is valid? [True, True] Translation: X:335.19, Y:-13.50, Z:-6.84 [[ 9.99227433e-01 3.91070232e-02 3.89589677e-03 3.35191629e+02] [-3.91066167e-02 9.99235027e-01 -1.80502816e-04 -1.35026968e+01] [-3.89997544e-03 2.80080240e-05 9.99992395e-01 -6.83995777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544391418 meters 0.013656308780909418 Centerline is valid? [True, True] Translation: X:335.25, Y:-13.50, Z:-6.84 [[ 9.99252412e-01 3.83495491e-02 4.89181152e-03 3.35250183e+02] [-3.83489113e-02 9.99264385e-01 -2.24136818e-04 -1.35046217e+01] [-4.89680858e-03 3.63736100e-05 9.99988010e-01 -6.84001558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604391418 meters 0.013511028345919959 Centerline is valid? [True, True] Translation: X:335.31, Y:-13.50, Z:-6.84 [[ 9.99135893e-01 4.11278075e-02 5.99748562e-03 3.35309303e+02] [-4.11269042e-02 9.99153893e-01 -2.73925189e-04 -1.35041177e+01] [-6.00367705e-03 2.70304723e-05 9.99981977e-01 -6.83923747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664391418 meters 0.01308149221334205 Centerline is valid? [True, True] Translation: X:335.37, Y:-13.50, Z:-6.84 [[ 9.98893306e-01 4.63409796e-02 8.04224580e-03 3.35368778e+02] [-4.63395339e-02 9.98925680e-01 -3.66102122e-04 -1.35013029e+01] [-8.05057139e-03 -6.97696327e-06 9.99967594e-01 -6.83645196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724391418 meters 0.013116597341452723 Centerline is valid? [True, True] Translation: X:335.43, Y:-13.50, Z:-6.84 [[ 9.98804537e-01 4.80284902e-02 9.09733142e-03 3.35428059e+02] [-4.80267191e-02 9.98845966e-01 -4.13178425e-04 -1.35028823e+01] [-9.10667712e-03 -2.42304947e-05 9.99958533e-01 -6.83594025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784391418 meters 0.01297734959188639 Centerline is valid? [True, True] Translation: X:335.49, Y:-13.51, Z:-6.84 [[ 9.98854093e-01 4.71075157e-02 8.44877935e-03 3.35486963e+02] [-4.71059601e-02 9.98889825e-01 -3.83144866e-04 -1.35078381e+01] [-8.45744872e-03 -1.52820443e-05 9.99964235e-01 -6.83812510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844391418 meters 0.012976859422338713 Centerline is valid? [True, True] Translation: X:335.55, Y:-13.51, Z:-6.84 [[ 9.99015819e-01 4.38581096e-02 6.62263007e-03 3.35545194e+02] [-4.38570832e-02 9.99037770e-01 -3.00203341e-04 -1.35147779e+01] [-6.62942393e-03 9.45864845e-06 9.99978025e-01 -6.84085557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90439141799993 meters 0.013518202707402886 Centerline is valid? [True, True] Translation: X:335.60, Y:-13.53, Z:-6.85 [[ 9.99288698e-01 3.74262785e-02 4.62285146e-03 3.35603378e+02] [-3.74257089e-02 9.99299391e-01 -2.09681059e-04 -1.35260858e+01] [-4.62746023e-03 3.65184190e-05 9.99989293e-01 -6.84505679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96439141799993 meters 0.014651753074074998 Centerline is valid? [True, True] Translation: X:335.66, Y:-13.54, Z:-6.85 [[ 9.99478342e-01 3.21012073e-02 3.54344624e-03 3.35661306e+02] [-3.21008377e-02 9.99484622e-01 -1.61149584e-04 -1.35362845e+01] [-3.54679313e-03 4.73179269e-05 9.99993709e-01 -6.84785986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02439141799994 meters 0.01523143989082569 Centerline is valid? [True, True] Translation: X:335.72, Y:-13.54, Z:-6.85 [[ 9.99543521e-01 2.99322199e-02 4.10033195e-03 3.35719497e+02] [-2.99317111e-02 9.99551929e-01 -1.85404047e-04 -1.35415168e+01] [-4.10404427e-03 6.25894626e-05 9.99991576e-01 -6.84856898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08439141799994 meters 0.015773852232586347 Centerline is valid? [True, True] Translation: X:335.78, Y:-13.55, Z:-6.85 [[ 9.99582537e-01 2.82990579e-02 5.82365258e-03 3.35777497e+02] [-2.82980073e-02 9.99599497e-01 -2.62730064e-04 -1.35473081e+01] [-5.82875520e-03 9.78226208e-05 9.99983008e-01 -6.84799475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14439141799994 meters 0.01594850921079317 Centerline is valid? [True, True] Translation: X:335.84, Y:-13.55, Z:-6.85 [[ 9.99563946e-01 2.83125297e-02 8.38564969e-03 3.35835859e+02] [-2.83103735e-02 9.99599110e-01 -3.75745296e-04 -1.35526057e+01] [-8.39292627e-03 1.38180576e-04 9.99964769e-01 -6.84699715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20439141799994 meters 0.015998728781829823 Centerline is valid? [True, True] Translation: X:335.89, Y:-13.56, Z:-6.85 [[ 9.99554603e-01 2.86288701e-02 8.42516369e-03 3.35894936e+02] [-2.86267105e-02 9.99590101e-01 -3.76833026e-04 -1.35561345e+01] [-8.43249852e-03 1.35480464e-04 9.99964437e-01 -6.84763982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26439141799995 meters 0.01610866241933247 Centerline is valid? [True, True] Translation: X:335.95, Y:-13.56, Z:-6.85 [[ 9.99609562e-01 2.66601653e-02 8.36410386e-03 3.35953950e+02] [-2.66579729e-02 9.99644543e-01 -3.73514803e-04 -1.35605678e+01] [-8.37108875e-03 1.50398915e-04 9.99964951e-01 -6.84805992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32439141799995 meters 0.018220066767219135 Centerline is valid? [True, True] Translation: X:336.01, Y:-13.57, Z:-6.85 [[ 9.99675662e-01 2.41034193e-02 8.22166385e-03 3.36011549e+02] [-2.41012179e-02 9.99709456e-01 -3.66748025e-04 -1.35700792e+01] [-8.22811497e-03 1.68476963e-04 9.99966134e-01 -6.85149364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38439141799995 meters 0.019493966381822856 Centerline is valid? [True, True] Translation: X:336.07, Y:-13.58, Z:-6.85 [[ 9.99779125e-01 1.92440863e-02 8.44783477e-03 3.36070898e+02] [-1.92416023e-02 9.99814793e-01 -3.75225616e-04 -1.35789016e+01] [-8.45349105e-03 2.12592861e-04 9.99964246e-01 -6.85167815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44439141799995 meters 0.021868033047664336 Centerline is valid? [True, True] Translation: X:336.13, Y:-13.59, Z:-6.85 [[ 9.99857556e-01 1.48275426e-02 8.06295512e-03 3.36129661e+02] [-1.48251366e-02 9.99890038e-01 -3.58089077e-04 -1.35888047e+01] [-8.06737808e-03 2.38503659e-04 9.99967430e-01 -6.85366695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50439141799995 meters 0.020989661884729 Centerline is valid? [True, True] Translation: X:336.19, Y:-13.59, Z:-6.86 [[ 9.99876297e-01 1.40498471e-02 7.07058477e-03 3.36189358e+02] [-1.40479811e-02 9.99901273e-01 -3.13510888e-04 -1.35923866e+01] [-7.07429149e-03 2.14144665e-04 9.99974954e-01 -6.85514767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56439141799996 meters 0.020079591296387624 Centerline is valid? [True, True] Translation: X:336.25, Y:-13.60, Z:-6.86 [[ 9.99874512e-01 1.45469078e-02 6.27277798e-03 3.36248591e+02] [-1.45454498e-02 9.99894171e-01 -2.77986932e-04 -1.35958626e+01] [-6.27615799e-03 1.86711671e-04 9.99980287e-01 -6.85598072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62439141799996 meters 0.020778596685285082 Centerline is valid? [True, True] Translation: X:336.31, Y:-13.60, Z:-6.86 [[ 9.99855919e-01 1.52921016e-02 7.36838049e-03 3.36306689e+02] [-1.52901096e-02 9.99883046e-01 -3.26611656e-04 -1.36003948e+01] [-7.37251331e-03 2.13901252e-04 9.99972800e-01 -6.85709626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68439141799996 meters 0.019750107115663305 Centerline is valid? [True, True] Translation: X:336.37, Y:-13.60, Z:-6.86 [[ 9.99813509e-01 1.68968786e-02 9.35105549e-03 3.36365981e+02] [-1.68937560e-02 9.99857205e-01 -4.12828329e-04 -1.36037471e+01] [-9.35669572e-03 2.54776891e-04 9.99956193e-01 -6.85732318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74439141799996 meters 0.01823467643640307 Centerline is valid? [True, True] Translation: X:336.43, Y:-13.61, Z:-6.86 [[ 9.99737744e-01 2.03339991e-02 1.05342886e-02 3.36426261e+02] [-2.03302346e-02 9.99793212e-01 -4.64332819e-04 -1.36050780e+01] [-1.05415520e-02 2.50046486e-04 9.99944405e-01 -6.85709042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80439141799997 meters 0.016268445468318096 Centerline is valid? [True, True] Translation: X:336.49, Y:-13.60, Z:-6.86 [[ 9.99598327e-01 2.58457336e-02 1.16268363e-02 3.36486508e+02] [-2.58415235e-02 9.99665921e-01 -5.12211935e-04 -1.36046476e+01] [-1.16361905e-02 2.11551030e-04 9.99932275e-01 -6.85656044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86439141799997 meters 0.015323065027068941 Centerline is valid? [True, True] Translation: X:336.54, Y:-13.61, Z:-6.86 [[ 9.99522859e-01 2.86306343e-02 1.15905432e-02 3.36544955e+02] [-2.86266339e-02 9.99590043e-01 -5.10940013e-04 -1.36071037e+01] [-1.16004201e-02 1.78897987e-04 9.99932697e-01 -6.85791084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92439141799997 meters 0.015194103823355553 Centerline is valid? [True, True] Translation: X:336.60, Y:-13.61, Z:-6.86 [[ 9.99490561e-01 3.02976330e-02 1.00335462e-02 3.36602914e+02] [-3.02947232e-02 9.99540912e-01 -4.41894647e-04 -1.36117559e+01] [-1.00423283e-02 1.37706023e-04 9.99949565e-01 -6.86037264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984391418 meters 0.015282821859582161 Centerline is valid? [True, True] Translation: X:336.66, Y:-13.62, Z:-6.86 [[ 9.99532728e-01 2.91841873e-02 9.08897417e-03 3.36661903e+02] [-2.91817624e-02 9.99574042e-01 -3.99330587e-04 -1.36184401e+01] [-9.09675679e-03 1.33911706e-04 9.99958615e-01 -6.86284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044391418 meters 0.01590794706607815 Centerline is valid? [True, True] Translation: X:336.72, Y:-13.63, Z:-6.87 [[ 9.99584226e-01 2.75540083e-02 8.49417586e-03 3.36720037e+02] [-2.75518366e-02 9.99620307e-01 -3.72605730e-04 -1.36253783e+01] [-8.50121746e-03 1.38420666e-04 9.99963854e-01 -6.86532721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104391418 meters 0.0163867607351886 Centerline is valid? [True, True] Translation: X:336.78, Y:-13.63, Z:-6.87 [[ 9.99612064e-01 2.64594129e-02 8.69603976e-03 3.36778437e+02] [-2.64571019e-02 9.99649877e-01 -3.80704435e-04 -1.36317963e+01] [-8.70306830e-03 1.50484735e-04 9.99962116e-01 -6.86638635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164391418 meters 0.01694398788510977 Centerline is valid? [True, True] Translation: X:336.84, Y:-13.64, Z:-6.87 [[ 9.99637326e-01 2.53753118e-02 9.01724564e-03 3.36835762e+02] [-2.53727880e-02 9.99677981e-01 -3.94188380e-04 -1.36373754e+01] [-9.02434457e-03 1.65252756e-04 9.99959266e-01 -6.86687493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224391418 meters 0.017464369246797055 Centerline is valid? [True, True] Translation: X:336.89, Y:-13.64, Z:-6.87 [[ 9.99647276e-01 2.47186552e-02 9.71138570e-03 3.36894351e+02] [-2.47157100e-02 9.99694431e-01 -4.23186159e-04 -1.36422379e+01] [-9.71887879e-03 1.83013099e-04 9.99952754e-01 -6.86801773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284391418 meters 0.017868651561943213 Centerline is valid? [True, True] Translation: X:336.95, Y:-13.65, Z:-6.87 [[ 9.99667300e-01 2.28385511e-02 1.19870744e-02 3.36953365e+02] [-2.28339443e-02 9.99739136e-01 -5.21049537e-04 -1.36476158e+01] [-1.19958474e-02 2.47163994e-04 9.99928017e-01 -6.86731900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344391418 meters 0.01965993570147631 Centerline is valid? [True, True] Translation: X:337.01, Y:-13.66, Z:-6.87 [[ 9.99740913e-01 1.92661623e-02 1.21211460e-02 3.37013170e+02] [-1.92612073e-02 9.99814348e-01 -5.25407944e-04 -1.36551056e+01] [-1.21290183e-02 2.91803911e-04 9.99926398e-01 -6.87000996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40439141799993 meters 0.02051848884221858 Centerline is valid? [True, True] Translation: X:337.07, Y:-13.66, Z:-6.87 [[ 9.99770106e-01 1.78225549e-02 1.19201904e-02 3.37073642e+02] [-1.78176650e-02 9.99841120e-01 -5.16302964e-04 -1.36598888e+01] [-1.19274984e-02 3.03794310e-04 9.99928819e-01 -6.87194304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46439141799993 meters 0.023472231249206662 Centerline is valid? [True, True] Translation: X:337.13, Y:-13.67, Z:-6.87 [[ 9.99851803e-01 1.28202597e-02 1.14896536e-02 3.37133574e+02] [-1.28153866e-02 9.99917756e-01 -4.97654989e-04 -1.36690800e+01] [-1.14950888e-02 3.50336885e-04 9.99933868e-01 -6.87452565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52439141799994 meters 0.025535214342033485 Centerline is valid? [True, True] Translation: X:337.20, Y:-13.68, Z:-6.88 [[ 9.99889734e-01 9.57484898e-03 1.13508470e-02 3.37195464e+02] [-9.56989201e-03 9.99954087e-01 -4.90940511e-04 -1.36760406e+01] [-1.13550266e-02 3.82259996e-04 9.99935457e-01 -6.87657928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58439141799994 meters 0.024763661916145867 Centerline is valid? [True, True] Translation: X:337.26, Y:-13.68, Z:-6.88 [[ 9.99927037e-01 4.57853149e-03 1.11784575e-02 3.37256953e+02] [-4.57339919e-03 9.99989425e-01 -4.84643485e-04 -1.36795784e+01] [-1.11805582e-02 4.33484576e-04 9.99937402e-01 -6.87726242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64439141799994 meters 0.02601454630757178 Centerline is valid? [True, True] Translation: X:337.32, Y:-13.69, Z:-6.88 [[ 9.99930705e-01 2.77068187e-03 1.14415040e-02 3.37319187e+02] [-2.76520707e-03 9.99996055e-01 -4.94295631e-04 -1.36856104e+01] [-1.14428284e-02 4.62623252e-04 9.99934422e-01 -6.87810078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70439141799994 meters 0.025566654495740592 Centerline is valid? [True, True] Translation: X:337.38, Y:-13.69, Z:-6.88 [[ 9.99940907e-01 3.89399189e-03 1.01498615e-02 3.37381067e+02] [-3.88971843e-03 9.99992338e-01 -4.40742459e-04 -1.36876326e+01] [-1.01515000e-02 4.01236311e-04 9.99948392e-01 -6.87980592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76439141799995 meters 0.02537869765473967 Centerline is valid? [True, True] Translation: X:337.44, Y:-13.69, Z:-6.88 [[ 9.99931314e-01 6.10046021e-03 1.00075838e-02 3.37442512e+02] [-6.09636397e-03 9.99981320e-01 -4.39768313e-04 -1.36894759e+01] [-1.00100796e-02 3.78728234e-04 9.99949826e-01 -6.88067947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82439141799995 meters 0.024778273752183614 Centerline is valid? [True, True] Translation: X:337.51, Y:-13.69, Z:-6.88 [[ 9.99900815e-01 7.98171976e-03 1.16039991e-02 3.37505027e+02] [-7.97635114e-03 9.99968059e-01 -5.08859684e-04 -1.36915886e+01] [-1.16076901e-02 4.16251641e-04 9.99932542e-01 -6.88012686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88439141799995 meters 0.024754406091388667 Centerline is valid? [True, True] Translation: X:337.57, Y:-13.69, Z:-6.88 [[ 9.99860374e-01 1.00802981e-02 1.33274262e-02 3.37566137e+02] [-1.00733292e-02 9.99949089e-01 -5.89928752e-04 -1.36943213e+01] [-1.33326944e-02 4.55594831e-04 9.99911012e-01 -6.87960460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94439141799995 meters 0.02187255921989584 Centerline is valid? [True, True] Translation: X:337.63, Y:-13.69, Z:-6.88 [[ 9.99839159e-01 1.21397363e-02 1.32016141e-02 3.37628581e+02] [-1.21330631e-02 9.99926220e-01 -5.85457134e-04 -1.36938407e+01] [-1.32077474e-02 4.25186952e-04 9.99912683e-01 -6.88055740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00439141799995 meters 0.024245265979885865 Centerline is valid? [True, True] Translation: X:337.69, Y:-13.70, Z:-6.88 [[ 9.99842986e-01 1.23484035e-02 1.27090839e-02 3.37690426e+02] [-1.23421933e-02 9.99923672e-01 -5.66959225e-04 -1.37009806e+01] [-1.27151149e-02 4.10012234e-04 9.99919076e-01 -6.88294436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06439141799996 meters 0.02544073607059375 Centerline is valid? [True, True] Translation: X:337.75, Y:-13.71, Z:-6.89 [[ 9.99894132e-01 9.97319028e-03 1.05952856e-02 3.37752613e+02] [-9.96869383e-03 9.99950198e-01 -4.77111305e-04 -1.37060607e+01] [-1.05995162e-02 3.71439636e-04 9.99943755e-01 -6.88706533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12439141799996 meters 0.025414597292661493 Centerline is valid? [True, True] Translation: X:337.81, Y:-13.71, Z:-6.89 [[ 9.99931301e-01 6.76247096e-03 9.57404470e-03 3.37814454e+02] [-6.75866640e-03 9.99977068e-01 -4.29682326e-04 -1.37092220e+01] [-9.57673086e-03 3.64945033e-04 9.99954075e-01 -6.88872572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18439141799996 meters 0.028490442284559422 Centerline is valid? [True, True] Translation: X:337.87, Y:-13.72, Z:-6.89 [[ 9.99950126e-01 2.73905486e-03 9.60428853e-03 3.37874197e+02] [-2.73499862e-03 9.99996165e-01 -4.35444386e-04 -1.37168063e+01] [-9.60544441e-03 4.09154953e-04 9.99953783e-01 -6.89066884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24439141799996 meters 0.030748778765167944 Centerline is valid? [True, True] Translation: X:337.94, Y:-13.72, Z:-6.89 [[ 9.99951871e-01 3.01901470e-04 9.80630301e-03 3.37936446e+02] [-2.97544565e-04 9.99999856e-01 -4.45752338e-04 -1.37215908e+01] [-9.80643617e-03 4.42813072e-04 9.99951818e-01 -6.89098903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30439141799997 meters 0.029575191184245096 Centerline is valid? [True, True] Translation: X:338.00, Y:-13.72, Z:-6.89 [[ 9.99933207e-01 -2.62496230e-03 1.12557130e-02 3.37998236e+02] [ 2.63088026e-03 9.99996409e-01 -5.10999467e-04 -1.37214387e+01] [-1.12543312e-02 5.40577769e-04 9.99936522e-01 -6.88982273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36439141799997 meters 0.031815918603190795 Centerline is valid? [True, True] Translation: X:338.06, Y:-13.73, Z:-6.89 [[ 9.99918261e-01 -6.28194965e-03 1.11359384e-02 3.38059672e+02] [ 6.28802496e-03 9.99980100e-01 -5.10630117e-04 -1.37258201e+01] [-1.11325090e-02 5.80611437e-04 9.99937863e-01 -6.89025410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42439141799997 meters 0.03221781388087753 Centerline is valid? [True, True] Translation: X:338.12, Y:-13.73, Z:-6.89 [[ 9.99903619e-01 -9.47249705e-03 1.01500847e-02 3.38120943e+02] [ 9.47771152e-03 9.99954977e-01 -4.65757788e-04 -1.37274262e+01] [-1.01452159e-02 5.61912473e-04 9.99948378e-01 -6.89147443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484391418 meters 0.036036388543769136 Centerline is valid? [True, True] Translation: X:338.18, Y:-13.73, Z:-6.90 [[ 9.99865483e-01 -1.39333989e-02 8.65311226e-03 3.38180174e+02] [ 1.39373629e-02 9.99902791e-01 -3.97970309e-04 -1.37344665e+01] [-8.64672602e-03 5.18518342e-04 9.99962482e-01 -6.89513112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544391418 meters 0.041161067997203676 Centerline is valid? [True, True] Translation: X:338.24, Y:-13.74, Z:-6.90 [[ 9.99815389e-01 -1.71132070e-02 8.73642918e-03 3.38239856e+02] [ 1.71173661e-02 9.99853407e-01 -4.01504982e-04 -1.37418862e+01] [-8.72827744e-03 5.50975517e-04 9.99961756e-01 -6.89735523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604391418 meters 0.03842459645838452 Centerline is valid? [True, True] Translation: X:338.30, Y:-13.74, Z:-6.90 [[ 9.99796309e-01 -1.81059862e-02 8.91705594e-03 3.38301968e+02] [ 1.81103498e-02 9.99835911e-01 -4.08848695e-04 -1.37391775e+01] [-8.90819014e-03 5.70256419e-04 9.99960159e-01 -6.89707149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664391418 meters 0.036876205629132915 Centerline is valid? [True, True] Translation: X:338.36, Y:-13.74, Z:-6.90 [[ 9.99782384e-01 -1.87767017e-02 9.08956302e-03 3.38364596e+02] [ 1.87812703e-02 9.99823529e-01 -4.17515818e-04 -1.37362300e+01] [-9.08011941e-03 5.88138501e-04 9.99958602e-01 -6.89772863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724391418 meters 0.038690871349880876 Centerline is valid? [True, True] Translation: X:338.43, Y:-13.74, Z:-6.90 [[ 9.99803095e-01 -1.77630818e-02 8.84554739e-03 3.38426056e+02] [ 1.77673774e-02 9.99842065e-01 -4.07267437e-04 -1.37381687e+01] [-8.83691605e-03 5.64349423e-04 9.99960794e-01 -6.89960631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784391418 meters 0.036503116179002634 Centerline is valid? [True, True] Translation: X:338.49, Y:-13.73, Z:-6.90 [[ 9.99846998e-01 -1.52144964e-02 8.63134291e-03 3.38487905e+02] [ 1.52184983e-02 9.99884113e-01 -3.98158681e-04 -1.37328718e+01] [-8.62428486e-03 5.29453840e-04 9.99962670e-01 -6.89967342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844391418 meters 0.036167160563814166 Centerline is valid? [True, True] Translation: X:338.55, Y:-13.73, Z:-6.90 [[ 9.99878027e-01 -1.29690944e-02 8.70255515e-03 3.38549454e+02] [ 1.29730812e-02 9.99915765e-01 -4.01818749e-04 -1.37321314e+01] [-8.69661087e-03 5.14668692e-04 9.99962051e-01 -6.90140860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90439141799993 meters 0.035046761374886486 Centerline is valid? [True, True] Translation: X:338.61, Y:-13.73, Z:-6.90 [[ 9.99908731e-01 -1.05175320e-02 8.48003824e-03 3.38610937e+02] [ 1.05212324e-02 9.99944574e-01 -3.91873332e-04 -1.37296769e+01] [-8.47544669e-03 4.81058019e-04 9.99963967e-01 -6.90316573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96439141799993 meters 0.03392695627630367 Centerline is valid? [True, True] Translation: X:338.67, Y:-13.73, Z:-6.90 [[ 9.99911634e-01 -1.03352907e-02 8.36093087e-03 3.38673373e+02] [ 1.03388800e-02 9.99946478e-01 -3.86192552e-04 -1.37272137e+01] [-8.35649196e-03 4.72601087e-04 9.99964972e-01 -6.90382541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02439141799994 meters 0.03478794398854192 Centerline is valid? [True, True] Translation: X:338.74, Y:-13.73, Z:-6.90 [[ 9.99903984e-01 -1.09970600e-02 8.43138821e-03 3.38735135e+02] [ 1.10007326e-02 9.99939414e-01 -3.89327737e-04 -1.37286512e+01] [-8.42659593e-03 4.82041803e-04 9.99964379e-01 -6.90426980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08439141799994 meters 0.03712536692660298 Centerline is valid? [True, True] Translation: X:338.80, Y:-13.73, Z:-6.90 [[ 9.99884959e-01 -1.16915898e-02 9.66309228e-03 3.38795785e+02] [ 1.16964761e-02 9.99931493e-01 -4.49311101e-04 -1.37311602e+01] [-9.65717713e-03 5.62283541e-04 9.99953210e-01 -6.90426035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14439141799994 meters 0.0384147304397574 Centerline is valid? [True, True] Translation: X:338.86, Y:-13.73, Z:-6.90 [[ 9.99881027e-01 -1.15092622e-02 1.02698034e-02 3.38857684e+02] [ 1.15147726e-02 9.99933589e-01 -4.77600161e-04 -1.37318063e+01] [-1.02636245e-02 5.95797790e-04 9.99947150e-01 -6.90388346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20439141799994 meters 0.034869097389598 Centerline is valid? [True, True] Translation: X:338.92, Y:-13.73, Z:-6.90 [[ 9.99872557e-01 -1.22824286e-02 1.01986217e-02 3.38920027e+02] [ 1.22879106e-02 9.99924388e-01 -4.75031463e-04 -1.37268464e+01] [-1.01920160e-02 6.00290675e-04 9.99947880e-01 -6.90423996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26439141799995 meters 0.038878691449468934 Centerline is valid? [True, True] Translation: X:338.98, Y:-13.73, Z:-6.91 [[ 9.99863415e-01 -1.30163012e-02 1.01846269e-02 3.38980952e+02] [ 1.30218169e-02 9.99915100e-01 -4.75444748e-04 -1.37343007e+01] [-1.01775737e-02 6.08002156e-04 9.99948022e-01 -6.90623450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32439141799995 meters 0.03982227797770825 Centerline is valid? [True, True] Translation: X:339.04, Y:-13.74, Z:-6.91 [[ 9.99844218e-01 -1.39124339e-02 1.08620564e-02 3.39042785e+02] [ 1.39187668e-02 9.99903000e-01 -5.07645886e-04 -1.37374858e+01] [-1.08539402e-02 6.58753233e-04 9.99940877e-01 -6.90676647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38439141799995 meters 0.038235538377018555 Centerline is valid? [True, True] Translation: X:339.10, Y:-13.74, Z:-6.91 [[ 9.99841184e-01 -1.44685778e-02 1.04051388e-02 3.39104864e+02] [ 1.44744267e-02 9.99895121e-01 -4.87018803e-04 -1.37359509e+01] [-1.03970010e-02 6.37549874e-04 9.99945746e-01 -6.90701486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44439141799995 meters 0.04002851781209487 Centerline is valid? [True, True] Translation: X:339.17, Y:-13.74, Z:-6.91 [[ 9.99871466e-01 -1.35354223e-02 8.59327702e-03 3.39165762e+02] [ 1.35393726e-02 9.99908258e-01 -4.01692602e-04 -1.37401791e+01] [-8.58705158e-03 5.17988550e-04 9.99962996e-01 -6.91005602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50439141799995 meters 0.03743342311236971 Centerline is valid? [True, True] Translation: X:339.23, Y:-13.74, Z:-6.91 [[ 9.99921666e-01 -1.07257962e-02 6.45127267e-03 3.39227443e+02] [ 1.07279764e-02 9.99942408e-01 -3.03443183e-04 -1.37373841e+01] [-6.44764645e-03 3.72628514e-04 9.99979144e-01 -6.91210700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56439141799996 meters 0.03262785971682615 Centerline is valid? [True, True] Translation: X:339.29, Y:-13.73, Z:-6.91 [[ 9.99963474e-01 -5.24210608e-03 6.75064461e-03 3.39288822e+02] [ 5.24437419e-03 9.99986198e-01 -3.18326162e-04 -1.37307463e+01] [-6.74888273e-03 3.53717441e-04 9.99977163e-01 -6.91135331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62439141799996 meters 0.03190353653994535 Centerline is valid? [True, True] Translation: X:339.35, Y:-13.73, Z:-6.91 [[ 9.99973698e-01 -8.70992979e-05 7.25225414e-03 3.39348333e+02] [ 8.95843653e-05 9.99999937e-01 -3.42337241e-04 -1.37305106e+01] [-7.25222387e-03 3.42977925e-04 9.99973643e-01 -6.91271244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68439141799996 meters 0.027796474153092846 Centerline is valid? [True, True] Translation: X:339.41, Y:-13.72, Z:-6.91 [[ 9.99936573e-01 8.00723251e-03 7.92050422e-03 3.39408980e+02] [-8.00452537e-03 9.99967894e-01 -3.73430311e-04 -1.37236855e+01] [-7.92324006e-03 3.10006749e-04 9.99968563e-01 -6.91155582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74439141799996 meters 0.02262565411470304 Centerline is valid? [True, True] Translation: X:339.47, Y:-13.72, Z:-6.91 [[ 9.99870720e-01 1.36597779e-02 8.48251332e-03 3.39469936e+02] [-1.36568762e-02 9.99906661e-01 -3.99916544e-04 -1.37164874e+01] [-8.48718434e-03 2.84020208e-04 9.99963943e-01 -6.90995544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80439141799997 meters 0.02145369125470636 Centerline is valid? [True, True] Translation: X:339.53, Y:-13.72, Z:-6.91 [[ 9.99837520e-01 1.60881770e-02 8.13048483e-03 3.39529853e+02] [-1.60855872e-02 9.99870545e-01 -3.83820330e-04 -1.37169733e+01] [-8.13560727e-03 2.52974344e-04 9.99966873e-01 -6.91127757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86439141799997 meters 0.018593652500632576 Centerline is valid? [True, True] Translation: X:339.59, Y:-13.71, Z:-6.91 [[ 9.99760083e-01 2.06897567e-02 7.19105762e-03 3.39589700e+02] [-2.06878511e-02 9.99785926e-01 -3.39291521e-04 -1.37136813e+01] [-7.19653806e-03 1.90442590e-04 9.99974086e-01 -6.91153068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92439141799997 meters 0.016740216376070125 Centerline is valid? [True, True] Translation: X:339.65, Y:-13.71, Z:-6.91 [[ 9.99637590e-01 2.61020313e-02 6.58580828e-03 3.39649250e+02] [-2.61005498e-02 9.99659274e-01 -3.10815045e-04 -1.37116106e+01] [-6.59167723e-03 1.38809186e-04 9.99978265e-01 -6.91249407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984391418 meters 0.015034371815477168 Centerline is valid? [True, True] Translation: X:339.71, Y:-13.71, Z:-6.91 [[ 9.99480393e-01 3.15793115e-02 6.45692598e-03 3.39707847e+02] [-3.15780022e-02 9.99501244e-01 -3.04651347e-04 -1.37110978e+01] [-6.46332623e-03 1.00596226e-04 9.99979107e-01 -6.91388771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044391418 meters 0.014490929689995836 Centerline is valid? [True, True] Translation: X:339.77, Y:-13.71, Z:-6.92 [[ 9.99396464e-01 3.41673319e-02 6.26909625e-03 3.39765859e+02] [-3.41661498e-02 9.99416123e-01 -2.95586843e-04 -1.37122879e+01] [-6.27553528e-03 8.12175640e-05 9.99980305e-01 -6.91522331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104391418 meters 0.014252219107369356 Centerline is valid? [True, True] Translation: X:339.82, Y:-13.72, Z:-6.92 [[ 9.99346430e-01 3.55988341e-02 6.27983103e-03 3.39824998e+02] [-3.55976821e-02 9.99366158e-01 -2.95163222e-04 -1.37156728e+01] [-6.28635808e-03 7.14228833e-05 9.99980238e-01 -6.91646092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164391418 meters 0.015172077252938891 Centerline is valid? [True, True] Translation: X:339.88, Y:-13.72, Z:-6.92 [[ 9.99453753e-01 3.24236078e-02 6.39578192e-03 3.39883297e+02] [-3.24223514e-02 9.99474212e-01 -3.00051704e-04 -1.37244865e+01] [-6.40214785e-03 9.25215133e-05 9.99979502e-01 -6.91768007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224391418 meters 0.015803603200776943 Centerline is valid? [True, True] Translation: X:339.94, Y:-13.73, Z:-6.92 [[ 9.99572530e-01 2.84235222e-02 6.84542396e-03 3.39941288e+02] [-2.84219913e-02 9.99595962e-01 -3.20829050e-04 -1.37312088e+01] [-6.85177724e-03 1.26131325e-04 9.99976518e-01 -6.91725043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284391418 meters 0.018718877458788943 Centerline is valid? [True, True] Translation: X:340.00, Y:-13.74, Z:-6.92 [[ 9.99742182e-01 2.16860006e-02 6.72948493e-03 3.39999012e+02] [-2.16843751e-02 9.99764817e-01 -3.14428018e-04 -1.37434814e+01] [-6.73472095e-03 1.68422278e-04 9.99977307e-01 -6.91850212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344391418 meters 0.02112510874378692 Centerline is valid? [True, True] Translation: X:340.06, Y:-13.75, Z:-6.92 [[ 9.99853520e-01 1.51618572e-02 7.94081386e-03 3.40058420e+02] [-1.51593998e-02 9.99885021e-01 -3.69571566e-04 -1.37543746e+01] [-7.94550423e-03 2.49139459e-04 9.99968403e-01 -6.91862383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40439141799993 meters 0.02438143051026923 Centerline is valid? [True, True] Translation: X:340.12, Y:-13.77, Z:-6.92 [[ 9.99925055e-01 9.15351434e-03 8.12998976e-03 3.40117930e+02] [-9.15074500e-03 9.99958060e-01 -3.77765589e-04 -1.37669964e+01] [-8.13310667e-03 3.03341815e-04 9.99966880e-01 -6.92039258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46439141799993 meters 0.02908608490858108 Centerline is valid? [True, True] Translation: X:340.18, Y:-13.78, Z:-6.92 [[ 9.99978312e-01 2.13689107e-03 6.22977312e-03 3.40176882e+02] [-2.13512961e-03 9.99997679e-01 -2.89385893e-04 -1.37808205e+01] [-6.23037705e-03 2.76078244e-04 9.99980553e-01 -6.92421210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52439141799994 meters 0.03353485010890237 Centerline is valid? [True, True] Translation: X:340.24, Y:-13.79, Z:-6.93 [[ 9.99977445e-01 -4.75402949e-03 4.74424295e-03 3.40236468e+02] [ 4.75512694e-03 9.99988670e-01 -2.20068946e-04 -1.37940337e+01] [-4.74314298e-03 2.42623460e-04 9.99988722e-01 -6.92771400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58439141799994 meters 0.03655497073483639 Centerline is valid? [True, True] Translation: X:340.30, Y:-13.80, Z:-6.93 [[ 9.99953839e-01 -9.03526713e-03 3.26855393e-03 3.40296552e+02] [ 9.03581018e-03 9.99959165e-01 -1.51415844e-04 -1.38026631e+01] [-3.26705238e-03 1.80942887e-04 9.99994647e-01 -6.92949480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64439141799994 meters 0.037548581561882406 Centerline is valid? [True, True] Translation: X:340.36, Y:-13.81, Z:-6.93 [[ 9.99941038e-01 -1.02259657e-02 3.65385829e-03 3.40358104e+02] [ 1.02266498e-02 9.99947692e-01 -1.68604917e-04 -1.38080917e+01] [-3.65194302e-03 2.05961705e-04 9.99993310e-01 -6.93033775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70439141799994 meters 0.03902927938033316 Centerline is valid? [True, True] Translation: X:340.42, Y:-13.81, Z:-6.93 [[ 9.99945880e-01 -9.32436461e-03 4.61444051e-03 3.40419533e+02] [ 9.32544758e-03 9.99956494e-01 -2.13231002e-04 -1.38134872e+01] [-4.61225152e-03 2.56251185e-04 9.99989331e-01 -6.93167163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76439141799995 meters 0.03214671450577897 Centerline is valid? [True, True] Translation: X:340.48, Y:-13.81, Z:-6.93 [[ 9.99960226e-01 -7.10287712e-03 5.39404585e-03 3.40481060e+02] [ 7.10433129e-03 9.99974733e-01 -2.50474954e-04 -1.38063098e+01] [-5.39213046e-03 2.88786080e-04 9.99985421e-01 -6.92978780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82439141799995 meters 0.029943394039270394 Centerline is valid? [True, True] Translation: X:340.54, Y:-13.80, Z:-6.93 [[ 9.99963294e-01 -3.41520964e-03 7.85790635e-03 3.40541944e+02] [ 3.41818932e-03 9.99994091e-01 -3.65796860e-04 -1.38045612e+01] [-7.85661064e-03 3.92643245e-04 9.99969059e-01 -6.92822516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88439141799995 meters 0.028843332755714275 Centerline is valid? [True, True] Translation: X:340.60, Y:-13.81, Z:-6.93 [[ 9.99957409e-01 -1.48657483e-03 9.10883024e-03 3.40603908e+02] [ 1.49049631e-03 9.99998799e-01 -4.23740840e-04 -1.38059326e+01] [-9.10818938e-03 4.37299470e-04 9.99958424e-01 -6.92804122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94439141799995 meters 0.02802671515302042 Centerline is valid? [True, True] Translation: X:340.67, Y:-13.81, Z:-6.93 [[ 9.99965578e-01 1.99009536e-03 8.05500538e-03 3.40665115e+02] [-1.98713382e-03 9.99997955e-01 -3.75650570e-04 -1.38069702e+01] [-8.05573649e-03 3.59631265e-04 9.99967487e-01 -6.92935709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00439141799995 meters 0.026782718806102418 Centerline is valid? [True, True] Translation: X:340.73, Y:-13.81, Z:-6.93 [[ 9.99959995e-01 7.22258680e-03 5.27653904e-03 3.40726000e+02] [-7.22138900e-03 9.99973895e-01 -2.46022414e-04 -1.38061117e+01] [-5.27817821e-03 2.07908631e-04 9.99986049e-01 -6.93251003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06439141799996 meters 0.02164550138873043 Centerline is valid? [True, True] Translation: X:340.79, Y:-13.80, Z:-6.93 [[ 9.99883988e-01 1.45766742e-02 4.41944733e-03 3.40786851e+02] [-1.45759021e-02 9.99893745e-01 -2.06865575e-04 -1.37996419e+01] [-4.42199315e-03 1.42424144e-04 9.99990213e-01 -6.93354817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12439141799996 meters 0.01918506967399905 Centerline is valid? [True, True] Translation: X:340.85, Y:-13.80, Z:-6.93 [[ 9.99754183e-01 2.16940582e-02 4.57619160e-03 3.40846754e+02] [-2.16933026e-02 9.99764650e-01 -2.14683778e-04 -1.37975116e+01] [-4.57977196e-03 1.15358296e-04 9.99989506e-01 -6.93447258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18439141799996 meters 0.018531612748355644 Centerline is valid? [True, True] Translation: X:340.90, Y:-13.80, Z:-6.94 [[ 9.99696684e-01 2.40278004e-02 5.40418197e-03 3.40904541e+02] [-2.40267779e-02 9.99711283e-01 -2.54046585e-04 -1.37990841e+01] [-5.40872587e-03 1.24124448e-04 9.99985365e-01 -6.93520867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24439141799996 meters 0.016501901103101384 Centerline is valid? [True, True] Translation: X:340.96, Y:-13.80, Z:-6.94 [[ 9.99555835e-01 2.91285666e-02 6.29759487e-03 3.40963159e+02] [-2.91272871e-02 9.99575667e-01 -2.94812785e-04 -1.37979396e+01] [-6.30351006e-03 1.11249986e-04 9.99980126e-01 -6.93502814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30439141799997 meters 0.014554366171530388 Centerline is valid? [True, True] Translation: X:341.02, Y:-13.80, Z:-6.94 [[ 9.99280798e-01 3.72516580e-02 7.08522593e-03 3.41022343e+02] [-3.72502499e-02 9.99305914e-01 -3.30656582e-04 -1.37975326e+01] [-7.09262568e-03 6.64923368e-05 9.99974845e-01 -6.93507604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36439141799997 meters 0.014143578727083293 Centerline is valid? [True, True] Translation: X:341.08, Y:-13.80, Z:-6.94 [[ 9.99005911e-01 4.42814869e-02 5.13218172e-03 3.41079842e+02] [-4.42808375e-02 9.99019094e-01 -2.40141818e-04 -1.37984424e+01] [-5.13778137e-03 1.26457909e-05 9.99986801e-01 -6.93867649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42439141799997 meters 0.014196248083177886 Centerline is valid? [True, True] Translation: X:341.14, Y:-13.80, Z:-6.94 [[ 9.98753256e-01 4.97424310e-02 4.19809744e-03 3.41138858e+02] [-4.97420463e-02 9.98762079e-01 -1.96081931e-04 -1.38015309e+01] [-4.20265412e-03 -1.29844904e-05 9.99991169e-01 -6.93985975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484391418 meters 0.014677300027928504 Centerline is valid? [True, True] Translation: X:341.20, Y:-13.81, Z:-6.94 [[ 9.98511363e-01 5.44179982e-02 3.70673093e-03 3.41197816e+02] [-5.44177306e-02 9.98518243e-01 -1.73079093e-04 -1.38062212e+01] [-3.71065707e-03 -2.88904447e-05 9.99993115e-01 -6.93924362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544391418 meters 0.014986998733638516 Centerline is valid? [True, True] Translation: X:341.26, Y:-13.81, Z:-6.94 [[ 9.98397023e-01 5.64248419e-02 4.42964190e-03 3.41256851e+02] [-5.64244827e-02 9.98406849e-01 -2.06099731e-04 -1.38106716e+01] [-4.43421395e-03 -4.41708951e-05 9.99990168e-01 -6.93973907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604391418 meters 0.015277362940140177 Centerline is valid? [True, True] Translation: X:341.32, Y:-13.82, Z:-6.94 [[ 9.98283031e-01 5.82460236e-02 6.19596607e-03 3.41315330e+02] [-5.82453635e-02 9.98302256e-01 -2.87077867e-04 -1.38186173e+01] [-6.20216805e-03 -7.43013327e-05 9.99980764e-01 -6.93936682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664391418 meters 0.014910231209162817 Centerline is valid? [True, True] Translation: X:341.37, Y:-13.83, Z:-6.94 [[ 9.98351228e-01 5.68664589e-02 7.81225452e-03 3.41374192e+02] [-5.68653684e-02 9.98381790e-01 -3.61822243e-04 -1.38284328e+01] [-7.82018820e-03 -8.30210507e-05 9.99969418e-01 -6.93870151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724391418 meters 0.014238316629163793 Centerline is valid? [True, True] Translation: X:341.43, Y:-13.84, Z:-6.94 [[ 9.98609209e-01 5.21530148e-02 7.72728262e-03 3.41432080e+02] [-5.21518230e-02 9.98639104e-01 -3.55781968e-04 -1.38419929e+01] [-7.73532170e-03 -4.77047266e-05 9.99970081e-01 -6.93999084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784391418 meters 0.014260426207991287 Centerline is valid? [True, True] Translation: X:341.49, Y:-13.86, Z:-6.94 [[ 9.98942263e-01 4.56400122e-02 5.59867918e-03 3.41490038e+02] [-4.56392843e-02 9.98957952e-01 -2.57760409e-04 -1.38574110e+01] [-5.60460927e-03 1.96805554e-06 9.99984294e-01 -6.94339446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844391418 meters 0.014702145639110827 Centerline is valid? [True, True] Translation: X:341.55, Y:-13.87, Z:-6.95 [[ 9.99130314e-01 4.15336139e-02 3.68429348e-03 3.41548755e+02] [-4.15332698e-02 9.99137107e-01 -1.69883121e-04 -1.38674888e+01] [-3.68817019e-03 1.67146211e-05 9.99993199e-01 -6.94589797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90439141799993 meters 0.01536044364939432 Centerline is valid? [True, True] Translation: X:341.61, Y:-13.88, Z:-6.95 [[ 9.99295638e-01 3.71355030e-02 5.40204740e-03 3.41605290e+02] [-3.71347008e-02 9.99310238e-01 -2.48765143e-04 -1.38808887e+01] [-5.40755929e-03 4.79865087e-05 9.99985378e-01 -6.94673058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96439141799993 meters 0.01606371318265455 Centerline is valid? [True, True] Translation: X:341.66, Y:-13.89, Z:-6.95 [[ 9.99396947e-01 3.42079767e-02 5.96288198e-03 3.41663549e+02] [-3.42069590e-02 9.99414734e-01 -2.72604142e-04 -1.38925941e+01] [-5.96871735e-03 6.84676876e-05 9.99982185e-01 -6.94709696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02439141799994 meters 0.016668072434373533 Centerline is valid? [True, True] Translation: X:341.72, Y:-13.90, Z:-6.95 [[ 9.99460295e-01 3.20394396e-02 7.25213898e-03 3.41722499e+02] [-3.20378838e-02 9.99486601e-01 -3.30638472e-04 -1.39002104e+01] [-7.25900921e-03 9.81168394e-05 9.99973648e-01 -6.94632284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08439141799994 meters 0.018178835555552126 Centerline is valid? [True, True] Translation: X:341.78, Y:-13.91, Z:-6.95 [[ 9.99615312e-01 2.68655876e-02 6.88971050e-03 3.41782053e+02] [-2.68640672e-02 9.99639047e-01 -3.13147772e-04 -1.39121388e+01] [-6.89563653e-03 1.27941663e-04 9.99976217e-01 -6.94635286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14439141799994 meters 0.02001892413645902 Centerline is valid? [True, True] Translation: X:341.84, Y:-13.92, Z:-6.95 [[ 9.99793017e-01 1.94833162e-02 5.85866118e-03 3.41840711e+02] [-1.94820891e-02 9.99810171e-01 -2.66456976e-04 -1.39231392e+01] [-5.86274050e-03 1.52262865e-04 9.99982802e-01 -6.94707693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20439141799994 meters 0.023617837226214987 Centerline is valid? [True, True] Translation: X:341.90, Y:-13.94, Z:-6.95 [[ 9.99931787e-01 9.99107164e-03 6.04978237e-03 3.41900775e+02] [-9.98959585e-03 9.99950065e-01 -2.74111429e-04 -1.39371520e+01] [-6.05221894e-03 2.13657851e-04 9.99981662e-01 -6.94848767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26439141799995 meters 0.029031199336068313 Centerline is valid? [True, True] Translation: X:341.96, Y:-13.95, Z:-6.95 [[ 9.99978312e-01 1.12688526e-03 6.48881606e-03 3.41959388e+02] [-1.12500154e-03 9.99999324e-01 -2.93945324e-04 -1.39506148e+01] [-6.48914292e-03 2.86639021e-04 9.99978904e-01 -6.94935452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32439141799995 meters 0.029880142264606422 Centerline is valid? [True, True] Translation: X:342.02, Y:-13.96, Z:-6.95 [[ 9.99967990e-01 -3.13600201e-03 7.36094495e-03 3.42020550e+02] [ 3.13853448e-03 9.99995020e-01 -3.32515657e-04 -1.39552053e+01] [-7.35986552e-03 3.55607593e-04 9.99972853e-01 -6.94829383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38439141799995 meters 0.03272787151818984 Centerline is valid? [True, True] Translation: X:342.08, Y:-13.96, Z:-6.95 [[ 9.99922051e-01 -8.54852876e-03 9.10030384e-03 3.42081697e+02] [ 8.55262842e-03 9.99963341e-01 -4.11675589e-04 -1.39642309e+01] [-9.09645101e-03 4.89475017e-04 9.99958507e-01 -6.94657214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44439141799995 meters 0.03362048994199946 Centerline is valid? [True, True] Translation: X:342.14, Y:-13.97, Z:-6.95 [[ 9.99901910e-01 -1.15874718e-02 7.86770317e-03 3.42142183e+02] [ 1.15906335e-02 9.99932763e-01 -3.56379125e-04 -1.39693575e+01] [-7.86304463e-03 4.47535832e-04 9.99968986e-01 -6.94752888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50439141799995 meters 0.03417527328456107 Centerline is valid? [True, True] Translation: X:342.20, Y:-13.97, Z:-6.95 [[ 9.99891705e-01 -1.29167321e-02 7.05237197e-03 3.42204293e+02] [ 1.29193001e-02 9.99916492e-01 -3.18697784e-04 -1.39728475e+01] [-7.04766650e-03 4.09774981e-04 9.99975081e-01 -6.94980315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56439141799996 meters 0.0360628481242085 Centerline is valid? [True, True] Translation: X:342.26, Y:-13.98, Z:-6.95 [[ 9.99881106e-01 -1.38248904e-02 6.82980086e-03 3.42264795e+02] [ 1.38273276e-02 9.99904350e-01 -3.09743965e-04 -1.39776749e+01] [-6.82486541e-03 4.04145032e-04 9.99976629e-01 -6.95277310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62439141799996 meters 0.03637433186531872 Centerline is valid? [True, True] Translation: X:342.33, Y:-13.98, Z:-6.95 [[ 9.99871965e-01 -1.35832181e-02 8.45865377e-03 3.42327422e+02] [ 1.35869462e-02 9.99907620e-01 -3.83434171e-04 -1.39805038e+01] [-8.45266409e-03 4.98312352e-04 9.99964151e-01 -6.95274706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68439141799996 meters 0.03367943701133817 Centerline is valid? [True, True] Translation: X:342.39, Y:-13.98, Z:-6.95 [[ 9.99875504e-01 -1.28486739e-02 9.15905828e-03 3.42389477e+02] [ 1.28530263e-02 9.99917310e-01 -4.16495217e-04 -1.39766594e+01] [-9.15294950e-03 5.34164982e-04 9.99957968e-01 -6.95176052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74439141799996 meters 0.03754710163759883 Centerline is valid? [True, True] Translation: X:342.45, Y:-13.98, Z:-6.95 [[ 9.99898938e-01 -1.14027955e-02 8.49062797e-03 3.42450910e+02] [ 1.14064891e-02 9.99934869e-01 -3.86711869e-04 -1.39822767e+01] [-8.48566537e-03 4.83521042e-04 9.99963879e-01 -6.95396678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80439141799997 meters 0.03668422844459026 Centerline is valid? [True, True] Translation: X:342.51, Y:-13.98, Z:-6.96 [[ 9.99934206e-01 -9.48412301e-03 6.45246924e-03 3.42512764e+02] [ 9.48621744e-03 9.99954962e-01 -2.94066041e-04 -1.39816879e+01] [-6.44938967e-03 3.55256220e-04 9.99979139e-01 -6.95738462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86439141799997 meters 0.030831059635343838 Centerline is valid? [True, True] Translation: X:342.57, Y:-13.97, Z:-6.96 [[ 9.99962367e-01 -5.56261694e-03 6.65741781e-03 3.42574333e+02] [ 5.56476909e-03 9.99984470e-01 -3.04791549e-04 -1.39720460e+01] [-6.65561898e-03 3.41827072e-04 9.99977793e-01 -6.95620133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92439141799997 meters 0.02859901551724536 Centerline is valid? [True, True] Translation: X:342.64, Y:-13.97, Z:-6.96 [[ 9.99968177e-01 3.50376641e-04 7.97010498e-03 3.42635046e+02] [-3.47475984e-04 9.99999873e-01 -3.65324079e-04 -1.39663231e+01] [-7.97023196e-03 3.62543033e-04 9.99968171e-01 -6.95541288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984391418 meters 0.024640828777665186 Centerline is valid? [True, True] Translation: X:342.70, Y:-13.96, Z:-6.95 [[ 9.99942022e-01 6.49977735e-03 8.58513552e-03 3.42696285e+02] [-6.49663894e-03 9.99978819e-01 -3.93400731e-04 -1.39602439e+01] [-8.58751070e-03 3.37603397e-04 9.99963070e-01 -6.95470841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044391418 meters 0.02405471127904919 Centerline is valid? [True, True] Translation: X:342.76, Y:-13.96, Z:-6.96 [[ 9.99907583e-01 1.07839005e-02 8.27848942e-03 3.42756607e+02] [-1.07811372e-02 9.99941810e-01 -3.78345919e-04 -1.39593971e+01] [-8.28208774e-03 2.89059424e-04 9.99965661e-01 -6.95518604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104391418 meters 0.022010502421139395 Centerline is valid? [True, True] Translation: X:342.82, Y:-13.96, Z:-6.96 [[ 9.99862737e-01 1.46354254e-02 7.76608600e-03 3.42817071e+02] [-1.46330923e-02 9.99892867e-01 -3.57161232e-04 -1.39558774e+01] [-7.77048120e-03 2.43470353e-04 9.99969780e-01 -6.95564833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164391418 meters 0.0209174382350005 Centerline is valid? [True, True] Translation: X:342.88, Y:-13.95, Z:-6.96 [[ 9.99805122e-01 1.83371206e-02 7.31217206e-03 3.42877141e+02] [-1.83351472e-02 9.99831840e-01 -3.36829069e-04 -1.39545350e+01] [-7.31711893e-03 2.02693677e-04 9.99973209e-01 -6.95663927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224391418 meters 0.019786970503243354 Centerline is valid? [True, True] Translation: X:342.94, Y:-13.95, Z:-6.96 [[ 9.99721730e-01 2.25027047e-02 7.07746016e-03 3.42937205e+02] [-2.25009622e-02 9.99746768e-01 -3.25744517e-04 -1.39527279e+01] [-7.08299806e-03 1.66404209e-04 9.99974901e-01 -6.95789171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284391418 meters 0.01872222433011322 Centerline is valid? [True, True] Translation: X:343.00, Y:-13.95, Z:-6.96 [[ 9.99663781e-01 2.46124224e-02 8.15799139e-03 3.42995903e+02] [-2.46101770e-02 9.99697053e-01 -3.75535757e-04 -1.39531094e+01] [-8.16476280e-03 1.74639883e-04 9.99966653e-01 -6.95777701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344391418 meters 0.0184290121757066 Centerline is valid? [True, True] Translation: X:343.06, Y:-13.96, Z:-6.96 [[ 9.99661708e-01 2.45912050e-02 8.47002657e-03 3.43055037e+02] [-2.45887900e-02 9.99697574e-01 -3.89155523e-04 -1.39550832e+01] [-8.47703482e-03 1.80756170e-04 9.99964053e-01 -6.95813848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40439141799993 meters 0.018952151066561677 Centerline is valid? [True, True] Translation: X:343.11, Y:-13.96, Z:-6.96 [[ 9.99718356e-01 2.24101488e-02 7.80980516e-03 3.43113933e+02] [-2.24080362e-02 9.99748844e-01 -3.57923721e-04 -1.39608460e+01] [-7.81586481e-03 1.82820518e-04 9.99969439e-01 -6.96086374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46439141799993 meters 0.02081876762785337 Centerline is valid? [True, True] Translation: X:343.17, Y:-13.97, Z:-6.96 [[ 9.99793106e-01 1.84640539e-02 8.53371039e-03 3.43171708e+02] [-1.84613895e-02 9.99829498e-01 -3.90895394e-04 -1.39696077e+01] [-8.53947288e-03 2.33270368e-04 9.99963511e-01 -6.96218109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52439141799994 meters 0.02257140868447965 Centerline is valid? [True, True] Translation: X:343.23, Y:-13.98, Z:-6.96 [[ 9.99870996e-01 1.28663519e-02 9.61499073e-03 3.43232104e+02] [-1.28627294e-02 9.99917176e-01 -4.38511231e-04 -1.39785632e+01] [-9.61983641e-03 3.14779638e-04 9.99953679e-01 -6.96182538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58439141799994 meters 0.025614713124993457 Centerline is valid? [True, True] Translation: X:343.29, Y:-13.99, Z:-6.96 [[ 9.99931911e-01 5.97420540e-03 1.00240634e-02 3.43292179e+02] [-5.96992432e-03 9.99982075e-01 -4.56948241e-04 -1.39903865e+01] [-1.00266136e-02 3.97074228e-04 9.99949653e-01 -6.96292795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64439141799994 meters 0.027909449997378627 Centerline is valid? [True, True] Translation: X:343.35, Y:-14.00, Z:-6.96 [[ 9.99951292e-01 1.73436809e-03 9.71629357e-03 3.43353085e+02] [-1.73014640e-03 9.99998405e-01 -4.42884696e-04 -1.39987398e+01] [-9.71704620e-03 4.26052513e-04 9.99952698e-01 -6.96454452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70439141799994 meters 0.03147434502761675 Centerline is valid? [True, True] Translation: X:343.41, Y:-14.01, Z:-6.97 [[ 9.99954702e-01 -3.66073633e-03 8.78592177e-03 3.43413853e+02] [ 3.66439913e-03 9.99993206e-01 -4.00832427e-04 -1.40096652e+01] [-8.78439473e-03 4.33009395e-04 9.99961323e-01 -6.96793290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76439141799995 meters 0.03457556339789103 Centerline is valid? [True, True] Translation: X:343.47, Y:-14.02, Z:-6.97 [[ 9.99924201e-01 -8.96398502e-03 8.44030128e-03 3.43474080e+02] [ 8.96755910e-03 9.99959716e-01 -3.85702739e-04 -1.40203974e+01] [-8.43650384e-03 4.61362403e-04 9.99964306e-01 -6.97048022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82439141799995 meters 0.03683915222310416 Centerline is valid? [True, True] Translation: X:343.54, Y:-14.03, Z:-6.97 [[ 9.99878782e-01 -1.13562200e-02 1.06516184e-02 3.43535534e+02] [ 1.13620426e-02 9.99935332e-01 -4.86283856e-04 -1.40277647e+01] [-1.06454072e-02 6.07249052e-04 9.99943152e-01 -6.97022403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88439141799995 meters 0.04080763874436831 Centerline is valid? [True, True] Translation: X:343.59, Y:-14.04, Z:-6.97 [[ 9.99811945e-01 -1.50346213e-02 1.22488661e-02 3.43594815e+02] [ 1.50426138e-02 9.99886696e-01 -5.60635673e-04 -1.40374020e+01] [-1.22390493e-02 7.44785205e-04 9.99924823e-01 -6.96961664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94439141799995 meters 0.04379985642158289 Centerline is valid? [True, True] Translation: X:343.65, Y:-14.04, Z:-6.97 [[ 9.99771582e-01 -1.73567096e-02 1.24710810e-02 3.43654198e+02] [ 1.73651748e-02 9.99849051e-01 -5.70806541e-04 -1.40449453e+01] [-1.24592912e-02 7.87238660e-04 9.99922070e-01 -6.97043444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00439141799995 meters 0.04542446793154298 Centerline is valid? [True, True] Translation: X:343.72, Y:-14.05, Z:-6.97 [[ 9.99759937e-01 -1.85186094e-02 1.17102001e-02 3.43715923e+02] [ 1.85261445e-02 9.99828233e-01 -5.35304899e-04 -1.40500503e+01] [-1.16982756e-02 7.52121252e-04 9.99931290e-01 -6.97262501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06439141799996 meters 0.04877105139397548 Centerline is valid? [True, True] Translation: X:343.78, Y:-14.06, Z:-6.98 [[ 9.99730956e-01 -2.06054455e-02 1.06504206e-02 3.43775801e+02] [ 2.06118019e-02 9.99787435e-01 -4.87392243e-04 -1.40565014e+01] [-1.06381137e-02 7.06785472e-04 9.99943164e-01 -6.97532235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12439141799996 meters 0.05189122155909072 Centerline is valid? [True, True] Translation: X:343.84, Y:-14.06, Z:-6.98 [[ 9.99659027e-01 -2.28366646e-02 1.26616465e-02 3.43837187e+02] [ 2.28458511e-02 9.99738830e-01 -5.81357629e-04 -1.40626276e+01] [-1.26450634e-02 8.70425493e-04 9.99919669e-01 -6.97503529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18439141799996 meters 0.04260192899394384 Centerline is valid? [True, True] Translation: X:343.90, Y:-14.05, Z:-6.97 [[ 9.99605055e-01 -2.45608543e-02 1.36564748e-02 3.43899909e+02] [ 2.45717047e-02 9.99697873e-01 -6.27278403e-04 -1.40522576e+01] [-1.36369423e-02 9.62593528e-04 9.99906549e-01 -6.97335249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24439141799996 meters 0.044807808570678245 Centerline is valid? [True, True] Translation: X:343.96, Y:-14.06, Z:-6.98 [[ 9.99625499e-01 -2.46200048e-02 1.19464620e-02 3.43961379e+02] [ 2.46283235e-02 9.99696526e-01 -5.49695247e-04 -1.40558220e+01] [-1.19293031e-02 8.43710717e-04 9.99928487e-01 -6.97604049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30439141799997 meters 0.039368968722138215 Centerline is valid? [True, True] Translation: X:344.02, Y:-14.05, Z:-6.98 [[ 9.99730650e-01 -2.07096252e-02 1.04756795e-02 3.44022573e+02] [ 2.07158172e-02 9.99785288e-01 -4.82908794e-04 -1.40473175e+01] [-1.04634293e-02 6.99790984e-04 9.99945012e-01 -6.97718203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36439141799997 meters 0.037954465474984336 Centerline is valid? [True, True] Translation: X:344.08, Y:-14.05, Z:-6.98 [[ 9.99814316e-01 -1.62074436e-02 1.04235993e-02 3.44083575e+02] [ 1.62133338e-02 9.99868440e-01 -4.80824097e-04 -1.40452268e+01] [-1.04144351e-02 6.49736112e-04 9.99945557e-01 -6.97822306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42439141799997 meters 0.03560787147627011 Centerline is valid? [True, True] Translation: X:344.14, Y:-14.04, Z:-6.98 [[ 9.99887508e-01 -9.12737395e-03 1.19022147e-02 3.44143043e+02] [ 9.13455930e-03 9.99958128e-01 -5.49474700e-04 -1.40405297e+01] [-1.18967011e-02 6.58134374e-04 9.99929015e-01 -6.97702714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484391418 meters 0.0323224468271376 Centerline is valid? [True, True] Translation: X:344.20, Y:-14.04, Z:-6.98 [[ 9.99900607e-01 -1.89182822e-03 1.39712955e-02 3.44204336e+02] [ 1.90101571e-03 9.99997985e-01 -6.44345915e-04 -1.40350456e+01] [-1.39700484e-02 6.70841524e-04 9.99902189e-01 -6.97515028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544391418 meters 0.029063649072933545 Centerline is valid? [True, True] Translation: X:344.26, Y:-14.03, Z:-6.98 [[ 9.99882013e-01 5.82009956e-03 1.42157389e-02 3.44264084e+02] [-5.81135807e-03 9.99982899e-01 -6.56147565e-04 -1.40288350e+01] [-1.42193146e-02 5.73457399e-04 9.99898736e-01 -6.97657651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604391418 meters 0.02522206523788638 Centerline is valid? [True, True] Translation: X:344.33, Y:-14.02, Z:-6.98 [[ 9.99862664e-01 1.03776619e-02 1.29211862e-02 3.44325797e+02] [-1.03708289e-02 9.99946044e-01 -5.95721619e-04 -1.40241658e+01] [-1.29266712e-02 4.61636395e-04 9.99916341e-01 -6.97939484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664391418 meters 0.02218969345631521 Centerline is valid? [True, True] Translation: X:344.39, Y:-14.02, Z:-6.98 [[ 9.99791466e-01 1.55097774e-02 1.32842306e-02 3.44387327e+02] [-1.55030001e-02 9.99879633e-01 -6.13014441e-04 -1.40211254e+01] [-1.32921394e-02 4.06941179e-04 9.99911573e-01 -6.98184506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724391418 meters 0.021596718321044168 Centerline is valid? [True, True] Translation: X:344.45, Y:-14.02, Z:-6.98 [[ 9.99712648e-01 1.88068237e-02 1.48635313e-02 3.44448360e+02] [-1.87986921e-02 9.99823053e-01 -6.86621208e-04 -1.40198297e+01] [-1.48738145e-02 4.07008957e-04 9.99889296e-01 -6.98227127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784391418 meters 0.020762155487930197 Centerline is valid? [True, True] Translation: X:344.51, Y:-14.02, Z:-6.98 [[ 9.99680938e-01 2.02925259e-02 1.50411288e-02 3.44510038e+02] [-2.02843575e-02 9.99794009e-01 -6.95448315e-04 -1.40206909e+01] [-1.50521429e-02 3.90126790e-04 9.99886634e-01 -6.98423845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844391418 meters 0.020316615417796318 Centerline is valid? [True, True] Translation: X:344.57, Y:-14.02, Z:-6.99 [[ 9.99640924e-01 2.23119740e-02 1.48391318e-02 3.44570136e+02] [-2.23042334e-02 9.99750994e-01 -6.86950870e-04 -1.40226597e+01] [-1.48507640e-02 3.55728743e-04 9.99889658e-01 -6.98610098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90439141799993 meters 0.020380240309989684 Centerline is valid? [True, True] Translation: X:344.63, Y:-14.02, Z:-6.99 [[ 9.99582721e-01 2.40966065e-02 1.59291297e-02 3.44629463e+02] [-2.40879117e-02 9.99709572e-01 -7.37503641e-04 -1.40248392e+01] [-1.59422748e-02 3.53496426e-04 9.99872851e-01 -6.98687295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96439141799993 meters 0.02005253811862449 Centerline is valid? [True, True] Translation: X:344.69, Y:-14.03, Z:-6.99 [[ 9.99590378e-01 2.46469825e-02 1.45465819e-02 3.44689598e+02] [-2.46397954e-02 9.99696168e-01 -6.73113462e-04 -1.40274448e+01] [-1.45587524e-02 3.14412937e-04 9.99893966e-01 -6.98966564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02439141799994 meters 0.01989292322932241 Centerline is valid? [True, True] Translation: X:344.75, Y:-14.03, Z:-6.99 [[ 9.99606881e-01 2.44007955e-02 1.38088685e-02 3.44749225e+02] [-2.43942918e-02 9.99702211e-01 -6.39244659e-04 -1.40301070e+01] [-1.38203544e-02 3.02135792e-04 9.99904449e-01 -6.99159168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08439141799994 meters 0.02023253293620914 Centerline is valid? [True, True] Translation: X:344.81, Y:-14.03, Z:-6.99 [[ 9.99637942e-01 2.39111654e-02 1.23385714e-02 3.44808313e+02] [-2.39059388e-02 9.99714049e-01 -5.70935453e-04 -1.40329147e+01] [-1.23486949e-02 2.75763609e-04 9.99923714e-01 -6.99318912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14439141799994 meters 0.01993206928323887 Centerline is valid? [True, True] Translation: X:344.87, Y:-14.03, Z:-6.99 [[ 9.99654477e-01 2.36910569e-02 1.13868318e-02 3.44867791e+02] [-2.36865999e-02 9.99719295e-01 -5.26141944e-04 -1.40343623e+01] [-1.13961003e-02 2.56244822e-04 9.99935030e-01 -6.99471122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20439141799994 meters 0.019377496048488225 Centerline is valid? [True, True] Translation: X:344.93, Y:-14.04, Z:-7.00 [[ 9.99648436e-01 2.41363354e-02 1.09745575e-02 3.44927386e+02] [-2.41322265e-02 9.99708647e-01 -5.06692625e-04 -1.40355603e+01] [-1.09835897e-02 2.41673983e-04 9.99939649e-01 -6.99546358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26439141799995 meters 0.019628254696520568 Centerline is valid? [True, True] Translation: X:344.99, Y:-14.04, Z:-7.00 [[ 9.99652128e-01 2.38631710e-02 1.12326188e-02 3.44986616e+02] [-2.38588547e-02 9.99715203e-01 -5.18131278e-04 -1.40390657e+01] [-1.12417840e-02 2.49953616e-04 9.99936778e-01 -6.99537472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32439141799995 meters 0.020066812766123036 Centerline is valid? [True, True] Translation: X:345.05, Y:-14.04, Z:-6.99 [[ 9.99736052e-01 2.03980423e-02 1.05710039e-02 3.45046458e+02] [-2.03940297e-02 9.99791901e-01 -4.87255494e-04 -1.40422955e+01] [-1.05787431e-02 2.71541517e-04 9.99944007e-01 -6.99450691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38439141799995 meters 0.021379737503027414 Centerline is valid? [True, True] Translation: X:345.11, Y:-14.05, Z:-7.00 [[ 9.99813224e-01 1.68255417e-02 9.50890253e-03 3.45106702e+02] [-1.68221408e-02 9.99858402e-01 -4.37530902e-04 -1.40487999e+01] [-9.51491779e-03 2.77489084e-04 9.99954694e-01 -6.99599053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44439141799995 meters 0.02511343509732641 Centerline is valid? [True, True] Translation: X:345.17, Y:-14.06, Z:-7.00 [[ 9.99932343e-01 9.21940849e-03 7.09305006e-03 3.45166207e+02] [-9.21732493e-03 9.99957466e-01 -3.26381248e-04 -1.40604291e+01] [-7.09575741e-03 2.60980219e-04 9.99974791e-01 -6.99925391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50439141799995 meters 0.030312220971964496 Centerline is valid? [True, True] Translation: X:345.23, Y:-14.07, Z:-7.00 [[ 9.99980122e-01 2.12136286e-03 5.93760881e-03 3.45225194e+02] [-2.11977657e-03 9.99997716e-01 -2.73441703e-04 -1.40715672e+01] [-5.93817531e-03 2.60849863e-04 9.99982335e-01 -6.99996867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56439141799996 meters 0.030843520965127092 Centerline is valid? [True, True] Translation: X:345.29, Y:-14.08, Z:-7.00 [[ 9.99982114e-01 -2.10060021e-03 5.60000870e-03 3.45285935e+02] [ 2.10207381e-03 9.99997758e-01 -2.57270638e-04 -1.40764612e+01] [-5.59945571e-03 2.69037668e-04 9.99984287e-01 -7.00022337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62439141799996 meters 0.03573449823136608 Centerline is valid? [True, True] Translation: X:345.35, Y:-14.09, Z:-7.00 [[ 9.99951114e-01 -8.26322705e-03 5.43042817e-03 3.45345178e+02] [ 8.26470696e-03 9.99965815e-01 -2.50136538e-04 -1.40874234e+01] [-5.42817560e-03 2.95005207e-04 9.99985224e-01 -7.00177064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68439141799996 meters 0.03870550543024764 Centerline is valid? [True, True] Translation: X:345.41, Y:-14.10, Z:-7.00 [[ 9.99888969e-01 -1.36454476e-02 5.98759040e-03 3.45405968e+02] [ 1.36473404e-02 9.99906833e-01 -2.75373751e-04 -1.40950880e+01] [-5.98327495e-03 3.57057861e-04 9.99982036e-01 -7.00139638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74439141799996 meters 0.04212895830306957 Centerline is valid? [True, True] Translation: X:345.47, Y:-14.10, Z:-7.00 [[ 9.99823127e-01 -1.78615577e-02 5.88896292e-03 3.45465924e+02] [ 1.78634614e-02 9.99840399e-01 -2.70820250e-04 -1.41020855e+01] [-5.88318577e-03 3.75969611e-04 9.99982623e-01 -7.00155822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80439141799997 meters 0.03906862360070209 Centerline is valid? [True, True] Translation: X:345.53, Y:-14.10, Z:-7.00 [[ 9.99791233e-01 -1.96828585e-02 5.48408736e-03 3.45527722e+02] [ 1.96845322e-02 9.99806209e-01 -2.51374469e-04 -1.41014022e+01] [-5.47807682e-03 3.59273684e-04 9.99984931e-01 -7.00174066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86439141799997 meters 0.041723674683112555 Centerline is valid? [True, True] Translation: X:345.59, Y:-14.11, Z:-7.00 [[ 9.99763287e-01 -2.13481662e-02 4.19821452e-03 3.45588823e+02] [ 2.13491616e-02 9.99772062e-01 -1.92430919e-04 -1.41062755e+01] [-4.19314954e-03 2.82013728e-04 9.99991169e-01 -7.00308217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92439141799997 meters 0.042169270005578144 Centerline is valid? [True, True] Translation: X:345.65, Y:-14.11, Z:-7.01 [[ 9.99766095e-01 -2.13941803e-02 3.16933423e-03 3.45650941e+02] [ 2.13947463e-02 9.99771096e-01 -1.44799004e-04 -1.41082132e+01] [-3.16551090e-03 2.12572237e-04 9.99994967e-01 -7.00519839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984391418 meters 0.04375206284902152 Centerline is valid? [True, True] Translation: X:345.71, Y:-14.11, Z:-7.01 [[ 9.99761420e-01 -2.16631362e-02 2.79483065e-03 3.45712979e+02] [ 2.16635775e-02 9.99765309e-01 -1.27741299e-04 -1.41115829e+01] [-2.79140745e-03 1.88256854e-04 9.99996086e-01 -7.00650019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044391418 meters 0.05305315186700176 Centerline is valid? [True, True] Translation: X:345.77, Y:-14.12, Z:-7.01 [[ 9.99767977e-01 -2.12576989e-02 3.47874338e-03 3.45773656e+02] [ 2.12583794e-02 9.99774003e-01 -1.58752484e-04 -1.41233064e+01] [-3.47458248e-03 2.32668097e-04 9.99993937e-01 -7.00942942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104391418 meters 0.043359327464531194 Centerline is valid? [True, True] Translation: X:345.84, Y:-14.11, Z:-7.01 [[ 9.99738204e-01 -2.25506472e-02 3.87204604e-03 3.45836042e+02] [ 2.25515078e-02 9.99745666e-01 -1.78755705e-04 -1.41113726e+01] [-3.86703019e-03 2.66029384e-04 9.99992488e-01 -7.00613491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164391418 meters 0.044211438771232764 Centerline is valid? [True, True] Translation: X:345.90, Y:-14.11, Z:-7.01 [[ 9.99736844e-01 -2.26836923e-02 3.41937719e-03 3.45898089e+02] [ 2.26843633e-02 9.99742664e-01 -1.57573135e-04 -1.41133795e+01] [-3.41492292e-03 2.35098063e-04 9.99994141e-01 -7.00847240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224391418 meters 0.04209208056313438 Centerline is valid? [True, True] Translation: X:345.96, Y:-14.11, Z:-7.01 [[ 9.99723942e-01 -2.31545010e-02 3.98853299e-03 3.45960975e+02] [ 2.31554200e-02 9.99731860e-01 -1.84379485e-04 -1.41103017e+01] [-3.98319429e-03 2.76684742e-04 9.99992029e-01 -7.00542887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284391418 meters 0.04169658935456488 Centerline is valid? [True, True] Translation: X:346.02, Y:-14.11, Z:-7.01 [[ 9.99759999e-01 -2.15600199e-02 3.88725266e-03 3.46022321e+02] [ 2.15608846e-02 9.99767521e-01 -1.80661546e-04 -1.41100921e+01] [-3.88245389e-03 2.64430793e-04 9.99992428e-01 -7.00647556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344391418 meters 0.04187332575112141 Centerline is valid? [True, True] Translation: X:346.08, Y:-14.11, Z:-7.01 [[ 9.99818161e-01 -1.87867484e-02 3.27142716e-03 3.46083286e+02] [ 1.87873461e-02 9.99823491e-01 -1.52054630e-04 -1.41091361e+01] [-3.26799311e-03 2.13488415e-04 9.99994637e-01 -7.00704355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40439141799993 meters 0.037345788628758064 Centerline is valid? [True, True] Translation: X:346.14, Y:-14.10, Z:-7.01 [[ 9.99874622e-01 -1.55585262e-02 2.94486776e-03 3.46144820e+02] [ 1.55589976e-02 9.99878942e-01 -1.37232317e-04 -1.41044986e+01] [-2.94237613e-03 1.83034302e-04 9.99995654e-01 -7.00720079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46439141799993 meters 0.0350314946154571 Centerline is valid? [True, True] Translation: X:346.21, Y:-14.10, Z:-7.01 [[ 9.99949433e-01 -9.43313756e-03 3.48524145e-03 3.46205434e+02] [ 9.43376264e-03 9.99955488e-01 -1.62956687e-04 -1.41007963e+01] [-3.48354912e-03 1.95827387e-04 9.99993913e-01 -7.00715548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52439141799994 meters 0.02852813606122392 Centerline is valid? [True, True] Translation: X:346.27, Y:-14.09, Z:-7.01 [[ 9.99988771e-01 -4.99884523e-04 4.71260616e-03 3.46266844e+02] [ 5.00926988e-04 9.99999850e-01 -2.20029978e-04 -1.40907717e+01] [-4.71249547e-03 2.22388179e-04 9.99988871e-01 -7.00510341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58439141799994 meters 0.026087635346570295 Centerline is valid? [True, True] Translation: X:346.33, Y:-14.09, Z:-7.01 [[ 9.99967379e-01 6.30790506e-03 5.04496865e-03 3.46327754e+02] [-6.30679540e-03 9.99980084e-01 -2.35833186e-04 -1.40869509e+01] [-5.04635579e-03 2.04007908e-04 9.99987246e-01 -7.00563236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64439141799994 meters 0.021922491219399584 Centerline is valid? [True, True] Translation: X:346.39, Y:-14.08, Z:-7.00 [[ 9.99857376e-01 1.60268950e-02 5.32594296e-03 3.46388816e+02] [-1.60257946e-02 9.99871548e-01 -2.49212849e-04 -1.40795602e+01] [-5.32925293e-03 1.63824837e-04 9.99985786e-01 -7.00491108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70439141799994 meters 0.01912498944908245 Centerline is valid? [True, True] Translation: X:346.45, Y:-14.07, Z:-7.00 [[ 9.99695276e-01 2.35116170e-02 7.52051134e-03 3.46449594e+02] [-2.35096334e-02 9.99723548e-01 -3.52068130e-04 -1.40737461e+01] [-7.52670998e-03 1.75156382e-04 9.99971659e-01 -7.00337294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76439141799995 meters 0.01812863174886007 Centerline is valid? [True, True] Translation: X:346.51, Y:-14.07, Z:-7.01 [[ 9.99637093e-01 2.60924836e-02 6.69812901e-03 3.46508630e+02] [-2.60909629e-02 9.99659523e-01 -3.14325077e-04 -1.40735785e+01] [-6.70404998e-03 1.39450371e-04 9.99977518e-01 -7.00662771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82439141799995 meters 0.019153432918723574 Centerline is valid? [True, True] Translation: X:346.57, Y:-14.08, Z:-7.01 [[ 9.99675949e-01 2.45995195e-02 6.54679301e-03 3.46566542e+02] [-2.45980363e-02 9.99697375e-01 -3.06987084e-04 -1.40785851e+01] [-6.55236352e-03 1.45849353e-04 9.99978522e-01 -7.01009581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88439141799995 meters 0.01960898945456626 Centerline is valid? [True, True] Translation: X:346.62, Y:-14.08, Z:-7.01 [[ 9.99722002e-01 2.24793753e-02 7.11315414e-03 3.46624885e+02] [-2.24775791e-02 9.99747292e-01 -3.32375481e-04 -1.40831267e+01] [-7.11882818e-03 1.72396597e-04 9.99974646e-01 -7.01134887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94439141799995 meters 0.020225457531327734 Centerline is valid? [True, True] Translation: X:346.68, Y:-14.09, Z:-7.01 [[ 9.99753293e-01 2.10245609e-02 7.16389180e-03 3.46683096e+02] [-2.10227058e-02 9.99778943e-01 -3.34160706e-04 -1.40875447e+01] [-7.16933375e-03 1.83473876e-04 9.99974283e-01 -7.01289310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00439141799995 meters 0.023807572115859772 Centerline is valid? [True, True] Translation: X:346.74, Y:-14.10, Z:-7.01 [[ 9.99862932e-01 1.47409312e-02 7.53809424e-03 3.46741514e+02] [-1.47387114e-02 9.99891318e-01 -3.49953035e-04 -1.40978563e+01] [-7.54243362e-03 2.38803272e-04 9.99971527e-01 -7.01472620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06439141799996 meters 0.02801136004965634 Centerline is valid? [True, True] Translation: X:346.80, Y:-14.11, Z:-7.02 [[ 9.99940588e-01 7.98776082e-03 7.41730152e-03 3.46801581e+02] [-7.98542649e-03 9.99968057e-01 -3.44276130e-04 -1.41090295e+01] [-7.41981458e-03 2.85025359e-04 9.99972432e-01 -7.01704020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12439141799996 meters 0.03189395825615589 Centerline is valid? [True, True] Translation: X:346.86, Y:-14.12, Z:-7.02 [[ 9.99970149e-01 1.69245565e-03 7.53906963e-03 3.46861864e+02] [-1.68986596e-03 9.99998511e-01 -3.49859862e-04 -1.41177104e+01] [-7.53965053e-03 3.37109401e-04 9.99971520e-01 -7.01855976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18439141799996 meters 0.03277099676278729 Centerline is valid? [True, True] Translation: X:346.92, Y:-14.12, Z:-7.02 [[ 9.99967962e-01 -2.45191442e-03 7.61991778e-03 3.46922991e+02] [ 2.45467699e-03 9.99996925e-01 -3.53214462e-04 -1.41229409e+01] [-7.61902830e-03 3.71907582e-04 9.99970906e-01 -7.01975173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24439141799996 meters 0.040114772735927284 Centerline is valid? [True, True] Translation: X:346.98, Y:-14.14, Z:-7.02 [[ 9.99931563e-01 -7.39717191e-03 9.06370393e-03 3.46982719e+02] [ 7.40128988e-03 9.99972522e-01 -4.20877354e-04 -1.41361138e+01] [-9.06034157e-03 4.87931651e-04 9.99958835e-01 -7.02219245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30439141799997 meters 0.03754564320835401 Centerline is valid? [True, True] Translation: X:347.04, Y:-14.14, Z:-7.02 [[ 9.99865770e-01 -1.35116623e-02 9.26699293e-03 3.47043493e+02] [ 1.35162321e-02 9.99908559e-01 -4.30678151e-04 -1.41355689e+01] [-9.26032637e-03 5.55875169e-04 9.99956968e-01 -7.02119721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36439141799997 meters 0.0372884630348919 Centerline is valid? [True, True] Translation: X:347.10, Y:-14.14, Z:-7.02 [[ 9.99800412e-01 -1.78878122e-02 8.89735560e-03 3.47104330e+02] [ 1.78921961e-02 9.99839836e-01 -4.13356764e-04 -1.41393069e+01] [-8.88853652e-03 5.72467494e-04 9.99960332e-01 -7.02249511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42439141799997 meters 0.039423984346702697 Centerline is valid? [True, True] Translation: X:347.17, Y:-14.15, Z:-7.02 [[ 9.99680411e-01 -2.40779233e-02 7.70258194e-03 3.47165544e+02] [ 2.40813910e-02 9.99709937e-01 -3.57760984e-04 -1.41457831e+01] [-7.69173357e-03 5.43135535e-04 9.99970271e-01 -7.02427278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484391418 meters 0.0427348811093499 Centerline is valid? [True, True] Translation: X:347.23, Y:-14.15, Z:-7.03 [[ 9.99556370e-01 -2.87771282e-02 7.67722038e-03 3.47226239e+02] [ 2.87807156e-02 9.99585686e-01 -3.57196445e-04 -1.41522971e+01] [-7.66376051e-03 5.77993878e-04 9.99970466e-01 -7.02596684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544391418 meters 0.04730495785578424 Centerline is valid? [True, True] Translation: X:347.29, Y:-14.16, Z:-7.03 [[ 9.99474114e-01 -3.13418035e-02 8.31787301e-03 3.47286386e+02] [ 3.13461016e-02 9.99508515e-01 -3.86838296e-04 -1.41619874e+01] [-8.30166069e-03 6.47367756e-04 9.99965331e-01 -7.02713720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604391418 meters 0.049520959292905654 Centerline is valid? [True, True] Translation: X:347.35, Y:-14.17, Z:-7.03 [[ 9.99481293e-01 -3.06634632e-02 9.84359911e-03 3.47347400e+02] [ 3.06694381e-02 9.99529478e-01 -4.56569698e-04 -1.41653872e+01] [-9.82496747e-03 7.58230526e-04 9.99951446e-01 -7.02507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664391418 meters 0.04923680028556229 Centerline is valid? [True, True] Translation: X:347.41, Y:-14.17, Z:-7.03 [[ 9.99521440e-01 -2.93173902e-02 9.86816516e-03 3.47408956e+02] [ 2.93233583e-02 9.99569872e-01 -4.60609665e-04 -1.41676727e+01] [-9.85041671e-03 7.49756979e-04 9.99951202e-01 -7.02565983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724391418 meters 0.05046036042302403 Centerline is valid? [True, True] Translation: X:347.47, Y:-14.17, Z:-7.03 [[ 9.99571364e-01 -2.79426831e-02 8.73474044e-03 3.47470214e+02] [ 2.79473071e-02 9.99609315e-01 -4.07738885e-04 -1.41731008e+01] [-8.71993459e-03 6.51676586e-04 9.99961768e-01 -7.02913487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784391418 meters 0.04010798652842552 Centerline is valid? [True, True] Translation: X:347.53, Y:-14.16, Z:-7.03 [[ 9.99654058e-01 -2.48829179e-02 8.52086544e-03 3.47532073e+02] [ 2.48872154e-02 9.99690186e-01 -3.98673051e-04 -1.41612261e+01] [-8.50830541e-03 6.10595747e-04 9.99963617e-01 -7.02739354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844391418 meters 0.03984918686252279 Centerline is valid? [True, True] Translation: X:347.59, Y:-14.16, Z:-7.03 [[ 9.99721198e-01 -2.22966513e-02 7.77080612e-03 3.47593419e+02] [ 2.23001467e-02 9.99751255e-01 -3.63437056e-04 -1.41630142e+01] [-7.76076974e-03 5.36625845e-04 9.99969741e-01 -7.02907069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90439141799993 meters 0.039283235565350925 Centerline is valid? [True, True] Translation: X:347.65, Y:-14.17, Z:-7.03 [[ 9.99761862e-01 -1.96179603e-02 9.55797745e-03 3.47653991e+02] [ 1.96231367e-02 9.99807347e-01 -4.48090525e-04 -1.41658823e+01] [-9.54734546e-03 6.35541315e-04 9.99954221e-01 -7.02758587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96439141799993 meters 0.03899787345939064 Centerline is valid? [True, True] Translation: X:347.72, Y:-14.17, Z:-7.03 [[ 9.99800466e-01 -1.67273096e-02 1.09190101e-02 3.47715053e+02] [ 1.67338915e-02 9.99859848e-01 -5.11701484e-04 -1.41695546e+01] [-1.09089204e-02 6.94316912e-04 9.99940255e-01 -7.02771673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02439141799994 meters 0.0345801374687393 Centerline is valid? [True, True] Translation: X:347.78, Y:-14.17, Z:-7.03 [[ 9.99845921e-01 -1.43957220e-02 1.00447662e-02 3.47777153e+02] [ 1.44011720e-02 9.99896187e-01 -4.70443197e-04 -1.41675719e+01] [-1.00369511e-02 6.15027117e-04 9.99949439e-01 -7.02912232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08439141799994 meters 0.03571187506289513 Centerline is valid? [True, True] Translation: X:347.84, Y:-14.17, Z:-7.03 [[ 9.99876916e-01 -1.15782463e-02 1.05875817e-02 3.47837062e+02] [ 1.15841563e-02 9.99932778e-01 -4.97043760e-04 -1.41740136e+01] [-1.05811151e-02 6.19630783e-04 9.99943826e-01 -7.03097695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14439141799994 meters 0.03416939374498569 Centerline is valid? [True, True] Translation: X:347.90, Y:-14.18, Z:-7.03 [[ 9.99907450e-01 -5.82683442e-03 1.22939188e-02 3.47896635e+02] [ 5.83437785e-03 9.99982813e-01 -5.77814066e-04 -1.41773570e+01] [-1.22903406e-02 6.49487956e-04 9.99924260e-01 -7.03094196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20439141799994 meters 0.029452375975230097 Centerline is valid? [True, True] Translation: X:347.96, Y:-14.17, Z:-7.03 [[ 9.99900394e-01 4.55468705e-03 1.33587941e-02 3.47957371e+02] [-4.54671001e-03 9.99989467e-01 -6.27447781e-04 -1.41745702e+01] [-1.33615112e-02 5.66646721e-04 9.99910570e-01 -7.02977657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26439141799995 meters 0.020188456609151344 Centerline is valid? [True, True] Translation: X:348.02, Y:-14.17, Z:-7.03 [[ 9.99713629e-01 1.87964492e-02 1.48105986e-02 3.48018700e+02] [-1.87882067e-02 9.99823244e-01 -6.95484298e-04 -1.41652755e+01] [-1.48210534e-02 4.17020544e-04 9.99890075e-01 -7.02880610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32439141799995 meters 0.017262663815881624 Centerline is valid? [True, True] Translation: X:348.08, Y:-14.16, Z:-7.03 [[ 9.99498980e-01 2.83392581e-02 1.40952225e-02 3.48078894e+02] [-2.83327346e-02 9.99598328e-01 -6.62333837e-04 -1.41635803e+01] [-1.41083308e-02 2.62645798e-04 9.99900438e-01 -7.03046816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38439141799995 meters 0.014574348463214768 Centerline is valid? [True, True] Translation: X:348.14, Y:-14.16, Z:-7.03 [[ 9.99124141e-01 3.93969905e-02 1.41006581e-02 3.48138641e+02] [-3.93915619e-02 9.99223632e-01 -6.62624761e-04 -1.41600770e+01] [-1.41158162e-02 1.06597450e-04 9.99900361e-01 -7.03162460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44439141799995 meters 0.014425338228594708 Centerline is valid? [True, True] Translation: X:348.20, Y:-14.17, Z:-7.03 [[ 9.98923588e-01 4.37215598e-02 1.54948811e-02 3.48197565e+02] [-4.37155330e-02 9.99043754e-01 -7.27611180e-04 -1.41650651e+01] [-1.55118764e-02 4.94609861e-05 9.99879682e-01 -7.03381246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50439141799995 meters 0.014349942880253088 Centerline is valid? [True, True] Translation: X:348.26, Y:-14.17, Z:-7.03 [[ 9.98914513e-01 4.36777994e-02 1.61878110e-02 3.48256304e+02] [-4.36712385e-02 9.99045668e-01 -7.58736842e-04 -1.41700502e+01] [-1.62055024e-02 5.09714880e-05 9.99868681e-01 -7.03452798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56439141799996 meters 0.014558167781507234 Centerline is valid? [True, True] Translation: X:348.31, Y:-14.18, Z:-7.03 [[ 9.99029364e-01 3.99817163e-02 1.84876052e-02 3.48314987e+02] [-3.99725579e-02 9.99200404e-01 -8.64790566e-04 -1.41794166e+01] [-1.85073983e-02 1.24954302e-04 9.99828716e-01 -7.03412650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62439141799996 meters 0.016102513662271323 Centerline is valid? [True, True] Translation: X:348.37, Y:-14.19, Z:-7.04 [[ 9.99305139e-01 3.21679488e-02 1.88271587e-02 3.48373600e+02] [-3.21570942e-02 9.99482440e-01 -8.79070812e-04 -1.41927621e+01] [-1.88456925e-02 2.73033263e-04 9.99822367e-01 -7.03609622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68439141799996 meters 0.019056648992304363 Centerline is valid? [True, True] Translation: X:348.43, Y:-14.21, Z:-7.04 [[ 9.99531916e-01 2.50013851e-02 1.76317853e-02 3.48432499e+02] [-2.49907707e-02 9.99687344e-01 -8.22117110e-04 -1.42052153e+01] [-1.76468267e-02 3.81100386e-04 9.99844210e-01 -7.03882721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74439141799996 meters 0.022518037394158388 Centerline is valid? [True, True] Translation: X:348.49, Y:-14.22, Z:-7.04 [[ 9.99772958e-01 1.34663339e-02 1.65133430e-02 3.48492604e+02] [-1.34554578e-02 9.99909175e-01 -7.69558371e-04 -1.42199930e+01] [-1.65222063e-02 5.47189060e-04 9.99863349e-01 -7.04275894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80439141799997 meters 0.027728094726572734 Centerline is valid? [True, True] Translation: X:348.55, Y:-14.24, Z:-7.05 [[ 9.99861037e-01 6.14542040e-03 1.54964906e-02 3.48551267e+02] [-6.13496217e-03 9.99980920e-01 -7.22324990e-04 -1.42350757e+01] [-1.55006339e-02 6.27154230e-04 9.99879661e-01 -7.04659824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86439141799997 meters 0.029046686245075323 Centerline is valid? [True, True] Translation: X:348.61, Y:-14.24, Z:-7.05 [[ 9.99881864e-01 5.38539654e-04 1.53612552e-02 3.48612133e+02] [-5.27609044e-04 9.99999605e-01 -7.15613831e-04 -1.42432482e+01] [-1.53616346e-02 7.07424554e-04 9.99881753e-01 -7.04766076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92439141799997 meters 0.031023758696693795 Centerline is valid? [True, True] Translation: X:348.67, Y:-14.25, Z:-7.05 [[ 9.99846029e-01 -3.59869369e-03 1.71746500e-02 3.48673350e+02] [ 3.61297235e-03 9.99993153e-01 -8.00424301e-04 -1.42526873e+01] [-1.71716519e-02 8.62352594e-04 9.99852184e-01 -7.04741702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984391418 meters 0.03212079207387601 Centerline is valid? [True, True] Translation: X:348.73, Y:-14.26, Z:-7.05 [[ 9.99867121e-01 -4.78555942e-03 1.55832930e-02 3.48734741e+02] [ 4.79744935e-03 9.99988229e-01 -7.25699233e-04 -1.42607377e+01] [-1.55796367e-02 8.00362862e-04 9.99878310e-01 -7.05073142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044391418 meters 0.030082198151523794 Centerline is valid? [True, True] Translation: X:348.80, Y:-14.26, Z:-7.05 [[ 9.99899770e-01 -1.37736300e-03 1.40908807e-02 3.48796069e+02] [ 1.38681365e-03 9.99998820e-01 -6.60943400e-04 -1.42601004e+01] [-1.40899537e-02 6.80418579e-04 9.99900500e-01 -7.05278844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104391418 meters 0.026718871135956914 Centerline is valid? [True, True] Translation: X:348.86, Y:-14.26, Z:-7.05 [[ 9.99892236e-01 3.68037428e-03 1.42116768e-02 3.48857459e+02] [-3.67126022e-03 9.99993038e-01 -6.67343484e-04 -1.42583930e+01] [-1.42140340e-02 6.15096804e-04 9.99898786e-01 -7.05438311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164391418 meters 0.024528346523387985 Centerline is valid? [True, True] Translation: X:348.92, Y:-14.26, Z:-7.06 [[ 9.99832425e-01 1.20714867e-02 1.37622761e-02 3.48917540e+02] [-1.20637261e-02 9.99927021e-01 -6.46783768e-04 -1.42568125e+01] [-1.37690793e-02 4.80651055e-04 9.99905086e-01 -7.05699513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224391418 meters 0.01996959788644887 Centerline is valid? [True, True] Translation: X:348.98, Y:-14.25, Z:-7.06 [[ 9.99649773e-01 2.19258257e-02 1.48185731e-02 3.48978640e+02] [-2.19179161e-02 9.99759531e-01 -6.95977550e-04 -1.42488382e+01] [-1.48302696e-02 3.70941557e-04 9.99889957e-01 -7.05776571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284391418 meters 0.018282007208440015 Centerline is valid? [True, True] Translation: X:349.04, Y:-14.24, Z:-7.06 [[ 9.99498988e-01 2.84849198e-02 1.37979411e-02 3.49038704e+02] [-2.84786844e-02 9.99594190e-01 -6.48214970e-04 -1.42447440e+01] [-1.38108062e-02 2.54942994e-04 9.99904594e-01 -7.05899253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34439141799993 meters 0.01824013662595041 Centerline is valid? [True, True] Translation: X:349.10, Y:-14.25, Z:-7.06 [[ 9.99453407e-01 2.99819741e-02 1.39272306e-02 3.49096935e+02] [-2.99757612e-02 9.99550412e-01 -6.54680366e-04 -1.42466137e+01] [-1.39405977e-02 2.36843183e-04 9.99902797e-01 -7.05949638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40439141799993 meters 0.01894958312658913 Centerline is valid? [True, True] Translation: X:349.16, Y:-14.25, Z:-7.06 [[ 9.99528002e-01 2.76159582e-02 1.34585254e-02 3.49156819e+02] [-2.76099542e-02 9.99618573e-01 -6.31749114e-04 -1.42481350e+01] [-1.34708383e-02 2.59861659e-04 9.99909230e-01 -7.05838026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46439141799993 meters 0.021901902296851895 Centerline is valid? [True, True] Translation: X:349.22, Y:-14.25, Z:-7.06 [[ 9.99708913e-01 2.17119344e-02 1.05205147e-02 3.49215881e+02] [-2.17079451e-02 9.99764233e-01 -4.93249419e-04 -1.42539226e+01] [-1.05287437e-02 2.64727085e-04 9.99944536e-01 -7.06103605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52439141799994 meters 0.024393658755518282 Centerline is valid? [True, True] Translation: X:349.28, Y:-14.26, Z:-7.06 [[ 9.99809529e-01 1.69828311e-02 9.61713419e-03 3.49276433e+02] [-1.69792796e-02 9.99855740e-01 -4.50821819e-04 -1.42599242e+01] [-9.62340306e-03 2.87443940e-04 9.99953653e-01 -7.06276928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58439141799994 meters 0.025691168399913596 Centerline is valid? [True, True] Translation: X:349.34, Y:-14.26, Z:-7.06 [[ 9.99911416e-01 1.02227464e-02 8.52383756e-03 3.49336899e+02] [-1.02197112e-02 9.99947698e-01 -3.99571419e-04 -1.42625063e+01] [-8.52747646e-03 3.12424865e-04 9.99963592e-01 -7.06134359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64439141799994 meters 0.028280970471498988 Centerline is valid? [True, True] Translation: X:349.40, Y:-14.27, Z:-7.06 [[ 9.99952402e-01 4.27873010e-03 8.76842469e-03 3.49398140e+02] [-4.27529419e-03 9.99990777e-01 -4.10557669e-04 -1.42668379e+01] [-8.77010048e-03 3.73050532e-04 9.99961472e-01 -7.06051195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70439141799994 meters 0.02884593737868745 Centerline is valid? [True, True] Translation: X:349.46, Y:-14.27, Z:-7.06 [[ 9.99971805e-01 1.93958488e-03 7.25441517e-03 3.49460456e+02] [-1.93717461e-03 9.99998066e-01 -3.39260589e-04 -1.42678814e+01] [-7.25505916e-03 3.25197954e-04 9.99973629e-01 -7.06029689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76439141799995 meters 0.031356771470253154 Centerline is valid? [True, True] Translation: X:349.52, Y:-14.27, Z:-7.06 [[ 9.99982112e-01 2.61519448e-03 5.37923354e-03 3.49522403e+02] [-2.61389703e-03 9.99996553e-01 -2.48212078e-04 -1.42722559e+01] [-5.37986412e-03 2.34146875e-04 9.99985501e-01 -7.06305315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82439141799995 meters 0.02672960025759552 Centerline is valid? [True, True] Translation: X:349.58, Y:-14.26, Z:-7.06 [[ 9.99979854e-01 5.33281771e-03 3.44291352e-03 3.49584152e+02] [-5.33229097e-03 9.99985770e-01 -1.62151940e-04 -1.42638251e+01] [-3.44372925e-03 1.43790056e-04 9.99994060e-01 -7.06140665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88439141799995 meters 0.029677907383145057 Centerline is valid? [True, True] Translation: X:349.64, Y:-14.27, Z:-7.06 [[ 9.99955261e-01 8.84674185e-03 3.34840866e-03 3.49644246e+02] [-8.84626051e-03 9.99960859e-01 -1.58536039e-04 -1.42651444e+01] [-3.34968013e-03 1.28908051e-04 9.99994381e-01 -7.06277000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94439141799995 meters 0.02500704493086897 Centerline is valid? [True, True] Translation: X:349.70, Y:-14.26, Z:-7.06 [[ 9.99921573e-01 1.21470425e-02 3.04906028e-03 3.49704297e+02] [-1.21466555e-02 9.99926216e-01 -1.45418848e-04 -1.42555450e+01] [-3.05060172e-03 1.08371559e-04 9.99995341e-01 -7.06040555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00439141799995 meters 0.023441520579672116 Centerline is valid? [True, True] Translation: X:349.76, Y:-14.25, Z:-7.06 [[ 9.99909169e-01 1.31498753e-02 2.95555068e-03 3.49763811e+02] [-1.31495132e-02 9.99913531e-01 -1.41924874e-04 -1.42521943e+01] [-2.95716141e-03 1.03047930e-04 9.99995622e-01 -7.05943159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06439141799996 meters 0.023644670298209006 Centerline is valid? [True, True] Translation: X:349.82, Y:-14.25, Z:-7.06 [[ 9.99907534e-01 1.33232663e-02 2.72283577e-03 3.49822419e+02] [-1.33229619e-02 9.99911237e-01 -1.29879067e-04 -1.42510500e+01] [-2.72432450e-03 9.35908200e-05 9.99996285e-01 -7.06002287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12439141799996 meters 0.02504759863522668 Centerline is valid? [True, True] Translation: X:349.88, Y:-14.25, Z:-7.06 [[ 9.99930461e-01 1.17852791e-02 4.24803547e-04 3.49880514e+02] [-1.17852715e-02 9.99930551e-01 -2.04088044e-05 -1.42518199e+01] [-4.25014569e-04 1.54009601e-05 9.99999910e-01 -7.06146436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18439141799996 meters 0.02386875499509804 Centerline is valid? [True, True] Translation: X:349.94, Y:-14.25, Z:-7.06 [[ 9.99938203e-01 1.10670814e-02 -1.05336380e-03 3.49939062e+02] [-1.10670377e-02 9.99938757e-01 4.73037274e-05 -1.42479391e+01] [ 1.05382281e-03 -3.56431873e-05 9.99999444e-01 -7.06066135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24439141799996 meters 0.023540509969777728 Centerline is valid? [True, True] Translation: X:350.00, Y:-14.25, Z:-7.06 [[ 9.99906488e-01 1.36549238e-02 -7.47363091e-04 3.49997195e+02] [-1.36549029e-02 9.99906767e-01 3.30537038e-05 -1.42457269e+01] [ 7.47744758e-04 -2.28454425e-05 9.99999720e-01 -7.06171486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30439141799997 meters 0.02235019049255258 Centerline is valid? [True, True] Translation: X:350.06, Y:-14.24, Z:-7.06 [[ 9.99853615e-01 1.71003835e-02 5.70016548e-04 3.50056934e+02] [-1.71003706e-02 9.99853778e-01 -2.75212041e-05 -1.42430207e+01] [-5.70403822e-04 1.77696812e-05 9.99999837e-01 -7.06177456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36439141799997 meters 0.019680280889763653 Centerline is valid? [True, True] Translation: X:350.12, Y:-14.24, Z:-7.06 [[ 9.99740957e-01 2.27029835e-02 1.61047469e-03 3.50116793e+02] [-2.27028902e-02 9.99742253e-01 -7.61874135e-05 -1.42354181e+01] [-1.61178928e-03 3.96052476e-05 9.99998700e-01 -7.06013337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42439141799997 meters 0.018176837142571 Centerline is valid? [True, True] Translation: X:350.18, Y:-14.23, Z:-7.06 [[ 9.99609118e-01 2.79161448e-02 1.51692387e-03 3.50176406e+02] [-2.79160675e-02 9.99610268e-01 -7.21377269e-05 -1.42302089e+01] [-1.51834648e-03 2.97629804e-05 9.99998847e-01 -7.06085293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484391418 meters 0.017224685274146213 Centerline is valid? [True, True] Translation: X:350.23, Y:-14.23, Z:-7.06 [[ 9.99465407e-01 3.26054870e-02 2.40474388e-03 3.50234282e+02] [-3.26053054e-02 9.99468299e-01 -1.14692441e-04 -1.42255387e+01] [-2.40720488e-03 3.62237187e-05 9.99997102e-01 -7.06063139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544391418 meters 0.016710278371956128 Centerline is valid? [True, True] Translation: X:350.29, Y:-14.22, Z:-7.06 [[ 9.99389877e-01 3.48465678e-02 2.36449178e-03 3.50293030e+02] [-3.48464013e-02 9.99392674e-01 -1.11602751e-04 -1.42236478e+01] [-2.36694473e-03 2.91406303e-05 9.99997198e-01 -7.06138308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604391418 meters 0.016312698385855966 Centerline is valid? [True, True] Translation: X:350.35, Y:-14.22, Z:-7.06 [[ 9.99306773e-01 3.71159083e-02 2.89539441e-03 3.50351083e+02] [-3.71156689e-02 9.99310967e-01 -1.36379791e-04 -1.42205319e+01] [-2.89846125e-03 2.88207486e-05 9.99995799e-01 -7.06295148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664391418 meters 0.01717942114346313 Centerline is valid? [True, True] Translation: X:350.41, Y:-14.22, Z:-7.06 [[ 9.99271591e-01 3.77940700e-02 5.28160315e-03 3.50409916e+02] [-3.77932961e-02 9.99285548e-01 -2.46281486e-04 -1.42190057e+01] [-5.28713768e-03 4.64929004e-05 9.99986022e-01 -7.06322099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724391418 meters 0.01613292740407042 Centerline is valid? [True, True] Translation: X:350.47, Y:-14.22, Z:-7.06 [[ 9.99306508e-01 3.67738402e-02 5.84699120e-03 3.50468292e+02] [-3.67728747e-02 9.99323612e-01 -2.72587024e-04 -1.42207085e+01] [-5.85306043e-03 5.73873127e-05 9.99982869e-01 -7.06266019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784391418 meters 0.01606825155879574 Centerline is valid? [True, True] Translation: X:350.53, Y:-14.22, Z:-7.06 [[ 9.99355790e-01 3.50649143e-02 7.64575785e-03 3.50527550e+02] [-3.50632293e-02 9.99385033e-01 -3.54361647e-04 -1.42204386e+01] [-7.65348163e-03 8.60484029e-05 9.99970708e-01 -7.06111146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84439141799993 meters 0.01610827679878739 Centerline is valid? [True, True] Translation: X:350.59, Y:-14.22, Z:-7.06 [[ 9.99394509e-01 3.41060344e-02 6.88432200e-03 3.50586604e+02] [-3.41046479e-02 9.99418216e-01 -3.18719616e-04 -1.42208973e+01] [-6.89118708e-03 8.37392555e-05 9.99976252e-01 -7.06267892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90439141799993 meters 0.01612375429115398 Centerline is valid? [True, True] Translation: X:350.64, Y:-14.22, Z:-7.07 [[ 9.99366858e-01 3.50232593e-02 6.26532645e-03 3.50643435e+02] [-3.50221261e-02 9.99386495e-01 -2.90530598e-04 -1.42194341e+01] [-6.27165797e-03 7.09215981e-05 9.99980330e-01 -7.06600087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96439141799993 meters 0.015366678635564587 Centerline is valid? [True, True] Translation: X:350.70, Y:-14.21, Z:-7.07 [[ 9.99234940e-01 3.84957661e-02 6.90007132e-03 3.50702340e+02] [-3.84944884e-02 9.99258762e-01 -3.17925624e-04 -1.42144815e+01] [-6.90719552e-03 5.20676759e-05 9.99976144e-01 -7.06650827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02439141799994 meters 0.014802439981229583 Centerline is valid? [True, True] Translation: X:350.76, Y:-14.21, Z:-7.07 [[ 9.99026824e-01 4.32374714e-02 8.71356771e-03 3.50761130e+02] [-4.32356239e-02 9.99064823e-01 -4.00373866e-04 -1.42087262e+01] [-8.72273014e-03 2.32476956e-05 9.99961956e-01 -7.06645471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08439141799994 meters 0.014529695061101876 Centerline is valid? [True, True] Translation: X:350.82, Y:-14.21, Z:-7.07 [[ 9.98879455e-01 4.61635707e-02 1.04287488e-02 3.50819673e+02] [-4.61610953e-02 9.98933894e-01 -4.78076297e-04 -1.42063510e+01] [-1.04397003e-02 -3.86187515e-06 9.99945505e-01 -7.06566317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14439141799994 meters 0.014737345019887335 Centerline is valid? [True, True] Translation: X:350.88, Y:-14.20, Z:-7.07 [[ 9.98750165e-01 4.85854129e-02 1.17288141e-02 3.50876577e+02] [-4.85824493e-02 9.98819031e-01 -5.37632678e-04 -1.42021071e+01] [-1.17410838e-02 -3.28537882e-05 9.99931071e-01 -7.06748759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20439141799994 meters 0.014521003812907092 Centerline is valid? [True, True] Translation: X:350.94, Y:-14.20, Z:-7.07 [[ 9.98826612e-01 4.68993291e-02 1.20769620e-02 3.50935368e+02] [-4.68961082e-02 9.98899621e-01 -5.49911832e-04 -1.42030096e+01] [-1.20894633e-02 -1.70959461e-05 9.99926920e-01 -7.06682160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26439141799995 meters 0.014437560137710406 Centerline is valid? [True, True] Translation: X:350.99, Y:-14.21, Z:-7.07 [[ 9.98954292e-01 4.37372011e-02 1.33184035e-02 3.50994572e+02] [-4.37330193e-02 9.99043071e-01 -6.05206457e-04 -1.42050848e+01] [-1.33321287e-02 2.21195915e-05 9.99911123e-01 -7.06732508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32439141799995 meters 0.014469482037376812 Centerline is valid? [True, True] Translation: X:351.05, Y:-14.21, Z:-7.07 [[ 9.99061529e-01 4.11371437e-02 1.35571631e-02 3.51053436e+02] [-4.11325862e-02 9.99153508e-01 -6.14947822e-04 -1.42076193e+01] [-1.35709842e-02 5.67295329e-05 9.99907908e-01 -7.06813886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38439141799995 meters 0.014963439302374497 Centerline is valid? [True, True] Translation: X:351.11, Y:-14.21, Z:-7.07 [[ 9.99202470e-01 3.72448413e-02 1.43960271e-02 3.51111929e+02] [-3.72393159e-02 9.99306164e-01 -6.51781291e-04 -1.42109708e+01] [-1.44103141e-02 1.15163275e-04 9.99896159e-01 -7.06951926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44439141799995 meters 0.01558105563297484 Centerline is valid? [True, True] Translation: X:351.17, Y:-14.21, Z:-7.07 [[ 9.99322863e-01 3.34833105e-02 1.52539744e-02 3.51170482e+02] [-3.34766885e-02 9.99439261e-01 -6.89323308e-04 -1.42142640e+01] [-1.52685017e-02 1.78203992e-04 9.99883414e-01 -7.07025977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50439141799995 meters 0.016326810011689237 Centerline is valid? [True, True] Translation: X:351.23, Y:-14.22, Z:-7.07 [[ 9.99470921e-01 2.98565233e-02 1.29022066e-02 3.51228776e+02] [-2.98514937e-02 9.99554175e-01 -5.82271290e-04 -1.42181361e+01] [-1.29138391e-02 1.96813082e-04 9.99916594e-01 -7.07412287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56439141799996 meters 0.017643796638517856 Centerline is valid? [True, True] Translation: X:351.29, Y:-14.22, Z:-7.08 [[ 9.99580637e-01 2.66820099e-02 1.12525613e-02 3.51286086e+02] [-2.66779892e-02 9.99643950e-01 -5.07294028e-04 -1.42227262e+01] [-1.12620905e-02 2.06885579e-04 9.99936559e-01 -7.07778435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62439141799996 meters 0.01769728130602218 Centerline is valid? [True, True] Translation: X:351.34, Y:-14.23, Z:-7.08 [[ 9.99608740e-01 2.53655845e-02 1.17878671e-02 3.51344922e+02] [-2.53610977e-02 9.99678215e-01 -5.29979644e-04 -1.42250609e+01] [-1.17975172e-02 2.30819037e-04 9.99930380e-01 -7.07809033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68439141799996 meters 0.018289613727951272 Centerline is valid? [True, True] Translation: X:351.40, Y:-14.23, Z:-7.08 [[ 9.99625670e-01 2.40591850e-02 1.30259377e-02 3.51403574e+02] [-2.40536113e-02 9.99710499e-01 -5.84417592e-04 -1.42284867e+01] [-1.30362273e-02 2.70877986e-04 9.99914988e-01 -7.07801728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74439141799996 meters 0.018494030002518348 Centerline is valid? [True, True] Translation: X:351.46, Y:-14.23, Z:-7.08 [[ 9.99620802e-01 2.38934152e-02 1.36878335e-02 3.51462298e+02] [-2.38872610e-02 9.99714471e-01 -6.12945446e-04 -1.42292183e+01] [-1.36985706e-02 2.85748166e-04 9.99906129e-01 -7.07677291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80439141799997 meters 0.01827070163514901 Centerline is valid? [True, True] Translation: X:351.52, Y:-14.23, Z:-7.08 [[ 9.99626820e-01 2.46873514e-02 1.16942568e-02 3.51520604e+02] [-2.46829219e-02 9.99695193e-01 -5.22978657e-04 -1.42301333e+01] [-1.17036033e-02 2.34135065e-04 9.99931483e-01 -7.07917945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86439141799997 meters 0.01756537770970765 Centerline is valid? [True, True] Translation: X:351.58, Y:-14.23, Z:-7.08 [[ 9.99615387e-01 2.57487054e-02 1.02995878e-02 3.51579864e+02] [-2.57453319e-02 9.99668428e-01 -4.60013621e-04 -1.42296991e+01] [-1.03080175e-02 1.94670388e-04 9.99946852e-01 -7.08098093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92439141799997 meters 0.01605751410837376 Centerline is valid? [True, True] Translation: X:351.64, Y:-14.23, Z:-7.08 [[ 9.99524032e-01 2.94194941e-02 9.28449577e-03 3.51639066e+02] [-2.94169163e-02 9.99567143e-01 -4.14121853e-04 -1.42270941e+01] [-9.29266017e-03 1.40803510e-04 9.99956812e-01 -7.08297389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984391418 meters 0.014893297152615859 Centerline is valid? [True, True] Translation: X:351.70, Y:-14.22, Z:-7.08 [[ 9.99347795e-01 3.45894404e-02 1.03709158e-02 3.51697765e+02] [-3.45865131e-02 9.99401601e-01 -4.61530032e-04 -1.42224904e+01] [-1.03806739e-02 1.02535205e-04 9.99946114e-01 -7.08285417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044391418 meters 0.014054162610448893 Centerline is valid? [True, True] Translation: X:351.76, Y:-14.22, Z:-7.08 [[ 9.99154623e-01 3.94323268e-02 1.16245493e-02 3.51756531e+02] [-3.94289899e-02 9.99222242e-01 -5.16190110e-04 -1.42183139e+01] [-1.16358628e-02 5.74094967e-05 9.99932299e-01 -7.08214429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104391418 meters 0.013835065425102487 Centerline is valid? [True, True] Translation: X:351.82, Y:-14.22, Z:-7.08 [[ 9.99098650e-01 4.08512274e-02 1.15353744e-02 3.51815169e+02] [-4.08480467e-02 9.99165239e-01 -5.11308116e-04 -1.42173903e+01] [-1.15466326e-02 3.96497384e-05 9.99933335e-01 -7.08263513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164391418 meters 0.013785446857893475 Centerline is valid? [True, True] Translation: X:351.87, Y:-14.22, Z:-7.08 [[ 9.99158768e-01 3.98016763e-02 9.87844553e-03 3.51874254e+02] [-3.97992976e-02 9.99207598e-01 -4.37333558e-04 -1.42190958e+01] [-9.88802444e-03 4.38104647e-05 9.99951111e-01 -7.08482054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224391418 meters 0.01451555407872392 Centerline is valid? [True, True] Translation: X:351.93, Y:-14.22, Z:-7.09 [[ 9.99341507e-01 3.52464378e-02 8.61636182e-03 3.51931285e+02] [-3.52444591e-02 9.99378648e-01 -3.81433079e-04 -1.42247083e+01] [-8.62445219e-03 7.75028965e-05 9.99962806e-01 -7.08845271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284391418 meters 0.014763282281246216 Centerline is valid? [True, True] Translation: X:351.99, Y:-14.23, Z:-7.09 [[ 9.99445491e-01 3.23748376e-02 7.78332402e-03 3.51990362e+02] [-3.23731452e-02 9.99475793e-01 -3.43359991e-04 -1.42278836e+01] [-7.79036018e-03 9.11989164e-05 9.99969651e-01 -7.08893748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34439141799993 meters 0.01594911320737536 Centerline is valid? [True, True] Translation: X:352.05, Y:-14.23, Z:-7.09 [[ 9.99572826e-01 2.83102002e-02 7.25939624e-03 3.52048044e+02] [-2.83086225e-02 9.99599179e-01 -3.20016342e-04 -1.42335985e+01] [-7.26554625e-03 1.14376131e-04 9.99973599e-01 -7.09066622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40439141799993 meters 0.017445530420784356 Centerline is valid? [True, True] Translation: X:352.11, Y:-14.24, Z:-7.09 [[ 9.99676920e-01 2.39639251e-02 8.47262479e-03 3.52106488e+02] [-2.39616321e-02 9.99712810e-01 -3.72065181e-04 -1.42393475e+01] [-8.47910768e-03 1.68927057e-04 9.99964037e-01 -7.08951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46439141799993 meters 0.018002476177146568 Centerline is valid? [True, True] Translation: X:352.16, Y:-14.24, Z:-7.09 [[ 9.99748358e-01 2.11117013e-02 7.58402836e-03 3.52164709e+02] [-2.11097813e-02 9.99777108e-01 -3.33132673e-04 -1.42429896e+01] [-7.58937094e-03 1.72951663e-04 9.99971185e-01 -7.09024165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52439141799994 meters 0.018580496181202055 Centerline is valid? [True, True] Translation: X:352.22, Y:-14.25, Z:-7.09 [[ 9.99776878e-01 1.99104065e-02 7.05473507e-03 3.52223210e+02] [-1.99087235e-02 9.99801754e-01 -3.08704582e-04 -1.42469045e+01] [-7.05948293e-03 1.68184933e-04 9.99975067e-01 -7.09276944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58439141799994 meters 0.01914922599022385 Centerline is valid? [True, True] Translation: X:352.28, Y:-14.25, Z:-7.10 [[ 9.99809255e-01 1.89015945e-02 4.91761520e-03 3.52282104e+02] [-1.89007641e-02 9.99821341e-01 -2.15285277e-04 -1.42501872e+01] [-4.92080586e-03 1.22297528e-04 9.99987885e-01 -7.09516674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64439141799994 meters 0.0187588803389272 Centerline is valid? [True, True] Translation: X:352.34, Y:-14.25, Z:-7.10 [[ 9.99809593e-01 1.89989804e-02 4.45164522e-03 3.52341006e+02] [-1.89983016e-02 9.99819497e-01 -1.94706206e-04 -1.42515513e+01] [-4.45454090e-03 1.10095434e-04 9.99990072e-01 -7.09594264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70439141799994 meters 0.018020181310527798 Centerline is valid? [True, True] Translation: X:352.40, Y:-14.25, Z:-7.10 [[ 9.99795321e-01 1.96453450e-02 4.83503076e-03 3.52399958e+02] [-1.96445543e-02 9.99807005e-01 -2.10969895e-04 -1.42534289e+01] [-4.83824219e-03 1.15944689e-04 9.99988289e-01 -7.09601784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76439141799995 meters 0.01795509831777547 Centerline is valid? [True, True] Translation: X:352.46, Y:-14.26, Z:-7.10 [[ 9.99767785e-01 2.11037002e-02 4.36001994e-03 3.52458203e+02] [-2.11030721e-02 9.99777287e-01 -1.90027293e-04 -1.42557510e+01] [-4.36305919e-03 9.79733510e-05 9.99990477e-01 -7.09628423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82439141799995 meters 0.017006619542311217 Centerline is valid? [True, True] Translation: X:352.52, Y:-14.26, Z:-7.10 [[ 9.99706952e-01 2.36590714e-02 5.12428804e-03 3.52516782e+02] [-2.36582408e-02 9.99720080e-01 -2.22639803e-04 -1.42566266e+01] [-5.12812110e-03 1.01342918e-04 9.99986846e-01 -7.09553966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88439141799995 meters 0.01754116665464785 Centerline is valid? [True, True] Translation: X:352.57, Y:-14.26, Z:-7.10 [[ 9.99699947e-01 2.40012186e-02 4.89455228e-03 3.52574287e+02] [-2.40004651e-02 9.99711925e-01 -2.12625145e-04 -1.42612666e+01] [-4.89824555e-03 9.50898146e-05 9.99987999e-01 -7.09694883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94439141799995 meters 0.017556644894368544 Centerline is valid? [True, True] Translation: X:352.63, Y:-14.26, Z:-7.10 [[ 9.99753032e-01 2.17806200e-02 4.41365402e-03 3.52632883e+02] [-2.17799880e-02 9.99762770e-01 -1.91217703e-04 -1.42646114e+01] [-4.41677181e-03 9.50411471e-05 9.99990241e-01 -7.09603245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00439141799995 meters 0.018429229484988624 Centerline is valid? [True, True] Translation: X:352.69, Y:-14.27, Z:-7.10 [[ 9.99807297e-01 1.92224166e-02 3.98338776e-03 3.52691687e+02] [-1.92218821e-02 9.99815228e-01 -1.72423363e-04 -1.42705771e+01] [-3.98596614e-03 9.58219267e-05 9.99992051e-01 -7.09802176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06439141799996 meters 0.020875041503967514 Centerline is valid? [True, True] Translation: X:352.75, Y:-14.28, Z:-7.10 [[ 9.99889600e-01 1.44957956e-02 3.26478328e-03 3.52749294e+02] [-1.44954123e-02 9.99894926e-01 -1.41030632e-04 -1.42795595e+01] [-3.26648459e-03 9.36906828e-05 9.99994661e-01 -7.10145449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12439141799996 meters 0.022320900804106765 Centerline is valid? [True, True] Translation: X:352.81, Y:-14.28, Z:-7.10 [[ 9.99923648e-01 1.14255142e-02 4.70704396e-03 3.52808054e+02] [-1.14246863e-02 9.99934716e-01 -2.02736939e-04 -1.42849613e+01] [-4.70905303e-03 1.48944960e-04 9.99988901e-01 -7.10309006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18439141799996 meters 0.02215285567011839 Centerline is valid? [True, True] Translation: X:352.87, Y:-14.29, Z:-7.10 [[ 9.99905361e-01 1.14776113e-02 7.58510870e-03 3.52866852e+02] [-1.14754751e-02 9.99934102e-01 -3.25095801e-04 -1.42867364e+01] [-7.58834017e-03 2.38022308e-04 9.99971180e-01 -7.10209707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24439141799996 meters 0.021378268281712624 Centerline is valid? [True, True] Translation: X:352.93, Y:-14.29, Z:-7.10 [[ 9.99878464e-01 1.28873382e-02 8.77345427e-03 3.52925910e+02] [-1.28845427e-02 9.99916920e-01 -3.75074956e-04 -1.42859336e+01] [-8.77755909e-03 2.61987424e-04 9.99961442e-01 -7.10177027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30439141799997 meters 0.019479014609385992 Centerline is valid? [True, True] Translation: X:352.99, Y:-14.28, Z:-7.10 [[ 9.99777764e-01 1.78291113e-02 1.12492324e-02 3.52985881e+02] [-1.78248477e-02 9.99841010e-01 -4.79174312e-04 -1.42811337e+01] [-1.12559872e-02 2.78551968e-04 9.99936611e-01 -7.10083267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36439141799997 meters 0.01781082862285779 Centerline is valid? [True, True] Translation: X:353.05, Y:-14.28, Z:-7.10 [[ 9.99712128e-01 2.08996638e-02 1.17841077e-02 3.53045047e+02] [-2.08951999e-02 9.99781546e-01 -5.01813562e-04 -1.42765660e+01] [-1.17920212e-02 2.55437818e-04 9.99930439e-01 -7.10111454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42439141799997 meters 0.017644554102968363 Centerline is valid? [True, True] Translation: X:353.10, Y:-14.27, Z:-7.10 [[ 9.99656417e-01 2.32254714e-02 1.21501516e-02 3.53102645e+02] [-2.32209082e-02 9.99730225e-01 -5.16523859e-04 -1.42745986e+01] [-1.21588703e-02 2.34208835e-04 9.99926051e-01 -7.10222412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484391418 meters 0.015847351658454568 Centerline is valid? [True, True] Translation: X:353.16, Y:-14.27, Z:-7.10 [[ 9.99596132e-01 2.53446175e-02 1.28539467e-02 3.53162006e+02] [-2.53397050e-02 9.99678750e-01 -5.44924637e-04 -1.42705529e+01] [-1.28636283e-02 2.18989342e-04 9.99917236e-01 -7.10175097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544391418 meters 0.01474419801377758 Centerline is valid? [True, True] Translation: X:353.22, Y:-14.27, Z:-7.10 [[ 9.99451589e-01 2.98113764e-02 1.44154030e-02 3.53219826e+02] [-2.98056807e-02 9.99555526e-01 -6.09840755e-04 -1.42661076e+01] [-1.44271759e-02 1.79845413e-04 9.99895907e-01 -7.10208393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604391418 meters 0.014508392383506267 Centerline is valid? [True, True] Translation: X:353.28, Y:-14.26, Z:-7.10 [[ 9.99405809e-01 3.08131389e-02 1.54459898e-02 3.53278905e+02] [-3.08067474e-02 9.99525147e-01 -6.51615438e-04 -1.42622282e+01] [-1.54587336e-02 1.75387548e-04 9.99880491e-01 -7.10100376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664391418 meters 0.015322947547549896 Centerline is valid? [True, True] Translation: X:353.34, Y:-14.26, Z:-7.10 [[ 9.99509136e-01 2.70465457e-02 1.58104946e-02 3.53337814e+02] [-2.70393980e-02 9.99634147e-01 -6.65719507e-04 -1.42631589e+01] [-1.58227157e-02 2.37886473e-04 9.99874785e-01 -7.10205062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724391418 meters 0.01707971456710666 Centerline is valid? [True, True] Translation: X:353.40, Y:-14.27, Z:-7.10 [[ 9.99606498e-01 2.34066759e-02 1.54588949e-02 3.53395132e+02] [-2.33994247e-02 9.99725985e-01 -6.49800017e-04 -1.42664452e+01] [-1.54698686e-02 2.87815071e-04 9.99880293e-01 -7.10436457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784391418 meters 0.01743819017644052 Centerline is valid? [True, True] Translation: X:353.45, Y:-14.26, Z:-7.10 [[ 9.99657303e-01 2.20446760e-02 1.41176930e-02 3.53454124e+02] [-2.20385118e-02 9.99756947e-01 -5.92073175e-04 -1.42615263e+01] [-1.41273137e-02 2.80737329e-04 9.99900165e-01 -7.10462931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84439141799993 meters 0.018805255917451188 Centerline is valid? [True, True] Translation: X:353.51, Y:-14.26, Z:-7.10 [[ 9.99704049e-01 1.94871948e-02 1.45623940e-02 3.53512963e+02] [-1.94803825e-02 9.99810054e-01 -6.09517083e-04 -1.42589917e+01] [-1.45715057e-02 3.25655691e-04 9.99893777e-01 -7.10419246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90439141799993 meters 0.01961656066417118 Centerline is valid? [True, True] Translation: X:353.57, Y:-14.26, Z:-7.10 [[ 9.99750273e-01 1.65010737e-02 1.50700674e-02 3.53572060e+02] [-1.64934574e-02 9.99863775e-01 -6.29548348e-04 -1.42587954e+01] [-1.50784027e-02 3.80833618e-04 9.99886242e-01 -7.10401114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96439141799993 meters 0.021954180874892537 Centerline is valid? [True, True] Translation: X:353.63, Y:-14.26, Z:-7.11 [[ 9.99815548e-01 1.23989038e-02 1.46675291e-02 3.53631004e+02] [-1.23912677e-02 9.99923038e-01 -6.11377163e-04 -1.42584560e+01] [-1.46739806e-02 4.29515114e-04 9.99892239e-01 -7.10505576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02439141799994 meters 0.022003853985073416 Centerline is valid? [True, True] Translation: X:353.69, Y:-14.25, Z:-7.11 [[ 9.99872015e-01 1.02127722e-02 1.23147649e-02 3.53691765e+02] [-1.02072322e-02 9.99947773e-01 -5.12636604e-04 -1.42545601e+01] [-1.23193572e-02 3.86871329e-04 9.99924039e-01 -7.10893616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08439141799994 meters 0.023659673080796993 Centerline is valid? [True, True] Translation: X:353.75, Y:-14.26, Z:-7.11 [[ 9.99915029e-01 6.34689295e-03 1.13864999e-02 3.53751893e+02] [-6.34190634e-03 9.99979778e-01 -4.73994969e-04 -1.42593988e+01] [-1.13892780e-02 4.01742578e-04 9.99935059e-01 -7.11125276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14439141799994 meters 0.024891406172418723 Centerline is valid? [True, True] Translation: X:353.81, Y:-14.26, Z:-7.11 [[ 9.99921255e-01 4.96144769e-03 1.15267958e-02 3.53813535e+02] [-4.95626096e-03 9.99987603e-01 -4.78494330e-04 -1.42626508e+01] [-1.15290269e-02 4.21326844e-04 9.99933450e-01 -7.11091602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20439141799994 meters 0.025412989021768268 Centerline is valid? [True, True] Translation: X:353.88, Y:-14.27, Z:-7.11 [[ 9.99921270e-01 5.23107354e-03 1.14056475e-02 3.53875955e+02] [-5.22600708e-03 9.99986232e-01 -4.73965887e-04 -1.42657815e+01] [-1.14079698e-02 4.14322577e-04 9.99934841e-01 -7.11266360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26439141799995 meters 0.025257504997914546 Centerline is valid? [True, True] Translation: X:353.94, Y:-14.27, Z:-7.12 [[ 9.99923382e-01 6.98161703e-03 1.02218648e-02 3.53937800e+02] [-6.97761582e-03 9.99975565e-01 -4.27048176e-04 -1.42694684e+01] [-1.02245965e-02 3.55691211e-04 9.99947664e-01 -7.11559066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32439141799995 meters 0.0236047981907054 Centerline is valid? [True, True] Translation: X:354.00, Y:-14.27, Z:-7.12 [[ 9.99905434e-01 9.97246387e-03 9.46956929e-03 3.53998489e+02] [-9.96911489e-03 9.99950227e-01 -4.00795910e-04 -1.42704779e+01] [-9.47309488e-03 3.06354784e-04 9.99955082e-01 -7.11776760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38439141799995 meters 0.021491093684895716 Centerline is valid? [True, True] Translation: X:354.06, Y:-14.27, Z:-7.12 [[ 9.99862681e-01 1.44724643e-02 8.07265830e-03 3.54057751e+02] [-1.44701712e-02 9.99895243e-01 -3.42403163e-04 -1.42695707e+01] [-8.07676805e-03 2.25543397e-04 9.99967357e-01 -7.12073323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44439141799995 meters 0.01829742197375467 Centerline is valid? [True, True] Translation: X:354.12, Y:-14.27, Z:-7.12 [[ 9.99732209e-01 2.18501438e-02 7.62111823e-03 3.54118124e+02] [-2.18483209e-02 9.99761245e-01 -3.22368968e-04 -1.42669885e+01] [-7.62634246e-03 1.55774004e-04 9.99970907e-01 -7.12257967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50439141799995 meters 0.016453955542490732 Centerline is valid? [True, True] Translation: X:354.18, Y:-14.27, Z:-7.12 [[ 9.99590727e-01 2.73262934e-02 8.46479595e-03 3.54176894e+02] [-2.73242365e-02 9.99626559e-01 -3.58568289e-04 -1.42659557e+01] [-8.47143319e-03 1.27127450e-04 9.99964109e-01 -7.12235519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56439141799996 meters 0.016381093987046357 Centerline is valid? [True, True] Translation: X:354.23, Y:-14.27, Z:-7.12 [[ 9.99550076e-01 2.87439772e-02 8.56910347e-03 3.54234849e+02] [-2.87419256e-02 9.99586800e-01 -3.62499872e-04 -1.42681454e+01] [-8.57598240e-03 1.16044240e-04 9.99963219e-01 -7.12400013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62439141799996 meters 0.015312041721590558 Centerline is valid? [True, True] Translation: X:354.29, Y:-14.27, Z:-7.13 [[ 9.99386610e-01 3.41790276e-02 7.62877730e-03 3.54293806e+02] [-3.41775654e-02 9.99415724e-01 -3.21988551e-04 -1.42668085e+01] [-7.63532525e-03 6.10580112e-05 9.99970849e-01 -7.12555387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68439141799996 meters 0.015488464975061624 Centerline is valid? [True, True] Translation: X:354.35, Y:-14.27, Z:-7.13 [[ 9.99336266e-01 3.57059866e-02 7.21867433e-03 3.54351408e+02] [-3.57047191e-02 9.99362337e-01 -3.04424488e-04 -1.42686049e+01] [-7.22494102e-03 4.64816923e-05 9.99973899e-01 -7.12785832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74439141799996 meters 0.015494332773334694 Centerline is valid? [True, True] Translation: X:354.41, Y:-14.27, Z:-7.13 [[ 9.99293984e-01 3.69999392e-02 6.52219147e-03 3.54409407e+02] [-3.69989330e-02 9.99315267e-01 -2.74894345e-04 -1.42700918e+01] [-6.52789659e-03 3.33861391e-05 9.99978692e-01 -7.12779856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80439141799997 meters 0.01589504316880974 Centerline is valid? [True, True] Translation: X:354.47, Y:-14.27, Z:-7.13 [[ 9.99220610e-01 3.87883148e-02 7.32393792e-03 3.54466911e+02] [-3.87871002e-02 9.99247450e-01 -3.07856341e-04 -1.42712753e+01] [-7.33036751e-03 2.35420869e-05 9.99973132e-01 -7.12924472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86439141799997 meters 0.01628891976724402 Centerline is valid? [True, True] Translation: X:354.53, Y:-14.28, Z:-7.13 [[ 9.99278690e-01 3.73214967e-02 7.01460521e-03 3.54525967e+02] [-3.73203595e-02 9.99303310e-01 -2.92979491e-04 -1.42753372e+01] [-7.02065263e-03 3.09805734e-05 9.99975354e-01 -7.12994048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92439141799997 meters 0.016710060619662046 Centerline is valid? [True, True] Translation: X:354.58, Y:-14.28, Z:-7.13 [[ 9.99336845e-01 3.58377432e-02 6.44409175e-03 3.54584576e+02] [-3.58367549e-02 9.99357621e-01 -2.68800371e-04 -1.42803189e+01] [-6.44958540e-03 3.76867781e-05 9.99979200e-01 -7.13207582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984391418 meters 0.01748732840396924 Centerline is valid? [True, True] Translation: X:354.64, Y:-14.29, Z:-7.13 [[ 9.99430083e-01 3.33332189e-02 5.32977005e-03 3.54642980e+02] [-3.33325081e-02 9.99444293e-01 -2.22156802e-04 -1.42867473e+01] [-5.33421346e-03 4.43755880e-05 9.99985772e-01 -7.13469651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044391418 meters 0.017651516502085247 Centerline is valid? [True, True] Translation: X:354.70, Y:-14.29, Z:-7.13 [[ 9.99454825e-01 3.25486896e-02 5.53485458e-03 3.54700436e+02] [-3.25479103e-02 9.99470150e-01 -2.30833446e-04 -1.42914507e+01] [-5.53943526e-03 5.05596507e-05 9.99984656e-01 -7.13467481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104391418 meters 0.01748557573018195 Centerline is valid? [True, True] Translation: X:354.76, Y:-14.30, Z:-7.13 [[ 9.99412964e-01 3.36739990e-02 6.30789530e-03 3.54758768e+02] [-3.36730197e-02 9.99432869e-01 -2.61426136e-04 -1.42950968e+01] [-6.31312116e-03 4.88667866e-05 9.99980071e-01 -7.13470162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164391418 meters 0.01743064740750183 Centerline is valid? [True, True] Translation: X:354.82, Y:-14.30, Z:-7.14 [[ 9.99339901e-01 3.57401500e-02 6.51184367e-03 3.54816737e+02] [-3.57391522e-02 9.99361116e-01 -2.69562626e-04 -1.42968985e+01] [-6.51731757e-03 3.66569151e-05 9.99978761e-01 -7.13571635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224391418 meters 0.01736183718147062 Centerline is valid? [True, True] Translation: X:354.88, Y:-14.30, Z:-7.13 [[ 9.99241754e-01 3.82946886e-02 7.03092923e-03 3.54875467e+02] [-3.82935965e-02 9.99266489e-01 -2.89937411e-04 -1.42986349e+01] [-7.03687503e-03 2.04780003e-05 9.99975241e-01 -7.13454844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284391418 meters 0.017552436862603115 Centerline is valid? [True, True] Translation: X:354.93, Y:-14.30, Z:-7.14 [[ 9.99048460e-01 4.30508590e-02 6.98551207e-03 3.54933067e+02] [-4.30498973e-02 9.99072882e-01 -2.88054256e-04 -1.42995091e+01] [-6.99143666e-03 -1.29454163e-05 9.99975560e-01 -7.13536117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34439141799993 meters 0.017936573778258698 Centerline is valid? [True, True] Translation: X:354.99, Y:-14.30, Z:-7.14 [[ 9.98867715e-01 4.68521030e-02 8.25635910e-03 3.54990795e+02] [-4.68509010e-02 9.98901836e-01 -3.39037710e-04 -1.42996813e+01] [-8.26317689e-03 -4.81640399e-05 9.99965858e-01 -7.13564837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40439141799993 meters 0.01860882869561989 Centerline is valid? [True, True] Translation: X:355.05, Y:-14.30, Z:-7.14 [[ 9.98763622e-01 4.91844952e-02 7.21898404e-03 3.55049450e+02] [-4.91836267e-02 9.98789709e-01 -2.97895280e-04 -1.43014973e+01] [-7.22489879e-03 -5.75288480e-05 9.99973898e-01 -7.13829553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46439141799993 meters 0.01901369395202309 Centerline is valid? [True, True] Translation: X:355.11, Y:-14.30, Z:-7.14 [[ 9.98624190e-01 5.21297352e-02 5.67607356e-03 3.55107962e+02] [-5.21292473e-02 9.98640319e-01 -2.33973119e-04 -1.43039266e+01] [-5.68055287e-03 -6.22382261e-05 9.99983864e-01 -7.13990722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52439141799994 meters 0.018423862002661866 Centerline is valid? [True, True] Translation: X:355.17, Y:-14.31, Z:-7.14 [[ 9.98714528e-01 5.03114842e-02 6.16812767e-03 3.55166797e+02] [-5.03108866e-02 9.98733574e-01 -2.52097310e-04 -1.43103899e+01] [-6.17299958e-03 -5.85507257e-05 9.99980945e-01 -7.13912405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58439141799994 meters 0.017244230084490553 Centerline is valid? [True, True] Translation: X:355.23, Y:-14.32, Z:-7.14 [[ 9.98928118e-01 4.57678800e-02 6.92211048e-03 3.55225146e+02] [-4.57670361e-02 9.98952101e-01 -2.80355523e-04 -1.43209382e+01] [-6.92768809e-03 -3.67494655e-05 9.99976003e-01 -7.13824298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64439141799994 meters 0.016783877179642092 Centerline is valid? [True, True] Translation: X:355.28, Y:-14.33, Z:-7.14 [[ 9.99030040e-01 4.34053406e-02 7.41315574e-03 3.55283743e+02] [-4.34043437e-02 9.99057544e-01 -2.95381413e-04 -1.43287377e+01] [-7.41899030e-03 -2.66682551e-05 9.99972479e-01 -7.13771925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70439141799994 meters 0.01672616564033189 Centerline is valid? [True, True] Translation: X:355.34, Y:-14.34, Z:-7.14 [[ 9.99181264e-01 3.99156014e-02 6.59894654e-03 3.55340982e+02] [-3.99147360e-02 9.99203055e-01 -2.62847813e-04 -1.43371784e+01] [-6.60417927e-03 -7.62598886e-07 9.99978192e-01 -7.13855564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76439141799995 meters 0.01637431668736281 Centerline is valid? [True, True] Translation: X:355.40, Y:-14.35, Z:-7.14 [[ 9.99264122e-01 3.79749285e-02 5.39623121e-03 3.55399481e+02] [-3.79743240e-02 9.99278692e-01 -2.14490165e-04 -1.43460368e+01] [-5.40048412e-03 9.41409396e-06 9.99985417e-01 -7.14084779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82439141799995 meters 0.01634040509967565 Centerline is valid? [True, True] Translation: X:355.46, Y:-14.35, Z:-7.14 [[ 9.99276410e-01 3.77874414e-02 4.33195980e-03 3.55457679e+02] [-3.77870500e-02 9.99285800e-01 -1.72180431e-04 -1.43515240e+01] [-4.33537217e-03 8.36386136e-06 9.99990602e-01 -7.14226502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88439141799995 meters 0.016161137237708994 Centerline is valid? [True, True] Translation: X:355.52, Y:-14.36, Z:-7.14 [[ 9.99267326e-01 3.81221742e-02 3.39292493e-03 3.55515975e+02] [-3.81219357e-02 9.99273086e-01 -1.34947705e-04 -1.43571317e+01] [-3.39560306e-03 5.50396667e-06 9.99994235e-01 -7.14292266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94439141799995 meters 0.016056979851545684 Centerline is valid? [True, True] Translation: X:355.57, Y:-14.36, Z:-7.14 [[ 9.99188591e-01 4.00875227e-02 3.89223217e-03 3.55574995e+02] [-4.00872260e-02 9.99196172e-01 -1.54248080e-04 -1.43636646e+01] [-3.89528691e-03 -1.90586870e-06 9.99992413e-01 -7.14304370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00439141799995 meters 0.016038603546491063 Centerline is valid? [True, True] Translation: X:355.63, Y:-14.37, Z:-7.14 [[ 9.99037988e-01 4.36701887e-02 4.00161327e-03 3.55633426e+02] [-4.36699053e-02 9.99046002e-01 -1.58228819e-04 -1.43673406e+01] [-4.00470562e-03 -1.66734709e-05 9.99991981e-01 -7.14301530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06439141799996 meters 0.016481383129443833 Centerline is valid? [True, True] Translation: X:355.69, Y:-14.37, Z:-7.14 [[ 9.98904292e-01 4.66068611e-02 4.24453424e-03 3.55691911e+02] [-4.66065706e-02 9.98913309e-01 -1.67391682e-04 -1.43698543e+01] [-4.24772335e-03 -3.06149151e-05 9.99990978e-01 -7.14396185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12439141799996 meters 0.017384275371745056 Centerline is valid? [True, True] Translation: X:355.75, Y:-14.37, Z:-7.15 [[ 9.98711502e-01 5.06433699e-02 3.25356137e-03 3.55750115e+02] [-5.06432191e-02 9.98716801e-01 -1.28766018e-04 -1.43734865e+01] [-3.25590755e-03 -3.61707186e-05 9.99994699e-01 -7.14549177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18439141799996 meters 0.019149525117540072 Centerline is valid? [True, True] Translation: X:355.81, Y:-14.37, Z:-7.15 [[ 9.98411049e-01 5.62439377e-02 3.46349400e-03 3.55808461e+02] [-5.62437994e-02 9.98417055e-01 -1.37406778e-04 -1.43733340e+01] [-3.46573978e-03 -5.76116163e-05 9.99993993e-01 -7.14557183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24439141799996 meters 0.019565052272523354 Centerline is valid? [True, True] Translation: X:355.87, Y:-14.38, Z:-7.14 [[ 9.98160501e-01 6.05101702e-02 3.75936213e-03 3.55867496e+02] [-6.05100319e-02 9.98167578e-01 -1.50620248e-04 -1.43750170e+01] [-3.76158745e-03 -7.71359406e-05 9.99992922e-01 -7.14376025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30439141799997 meters 0.021586692063146364 Centerline is valid? [True, True] Translation: X:355.93, Y:-14.38, Z:-7.14 [[ 9.97873400e-01 6.49945674e-02 4.93795258e-03 3.55926172e+02] [-6.49944161e-02 9.97885609e-01 -1.91281463e-04 -1.43755364e+01] [-4.93994408e-03 -1.30064661e-04 9.99987790e-01 -7.14437940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36439141799997 meters 0.023273991220142697 Centerline is valid? [True, True] Translation: X:355.99, Y:-14.38, Z:-7.14 [[ 9.97623061e-01 6.87255267e-02 5.00308562e-03 3.55985790e+02] [-6.87254213e-02 9.97635594e-01 -1.93189244e-04 -1.43760549e+01] [-5.00453333e-03 -1.51109122e-04 9.99987466e-01 -7.14495107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42439141799997 meters 0.02370961854292194 Centerline is valid? [True, True] Translation: X:356.04, Y:-14.38, Z:-7.15 [[ 9.97622377e-01 6.87293590e-02 5.08609537e-03 3.56043394e+02] [-6.87292303e-02 9.97635331e-01 -2.00303574e-04 -1.43780583e+01] [-5.08783517e-03 -1.49736092e-04 9.99987046e-01 -7.14617856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484391418 meters 0.023633523230397108 Centerline is valid? [True, True] Translation: X:356.10, Y:-14.38, Z:-7.15 [[ 9.97713864e-01 6.73922199e-02 5.03339834e-03 3.56102428e+02] [-6.73920970e-02 9.97726549e-01 -1.94217551e-04 -1.43841478e+01] [-5.03504391e-03 -1.45437725e-04 9.99987314e-01 -7.14758654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544391418 meters 0.02370576615659938 Centerline is valid? [True, True] Translation: X:356.16, Y:-14.39, Z:-7.15 [[ 9.97800242e-01 6.59950792e-02 6.27106104e-03 3.56160494e+02] [-6.59948604e-02 9.97819934e-01 -2.42049644e-04 -1.43892550e+01] [-6.27336380e-03 -1.72340604e-04 9.99980307e-01 -7.14743369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604391418 meters 0.023389822379079887 Centerline is valid? [True, True] Translation: X:356.22, Y:-14.39, Z:-7.15 [[ 9.97923263e-01 6.40748428e-02 6.60114455e-03 3.56219672e+02] [-6.40745830e-02 9.97945081e-01 -2.51062970e-04 -1.43939189e+01] [-6.60366655e-03 -1.72424006e-04 9.99978181e-01 -7.14864191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664391418 meters 0.019933079778435694 Centerline is valid? [True, True] Translation: X:356.28, Y:-14.40, Z:-7.15 [[ 9.98147536e-01 6.05227715e-02 6.20399792e-03 3.56278106e+02] [-6.05224822e-02 9.98166807e-01 -2.34525423e-04 -1.44042870e+01] [-6.20681892e-03 -1.41390380e-04 9.99980728e-01 -7.14834957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724391418 meters 0.018924976501509136 Centerline is valid? [True, True] Translation: X:356.34, Y:-14.41, Z:-7.15 [[ 9.98351715e-01 5.70468066e-02 6.28617529e-03 3.56336462e+02] [-5.70464441e-02 9.98371497e-01 -2.37105889e-04 -1.44120185e+01] [-6.28946437e-03 -1.21888876e-04 9.99980214e-01 -7.15077090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784391418 meters 0.01855290683648498 Centerline is valid? [True, True] Translation: X:356.39, Y:-14.42, Z:-7.15 [[ 9.98436913e-01 5.52256315e-02 8.59418127e-03 3.56393977e+02] [-5.52248953e-02 9.98473889e-01 -3.23130402e-04 -1.44166250e+01] [-8.59891067e-03 -1.51987440e-04 9.99963017e-01 -7.15028990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84439141799993 meters 0.01954095906558971 Centerline is valid? [True, True] Translation: X:356.45, Y:-14.42, Z:-7.15 [[ 9.98508910e-01 5.36254102e-02 1.02113593e-02 3.56451887e+02] [-5.36243010e-02 9.98561109e-01 -3.82581712e-04 -1.44180419e+01] [-1.02171824e-02 -1.65565757e-04 9.99947790e-01 -7.15218639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90439141799993 meters 0.01778138313322265 Centerline is valid? [True, True] Translation: X:356.51, Y:-14.43, Z:-7.15 [[ 9.98598730e-01 5.17390017e-02 1.11199334e-02 3.56510388e+02] [-5.17375850e-02 9.98660628e-01 -4.15233095e-04 -1.44263511e+01] [-1.11265234e-02 -1.60667258e-04 9.99938085e-01 -7.15225312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96439141799993 meters 0.019849414037262314 Centerline is valid? [True, True] Translation: X:356.57, Y:-14.43, Z:-7.16 [[ 9.98543689e-01 5.26346975e-02 1.18359322e-02 3.56568000e+02] [-5.26331603e-02 9.98613817e-01 -4.41548360e-04 -1.44264743e+01] [-1.18427662e-02 -1.82057188e-04 9.99929855e-01 -7.15545589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02439141799994 meters 0.01685448799227079 Centerline is valid? [True, True] Translation: X:356.63, Y:-14.43, Z:-7.15 [[ 9.98412561e-01 5.46742273e-02 1.35309913e-02 3.56626697e+02] [-5.46724403e-02 9.98504217e-01 -5.02207273e-04 -1.44338108e+01] [-1.35382096e-02 -2.38362263e-04 9.99908326e-01 -7.15306243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08439141799994 meters 0.016560241597488756 Centerline is valid? [True, True] Translation: X:356.69, Y:-14.44, Z:-7.15 [[ 9.98379813e-01 5.48807104e-02 1.50285598e-02 3.56685663e+02] [-5.48785508e-02 9.98492882e-01 -5.56371384e-04 -1.44374023e+01] [-1.50364441e-02 -2.69275627e-04 9.99886910e-01 -7.15472490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14439141799994 meters 0.016757950175360914 Centerline is valid? [True, True] Translation: X:356.74, Y:-14.44, Z:-7.16 [[ 9.98397232e-01 5.39142013e-02 1.72112277e-02 3.56743919e+02] [-5.39112546e-02 9.98545529e-01 -6.35473659e-04 -1.44392931e+01] [-1.72204555e-02 -2.93423734e-04 9.99851674e-01 -7.15526955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20439141799994 meters 0.016158709172853218 Centerline is valid? [True, True] Translation: X:356.80, Y:-14.44, Z:-7.16 [[ 9.98463699e-01 5.21854864e-02 1.86257216e-02 3.56802977e+02] [-5.21817660e-02 9.98637368e-01 -6.86020974e-04 -1.44422637e+01] [-1.86361420e-02 -2.86956010e-04 9.99826291e-01 -7.15574738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26439141799995 meters 0.015893614412662408 Centerline is valid? [True, True] Translation: X:356.86, Y:-14.44, Z:-7.16 [[ 9.98555530e-01 5.04874224e-02 1.83813520e-02 3.56861408e+02] [-5.04835384e-02 9.98724665e-01 -6.75552364e-04 -1.44433007e+01] [-1.83920165e-02 -2.53379142e-04 9.99830820e-01 -7.15778687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32439141799995 meters 0.01577892210300273 Centerline is valid? [True, True] Translation: X:356.92, Y:-14.44, Z:-7.16 [[ 9.98577904e-01 5.01292095e-02 1.81447516e-02 3.56919623e+02] [-5.01253898e-02 9.98742711e-01 -6.65531186e-04 -1.44431091e+01] [-1.81553009e-02 -2.44928008e-04 9.99835149e-01 -7.16045246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38439141799995 meters 0.015631691650073592 Centerline is valid? [True, True] Translation: X:356.98, Y:-14.44, Z:-7.16 [[ 9.98606567e-01 4.94968762e-02 1.83025817e-02 3.56976196e+02] [-4.94929203e-02 9.98774250e-01 -6.69318662e-04 -1.44410669e+01] [-1.83132765e-02 -2.37462204e-04 9.99832270e-01 -7.16088784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44439141799995 meters 0.015228848392409467 Centerline is valid? [True, True] Translation: X:357.04, Y:-14.44, Z:-7.16 [[ 9.98655149e-01 4.82550031e-02 1.89564741e-02 3.57035232e+02] [-4.82506129e-02 9.98835023e-01 -6.89160114e-04 -1.44410817e+01] [-1.89676457e-02 -2.26428199e-04 9.99820072e-01 -7.16120359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50439141799995 meters 0.014548910324405624 Centerline is valid? [True, True] Translation: X:357.09, Y:-14.44, Z:-7.16 [[ 9.98741897e-01 4.62863199e-02 1.92924547e-02 3.57094182e+02] [-4.62814343e-02 9.98928195e-01 -6.99881947e-04 -1.44410127e+01] [-1.93041719e-02 -1.93881053e-04 9.99813638e-01 -7.16201751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56439141799996 meters 0.014375178252850517 Centerline is valid? [True, True] Translation: X:357.15, Y:-14.44, Z:-7.16 [[ 9.98761911e-01 4.57342941e-02 1.95708598e-02 3.57151481e+02] [-4.57291887e-02 9.98953622e-01 -7.08545480e-04 -1.44370324e+01] [-1.95827861e-02 -1.87291301e-04 9.99808221e-01 -7.16254355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62439141799996 meters 0.013725009837784359 Centerline is valid? [True, True] Translation: X:357.21, Y:-14.44, Z:-7.16 [[ 9.98804886e-01 4.47553958e-02 1.96406028e-02 3.57210833e+02] [-4.47501158e-02 9.98997961e-01 -7.08473721e-04 -1.44372626e+01] [-1.96526301e-02 -1.71292233e-04 9.99806854e-01 -7.16294629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68439141799996 meters 0.013406516752193292 Centerline is valid? [True, True] Translation: X:357.27, Y:-14.43, Z:-7.17 [[ 9.98824144e-01 4.44341300e-02 1.93890974e-02 3.57269232e+02] [-4.44289452e-02 9.99012303e-01 -6.98299285e-04 -1.44330821e+01] [-1.94009751e-02 -1.63958958e-04 9.99811770e-01 -7.16513718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74439141799996 meters 0.01337978062928513 Centerline is valid? [True, True] Translation: X:357.33, Y:-14.43, Z:-7.17 [[ 9.98889985e-01 4.33069834e-02 1.85284580e-02 3.57326933e+02] [-4.33020960e-02 9.99061803e-01 -6.65080417e-04 -1.44304062e+01] [-1.85398773e-02 -1.37978900e-04 9.99828112e-01 -7.16659867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80439141799997 meters 0.012852834093072075 Centerline is valid? [True, True] Translation: X:357.39, Y:-14.43, Z:-7.17 [[ 9.99006157e-01 4.04201862e-02 1.87858374e-02 3.57385784e+02] [-4.04146885e-02 9.99182767e-01 -6.72359336e-04 -1.44287807e+01] [-1.87976619e-02 -8.75326531e-05 9.99823305e-01 -7.16724195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86439141799997 meters 0.012755997344047828 Centerline is valid? [True, True] Translation: X:357.44, Y:-14.43, Z:-7.17 [[ 9.99114653e-01 3.71472204e-02 1.97482705e-02 3.57444351e+02] [-3.71405397e-02 9.99309803e-01 -7.05078747e-04 -1.44275675e+01] [-1.97608320e-02 -2.90069175e-05 9.99804735e-01 -7.16771721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92439141799997 meters 0.012801015229334748 Centerline is valid? [True, True] Translation: X:357.50, Y:-14.42, Z:-7.17 [[ 9.99239421e-01 3.43184071e-02 1.85155849e-02 3.57500983e+02] [-3.43120730e-02 9.99410950e-01 -6.59765815e-04 -1.44242481e+01] [-1.85273204e-02 2.39559122e-05 9.99828354e-01 -7.16946849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984391418 meters 0.012700295362168787 Centerline is valid? [True, True] Translation: X:357.56, Y:-14.42, Z:-7.17 [[ 9.99308686e-01 3.32447336e-02 1.66414278e-02 3.57559639e+02] [-3.32395064e-02 9.99447240e-01 -5.90681586e-04 -1.44200196e+01] [-1.66518661e-02 3.71203937e-05 9.99861347e-01 -7.17307998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044391418 meters 0.012672635366191001 Centerline is valid? [True, True] Translation: X:357.62, Y:-14.42, Z:-7.17 [[ 9.99286364e-01 3.40021997e-02 1.64503444e-02 3.57616582e+02] [-3.39972124e-02 9.99421758e-01 -5.82809949e-04 -1.44157333e+01] [-1.64606490e-02 2.31281808e-05 9.99864514e-01 -7.17413626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104391418 meters 0.01267109043027254 Centerline is valid? [True, True] Translation: X:357.67, Y:-14.41, Z:-7.18 [[ 9.99192003e-01 3.68114279e-02 1.61325443e-02 3.57674938e+02] [-3.68070348e-02 9.99322229e-01 -5.69241071e-04 -1.44057815e+01] [-1.61425647e-02 -2.50099921e-05 9.99869700e-01 -7.17536171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164391418 meters 0.012918509418360733 Centerline is valid? [True, True] Translation: X:357.73, Y:-14.40, Z:-7.18 [[ 9.99056410e-01 4.02853049e-02 1.62291180e-02 3.57733984e+02] [-4.02813521e-02 9.99188214e-01 -5.70503535e-04 -1.43957026e+01] [-1.62389264e-02 -8.37656059e-05 9.99868136e-01 -7.17738894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224391418 meters 0.013575170884034293 Centerline is valid? [True, True] Translation: X:357.79, Y:-14.39, Z:-7.18 [[ 9.98941539e-01 4.30982256e-02 1.60731275e-02 3.57791866e+02] [-4.30947320e-02 9.99070831e-01 -5.63809573e-04 -1.43878214e+01] [-1.60824921e-02 -1.29454320e-04 9.99870660e-01 -7.17897284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284391418 meters 0.01418670811458751 Centerline is valid? [True, True] Translation: X:357.85, Y:-14.38, Z:-7.18 [[ 9.98752589e-01 4.71534348e-02 1.64262120e-02 3.57851126e+02] [-4.71503633e-02 9.98887638e-01 -5.74427401e-04 -1.43767828e+01] [-1.64350263e-02 -2.00791009e-04 9.99864916e-01 -7.17998933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34439141799993 meters 0.014550196033401961 Centerline is valid? [True, True] Translation: X:357.91, Y:-14.37, Z:-7.18 [[ 9.98698707e-01 4.83897344e-02 1.61036342e-02 3.57909578e+02] [-4.83869585e-02 9.98828507e-01 -5.62191371e-04 -1.43710225e+01] [-1.61119732e-02 -2.17746084e-04 9.99870170e-01 -7.18189402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40439141799993 meters 0.014422318738770805 Centerline is valid? [True, True] Translation: X:357.97, Y:-14.37, Z:-7.18 [[ 9.98677481e-01 4.87417408e-02 1.63563735e-02 3.57968442e+02] [-4.87389694e-02 9.98811389e-01 -5.68257294e-04 -1.43671592e+01] [-1.63646299e-02 -2.29687021e-04 9.99866064e-01 -7.18329373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46439141799993 meters 0.014226674091908618 Centerline is valid? [True, True] Translation: X:358.03, Y:-14.36, Z:-7.19 [[ 9.98669665e-01 4.85535486e-02 1.73624107e-02 3.58027458e+02] [-4.85504235e-02 9.98820552e-01 -6.01702976e-04 -1.43605462e+01] [-1.73711474e-02 -2.42049882e-04 9.99849081e-01 -7.18521653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52439141799994 meters 0.012739606211493852 Centerline is valid? [True, True] Translation: X:358.09, Y:-14.36, Z:-7.19 [[ 9.98944079e-01 4.14758364e-02 1.97606052e-02 3.58085431e+02] [-4.14704393e-02 9.99139498e-01 -6.83002785e-04 -1.43622929e+01] [-1.97719292e-02 -1.37199388e-04 9.99804507e-01 -7.18579952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58439141799994 meters 0.012188446997067956 Centerline is valid? [True, True] Translation: X:358.14, Y:-14.37, Z:-7.19 [[ 9.99233305e-01 3.30681504e-02 2.09594858e-02 3.58144462e+02] [-3.30602744e-02 9.99453099e-01 -7.22255140e-04 -1.43700896e+01] [-2.09719067e-02 2.87750370e-05 9.99780065e-01 -7.18640686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64439141799994 meters 0.013861298868799133 Centerline is valid? [True, True] Translation: X:358.20, Y:-14.38, Z:-7.19 [[ 9.99562543e-01 2.21554315e-02 1.95923078e-02 3.58202872e+02] [-2.21464743e-02 9.99754510e-01 -6.74058604e-04 -1.43804020e+01] [-1.96024322e-02 2.39863191e-04 9.99807825e-01 -7.19066436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70439141799994 meters 0.01435336094951454 Centerline is valid? [True, True] Translation: X:358.26, Y:-14.39, Z:-7.19 [[ 9.99607169e-01 2.07523170e-02 1.88374183e-02 3.58261260e+02] [-2.07438151e-02 9.99784615e-01 -6.46634386e-04 -1.43864306e+01] [-1.88467802e-02 2.55620446e-04 9.99822351e-01 -7.19433490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76439141799995 meters 0.013726298663734442 Centerline is valid? [True, True] Translation: X:358.32, Y:-14.39, Z:-7.19 [[ 9.99517086e-01 2.33940846e-02 2.04526779e-02 3.58320059e+02] [-2.33846509e-02 9.99726296e-01 -7.00321522e-04 -1.43855746e+01] [-2.04634633e-02 2.21704593e-04 9.99790577e-01 -7.19400877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82439141799995 meters 0.01289563833157038 Centerline is valid? [True, True] Translation: X:358.38, Y:-14.38, Z:-7.19 [[ 9.99337748e-01 2.81994887e-02 2.29968430e-02 3.58379319e+02] [-2.81888797e-02 9.99602306e-01 -7.85428740e-04 -1.43837188e+01] [-2.30098459e-02 1.36653348e-04 9.99735229e-01 -7.19367484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88439141799995 meters 0.012866813680071459 Centerline is valid? [True, True] Translation: X:358.44, Y:-14.39, Z:-7.19 [[ 9.99256799e-01 2.94912864e-02 2.48216413e-02 3.58437089e+02] [-2.94793792e-02 9.99565031e-01 -8.45573214e-04 -1.43858516e+01] [-2.48357817e-02 1.13218205e-04 9.99691538e-01 -7.19453272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94439141799995 meters 0.01309474712599831 Centerline is valid? [True, True] Translation: X:358.50, Y:-14.39, Z:-7.20 [[ 9.99282850e-01 2.82588005e-02 2.52036950e-02 3.58495653e+02] [-2.82461954e-02 9.99600630e-01 -8.56071724e-04 -1.43896433e+01] [-2.52178210e-02 1.43549298e-04 9.99681970e-01 -7.19578285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00439141799995 meters 0.01308816570637333 Centerline is valid? [True, True] Translation: X:358.55, Y:-14.39, Z:-7.20 [[ 9.99289019e-01 2.77438279e-02 2.55291215e-02 3.58554094e+02] [-2.77307784e-02 9.99615054e-01 -8.65119824e-04 -1.43925985e+01] [-2.55432959e-02 1.56562329e-04 9.99673705e-01 -7.19848892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06439141799996 meters 0.013617306973371764 Centerline is valid? [True, True] Translation: X:358.61, Y:-14.40, Z:-7.20 [[ 9.99317033e-01 2.60682378e-02 2.61899695e-02 3.58611476e+02] [-2.60539887e-02 9.99660145e-01 -8.85212354e-04 -1.43972272e+01] [-2.62041446e-02 2.02254614e-04 9.99656592e-01 -7.19949142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12439141799996 meters 0.014122969325791232 Centerline is valid? [True, True] Translation: X:358.67, Y:-14.40, Z:-7.20 [[ 9.99383087e-01 2.46040492e-02 2.50616356e-02 3.58668696e+02] [-2.45906023e-02 9.99697249e-01 -8.44649350e-04 -1.44011728e+01] [-2.50748300e-02 2.27847560e-04 9.99685551e-01 -7.20120840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18439141799996 meters 0.014343309137530196 Centerline is valid? [True, True] Translation: X:358.73, Y:-14.40, Z:-7.20 [[ 9.99398318e-01 2.39083661e-02 2.51275212e-02 3.58727496e+02] [-2.38946883e-02 9.99714124e-01 -8.44491587e-04 -1.44044269e+01] [-2.51405282e-02 2.43569186e-04 9.99683897e-01 -7.20357750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24439141799996 meters 0.015041717421877748 Centerline is valid? [True, True] Translation: X:358.79, Y:-14.41, Z:-7.20 [[ 9.99460524e-01 2.23237852e-02 2.40896294e-02 3.58786636e+02] [-2.23107979e-02 9.99750757e-01 -8.07789512e-04 -1.44079378e+01] [-2.41016581e-02 2.69894875e-04 9.99709476e-01 -7.20486863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30439141799997 meters 0.01520379758192081 Centerline is valid? [True, True] Translation: X:358.85, Y:-14.41, Z:-7.21 [[ 9.99486340e-01 2.22366972e-02 2.30777970e-02 3.58845550e+02] [-2.22247948e-02 9.99752701e-01 -7.72135110e-04 -1.44099078e+01] [-2.30892596e-02 2.58839192e-04 9.99733374e-01 -7.20627477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36439141799997 meters 0.015505580119411106 Centerline is valid? [True, True] Translation: X:358.90, Y:-14.41, Z:-7.21 [[ 9.99545777e-01 2.20511963e-02 2.05422508e-02 3.58904311e+02] [-2.20417560e-02 9.99756816e-01 -6.85887941e-04 -1.44122822e+01] [-2.05523799e-02 2.32789115e-04 9.99788750e-01 -7.20824807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42439141799997 meters 0.015476683623231572 Centerline is valid? [True, True] Translation: X:358.96, Y:-14.41, Z:-7.21 [[ 9.99580118e-01 2.34380801e-02 1.70365424e-02 3.58962321e+02] [-2.34318050e-02 9.99725276e-01 -5.67878894e-04 -1.44133881e+01] [-1.70451721e-02 1.68443512e-04 9.99854706e-01 -7.21109122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484391418 meters 0.014826069829115348 Centerline is valid? [True, True] Translation: X:359.02, Y:-14.41, Z:-7.21 [[ 9.99489077e-01 2.81143532e-02 1.52041934e-02 3.59020906e+02] [-2.81099185e-02 9.99604710e-01 -5.05348051e-04 -1.44101033e+01] [-1.52123909e-02 7.77012190e-05 9.99884282e-01 -7.21243683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544391418 meters 0.014565040976159417 Centerline is valid? [True, True] Translation: X:359.08, Y:-14.41, Z:-7.21 [[ 9.99359282e-01 3.28383725e-02 1.42360941e-02 3.59079754e+02] [-3.28349770e-02 9.99460675e-01 -4.72249618e-04 -1.44072414e+01] [-1.42439241e-02 4.50521878e-06 9.99898550e-01 -7.21300975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604391418 meters 0.01498508926621004 Centerline is valid? [True, True] Translation: X:359.14, Y:-14.41, Z:-7.21 [[ 9.99181396e-01 3.84968224e-02 1.24311291e-02 3.59138796e+02] [-3.84946807e-02 9.99258720e-01 -4.11601691e-04 -1.44050385e+01] [-1.24377595e-02 -6.72675943e-05 9.99922646e-01 -7.21493107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664391418 meters 0.015473283867501625 Centerline is valid? [True, True] Translation: X:359.20, Y:-14.41, Z:-7.22 [[ 9.99082584e-01 4.13655928e-02 1.10850497e-02 3.59197812e+02] [-4.13640743e-02 9.99144073e-01 -3.66321463e-04 -1.44050395e+01] [-1.10907148e-02 -9.25374270e-05 9.99938492e-01 -7.21710537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724391418 meters 0.01638688082209754 Centerline is valid? [True, True] Translation: X:359.26, Y:-14.40, Z:-7.22 [[ 9.98944041e-01 4.50118291e-02 9.20531721e-03 3.59256289e+02] [-4.50109409e-02 9.98986448e-01 -3.03739806e-04 -1.44047083e+01] [-9.20965902e-03 -1.10920920e-04 9.99957584e-01 -7.21967010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784391418 meters 0.018508250766850167 Centerline is valid? [True, True] Translation: X:359.31, Y:-14.40, Z:-7.22 [[ 9.98791261e-01 4.84499819e-02 8.28351991e-03 3.59313859e+02] [-4.84493832e-02 9.98825602e-01 -2.73049337e-04 -1.44024181e+01] [-8.28702099e-03 -1.28612139e-04 9.99965654e-01 -7.22262521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84439141799993 meters 0.01882573484641562 Centerline is valid? [True, True] Translation: X:359.37, Y:-14.40, Z:-7.22 [[ 9.98497709e-01 5.41132711e-02 8.60687522e-03 3.59373015e+02] [-5.41128469e-02 9.98534787e-01 -2.82326551e-04 -1.44029285e+01] [-8.60954193e-03 -1.83840107e-04 9.99962920e-01 -7.22123520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90439141799993 meters 0.02068068974087973 Centerline is valid? [True, True] Translation: X:359.43, Y:-14.40, Z:-7.22 [[ 9.98251911e-01 5.85044551e-02 8.38757462e-03 3.59432054e+02] [-5.85042111e-02 9.98287124e-01 -2.74646262e-04 -1.44000524e+01] [-8.38927578e-03 -2.16542281e-04 9.99964786e-01 -7.22236651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96439141799993 meters 0.021920873097330047 Centerline is valid? [True, True] Translation: X:359.49, Y:-14.40, Z:-7.22 [[ 9.98129831e-01 6.07003263e-02 7.23268145e-03 3.59490745e+02] [-6.07001839e-02 9.98156015e-01 -2.39415167e-04 -1.43999140e+01] [-7.23387707e-03 -2.00057673e-04 9.99973815e-01 -7.22445396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02439141799994 meters 0.021213480617466696 Centerline is valid? [True, True] Translation: X:359.55, Y:-14.40, Z:-7.23 [[ 9.98170982e-01 6.01319471e-02 6.23213662e-03 3.59548320e+02] [-6.01318320e-02 9.98190423e-01 -2.06027470e-04 -1.44037532e+01] [-6.23324792e-03 -1.69099150e-04 9.99980559e-01 -7.22582045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08439141799994 meters 0.02235988039397003 Centerline is valid? [True, True] Translation: X:359.61, Y:-14.41, Z:-7.23 [[ 9.98255628e-01 5.87459980e-02 5.88299144e-03 3.59606387e+02] [-5.87458993e-02 9.98272950e-01 -1.89734507e-04 -1.44058493e+01] [-5.88397736e-03 -1.56198083e-04 9.99982677e-01 -7.22918710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14439141799994 meters 0.021489997702579942 Centerline is valid? [True, True] Translation: X:359.66, Y:-14.41, Z:-7.23 [[ 9.98469743e-01 5.49766580e-02 5.97828846e-03 3.59664512e+02] [-5.49764942e-02 9.98487631e-01 -1.91847036e-04 -1.44128817e+01] [-5.97979419e-03 -1.37111880e-04 9.99982111e-01 -7.23108996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20439141799994 meters 0.02269052036418402 Centerline is valid? [True, True] Translation: X:359.72, Y:-14.41, Z:-7.23 [[ 9.98243749e-01 5.90074099e-02 5.24811166e-03 3.59723876e+02] [-5.90073419e-02 9.98257535e-01 -1.67941415e-04 -1.44127037e+01] [-5.24887679e-03 -1.42030651e-04 9.99986214e-01 -7.23196215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26439141799995 meters 0.024023110424114154 Centerline is valid? [True, True] Translation: X:359.78, Y:-14.41, Z:-7.23 [[ 9.98166516e-01 6.02972114e-02 5.27762129e-03 3.59782081e+02] [-6.02971593e-02 9.98180457e-01 -1.69128695e-04 -1.44123084e+01] [-5.27821642e-03 -1.49406971e-04 9.99986059e-01 -7.23393087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32439141799995 meters 0.023023804194031838 Centerline is valid? [True, True] Translation: X:359.84, Y:-14.42, Z:-7.23 [[ 9.97973937e-01 6.34794665e-02 4.28708386e-03 3.59841544e+02] [-6.34794653e-02 9.97983136e-01 -1.36488834e-04 -1.44159308e+01] [-4.28710163e-03 -1.35929492e-04 9.99990801e-01 -7.23348506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38439141799995 meters 0.02361270660614787 Centerline is valid? [True, True] Translation: X:359.90, Y:-14.42, Z:-7.23 [[ 9.97773298e-01 6.65871465e-02 3.82064062e-03 3.59900710e+02] [-6.65871672e-02 9.97780604e-01 -1.21920508e-04 -1.44178165e+01] [-3.82027945e-03 -1.32756609e-04 9.99992694e-01 -7.23472607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44439141799995 meters 0.02522136298352739 Centerline is valid? [True, True] Translation: X:359.96, Y:-14.42, Z:-7.24 [[ 9.97576663e-01 6.94460387e-02 4.24849094e-03 3.59960646e+02] [-6.94460933e-02 9.97585697e-01 -1.34847611e-04 -1.44174825e+01] [-4.24759843e-03 -1.60520269e-04 9.99990966e-01 -7.23622104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50439141799995 meters 0.025102854043458352 Centerline is valid? [True, True] Translation: X:360.02, Y:-14.42, Z:-7.24 [[ 9.97704932e-01 6.75459309e-02 4.73445677e-03 3.60019579e+02] [-6.75459627e-02 9.97716152e-01 -1.53363228e-04 -1.44217714e+01] [-4.73400305e-03 -1.66782192e-04 9.99988781e-01 -7.23779380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56439141799996 meters 0.024182820827008095 Centerline is valid? [True, True] Translation: X:360.08, Y:-14.43, Z:-7.24 [[ 9.97928610e-01 6.40892584e-02 5.57290301e-03 3.60078458e+02] [-6.40892618e-02 9.97944154e-01 -1.78154177e-04 -1.44305310e+01] [-5.57286375e-03 -1.79378090e-04 9.99984455e-01 -7.23984833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62439141799996 meters 0.024406014965824698 Centerline is valid? [True, True] Translation: X:360.14, Y:-14.44, Z:-7.24 [[ 9.98060360e-01 6.20305481e-02 5.26577186e-03 3.60136228e+02] [-6.20305405e-02 9.98074238e-01 -1.64932327e-04 -1.44362995e+01] [-5.26586208e-03 -1.62026257e-04 9.99986122e-01 -7.24211952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68439141799996 meters 0.024073218903458617 Centerline is valid? [True, True] Translation: X:360.19, Y:-14.44, Z:-7.24 [[ 9.98139009e-01 6.07093101e-02 5.73565515e-03 3.60194341e+02] [-6.07092693e-02 9.98155475e-01 -1.81377448e-04 -1.44416628e+01] [-5.73608689e-03 -1.67167527e-04 9.99983535e-01 -7.24331415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74439141799996 meters 0.025704288262048753 Centerline is valid? [True, True] Translation: X:360.25, Y:-14.45, Z:-7.25 [[ 9.98079800e-01 6.15732756e-02 6.74129917e-03 3.60252124e+02] [-6.15732685e-02 9.98102544e-01 -2.08806239e-04 -1.44470923e+01] [-6.74136474e-03 -2.06678534e-04 9.99977255e-01 -7.24607644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80439141799997 meters 0.022652438427167867 Centerline is valid? [True, True] Translation: X:360.31, Y:-14.46, Z:-7.24 [[ 9.98025283e-01 6.23827924e-02 7.34307506e-03 3.60310476e+02] [-6.23828015e-02 9.98052270e-01 -2.28030943e-04 -1.44573325e+01] [-7.34299795e-03 -2.30500948e-04 9.99973013e-01 -7.24456475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86439141799997 meters 0.022958426482416888 Centerline is valid? [True, True] Translation: X:360.37, Y:-14.46, Z:-7.25 [[ 9.98046100e-01 6.19679294e-02 7.99736974e-03 3.60368280e+02] [-6.19679450e-02 9.98078110e-01 -2.46087046e-04 -1.44622228e+01] [-7.99724917e-03 -2.49974351e-04 9.99967990e-01 -7.24561233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92439141799997 meters 0.02300198347352809 Centerline is valid? [True, True] Translation: X:360.43, Y:-14.47, Z:-7.25 [[ 9.98093787e-01 6.11629071e-02 8.23962951e-03 3.60426519e+02] [-6.11629230e-02 9.98127764e-01 -2.50291218e-04 -1.44704526e+01] [-8.23951153e-03 -2.54145716e-04 9.99966022e-01 -7.24786107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984391418 meters 0.022025165882407504 Centerline is valid? [True, True] Translation: X:360.48, Y:-14.48, Z:-7.25 [[ 9.98078879e-01 6.11824767e-02 9.75992327e-03 3.60483983e+02] [-6.11825306e-02 9.98126551e-01 -2.93332285e-04 -1.44781115e+01] [-9.75958535e-03 -3.04368046e-04 9.99952328e-01 -7.24735270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044391418 meters 0.022440436687167192 Centerline is valid? [True, True] Translation: X:360.54, Y:-14.48, Z:-7.25 [[ 9.98042557e-01 6.16498137e-02 1.05049719e-02 3.60542840e+02] [-6.16499465e-02 9.98097784e-01 -3.11487632e-04 -1.44821264e+01] [-1.05041923e-02 -3.36753042e-04 9.99944773e-01 -7.24900432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104391418 meters 0.025216098530316866 Centerline is valid? [True, True] Translation: X:360.60, Y:-14.48, Z:-7.25 [[ 9.97706209e-01 6.68124217e-02 1.08821693e-02 3.60602831e+02] [-6.68129326e-02 9.97765469e-01 -3.16995391e-04 -1.44812619e+01] [-1.08790320e-02 -4.10801377e-04 9.99940737e-01 -7.25071964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164391418 meters 0.02739711338616412 Centerline is valid? [True, True] Translation: X:360.66, Y:-14.48, Z:-7.25 [[ 9.97377673e-01 7.14331653e-02 1.16224022e-02 3.60663344e+02] [-7.14340662e-02 9.97445267e-01 -3.38133847e-04 -1.44786484e+01] [-1.16168641e-02 -4.92988300e-04 9.99932400e-01 -7.25054796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224391418 meters 0.027561679209866196 Centerline is valid? [True, True] Translation: X:360.72, Y:-14.48, Z:-7.25 [[ 9.97529629e-01 6.92437692e-02 1.18296325e-02 3.60721686e+02] [-6.92445410e-02 9.97599657e-01 -3.44820578e-04 -1.44808260e+01] [-1.18251140e-02 -4.75168727e-04 9.99929968e-01 -7.25203463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284391418 meters 0.02349909306026789 Centerline is valid? [True, True] Translation: X:360.78, Y:-14.49, Z:-7.26 [[ 9.98197886e-01 5.89405141e-02 1.12692917e-02 3.60779913e+02] [-5.89405702e-02 9.98261440e-01 -3.27426825e-04 -1.44936403e+01] [-1.12689981e-02 -3.37381715e-04 9.99936446e-01 -7.25568533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34439141799993 meters 0.01675663464057983 Centerline is valid? [True, True] Translation: X:360.84, Y:-14.51, Z:-7.26 [[ 9.98982288e-01 4.35150966e-02 1.18669713e-02 3.60840145e+02] [-4.35140826e-02 9.99052755e-01 -3.43760101e-04 -1.45135856e+01] [-1.18706891e-02 -1.72970116e-04 9.99929526e-01 -7.25797422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40439141799993 meters 0.0136633513082826 Centerline is valid? [True, True] Translation: X:360.90, Y:-14.53, Z:-7.26 [[ 9.99403284e-01 3.21094487e-02 1.27302603e-02 3.60898857e+02] [-3.21073424e-02 9.99484358e-01 -3.69848612e-04 -1.45301524e+01] [-1.27355716e-02 -3.91069083e-05 9.99918899e-01 -7.25837570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46439141799993 meters 0.014991689569812812 Centerline is valid? [True, True] Translation: X:360.96, Y:-14.55, Z:-7.26 [[ 9.99747320e-01 1.73679582e-02 1.42706395e-02 3.60957173e+02] [-1.73638411e-02 9.99849152e-01 -4.12365165e-04 -1.45512213e+01] [-1.42756487e-02 1.64467853e-04 9.99898084e-01 -7.25702013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52439141799994 meters 0.018054165993641017 Centerline is valid? [True, True] Translation: X:361.02, Y:-14.57, Z:-7.26 [[ 9.99865864e-01 7.99066765e-03 1.42969886e-02 3.61016553e+02] [-7.98559590e-03 9.99968030e-01 -4.11796294e-04 -1.45656836e+01] [-1.42998221e-02 2.97571083e-04 9.99897708e-01 -7.25774073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58439141799994 meters 0.019096658540492174 Centerline is valid? [True, True] Translation: X:361.08, Y:-14.57, Z:-7.26 [[ 9.99884265e-01 6.32764355e-03 1.38353797e-02 3.61078444e+02] [-6.32277092e-03 9.99979933e-01 -3.95899566e-04 -1.45730320e+01] [-1.38376072e-02 3.08375810e-04 9.99904208e-01 -7.25930173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64439141799994 meters 0.018223619233574257 Centerline is valid? [True, True] Translation: X:361.14, Y:-14.58, Z:-7.26 [[ 9.99871743e-01 7.72204398e-03 1.40309242e-02 3.61140232e+02] [-7.71711584e-03 9.99970140e-01 -4.05342393e-04 -1.45770386e+01] [-1.40336354e-02 2.97012138e-04 9.99901480e-01 -7.26001674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70439141799994 meters 0.017920747564295035 Centerline is valid? [True, True] Translation: X:361.20, Y:-14.58, Z:-7.26 [[ 9.99854778e-01 9.86869171e-03 1.38935788e-02 3.61202396e+02] [-9.86401354e-03 9.99951267e-01 -4.05202967e-04 -1.45796869e+01] [-1.38969006e-02 2.68097673e-04 9.99903397e-01 -7.26084072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76439141799995 meters 0.01619419978676827 Centerline is valid? [True, True] Translation: X:361.26, Y:-14.58, Z:-7.26 [[ 9.99763850e-01 1.50407904e-02 1.56850172e-02 3.61263904e+02] [-1.50353680e-02 9.99886855e-01 -4.63576760e-04 -1.45807728e+01] [-1.56902150e-02 2.27637281e-04 9.99876875e-01 -7.26027862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82439141799995 meters 0.014504030599848998 Centerline is valid? [True, True] Translation: X:361.32, Y:-14.58, Z:-7.26 [[ 9.99629538e-01 2.18367282e-02 1.62463476e-02 3.61323446e+02] [-2.18317972e-02 9.99761542e-01 -4.80830645e-04 -1.45808341e+01] [-1.62529733e-02 1.25965548e-04 9.99867904e-01 -7.26096957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88439141799995 meters 0.013904547317776851 Centerline is valid? [True, True] Translation: X:361.38, Y:-14.58, Z:-7.26 [[ 9.99516055e-01 2.67484221e-02 1.58800776e-02 3.61381818e+02] [-2.67443127e-02 9.99642196e-01 -4.71125805e-04 -1.45817044e+01] [-1.58869975e-02 4.61960464e-05 9.99873793e-01 -7.26265585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94439141799995 meters 0.013722393295134163 Centerline is valid? [True, True] Translation: X:361.44, Y:-14.58, Z:-7.26 [[ 9.99422637e-01 2.97133495e-02 1.64775587e-02 3.61440349e+02] [-2.97093492e-02 9.99558461e-01 -4.87558419e-04 -1.45843628e+01] [-1.64847702e-02 -2.26062583e-06 9.99864117e-01 -7.26378477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00439141799995 meters 0.01409144718993254 Centerline is valid? [True, True] Translation: X:361.50, Y:-14.59, Z:-7.26 [[ 9.99256798e-01 3.47266903e-02 1.67304517e-02 3.61499308e+02] [-3.47232899e-02 9.99396843e-01 -4.93782652e-04 -1.45859537e+01] [-1.67375081e-02 -8.75206534e-05 9.99859914e-01 -7.26494298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06439141799996 meters 0.01492361171478664 Centerline is valid? [True, True] Translation: X:361.56, Y:-14.59, Z:-7.27 [[ 9.99123767e-01 3.86637917e-02 1.60252555e-02 3.61558253e+02] [-3.86611970e-02 9.99252265e-01 -4.71799838e-04 -1.45864305e+01] [-1.60315144e-02 -1.48169127e-04 9.99871476e-01 -7.26677008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12439141799996 meters 0.015025187831545071 Centerline is valid? [True, True] Translation: X:361.62, Y:-14.59, Z:-7.27 [[ 9.99026218e-01 4.10625054e-02 1.61395763e-02 3.61616750e+02] [-4.10602061e-02 9.99156562e-01 -4.73949298e-04 -1.45903711e+01] [-1.61454251e-02 -1.89206554e-04 9.99869636e-01 -7.26794182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18439141799996 meters 0.01576853598245431 Centerline is valid? [True, True] Translation: X:361.67, Y:-14.59, Z:-7.27 [[ 9.98916251e-01 4.35285497e-02 1.64799471e-02 3.61674331e+02] [-4.35265093e-02 9.99052156e-01 -4.82644220e-04 -1.45914554e+01] [-1.64853355e-02 -2.35193417e-04 9.99864080e-01 -7.26904575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24439141799996 meters 0.015978670631405244 Centerline is valid? [True, True] Translation: X:361.73, Y:-14.59, Z:-7.27 [[ 9.98787883e-01 4.62881887e-02 1.67382447e-02 3.61733536e+02] [-4.62865007e-02 9.98928086e-01 -4.88442671e-04 -1.45926608e+01] [-1.67429119e-02 -2.86904152e-04 9.99859786e-01 -7.26882392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30439141799997 meters 0.01661582355690313 Centerline is valid? [True, True] Translation: X:361.79, Y:-14.59, Z:-7.27 [[ 9.98651459e-01 4.91920711e-02 1.65952884e-02 3.61792133e+02] [-4.91908353e-02 9.98789281e-01 -4.82905989e-04 -1.45941915e+01] [-1.65989514e-02 -3.34081330e-04 9.99862172e-01 -7.27041531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36439141799997 meters 0.016871960869675545 Centerline is valid? [True, True] Translation: X:361.85, Y:-14.60, Z:-7.27 [[ 9.98666556e-01 4.89321441e-02 1.64546258e-02 3.61849772e+02] [-4.89309135e-02 9.98802051e-01 -4.77616619e-04 -1.45976761e+01] [-1.64582848e-02 -3.28160128e-04 9.99864499e-01 -7.27315584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42439141799997 meters 0.01589265675893357 Centerline is valid? [True, True] Translation: X:361.91, Y:-14.60, Z:-7.27 [[ 9.98832564e-01 4.56253473e-02 1.58693814e-02 3.61908607e+02] [-4.56238180e-02 9.98958586e-01 -4.58580515e-04 -1.46038075e+01] [-1.58737777e-02 -2.65976618e-04 9.99873968e-01 -7.27443630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484391418 meters 0.014981346780369918 Centerline is valid? [True, True] Translation: X:361.97, Y:-14.61, Z:-7.28 [[ 9.99083402e-01 3.97161377e-02 1.59682084e-02 3.61966611e+02] [-3.97138558e-02 9.99210988e-01 -4.60103221e-04 -1.46122718e+01] [-1.59738828e-02 -1.74477635e-04 9.99872394e-01 -7.27668236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544391418 meters 0.014136339598907208 Centerline is valid? [True, True] Translation: X:362.02, Y:-14.62, Z:-7.28 [[ 9.99320679e-01 3.32466707e-02 1.59009123e-02 3.62023720e+02] [-3.32436079e-02 9.99447174e-01 -4.56971405e-04 -1.46214070e+01] [-1.59073147e-02 -7.19427196e-05 9.99873468e-01 -7.27817100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604391418 meters 0.013587681514646986 Centerline is valid? [True, True] Translation: X:362.08, Y:-14.63, Z:-7.28 [[ 9.99406382e-01 3.00579692e-02 1.68345450e-02 3.62082006e+02] [-3.00541152e-02 9.99548157e-01 -4.81940533e-04 -1.46271099e+01] [-1.68414246e-02 -2.42929095e-05 9.99858173e-01 -7.27787978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664391418 meters 0.013437257416002733 Centerline is valid? [True, True] Translation: X:362.14, Y:-14.63, Z:-7.28 [[ 9.99474534e-01 2.74743446e-02 1.71992847e-02 3.62140778e+02] [-2.74699636e-02 9.99622509e-01 -4.90962290e-04 -1.46326194e+01] [-1.72062810e-02 1.82405809e-05 9.99851961e-01 -7.27866600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724391418 meters 0.013654498080834751 Centerline is valid? [True, True] Translation: X:362.20, Y:-14.64, Z:-7.28 [[ 9.99472452e-01 2.69310465e-02 1.81531447e-02 3.62198557e+02] [-2.69261046e-02 9.99637293e-01 -5.16636961e-04 -1.46357605e+01] [-1.81604740e-02 2.75709362e-05 9.99835085e-01 -7.27958132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784391418 meters 0.013444223630511338 Centerline is valid? [True, True] Translation: X:362.26, Y:-14.64, Z:-7.28 [[ 9.99419374e-01 2.83485118e-02 1.89017617e-02 3.62255920e+02] [-2.83434455e-02 9.99598100e-01 -5.35926990e-04 -1.46370804e+01] [-1.89093578e-02 -1.25236499e-07 9.99821202e-01 -7.28007042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84439141799993 meters 0.013544877320392312 Centerline is valid? [True, True] Translation: X:362.31, Y:-14.64, Z:-7.28 [[ 9.99321230e-01 3.15556578e-02 1.90083905e-02 3.62314800e+02] [-3.15511504e-02 9.99501994e-01 -5.37052362e-04 -1.46372797e+01] [-1.90158713e-02 -6.30487599e-05 9.99819180e-01 -7.28072249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90439141799993 meters 0.014080406776418244 Centerline is valid? [True, True] Translation: X:362.37, Y:-14.64, Z:-7.28 [[ 9.99191575e-01 3.58724751e-02 1.81483085e-02 3.62373254e+02] [-3.58691032e-02 9.99356366e-01 -5.11377555e-04 -1.46379976e+01] [-1.81549720e-02 -1.39999406e-04 9.99835175e-01 -7.28273788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96439141799993 meters 0.014111234480964371 Centerline is valid? [True, True] Translation: X:362.43, Y:-14.64, Z:-7.28 [[ 9.99159851e-01 3.63993918e-02 1.88328421e-02 3.62432204e+02] [-3.63958832e-02 9.99337310e-01 -5.29129272e-04 -1.46429667e+01] [-1.88396218e-02 -1.56753198e-04 9.99822506e-01 -7.28360401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02439141799994 meters 0.014135831373877871 Centerline is valid? [True, True] Translation: X:362.49, Y:-14.65, Z:-7.28 [[ 9.99146164e-01 3.64463983e-02 1.94577462e-02 3.62490522e+02] [-3.64426928e-02 9.99335596e-01 -5.45098527e-04 -1.46459700e+01] [-1.94646852e-02 -1.64459565e-04 9.99810532e-01 -7.28383763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08439141799994 meters 0.014115238507048322 Centerline is valid? [True, True] Translation: X:362.55, Y:-14.65, Z:-7.29 [[ 9.99131650e-01 3.64404205e-02 2.02000312e-02 3.62548567e+02] [-3.64364782e-02 9.99335812e-01 -5.63293243e-04 -1.46521776e+01] [-2.02071412e-02 -1.73213889e-04 9.99795800e-01 -7.28519034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14439141799994 meters 0.015830318922033595 Centerline is valid? [True, True] Translation: X:362.61, Y:-14.65, Z:-7.29 [[ 9.98920793e-01 4.17629288e-02 2.03250293e-02 3.62605962e+02] [-4.17600810e-02 9.99127508e-01 -5.64708611e-04 -1.46527608e+01] [-2.03308798e-02 -2.84675697e-04 9.99793266e-01 -7.28618525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20439141799994 meters 0.01708293204229561 Centerline is valid? [True, True] Translation: X:362.66, Y:-14.65, Z:-7.29 [[ 9.98724487e-01 4.60375296e-02 2.07350903e-02 3.62664980e+02] [-4.60355233e-02 9.98939638e-01 -5.74326744e-04 -1.46527318e+01] [-2.07395441e-02 -3.80956548e-04 9.99784840e-01 -7.28662896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26439141799995 meters 0.019522944050673927 Centerline is valid? [True, True] Translation: X:362.72, Y:-14.65, Z:-7.29 [[ 9.98457862e-01 5.16498639e-02 2.03516324e-02 3.62724587e+02] [-5.16491278e-02 9.98665135e-01 -5.62144154e-04 -1.46522889e+01] [-2.03535004e-02 -4.89866812e-04 9.99792726e-01 -7.28842452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32439141799995 meters 0.01927575994711688 Centerline is valid? [True, True] Translation: X:362.78, Y:-14.66, Z:-7.29 [[ 9.98336222e-01 5.42242756e-02 1.96090988e-02 3.62783038e+02] [-5.42241017e-02 9.98528645e-01 -5.40952221e-04 -1.46594692e+01] [-1.96095796e-02 -5.23233573e-04 9.99807577e-01 -7.29166255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38439141799995 meters 0.018942171549257206 Centerline is valid? [True, True] Translation: X:362.84, Y:-14.66, Z:-7.29 [[ 9.98308106e-01 5.46498151e-02 1.98575809e-02 3.62841949e+02] [-5.46497533e-02 9.98505436e-01 -5.46178866e-04 -1.46646756e+01] [-1.98577510e-02 -5.39957105e-04 9.99802670e-01 -7.29303927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44439141799995 meters 0.01880839865281867 Centerline is valid? [True, True] Translation: X:362.90, Y:-14.67, Z:-7.29 [[ 9.98330015e-01 5.39584323e-02 2.06317178e-02 3.62900397e+02] [-5.39582547e-02 9.98543032e-01 -5.65697268e-04 -1.46689370e+01] [-2.06321821e-02 -5.48498920e-04 9.99786983e-01 -7.29395288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50439141799995 meters 0.018934762436720706 Centerline is valid? [True, True] Translation: X:362.96, Y:-14.67, Z:-7.30 [[ 9.98415204e-01 5.19873685e-02 2.15497866e-02 3.62958614e+02] [-5.19867561e-02 9.98647601e-01 -5.89014938e-04 -1.46744177e+01] [-2.15512640e-02 -5.32222028e-04 9.99767603e-01 -7.29564260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56439141799996 meters 0.01793391624951403 Centerline is valid? [True, True] Translation: X:363.02, Y:-14.68, Z:-7.30 [[ 9.98472499e-01 5.09403202e-02 2.13951450e-02 3.63017628e+02] [-5.09395134e-02 9.98701570e-01 -5.83055129e-04 -1.46787728e+01] [-2.13970659e-02 -5.07693761e-04 9.99770928e-01 -7.29740898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62439141799996 meters 0.01748410284488435 Centerline is valid? [True, True] Translation: X:363.08, Y:-14.68, Z:-7.30 [[ 9.98694963e-01 4.65609222e-02 2.09869164e-02 3.63075579e+02] [-4.65592157e-02 9.98915369e-01 -5.70189451e-04 -1.46820507e+01] [-2.09907019e-02 -4.07689033e-04 9.99779588e-01 -7.29921307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68439141799996 meters 0.01615861218660566 Centerline is valid? [True, True] Translation: X:363.13, Y:-14.69, Z:-7.30 [[ 9.98912823e-01 4.10484279e-02 2.20952395e-02 3.63132935e+02] [-4.10452402e-02 9.99157110e-01 -5.97949487e-04 -1.46888974e+01] [-2.21011606e-02 -3.09605004e-04 9.99755692e-01 -7.30045196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74439141799996 meters 0.01414910116089658 Centerline is valid? [True, True] Translation: X:363.19, Y:-14.70, Z:-7.30 [[ 9.99180749e-01 3.29048726e-02 2.35605699e-02 3.63191205e+02] [-3.28990400e-02 9.99458478e-01 -6.35234436e-04 -1.46960813e+01] [-2.35687136e-02 -1.40406109e-04 9.99722209e-01 -7.30015153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80439141799997 meters 0.013921544800215067 Centerline is valid? [True, True] Translation: X:363.25, Y:-14.70, Z:-7.30 [[ 9.99402935e-01 2.56987756e-02 2.30943138e-02 3.63250327e+02] [-2.56912876e-02 9.99669732e-01 -6.20927345e-04 -1.47017010e+01] [-2.31026435e-02 2.72339537e-05 9.99733098e-01 -7.30164908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86439141799997 meters 0.015498433477171497 Centerline is valid? [True, True] Translation: X:363.31, Y:-14.71, Z:-7.31 [[ 9.99644355e-01 1.40289275e-02 2.26793578e-02 3.63309722e+02] [-1.40187217e-02 9.99901547e-01 -6.08934362e-04 -1.47125144e+01] [-2.26856676e-02 2.90782192e-04 9.99742605e-01 -7.30537392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92439141799997 meters 0.017965546775287895 Centerline is valid? [True, True] Translation: X:363.37, Y:-14.72, Z:-7.31 [[ 9.99714207e-01 6.42222862e-03 2.30273747e-02 3.63371203e+02] [-6.40967511e-03 9.99979266e-01 -6.18924067e-04 -1.47200891e+01] [-2.30308721e-02 4.71149192e-04 9.99734643e-01 -7.30651054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984391418 meters 0.022803865492761498 Centerline is valid? [True, True] Translation: X:363.43, Y:-14.73, Z:-7.31 [[ 9.99724119e-01 -4.31063550e-03 2.30890661e-02 3.63431856e+02] [ 4.32624097e-03 9.99990446e-01 -6.25972959e-04 -1.47290605e+01] [-2.30861472e-02 7.25689129e-04 9.99733216e-01 -7.30738270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044391418 meters 0.023762514544934984 Centerline is valid? [True, True] Translation: X:363.49, Y:-14.73, Z:-7.31 [[ 9.99712245e-01 -8.02411672e-03 2.26062007e-02 3.63494131e+02] [ 8.04003025e-03 9.99967490e-01 -6.13142811e-04 -1.47322127e+01] [-2.26005459e-02 7.94720914e-04 9.99744259e-01 -7.31039664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104391418 meters 0.02421969404398695 Centerline is valid? [True, True] Translation: X:363.56, Y:-14.73, Z:-7.31 [[ 9.99679365e-01 -1.06337165e-02 2.29802500e-02 3.63555893e+02] [ 1.06509040e-02 9.99943082e-01 -6.25656491e-04 -1.47334176e+01] [-2.29722890e-02 8.70216322e-04 9.99735723e-01 -7.31159502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164391418 meters 0.02498905142923597 Centerline is valid? [True, True] Translation: X:363.62, Y:-14.73, Z:-7.31 [[ 9.99638174e-01 -1.22270809e-02 2.39586969e-02 3.63617861e+02] [ 1.22463671e-02 9.99924794e-01 -6.58411364e-04 -1.47325650e+01] [-2.39488446e-02 9.51580131e-04 9.99712732e-01 -7.31034241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224391418 meters 0.025534742821673197 Centerline is valid? [True, True] Translation: X:363.68, Y:-14.73, Z:-7.31 [[ 9.99668271e-01 -1.05519297e-02 2.34947884e-02 3.63678807e+02] [ 1.05700727e-02 9.99943925e-01 -6.48158151e-04 -1.47339754e+01] [-2.34866316e-02 8.96284760e-04 9.99723749e-01 -7.31350344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2843914179999 meters 0.024323077223387536 Centerline is valid? [True, True] Translation: X:363.74, Y:-14.73, Z:-7.32 [[ 9.99691753e-01 -9.81412197e-03 2.28053208e-02 3.63740745e+02] [ 9.83115068e-03 9.99951472e-01 -6.34700423e-04 -1.47318819e+01] [-2.27979850e-02 8.58707324e-04 9.99739723e-01 -7.31565866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34439141799993 meters 0.024918612268031673 Centerline is valid? [True, True] Translation: X:363.80, Y:-14.73, Z:-7.32 [[ 9.99659308e-01 -9.85728418e-03 2.41681843e-02 3.63803004e+02] [ 9.87647345e-03 9.99950999e-01 -6.74749068e-04 -1.47314234e+01] [-2.41603488e-02 9.13215617e-04 9.99707679e-01 -7.31573947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40439141799993 meters 0.02655402788749993 Centerline is valid? [True, True] Translation: X:363.87, Y:-14.73, Z:-7.32 [[ 9.99624910e-01 -1.19477531e-02 2.46432599e-02 3.63865253e+02] [ 1.19683894e-02 9.99928138e-01 -6.90071072e-04 -1.47348232e+01] [-2.46332442e-02 9.84752364e-04 9.99696071e-01 -7.31684794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46439141799993 meters 0.027282613451951876 Centerline is valid? [True, True] Translation: X:363.93, Y:-14.74, Z:-7.32 [[ 9.99586370e-01 -1.45666072e-02 2.47972365e-02 3.63927049e+02] [ 1.45883763e-02 9.99893341e-01 -6.97197120e-04 -1.47371082e+01] [-2.47844358e-02 1.05866016e-03 9.99692258e-01 -7.31885903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52439141799994 meters 0.030098642701580434 Centerline is valid? [True, True] Translation: X:363.99, Y:-14.74, Z:-7.32 [[ 9.99498740e-01 -1.99927233e-02 2.45470968e-02 3.63987492e+02] [ 2.00158234e-02 9.99799421e-01 -6.95684581e-04 -1.47421466e+01] [-2.45282646e-02 1.18666622e-03 9.99698433e-01 -7.32046443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58439141799994 meters 0.0315752005065205 Centerline is valid? [True, True] Translation: X:364.05, Y:-14.75, Z:-7.32 [[ 9.99357790e-01 -2.62985735e-02 2.43391275e-02 3.64048137e+02] [ 2.63231589e-02 9.99653247e-01 -6.90225117e-04 -1.47477426e+01] [-2.43125360e-02 1.33046457e-03 9.99703521e-01 -7.32281440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64439141799994 meters 0.034754698949033595 Centerline is valid? [True, True] Translation: X:364.11, Y:-14.75, Z:-7.32 [[ 9.99284724e-01 -2.98724514e-02 2.31878765e-02 3.64108264e+02] [ 2.98957273e-02 9.99552806e-01 -6.57713411e-04 -1.47535746e+01] [-2.31578596e-02 1.35046140e-03 9.99730909e-01 -7.32427183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70439141799994 meters 0.03449766438312304 Centerline is valid? [True, True] Translation: X:364.17, Y:-14.75, Z:-7.33 [[ 9.99273227e-01 -3.03764721e-02 2.30279719e-02 3.64170078e+02] [ 3.03995867e-02 9.99537612e-01 -6.54279015e-04 -1.47544880e+01] [-2.29974493e-02 1.35384433e-03 9.99734607e-01 -7.32559312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76439141799995 meters 0.044287372905997956 Centerline is valid? [True, True] Translation: X:364.23, Y:-14.77, Z:-7.33 [[ 9.99273307e-01 -3.04919221e-02 2.28714131e-02 3.64231349e+02] [ 3.05148894e-02 9.99534097e-01 -6.55777969e-04 -1.47693995e+01] [-2.28407613e-02 1.35322006e-03 9.99738200e-01 -7.32729906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82439141799995 meters 0.036952531022726165 Centerline is valid? [True, True] Translation: X:364.29, Y:-14.76, Z:-7.33 [[ 9.99268429e-01 -3.03166229e-02 2.33132686e-02 3.64294005e+02] [ 3.03405219e-02 9.99539394e-01 -6.72011636e-04 -1.47609748e+01] [-2.32821573e-02 1.37885675e-03 9.99727983e-01 -7.32921085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88439141799995 meters 0.035046164343708115 Centerline is valid? [True, True] Translation: X:364.36, Y:-14.76, Z:-7.33 [[ 9.99307247e-01 -2.88607830e-02 2.34964142e-02 3.64356377e+02] [ 2.88847035e-02 9.99582519e-01 -6.79225782e-04 -1.47604354e+01] [-2.34670019e-02 1.35744220e-03 9.99723690e-01 -7.33095540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94439141799995 meters 0.034644847421935 Centerline is valid? [True, True] Translation: X:364.42, Y:-14.76, Z:-7.33 [[ 9.99351621e-01 -2.74374672e-02 2.33135777e-02 3.64418537e+02] [ 2.74606755e-02 9.99622656e-01 -6.75861635e-04 -1.47613407e+01] [-2.32862366e-02 1.31563001e-03 9.99727973e-01 -7.33331757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00439141799995 meters 0.035383925162845636 Centerline is valid? [True, True] Translation: X:364.48, Y:-14.77, Z:-7.33 [[ 9.99399585e-01 -2.54508655e-02 2.35100578e-02 3.64478510e+02] [ 2.54739674e-02 9.99675252e-01 -6.83622657e-04 -1.47650568e+01] [-2.34850242e-02 1.28210665e-03 9.99723367e-01 -7.33490759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06439141799996 meters 0.03537381685704017 Centerline is valid? [True, True] Translation: X:364.54, Y:-14.77, Z:-7.34 [[ 9.99433155e-01 -2.39470595e-02 2.36623362e-02 3.64540538e+02] [ 2.39701056e-02 9.99712437e-01 -6.90763122e-04 -1.47673557e+01] [-2.36389900e-02 1.25756026e-03 9.99719769e-01 -7.33602613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12439141799996 meters 0.03179555037133737 Centerline is valid? [True, True] Translation: X:364.60, Y:-14.77, Z:-7.34 [[ 9.99431967e-01 -2.35760785e-02 2.40813796e-02 3.64602706e+02] [ 2.35998881e-02 9.99721235e-01 -7.04956277e-04 -1.47657820e+01] [-2.40580465e-02 1.27287370e-03 9.99709753e-01 -7.33817143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18439141799996 meters 0.03227054386068848 Centerline is valid? [True, True] Translation: X:364.66, Y:-14.77, Z:-7.34 [[ 9.99381867e-01 -2.49926934e-02 2.47234352e-02 3.64664967e+02] [ 2.50182747e-02 9.99686730e-01 -7.25876783e-04 -1.47715378e+01] [-2.46975485e-02 1.34396579e-03 9.99694066e-01 -7.34003899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24439141799996 meters 0.03262188192322029 Centerline is valid? [True, True] Translation: X:364.73, Y:-14.78, Z:-7.34 [[ 9.99390450e-01 -2.47958977e-02 2.45742050e-02 3.64727470e+02] [ 2.48211871e-02 9.99691644e-01 -7.24566566e-04 -1.47760957e+01] [-2.45486611e-02 1.33408585e-03 9.99697746e-01 -7.34238280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30439141799997 meters 0.03854623500810728 Centerline is valid? [True, True] Translation: X:364.79, Y:-14.79, Z:-7.34 [[ 9.99435482e-01 -2.36270486e-02 2.38847108e-02 3.64788652e+02] [ 2.36507787e-02 9.99720028e-01 -7.11489934e-04 -1.47880645e+01] [-2.38612134e-02 1.27598030e-03 9.99714466e-01 -7.34441444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36439141799997 meters 0.033816323478723306 Centerline is valid? [True, True] Translation: X:364.85, Y:-14.79, Z:-7.35 [[ 9.99453128e-01 -2.22073019e-02 2.45006383e-02 3.64851113e+02] [ 2.22319398e-02 9.99752571e-01 -7.33638013e-04 -1.47860017e+01] [-2.44782840e-02 1.27793352e-03 9.99699545e-01 -7.34607056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42439141799997 meters 0.03312010343293762 Centerline is valid? [True, True] Translation: X:364.91, Y:-14.79, Z:-7.35 [[ 9.99472282e-01 -2.07176982e-02 2.50186692e-02 3.64913514e+02] [ 2.07429754e-02 9.99784559e-01 -7.51207509e-04 -1.47894729e+01] [-2.49977158e-02 1.26977272e-03 9.99686702e-01 -7.34719034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484391418 meters 0.03205730257451668 Centerline is valid? [True, True] Translation: X:364.97, Y:-14.79, Z:-7.35 [[ 9.99547070e-01 -1.87043395e-02 2.35754460e-02 3.64974925e+02] [ 1.87262650e-02 9.99824396e-01 -7.09564597e-04 -1.47902535e+01] [-2.35580342e-02 1.15072326e-03 9.99721809e-01 -7.35094165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544391418 meters 0.03030633353671699 Centerline is valid? [True, True] Translation: X:365.04, Y:-14.79, Z:-7.35 [[ 9.99587567e-01 -1.69442745e-02 2.31859472e-02 3.65036790e+02] [ 1.69650334e-02 9.99855839e-01 -6.98900176e-04 -1.47933922e+01] [-2.31707623e-02 1.09196229e-03 9.99730925e-01 -7.35238728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604391418 meters 0.027944965992616252 Centerline is valid? [True, True] Translation: X:365.10, Y:-14.79, Z:-7.35 [[ 9.99660082e-01 -1.31685041e-02 2.25013547e-02 3.65098828e+02] [ 1.31871399e-02 9.99912815e-01 -6.80019849e-04 -1.47939262e+01] [-2.24904381e-02 9.76517210e-04 9.99746581e-01 -7.35457079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664391418 meters 0.026476454423625218 Centerline is valid? [True, True] Translation: X:365.16, Y:-14.79, Z:-7.36 [[ 9.99686348e-01 -9.94434659e-03 2.29851310e-02 3.65160214e+02] [ 9.96297420e-03 9.99950126e-01 -6.96044289e-04 -1.47946994e+01] [-2.29770629e-02 9.24826241e-04 9.99735565e-01 -7.35564029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724391418 meters 0.025996424695546236 Centerline is valid? [True, True] Translation: X:365.22, Y:-14.80, Z:-7.36 [[ 9.99713349e-01 -5.58287090e-03 2.32819945e-02 3.65220712e+02] [ 5.60082477e-03 9.99984066e-01 -7.06010915e-04 -1.47971791e+01] [-2.32776819e-02 8.36206907e-04 9.99728688e-01 -7.35639775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7843914179999 meters 0.023909573033900185 Centerline is valid? [True, True] Translation: X:365.28, Y:-14.80, Z:-7.36 [[ 9.99751339e-01 -2.17232137e-03 2.21932847e-02 3.65282267e+02] [ 2.18781567e-03 9.99997380e-01 -6.73895864e-04 -1.47991346e+01] [-2.21917626e-02 7.22283108e-04 9.99753472e-01 -7.35990288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84439141799993 meters 0.022749671487675285 Centerline is valid? [True, True] Translation: X:365.34, Y:-14.80, Z:-7.36 [[ 9.99772870e-01 2.01178272e-03 2.12169956e-02 3.65342332e+02] [-1.99853781e-03 9.99997795e-01 -6.45444513e-04 -1.48015298e+01] [-2.12182473e-02 6.02894946e-04 9.99774686e-01 -7.36254877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90439141799993 meters 0.020488679869566043 Centerline is valid? [True, True] Translation: X:365.40, Y:-14.80, Z:-7.36 [[ 9.99757221e-01 4.38980391e-03 2.15923314e-02 3.65404978e+02] [-4.37662899e-03 9.99990206e-01 -6.57385372e-04 -1.48006776e+01] [-2.15950057e-02 5.62724149e-04 9.99766642e-01 -7.36361173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96439141799993 meters 0.021989984758493928 Centerline is valid? [True, True] Translation: X:365.47, Y:-14.81, Z:-7.36 [[ 9.99745224e-01 5.24858125e-03 2.19530995e-02 3.65466211e+02] [-5.23511400e-03 9.99986072e-01 -6.70881249e-04 -1.48076121e+01] [-2.19563149e-02 5.55783347e-04 9.99758777e-01 -7.36497810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02439141799994 meters 0.02023010517856296 Centerline is valid? [True, True] Translation: X:365.53, Y:-14.81, Z:-7.37 [[ 9.99738502e-01 5.08158344e-03 2.22958337e-02 3.65529511e+02] [-5.06751621e-03 9.99986924e-01 -6.87389575e-04 -1.48105837e+01] [-2.22990352e-02 5.74225325e-04 9.99751181e-01 -7.36699275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08439141799994 meters 0.020554494149218006 Centerline is valid? [True, True] Translation: X:365.59, Y:-14.82, Z:-7.37 [[ 9.99721548e-01 5.11925067e-03 2.30352044e-02 3.65592539e+02] [-5.10406361e-03 9.99986716e-01 -7.18043964e-04 -1.48183193e+01] [-2.30385743e-02 6.00270875e-04 9.99734397e-01 -7.36885553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14439141799994 meters 0.020578863826602598 Centerline is valid? [True, True] Translation: X:365.65, Y:-14.82, Z:-7.37 [[ 9.99732462e-01 6.32183393e-03 2.22494739e-02 3.65654855e+02] [-6.30780690e-03 9.99979860e-01 -7.00569196e-04 -1.48245111e+01] [-2.22534547e-02 5.60036382e-04 9.99752204e-01 -7.37132045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20439141799994 meters 0.019657347092701595 Centerline is valid? [True, True] Translation: X:365.72, Y:-14.83, Z:-7.37 [[ 9.99698655e-01 8.54396227e-03 2.30130411e-02 3.65717418e+02] [-8.52939699e-03 9.99963357e-01 -7.30998038e-04 -1.48284873e+01] [-2.30184434e-02 5.34490392e-04 9.99734898e-01 -7.37304076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26439141799995 meters 0.01786911433750099 Centerline is valid? [True, True] Translation: X:365.78, Y:-14.83, Z:-7.37 [[ 9.99605442e-01 1.35028446e-02 2.46299393e-02 3.65778925e+02] [-1.34875770e-02 9.99908730e-01 -7.85903294e-04 -1.48305288e+01] [-2.46383032e-02 4.53395006e-04 9.99696328e-01 -7.37311708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32439141799995 meters 0.016072208398907134 Centerline is valid? [True, True] Translation: X:365.84, Y:-14.83, Z:-7.38 [[ 9.99486378e-01 2.01111913e-02 2.49503426e-02 3.65840022e+02] [-2.00975563e-02 9.99797706e-01 -7.97152033e-04 -1.48305144e+01] [-2.49613269e-02 2.95301685e-04 9.99688374e-01 -7.37545812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38439141799995 meters 0.014958660675784208 Centerline is valid? [True, True] Translation: X:365.90, Y:-14.83, Z:-7.38 [[ 9.99348444e-01 2.63145865e-02 2.47028463e-02 3.65902279e+02] [-2.63030661e-02 9.99653701e-01 -7.91227884e-04 -1.48303271e+01] [-2.47151126e-02 1.40951755e-04 9.99694525e-01 -7.37799068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44439141799995 meters 0.014492339616665122 Centerline is valid? [True, True] Translation: X:365.96, Y:-14.83, Z:-7.38 [[ 9.99044166e-01 3.55659574e-02 2.54129182e-02 3.65964015e+02] [-3.55566020e-02 9.99367328e-01 -8.20057781e-04 -1.48274270e+01] [-2.54260063e-02 -8.43230745e-05 9.99676703e-01 -7.37966724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50439141799995 meters 0.015614920442716448 Centerline is valid? [True, True] Translation: X:366.02, Y:-14.82, Z:-7.38 [[ 9.98660493e-01 4.50127626e-02 2.55160852e-02 3.66024063e+02] [-4.50063970e-02 9.98986359e-01 -8.24000080e-04 -1.48236735e+01] [-2.55273116e-02 -3.25490733e-04 9.99674072e-01 -7.38109775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56439141799996 meters 0.017075590066621377 Centerline is valid? [True, True] Translation: X:366.08, Y:-14.82, Z:-7.38 [[ 9.98346970e-01 5.13171165e-02 2.58820746e-02 3.66083882e+02] [-5.13127115e-02 9.98682286e-01 -8.34752206e-04 -1.48220575e+01] [-2.58908065e-02 -4.94707091e-04 9.99664654e-01 -7.38266481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62439141799996 meters 0.023310197348555748 Centerline is valid? [True, True] Translation: X:366.14, Y:-14.81, Z:-7.38 [[ 9.97947791e-01 5.83546159e-02 2.63617989e-02 3.66142996e+02] [-5.83525346e-02 9.98295678e-01 -8.48873475e-04 -1.48138388e+01] [-2.63664056e-02 -6.91146375e-04 9.99652107e-01 -7.38325174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68439141799996 meters 0.026015412577193496 Centerline is valid? [True, True] Translation: X:366.20, Y:-14.81, Z:-7.39 [[ 9.97500854e-01 6.54803966e-02 2.65398675e-02 3.66203467e+02] [-6.54808534e-02 9.97853461e-01 -8.52799484e-04 -1.48129776e+01] [-2.65387403e-02 -8.87184964e-04 9.99647392e-01 -7.38617073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74439141799996 meters 0.03007242938042372 Centerline is valid? [True, True] Translation: X:366.26, Y:-14.81, Z:-7.39 [[ 9.97139791e-01 7.05486958e-02 2.71130710e-02 3.66262129e+02] [-7.05510543e-02 9.97507790e-01 -8.70798689e-04 -1.48099408e+01] [-2.71069332e-02 -1.04454772e-03 9.99631994e-01 -7.38786622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80439141799997 meters 0.03327891069010167 Centerline is valid? [True, True] Translation: X:366.32, Y:-14.81, Z:-7.39 [[ 9.96760549e-01 7.52166721e-02 2.84756177e-02 3.66322497e+02] [-7.52212189e-02 9.97166453e-01 -9.13012783e-04 -1.48078537e+01] [-2.84636045e-02 -1.23191555e-03 9.99594070e-01 -7.38873761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86439141799997 meters 0.03556937024227078 Centerline is valid? [True, True] Translation: X:366.38, Y:-14.81, Z:-7.39 [[ 9.96557804e-01 7.76414041e-02 2.90577819e-02 3.66382472e+02] [-7.76471907e-02 9.96980465e-01 -9.30878566e-04 -1.48068532e+01] [-2.90423157e-02 -1.32858083e-03 9.99577300e-01 -7.39017039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92439141799997 meters 0.03855801465747165 Centerline is valid? [True, True] Translation: X:366.44, Y:-14.81, Z:-7.39 [[ 9.96488129e-01 7.83340380e-02 2.95835691e-02 3.66439832e+02] [-7.83403996e-02 9.96926220e-01 -9.45733764e-04 -1.48057609e+01] [-2.95667188e-02 -1.37517615e-03 9.99561863e-01 -7.39177887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984391418 meters 0.03440341842773195 Centerline is valid? [True, True] Translation: X:366.50, Y:-14.81, Z:-7.39 [[ 9.96604911e-01 7.69034191e-02 2.94026594e-02 3.66498028e+02] [-7.69091779e-02 9.97037663e-01 -9.36678456e-04 -1.48133362e+01] [-2.93875926e-02 -1.32783602e-03 9.99567209e-01 -7.39485184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044391418 meters 0.03281961517804444 Centerline is valid? [True, True] Translation: X:366.56, Y:-14.82, Z:-7.40 [[ 9.96777241e-01 7.49850947e-02 2.85020745e-02 3.66556690e+02] [-7.49897907e-02 9.97183890e-01 -9.05609227e-04 -1.48170153e+01] [-2.84897168e-02 -1.23467394e-03 9.99593323e-01 -7.39778651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104391418 meters 0.030716533027905134 Centerline is valid? [True, True] Translation: X:366.62, Y:-14.82, Z:-7.40 [[ 9.96943642e-01 7.21243976e-02 3.00240997e-02 3.66615531e+02] [-7.21283948e-02 9.97394902e-01 -9.51298438e-04 -1.48213129e+01] [-3.00144958e-02 -1.21719919e-03 9.99548722e-01 -7.39987527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164391418 meters 0.028104903469175553 Centerline is valid? [True, True] Translation: X:366.67, Y:-14.82, Z:-7.40 [[ 9.97092001e-01 6.94244857e-02 3.14290118e-02 3.66674514e+02] [-6.94276162e-02 9.97586498e-01 -9.92994280e-04 -1.48249301e+01] [-3.14220960e-02 -1.19193472e-03 9.99505493e-01 -7.40133963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224391418 meters 0.025168382118348553 Centerline is valid? [True, True] Translation: X:366.73, Y:-14.83, Z:-7.41 [[ 9.97302909e-01 6.65441164e-02 3.09643209e-02 3.66733262e+02] [-6.65458534e-02 9.97782891e-01 -9.75567306e-04 -1.48291091e+01] [-3.09605879e-02 -1.08761105e-03 9.99520014e-01 -7.40579543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2843914179999 meters 0.02655519442557417 Centerline is valid? [True, True] Translation: X:366.79, Y:-14.83, Z:-7.41 [[ 9.97381744e-01 6.55621213e-02 3.05166280e-02 3.66790989e+02] [-6.55634400e-02 9.97847943e-01 -9.58485296e-04 -1.48291196e+01] [-3.05137948e-02 -1.04479937e-03 9.99533800e-01 -7.40788965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34439141799993 meters 0.025032447049984443 Centerline is valid? [True, True] Translation: X:366.85, Y:-14.83, Z:-7.41 [[ 9.97380295e-01 6.52980167e-02 3.11242122e-02 3.66848654e+02] [-6.52993784e-02 9.97865243e-01 -9.73776511e-04 -1.48271121e+01] [-3.11213552e-02 -1.06116620e-03 9.99515050e-01 -7.40821008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40439141799993 meters 0.026647862834894544 Centerline is valid? [True, True] Translation: X:366.91, Y:-14.82, Z:-7.41 [[ 9.97237087e-01 6.74391172e-02 3.11473518e-02 3.66907157e+02] [-6.74416479e-02 9.97722748e-01 -9.70509330e-04 -1.48230681e+01] [-3.11418717e-02 -1.13280084e-03 9.99514332e-01 -7.40876683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46439141799993 meters 0.02399056769365772 Centerline is valid? [True, True] Translation: X:366.97, Y:-14.82, Z:-7.41 [[ 9.96904026e-01 7.17551358e-02 3.21490720e-02 3.66966592e+02] [-7.17601657e-02 9.97421416e-01 -9.98815344e-04 -1.48229137e+01] [-3.21378430e-02 -1.31129969e-03 9.99482586e-01 -7.41221008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52439141799994 meters 0.028538937732236078 Centerline is valid? [True, True] Translation: X:367.03, Y:-14.81, Z:-7.41 [[ 9.96578276e-01 7.59924821e-02 3.25097381e-02 3.67025889e+02] [-7.59999077e-02 9.97107314e-01 -1.00901425e-03 -1.48108710e+01] [-3.24923752e-02 -1.46517542e-03 9.99470909e-01 -7.41269346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58439141799994 meters 0.026830979333126566 Centerline is valid? [True, True] Translation: X:367.09, Y:-14.81, Z:-7.42 [[ 9.96377070e-01 7.87568457e-02 3.20950613e-02 3.67085671e+02] [-7.87655315e-02 9.96892672e-01 -9.95567656e-04 -1.48091800e+01] [-3.20737391e-02 -1.53602377e-03 9.99484325e-01 -7.41642092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64439141799994 meters 0.027446467885488903 Centerline is valid? [True, True] Translation: X:367.14, Y:-14.81, Z:-7.42 [[ 9.96369904e-01 7.88804089e-02 3.20140003e-02 3.67144424e+02] [-7.88891708e-02 9.96882900e-01 -9.91295691e-04 -1.48065391e+01] [-3.19924032e-02 -1.53786074e-03 9.99486929e-01 -7.41844242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70439141799994 meters 0.026113576997328525 Centerline is valid? [True, True] Translation: X:367.20, Y:-14.81, Z:-7.42 [[ 9.96529514e-01 7.65524642e-02 3.26901674e-02 3.67203604e+02] [-7.65604305e-02 9.97064432e-01 -1.00980243e-03 -1.48055150e+01] [-3.26715060e-02 -1.49647536e-03 9.99465024e-01 -7.41982070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76439141799995 meters 0.025315899064815926 Centerline is valid? [True, True] Translation: X:367.26, Y:-14.81, Z:-7.42 [[ 9.96883577e-01 7.20528034e-02 3.21174124e-02 3.67262672e+02] [-7.20582158e-02 9.97399936e-01 -9.90417285e-04 -1.48059045e+01] [-3.21052674e-02 -1.32699271e-03 9.99483612e-01 -7.42217266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82439141799995 meters 0.023810149517556913 Centerline is valid? [True, True] Translation: X:367.32, Y:-14.81, Z:-7.42 [[ 9.97138899e-01 6.86533362e-02 3.16343995e-02 3.67322516e+02] [-6.86569112e-02 9.97639854e-01 -9.74491542e-04 -1.48078087e+01] [-3.16266398e-02 -1.20021673e-03 9.99499032e-01 -7.42397808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88439141799995 meters 0.02226747468411646 Centerline is valid? [True, True] Translation: X:367.38, Y:-14.81, Z:-7.43 [[ 9.97339092e-01 6.52690606e-02 3.24759168e-02 3.67381309e+02] [-6.52710824e-02 9.97867069e-01 -9.99021212e-04 -1.48099785e+01] [-3.24718531e-02 -1.12337533e-03 9.99472019e-01 -7.42562733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94439141799995 meters 0.02070022187942809 Centerline is valid? [True, True] Translation: X:367.44, Y:-14.81, Z:-7.43 [[ 9.97665311e-01 6.00319082e-02 3.25591347e-02 3.67440657e+02] [-6.00312244e-02 9.98195999e-01 -9.99424319e-04 -1.48121360e+01] [-3.25603954e-02 -9.57473749e-04 9.99469311e-01 -7.42666329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00439141799995 meters 0.02100451607211838 Centerline is valid? [True, True] Translation: X:367.50, Y:-14.81, Z:-7.43 [[ 9.97894921e-01 5.62936121e-02 3.21986832e-02 3.67499138e+02] [-5.62910547e-02 9.98413914e-01 -9.86623878e-04 -1.48113360e+01] [-3.22031539e-02 -8.27950880e-04 9.99481001e-01 -7.42734702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06439141799996 meters 0.017476473098989306 Centerline is valid? [True, True] Translation: X:367.56, Y:-14.82, Z:-7.43 [[ 9.98186055e-01 5.15958424e-02 3.10236738e-02 3.67557765e+02] [-5.15912754e-02 9.98667833e-01 -9.48195502e-04 -1.48157548e+01] [-3.10312680e-02 -6.54075371e-04 9.99518200e-01 -7.43171696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12439141799996 meters 0.01723011545884032 Centerline is valid? [True, True] Translation: X:367.62, Y:-14.81, Z:-7.43 [[ 9.98322317e-01 4.84656850e-02 3.16801159e-02 3.67615712e+02] [-4.84594379e-02 9.98824685e-01 -9.65408798e-04 -1.48135827e+01] [-3.16896710e-02 -5.71411463e-04 9.99497593e-01 -7.43316661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18439141799996 meters 0.01718580181495817 Centerline is valid? [True, True] Translation: X:367.67, Y:-14.81, Z:-7.43 [[ 9.98355629e-01 4.73548630e-02 3.23040968e-02 3.67674721e+02] [-4.73478844e-02 9.98877978e-01 -9.81388303e-04 -1.48125027e+01] [-3.23143244e-02 -5.49756104e-04 9.99477605e-01 -7.43413946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24439141799996 meters 0.016159347480986363 Centerline is valid? [True, True] Translation: X:367.73, Y:-14.81, Z:-7.43 [[ 9.98486152e-01 4.40074218e-02 3.29962368e-02 3.67733285e+02] [-4.39984005e-02 9.99031101e-01 -9.99796363e-04 -1.48110810e+01] [-3.30082653e-02 -4.53498820e-04 9.99454976e-01 -7.43464444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30439141799997 meters 0.015113004109658625 Centerline is valid? [True, True] Translation: X:367.79, Y:-14.81, Z:-7.44 [[ 9.98714212e-01 3.84118901e-02 3.30824613e-02 3.67791837e+02] [-3.83998381e-02 9.99261954e-01 -9.99813314e-04 -1.48127352e+01] [-3.30964497e-02 -2.71833393e-04 9.99452125e-01 -7.43631912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36439141799997 meters 0.01433832468068622 Centerline is valid? [True, True] Translation: X:367.85, Y:-14.82, Z:-7.44 [[ 9.98948152e-01 3.26650458e-02 3.21804890e-02 3.67852579e+02] [-3.26507106e-02 9.99466352e-01 -9.70995848e-04 -1.48152377e+01] [-3.21950336e-02 -8.07413265e-05 9.99481602e-01 -7.44038477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42439141799997 meters 0.014186008032181029 Centerline is valid? [True, True] Translation: X:367.91, Y:-14.82, Z:-7.44 [[ 9.99031872e-01 3.04704979e-02 3.17311767e-02 3.67912841e+02] [-3.04554535e-02 9.99535667e-01 -9.57438551e-04 -1.48153306e+01] [-3.17456164e-02 -9.87574748e-06 9.99495981e-01 -7.44268329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484391418 meters 0.014374998150452156 Centerline is valid? [True, True] Translation: X:367.97, Y:-14.81, Z:-7.44 [[ 9.99086098e-01 2.81771192e-02 3.21406028e-02 3.67974596e+02] [-2.81604823e-02 9.99602944e-01 -9.70266169e-04 -1.48134437e+01] [-3.21551805e-02 6.42845664e-05 9.99482886e-01 -7.44394844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544391418 meters 0.014215050227903802 Centerline is valid? [True, True] Translation: X:368.04, Y:-14.81, Z:-7.45 [[ 9.99062035e-01 2.81552600e-02 3.28988001e-02 3.68036781e+02] [-2.81376722e-02 9.99603560e-01 -9.97545481e-04 -1.48112027e+01] [-3.29138439e-02 7.09141641e-05 9.99458190e-01 -7.44518224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604391418 meters 0.014274447423279431 Centerline is valid? [True, True] Translation: X:368.10, Y:-14.81, Z:-7.45 [[ 9.99023726e-01 2.92159311e-02 3.31364434e-02 3.68098548e+02] [-2.91983663e-02 9.99573123e-01 -1.01395034e-03 -1.48077610e+01] [-3.31519217e-02 4.54304297e-05 9.99450323e-01 -7.44728746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664391418 meters 0.014279646645462208 Centerline is valid? [True, True] Translation: X:368.16, Y:-14.80, Z:-7.45 [[ 9.98929826e-01 3.16364613e-02 3.37392374e-02 3.68159583e+02] [-3.16193338e-02 9.99499442e-01 -1.04121450e-03 -1.48048356e+01] [-3.37552893e-02 -2.67119924e-05 9.99430127e-01 -7.44878175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724391418 meters 0.014418991024381055 Centerline is valid? [True, True] Translation: X:368.22, Y:-14.80, Z:-7.45 [[ 9.98784638e-01 3.54697339e-02 3.42220039e-02 3.68221260e+02] [-3.54541611e-02 9.99370739e-01 -1.06197119e-03 -1.47991233e+01] [-3.42381371e-02 -1.52631931e-04 9.99413691e-01 -7.45175831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7843914179999 meters 0.014853104786770844 Centerline is valid? [True, True] Translation: X:368.28, Y:-14.79, Z:-7.45 [[ 9.98673021e-01 3.77107025e-02 3.50727874e-02 3.68280749e+02] [-3.76957176e-02 9.99288671e-01 -1.08863853e-03 -1.47934862e+01] [-3.50888925e-02 -2.34899966e-04 9.99384168e-01 -7.45262713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84439141799993 meters 0.01491716486428961 Centerline is valid? [True, True] Translation: X:368.34, Y:-14.79, Z:-7.46 [[ 9.98621717e-01 3.85179702e-02 3.56515274e-02 3.68340270e+02] [-3.85030512e-02 9.99257871e-01 -1.10519331e-03 -1.47924990e+01] [-3.56676391e-02 -2.69022543e-04 9.99363671e-01 -7.45519851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90439141799993 meters 0.015264100558507483 Centerline is valid? [True, True] Translation: X:368.40, Y:-14.79, Z:-7.46 [[ 9.98654039e-01 3.80893633e-02 3.52038440e-02 3.68399047e+02] [-3.80745992e-02 9.99274305e-01 -1.08993298e-03 -1.47906904e+01] [-3.52198116e-02 -2.51906276e-04 9.99379558e-01 -7.45746465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96439141799993 meters 0.014863832034607033 Centerline is valid? [True, True] Translation: X:368.46, Y:-14.79, Z:-7.46 [[ 9.98756621e-01 3.47111037e-02 3.57820068e-02 3.68458515e+02] [-3.46937339e-02 9.99397379e-01 -1.10641107e-03 -1.47917515e+01] [-3.57988486e-02 -1.36376046e-04 9.99359006e-01 -7.46009341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02439141799994 meters 0.014994996184030647 Centerline is valid? [True, True] Translation: X:368.52, Y:-14.79, Z:-7.46 [[ 9.98909100e-01 3.03221315e-02 3.55130797e-02 3.68519048e+02] [-3.03022768e-02 9.99540178e-01 -1.09730391e-03 -1.47945431e+01] [-3.55300227e-02 1.99796886e-05 9.99368609e-01 -7.46189502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08439141799994 meters 0.0150433781917295 Centerline is valid? [True, True] Translation: X:368.58, Y:-14.80, Z:-7.47 [[ 9.99020001e-01 2.70531952e-02 3.50308630e-02 3.68581625e+02] [-2.70317217e-02 9.99633986e-01 -1.08654815e-03 -1.47973225e+01] [-3.50474358e-02 1.38538796e-04 9.99385640e-01 -7.46564720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14439141799994 meters 0.015941682692561073 Centerline is valid? [True, True] Translation: X:368.64, Y:-14.80, Z:-7.47 [[ 9.99157336e-01 2.29797748e-02 3.40080543e-02 3.68643415e+02] [-2.29568457e-02 9.99735890e-01 -1.06459493e-03 -1.47992226e+01] [-3.40235366e-02 2.82980176e-04 9.99420992e-01 -7.46784369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20439141799994 meters 0.016550540901858684 Centerline is valid? [True, True] Translation: X:368.71, Y:-14.80, Z:-7.47 [[ 9.99252569e-01 1.99984182e-02 3.30812027e-02 3.68705401e+02] [-1.99747729e-02 9.99799938e-01 -1.04512912e-03 -1.47995779e+01] [-3.30954854e-02 3.83558449e-04 9.99452121e-01 -7.47106931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26439141799995 meters 0.017459473627884185 Centerline is valid? [True, True] Translation: X:368.77, Y:-14.80, Z:-7.47 [[ 9.99315535e-01 1.77997464e-02 3.24288443e-02 3.68766796e+02] [-1.77756259e-02 9.99841469e-01 -1.03196421e-03 -1.47990555e+01] [-3.24420720e-02 4.54814864e-04 9.99473514e-01 -7.47227198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32439141799995 meters 0.01749740901052656 Centerline is valid? [True, True] Translation: X:368.83, Y:-14.80, Z:-7.47 [[ 9.99334810e-01 1.68410134e-02 3.23468305e-02 3.68829630e+02] [-1.68163060e-02 9.99858059e-01 -1.03574251e-03 -1.47972064e+01] [-3.23596822e-02 4.91099347e-04 9.99476168e-01 -7.47399946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38439141799995 meters 0.018025428006829318 Centerline is valid? [True, True] Translation: X:368.89, Y:-14.80, Z:-7.48 [[ 9.99410178e-01 1.46014767e-02 3.10820395e-02 3.68892230e+02] [-1.45773185e-02 9.99893241e-01 -1.00371054e-03 -1.47956873e+01] [-3.10933769e-02 5.50025740e-04 9.99516333e-01 -7.47671883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44439141799995 meters 0.019415097542933676 Centerline is valid? [True, True] Translation: X:368.95, Y:-14.80, Z:-7.48 [[ 9.99486795e-01 1.12009799e-02 3.00114164e-02 3.68954880e+02] [-1.11766793e-02 9.99937061e-01 -9.77344211e-04 -1.47958778e+01] [-3.00204747e-02 6.41414656e-04 9.99549078e-01 -7.47879287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50439141799995 meters 0.020555703243800325 Centerline is valid? [True, True] Translation: X:369.02, Y:-14.79, Z:-7.48 [[ 9.99539013e-01 7.11785729e-03 2.95143771e-02 3.69017281e+02] [-7.09238884e-03 9.99974381e-01 -9.67514837e-04 -1.47948094e+01] [-2.95205075e-02 7.57741387e-04 9.99563888e-01 -7.48028020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56439141799996 meters 0.022628732133141576 Centerline is valid? [True, True] Translation: X:369.08, Y:-14.80, Z:-7.48 [[ 9.99571952e-01 4.20158278e-03 2.89526947e-02 3.69078717e+02] [-4.17574222e-03 9.99990828e-01 -9.52914182e-04 -1.47980636e+01] [-2.89564329e-02 8.31607300e-04 9.99580329e-01 -7.48187489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62439141799996 meters 0.024493483852029544 Centerline is valid? [True, True] Translation: X:369.14, Y:-14.80, Z:-7.48 [[ 9.99613315e-01 -2.10924794e-04 2.78060473e-02 3.69140494e+02] [ 2.36657572e-04 9.99999547e-01 -9.22150527e-04 -1.47994203e+01] [-2.78058402e-02 9.28374456e-04 9.99612912e-01 -7.48454381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68439141799996 meters 0.026611383084663712 Centerline is valid? [True, True] Translation: X:369.20, Y:-14.80, Z:-7.49 [[ 9.99627530e-01 -3.67541816e-03 2.70424245e-02 3.69202907e+02] [ 3.70117552e-03 9.99992743e-01 -9.02487469e-04 -1.48023347e+01] [-2.70389113e-02 1.00224008e-03 9.99633879e-01 -7.48633817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74439141799996 meters 0.0262097715697163 Centerline is valid? [True, True] Translation: X:369.27, Y:-14.80, Z:-7.49 [[ 9.99662834e-01 -4.70891746e-03 2.55351477e-02 3.69265592e+02] [ 4.73229409e-03 9.99988437e-01 -8.55115744e-04 -1.48021338e+01] [-2.55308258e-02 9.75667257e-04 9.99673559e-01 -7.48988101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80439141799997 meters 0.02649955032532316 Centerline is valid? [True, True] Translation: X:369.33, Y:-14.80, Z:-7.49 [[ 9.99687642e-01 -3.94237370e-03 2.46794536e-02 3.69327629e+02] [ 3.96412196e-03 9.99991796e-01 -8.32367553e-04 -1.48042746e+01] [-2.46759696e-02 9.29939921e-04 9.99695069e-01 -7.49236919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86439141799997 meters 0.025050545422296247 Centerline is valid? [True, True] Translation: X:369.39, Y:-14.80, Z:-7.49 [[ 9.99693718e-01 -3.28920640e-03 2.45285958e-02 3.69389610e+02] [ 3.31054081e-03 9.99994176e-01 -8.29220381e-04 -1.48044542e+01] [-2.45257254e-02 9.10169323e-04 9.99698785e-01 -7.49440722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92439141799997 meters 0.026331848528664277 Centerline is valid? [True, True] Translation: X:369.45, Y:-14.81, Z:-7.50 [[ 9.99683450e-01 -3.59573129e-03 2.49012009e-02 3.69451151e+02] [ 3.61787277e-03 9.99993099e-01 -8.44178577e-04 -1.48087728e+01] [-2.48979936e-02 9.34000729e-04 9.99689561e-01 -7.49541212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984391418 meters 0.026447720051142837 Centerline is valid? [True, True] Translation: X:369.51, Y:-14.81, Z:-7.50 [[ 9.99685077e-01 -3.89224251e-03 2.47910757e-02 3.69512892e+02] [ 3.91438643e-03 9.99991982e-01 -8.44755186e-04 -1.48135947e+01] [-2.47875889e-02 9.41531004e-04 9.99692297e-01 -7.49798729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044391418 meters 0.025402232668234166 Centerline is valid? [True, True] Translation: X:369.57, Y:-14.82, Z:-7.50 [[ 9.99692159e-01 -3.46149546e-03 2.45683675e-02 3.69574721e+02] [ 3.48325993e-03 9.99993578e-01 -8.43133289e-04 -1.48158120e+01] [-2.45652912e-02 9.28451749e-04 9.99697797e-01 -7.49983622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104391418 meters 0.0247993539662848 Centerline is valid? [True, True] Translation: X:369.64, Y:-14.82, Z:-7.50 [[ 9.99713333e-01 -1.31877047e-03 2.39063264e-02 3.69637265e+02] [ 1.33881248e-03 9.99998766e-01 -8.22369964e-04 -1.48187943e+01] [-2.39052124e-02 8.54140305e-04 9.99713865e-01 -7.50142275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164391418 meters 0.02217550095330923 Centerline is valid? [True, True] Translation: X:369.70, Y:-14.82, Z:-7.50 [[ 9.99708631e-01 3.27847888e-03 2.39145494e-02 3.69698995e+02] [-3.25968267e-03 9.99994347e-01 -8.24914158e-04 -1.48196825e+01] [-2.39171187e-02 7.46719961e-04 9.99713666e-01 -7.50386384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224391418 meters 0.021301555348682926 Centerline is valid? [True, True] Translation: X:369.76, Y:-14.82, Z:-7.50 [[ 9.99696839e-01 5.33738365e-03 2.40362935e-02 3.69761254e+02] [-5.31895304e-03 9.99985509e-01 -8.30650896e-04 -1.48218872e+01] [-2.40403787e-02 7.02551159e-04 9.99710741e-01 -7.50437962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2843914179999 meters 0.019294788675222066 Centerline is valid? [True, True] Translation: X:369.82, Y:-14.82, Z:-7.51 [[ 9.99671172e-01 1.01637232e-02 2.35424377e-02 3.69822462e+02] [-1.01473383e-02 9.99948182e-01 -8.15334072e-04 -1.48241285e+01] [-2.35495046e-02 5.76172887e-04 9.99722506e-01 -7.50746060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34439141799993 meters 0.017609632346756717 Centerline is valid? [True, True] Translation: X:369.88, Y:-14.83, Z:-7.51 [[ 9.99594459e-01 1.48373964e-02 2.43057314e-02 3.69884181e+02] [-1.48212858e-02 9.99889803e-01 -8.42852718e-04 -1.48276410e+01] [-2.43155587e-02 4.82268715e-04 9.99704217e-01 -7.50853643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40439141799993 meters 0.01623985411032224 Centerline is valid? [True, True] Translation: X:369.95, Y:-14.83, Z:-7.51 [[ 9.99510026e-01 1.87554450e-02 2.50587560e-02 3.69946627e+02] [-1.87394877e-02 9.99824021e-01 -8.71494580e-04 -1.48301105e+01] [-2.50706914e-02 4.01479322e-04 9.99685600e-01 -7.50957718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46439141799993 meters 0.015327856801404551 Centerline is valid? [True, True] Translation: X:370.01, Y:-14.83, Z:-7.51 [[ 9.99462519e-01 2.17313892e-02 2.45442285e-02 3.70009202e+02] [-2.17168295e-02 9.99763792e-01 -8.59627451e-04 -1.48334304e+01] [-2.45571118e-02 3.26142591e-04 9.99698375e-01 -7.51267147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52439141799994 meters 0.014367414430557307 Centerline is valid? [True, True] Translation: X:370.07, Y:-14.84, Z:-7.52 [[ 9.99379534e-01 2.59284993e-02 2.38381921e-02 3.70070520e+02] [-2.59159082e-02 9.99663776e-01 -8.37030301e-04 -1.48377230e+01] [-2.38518801e-02 2.18722554e-04 9.99715480e-01 -7.51591115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58439141799994 meters 0.013652970094646232 Centerline is valid? [True, True] Translation: X:370.13, Y:-14.84, Z:-7.52 [[ 9.99238320e-01 3.13376784e-02 2.32536157e-02 3.70130617e+02] [-3.13271444e-02 9.99508850e-01 -8.17240078e-04 -1.48382620e+01] [-2.32678051e-02 8.81482257e-05 9.99729264e-01 -7.51774182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64439141799994 meters 0.013423923477745733 Centerline is valid? [True, True] Translation: X:370.19, Y:-14.84, Z:-7.52 [[ 9.99143822e-01 3.43174135e-02 2.31070866e-02 3.70188507e+02] [-3.43078236e-02 9.99410984e-01 -8.11438984e-04 -1.48404725e+01] [-2.31213226e-02 1.79903990e-05 9.99732666e-01 -7.51988610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70439141799994 meters 0.013629784584621173 Centerline is valid? [True, True] Translation: X:370.25, Y:-14.84, Z:-7.52 [[ 9.99030674e-01 3.77546555e-02 2.26340041e-02 3.70247612e+02] [-3.77463840e-02 9.99287037e-01 -7.92715045e-04 -1.48431058e+01] [-2.26477956e-02 -6.24051663e-05 9.99743504e-01 -7.52210422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76439141799995 meters 0.013919036021656528 Centerline is valid? [True, True] Translation: X:370.31, Y:-14.85, Z:-7.52 [[ 9.99002480e-01 3.90797861e-02 2.16058893e-02 3.70305798e+02] [-3.90725932e-02 9.99236089e-01 -7.55123241e-04 -1.48466265e+01] [-2.16188944e-02 -8.98281321e-05 9.99766280e-01 -7.52476067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82439141799995 meters 0.013871865486305472 Centerline is valid? [True, True] Translation: X:370.36, Y:-14.85, Z:-7.53 [[ 9.99028566e-01 3.79628796e-02 2.23773335e-02 3.70363684e+02] [-3.79549257e-02 9.99279148e-01 -7.80208710e-04 -1.48533688e+01] [-2.23908217e-02 -6.98792404e-05 9.99749292e-01 -7.52644054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88439141799995 meters 0.013872374423445556 Centerline is valid? [True, True] Translation: X:370.42, Y:-14.86, Z:-7.53 [[ 9.99022091e-01 3.76539735e-02 2.31741422e-02 3.70422065e+02] [-3.76454173e-02 9.99290835e-01 -8.05515555e-04 -1.48578476e+01] [-2.31880388e-02 -6.76724218e-05 9.99731119e-01 -7.52750703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94439141799995 meters 0.013732915693104857 Centerline is valid? [True, True] Translation: X:370.48, Y:-14.86, Z:-7.53 [[ 9.98976785e-01 3.86495194e-02 2.34861179e-02 3.70481143e+02] [-3.86410496e-02 9.99252824e-01 -8.14518558e-04 -1.48611076e+01] [-2.35000504e-02 -9.38431192e-05 9.99723831e-01 -7.52975469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00439141799995 meters 0.013847700173833896 Centerline is valid? [True, True] Translation: X:370.54, Y:-14.86, Z:-7.53 [[ 9.98926325e-01 3.96709688e-02 2.39251180e-02 3.70539783e+02] [-3.96625191e-02 9.99212790e-01 -8.27792133e-04 -1.48627518e+01] [-2.39391232e-02 -1.22027096e-04 9.99713411e-01 -7.53141941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06439141799996 meters 0.013810563184934488 Centerline is valid? [True, True] Translation: X:370.60, Y:-14.87, Z:-7.53 [[ 9.98925029e-01 3.96463967e-02 2.40197701e-02 3.70598029e+02] [-3.96379187e-02 9.99213765e-01 -8.29155982e-04 -1.48650692e+01] [-2.40337579e-02 -1.23829030e-04 9.99711140e-01 -7.53299061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12439141799996 meters 0.013782743582440207 Centerline is valid? [True, True] Translation: X:370.66, Y:-14.87, Z:-7.53 [[ 9.98951018e-01 3.85254630e-02 2.47517978e-02 3.70656539e+02] [-3.85161656e-02 9.99257614e-01 -8.52437934e-04 -1.48676900e+01] [-2.47662629e-02 -1.01800599e-04 9.99693264e-01 -7.53433764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18439141799996 meters 0.013654152483444332 Centerline is valid? [True, True] Translation: X:370.71, Y:-14.87, Z:-7.54 [[ 9.99012348e-01 3.72009677e-02 2.42984850e-02 3.70714956e+02] [-3.71916609e-02 9.99307802e-01 -8.34979916e-04 -1.48693518e+01] [-2.43127276e-02 -6.95457673e-05 9.99704400e-01 -7.53589995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24439141799996 meters 0.013663094556158516 Centerline is valid? [True, True] Translation: X:370.77, Y:-14.87, Z:-7.54 [[ 9.99074379e-01 3.63431001e-02 2.30122499e-02 3.70773310e+02] [-3.63345639e-02 9.99339370e-01 -7.89096843e-04 -1.48707695e+01] [-2.30257256e-02 -4.77736267e-05 9.99734872e-01 -7.53919105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30439141799997 meters 0.013469055596907776 Centerline is valid? [True, True] Translation: X:370.83, Y:-14.87, Z:-7.54 [[ 9.99116177e-01 3.56706939e-02 2.22366088e-02 3.70831908e+02] [-3.56625946e-02 9.99363598e-01 -7.60809713e-04 -1.48698934e+01] [-2.22495960e-02 -3.28778746e-05 9.99752447e-01 -7.54038114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36439141799997 meters 0.013441118579830148 Centerline is valid? [True, True] Translation: X:370.89, Y:-14.87, Z:-7.54 [[ 9.99143916e-01 3.48464691e-02 2.22970389e-02 3.70890486e+02] [-3.48381592e-02 9.99392677e-01 -7.61144502e-04 -1.48705531e+01] [-2.23100206e-02 -1.62948912e-05 9.99751100e-01 -7.54168857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42439141799997 meters 0.013310160443424845 Centerline is valid? [True, True] Translation: X:370.95, Y:-14.87, Z:-7.54 [[ 9.99166721e-01 3.39515065e-02 2.26530132e-02 3.70948983e+02] [-3.39427415e-02 9.99423481e-01 -7.71423354e-04 -1.48702327e+01] [-2.26661443e-02 1.87517280e-06 9.99743090e-01 -7.54253370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484391418 meters 0.013298218618757358 Centerline is valid? [True, True] Translation: X:371.01, Y:-14.87, Z:-7.54 [[ 9.99181409e-01 3.39920446e-02 2.19329154e-02 3.71007703e+02] [-3.39838754e-02 9.99422103e-01 -7.45192066e-04 -1.48684870e+01] [-2.19455711e-02 -7.83406165e-07 9.99759167e-01 -7.54348038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544391418 meters 0.013336519934668561 Centerline is valid? [True, True] Translation: X:371.07, Y:-14.86, Z:-7.55 [[ 9.99134214e-01 3.60270528e-02 2.08056285e-02 3.71065767e+02] [-3.60201756e-02 9.99350814e-01 -7.05322104e-04 -1.48644672e+01] [-2.08175325e-02 -4.47109487e-05 9.99783291e-01 -7.54505155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604391418 meters 0.013544026350775826 Centerline is valid? [True, True] Translation: X:371.12, Y:-14.86, Z:-7.55 [[ 9.99049233e-01 3.80883335e-02 2.12110552e-02 3.71124207e+02] [-3.80816945e-02 9.99274372e-01 -7.16976148e-04 -1.48616673e+01] [-2.12229723e-02 -9.14584538e-05 9.99774763e-01 -7.54570199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664391418 meters 0.013661561713010032 Centerline is valid? [True, True] Translation: X:371.18, Y:-14.86, Z:-7.55 [[ 9.99006980e-01 3.89889792e-02 2.15618527e-02 3.71182060e+02] [-3.89823655e-02 9.99239634e-01 -7.27118464e-04 -1.48610022e+01] [-2.15738074e-02 -1.14135603e-04 9.99767252e-01 -7.54660651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724391418 meters 0.01390658000531144 Centerline is valid? [True, True] Translation: X:371.24, Y:-14.86, Z:-7.55 [[ 9.98949346e-01 4.02401078e-02 2.19303085e-02 3.71241168e+02] [-4.02336136e-02 9.99190028e-01 -7.37448881e-04 -1.48577759e+01] [-2.19422206e-02 -1.45661481e-04 9.99759230e-01 -7.54748237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7843914179999 meters 0.013956297003692329 Centerline is valid? [True, True] Translation: X:371.30, Y:-14.86, Z:-7.55 [[ 9.98952505e-01 4.03263796e-02 2.16258075e-02 3.71300445e+02] [-4.03201201e-02 9.99186550e-01 -7.25571233e-04 -1.48553658e+01] [-2.16374757e-02 -1.47143956e-04 9.99765872e-01 -7.54870158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84439141799993 meters 0.013823910336746157 Centerline is valid? [True, True] Translation: X:371.36, Y:-14.85, Z:-7.55 [[ 9.99021015e-01 3.91253165e-02 2.06451133e-02 3.71358823e+02] [-3.91193869e-02 9.99234305e-01 -6.91149515e-04 -1.48543607e+01] [-2.06563469e-02 -1.17151284e-04 9.99786628e-01 -7.55120890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90439141799993 meters 0.013558614398112153 Centerline is valid? [True, True] Translation: X:371.42, Y:-14.86, Z:-7.55 [[ 9.99092666e-01 3.73881488e-02 2.03953735e-02 3.71417992e+02] [-3.73820320e-02 9.99300815e-01 -6.81213066e-04 -1.48556945e+01] [-2.04065827e-02 -8.18255274e-05 9.99791761e-01 -7.55284548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96439141799993 meters 0.013303530232552778 Centerline is valid? [True, True] Translation: X:371.48, Y:-14.86, Z:-7.55 [[ 9.99185497e-01 3.46778786e-02 2.06346211e-02 3.71476971e+02] [-3.46710727e-02 9.99398541e-01 -6.87595275e-04 -1.48573107e+01] [-2.06460546e-02 -2.83892219e-05 9.99786847e-01 -7.55355132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02439141799994 meters 0.013232731779469077 Centerline is valid? [True, True] Translation: X:371.54, Y:-14.86, Z:-7.55 [[ 9.99240735e-01 3.27187320e-02 2.11527145e-02 3.71535637e+02] [-3.27111774e-02 9.99464599e-01 -7.03145296e-04 -1.48576630e+01] [-2.11643954e-02 1.06812259e-05 9.99776009e-01 -7.55404256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08439141799994 meters 0.01323534500685272 Centerline is valid? [True, True] Translation: X:371.59, Y:-14.86, Z:-7.56 [[ 9.99291470e-01 3.11543959e-02 2.11178206e-02 3.71594821e+02] [-3.11465522e-02 9.99514583e-01 -7.00316031e-04 -1.48590529e+01] [-2.11293876e-02 4.20725333e-05 9.99776749e-01 -7.55581309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14439141799994 meters 0.01339223707193791 Centerline is valid? [True, True] Translation: X:371.65, Y:-14.86, Z:-7.56 [[ 9.99411022e-01 2.81804583e-02 1.95823929e-02 3.71652599e+02] [-2.81731706e-02 9.99602847e-01 -6.47982998e-04 -1.48613780e+01] [-1.95928762e-02 9.59032529e-05 9.99808037e-01 -7.55847085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20439141799994 meters 0.013647173518304374 Centerline is valid? [True, True] Translation: X:371.71, Y:-14.86, Z:-7.56 [[ 9.99500984e-01 2.52299811e-02 1.90060899e-02 3.71710921e+02] [-2.52226173e-02 9.99681663e-01 -6.27096820e-04 -1.48630394e+01] [-1.90158612e-02 1.47400556e-04 9.99819171e-01 -7.56039354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26439141799995 meters 0.014743370045276616 Centerline is valid? [True, True] Translation: X:371.77, Y:-14.87, Z:-7.56 [[ 9.99567816e-01 2.15952923e-02 1.99455588e-02 3.71769331e+02] [-2.15864925e-02 9.99766769e-01 -6.56412375e-04 -1.48690329e+01] [-1.99550823e-02 2.25574028e-04 9.99800852e-01 -7.56152124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32439141799995 meters 0.015248777368137354 Centerline is valid? [True, True] Translation: X:371.83, Y:-14.87, Z:-7.56 [[ 9.99619111e-01 1.92248302e-02 1.97999671e-02 3.71829071e+02] [-1.92157166e-02 9.99815149e-01 -6.50453007e-04 -1.48735449e+01] [-1.98088119e-02 2.69734700e-04 9.99803750e-01 -7.56380361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38439141799995 meters 0.015199483031112715 Centerline is valid? [True, True] Translation: X:371.89, Y:-14.88, Z:-7.56 [[ 9.99612108e-01 1.95813549e-02 1.98041438e-02 3.71889773e+02] [-1.95723233e-02 9.99808233e-01 -6.49790212e-04 -1.48757464e+01] [-1.98130697e-02 2.61925060e-04 9.99803668e-01 -7.56492665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44439141799995 meters 0.014948571824569329 Centerline is valid? [True, True] Translation: X:371.95, Y:-14.88, Z:-7.57 [[ 9.99597370e-01 1.95896131e-02 2.05266728e-02 3.71950546e+02] [-1.95799120e-02 9.99808068e-01 -6.73496983e-04 -1.48775391e+01] [-2.05359266e-02 2.71315365e-04 9.99789079e-01 -7.56531957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50439141799995 meters 0.01578923975186902 Centerline is valid? [True, True] Translation: X:372.01, Y:-14.88, Z:-7.57 [[ 9.99610053e-01 1.78888095e-02 2.14413690e-02 3.72010776e+02] [-1.78778329e-02 9.99839931e-01 -7.03526390e-04 -1.48824542e+01] [-2.14505221e-02 3.19926841e-04 9.99769860e-01 -7.56688540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56439141799996 meters 0.016824199841910487 Centerline is valid? [True, True] Translation: X:372.07, Y:-14.89, Z:-7.57 [[ 9.99678004e-01 1.42751921e-02 2.09787522e-02 3.72072336e+02] [-1.42638781e-02 9.99898028e-01 -6.88852046e-04 -1.48897710e+01] [-2.09864464e-02 3.89391875e-04 9.99779684e-01 -7.56999220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62439141799996 meters 0.017680591689497024 Centerline is valid? [True, True] Translation: X:372.13, Y:-14.90, Z:-7.57 [[ 9.99703058e-01 1.25571394e-02 2.08833226e-02 3.72134475e+02] [-1.25454412e-02 9.99921064e-01 -6.91088520e-04 -1.48960926e+01] [-2.08903522e-02 4.28892811e-04 9.99781681e-01 -7.57224587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68439141799996 meters 0.017990864698688325 Centerline is valid? [True, True] Translation: X:372.20, Y:-14.90, Z:-7.57 [[ 9.99700679e-01 1.20984683e-02 2.12645022e-02 3.72196252e+02] [-1.20861080e-02 9.99926708e-01 -7.09692632e-04 -1.49002291e+01] [-2.12715299e-02 4.52475135e-04 9.99773633e-01 -7.57362545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74439141799996 meters 0.017471959070491365 Centerline is valid? [True, True] Translation: X:372.26, Y:-14.90, Z:-7.57 [[ 9.99633719e-01 1.39762212e-02 2.31752769e-02 3.72258881e+02] [-1.39618826e-02 9.99902224e-01 -7.80400299e-04 -1.49022805e+01] [-2.31839180e-02 4.56543957e-04 9.99731113e-01 -7.57290391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80439141799997 meters 0.01576895781171822 Centerline is valid? [True, True] Translation: X:372.32, Y:-14.90, Z:-7.57 [[ 9.99529361e-01 1.84937146e-02 2.44752665e-02 3.72321513e+02] [-1.84789014e-02 9.99828905e-01 -8.31284435e-04 -1.49016005e+01] [-2.44864525e-02 3.78617164e-04 9.99700090e-01 -7.57405674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86439141799997 meters 0.014169170074502559 Centerline is valid? [True, True] Translation: X:372.38, Y:-14.90, Z:-7.58 [[ 9.99416201e-01 2.44233882e-02 2.38904775e-02 3.72383522e+02] [-2.44108112e-02 9.99701677e-01 -8.17981624e-04 -1.49013669e+01] [-2.39033283e-02 2.34318151e-04 9.99714247e-01 -7.57708968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92439141799997 meters 0.013304385504079284 Centerline is valid? [True, True] Translation: X:372.44, Y:-14.90, Z:-7.58 [[ 9.99289492e-01 2.99690688e-02 2.28553116e-02 3.72443660e+02] [-2.99588840e-02 9.99550821e-01 -7.87972166e-04 -1.48997682e+01] [-2.28686603e-02 1.02692677e-04 9.99738473e-01 -7.57993405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984391418 meters 0.013564648779500177 Centerline is valid? [True, True] Translation: X:372.50, Y:-14.89, Z:-7.58 [[ 9.98875175e-01 4.14716686e-02 2.29888278e-02 3.72502606e+02] [-4.14644135e-02 9.99139667e-01 -7.92382817e-04 -1.48925417e+01] [-2.30019112e-02 -1.61726737e-04 9.99735408e-01 -7.58119878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044391418 meters 0.0168080521059474 Centerline is valid? [True, True] Translation: X:372.56, Y:-14.89, Z:-7.58 [[ 9.98279825e-01 5.34606964e-02 2.40695755e-02 3.72562377e+02] [-5.34562689e-02 9.98569848e-01 -8.27797412e-04 -1.48856762e+01] [-2.40794069e-02 -4.60296241e-04 9.99709943e-01 -7.58246245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104391418 meters 0.019286679931911525 Centerline is valid? [True, True] Translation: X:372.62, Y:-14.88, Z:-7.58 [[ 9.97904137e-01 5.98650313e-02 2.45664572e-02 3.72622273e+02] [-5.98623820e-02 9.98206283e-01 -8.43901263e-04 -1.48837704e+01] [-2.45729121e-02 -6.28474085e-04 9.99697843e-01 -7.58388484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164391418 meters 0.0219324824922121 Centerline is valid? [True, True] Translation: X:372.68, Y:-14.88, Z:-7.59 [[ 9.97515731e-01 6.56877722e-02 2.54456759e-02 3.72681871e+02] [-6.56868480e-02 9.97839905e-01 -8.73081182e-04 -1.48836580e+01] [-2.54480616e-02 -8.00534032e-04 9.99675825e-01 -7.58620242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224391418 meters 0.021780903443634946 Centerline is valid? [True, True] Translation: X:372.74, Y:-14.89, Z:-7.59 [[ 9.97488972e-01 6.63989312e-02 2.46359875e-02 3.72740582e+02] [-6.63983081e-02 9.97792840e-01 -8.44210570e-04 -1.48882580e+01] [-2.46376666e-02 -7.93697157e-04 9.99696132e-01 -7.58897531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2843914179999 meters 0.021478614460681646 Centerline is valid? [True, True] Translation: X:372.80, Y:-14.89, Z:-7.59 [[ 9.97597222e-01 6.50061467e-02 2.39579489e-02 3.72799631e+02] [-6.50052002e-02 9.97884589e-01 -8.19138729e-04 -1.48926547e+01] [-2.39605170e-02 -7.40220745e-04 9.99712632e-01 -7.59168163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34439141799993 meters 0.019348200127219557 Centerline is valid? [True, True] Translation: X:372.86, Y:-14.90, Z:-7.59 [[ 9.97870078e-01 6.05858451e-02 2.41797920e-02 3.72858114e+02] [-6.05836300e-02 9.98162784e-01 -8.24827466e-04 -1.49011407e+01] [-2.41853413e-02 -6.41828923e-04 9.99707286e-01 -7.59242610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40439141799993 meters 0.016177524747122068 Centerline is valid? [True, True] Translation: X:372.92, Y:-14.91, Z:-7.59 [[ 9.98236447e-01 5.36684622e-02 2.53710743e-02 3.72917719e+02] [-5.36638353e-02 9.98558685e-01 -8.63686286e-04 -1.49117902e+01] [-2.53808593e-02 -4.99346025e-04 9.99677729e-01 -7.59324705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46439141799993 meters 0.014225353962392929 Centerline is valid? [True, True] Translation: X:372.98, Y:-14.92, Z:-7.60 [[ 9.98616065e-01 4.62491676e-02 2.50393589e-02 3.72975096e+02] [-4.62423527e-02 9.98929887e-01 -8.51439431e-04 -1.49215792e+01] [-2.50519424e-02 -3.07617773e-04 9.99686104e-01 -7.59537163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52439141799994 meters 0.013106839932192466 Centerline is valid? [True, True] Translation: X:373.03, Y:-14.93, Z:-7.60 [[ 9.98842280e-01 4.12648876e-02 2.47246772e-02 3.73033498e+02] [-4.12567852e-02 9.99148225e-01 -8.37943883e-04 -1.49283080e+01] [-2.47381949e-02 -1.83086916e-04 9.99693947e-01 -7.59710146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58439141799994 meters 0.012672876188675068 Centerline is valid? [True, True] Translation: X:373.09, Y:-14.93, Z:-7.60 [[ 9.98931668e-01 3.91170727e-02 2.46043986e-02 3.73091768e+02] [-3.91084449e-02 9.99234626e-01 -8.31940140e-04 -1.49320057e+01] [-2.46181101e-02 -1.31188416e-04 9.99696920e-01 -7.59822075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64439141799994 meters 0.012391138180597882 Centerline is valid? [True, True] Translation: X:373.15, Y:-14.94, Z:-7.60 [[ 9.99114945e-01 3.39805737e-02 2.47920748e-02 3.73150061e+02] [-3.39702809e-02 9.99422494e-01 -8.36330148e-04 -1.49374752e+01] [-2.48061762e-02 -6.60379601e-06 9.99692279e-01 -7.59899216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70439141799994 meters 0.012635478045390183 Centerline is valid? [True, True] Translation: X:373.21, Y:-14.94, Z:-7.60 [[ 9.99321672e-01 2.86562250e-02 2.31304218e-02 3.73209053e+02] [-2.86458791e-02 9.99589319e-01 -7.78570087e-04 -1.49425724e+01] [-2.31432334e-02 1.15450696e-04 9.99732153e-01 -7.60124863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76439141799995 meters 0.013738071289120123 Centerline is valid? [True, True] Translation: X:373.27, Y:-14.95, Z:-7.61 [[ 9.99511895e-01 2.28009035e-02 2.13562740e-02 3.73268830e+02] [-2.27907793e-02 9.99739999e-01 -7.17365486e-04 -1.49473135e+01] [-2.13670779e-02 2.30289209e-04 9.99771671e-01 -7.60501626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82439141799995 meters 0.01463422252863746 Centerline is valid? [True, True] Translation: X:373.33, Y:-14.95, Z:-7.61 [[ 9.99622229e-01 1.85442301e-02 2.02857472e-02 3.73329499e+02] [-1.85342269e-02 9.99827995e-01 -6.81028789e-04 -1.49489141e+01] [-2.02948871e-02 3.04790875e-04 9.99793991e-01 -7.60776655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88439141799995 meters 0.014797613905580487 Centerline is valid? [True, True] Translation: X:373.39, Y:-14.95, Z:-7.61 [[ 9.99638716e-01 1.76030842e-02 2.03118099e-02 3.73390864e+02] [-1.75928613e-02 9.99845001e-01 -6.81894076e-04 -1.49478895e+01] [-2.03206650e-02 3.24304865e-04 9.99793461e-01 -7.60820168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94439141799995 meters 0.015660579370287135 Centerline is valid? [True, True] Translation: X:373.45, Y:-14.95, Z:-7.61 [[ 9.99623584e-01 1.66505511e-02 2.18048224e-02 3.73452485e+02] [-1.66385165e-02 9.99861301e-01 -7.33239659e-04 -1.49460442e+01] [-2.18140070e-02 3.70163757e-04 9.99761978e-01 -7.60782472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00439141799995 meters 0.01602658177465779 Centerline is valid? [True, True] Translation: X:373.51, Y:-14.95, Z:-7.61 [[ 9.99642372e-01 1.57119224e-02 2.16393868e-02 3.73514444e+02] [-1.56997288e-02 9.99876483e-01 -7.33275674e-04 -1.49462358e+01] [-2.16482351e-02 3.93280931e-04 9.99765572e-01 -7.61013170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06439141799996 meters 0.015467930541136772 Centerline is valid? [True, True] Translation: X:373.58, Y:-14.95, Z:-7.61 [[ 9.99630585e-01 1.64132464e-02 2.16632855e-02 3.73577870e+02] [-1.64010580e-02 9.99865220e-01 -7.40190378e-04 -1.49481912e+01] [-2.16725146e-02 3.84616139e-04 9.99765049e-01 -7.61258801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12439141799996 meters 0.015541394681282027 Centerline is valid? [True, True] Translation: X:373.64, Y:-14.95, Z:-7.61 [[ 9.99612168e-01 1.67956904e-02 2.22130182e-02 3.73640535e+02] [-1.67828045e-02 9.99858865e-01 -7.66412912e-04 -1.49518185e+01] [-2.22227556e-02 3.93318932e-04 9.99752967e-01 -7.61344459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18439141799996 meters 0.01717876417896902 Centerline is valid? [True, True] Translation: X:373.70, Y:-14.96, Z:-7.61 [[ 9.99640248e-01 1.44871105e-02 2.25720507e-02 3.73701628e+02] [-1.44730498e-02 9.99894951e-01 -7.86175471e-04 -1.49594139e+01] [-2.25810689e-02 4.59206230e-04 9.99744910e-01 -7.61439303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24439141799996 meters 0.018830429362240705 Centerline is valid? [True, True] Translation: X:373.76, Y:-14.97, Z:-7.62 [[ 9.99717016e-01 1.01718399e-02 2.15040049e-02 3.73763050e+02] [-1.01579679e-02 9.99948122e-01 -7.54225263e-04 -1.49677924e+01] [-2.15105611e-02 5.35574838e-04 9.99768478e-01 -7.61806851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30439141799997 meters 0.02029474079261654 Centerline is valid? [True, True] Translation: X:373.82, Y:-14.97, Z:-7.62 [[ 9.99748793e-01 8.36700975e-03 2.07928968e-02 3.73824901e+02] [-8.35358986e-03 9.99964840e-01 -7.32182409e-04 -1.49737695e+01] [-2.07982919e-02 5.58303148e-04 9.99783536e-01 -7.62042938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36439141799997 meters 0.02114493013713881 Centerline is valid? [True, True] Translation: X:373.89, Y:-14.98, Z:-7.62 [[ 9.99750340e-01 6.35173850e-03 2.14222452e-02 3.73886906e+02] [-6.33690154e-03 9.99979633e-01 -7.60408404e-04 -1.49794114e+01] [-2.14266388e-02 6.24467902e-04 9.99770228e-01 -7.62121425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42439141799997 meters 0.021570018909450053 Centerline is valid? [True, True] Translation: X:373.95, Y:-14.98, Z:-7.62 [[ 9.99737639e-01 5.41978724e-03 2.22548747e-02 3.73948966e+02] [-5.40340029e-03 9.99985084e-01 -7.96398728e-04 -1.49847812e+01] [-2.22588591e-02 6.75937788e-04 9.99752012e-01 -7.62163671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484391418 meters 0.022302331965160082 Centerline is valid? [True, True] Translation: X:374.01, Y:-14.99, Z:-7.62 [[ 9.99743703e-01 4.39895693e-03 2.22075895e-02 3.74010585e+02] [-4.38225042e-03 9.99990077e-01 -8.00898031e-04 -1.49898719e+01] [-2.22108922e-02 7.03373545e-04 9.99753060e-01 -7.62320714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544391418 meters 0.024269933135530185 Centerline is valid? [True, True] Translation: X:374.07, Y:-15.00, Z:-7.63 [[ 9.99778871e-01 1.67932705e-03 2.09615938e-02 3.74072067e+02] [-1.66373775e-03 9.99998326e-01 -7.61124894e-04 -1.49991674e+01] [-2.09628369e-02 7.26081992e-04 9.99779992e-01 -7.62674121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604391418 meters 0.026249066400196037 Centerline is valid? [True, True] Translation: X:374.13, Y:-15.01, Z:-7.63 [[ 9.99795115e-01 -1.18640983e-03 2.02069414e-02 3.74133735e+02] [ 1.20158359e-03 9.99999005e-01 -7.38793681e-04 -1.50090231e+01] [-2.02060447e-02 7.62922643e-04 9.99795546e-01 -7.62981656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664391418 meters 0.026385783719355328 Centerline is valid? [True, True] Translation: X:374.20, Y:-15.01, Z:-7.63 [[ 9.99774725e-01 -2.60557610e-03 2.10644375e-02 3.74195557e+02] [ 2.62241836e-03 9.99996263e-01 -7.71975811e-04 -1.50138987e+01] [-2.10623473e-02 8.27041672e-04 9.99777822e-01 -7.62978446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724391418 meters 0.02602195516380035 Centerline is valid? [True, True] Translation: X:374.26, Y:-15.02, Z:-7.63 [[ 9.99746812e-01 -3.97154203e-03 2.21481279e-02 3.74257469e+02] [ 3.99064074e-03 9.99991703e-01 -8.18185603e-04 -1.50186974e+01] [-2.21446947e-02 9.06363669e-04 9.99754365e-01 -7.62990742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7843914179999 meters 0.027125053612827812 Centerline is valid? [True, True] Translation: X:374.32, Y:-15.03, Z:-7.63 [[ 9.99736873e-01 -3.69938706e-03 2.26384317e-02 3.74319110e+02] [ 3.71942231e-03 9.99992728e-01 -8.42967952e-04 -1.50264302e+01] [-2.26351486e-02 9.26948033e-04 9.99743362e-01 -7.63147154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84439141799993 meters 0.02779469348677673 Centerline is valid? [True, True] Translation: X:374.38, Y:-15.03, Z:-7.63 [[ 9.99735824e-01 -3.49578810e-03 2.27169792e-02 3.74381091e+02] [ 3.51605606e-03 9.99993455e-01 -8.52313016e-04 -1.50329788e+01] [-2.27138510e-02 9.31962028e-04 9.99741573e-01 -7.63289420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90439141799993 meters 0.027817514266637523 Centerline is valid? [True, True] Translation: X:374.44, Y:-15.04, Z:-7.63 [[ 9.99735714e-01 -2.89173138e-03 2.28065904e-02 3.74443643e+02] [ 2.91204520e-03 9.99995392e-01 -8.57538624e-04 -1.50371907e+01] [-2.28040055e-02 9.23725810e-04 9.99739528e-01 -7.63480751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96439141799993 meters 0.026956102948823658 Centerline is valid? [True, True] Translation: X:374.51, Y:-15.04, Z:-7.64 [[ 9.99742034e-01 -2.37281259e-03 2.25883665e-02 3.74505915e+02] [ 2.39265637e-03 9.99996775e-01 -8.51509607e-04 -1.50419447e+01] [-2.25862732e-02 9.05336146e-04 9.99744488e-01 -7.63689783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02439141799994 meters 0.02906935174723352 Centerline is valid? [True, True] Translation: X:374.57, Y:-15.05, Z:-7.64 [[ 9.99754359e-01 -1.90398755e-03 2.20816033e-02 3.74567358e+02] [ 1.92288085e-03 9.99997803e-01 -8.34411441e-04 -1.50488967e+01] [-2.20799661e-02 8.76666767e-04 9.99755823e-01 -7.63899203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08439141799994 meters 0.027907907033693204 Centerline is valid? [True, True] Translation: X:374.63, Y:-15.05, Z:-7.64 [[ 9.99774459e-01 -1.84962698e-03 2.11568060e-02 3.74629968e+02] [ 1.86706632e-03 9.99997933e-01 -8.04566358e-04 -1.50527688e+01] [-2.11552741e-02 8.43886054e-04 9.99775846e-01 -7.64221611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14439141799994 meters 0.026285057837109764 Centerline is valid? [True, True] Translation: X:374.69, Y:-15.06, Z:-7.64 [[ 9.99776546e-01 -1.36471135e-03 2.10949134e-02 3.74692027e+02] [ 1.38199310e-03 9.99998721e-01 -8.04681448e-04 -1.50550466e+01] [-2.10937882e-02 8.33654664e-04 9.99777154e-01 -7.64434457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20439141799994 meters 0.02701126070554815 Centerline is valid? [True, True] Translation: X:374.75, Y:-15.06, Z:-7.65 [[ 9.99755723e-01 -1.53153369e-03 2.20487836e-02 3.74753759e+02] [ 1.55049565e-03 9.99998443e-01 -8.42930886e-04 -1.50605657e+01] [-2.20474583e-02 8.76911521e-04 9.99756541e-01 -7.64573169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26439141799995 meters 0.02758907694823045 Centerline is valid? [True, True] Translation: X:374.82, Y:-15.06, Z:-7.65 [[ 9.99756921e-01 -1.27653189e-03 2.20106540e-02 3.74816121e+02] [ 1.29540537e-03 9.99998805e-01 -8.43233169e-04 -1.50647552e+01] [-2.20095513e-02 8.71540916e-04 9.99757381e-01 -7.64786165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32439141799995 meters 0.027724484752607286 Centerline is valid? [True, True] Translation: X:374.88, Y:-15.07, Z:-7.65 [[ 9.99764470e-01 -9.36175598e-04 2.16824421e-02 3.74877887e+02] [ 9.54446987e-04 9.99999198e-01 -8.32348060e-04 -1.50686178e+01] [-2.16816455e-02 8.52846758e-04 9.99764562e-01 -7.65026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38439141799995 meters 0.025881796939005636 Centerline is valid? [True, True] Translation: X:374.94, Y:-15.07, Z:-7.65 [[ 9.99755032e-01 1.76246044e-03 2.20628478e-02 3.74939323e+02] [-1.74416070e-03 9.99998119e-01 -8.48652063e-04 -1.50689327e+01] [-2.20643020e-02 8.09963019e-04 9.99756226e-01 -7.65111381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44439141799995 meters 0.02273323496966214 Centerline is valid? [True, True] Translation: X:375.00, Y:-15.06, Z:-7.65 [[ 9.99753257e-01 6.08555880e-03 2.13633059e-02 3.75001404e+02] [-6.06936911e-03 9.99981243e-01 -8.22584120e-04 -1.50649551e+01] [-2.13679110e-02 6.92719364e-04 9.99771440e-01 -7.65202174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50439141799995 meters 0.022691020077873197 Centerline is valid? [True, True] Translation: X:375.06, Y:-15.07, Z:-7.65 [[ 9.99739397e-01 8.06486018e-03 2.13563863e-02 3.75063066e+02] [-8.04910048e-03 9.99967266e-01 -8.23796869e-04 -1.50668447e+01] [-2.13623310e-02 6.51682487e-04 9.99771587e-01 -7.65291397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56439141799996 meters 0.020518851854980407 Centerline is valid? [True, True] Translation: X:375.12, Y:-15.06, Z:-7.65 [[ 9.99704468e-01 1.15077740e-02 2.14137432e-02 3.75124284e+02] [-1.14925950e-02 9.99933612e-01 -8.31777783e-04 -1.50644366e+01] [-2.14218935e-02 5.85432486e-04 9.99770354e-01 -7.65372562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62439141799996 meters 0.018166688789308966 Centerline is valid? [True, True] Translation: X:375.19, Y:-15.06, Z:-7.65 [[ 9.99625590e-01 1.78395802e-02 2.07468015e-02 3.75185540e+02] [-1.78266778e-02 9.99840767e-01 -8.06690843e-04 -1.50605523e+01] [-2.07578889e-02 4.36542265e-04 9.99784437e-01 -7.65498816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68439141799996 meters 0.0165381591689678 Centerline is valid? [True, True] Translation: X:375.25, Y:-15.06, Z:-7.66 [[ 9.99501662e-01 2.47205581e-02 1.96295880e-02 3.75246143e+02] [-2.47103211e-02 9.99694362e-01 -7.63927426e-04 -1.50572074e+01] [-1.96424732e-02 2.78493311e-04 9.99807029e-01 -7.65733683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74439141799996 meters 0.014063598618119214 Centerline is valid? [True, True] Translation: X:375.31, Y:-15.05, Z:-7.66 [[ 9.99317274e-01 3.16425436e-02 1.90718440e-02 3.75306610e+02] [-3.16340935e-02 9.99499239e-01 -7.44663744e-04 -1.50503565e+01] [-1.90858566e-02 1.40834846e-04 9.99817839e-01 -7.65885109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80439141799997 meters 0.013247275791360862 Centerline is valid? [True, True] Translation: X:375.36, Y:-15.05, Z:-7.66 [[ 9.99103761e-01 3.77977473e-02 1.90526843e-02 3.75364791e+02] [-3.77904516e-02 9.99285410e-01 -7.42945074e-04 -1.50466554e+01] [-1.90671510e-02 2.22696755e-05 9.99818205e-01 -7.66002312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86439141799997 meters 0.01385333250611358 Centerline is valid? [True, True] Translation: X:375.42, Y:-15.04, Z:-7.66 [[ 9.98744287e-01 4.57711718e-02 2.03678385e-02 3.75423512e+02] [-4.57645347e-02 9.98951941e-01 -7.92100205e-04 -1.50405136e+01] [-2.03827471e-02 -1.41019095e-04 9.99792240e-01 -7.66051170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92439141799997 meters 0.014949541369784278 Centerline is valid? [True, True] Translation: X:375.48, Y:-15.04, Z:-7.66 [[ 9.98402276e-01 5.24284990e-02 2.10748278e-02 3.75482599e+02] [-5.24229127e-02 9.98624639e-01 -8.17828521e-04 -1.50372303e+01] [-2.10887198e-02 -2.88282001e-04 9.99777567e-01 -7.66150333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984391418 meters 0.016433081620557122 Centerline is valid? [True, True] Translation: X:375.54, Y:-15.04, Z:-7.66 [[ 9.98156752e-01 5.69816280e-02 2.08852241e-02 3.75541006e+02] [-5.69771732e-02 9.98375154e-01 -8.08773774e-04 -1.50363288e+01] [-2.08973741e-02 -3.82698029e-04 9.99781553e-01 -7.66374296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044391418 meters 0.01720162573222623 Centerline is valid? [True, True] Translation: X:375.60, Y:-15.04, Z:-7.66 [[ 9.98080804e-01 5.82067537e-02 2.11348842e-02 3.75599103e+02] [-5.82025117e-02 9.98304463e-01 -8.16299727e-04 -1.50366464e+01] [-2.11465633e-02 -4.15370255e-04 9.99776300e-01 -7.66474044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104391418 meters 0.017979602710190307 Centerline is valid? [True, True] Translation: X:375.66, Y:-15.04, Z:-7.67 [[ 9.98007467e-01 5.94185359e-02 2.12257599e-02 3.75657669e+02] [-5.94145754e-02 9.98233059e-01 -8.17728053e-04 -1.50375456e+01] [-2.12368434e-02 -4.45020810e-04 9.99774374e-01 -7.66619990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164391418 meters 0.01744129151282045 Centerline is valid? [True, True] Translation: X:375.72, Y:-15.04, Z:-7.67 [[ 9.98036512e-01 5.90347767e-02 2.09288049e-02 3.75715874e+02] [-5.90308754e-02 9.98255833e-01 -8.04689698e-04 -1.50408502e+01] [-2.09398063e-02 -4.32335975e-04 9.99780645e-01 -7.66856866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224391418 meters 0.017179339951681534 Centerline is valid? [True, True] Translation: X:375.77, Y:-15.04, Z:-7.67 [[ 9.98141917e-01 5.72378476e-02 2.08935858e-02 3.75773409e+02] [-5.72336007e-02 9.98360492e-01 -8.01669577e-04 -1.50428812e+01] [-2.09052164e-02 -3.95635136e-04 9.99781384e-01 -7.67096602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2843914179999 meters 0.016381241786431813 Centerline is valid? [True, True] Translation: X:375.83, Y:-15.04, Z:-7.67 [[ 9.98265048e-01 5.43069920e-02 2.27517832e-02 3.75830791e+02] [-5.43012498e-02 9.98524219e-01 -8.70569454e-04 -1.50449482e+01] [-2.27654845e-02 -3.66391202e-04 9.99740766e-01 -7.67044963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34439141799993 meters 0.014687917820904775 Centerline is valid? [True, True] Translation: X:375.89, Y:-15.05, Z:-7.67 [[ 9.98467865e-01 4.96479211e-02 2.44337207e-02 3.75889489e+02] [-4.96399627e-02 9.98766742e-01 -9.32515762e-04 -1.50512275e+01] [-2.44498850e-02 -2.81801961e-04 9.99701017e-01 -7.67193778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40439141799993 meters 0.013635422764951086 Centerline is valid? [True, True] Translation: X:375.95, Y:-15.06, Z:-7.67 [[ 9.98685530e-01 4.52005929e-02 2.41685521e-02 3.75948021e+02] [-4.51915492e-02 9.98977916e-01 -9.20527180e-04 -1.50559292e+01] [-2.41854582e-02 -1.72897139e-04 9.99707474e-01 -7.67394989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46439141799993 meters 0.013239188184592613 Centerline is valid? [True, True] Translation: X:376.01, Y:-15.06, Z:-7.68 [[ 9.98934489e-01 3.95450660e-02 2.37923233e-02 3.76007178e+02] [-3.95347402e-02 9.99217787e-01 -9.04400424e-04 -1.50604137e+01] [-2.38094772e-02 -3.71865472e-05 9.99716514e-01 -7.67660384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52439141799994 meters 0.013203620422734593 Centerline is valid? [True, True] Translation: X:376.07, Y:-15.06, Z:-7.68 [[ 9.98974254e-01 3.79952330e-02 2.46333590e-02 3.76066250e+02] [-3.79837323e-02 9.99277920e-01 -9.34781127e-04 -1.50620759e+01] [-2.46510890e-02 -1.84463708e-06 9.99696116e-01 -7.67857225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58439141799994 meters 0.01330969306156878 Centerline is valid? [True, True] Translation: X:376.12, Y:-15.06, Z:-7.68 [[ 9.98889446e-01 3.96740697e-02 2.54134335e-02 3.76124930e+02] [-3.96624253e-02 9.99212673e-01 -9.62296131e-04 -1.50604237e+01] [-2.54316030e-02 -4.67309572e-05 9.99676563e-01 -7.67947699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64439141799994 meters 0.01385769330259793 Centerline is valid? [True, True] Translation: X:376.18, Y:-15.05, Z:-7.68 [[ 9.98681917e-01 4.48651700e-02 2.49308129e-02 3.76183515e+02] [-4.48556323e-02 9.98993036e-01 -9.41949309e-04 -1.50531191e+01] [-2.49479691e-02 -1.77579634e-04 9.99688735e-01 -7.68113648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70439141799994 meters 0.015981338946411048 Centerline is valid? [True, True] Translation: X:376.24, Y:-15.04, Z:-7.68 [[ 9.98365599e-01 5.20612105e-02 2.35745955e-02 3.76241692e+02] [-5.20547437e-02 9.98643838e-01 -8.88317197e-04 -1.50430633e+01] [-2.35888714e-02 -3.40304197e-04 9.99721686e-01 -7.68435143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76439141799995 meters 0.01693481715602222 Centerline is valid? [True, True] Translation: X:376.30, Y:-15.04, Z:-7.69 [[ 9.98229573e-01 5.42496763e-02 2.43863223e-02 3.76300268e+02] [-5.42434659e-02 9.98527319e-01 -9.16577140e-04 -1.50420458e+01] [-2.44001330e-02 -4.07844235e-04 9.99702189e-01 -7.68555125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82439141799995 meters 0.016439955983471227 Centerline is valid? [True, True] Translation: X:376.36, Y:-15.04, Z:-7.69 [[ 9.98229404e-01 5.37556245e-02 2.54634851e-02 3.76358069e+02] [-5.37487485e-02 9.98554035e-01 -9.54878771e-04 -1.50447240e+01] [-2.54779958e-02 -4.15442387e-04 9.99675297e-01 -7.68542169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88439141799995 meters 0.015752390391904465 Centerline is valid? [True, True] Translation: X:376.42, Y:-15.05, Z:-7.69 [[ 9.98286788e-01 5.32091755e-02 2.43366618e-02 3.76416997e+02] [-5.32027950e-02 9.98583314e-01 -9.10047246e-04 -1.50481915e+01] [-2.43506072e-02 -3.86290284e-04 9.99703405e-01 -7.68770582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94439141799995 meters 0.016522976985028946 Centerline is valid? [True, True] Translation: X:376.48, Y:-15.05, Z:-7.69 [[ 9.98217181e-01 5.48968552e-02 2.34263892e-02 3.76475602e+02] [-5.48914497e-02 9.98491945e-01 -8.74210136e-04 -1.50495742e+01] [-2.34390523e-02 -4.13256885e-04 9.99725182e-01 -7.69113401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00439141799995 meters 0.019654970615500054 Centerline is valid? [True, True] Translation: X:376.54, Y:-15.05, Z:-7.69 [[ 9.97636763e-01 6.46373040e-02 2.33003849e-02 3.76535724e+02] [-6.46346486e-02 9.97908618e-01 -8.67842373e-04 -1.50469892e+01] [-2.33077498e-02 -6.40220731e-04 9.99728133e-01 -7.69332944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06439141799996 meters 0.024925967616777706 Centerline is valid? [True, True] Translation: X:376.60, Y:-15.04, Z:-7.69 [[ 9.96621990e-01 7.77703196e-02 2.63891470e-02 3.76595863e+02] [-7.77715216e-02 9.96970724e-01 -9.82346599e-04 -1.50408279e+01] [-2.63856044e-02 -1.07329589e-03 9.99651263e-01 -7.69193477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12439141799996 meters 0.02712028445160307 Centerline is valid? [True, True] Translation: X:376.66, Y:-15.04, Z:-7.69 [[ 9.95997828e-01 8.52264198e-02 2.69218185e-02 3.76656075e+02] [-8.52303949e-02 9.96360766e-01 -1.00189323e-03 -1.50404652e+01] [-2.69092315e-02 -1.29667374e-03 9.99637040e-01 -7.69280136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18439141799996 meters 0.03116986127413362 Centerline is valid? [True, True] Translation: X:376.72, Y:-15.04, Z:-7.70 [[ 9.95425813e-01 9.21248847e-02 2.53072446e-02 3.76716866e+02] [-9.21306193e-02 9.95746485e-01 -9.41762215e-04 -1.50386402e+01] [-2.52863595e-02 -1.39411770e-03 9.99679277e-01 -7.69698253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2702.83 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%| | 0/12608 [00:00